docs: sync control source to AK60 RPi5 BiSS-C
This commit is contained in:
Nick Hermes
@@ -19,7 +19,7 @@ Normand can operate the polisher manually from the touchscreen, with:
|
||||
|
||||
- safe force/table/spindle control, including clockwise/counter-clockwise toolhead rotation selection;
|
||||
- KWR75B-CAN force/torque sensor integration;
|
||||
- ODrive S1 + M8325s spindle drive integration;
|
||||
- CubeMars AK60-6 V1.1 KV80 spindle actuator integration;
|
||||
- Teensy-side fast safety and setpoint/telemetry loop;
|
||||
- host-side state machine, logs, status, and data export;
|
||||
- synchronized telemetry at **>=100 Hz**;
|
||||
@@ -60,7 +60,7 @@ tests/ Host-side contract/state-machine tests
|
||||
|
||||
## Current source alignment
|
||||
|
||||
Generated: 2026-05-26. This foundation is a repo scaffold and implementation aid,
|
||||
Generated: 2026-05-26. Source-refresh: 2026-07-06 for Raspberry Pi 5, AK60, and ordered BiSS-C encoders. This foundation is a repo scaffold and implementation aid,
|
||||
not a replacement for the approved P11 source specifications. If this repo and
|
||||
the source specs disagree, ask Antoine before changing architecture, safety,
|
||||
telemetry contracts, or scope.
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
- [ ] Host↔Teensy serial link with ACK/NACK and CRC.
|
||||
- [ ] KWR75B-CAN receive path with measured sample rate and stale-frame watchdog.
|
||||
- [ ] Encoder acquisition for table and arm.
|
||||
- [ ] ODrive command/telemetry interface selected and documented, including sign mapping for `cw`/`ccw` physical tool rotation.
|
||||
- [ ] AK60 command/telemetry interface selected and documented, including direction mapping for `cw`/`ccw` physical tool rotation.
|
||||
- [ ] Force actuator command path selected and documented.
|
||||
|
||||
## Phase 3 — Manual mode MVP
|
||||
|
||||
@@ -11,7 +11,7 @@ Build the machine-side control stack for the Fullum swing-arm polisher so Norman
|
||||
3. Stable host↔Teensy setpoint + telemetry protocol.
|
||||
4. KWR75B-CAN force/torque acquisition and stale-frame detection.
|
||||
5. Table/arm encoder acquisition and synchronized timestamps.
|
||||
6. ODrive spindle command/telemetry path.
|
||||
6. AK60 spindle command/telemetry path, including CAN topology and safety power-removal assumptions.
|
||||
7. Run/manual logs and `/data/` file layout.
|
||||
8. Controller-job intake dry-run for future program execution.
|
||||
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
- Host↔Teensy command/telemetry protocol.
|
||||
- KWR75B-CAN force/torque sensor integration.
|
||||
- Table and arm encoder acquisition.
|
||||
- ODrive S1 + M8325s spindle control/telemetry path.
|
||||
- CubeMars AK60-6 V1.1 KV80 spindle control/telemetry path.
|
||||
- Force actuator command path and tool-weight compensation.
|
||||
- Synchronized telemetry at >=100 Hz.
|
||||
- Manual-session logs and raw telemetry CSV.
|
||||
|
||||
@@ -43,7 +43,7 @@ Requirements:
|
||||
- `cw` — clockwise
|
||||
- `ccw` — counter-clockwise
|
||||
|
||||
Physical convention: direction is observed from above the toolhead looking down toward the mirror/tool contact. The ODrive sign mapping is a commissioning item and must be configured so UI/protocol values match physical rotation. Direction changes are explicit setpoint changes; do not infer direction from a signed RPM. RPM remains a non-negative magnitude.
|
||||
Physical convention: direction is observed from above the toolhead looking down toward the mirror/tool contact. The AK60 direction mapping is a commissioning item and must be configured so UI/protocol values match physical rotation. Direction changes are explicit setpoint changes; do not infer direction from a signed RPM. RPM remains a non-negative magnitude.
|
||||
|
||||
## v1 production subset
|
||||
|
||||
|
||||
@@ -19,14 +19,18 @@
|
||||
|
||||
## Drive bring-up
|
||||
|
||||
- [ ] ODrive runtime interface selected and documented.
|
||||
- [ ] ODrive enable/disable/fault reset path verified.
|
||||
- [ ] Spindle RPM command and actual feedback verified.
|
||||
- [ ] AK60 runtime interface selected and documented.
|
||||
- [ ] AK60 enable/disable/fault reset path verified.
|
||||
- [ ] Spindle RPM command, actual feedback, direction mapping, and safe ramp/stop behavior verified.
|
||||
- [ ] Z force actuator command path verified with safe limits.
|
||||
- [ ] Brake engaged feedback verified if installed.
|
||||
|
||||
## Safety
|
||||
|
||||
- [ ] STO channels wired as independent safety channels per SV2A and safety relay manuals.
|
||||
- [ ] Z brake engages on E-stop, STO/drive fault, controller crash, and power loss with no software dependency.
|
||||
- [ ] AK60 power removal through the safety-controlled post-contactor bus verified; CAN stop is not treated as safety-rated.
|
||||
|
||||
- [ ] E-stop hard circuit tested independent of software state.
|
||||
- [ ] Force over-limit response tested.
|
||||
- [ ] Encoder-loss response tested.
|
||||
|
||||
@@ -3,16 +3,16 @@
|
||||
## Table interface
|
||||
|
||||
- Confirm KBSI-240D opto-isolated interface or replacement.
|
||||
- Confirm table encoder transport and transceiver.
|
||||
- Confirm ordered BiSS-C table/arm encoder frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
|
||||
- Confirm whether the table drive or command path changes electrically.
|
||||
|
||||
## Spindle / ODrive
|
||||
## Spindle / AK60
|
||||
|
||||
- Define ODrive runtime command and telemetry path; CAN 2.0B at 1 Mbps is preferred unless replaced.
|
||||
- Define command scaling for velocity, enable/disable, fault reset, and safe stop.
|
||||
- Define telemetry subset: actual RPM, drive state/error, DC bus voltage, q-axis current, motor temperature if available.
|
||||
- Export final ODrive config with release.
|
||||
- Define spindle enable/fault I/O into HOA + safety chain.
|
||||
- Define AK60 runtime command and telemetry path; freeze CAN topology, IDs, frame rates, stale-frame timeout, startup behavior, and error isolation.
|
||||
- Define command scaling for velocity, direction mapping, enable/disable, fault reset, ramp-to-zero / live-reversal policy, and safe stop behavior.
|
||||
- Define telemetry subset: actual RPM, actuator state/error, bus/supply voltage, torque/current if available, motor/drive temperature if available.
|
||||
- Export final AK60 commissioning parameters with each machine software release.
|
||||
- Define spindle enable/fault I/O and the hardwired AK60 power-removal path through HOA + safety chain; prove E-stop/power-loss behavior on bench.
|
||||
|
||||
## Z-axis / force actuator
|
||||
|
||||
|
||||
@@ -7,6 +7,7 @@ project: P11-Polisher-Fullum
|
||||
repo: polisher-control
|
||||
source_truth: false
|
||||
created: 2026-06-02
|
||||
updated: 2026-07-06
|
||||
privacy: technical-only
|
||||
---
|
||||
|
||||
@@ -32,7 +33,7 @@ If this file conflicts with the source specs or with Antoine's explicit directio
|
||||
- Force setpoint execution and closed-loop Fz control.
|
||||
- Table/spindle/arm-drive command interfaces.
|
||||
- KWR75B-CAN force/torque acquisition.
|
||||
- ODrive S1 + M8325s spindle integration.
|
||||
- CubeMars AK60-6 V1.1 KV80 spindle actuator integration.
|
||||
- State machine, pause/resume/abort, faults, alarms, interlocks.
|
||||
- Telemetry, event logs, manual-session logs, run artifacts, and `/data/` layout.
|
||||
- Conservative machine capability descriptor.
|
||||
@@ -134,7 +135,7 @@ Program execution exists as a contract scaffold and future path, but the v1 prod
|
||||
3. Stable host ↔ Teensy setpoint and telemetry protocol.
|
||||
4. KWR75B-CAN force/torque acquisition and stale-frame detection.
|
||||
5. Table/arm encoder acquisition and synchronized timestamps.
|
||||
6. ODrive S1 + M8325s spindle command/telemetry path.
|
||||
6. AK60 spindle command/telemetry path.
|
||||
7. Run/manual logs and `/data/` file layout.
|
||||
8. Controller-job intake dry-run for future program execution.
|
||||
|
||||
@@ -164,11 +165,11 @@ Program execution exists as a contract scaffold and future path, but the v1 prod
|
||||
These are current project facts unless Antoine/source specs supersede them:
|
||||
|
||||
- Real-time controller: **Teensy 4.1**.
