Difference between revisions of "CalibFix Users"
From DIDEAS Wiki
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# Check Firmware Revision using PF_CMD | # Check Firmware Revision using PF_CMD | ||
## Check State Controller (SC) | ## Check State Controller (SC) | ||
+ | ### svn:\\PowerFoot\tags\StateControl-751 | ||
## Check Motor Controller (MC) | ## Check Motor Controller (MC) | ||
+ | ### svn:\\PowerFoot\tags\MotorControl-753 | ||
# Zero backdrive motor via EPOS UI | # Zero backdrive motor via EPOS UI | ||
## Move the A-frame until the ankle K3 spring roller just engages the ramp | ## Move the A-frame until the ankle K3 spring roller just engages the ramp | ||
Line 18: | Line 20: | ||
#Run TestJig | #Run TestJig | ||
## TestJig: Zero Angle | ## TestJig: Zero Angle | ||
− | ### Move to position | + | ### Move to position 20000 (External Motor Box (upper left of screen) |
#### In the Position menu line, enter 0 in the target box | #### In the Position menu line, enter 0 in the target box | ||
#### Click Go to Target | #### Click Go to Target | ||
− | |||
− | |||
### Move to position -20000 | ### Move to position -20000 | ||
### Move to position 0 | ### Move to position 0 | ||
− | ### Zero | + | ### Repeat steps 1-3 twice |
− | ### | + | ### Zero the External Ankle Deg. reading |
+ | #### In the External Encoder Box (lower right), click Zero in the Angle Deg. box | ||
## TestJig: Parallel Spring Test | ## TestJig: Parallel Spring Test | ||
− | ### | + | ### Clear the Data Query check boxes |
### Set the following parameters (others leave at 0) | ### Set the following parameters (others leave at 0) | ||
− | #### Sampling Rate | + | #### Sampling Rate 10 |
− | #### Duration | + | #### Duration 3600 |
#### Initial 64000 | #### Initial 64000 | ||
#### Final -38000 | #### Final -38000 | ||
Line 38: | Line 39: | ||
#### Decel 0.3 | #### Decel 0.3 | ||
#### RPM 22 | #### RPM 22 | ||
+ | #### Move to position 64000 | ||
+ | #### Click Go to Target | ||
### Test should run for ~45 minutes | ### Test should run for ~45 minutes | ||
## TestJig: Series Spring Test | ## TestJig: Series Spring Test | ||
+ | ### Go to Motor Position 0 | ||
+ | ### Click Query (not the check box) in the External Motor box | ||
+ | ### Zero the Ankle Deg. | ||
+ | ### Set the following parameters (others leave at 0) | ||
+ | #### Sampling Rate 100 | ||
+ | #### Duration 3000 | ||
+ | #### Initial 46000 | ||
+ | #### Final 0 | ||
+ | #### Passes 20 | ||
+ | #### Accel 1.5 | ||
+ | #### Decel 1.5 | ||
+ | #### RPM 45000 | ||
+ | #### Move to position 0 | ||
+ | #### Click Query | ||
+ | #### Zero the Ankle Deg | ||
+ | #### Move to position 46000 | ||
+ | #### Click Query | ||
+ | #### Click Go to Target | ||
+ | ### Test should run for ~3 minutes |
Latest revision as of 16:15, 11 January 2010
Calibration Fixture
PF Calibration Procedure
- First time cycle encoder board
- Zero mechanical
- Bearings must be touching ramp
- Check Firmware Revision using PF_CMD
- Check State Controller (SC)
- svn:\\PowerFoot\tags\StateControl-751
- Check Motor Controller (MC)
- svn:\\PowerFoot\tags\MotorControl-753
- Check State Controller (SC)
- Zero backdrive motor via EPOS UI
- Move the A-frame until the ankle K3 spring roller just engages the ramp
- Run EPOS program
- Click Status -> Reset Node
- Click Clear Errors
- Click Enable EPOS and check for green light
- Exit the EPOS program
- Run TestJig
- TestJig: Zero Angle
- Move to position 20000 (External Motor Box (upper left of screen)
- In the Position menu line, enter 0 in the target box
- Click Go to Target
- Move to position -20000
- Move to position 0
- Repeat steps 1-3 twice
- Zero the External Ankle Deg. reading
- In the External Encoder Box (lower right), click Zero in the Angle Deg. box
- Move to position 20000 (External Motor Box (upper left of screen)
- TestJig: Parallel Spring Test
- Clear the Data Query check boxes
- Set the following parameters (others leave at 0)
- Sampling Rate 10
- Duration 3600
- Initial 64000
- Final -38000
- Passes 20
- Accel 0.6
- Decel 0.3
- RPM 22
- Move to position 64000
- Click Go to Target
- Test should run for ~45 minutes
- TestJig: Series Spring Test
- Go to Motor Position 0
- Click Query (not the check box) in the External Motor box
- Zero the Ankle Deg.
- Set the following parameters (others leave at 0)
- Sampling Rate 100
- Duration 3000
- Initial 46000
- Final 0
- Passes 20
- Accel 1.5
- Decel 1.5
- RPM 45000
- Move to position 0
- Click Query
- Zero the Ankle Deg
- Move to position 46000
- Click Query
- Click Go to Target
- Test should run for ~3 minutes
- TestJig: Zero Angle