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Template:Homing Intro

Revision as of 19:18, 21 November 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.