|
||||
- Host: **Raspberry Pi 4 + touchscreen**.
|
||||
- Host: **Raspberry Pi 5 + touchscreen**.
|
||||
- Primary process force sensor: **Kunwei KWR75B-CAN**, dedicated CAN link to Teensy through isolated transceiver.
|
||||
- Table encoder: **RLS Artos DHR 162 mm**, 20-bit absolute, SSI/RS422 basis.
|
||||
- Arm encoder: **RLS Orbis BR10**, 14-bit absolute, SSI/RS422 basis.
|
||||
- Spindle: **ODrive S1 + M8325s 100KV**, v1 velocity control, CAN 2.0B at 1 Mbps preferred.
|
||||
- Table encoder: **RLS Artos DHR 162 mm**, 20-bit absolute, ordered BiSS-C/RS422 basis.
|
||||
- Arm encoder: **RLS Orbis BR10**, 14-bit absolute, ordered BiSS-C/RS422 basis.
|
||||
- Spindle: **CubeMars AK60-6 V1.1 KV80**, v1 velocity control, CAN working basis pending final topology/IDs/rates.
|
||||
- Z/force actuator: counterweight-biased **AutomationDirect SV2L-210B** servo with **SV2A-2150** drive, torque/current mode to confirm.
|
||||
- Z brake: NC 24 VDC electromagnetic brake; engages on E-stop or power loss.
|
||||
- Safety relay: Pilz PNOZ X1 or Banner XS26-2 still needs final selection.
|
||||
@@ -418,8 +419,8 @@ Use `docs/11-feature-request-intake.md` as the template.
|
||||
Current control/firmware-facing questions include:
|
||||
|
||||
- Confirm KBSI-240D / table drive command path or replacement.
|
||||
- Confirm table encoder transport and transceiver choice.
|
||||
- Define ODrive runtime command/telemetry path, scaling, fault reset, safe stop, and config export.
|
||||
- Confirm ordered BiSS-C table/arm encoder frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
|
||||
- Define AK60 runtime command/telemetry path, scaling, fault reset, ramp/stop policy, safety power-removal behavior, and commissioning parameter export.
|
||||
- Confirm SV2A-2150 torque/current command mapping, enable/fault wiring, current/Iq monitor path.
|
||||
- Confirm Z limit-switch / hard-stop wiring into safety chain.
|
||||
- Confirm NC brake coil driver and brake-engaged diagnostic feedback.
|
||||
|
||||
@@ -40,7 +40,7 @@ Rationale: the controller is not deciding polishing strategy. It is executing/lo
|
||||
## 4. Affected layers
|
||||
|
||||
- Host controller: normalize/validate direction aliases and include direction in manual setpoints/log events.
|
||||
- Teensy firmware: accept direction in `MANUAL_START`, `SETPOINT`, and future `SEGMENT_START`; map to ODrive command sign.
|
||||
- Teensy firmware: accept direction in `MANUAL_START`, `SETPOINT`, and future `SEGMENT_START`; map to AK60 command direction/sign convention.
|
||||
- Host ↔ Teensy protocol: add `spindle_direction` / `commanded_spindle_direction` enum values `cw` / `ccw`.
|
||||
- Telemetry channels: add `spindle_direction_setpoint` and `spindle_direction_actual` as recommended channels.
|
||||
- Run/manual-session logs: record direction separately from RPM; RPM remains a non-negative magnitude.
|
||||
@@ -51,8 +51,8 @@ Rationale: the controller is not deciding polishing strategy. It is executing/lo
|
||||
## 5. Safety implications
|
||||
|
||||
- Direction must not be inferred from signed RPM; use explicit enum plus non-negative RPM magnitude.
|
||||
- Direction reversal while spindle is moving should be ramped/handled safely by firmware/ODrive implementation. The scaffold currently defines the contract; Cédric should decide whether live reversal is allowed directly or requires ramp-to-zero before applying the new direction.
|
||||
- ODrive sign mapping is a commissioning item: firmware must be configured so UI `cw`/`ccw` matches physical observed tool rotation.
|
||||
- Direction reversal while spindle is moving should be ramped/handled safely by firmware/AK60 implementation. The scaffold currently defines the contract; Cédric should decide whether live reversal is allowed directly or requires ramp-to-zero before applying the new direction.
|
||||
- AK60 direction mapping is a commissioning item: firmware must be configured so UI `cw`/`ccw` matches physical observed tool rotation.
|
||||
|
||||
Safety decision:
|
||||
|
||||
@@ -72,14 +72,14 @@ Safety decision:
|
||||
- [x] Host contract tests for enum values and alias normalization.
|
||||
- [x] Schema field test for `commanded_spindle_direction`.
|
||||
- [x] Telemetry channel test for direction channels.
|
||||
- [ ] Firmware compile/build check once Cédric maps this into Teensy/ODrive code.
|
||||
- [ ] Firmware compile/build check once Cédric maps this into Teensy/AK60 code.
|
||||
- [ ] Bench test confirms UI `cw` physically rotates clockwise by the documented convention.
|
||||
- [ ] Bench test confirms UI `ccw` physically rotates counter-clockwise by the documented convention.
|
||||
- [ ] Bench test confirms live reversal behavior is safe or blocked until spindle reaches zero.
|
||||
|
||||
## 8. Open questions
|
||||
|
||||
- Cédric: confirm the ODrive command/sign mapping and whether live direction reversal requires ramp-to-zero.
|
||||
- Cédric: confirm the AK60 command/direction mapping and whether live direction reversal requires ramp-to-zero.
|
||||
- Antoine/Normand: confirm the physical viewing convention: current draft uses “viewed from above the toolhead looking down toward the mirror/tool contact.”
|
||||
|
||||
## 9. Implementation notes
|
||||
|
||||
@@ -0,0 +1,44 @@
|
||||
---
|
||||
title: AK60 / Raspberry Pi 5 / BiSS-C Source Sync
|
||||
status: draft
|
||||
requested_by: Antoine Letarte
|
||||
generated_by: Nick / Hermes
|
||||
project: P11-Polisher-Fullum
|
||||
repo: polisher-control
|
||||
source_truth: false
|
||||
created: 2026-07-06
|
||||
privacy: technical-only
|
||||
---
|
||||
|
||||
# AK60 / Raspberry Pi 5 / BiSS-C Source Sync
|
||||
|
||||
## Purpose
|
||||
|
||||
Align the repo foundation with Antoine's accepted hardware corrections before Cédric writes firmware against stale assumptions.
|
||||
|
||||
## Source references
|
||||
|
||||
- P11 firmware source: `software-suite/control/firmware/Fullum-Polisher-Machine-Control-Firmware-Spec-v1.md`
|
||||
- Repo mirror: `docs/reference/fullum-control-firmware-spec/Fullum-Polisher-Machine-Control-Firmware-Spec-v1.md`
|
||||
- Electrical audit TLDR: `2026-07-06-Polisher-Control-Electrical-Audit-TLDR.md`
|
||||
- Change gate: `CEDRIC-PROP-20260609-001`
|
||||
|
||||
## Accepted corrections now reflected here
|
||||
|
||||
1. Host computer is **Raspberry Pi 5 + touchscreen**, not Raspberry Pi 4.
|
||||
2. Toolhead spindle path is **CubeMars AK60-6 V1.1 KV80**, not ODrive S1 + M8325s.
|
||||
3. Table encoder order is `DHR162DB20BAAS30DA02` + `SAR162C143AF14WAP00`, which means **BiSS-C / RS422**.
|
||||
4. Arm encoder order is `BR10DCD14B12DH00` + `BM120A190A1ABA00`, which means **BiSS-C / RS422**.
|
||||
|
||||
## Cédric implementation cautions
|
||||
|
||||
- Do not treat CAN stop/disable as a safety-rated AK60 stop. The safety basis must remove AK60 power through the hardwired safety-controlled post-contactor path and be bench-tested.
|
||||
- Freeze AK60 CAN topology before firmware lock: IDs, frame rates, stale-frame timeouts, fault handling, startup behavior, and whether AK60 shares a CAN bus with KWR75B.
|
||||
- Freeze BiSS-C implementation details before encoder firmware lock: frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and error handling.
|
||||
- Preserve `cw` / `ccw` as explicit direction enums separate from non-negative RPM; bench-map them to physical rotation.
|
||||
|
||||
## Acceptance checks
|
||||
|
||||
- Firmware source and repo mirror no longer name ODrive/M8325s as the current spindle basis.
