1. Verigy V93000 Service Training
Module 11:
Calibration Robot
Module 11: Calibration Robot
Objective:
Given:
Calibration Robot Installation and Maintenance Guide
Study Guide
Quiz
Answer questions about the calibration robot. 90% correct answers are required to get credit for this module.

2. Calibration Robot Cal Robot (unwrapped)
The Calibration Robot (short: Cal Robot) consists of two subunits:
XYZ Unit
Cart
XYZ Unit
Cart
Cal Robot (unwrapped)
11 - Cal Robot

3. Connections to Tester
There are three electrical connections paths to the tester:
Powering the Cal Robot The Cal Robot is connected to a switched power outlet in the Support Rack.
Controlling the Cal Robot The Cal Robot receives the control commands from the system controller via the Utility line pogoblock 1.
Calibrating with the Cal Robot
To use the Cal Robot as calibration unit, the Cal Robot is connected to the testhead (-> “Master Clock board”) via a “Calibration cable”.
11 - Cal Robot

4. Interface – Electrical Connection to Tester
Powering the Cal Robot
The Cal Robot is powered by the a switched socket inside the Support
Rack.
Main socket on power
supply drawer
Switched power outlet
in Support Rack
Note:
Before using the Calibration Robot for Autocalibration the unit must run for at least 60 minutes.
It is mandaroy to power the Cal Robot from the switched power outlet of the Standard Support Rack.
11 - Cal Robot

5. ICU (ACU) Unit connector
Interface – MCLK Connection to Tester
Calibrating with the Cal Robot
The connection between the Cal Robot and the testhead (-> “Master
Clock Board”) is established with the “Calibration cable” that
Connects to the “Calibration Robot connector” on the testhead.
Cal Robot connector
Calibration
cable
ICU (ACU) Unit connector
Calibration cable
Connection Calibration cable to TH
TH Panel
Note: In the first phase of the HD tester shipments there are both connectors for the „ACU/ICU“ (Automated calibration unit) and the „Calibration Robot“ attached to the testhead panel. Before the AC Skew Calibration starts, the software checks if the Cal Robot is installed. If the wrong calibration medium (e.g. ICU/ACU was erronously connected) is detected, a warning message is generated to warn the user about the invalid setup.
Note: On early shipments of the Cal Robot and the HD systems there were some connection issues between the Cal Robot and the TH panel observed. For more information please refer to Service Note E
11 - Cal Robot

6. Utility pogoblock 1 (TH)
Interface - Utility Connection to Tester
Controlling the Cal Robot
The Cal Robot receives the control commands from the system
controller via the Utility line pogoblock 1.
Connector to
Support board
Connector to
testhead
Connector to
Utility pogoblock 1 (TH)
Utility connect board (front side)
Utility connect board (rear side)
Note: For the location of the “Utility connect board” within the Cal Robot is please see page 23
The following utility lines are used to control the Cal Robot:
URW00, URW01, URW02, UW07, UW08, UW09, UW10, UW12 and UW13
11 - Cal Robot

7. Communication Connections to Tester
Overview of electrical connections
Support Board
(within Cal Robot)
Probe
Control
Reference Edge
Calibration cable
Utility Lines
Utility connect
board
Fibre
link
System controller
Motor Control Units
Communication path within Cal Robot
Communication path Cal Robot - Tester
Overview of electrical connections:
The System controller communicates with the tester over a communication path that is established via the Computer Interface Card (CIC), fibre optic cables and active control boards.
The Master Clock Board in the Testhead provides the Reference edge for the Cal Probe; the signal is transported to the Cal Probe via the “Calibration cable”
The Cal Robot is controlled from the system controller via the Utility Lines of Utility Pogoblock 1.
The Support Board controls the Cal Probe and the Motor controllers that are located in the cart.
Communication path Tester – S. Controller
11 - Cal Robot

