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Revision as of 14:10, 9 December 2013 by Alexalspach (Talk | contribs)

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When the Allegro Dog is first powered on a simple homing procedure must be executed to find the offsets necessary for the incremental (relative) encoders at each joint. This procedure must be followed before the joints can be properly and safely controlled.

The homing procedure slowly jogs each of the 12 joints until a homing sensor is activated and deactivated. The angular displacement between the start of this procedure and the sensor activation is used to determine the offset necessary to properly locate each joint's zero position.

Note Every time the Allegro Dog is powered on (every time the motor controllers lose and regain power), the joint offsets must be found again using the homing procedure.

Homing Process

After booting up the Allegro Dog computer and enabling power to the motor controllers and motors, the homing procedure is used to find the encoder offsets necessary to position-control the joints.

  1. Elevate the Allegro Dog
  2. Use external power or charged batteries
  3. Turn main power on
  4. Boot the computer
  5. Turn on motor power
  6. Run the control software and GUI on the computer
  7. In the command prompt, press Tab to start communication
  8. Straighten legs manually. Warning This step is critical. Failure to do so may result in joint damage if home sensor is not triggered.
  9. Click the HOME button in the GUI

Note The Full Booting Instructions should be followed closely to bring you to this point.

Homing Sensors

The Allegro Dog uses Sanil DC Ultramini Inductive Proximity Switch Homing Sensors to detect offsets for the relative encoders during the homing process

Spec Sheet


Wire Routing


Motor Controller Power Routing.pdf