|
||||
- Repo start docs, LLM context, roadmap, commissioning checklist, open questions, and machine capability profile now use AK60/RPi5/BiSS-C language.
|
||||
- Host-side tests and JSON validation should still pass after this docs/source refresh.
|
||||
File diff suppressed because one or more lines are too long
@@ -2,13 +2,13 @@
|
||||
|
||||
#show: atomaste-report.with(
|
||||
title: "Fullum Polisher Machine Control and Firmware Specification",
|
||||
subtitle: "Cédric implementation reference - Draft v1.2",
|
||||
subtitle: "Cédric implementation reference - Draft v1.3",
|
||||
project: "Polisher Software Suite",
|
||||
client: "Optiques Fullum",
|
||||
doc-number: "ATM-2026-POL-CTRL-001",
|
||||
date: "2026-05-19",
|
||||
date: "2026-07-06",
|
||||
author: "Antoine Letarte, Eng., M.A.Sc.",
|
||||
revision: "Draft v1.2 - telemetry retention contract",
|
||||
revision: "Draft v1.3 - AK60/RPi5/BiSS-C source sync",
|
||||
show-toc: true,
|
||||
show-list-of-figures: true,
|
||||
show-list-of-tables: true
|
||||
@@ -58,8 +58,8 @@
|
||||
columns: 2,
|
||||
[Field], [Value],
|
||||
[Document number], [ATM-2026-POL-CTRL-001],
|
||||
[Revision], [Draft v1.2 - telemetry retention contract],
|
||||
[Date], [2026-05-19],
|
||||
[Revision], [Draft v1.3 - AK60/RPi5/BiSS-C source sync],
|
||||
[Date], [2026-07-06],
|
||||
[Author], [Antoine Letarte (Atomaste)],
|
||||
[Recipient], [Cédric Leclerc],
|
||||
[Status], [For Cédric's review — comments requested before lock],
|
||||
@@ -70,10 +70,11 @@
|
||||
|
||||
*Changes since previous internal draft:*
|
||||
|
||||
- _2026-07-06 source sync:_ promotes Antoine-confirmed Raspberry Pi 5 host, AK60 spindle path, and ordered Renishaw/RLS BiSS-C encoders into the firmware source/report package.
|
||||
- _Hardware sync with Cédric's current BOM:_ primary F/T sensor updated from the retired SRI M3703C + M8228S1 path to the selected *Kunwei KWR75B-CAN* integrated 6-axis load cell. The transport section is now CAN-based and the telemetry status channel is generalized to `ft_status`.
|
||||
- _Toolhead spindle drive update:_ Zone 2 now treats the selected full *ODrive S1 + M8325s 100KV* toolhead spindle system as finalized mechanical input, and documents only firmware-facing items: ODrive control mode, CAN/interface options, onboard MA702 encoder use, motor electrical constants, current/thermal limits, fault mapping, and telemetry fields.
|
||||
- _Toolhead spindle drive source sync:_ Zone 2 now treats the selected *CubeMars AK60-6 V1.1 KV80* integrated actuator as the current spindle path, replacing ODrive S1 + M8325s. Firmware-facing work is now AK60 command/telemetry mapping, CAN topology, limits, fault mapping, and safety power-removal validation.
|
||||
- _Z-axis drive selection update:_ Zone 4 now reflects Cédric's selected *AutomationDirect SV2L-210B / SV2A-2150* servo package, with remaining work focused on torque/current command scaling, enable/fault wiring, and current/Iq monitor mapping.
|
||||
- _Open questions refreshed:_ removed SRI UDP and generic spindle-vector-drive questions; replaced them with KWR75B-CAN frame-map confirmation, ODrive command/telemetry interface confirmation, and SV2A-2150 control mapping.
|
||||
- _Open questions refreshed:_ replaced stale ODrive and SSI encoder questions with AK60 CAN/telemetry/safety-stop items and ordered Renishaw/RLS BiSS-C encoder frame/pinout items.
|
||||
|
||||
- _Formatting:_ ToC / figure lists enabled; exec summary expanded; Excalidraw architecture diagram retired, Mermaid is now the sole source of truth for all three diagrams (delivery-scope, control-stack, runtime-split).
|
||||
- _Structure:_ §5.1 Three-Truths duplicate removed (canonical definition in §2.3); schema references cleaned up to logical names; §18.1 v1 scope and §19 acceptance criteria cross-referenced; §21 open-questions list audited.
|
||||
@@ -82,13 +83,25 @@
|
||||
- _Telemetry retention contract added:_ raw \>=100 Hz capture remains the machine-side audit source, while a host-side post-run routine derives compressed/downsampled telemetry, segment statistics, dwell/work maps, anomaly windows, hashes, and retention status after each run or manual session.
|
||||
- _Figure readability update:_ The tall in-body safety and segment-lifecycle figures are reduced to clear the footer. Figures 4, 5, and 6 now point to Appendix A, where landscape large-format copies are provided for review.
|
||||
- _Open questions closed:_ arm encoder (Orbis), Z force actuator architecture (counterweight+servo), force-actuator feedback method (Iq), table motor retention (Baldor DC kept).
|
||||
- _Normand operator request added:_ toolhead spindle rotation direction is now an explicit operator/job setpoint (`cw` / `ccw`) logged separately from non-negative spindle RPM; ODrive sign mapping is a commissioning item.
|
||||
- _Normand operator request preserved:_ toolhead spindle rotation direction remains an explicit operator/job setpoint (`cw` / `ccw`) logged separately from non-negative spindle RPM; AK60 physical direction mapping is a commissioning item.
|
||||
|
||||
#line(length: 100%)
|
||||
|
||||
// --- Embedded from: Fullum-Polisher-Machine-Control-Firmware-Spec-v1 ---
|
||||
= Fullum Polisher - Machine Control & Firmware Specification v1
|
||||
|
||||
== Revision history
|
||||
|
||||
#figure(
|
||||
table(
|
||||
columns: 3,
|
||||
[Date], [Revision], [Update],
|
||||
[2026-07-06], [Draft v1.3 - AK60/RPi5/BiSS-C source sync], [Promotes Antoine's accepted hardware corrections into the firmware source: Raspberry Pi 5 host, CubeMars AK60-6 V1.1 KV80 spindle path replacing ODrive/M8325s, ordered Renishaw/RLS BiSS-C encoder part numbers, and AK60 safety/CAN commissioning items.],
|
||||
),
|
||||
kind: table,
|
||||
caption: [Source document revision history.]
|
||||
)
|
||||
|
||||
== Purpose and Context
|
||||
|
||||
This document is the *implementation target* for the machine-side stack of the Fullum swing-arm polisher. It tells you exactly:
|
||||
@@ -388,26 +401,26 @@ Use the status terms below consistently:
|
||||
|
||||
==== Table encoder
|
||||
|
||||
- *Current basis:* Absolute rotary encoder, *RLS Artos DHR 162 mm*, 20-bit, P/N `DHR162SC20BAAS30DF00` with SAR162 ring for the 143 mm table shaft.
|
||||
- *Status:* Fixed (BOM 2026-04-24).
|
||||
- *Required capability / notes:* High angular fidelity, deterministic absolute readout for modulation phase reference. Large-bore OEM ring-kit mount on the existing table shaft.
|
||||
- *Interface expectation:* SSI (SC) over RS422 into Teensy via an appropriate transceiver (MAX3490-class working basis).
|
||||
- *Current basis:* Absolute rotary encoder, *RLS Artos DHR 162 mm*, 20-bit, P/N `DHR162DB20BAAS30DA02`, with SAR162 ring P/N `SAR162C143AF14WAP00` for the 143 mm table shaft.
|
||||
- *Status:* Fixed (actual Renishaw/RLS order validated 2026-06-18; source sync 2026-07-06).
|
||||
- *Required capability / notes:* High angular fidelity, deterministic absolute readout for modulation phase reference. Large-bore OEM ring-kit mount on the existing table shaft. The ordered `DB` output code is *BiSS-C bidirectional*, replacing the stale `SC` / SSI assumption.
|
||||
- *Interface expectation:* *BiSS-C over RS422* into Teensy via an appropriate RS422 transceiver/interface. Cédric must confirm frame timing, CRC/status-bit handling, and exact wiring from the ordered RLS documentation before firmware lock.
|
||||
- *Purpose:* Table angle, derived table RPM, phase reference for force modulation.
|
||||
|
||||
==== Arm encoder
|
||||
|
||||
- *Current basis:* Absolute rotary encoder on the swing-arm pivot, *RLS Orbis BR10*, 14-bit on-axis (stub-shaft magnet), P/N `BR10SCB14B12DD00` + magnet `BM120A190A1ABA00`.