8. System components: XYZ Unit
The XYZ Unit contains:
Calibration Probe (-> calibrates all digital pins on the tester by contacting the channel pogo pins)
Support Board (-> features the system controller, controls the Robot)
Utility Line Interface (-> connects the Support Board with the TH)
ON/OFF Board (->push buttons that also serve as status LEDs)
Mechanical hardware to move the Cal Probe and contact the Pogopins (Bridge, Drive belt, stepper motors, Linear guide, Pulleys)
Calibration Probe (-> calibrates all digital pins on the tester by contacting the channel pogo pins)
Support Board (-> features the system controller, controls the Robot)
Utility Line Interface (-> connects the Support Board with the TH)
ON/OFF Board (->push buttons that also serve as status LEDs)
Mechanical hardware to move the Cal Probe and contact the Pogopins (Bridge, Drive belt, stepper motors, Linear guide, Pulleys)
11 - Cal Robot

9. XYZ Unit Mechanical layout The Cal Probe is moved as follows:
Positive y-direction: both motors rotate clockwise at the same speed
Negative y-direction: both motors rotate counter-clockwise at the same speed
Positive x-direction: motor 1 rotates clockwise, motor 2 rotates counter-clockwise at the same speed
Negative x-direction: motor 1 rotates counter-clockwise, motor 2 rotates clockwise at the same speed
If the motors rotate at different speeds (or one stands still while the other one is rotating) the Cal Probe moves in diagonal direction.
11 - Cal Robot

10. XYZ Unit Mechanical layout (top cover removed from XYZ Unit)
Stepper motor 2
Pulley
Bridge
Drive
belt
Linear
guides
Cal Probe
Stepper motor 1
Functions of the mechanical parts:
Cal Probe: The Cal Probe calibrates all digital pins on the tester.
Stepper motor: The two stepper motors drive the serrated belt. The motors have breaks that will be engaged to keep the position of the Cal Probe.
Drive belt: The drive belt moves the Cal Probe (mounted on the “bridge which” is the linear guide for the y direction) in x- and y- direction.
Pulley: The pulleys turn around the direction of the belt movement.
Linear guides: The bridge moves in x- and y-direction on the linear guides.
11 - Cal Robot

11. Utility Line Interface
XYZ Unit
Electrical layout (Block diagram)
M 1
Break 1
Encoder 1
M 2
Break 2
Encoder 2
Power
Supply
24V S W 1 . 5 , O p t e n s o r
Switch 3
(y-axis)
Switch 1
(x-axis)
Switch 2
Switch 4
Switch 5
(z-axis)
Support
Board
Motor
Control
Unit 2
Unit 1
Solenoid
Testhead
Fiber Link
System controller
Fiber-
optic
Module i a l C
Optical Sensor
Cal-Probe
88 V VAC
from Support Rack
Serial Control
Reference Edge
Probe Measurement
+10V, -10V, +5V,
+12V_FAN y c h u
ON/OFF Board
LEDs
Buttons
Cal Robot - XYZ Unit
Cal Robot - Cart
System controller
Utility Line Interface
Digital Pogo Pins
Cal Robot Connector
11 - Cal Robot

