CalibFix Users

Calibration Fixture

PowerFoot Calibration Procedure

1. First time cycle encoder board
2. Zero mechanical
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. Run EPOS program
   2. Status -> Reset Node
   3. Clear Errors
   4. Enable EPOS and check for green light
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