|
||||
- *Status:* Fixed (BOM 2026-04-24).
|
||||
- *Required capability / notes:* ~230 µm radial uncertainty at the encoder bore, sufficient for logging, kinematic linearization, and post-hoc characterization of oscillation amplitude/center (see §3.3, §9.1). SSI protocol for harmonization with the table axis. The earlier Artos DHR option-B path is closed.
|
||||
- *Interface expectation:* SSI (SC) over RS422 into Teensy.
|
||||
- *Current basis:* Absolute rotary encoder on the swing-arm pivot, *RLS Orbis BR10*, 14-bit on-axis (stub-shaft magnet), P/N `BR10DCD14B12DH00` + magnet `BM120A190A1ABA00`.
|
||||
- *Status:* Fixed (actual Renishaw/RLS order validated 2026-06-18; source sync 2026-07-06).
|
||||
- *Required capability / notes:* ~230 µm radial uncertainty at the encoder bore, sufficient for logging, kinematic linearization, and post-hoc characterization of oscillation amplitude/center (see §3.3, §9.1). The ordered `DC` output code is *BiSS-C over RS422 at 5 V*, replacing the stale `SC` / SSI assumption. The earlier Artos DHR option-B path is closed.
|
||||
- *Interface expectation:* *BiSS-C over RS422* into Teensy; confirm frame format, CRC/status handling, and transceiver/pinout before firmware lock.
|
||||
- *Purpose:* Swing-arm oscillation position and amplitude, kinematic linearization reference (§9.5), derived amplitude/center statistics (§9.1).
|
||||
|
||||
==== Spindle speed feedback
|
||||
|
||||
- *Current basis:* *ODrive S1 + M8325s 100KV kit*, using the motor encoder magnet and the ODrive S1 onboard MA702 magnetic encoder.
|
||||
- *Status:* Fixed (Antoine selection, 2026-05-18).
|
||||
- *Required capability / notes:* Must provide stable actual spindle RPM for logging and fault checks. The ODrive closes the motor current/velocity loop locally; the machine controller receives actual RPM and fault state. Firmware must treat the ODrive as the selected spindle servo, not as a candidate or prototype option.
|
||||
- *Interface expectation:* ODrive local encoder for commutation; controller interface via CAN preferred, or another confirmed ODrive interface.
|
||||
- *Current basis:* *CubeMars AK60-6 V1.1 KV80 integrated actuator*, using the actuator's internal sensing/drive telemetry for commutation and actual speed feedback.
|
||||
- *Status:* Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
|
||||
- *Required capability / notes:* Must provide stable actual spindle RPM for logging and fault checks. The AK60 closes the motor loop locally; the machine controller receives actual RPM, direction state when available, current/torque/thermal telemetry when available, and fault state. Firmware must treat ODrive S1 + M8325s as obsolete for this machine.
|
||||
- *Interface expectation:* AK60 runtime command/telemetry via CAN is the current working basis. Final CAN topology, IDs, frame rates, timeouts, and fault handling must be frozen before firmware lock; keep the primary KWR75B-CAN force path isolated unless Cédric explicitly proves a shared-bus design is safe and deterministic.
|
||||
- *Purpose:* Spindle commutation, speed monitoring, and tool rotation telemetry.
|
||||
|
||||
==== Force actuator feedback
|
||||
@@ -438,10 +451,11 @@ Use the status terms below consistently:
|
||||
|
||||
==== Spindle motor
|
||||
|
||||
- *Current basis:* *ODrive S1 + M8325s 100KV pancake/outrunner motor kit* as the selected full toolhead spindle system. This replaces the earlier Mosrac U7636 + separate drive/encoder basis.
|
||||
- *Status:* Fixed (Antoine selection, 2026-05-18).
|
||||
- *Required capability / notes:* From the controller's perspective: an ODrive-controlled BLDC spindle that accepts speed/enable commands, accepts explicit clockwise/counter-clockwise direction selection, closes the motor loop locally, and exposes actual RPM plus fault state. ODrive S1 supports torque, velocity, position, and trajectory modes; v1 uses velocity control for commanded spindle RPM. Direction is represented separately from RPM; RPM remains a non-negative magnitude.
|
||||
- *Drive expectation:* ODrive S1 local FOC velocity loop; controller command/telemetry path via CAN or confirmed ODrive interface.
|
||||
- *Current basis:* *CubeMars AK60-6 V1.1 KV80 integrated actuator* as the selected toolhead spindle system. This replaces the ODrive S1 + M8325s path and earlier Mosrac U7636 / separate-drive assumptions.
|
||||
- *Status:* Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
|
||||
- *Required capability / notes:* From the controller's perspective: an AK60 spindle actuator that accepts speed/enable commands, accepts explicit clockwise/counter-clockwise direction selection, closes the motor loop locally, and exposes actual RPM plus fault state. Direction is represented separately from RPM; RPM remains a non-negative magnitude. Preserve sizing caveats: the AK60-6 KV80 path is acceptable for the documented normal polishing torque basis and transient aggressive cases, but sustained high-torque duty, gearbox ripple/backlash, wet/slurry protection, output interface, and thermal/current telemetry must be validated before commissioning sign-off.
|
||||
- *Drive expectation:* AK60 integrated drive/controller. Runtime command/telemetry via CAN is the current working basis; if Cédric selects a different supported AK60 interface, update this spec and the machine capability profile before firmware lock.
|
||||
- *Safety expectation:* AK60 has no safety-rated STO in the current plan. Firmware CAN stop/disable commands are normal-control actions only; the safety model must remove AK60 power through the safety-controlled post-contactor power path and bench-test coast-down/fault behavior.
|
||||
- *Purpose:* Tool rotation.
|
||||
|
||||
==== Arm oscillation motor
|
||||
@@ -460,40 +474,27 @@ Use the status terms below consistently:
|
||||
- *Drive expectation:* 0–10 V isolated analog speed reference from the Teensy; run/stop and fault I/O into the HOA and safety chain.
|
||||
- *Purpose:* Swing-arm motor drive.
|
||||
|
||||
==== ODrive S1 + M8325s Firmware-Facing Facts
|
||||
==== CubeMars AK60-6 V1.1 Firmware-Facing Facts
|
||||
|
||||
The toolhead/spindle mechanical design is finalized outside this firmware document. The firmware/control scope is only the electrical interface, configuration, command path, telemetry path, and fault handling for the selected ODrive kit.
|
||||
The toolhead/spindle mechanical design is finalized outside this firmware document. The firmware/control scope is the electrical interface, configuration, command path, telemetry path, safety-stop assumptions, and fault handling for the selected AK60 integrated actuator path.
|
||||
|
||||
Firmware-facing ODrive S1 facts from the vendor page:
|
||||
Firmware-facing AK60 assumptions to verify before commissioning:
|
||||
|
||||
- Single-axis BLDC / PMAC servo drive.
|
||||
- Control modes available: torque, velocity, position, trajectory; v1 spindle operation uses velocity mode.
|
||||
- Supply range: 12-48 V operation, 50.5 V maximum.
|
||||
- Continuous current: 40 A with heat spreader recommended.
|
||||
- Control interfaces: USB, isolated UART, isolated STEP/DIR, analog voltage, PWM, and CAN.
|
||||
- CAN: CAN 2.0B at 1 Mbps; CAN-FD 5 Mbps is experimental and is not the v1 baseline.
|
||||
- On-board magnetic encoder: MA702, used with the M8325s encoder magnet for the selected package.
|
||||
- ODrive S1 control-loop rate: 8 kHz; PWM frequency: 24 kHz.
|
||||
- On-board brake chopper supports brake-energy management with a brake resistor.
|
||||
- Built-in motor thermistor divider circuit.
|
||||
|
||||
Firmware-facing M8325s facts from the vendor page/documentation:
|
||||
|
||||
- Motor: M8325s 100KV, 20 pole pairs.
|
||||
- Torque constant: approximately 0.083 Nm/A.
|
||||
- Phase resistance: 24 mOhm phase-neutral.
|
||||
- Phase inductance: 9.9 uH phase-neutral.
|
||||
- Continuous current: 40 A free air, 60 A forced air.
|
||||
- Peak current: 80 A for 3 s.
|
||||
- Thermistor: NTC 10k 3435.
|
||||
- Selected actuator path: *CubeMars AK60-6 V1.1 KV80* integrated actuator.
|
||||
- Low-speed polishing preference: KV80 remains preferred over KV140 for the torque-dominated 10-120 RPM use case.
|
||||
- Approximate torque envelope to preserve in design notes: about *3 N·m rated / 9 N·m peak*. This is suitable for the documented normal polishing basis and acceptable for short aggressive transients, but not enough margin to treat the aggressive case as sustained duty without thermal/current validation.