12. Location of Optical position indicators
XYZ Unit
Electrical layout (top cover removed from XYZ Unit)
Location of Optical position indicators
Support Board
ON/OFF Unit
Solenoid
(plus end switch)
Location of micro switches (“end switches”)
Utility connect board
Fibre optic
module
Cal Probe
End switches:
There are four micro switches at the end of the x and y axis to limit the travel in x and y direction. There is a fifth microswitch on the bridge that indicates that the probe has moved down
During the „coarse self-calibration“ the software generates a rough coordinate system by driving the Cal Probe against the end switches. The coordinate system serves to initialize the encoders intergrated in the stepper motors and subsequently to locate the optical position indicators.
Fibre optic module/optical position indicators:
The “Fibre optic module” features a light source (=sender) and sensor (=receiver) for the light.
Light from the „Fibre optic module“ is directed via 3 fibre optical cables to the “Optical position indicators”: the red light is emitted from the optical fibres at the “optical position indicators”.
A fourth fibre optical cable is connected to the bottom side of the Cal probe and acts a sensor for the ligth: the output of the sensor is connected to the Support Board which transports the signal further to the Motor Control Units to control the movement of the stepper motors.
During the „fine self-calibration“ the Cal Probe will be driven up against the optical outputs from 4 sides to find the outside edges of the optical indicators disperion range. The exact positions are determined by calculating the center. The software uses information from the encoders and the exact position of the optical inidcators to calculate the x- and y-coordinates.
Solenoid:
The solenoid moves the Cal Probe in z-direction (up/down). A counter in the Support Board EEPROM counts the number of vertical movements.
Utility connect board:
The Cal Robot is controlled via the Utility lines: the “Utility connect board” connects to Utility Pogoblock 1 where the control data from the system controller is passed on Support board.
The following utility lines are used to control the Cal Robot: URW00, URW01, URW02, UW07, UW08, UW09, UW10, UW12 and UW13
ON/OFF Board:
The ON/OFF board works as control panel with 3 LEDs for status indication; two buttons (red+green) are used to control the Cal Robot.
Status of LEDs:
All 3 LEDs are ON: Initialization of Cal Robot.
Red+Green LED ON: Manual mode is entered if Red+Green LED are pressed at the same time -> Motor breaks are disengaged and Cal Probe can be moved manually.
Red LED ON: hardware defect
Green+Orange LED ON: Cal Robot is in operation (e.g. performs AC Skew Calibration)
Green LED ON: Cal Robot is ready
11 - Cal Robot

13. Cal Probe
Calibration Probe (E )– Physical Layout (Front side)
Cooling Fan
(DRIC is located under fan)
DRIC: Drive-Receive Intregrated Circuit (sampling circuitry)
Cal Probe board
Probe pin housing
Cooling Fan: The cooling fan is used to cool the Cal Probe.
Probe board: The signal lines from the DRIC to the Probe Pins (and vice versa) are routed over the Probe board.
Probe pin housing: The Probe pin housing holds the Probe Pins in place.
Note: There are two different versions of the Cal Probe:
E (related OF number printed on board: E ) features a D-DRIC.
E (related OF number printed on board: E ) features a P-DRIC.
Both Cal Probe are fully compatible to each other
E is supported for SW rev. >= 5.0
E is supported for SW rev. >= 5.1
Support strategy:
SOH of cal probe E will be used up; part number will then become obsolete.
Cal probe E will replace E once SOH of E is used up.
Roll-over will be documented in a Service Note.
For more information please refer to Service Note E
11 - Cal Robot

14. Cal Probe Calibration Probe – Block diagram DAC Reference Edge50
DAC
DVH
IDROOPA1
PIN2
IDVL
16.2
Pogo pin
Channel 2
Logic,
EEPROM
DRIC Temperature
Heatsink Temp.
Drive/Receive
Invert
Reference Edge
+10V
–10V
Fan Supply
Serial interface
to support board
DRIC
+5V
Channel 1
Cal Probe: The Cal Probe performs drive and receive edge calibration of the digital channels in testhead. During the calibration the channel edge is set so that the differences in signal pathes between two channels are compensated. Two modes are used for the calibration:
Drive Mode:
The reference edge is used as the drive signal to the channel being calibrated -> data to be driven to the external pinlines (Parameters are Drive High Level (DVH), Swing (IDVL), Droop Compensation (IDROOPA1), Polarity (Inver Bit)
Receive Mode:
The Reference edge is used to sample the Internal Pinline signal. A decision ciruit signals whether the signal was higher or lower than the Compare level.
The DVH level is used for termination. An “invert bit” defines if the positive and negative “Reference edge” is used for sampling. “Pin2” is the compare voltage in the “receive mode”
Pinline: The Cal Probe has two external Pinlines and one internal Pinline connected with a Power divider build with three 16,2 Ohm resistors which allows to drive and receive signals; the power divider attenuates the DRIC signal by –6dB
Reference edge: The Cal Probe requires a reference edge to synchronize the timing on all channels. The “Reference edge” is generated by the calibration circuit on the Master Clockboard in the Testhead. The Reference edge is used to drive a signal into a pin channel or to sample the received signal from it. The Reference edge can be inverted so that both rising and falling edges of pin channel signal can be examined.
DRIC: “DRIC” is the abbrevation for “Drive Receiver Intergrated Circuit”; the DRIC handles signal from/to digital channels.
DACs: Level control of DRIC
PLD: “PLD” is the abbreviation for “Programmable logic device”; the PLD controls the logic of the DRIC.
Sensor: Monitor of the temperature of the DRIC and the probe heat sink.
ADC: Conversion of the (analog) measured temperate values into digital values.
EEPROM: Logs the number of Cal Probe contacts with the pogo pins.
Power: The Cal Probe is powered by +10V, -10V (supplied by the Support board) and +5V (supplied by the Utility line interface).
11 - Cal Robot

