HomePage WikiSandbox Lab Robots Haptics Cameras Hands BMM 1 & 2 Drones Ontology KnowledgeMotionPlanning RFID Pant-tilt Pozyx Development tools ARM development STM32F4-Discovery CMake ? Revision Control ROS Orocos ? Soem Realtime OS Fril ? Emacs with Lisp Projects Cgrip ? Platform ? Visual Odometry Dual-Arm Motion Planning PhanTorque Libraries 3DOF Regressor Bi hand-arm PCA Kinect 3D Model Capture Tips ? Console LaTeX Working on ? Project Grasping edit SideBar	Platform initialization The BMM-1 and BMM-2 platforms are different in shape but functionally very similar. The following procedure applies to both. Powering on To put the platform on a state ready for operation, follow these steps carefully and sequentially: Plug the AC mains cable (220 VAC, single phase) and turn the switch on. This powers the wifi router on the platform. Switch on the computer. At boot it gets an IP address from the router's embedded DHCP server. Also, the xenomai realtime RTNet driver is automatically activated upon described in the Network Configuration page. Turn on the switch that powers the 3 servopacks (one for each motor). You will hear the noise generated by the servopacks' fans. Switch on the RF receiver of the emergency stop button. This lights the red LED. Green LED will stay off until next step. Make sure the emergency stop remote button has fresh batteries inside, or it's properly powered through a cable connected to a 5V DC source (we currently use a connection to an USB connector on any computer). Switch on the RF transmitter included in the button's base. Nearby green LED will start blinking, and so will do the green LED on the receiver's (platform) side. If green LED doesn't blink maybe the red button is still pressed. Pull it up strongly to unlock it. After last step, platform is ready to operate.

Platform initialization

The BMM-1 and BMM-2 platforms are different in shape but functionally very similar. The following procedure applies to both.

Powering on

To put the platform on a state ready for operation, follow these steps carefully and sequentially:

Plug the AC mains cable (220 VAC, single phase) and turn the switch on. This powers the wifi router on the platform.
Switch on the computer. At boot it gets an IP address from the router's embedded DHCP server. Also, the xenomai realtime RTNet driver is automatically activated upon described in the Network Configuration page.
Turn on the switch that powers the 3 servopacks (one for each motor). You will hear the noise generated by the servopacks' fans.
Switch on the RF receiver of the emergency stop button. This lights the red LED. Green LED will stay off until next step.
Make sure the emergency stop remote button has fresh batteries inside, or it's properly powered through a cable connected to a 5V DC source (we currently use a connection to an USB connector on any computer). Switch on the RF transmitter included in the button's base. Nearby green LED will start blinking, and so will do the green LED on the receiver's (platform) side. If green LED doesn't blink maybe the red button is still pressed. Pull it up strongly to unlock it.

After last step, platform is ready to operate.