|
||||
- Current generated electrical basis: AK60 powered from a *24 VDC supply downstream of the safety-controlled post-contactor bus*. Confirm final supply rail, fuse/breaker sizing, cable/connector ratings, and voltage/current telemetry before commissioning.
|
||||
- Runtime interface: CAN is the working basis. Freeze AK60 command IDs, telemetry IDs, frame rates, stale-frame timeout, startup/fault behavior, and whether AK60 shares a bus with KWR75B or uses a separate Teensy CAN channel.
|
||||
- Direction: `cw` / `ccw` remains an explicit protocol enum separate from non-negative RPM. Cédric must bench-map the enum to the actual physical rotation convention.
|
||||
- Environmental/mechanical checks: gearbox backlash/ripple, non-hollow packaging, wet/slurry protection, output interface, thermal path, and cable strain relief must be verified outside firmware before final commissioning.
|
||||
|
||||
Firmware obligations:
|
||||
|
||||
- Store the ODrive configuration used for commissioning with the machine software release or machine-capability profile.
|
||||
- Configure and log the motor electrical parameters, encoder source, velocity-loop limits, current limits, thermal limits, spindle direction/sign convention, and brake-resistor/chopper settings used on the machine.
|
||||
- Expose ODrive fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
|
||||
- Prefer CAN for runtime command and telemetry if Cédric does not select another ODrive-supported interface.
|
||||
- Log at least actual spindle RPM; strongly recommended ODrive telemetry channels are listed in §9.1.
|
||||
- Store the AK60 commissioning parameters used with the machine software release or machine-capability profile.
|
||||
- Configure and log velocity limits, current/torque limits, thermal limits, acceleration/deceleration/ramp policy, spindle direction mapping, and fault thresholds.
|
||||
- Expose AK60 fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
|
||||
- Log at least actual spindle RPM; strongly recommended AK60 telemetry channels are listed in §9.1.
|
||||
- Treat CAN stop/disable commands as normal-control actions, not safety-rated stop functions. E-stop safety must rely on the hardwired safety chain and power-removal path, then be bench-tested.
|
||||
|
||||
=== Cam Mechanism
|
||||
|
||||
@@ -515,7 +516,7 @@ Firmware obligations:
|
||||
|
||||
==== Host computer
|
||||
|
||||
- *Current basis:* *Raspberry Pi 4 + touchscreen*.
|
||||
- *Current basis:* *Raspberry Pi 5 + touchscreen*.
|
||||
- *Status:* Fixed for this revision.
|
||||
- *Role:* State machine, job management, UI, telemetry logging, operator workflow.
|
||||
|
||||
@@ -824,7 +825,7 @@ Each segment is a self-contained, machine-executable command block:
|
||||
- `commanded_force_n`: float, N. Base force setpoint.
|
||||
- `commanded_table_rpm`: float, RPM. Table rotation speed.
|
||||
- `commanded_spindle_rpm`: float, RPM. Spindle rotation speed as a non-negative magnitude.
|
||||
- `commanded_spindle_direction`: enum, `"cw"` or `"ccw"`. Toolhead spindle rotation direction, viewed from above the toolhead looking down toward the mirror/tool contact. The ODrive sign mapping is a commissioning item and must be configured so these enum values match physical observed rotation.
|
||||
- `commanded_spindle_direction`: enum, `"cw"` or `"ccw"`. Toolhead spindle rotation direction, viewed from above the toolhead looking down toward the mirror/tool contact. The AK60 direction mapping is a commissioning item and must be configured so these enum values match physical observed rotation.
|
||||
- `commanded_cam_amplitude_deg`: float, degrees. Machine-package representation of the mechanical oscillation amplitude. In v1 this is not actuator-commanded; it is confirmed by the operator through the geometric gate and logged as `configured_arm_amplitude_deg` in machine-side/manual records.
|
||||
- `commanded_cam_offset_deg`: float, degrees. Machine-package representation of the mechanical oscillation center/offset. In v1 this is not actuator-commanded; it is confirmed by the operator through the geometric gate and logged as `configured_arm_center_deg` in machine-side/manual records.
|
||||
- `force_modulation`: object/null. Angle-synchronized modulation parameters.
|
||||
@@ -1071,17 +1072,17 @@ These channels are characterization, not control: the firmware does not act on t
|
||||
- `ft_status`: uint32 bitfield, F/T sensor. Raw KWR75B-CAN status word or mapped validity bitfield (validity, saturation, fault bits).
|
||||
- `z_servo_iq_v`: float, V, Z servo drive analog out. Quadrature current (Iq) from the Z-axis AC servo drive, linear proxy for belt tension / applied differential force (§3.1, §3.2).
|
||||
- `z_brake_engaged`: bool, safety chain. True when the Z-axis NC electromagnetic brake is engaged (de-energized coil). Expected false during normal RUNNING / MANUAL, true in IDLE / FAULTED / E-stop.
|
||||
- `spindle_drive_state`: enum/string, ODrive S1. ODrive axis state or mapped controller state for the spindle drive.
|
||||
- `spindle_drive_error`: uint32/string, bitfield/code, ODrive S1. Raw or mapped ODrive error / fault code.
|
||||
- `spindle_bus_voltage_v`: float, V, ODrive S1. DC bus voltage reported by the ODrive.
|
||||
- `spindle_iq_a`: float, A, ODrive S1. Measured q-axis current / torque-producing current, if exposed over the selected interface.
|
||||
- `spindle_motor_temp_c`: float, degC, ODrive S1 thermistor input. Motor thermistor temperature derived from the M8325s NTC 10k 3435, if enabled.
|
||||
- `spindle_drive_state`: enum/string, AK60 integrated actuator. AK60 state or mapped controller state for the spindle drive.
|
||||
- `spindle_drive_error`: uint32/string, bitfield/code, AK60 integrated actuator. Raw or mapped AK60 error / fault code.
|
||||
- `spindle_bus_voltage_v`: float, V, AK60 integrated actuator. DC bus / supply voltage reported by the actuator if exposed.
|
||||
- `spindle_iq_a`: float, A, AK60 integrated actuator. Measured torque/current channel, if exposed over the selected interface.
|
||||
- `spindle_motor_temp_c`: float, degC, AK60 integrated actuator. Motor/drive temperature telemetry, if exposed over the selected interface.
|
||||
- `arm_angle_linearized_deg`: float, deg, Teensy from encoder + geometry. Crank-rocker linearized arm angle (§9.5); NaN if geometry not validated.
|
||||
- `force_setpoint_n`: float, N, setpoint generator. Current target force after modulation; this is the input to the Fz PID, not the PID actuator output.
|
||||
- `table_rpm_setpoint`: float, RPM, host command. Commanded table speed.
|
||||
- `spindle_rpm_setpoint`: float, RPM, host command. Commanded spindle speed magnitude.
|
||||
- `spindle_direction_setpoint`: enum, `cw` / `ccw`, host command. Requested toolhead spindle direction.
|
||||
- `spindle_direction_actual`: enum, `cw` / `ccw`, ODrive/firmware-derived. Actual observed or drive-reported spindle direction after sign mapping.
|
||||
- `spindle_direction_actual`: enum, `cw` / `ccw`, AK60/firmware-derived. Actual observed or actuator-reported spindle direction after direction mapping.
|
||||
- `force_actuator_cmd`: float, V or mA, DAC output. Raw actuator command signal.
|
||||
- `estop_active`: bool, hardware. E-stop circuit state.
|
||||
- `interlock_state`: uint16 bitfield, multiple. Packed interlock status bits.
|
||||
@@ -1856,37 +1857,26 @@ Your controller must expose a static capability profile so upstream software kno
|
||||
"notes": "Counterweight cancels head static weight; controller modulates residual differential only. Force PID closes on Fz from the Kunwei KWR75B-CAN 6-axis sensor."