15. Cal Probe Calibration Probe – Cal Probe pins (explosion drawing)
Orientation of Pogo block Pin Scale 3600 Digital Card
Fan
Fibre optic cable
Cal Probe
Board (PCB)
Orientation
mark
Light beam
entry point
Cal Probe Pins
Pin 1
Drive belt
Orientation of Pogo block Pin Scale 800 Digital Card
Probe Pin housing
Orientation of
Cal Probe Pins
Ground
pin
Orientation
mark
Digital
pin
Ground
pin
Pin 1
11 - Cal Robot

16. Support Board Support Board – Physical layout Calibration cable
Connector P101 to
Power supply drawer
Ribbon cable connector P201
To ON/OFF board
Molex connector P103
to Fibre optic module
Molex connector J101
to micro switches
PLD
Data cable connector
P401 to Motor control unit
Ribbon cable connector J501
to Utility line interface board
Molex connector P102
to solenoid
Molex connector J701
to Cal Probe
DC/DC Conv. +12V
DC/DC Conv. -12V
Note: There are two different revisions of the Support Board:
Rev. 100: The SW programming of the PLD could cause intermittent communication problems between the Cal Robot and the tester.
Rev. 101: The SW of the PLD was updated to fix the communication problem. You can distinguish both revision:
rev. 101 the red and orange LED on the ON/OFF board keeps blinking after power on for a few seconds.
rev. 100 both the red and orange LED turn off after power on.
the part number of the Support board did not change.
For more detailed information please refer to Service Note E
11 - Cal Robot

17. Support Board Support Board – Physical layout Status LEDs
DS 601 lits if +24V are present
DS 602 lits if +12V are present
DS 604 lits if +5V are present
DS 603 lits if –10V are present
DS 701 indicates that the PLD is not configured,
off after power on
DS 702 indicates that PLD works
DS 703 currently not used
11 - Cal Robot

18. Cart The drawer contains:
Power supply (provides power to the XYZ Unit, the motor control units and the stepper motors)
Power supply fuses (fuses protect the AC main input, the 24VDC output line to the support board and the two motor control units)
Motor control units (control the operation of the stepper motors and breaks)
Accessory drawer to store tools and Diag/Cal boards
Power supply:
Main input: 230VAC (fused)
Output: 24VDC for Support board (XYZ Unit) and 2 Motor control units (fused)
Motor control unit:
One Motor control unit for each stepper motor
The Motor control unit is powered with 24VDC (500W) from the power supply
The Motor control units control the operation of the stepper motors and the breaks
The Motor control units have interfaces to
stepper motor control
Break control
Motor encoder interface to obtain motor position data
Connection to end-of-travel micro switches to determine the coarse position of the Cal Probe during coarse self calibration
Fibre optic module to determine the exact position of the Cal Probe during fine self calibration
Support Board
11 - Cal Robot

