Operation manual: Difference between revisions

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==  Simulink models ==
==  Simulink models ==
=== Targets ===
Two targets are used in the following models.
'''Generic Realtime Target''' (grt)
* Target is not Realtime, although its name suggests otherwise
* Cannot be used to control the ethercat stack
* All blocks within a scheme run at the same rate
* Can be used with external mode
'''Multi Threaded Target''' (mtt)
* Target is Realtime
* Can be used to control the ethercat stack
* Parts of the scheme can run at 1/''n'' times the basic rate, ''n'' must be an integer
* Cannot be used with external mode
=== Models ===


'''camCalibrate.mdl''' - can be used to position the camera with respect to the needle and to determine appropriate settings
'''camCalibrate.mdl''' - can be used to position the camera with respect to the needle and to determine appropriate settings


'''PITONlib.mdl''' - contains library blocks
'''PITONlib.mdl''' - contains library blocks
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* motor
* motor
* data storage
* data storage


'''PITONtmpl.mdl''' - a template to use as a starting point for custom experiments
'''PITONtmpl.mdl''' - a template to use as a starting point for custom experiments
* uses the MTT (Multi Threaded) target, it is not possible to use Simulink's external mode with the MTT target  
* uses the MTT target, it is not possible to use Simulink's external mode with the MTT target  
* vision running at 25Hz
* vision running at 25Hz
* motion running at 1000Hz
* motion running at 1000Hz


'''PITONexp1.mdl''' - an example experiment
'''PITONexp1.mdl''' - an example experiment


== Running an experiment ==
== Running an experiment ==

Revision as of 14:32, 25 October 2011

Start Ubuntu

  1. Switch on the setup with the power button on the power socket
  2. Start the computer
  3. Choose the default Linux Kernel
  4. Log in as PITONuser with password PIT2011


Start MATLAB

  1. Open a terminal.
  2. Type sudo matlab with password PIT2011


Simulink models

Targets

Two targets are used in the following models. Generic Realtime Target (grt)

  • Target is not Realtime, although its name suggests otherwise
  • Cannot be used to control the ethercat stack
  • All blocks within a scheme run at the same rate
  • Can be used with external mode

Multi Threaded Target (mtt)

  • Target is Realtime
  • Can be used to control the ethercat stack
  • Parts of the scheme can run at 1/n times the basic rate, n must be an integer
  • Cannot be used with external mode


Models

camCalibrate.mdl - can be used to position the camera with respect to the needle and to determine appropriate settings


PITONlib.mdl - contains library blocks

  • vision
  • motor
  • data storage


PITONtmpl.mdl - a template to use as a starting point for custom experiments

  • uses the MTT target, it is not possible to use Simulink's external mode with the MTT target
  • vision running at 25Hz
  • motion running at 1000Hz


PITONexp1.mdl - an example experiment

Running an experiment

  1. Build the Simulink model using ctrl+b
  2. Ensure the motor power is switched on, the power switch must be turned to the right
  3. Open a terminal
  4. Enable super user privileges by typing sudo su and using password PIT2011
  5. Run ./modelname in the terminal