After a meeting with Anton @adeguet1, we have found a bug in the software version 2.2.1.
When using FIXED tool-detection mode, the coupling matrix seems to be always loaded. This affects the engagement of the sterile adaptor and also the calibration. When engaging the sterile adaptor, it seems that the actuators for the disk will go out of the limits because of the matrix being present. When calibrating the potentiometers, as the coupling matrix is present, the values are wrong.
Current way of mitigation: avoid using FIXED mode for tool-detection, either by using AUTOMATIC or MANUAL.
After a meeting with Anton @adeguet1, we have found a bug in the software version 2.2.1.
When using FIXED tool-detection mode, the coupling matrix seems to be always loaded. This affects the engagement of the sterile adaptor and also the calibration. When engaging the sterile adaptor, it seems that the actuators for the disk will go out of the limits because of the matrix being present. When calibrating the potentiometers, as the coupling matrix is present, the values are wrong.
Current way of mitigation: avoid using FIXED mode for tool-detection, either by using AUTOMATIC or MANUAL.