|
||||
},
|
||||
"spindle_drive": {
|
||||
"system": "ODrive S1 + M8325s 100KV kit",
|
||||
"system": "CubeMars AK60-6 V1.1 KV80 integrated actuator",
|
||||
"status": "selected_final",
|
||||
"drive": "ODrive S1",
|
||||
"motor": "M8325s 100KV",
|
||||
"encoder": "ODrive S1 onboard MA702 magnetic encoder with M8325s encoder magnet",
|
||||
"actuator": "CubeMars AK60-6 V1.1 KV80",
|
||||
"controller": "integrated AK-series drive/controller",
|
||||
"encoder": "integrated actuator sensing / vendor telemetry",
|
||||
"control_mode_v1": "velocity",
|
||||
"preferred_runtime_interface": "CAN 2.0B 1Mbps",
|
||||
"supported_drive_modes": ["torque", "velocity", "position", "trajectory"],
|
||||
"odrive_supply_range_v": [12, 48],
|
||||
"odrive_abs_max_v": 50.5,
|
||||
"odrive_continuous_current_a": 40,
|
||||
"odrive_control_loop_hz": 8000,
|
||||
"odrive_pwm_hz": 24000,
|
||||
"motor_kv_rpm_per_v": 100,
|
||||
"motor_torque_constant_nm_per_a": 0.083,
|
||||
"motor_pole_pairs": 20,
|
||||
"motor_phase_resistance_ohm": 0.024,
|
||||
"motor_phase_inductance_h": 0.0000099,
|
||||
"motor_continuous_current_a_free_air": 40,
|
||||
"motor_continuous_current_a_forced_air": 60,
|
||||
"motor_peak_current_a_3s": 80,
|
||||
"motor_thermistor": "NTC 10k 3435",
|
||||
"preferred_runtime_interface": "CAN, topology/IDs/rates/timeouts to freeze before firmware lock",
|
||||
"supply_voltage_v_working_basis": 24,
|
||||
"safety_stop_basis": "remove actuator power through safety-controlled post-contactor bus; CAN stop is not safety-rated",
|
||||
"rated_torque_nm_approx": 3,
|
||||
"peak_torque_nm_approx": 9,
|
||||
"required_firmware_items": [
|
||||
"saved_odrive_configuration",
|
||||
"saved_ak60_commissioning_parameters",
|
||||
"velocity_command_scaling",
|
||||
"spindle_direction_sign_mapping",
|
||||
"spindle_direction_mapping",
|
||||
"actual_rpm_telemetry",
|
||||
"drive_fault_mapping",
|
||||
"current_limit_configuration",
|
||||
"current_torque_limit_configuration",
|
||||
"thermal_limit_configuration",
|
||||
"brake_chopper_resistor_configuration_if_used"
|
||||
"safety_power_removal_bench_test"
|
||||
]
|
||||
},
|
||||
"safety_limits": {
|
||||
@@ -1911,7 +1901,7 @@ Your controller must expose a static capability profile so upstream software kno
|
||||
"unknowns": [
|
||||
"Z-axis drive control mapping pending confirmation on the SV2A-2150",
|
||||
"Measured force loop bandwidth pending commissioning",
|
||||
"ODrive S1 + M8325s spindle package is selected; firmware command/telemetry mapping still to be documented"
|
||||
"AK60 command/telemetry mapping, CAN topology, safety power-removal behavior, and thermal/current limits still to be documented and bench-tested"
|
||||
]
|
||||
}
|
||||
```
|
||||
@@ -2324,16 +2314,16 @@ Every item flagged *"Preferred, confirm in detailed design"* or *"Open, Cédric
|
||||
=== Zone 1 — Table (Control Interface)
|
||||
|
||||
- Confirm the KBSI-240D opto-isolated interface as the DC-variator command path, or name the replacement.
|
||||
- Confirm the table encoder transport (SSI (SC) / RS422) and the transceiver choice (MAX3490-class working basis).
|
||||
- Confirm BiSS-C frame details for the ordered table and arm encoders: timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
|
||||
- Confirm whether the table drive or its command path changes electrically as part of the overhaul.
|
||||
|
||||
=== Zone 2 — Spindle / Toolhead Drive (Control Interface)
|
||||
|
||||
- Define the ODrive runtime command and telemetry path to the controller. CAN 2.0B at 1 Mbps is the preferred baseline unless Cédric selects another ODrive-supported interface.
|
||||
- Define command scaling for spindle velocity setpoint, clockwise/counter-clockwise sign mapping, enable/disable, fault reset, and safe stop.
|
||||
- Define the ODrive telemetry subset mapped into the host logs: actual RPM, drive state, drive error, DC bus voltage, q-axis current if available, and motor temperature if the thermistor is enabled.
|
||||
- Store/export the final ODrive configuration file or parameter dump with the machine software release.
|
||||
- Define the spindle enable/fault I/O wired into the HOA + safety chain.
|
||||
- Define the AK60 runtime command and telemetry path to the controller. CAN is the working basis, but Cédric must freeze CAN topology, IDs, frame rates, stale-frame timeout, startup behavior, and error isolation before firmware lock.
|
||||
- Define command scaling for spindle velocity setpoint, clockwise/counter-clockwise direction mapping, enable/disable, fault reset, ramp-to-zero / live-reversal policy, and safe stop behavior.
|
||||
- Define the AK60 telemetry subset mapped into the host logs: actual RPM, actuator state, actuator error, bus/supply voltage, torque/current if available, and motor/drive temperature if available.
|
||||
- Store/export the final AK60 commissioning parameter set with the machine software release.
|
||||
- Define the spindle enable/fault I/O and the hardwired AK60 power-removal path through the HOA + safety chain; prove with a bench E-stop/power-loss test.
|
||||
|
||||
=== Zone 4 — Z-Axis / Force Actuator (Control Interface)
|
||||
|
||||
|
||||
@@ -8,10 +8,12 @@ tags:
|
||||
- Interface
|
||||
- Cedric
|
||||
- Engineering/Specification
|
||||
date: 2026-05-18
|
||||
date: 2026-07-06
|
||||
status:
|
||||
- draft
|
||||
title: "Fullum Polisher - Machine Control & Firmware Specification v1"
|
||||
revision: "Draft v1.3 - AK60/RPi5/BiSS-C source sync"
|
||||
last_source_sync: 2026-07-06
|
||||
author: Antoine Letarte
|
||||
abstract: >
|
||||
Machine-side technical specification for the Fullum swing-arm polisher.
|
||||
@@ -24,6 +26,12 @@ abstract: >
|
||||
|
||||
# Fullum Polisher - Machine Control & Firmware Specification v1
|
||||
|
||||
## Revision history
|
||||
|
||||
| Date | Revision | Update |
|
||||
|---|---|---|
|
||||
| 2026-07-06 | Draft v1.3 - AK60/RPi5/BiSS-C source sync | Promotes Antoine's accepted hardware corrections into the firmware source: Raspberry Pi 5 host, CubeMars AK60-6 V1.1 KV80 spindle path replacing ODrive/M8325s, ordered Renishaw/RLS BiSS-C encoder part numbers, and AK60 safety/CAN commissioning items. |
|
||||
|
||||
## 1. Purpose and Context
|
||||
|
||||
This document is the **implementation target** for the machine-side stack of the Fullum swing-arm polisher. It tells you exactly:
|
||||
@@ -316,26 +324,26 @@ Use the status terms below consistently:
|
||||
|
||||
#### Table encoder
|
||||
|
||||
- **Current basis:** Absolute rotary encoder, **RLS Artos DHR 162 mm**, 20-bit, P/N `DHR162SC20BAAS30DF00` with SAR162 ring for the 143 mm table shaft.
|
||||
- **Status:** Fixed (BOM 2026-04-24).
|
||||
- **Required capability / notes:** High angular fidelity, deterministic absolute readout for modulation phase reference. Large-bore OEM ring-kit mount on the existing table shaft.
|
||||
- **Interface expectation:** SSI (SC) over RS422 into Teensy via an appropriate transceiver (MAX3490-class working basis).
|
||||
- **Current basis:** Absolute rotary encoder, **RLS Artos DHR 162 mm**, 20-bit, P/N `DHR162DB20BAAS30DA02`, with SAR162 ring P/N `SAR162C143AF14WAP00` for the 143 mm table shaft.
|
||||
- **Status:** Fixed (actual Renishaw/RLS order validated 2026-06-18; source sync 2026-07-06).
|
||||
- **Required capability / notes:** High angular fidelity, deterministic absolute readout for modulation phase reference. Large-bore OEM ring-kit mount on the existing table shaft. The ordered `DB` output code is **BiSS-C bidirectional**, replacing the stale `SC` / SSI assumption.
|
||||
- **Interface expectation:** **BiSS-C over RS422** into Teensy via an appropriate RS422 transceiver/interface. Cédric must confirm frame timing, CRC/status-bit handling, and exact wiring from the ordered RLS documentation before firmware lock.
|
||||
- **Purpose:** Table angle, derived table RPM, phase reference for force modulation.
|
||||
|
||||
#### Arm encoder
|
||||
|
||||
- **Current basis:** Absolute rotary encoder on the swing-arm pivot, **RLS Orbis BR10**, 14-bit on-axis (stub-shaft magnet), P/N `BR10SCB14B12DD00` + magnet `BM120A190A1ABA00`.