19. Storage slots for board
Cart
Mechanical layout
Platform for XYZ Unit
Flexible cable trunk
to XYZ Unit
Power supply drawer
Storage slots for board
Accessory drawer
Wheels with breaks
11 - Cal Robot

20. Cart Physical layout Cal Robot Cart Cal Robot Cart (drawer pulled out)
Cal Robot Cart (board storage)
Accessory drawer (incl. accessories)
Accessory drawer contains:
Mouting plates and docking pins to dock the Cal Robot to the tester
Set of fues for the power supply
Storage slots for:
Calibration/Diagnostic boards
11 - Cal Robot

21. Power Supply Drawer Physical layout (top cover removed from drawer)
Unit (500W)
DC Output terminal
AC Mains fuses
Fuses
Cable trunk to
XYZ Unit
Motor Control
Unit 2
Motor Control
Unit 1
Power supply drawer:
Main input: 230VAC (fused)
Output: 24VDC for Support board (XYZ Unit) and 2 Motor control units (fused)
Power: 500W (same as used in SD Support Rack)
11 - Cal Robot

22. Preventive Maintenance
Preventive Maintenance Schedule
* Note: There is a special torque wrench available to tighten the belt.
Activity
Maintenance Frequency
Time required
Cleaning the cabinet (Air inlets in side covers, Cal Probe cooling fan, Fibre optic indicators)
Once per year
5 min
Checking belt tension and condition *
10 min
Exchanging the Cal Probe
SW gives notification
(limit: 100,000 touchdowns)
15 min
For cleaning the cabinet a vacuum cleaner is used.
For more information on the Maintenance schedule please refer to manual „Calibration Robot Installation and Maintenance Guide” (E )
Note: There is a counter that counts the number of probe touchdowns and saves the value in the Cal Probe EEPROM. Anytime the Cal Robot is initialized the number of touchdowns for the particular Cal Probe is read out; if the Cal Probe has reached more than touchdowns a Report Window shows the following warning:
WARNING: Probe has XXXXXX touch downs. With more than touch downs please exchange calibration robot probe as soon as possible
11 - Cal Robot

23. Diagnostic Test Start “Calibration Robot Test” (CROB)
Choose “Cal Robot” in the menu Select Tests
Click “Start” to start the Diagnostic test.
11 - Cal Robot

24. CROB test detects defective parts on FRU level
Diagnostic Test
Testcoverage of the “Calibration Robot Test“ (CROB)
Robot functional test (functional test with sub-tests):
Support board communiction test
Solenoid test
UART communication test
ECO stepper controller test
Probe power supply test
Calibration probe test (functional test with sub-tests):
Fan speed test DDRIC test
EEPROM test Register dump test
Probe temperature test Probe DAC test
CROB test detects defective parts on FRU level
Robot functional test:
Support Board communication test: checks the communication to/from the Support board
Solenoid test: checks whether the solenoid is able to lower and lift the probe
UART communication test: checks the Support board UART communication.
ECO stepper controller test: reads the status register of the Motor Control Unit a number of times.
Probe power supply test: status of the +10V voltage on the Support Board is checked.
Calibration probe test
Fan speed test: fan rotation speed is measured
EERPOM test: checks whether the EEPROM on the Cal Probe is accessible for read/write operations.
Probe temperature test: checks if the temperature sensors are accessible; ambient temperature of DRIC is measured
DDRIC test: Reference edge signal is turned on/off to check if signal is detected; polarity of trigger edge is checked.
Register dump test: checks if the content of the support board register can be read out and dumped to the value file.
Probe DAC test: checks if the probe DAC is working properly.
11 - Cal Robot

25. Diagnostic Logfile Di_log_file of “Calibration Robot Test” (extract)
T CROB (ADD):calibration robot test (100.00ns)
Starting...
Probe EEPROM read failed
Reference Edge not found
Polarity of Reference Edge failed, DFF triggers on pos and neg edges
Finished...
FAILED
time: DI:13430 FW:18742 [msec]
Diagnostic finished
### Diagnostic finished at: Fri Nov 19 16:23:
11 - Cal Robot

