Section 4 - Alignment & Calibration
4-23
The program rotates the C-arm counter clockwise (i.e., the tank assembly moves away from
the front of the machine). When the C-arm hits the AP mechanical limit the first time,
7.
Press
<ESC>
.
In the right hand column of the display, eight lines from the bottom (and highlighted in the
figure below), is the raw a/d readback of the motor encoder (in the example below, it is
2048). Manually rotate the encoder until the readback is 250±50 (i.e., in the range 200-300)
and then clamp the encoder to the drive shaft, making sure not to over stress the clamp.
Before repeating the calibration procedure, rotate the C-arm back to approximately 0º by
8.
Typing the command MOVE_REL 1470
MotionState NONE OnLine 1
DeviceState E_OK EmergencyStop 0
MotionError E_OK InterlockInhibit 0
PosMotionSwitch 0 CollisionImminent 0
NegMotionSwitch 0 LocalMotionEnable 0
PosLimitSwitch NONE C/C Version 0.00
NegLimitSwitch NONE # C/C Interrupts 1619(0)
Position 1836 # DOS Interrupts 265
MoveState DONE StepStatus 0
FirstRate 33 AccelType 0
FinalRate 331 Direction 1
HoldPower OFF HoldPower 0
StepPower MEDIUM StepPower 2
AccelDistance 0 InputSwitches 3
AccelType 0
Position 2048
MinMotion 0 NegLimitPosition 250
MotionDetect 0 PosLimitPosition 3831
PosLimitPosition 5063 FirstRate 300
NegLimitPosition -1420 FinalRate 3000
PositionAverage 1 AccelSteps 0
DriverVersion 3.41 NumberOfSteps 50000
DeviceVersion 2.03 RateScaleFactor 1
MOTOR$AR> E_OK
Wait until the rotation completes and then repeat the calibration procedure above but now,
when the C-arm hits the AP mechanical stop,
9.
Press
<Enter>
.
The program prompts
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