CalibFix Users
From DIDEAS Wiki
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