26. Diagnostic Logfile Di_value_file of „Calibration Robot Test“ (extract)
T CROB (ADD):calibration robot test
T127: Testing for calrobot
T127: Calibration robot: available
T127: NIOS communication
T127: cmd[000] Send=0x0000, Received=0x0000 ….
T127: cmd[255] Send=0x00FF, Received=0x00FF
T127: Support Board register
T127: FAN STATUS: 1
T127: +10V : 1
T127: -10V : 1
T127: Probe down: 1
T127: DTOK : 1
T127: Red LED : 0
T127: Orange LED: 0
T127: Green LED : 1
T127: UART loop back
T127: RX[00] = 00
T127: RX[30] = 00 ***
T127: Solenoid
T127: Solenoid down: 0
T127: Solenoid up: 1
T127: EEPROM test
T127: Support board EEPROM counter: 1289
T127: Support board EEPROM write: OK
T127: Probe EEPROM read: FAILED ***
T127: Probe EEPROM counter: 1289
T127: probe power supply test
T127: Probe supply voltage +10V software switch: ON
T127: Probe supply voltage +10V: OK
T127: Probe supply voltage -10V software switch: ON
T127: Probe supply voltage -10V: OK
Note: Failing tests are marked with astrix ***
11 - Cal Robot

27. Diagnostic Logfile Di_value_file of „Calibration Robot Test“ (extract)
T CROB (ADD):calibration robot test (continued)
T127: PLD software version = 3
T127: Fan rotation speed
T127: Fan counter: 235
T127: Fan counter: 238
T127: Fan counter: 230
T127: Fan counter: 241
T127: Fan counter: 239
T127: Fan counter: 237
T127: Fan counter: 012
T127: Fan counter: 016
T127: Fan counter: 024
T127: Fan counter: 031
T127: Fan counter: 034
T127: Probe DAC test
T127: DAC last command: 0x0000
T127: DAC send 0xA000, received 0xA000
T127: DAC send 0x8000, received 0x8000
T127: DAC send 0x00AA, received 0x00AA
T127: DAC send 0x0055, received 0x0055
T127: Probe temperature
T127: DDRIC temperature = C
T127: Probe temperature = C
T127: DDRIC reference edge test
T127: Reference Edge: NOT FOUND ***
T127: D-Flip-Flop: OK
T127: Polarity of Reference Edge: FAIL, DFF TRIGGERS ON POS AND NEG EDGES ***
### Diagnostic finished at: Fri Nov 19 16:23:
Note: Failing tests are marked with astrix ***
11 - Cal Robot

28. Long torx screw driver (T10)
Repair Tools
The following tools are orderable:
Torque wrench (incl. torque setter) to tighten the drive belt. ( )
Torx insert T20 ( )
Torx screw driver T10 long ( )
Torque wrench
Torque setter
Torx insert (T20)
Long torx screw driver (T10)
11 - Cal Robot

29. Troubleshooting Tips
Defective FRU: The “Calibration Robot Test” in the Diagnostic is able to detect most defective FRUs (exception: Power supply; for more information please refer to Service Guide Part 1 (E )
Power problems: If the ON/OFF panel is inactive after power on (e.g. lights are dark) check the input and output voltages of the power supply with a DVM (for more details please refer to Service Guide Part 2 chapter Cal Robot (E )
Problems during initialization: If the initialization of the Cal Robot fails (i.e. all lamps on the ON/OFF board remain on) recyle power.
Communication problem between Tester and Cal Robot: Make sure to check the connection between the Utility Pogoblock 1 and the Utility Connect Board with in the XYZ Unit (visual inspection, check of utility lines with Diagnostic test UTIL).
Docking problem: If you encounter problems when docking the Cal Robot to the testhead please refer to manual „Calibration Robot Installation and Maintenance Guide“ (E )
11 - Cal Robot

