Homing - Quanser 6 DOF Hexapod Laboratory Manual

Figure 2.1: Simulink model used to calibrate the 6 DOF Hexapod using QUARC.
Follow these steps to calibrate the system:
1. Make sure the red button is in the upper position to enable the amplier. The amplier cannot be enabled when
the button is in the lower position. Twist the button to ensure it is in the enabled position.
2. Open the Simulink model called Hexapod_Calibrate.mdl, shown in Figure 2.1.
3. Run setup_hexapod.m in MATLAB (note: script is ran automatically when Simulink model is ran).
4. Click on QUARC | Build to generate the controller.
5. Power ON the Hexapod system by placing the power switch to the ON position.
6. Run the QUARC controller by going to QUARC | Start. Each of the base joints should move to their limits until
the limit switches are triggered.
Caution: PRESS DOWN on the RED BUTTON of the E-Stop switch to stop the Hexapod. This
deactivates the amplifier and cuts off the DC motor power.
7. The controller stops automatically when each of the six joints have reached their limit switch.

2.2 HOMING

Before running Hexapod_Joint_Control.mdl, Hexapod_World_Control.mdl, or any other position-based experiments,
the stage of the 6 DOF Hexapod must be in the HOME position. This is defined when each base joint is at its mid-
stroke position. The Hexapod_Home.mdlSimulink model, shown in Figure 2.2, is ran with QUARC to center all the
linear joints at the base.
HEXAPOD Laboratory Guide 6