52 lines
2.0 KiB
JSON
52 lines
2.0 KiB
JSON
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{
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"schema_version": "machine-capabilities.v1",
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"machine_id": "fullum-alpha",
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"machine_family": "swing-arm",
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"machine_name": "Fullum Swing-Arm Polisher",
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"controller_version": "polisher-control/0.1.0",
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"last_verified": "2026-06-01T00:00:00Z",
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"supported_motion_families": ["swing-arm-rosette"],
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"force_range_n": [5, 200],
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"table_rpm_range": [0.5, 10.0],
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"spindle_rpm_range": [10, 120],
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"cam_amplitude_range_deg": [1.0, 31.3],
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"cam_offset_range_deg": [-30.0, 30.0],
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"force_modulation": {
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"supported": true,
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"max_harmonics": 3,
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"max_amplitude_n": 24.0,
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"notes": "m=2 astigmatism and m=3 trefoil are proven channels. m=1 coma is unreliable (score 0.09)."
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},
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"supported_dither_profiles": ["none", "default"],
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"segment_duration_limits": {
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"min_s": 30,
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"max_s": 7200
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},
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"pause_resume_support": true,
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"telemetry_channels": [
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{ "name": "table_rpm", "unit": "RPM", "sample_rate_hz": 100 },
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{ "name": "spindle_rpm", "unit": "RPM", "sample_rate_hz": 100 },
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{ "name": "force_n", "unit": "N", "sample_rate_hz": 100 },
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{ "name": "arm_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
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{ "name": "table_angle_deg", "unit": "degrees", "sample_rate_hz": 100 },
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{ "name": "timestamp_ms", "unit": "ms", "sample_rate_hz": 100 }
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],
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"safety_limits": {
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"max_force_n": 200,
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"max_table_rpm": 10.0,
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"max_spindle_rpm": 120,
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"notes": "Force hard-limited by load cell interlock. RPM limits are VFD/servo configured."
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},
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"known_constraints": [
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"Cam amplitude is not servo-programmable — must be set mechanically before run.",
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"Force modulation bandwidth limited to ~5 Hz by actuator response.",
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"Table encoder is absolute but may have 1-2 count jitter.",
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"Serial interface to Teensy limits command update rate to ~50 Hz effective."
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],
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"unknowns": [
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"Exact force modulation phase accuracy at m=3 harmonic — not yet validated on hardware.",
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"Thermal drift effect on force sensor over runs longer than 1 hour.",
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"Arm pivot play magnitude under varying force loads."
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]
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}
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