30. Troubleshooting Tips
Troubleshooting Cal Robot with help of ON/OFF Board
The ON/OFF board works as control panel with 3 LEDs for status indication; two buttons (red + green) are used to control the Cal Robot.
Status of LEDs:
All 3 LEDs are ON: Initialization of Cal Robot.
Red + Green LED ON: Manual mode is entered if Red+Green LED are pressed at the same time -> Motor brakes are disengaged and Cal Probe can be moved manually.
Red LED ON: hardware defect
Green + Orange LED ON: Cal Robot is in operation (e.g. init; performs AC Skew Calibration)
Green LED ON: Cal Robot is ready
11 - Cal Robot

31. Firmware Commands Overview of Firmware commands:
CRSC INIT Initializes global variables.
CRCA INIT Initializes the motor control units.
CRCA SLFT Performs coarse self calibration (moves probe to end switches, moves probe up/down)
CRCA RCAL Performs fine calibration (moves to reference light sources)
CRSC? MCNT Query the counter of the Support Board EEPROM
CRSC? CCNT Query the counter on the Cal Probe EEPROM
11 - Cal Robot

32. Firmware Commands
Example: Perform coarse and fine calibration, then move Cal Probe to channel and then into “park” position.
Start SmarTest
execute: /opt/hp93000/soc/fw/bin/hpt
1. command CRSC INIT
2. command CRCA INIT
3. command CRCA SLFT
4. command CRCA RCAL
5. command CRMV CHMV, (->moves Cal Probe to channel and contacts pin)
6. command CRMV PARK (-> Cal Probe enter „park“ position)
Note: Always run FW command “CRSC INIT” before exetuing any FW-commands. “CRSC INIT” initializes the Cal Robot.
11 - Cal Robot

33. Firmware Commands
Example: Read out counter of Support Board and Cal Probe EEPROM:
Start SmarTest
execute: /opt/hp93000/soc/fw/bin/hpt
1. command CRSC INIT
2. command CRSC? MCNT (-> Query the counter of the Support Board EEPROM)
3. command CRSC? CCNT (-> Query the counter on the Cal Probe EEPROM)
Example: Read out temperature of Cal Probe:
- Start SmarTest
- execute: /opt/hp93000/soc/fw/bin/hpt
1. command CRSC INIT
2. command CRPD? TMPP (-> Reads out temperature of Cal Probe)
3. command CRPD? TMPA (-> Reads out ambient temperature)
Example results:
CRPD TMPP,336,395 -> Probe has a temperature of 336,395K (= 336, ,16 = 62,25 °C)
CRPD TMPA,308,034 -> Ambient temperature is 308,034K (= 336, ,16 = 34,8 °C)
Note: Always run FW command “CRSC INIT“ before exetuing any FW-commands. “CRSC INIT” initializes the Cal Robot.
11 - Cal Robot

34. Calibration Steps Calibration step with Cal Robot Section/command
Firmware Command / Step *
HW and activity involed
INIT
Cal Robot initialization
SPMC
High Precision PMU
PDIC
DPS Calibration
DC Calibration
BADC
Board ADC
BTMP
Board temperature
CDAC
Channel DAC linearity
PPMU
Pin PMU
Levels *
AC Calibration
Skew cal using internal sources *
Skew cal using Cal Robot *
Cal probe TDR *
Cal Robot
required
Time
Cal Robot
required
DC Calibration: adjustement of level accuracy
DC Cal ensures that all IO functions of the test system can be perfromed with the specified voltage and current accuracy.
DC Cal covers all DC resources in the test system such as High Precision PMU, Board ADCs, channel driver, channel receives, etc.
AC Calibration: adjustment of timing accuracy
AC Cal ensures that all IO functions of the test system can be perfromed with the specified timing accuracy.
AC Cal covers all timing generators (eight driver and eight receiver edges per channel) and handles all irregular effects introduced by distortion of the Master clock.
11 - Cal Robot