2026-05-26 16:23:04 +00:00
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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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2026-07-06 10:21:23 +00:00
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- [ ] AK60 runtime interface selected and documented.
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- [ ] AK60 enable/disable/fault reset path verified.
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- [ ] Spindle RPM command, actual feedback, direction mapping, and safe ramp/stop behavior verified.
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2026-05-26 16:23:04 +00:00
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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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2026-07-06 10:21:23 +00:00
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- [ ] STO channels wired as independent safety channels per SV2A and safety relay manuals.
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- [ ] Z brake engages on E-stop, STO/drive fault, controller crash, and power loss with no software dependency.
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- [ ] AK60 power removal through the safety-controlled post-contactor bus verified; CAN stop is not treated as safety-rated.
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2026-05-26 16:23:04 +00:00
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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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