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Difference between revisions of "Template:Homing Intro"

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{{note}} Every time the Allegro Dog is powered on (every time the motor controllers lose and regain power), the joint offsets must be reset.
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{{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|homing procedure]].

Revision as of 19:15, 21 November 2013

To find the offsets necessary for the incremental (relative) encoders at each joint, a simple homing procedure must be executed before the joints can be 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.