46 lines
1.5 KiB
Markdown
46 lines
1.5 KiB
Markdown
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# Commissioning Checklist
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## Bench — no machine motion
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- [ ] Host can open serial link to Teensy.
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- [ ] HEARTBEAT / ACK / NACK verified.
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- [ ] Bad CRC/frame rejected with NACK or ignored safely.
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- [ ] State machine illegal transitions logged.
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- [ ] Telemetry frames parse at expected rate.
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## Sensor bring-up
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- [ ] KWR75B-CAN isolated CAN wiring verified.
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- [ ] CAN bit rate confirmed.
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- [ ] Vendor frame map decoded into Fx/Fy/Fz/Mx/My/Mz/status.
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- [ ] F/T stale-frame watchdog tested.
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- [ ] Table encoder angle stable and monotonic.
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- [ ] Arm encoder angle stable.
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## Drive bring-up
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- [ ] ODrive runtime interface selected and documented.
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- [ ] ODrive enable/disable/fault reset path verified.
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- [ ] Spindle RPM command and actual feedback verified.
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- [ ] Z force actuator command path verified with safe limits.
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- [ ] Brake engaged feedback verified if installed.
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## Safety
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- [ ] E-stop hard circuit tested independent of software state.
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- [ ] Force over-limit response tested.
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- [ ] Encoder-loss response tested.
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- [ ] Drive-fault response tested.
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- [ ] Host timeout -> pause -> abort behavior tested.
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- [ ] FAULTED requires explicit reset.
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## Manual run
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- [ ] Geometric gate blocks stale/missing geometry.
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- [ ] Manual start succeeds after valid geometry.
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- [ ] Force/table/spindle setpoints ramp smoothly.
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- [ ] Live setpoint changes are logged.
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- [ ] Telemetry CSV has required header and >=100 Hz samples.
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- [ ] Manual-session log includes setpoint history and actual summary.
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- [ ] Artifacts are saved under `/data/manual/{session_id}/`.
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