|
||||
- **Status:** Fixed (BOM 2026-04-24).
|
||||
- **Required capability / notes:** ~230 µm radial uncertainty at the encoder bore, sufficient for logging, kinematic linearization, and post-hoc characterization of oscillation amplitude/center (see §3.3, §9.1). SSI protocol for harmonization with the table axis. The earlier Artos DHR option-B path is closed.
|
||||
- **Interface expectation:** SSI (SC) over RS422 into Teensy.
|
||||
- **Current basis:** Absolute rotary encoder on the swing-arm pivot, **RLS Orbis BR10**, 14-bit on-axis (stub-shaft magnet), P/N `BR10DCD14B12DH00` + magnet `BM120A190A1ABA00`.
|
||||
- **Status:** Fixed (actual Renishaw/RLS order validated 2026-06-18; source sync 2026-07-06).
|
||||
- **Required capability / notes:** ~230 µm radial uncertainty at the encoder bore, sufficient for logging, kinematic linearization, and post-hoc characterization of oscillation amplitude/center (see §3.3, §9.1). The ordered `DC` output code is **BiSS-C over RS422 at 5 V**, replacing the stale `SC` / SSI assumption. The earlier Artos DHR option-B path is closed.
|
||||
- **Interface expectation:** **BiSS-C over RS422** into Teensy; confirm frame format, CRC/status handling, and transceiver/pinout before firmware lock.
|
||||
- **Purpose:** Swing-arm oscillation position and amplitude, kinematic linearization reference (§9.5), derived amplitude/center statistics (§9.1).
|
||||
|
||||
#### Spindle speed feedback
|
||||
|
||||
- **Current basis:** **ODrive S1 + M8325s 100KV kit**, using the motor encoder magnet and the ODrive S1 onboard MA702 magnetic encoder.
|
||||
- **Status:** Fixed (Antoine selection, 2026-05-18).
|
||||
- **Required capability / notes:** Must provide stable actual spindle RPM for logging and fault checks. The ODrive closes the motor current/velocity loop locally; the machine controller receives actual RPM and fault state. Firmware must treat the ODrive as the selected spindle servo, not as a candidate or prototype option.
|
||||
- **Interface expectation:** ODrive local encoder for commutation; controller interface via CAN preferred, or another confirmed ODrive interface.
|
||||
- **Current basis:** **CubeMars AK60-6 V1.1 KV80 integrated actuator**, using the actuator's internal sensing/drive telemetry for commutation and actual speed feedback.
|
||||
- **Status:** Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
|
||||
- **Required capability / notes:** Must provide stable actual spindle RPM for logging and fault checks. The AK60 closes the motor loop locally; the machine controller receives actual RPM, direction state when available, current/torque/thermal telemetry when available, and fault state. Firmware must treat ODrive S1 + M8325s as obsolete for this machine.
|
||||
- **Interface expectation:** AK60 runtime command/telemetry via CAN is the current working basis. Final CAN topology, IDs, frame rates, timeouts, and fault handling must be frozen before firmware lock; keep the primary KWR75B-CAN force path isolated unless Cédric explicitly proves a shared-bus design is safe and deterministic.
|
||||
- **Purpose:** Spindle commutation, speed monitoring, and tool rotation telemetry.
|
||||
|
||||
#### Force actuator feedback
|
||||
@@ -366,10 +374,11 @@ Use the status terms below consistently:
|
||||
|
||||
#### Spindle motor
|
||||
|
||||
- **Current basis:** **ODrive S1 + M8325s 100KV pancake/outrunner motor kit** as the selected full toolhead spindle system. This replaces the earlier Mosrac U7636 + separate drive/encoder basis.
|
||||
- **Status:** Fixed (Antoine selection, 2026-05-18).
|
||||
- **Required capability / notes:** From the controller's perspective: an ODrive-controlled BLDC spindle that accepts speed/enable commands, accepts explicit clockwise/counter-clockwise direction selection, closes the motor loop locally, and exposes actual RPM plus fault state. ODrive S1 supports torque, velocity, position, and trajectory modes; v1 uses velocity control for commanded spindle RPM. Direction is represented separately from RPM; RPM remains a non-negative magnitude.
|
||||
- **Drive expectation:** ODrive S1 local FOC velocity loop; controller command/telemetry path via CAN or confirmed ODrive interface.
|
||||
- **Current basis:** **CubeMars AK60-6 V1.1 KV80 integrated actuator** as the selected toolhead spindle system. This replaces the ODrive S1 + M8325s path and earlier Mosrac U7636 / separate-drive assumptions.
|
||||
- **Status:** Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
|
||||
- **Required capability / notes:** From the controller's perspective: an AK60 spindle actuator that accepts speed/enable commands, accepts explicit clockwise/counter-clockwise direction selection, closes the motor loop locally, and exposes actual RPM plus fault state. Direction is represented separately from RPM; RPM remains a non-negative magnitude. Preserve sizing caveats: the AK60-6 KV80 path is acceptable for the documented normal polishing torque basis and transient aggressive cases, but sustained high-torque duty, gearbox ripple/backlash, wet/slurry protection, output interface, and thermal/current telemetry must be validated before commissioning sign-off.
|
||||
- **Drive expectation:** AK60 integrated drive/controller. Runtime command/telemetry via CAN is the current working basis; if Cédric selects a different supported AK60 interface, update this spec and the machine capability profile before firmware lock.
|
||||
- **Safety expectation:** AK60 has no safety-rated STO in the current plan. Firmware CAN stop/disable commands are normal-control actions only; the safety model must remove AK60 power through the safety-controlled post-contactor power path and bench-test coast-down/fault behavior.
|
||||
- **Purpose:** Tool rotation.
|
||||
|
||||
#### Arm oscillation motor
|
||||
@@ -388,40 +397,27 @@ Use the status terms below consistently:
|
||||
- **Drive expectation:** 0–10 V isolated analog speed reference from the Teensy; run/stop and fault I/O into the HOA and safety chain.
|
||||
- **Purpose:** Swing-arm motor drive.
|
||||
|
||||
#### 3.2.1 ODrive S1 + M8325s Firmware-Facing Facts
|
||||
#### 3.2.1 CubeMars AK60-6 V1.1 Firmware-Facing Facts
|
||||
|
||||
The toolhead/spindle mechanical design is finalized outside this firmware document. The firmware/control scope is only the electrical interface, configuration, command path, telemetry path, and fault handling for the selected ODrive kit.
|
||||
The toolhead/spindle mechanical design is finalized outside this firmware document. The firmware/control scope is the electrical interface, configuration, command path, telemetry path, safety-stop assumptions, and fault handling for the selected AK60 integrated actuator path.
|
||||
|
||||
Firmware-facing ODrive S1 facts from the vendor page:
|
||||
Firmware-facing AK60 assumptions to verify before commissioning:
|
||||
|
||||
- Single-axis BLDC / PMAC servo drive.
|
||||
- Control modes available: torque, velocity, position, trajectory; v1 spindle operation uses velocity mode.
|
||||
- Supply range: 12-48 V operation, 50.5 V maximum.
|
||||
- Continuous current: 40 A with heat spreader recommended.
|
||||
- Control interfaces: USB, isolated UART, isolated STEP/DIR, analog voltage, PWM, and CAN.
|
||||
- CAN: CAN 2.0B at 1 Mbps; CAN-FD 5 Mbps is experimental and is not the v1 baseline.
|
||||
- On-board magnetic encoder: MA702, used with the M8325s encoder magnet for the selected package.
|
||||
- ODrive S1 control-loop rate: 8 kHz; PWM frequency: 24 kHz.
|
||||
- On-board brake chopper supports brake-energy management with a brake resistor.
|
||||
- Built-in motor thermistor divider circuit.
|
||||
|
||||
Firmware-facing M8325s facts from the vendor page/documentation:
|
||||
|
||||
- Motor: M8325s 100KV, 20 pole pairs.
|
||||
- Torque constant: approximately 0.083 Nm/A.
|
||||
- Phase resistance: 24 mOhm phase-neutral.
|
||||
- Phase inductance: 9.9 uH phase-neutral.
|
||||
- Continuous current: 40 A free air, 60 A forced air.
|
||||
- Peak current: 80 A for 3 s.
|
||||
- Thermistor: NTC 10k 3435.
|
||||
- Selected actuator path: **CubeMars AK60-6 V1.1 KV80** integrated actuator.
|
||||
- Low-speed polishing preference: KV80 remains preferred over KV140 for the torque-dominated 10-120 RPM use case.
|
||||
- Approximate torque envelope to preserve in design notes: about **3 N·m rated / 9 N·m peak**. This is suitable for the documented normal polishing basis and acceptable for short aggressive transients, but not enough margin to treat the aggressive case as sustained duty without thermal/current validation.
