3. In the control room
1. Start the control computer and attach the 6' parallel cable to the robot. Be sure to remove any extra filters that may be on the interior part of the pass through.
2. Verify that the robot motors are turned off, start up the Phantom calibration routine and verify that the position readouts of the motors from the robot's calibration routine are stable.
3. Double check the parallel cable connection and that only the large custom filter is attached if the calibration routine cannot see the robot or there are large variations in the motor readout.
4. Turn on the robot by opening the port on the back of the shielding box and press the switches with a stick.
5. Restart the calibration routine with the end effecter approximately centered at the end of the conical waveguide. Step through the calibration and check that the box calibration box has the appropriate haptic interaction.
6. Attach the TTL output from the fMRI (BNC connector) to the Labjack ADC on the control computer.