Difference between revisions of "CalibFix Users"
From DIDEAS Wiki
m |
|||
Line 10: | Line 10: | ||
## 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
- First time cycle encoder board
- Zero mechanical
- Bearings must be touching ramp
- Check Firmware Revision using PF_CMD
- Check State Controller (SC)
- Check Motor Controller (MC)
- 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 0
- Zero
- Move to position 20000
- Move to position -20000
- Move to position 0
- Zero
- Repeat 20000, -20000, 0, ZERO several times
- TestJig: Parallel Spring Test
- Turn off Data Query
- Set the following parameters (others leave at 0)
- Sampling Rate 100
- Duration 3000
- Initial 64000
- Final -38000
- Passes 20
- Accel 0.6
- Decel 0.3
- RPM 22
- Test should run for ~45 minutes
- TestJig: Series Spring Test
- TestJig: Zero Angle