Frequently asked questions¶
Short answers with a link to the page that has the long one. Grouped by who is asking.
Building and setting up¶
- Which operating system image does the control box need?
- A real-time kernel image; the exact one is named in the Control Box Manual. Step 1: The operating system image
- How do I know my build is wired correctly before the first move?
- Run the first-run check; it verifies the box, every drive, the E-stop and the I/O before anything moves. Step 1: The control box and the configuration
Operating¶
- Why must the arm be homed after every restart of the real-time loop?
- The encoders sit on the motors, not on the joints; the reference is found at the endstops. Homing
- The arm went limp when I stopped the service. Is that normal?
- Yes: the drives let go about 0.1 s after the runtime stops. Park or support the arm first. Power and what "disabled" means
Programming¶
- Degrees or radians?
- Degrees and millimetres in the API; the runtime works in radians and newton-metres internally. Units
- Can two programs control the arm at the same time?
- No. One client holds control; stop, disable and clear-errors stay open to everyone. Control ownership
Real-time interface¶
- What rate do I have to send at?
- The hard contract: every control cycle. The soft contract: your own rate, 5 to 50 Hz, and the robot interpolates. Hard and soft contracts
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