Difference between revisions of "CalibFix Users"

Revision as of 00:41, 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 (External Motor Box (upper lef
         1. In the Position menu line, enter 0 in the target box
         2. Click Go to Target
      2. In the External Encoder Box (lower right), Click Zero in the Angle Deg. box
      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