Perform hardware diagnostics menu

The Perform hardware diagnostics menu provides access to information on each node in the system for the selected robot. The items analyzed and reported are:

• Motor/(Bd|Node/Ch|Gd) 

• Encoder position

• Last zero-index

• Home

• Overtravel

• Amp fault

• Amp enable

• Brake release

• DAC voltage

• DAC count

This utility also allows you to select various diagnostic options, which are described in the diagnostic options table. For additional details on hardware diagnostics, see Test and Troubleshooting.

To use the Perform hardware diagnostics menu option:

1. Select the Perform hardware diagnostics option from the SPEC main menu and then press Enter. The following screen is displayed:

2. Enable High Power by pressing "P", select the proper motor (by typing its number) then enable the individual amplifier by typing "A". Release the brake by typing "R". Check that all outputs are operating as described in Discrete Output Test Requirements.

3. Enable High Power by pressing P, select the proper motor (by typing its number) then enable the individual amplifier by typing A. Release the brake by typing R. Check that all outputs are operating as described in Discrete Output Test Requirements.

4. Press the P key to toggle power ON/OFF. The power state is changed and the display is updated so that it appears similar to the following:

Each of the diagnostic options is listed and described in the table below.

Shortcut	Option	Description
A	Toggle amp enable	Turns on the Amp Enable signal to the Amplifier. Can be used to verify that the wiring is correct from the MI-X board. It is also necessary to enable this before any DAC can be given to the Amplifier.
U	Increase DAC quickly	Pressing U once will increase the DAC Voltage 'UP' by the amount specified in the DAC Increment. This can be used to apply DAC directly to the motor from the amplifiers. Increasing and Decreasing the DAC is a particularly useful tool for verifying that DAC wiring is correct. Note that Max and Min DAC values are determined by parameters set in the Edit Motor/Encoder Specs section of SPEC.
D	Decrease DAC quickly	Pressing D once will increase the DAC Voltage 'DOWN' by the amount specified in the DAC Increment. This can be used to apply DAC directly to the motor from the amplifiers. Increasing and Decreasing the DAC is a particularly useful tool for verifying that DAC wiring is correct. Note that Max and Min DAC values are determined by parameters set in the Edit Motor/Encoder Specs section of SPEC.
C	Change DAC Increment	This determines the incremental amount of DAC applied to the amplifier when the 'U' or 'D' button is pressed once.
R	Toggle brake release	Turns the Brake release on or off for an axis. Use of this depends if the axis has a brake or not. Note that if it is a vertical Axis, the brake release may cause the Axis to Drop.