2026-05-26 16:23:04 +00:00
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# Telemetry Channel Spec v1
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## Core channels — required at >=100 Hz
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```text
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timestamp_us
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table_angle_deg
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arm_angle_deg
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fz_n
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mx
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my
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mz
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spindle_rpm_actual
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table_rpm_actual
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arm_amplitude_deg_derived
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arm_center_deg_derived
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machine_state
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force_setpoint_n
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```
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## Strongly recommended channels
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```text
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fx_n
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fy_n
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ft_status
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z_servo_iq_v
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z_brake_engaged
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spindle_drive_state
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spindle_drive_error
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spindle_bus_voltage_v
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spindle_iq_a
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spindle_motor_temp_c
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arm_angle_linearized_deg
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table_rpm_setpoint
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spindle_rpm_setpoint
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2026-06-02 15:40:16 +00:00
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spindle_direction_setpoint
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spindle_direction_actual
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2026-05-26 16:23:04 +00:00
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force_actuator_cmd
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estop_active
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interlock_state
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mode
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fz_raw_n
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fz_contact_n
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```
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## Principles
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- One monotonic Teensy timestamp source.
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- Raw values, not only filtered values.
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- Commanded and actual values are both present.
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- Sensor validity is explicit; never substitute fake good values.
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- Gaps are detectable from timestamps.
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- Header names are stable because downstream analysis will depend on them.
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2026-06-02 15:40:16 +00:00
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- Spindle RPM remains a non-negative magnitude; spindle direction is logged separately as `cw` / `ccw` rather than encoded as signed RPM.
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2026-05-26 16:23:04 +00:00
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## CSV baseline
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First-write compatibility format is CSV. Later processing may produce Parquet/downsampled traces, but raw CSV must be preserved during commissioning.
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