Discovery QDR Series Technical Manual
4-10
4.6 Motor Calibration
The SQDRIVER program provides a CALIBRATE command for each of the motors (AY,
AR, TY, TX, and TZ) to calibrate the encoder readback and determine the limits of
motion.
Use the following table to determine which calibration procedures you need to perform on
a given Discovery model.
Each motor (except TZ) requires the corresponding protocol calibration file in the
PROTOCOL sub-directory (e.g., for MOTOR$AY, the calibration protocol is
MOTOR_AY.PRO).
To perform the calibration procedure:
1. From the Discovery Main Menu screen, select
Utilities|Service Utili-
ties|SQDRIVER
(you must be in Service Mode).
2. At the
CARM$$$$>
prompt, type
MOTOR$XX<Enter>
, where XX equals TZ,
AY, TY, TX, or AR depending on which motor you are calibrating.
4.6.0.1 MOTOR$TZ (Discovery A and SL only)
1. Select the TZ motor device driver by typing:
MOTOR$TZ<Enter>
.
2. At the MOTOR$TZ> prompt, type:
CALIBRATE<Enter>
.
The program sends the calibration command to the TZ microprocessor and waits
twenty seconds for table motion to complete. During this time, the TZ
microprocessor moves the table pedestals to their top mechanical limit and then
back down to their lower mechanical limit. You are then asked the following:
3. Measure the distance moved using the bottom edge of the top pedestal cover and
the floor. The system displays:
Total Distance Moved By Pedestal [20.0 cm]?
Perform the calibration procedures if
indicated (*) in order from left to
right.
Model
TZ
AY
TY
TX
AR
A
*
*
*
*
*
SL
*
*
N/A
*
*
W
N/A
*
*
*
N/A
Wi
N/A
*
*
*
N/A
C
N/A
*
N/A
*
N/A
Ci
N/A
*
N/A
*
N.A
Mark the current height of the table and press the <Enter>
key to move the table to the topmost position. Then measure
the distance that the table moved in centimeters.
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