Force Dimension robots require periodic calibration. Until the robot is calibrated, it will not function. From the sigma.7 manual:
Calibration of the haptic device controller is necessary to obtain accurate, reproducible localization of the end-effector within the workspace of the haptic device... the procedure only needs to be performed once each time the device is powered ON.
For the Novint Falcon, the need to calibrate is indicated by a red status light, on the forward face of the robot. Try gently moving the robot endpoint around the limits of the workspace. Or, as it is put in the delta.x manual, the robot can be calibrated:
by slowly sweeping each axis from end-stop to end-stop.
After a few seconds of motion, the robot should spring to life.
For the delta.x, the status LED on the control unit will blink when calibration is required. According to the delta.x manual, calibration can be accomplished in two ways:
- by slowly sweeping each axis from end-stop to end-stop. This is the recommended calibration method.
- by holding the force button on the control unit for 2 seconds while maintaining the end-effector at the calibration position (axis 0 retracted, axis 1 and 2 extended, see figure 10). Make sure all axes are resting on their respective mechanical
For the sigma.7 robot, calibration is automatic. According to the sigma.7 manual:
The automatic calibration procedure is 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.
The HapticInit.exe application is contained within the bin directory of the Force Dimension SDK for Windows.