Difference between revisions of "CalibFix Users"

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## Check Motor Controller (MC)
 
## Check Motor Controller (MC)
 
# 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
 
## Run EPOS program
 
## Run EPOS program
## Status -> Reset Node
+
## Click Status -> Reset Node
## Clear Errors
+
## Click Clear Errors
## Enable EPOS and check for green light
+
## Click Enable EPOS and check for green light
 +
## Exit the EPOS program
 
#Run TestJig
 
#Run TestJig
 
## TestJig: Zero Angle
 
## TestJig: Zero Angle

Revision as of 00:34, 11 January 2010

Calibration Fixture

PF Calibration Procedure

  1. First time cycle encoder board
  2. Zero mechanical
    1. Bearings must be touching ramp
  3. Check Firmware Revision using PF_CMD
    1. Check State Controller (SC)
    2. Check Motor Controller (MC)
  4. Zero backdrive motor via EPOS UI
    1. Move the A-frame until the ankle K3 spring roller just engages the ramp
    2. Run EPOS program
    3. Click Status -> Reset Node
    4. Click Clear Errors
    5. Click Enable EPOS and check for green light
    6. Exit the EPOS program
  5. Run TestJig
    1. TestJig: Zero Angle
      1. Move to position 0
      2. Zero
      3. Move to position 20000
      4. Move to position -20000
      5. Move to position 0
      6. Zero
      7. Repeat 20000, -20000, 0, ZERO several times
    2. TestJig: Parallel Spring Test
      1. Turn off Data Query
      2. Set the following parameters (others leave at 0)
        1. Sampling Rate 100
        2. Duration 3000
        3. Initial 64000
        4. Final -38000
        5. Passes 20
        6. Accel 0.6
        7. Decel 0.3
        8. RPM 22
      3. Test should run for ~45 minutes
    3. TestJig: Series Spring Test