AMO CALIBRATION

1. Download application

• Download the application form the vendor website or from our storage (\iiticubstor01.iit.local\common\drivers_and_software\iC-Haus\MU_9SO_gui_B2rte.zip)

Warning

The application must be version B2

• Install the application.

2. Hardware Connections

• Connect the cable of the adapter MB3U-SPI to the USB and to the sensor.

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The AMO board

This should be done before executing the application.

3. Procedure

• Execute the application
• Click on Disconnected

• You should get the button coming green and the text changes to Connected
• Click on Load Config

• Select the appropriate .conf file according to the number of poles of the magnetic ring

  • 32 poles -> B2_ConfigurationAMO_32
  • 64 poles -> B2_ConfigurationAMO_64

• In the MessageBox click on RAM

• Go to the "Nonius Calibration tab, check both Adjust Analog and Adjust SPO checkboxes and click on Acquire Data, then move the joint by hand

Note

The joint movement should be slow and constant. The movement should cover all the joint range.

• The result in the graph should be similar to the following

If the graph is OK then :

• Click on Write RAM
• Click on Write EEPROM

Troubleshooting

Here you can find the most common issues when dealing with AMO calibration and how to fix them.

Magnetic ring or AMO board incorrectly mounted

During the Nonius calibration procedure it can happen to get such a result:

This means that either the magnetic ring or the AMO board are flipped by 180 degrees with respect to their correct orientation, and need to be rotated to fix the problem.

Warning

Always check the correspondance with the CAD placememnt