Difference between revisions of "Virtual spring test"
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= For SC 751 series code = | = For SC 751 series code = | ||
| − | * w/testjig position robot to the zero position | + | * disable SM updates w/command 127 0 |
| + | * w/testjig, position robot to the zero position | ||
* periodically run command 104 to confirm that the robot position is near zero (|3rd number| <100) | * periodically run command 104 to confirm that the robot position is near zero (|3rd number| <100) | ||
| − | + | * zero (adjust) the K and B for the VS with command 131 0 0 | |
| − | * zero the K and B for the VS with command 131 0 0 | ||
* enter the VS state w/command 170 13 | * enter the VS state w/command 170 13 | ||
| + | * enable SM update w/command 127 5 | ||
| + | * | ||
==other commands== | ==other commands== | ||
*130 can be used to read the VS parameters | *130 can be used to read the VS parameters | ||
| + | *131 1000 10 : set the VS to a reasonably low value, probably save to run over the full range | ||
| + | **131 K B where K is the | ||
*1120 can be used to read the electronic fuse parameters | *1120 can be used to read the electronic fuse parameters | ||
*1121 can be used to monitor the electronic fuse | *1121 can be used to monitor the electronic fuse | ||
Revision as of 23:39, 25 June 2009
For SC 751 series code
- disable SM updates w/command 127 0
- w/testjig, position robot to the zero position
- periodically run command 104 to confirm that the robot position is near zero (|3rd number| <100)
- zero (adjust) the K and B for the VS with command 131 0 0
- enter the VS state w/command 170 13
- enable SM update w/command 127 5
other commands
- 130 can be used to read the VS parameters
- 131 1000 10 : set the VS to a reasonably low value, probably save to run over the full range
- 131 K B where K is the
- 1120 can be used to read the electronic fuse parameters
- 1121 can be used to monitor the electronic fuse
