Virtual spring test

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