1.2.2.3.2 Calibration Procedure
1.2.2.3.2.1 Prerequisite
Assemble the Circulo with Internal encoders
Make sure the Encoder Rings are installed properly
Set up OBLAC Drives
Check the current version of OBLAC Drives (requires 20.2.0 or higher)
Install the latest firmware before commissioning
Configure your setup
Run Offset Detection, Perform System Identification. Perform Velocity Tuning
Alternatively, copy the configuration file from a similar actuator and perform the Offset Detection
Note
The Encoder Calibration tab will not be visible on Circulos that are part of an assembly (e.g. a robot
joint that is delivered preconfigured and calibrated by a joint manufacturer).
1.2.2.3.2.2 Performing the procedure
Note
If you turn off the Circulo/OBLAC Box or disconnect the EtherCAT cable during the encoder calibration
process, the internal EEPROM memory might have an invalid configuration and show a fault. You can
overcome this problem by just repeating the calibration.
Note
If two encoders are used, please calibrate the motor shaft encoder first (typically encoder 2) and then
repeat the procedure for the output shaft encoder (typically encoder 1).
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