16
7.2
operating modes
status indicators
The displays the status of the system:
>
LED OFF
the system is off
>
LED ON
the system is ready
>
LED FLASHING (fast)
the system requires calibration
>
LED FLASHING (slow)
the wrist requires manual calibration (omega.6 or omega.7)
While the status LED is ON, it is possible to read the position of the of the end-effector, but no
forces can be applied. Forces must be enabled by pressing the force button. When the forces are
enabled, the force LED is turned ON. Forces can be disabled by pressing force button again.
features
calibration
Calibration is necessary to obtain accurate, reproducible localization of the end-effector within
the workspace of the device. The omega.x is designed in such a way that there can be no drift of
the calibration over time, so the procedure only needs to be performed once when the device is
powered ON.
The calibration procedure consists in placing calibration pole in the dedicated calibration pit. The
device detects when the calibration position is reached and the status LED stops flashing.
Figure 7 illustrates the calibration procedure. After the initial calibration described above, the LED
will stop flashing (omega.3).
figure 7 – calibration procedure
On the omega.6 and omega.7, the status LED will blink at a slower frequency, indicating that the
wrist is usable but not fully calibrated. To fully calibrate the omega.6 and omega.7 wrists, each of
the three rotation axes of the wrist and the grasping axis of the omega.7 must be moved by hand
to their respective end-stops positions. When the device has reached all end-stops, the LED stops
flashing, and the device is now fully calibrated.
Alternatively, an automatic calibration procedure of the omega.x active axes can be performed by
software using the Force Dimension SDK, for example by launching the application
HapticInit
which automatically drives the device throughout its workspace. Please do not touch the device
during this automatic calibration procedure. After calibration, the device is ready for normal op-
eration.