|
||||
- Current generated electrical basis: AK60 powered from a **24 VDC supply downstream of the safety-controlled post-contactor bus**. Confirm final supply rail, fuse/breaker sizing, cable/connector ratings, and voltage/current telemetry before commissioning.
|
||||
- Runtime interface: CAN is the working basis. Freeze AK60 command IDs, telemetry IDs, frame rates, stale-frame timeout, startup/fault behavior, and whether AK60 shares a bus with KWR75B or uses a separate Teensy CAN channel.
|
||||
- Direction: `cw` / `ccw` remains an explicit protocol enum separate from non-negative RPM. Cédric must bench-map the enum to the actual physical rotation convention.
|
||||
- Environmental/mechanical checks: gearbox backlash/ripple, non-hollow packaging, wet/slurry protection, output interface, thermal path, and cable strain relief must be verified outside firmware before final commissioning.
|
||||
|
||||
Firmware obligations:
|
||||
|
||||
- Store the ODrive configuration used for commissioning with the machine software release or machine-capability profile.
|
||||
- Configure and log the motor electrical parameters, encoder source, velocity-loop limits, current limits, thermal limits, spindle direction/sign convention, and brake-resistor/chopper settings used on the machine.
|
||||
- Expose ODrive fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
|
||||
- Prefer CAN for runtime command and telemetry if Cédric does not select another ODrive-supported interface.
|
||||
- Log at least actual spindle RPM; strongly recommended ODrive telemetry channels are listed in §9.1.
|
||||
- Store the AK60 commissioning parameters used with the machine software release or machine-capability profile.
|
||||
- Configure and log velocity limits, current/torque limits, thermal limits, acceleration/deceleration/ramp policy, spindle direction mapping, and fault thresholds.
|
||||
- Expose AK60 fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
|
||||
- Log at least actual spindle RPM; strongly recommended AK60 telemetry channels are listed in §9.1.
|
||||
- Treat CAN stop/disable commands as normal-control actions, not safety-rated stop functions. E-stop safety must rely on the hardwired safety chain and power-removal path, then be bench-tested.
|
||||
|
||||
### 3.3 Cam Mechanism
|
||||
|
||||
@@ -443,7 +439,7 @@ Firmware obligations:
|
||||
|
||||
#### Host computer
|
||||
|
||||
- **Current basis:** **Raspberry Pi 4 + touchscreen**.
|
||||
- **Current basis:** **Raspberry Pi 5 + touchscreen**.
|
||||
- **Status:** Fixed for this revision.
|
||||
- **Role:** State machine, job management, UI, telemetry logging, operator workflow.
|
||||
|
||||
@@ -726,7 +722,7 @@ Each segment is a self-contained, machine-executable command block:
|
||||
- `commanded_force_n`: float, N. Base force setpoint.
|
||||
- `commanded_table_rpm`: float, RPM. Table rotation speed.
|
||||
- `commanded_spindle_rpm`: float, RPM. Spindle rotation speed as a non-negative magnitude.
|
||||
- `commanded_spindle_direction`: enum, `"cw"` or `"ccw"`. Toolhead spindle rotation direction, viewed from above the toolhead looking down toward the mirror/tool contact. The ODrive sign mapping is a commissioning item and must be configured so these enum values match physical observed rotation.
|
||||
- `commanded_spindle_direction`: enum, `"cw"` or `"ccw"`. Toolhead spindle rotation direction, viewed from above the toolhead looking down toward the mirror/tool contact. The AK60 direction mapping is a commissioning item and must be configured so these enum values match physical observed rotation.
|
||||
- `commanded_cam_amplitude_deg`: float, degrees. Machine-package representation of the mechanical oscillation amplitude. In v1 this is not actuator-commanded; it is confirmed by the operator through the geometric gate and logged as `configured_arm_amplitude_deg` in machine-side/manual records.
|
||||
- `commanded_cam_offset_deg`: float, degrees. Machine-package representation of the mechanical oscillation center/offset. In v1 this is not actuator-commanded; it is confirmed by the operator through the geometric gate and logged as `configured_arm_center_deg` in machine-side/manual records.
|
||||
- `force_modulation`: object/null. Angle-synchronized modulation parameters.
|
||||
@@ -963,17 +959,17 @@ These channels are characterization, not control: the firmware does not act on t
|
||||
- `ft_status`: uint32 bitfield, F/T sensor. Raw KWR75B-CAN status word or mapped validity bitfield (validity, saturation, fault bits).
|
||||
- `z_servo_iq_v`: float, V, Z servo drive analog out. Quadrature current (Iq) from the Z-axis AC servo drive, linear proxy for belt tension / applied differential force (§3.1, §3.2).
|
||||
- `z_brake_engaged`: bool, safety chain. True when the Z-axis NC electromagnetic brake is engaged (de-energized coil). Expected false during normal RUNNING / MANUAL, true in IDLE / FAULTED / E-stop.
|
||||
- `spindle_drive_state`: enum/string, ODrive S1. ODrive axis state or mapped controller state for the spindle drive.
|
||||
- `spindle_drive_error`: uint32/string, bitfield/code, ODrive S1. Raw or mapped ODrive error / fault code.
|
||||
- `spindle_bus_voltage_v`: float, V, ODrive S1. DC bus voltage reported by the ODrive.
|
||||
- `spindle_iq_a`: float, A, ODrive S1. Measured q-axis current / torque-producing current, if exposed over the selected interface.
|
||||
- `spindle_motor_temp_c`: float, degC, ODrive S1 thermistor input. Motor thermistor temperature derived from the M8325s NTC 10k 3435, if enabled.
|
||||
- `spindle_drive_state`: enum/string, AK60 integrated actuator. AK60 state or mapped controller state for the spindle drive.
|
||||
- `spindle_drive_error`: uint32/string, bitfield/code, AK60 integrated actuator. Raw or mapped AK60 error / fault code.
|
||||
- `spindle_bus_voltage_v`: float, V, AK60 integrated actuator. DC bus / supply voltage reported by the actuator if exposed.
|
||||
- `spindle_iq_a`: float, A, AK60 integrated actuator. Measured torque/current channel, if exposed over the selected interface.
|
||||
- `spindle_motor_temp_c`: float, degC, AK60 integrated actuator. Motor/drive temperature telemetry, if exposed over the selected interface.
|
||||
- `arm_angle_linearized_deg`: float, deg, Teensy from encoder + geometry. Crank-rocker linearized arm angle (§9.5); NaN if geometry not validated.
|
||||
- `force_setpoint_n`: float, N, setpoint generator. Current target force after modulation; this is the input to the Fz PID, not the PID actuator output.
|
||||
- `table_rpm_setpoint`: float, RPM, host command. Commanded table speed.
|
||||
- `spindle_rpm_setpoint`: float, RPM, host command. Commanded spindle speed magnitude.
|
||||
- `spindle_direction_setpoint`: enum, `cw` / `ccw`, host command. Requested toolhead spindle direction.
|
||||
- `spindle_direction_actual`: enum, `cw` / `ccw`, ODrive/firmware-derived. Actual observed or drive-reported spindle direction after sign mapping.
|
||||
- `spindle_direction_actual`: enum, `cw` / `ccw`, AK60/firmware-derived. Actual observed or actuator-reported spindle direction after direction mapping.
|
||||
- `force_actuator_cmd`: float, V or mA, DAC output. Raw actuator command signal.
|
||||
- `estop_active`: bool, hardware. E-stop circuit state.
|
||||
- `interlock_state`: uint16 bitfield, multiple. Packed interlock status bits.
|
||||
@@ -1710,37 +1706,26 @@ Your controller must expose a static capability profile so upstream software kno
|
||||
"notes": "Counterweight cancels head static weight; controller modulates residual differential only. Force PID closes on Fz from the Kunwei KWR75B-CAN 6-axis sensor."
|
||||
},
|
||||
"spindle_drive": {
|
||||
"system": "ODrive S1 + M8325s 100KV kit",
|
||||
"system": "CubeMars AK60-6 V1.1 KV80 integrated actuator",
|
||||
"status": "selected_final",
|
||||
"drive": "ODrive S1",
|
||||
"motor": "M8325s 100KV",
|
||||
"encoder": "ODrive S1 onboard MA702 magnetic encoder with M8325s encoder magnet",
|
||||
"actuator": "CubeMars AK60-6 V1.1 KV80",
|
||||
"controller": "integrated AK-series drive/controller",
|
||||
"encoder": "integrated actuator sensing / vendor telemetry",
|
||||
"control_mode_v1": "velocity",
|
||||
"preferred_runtime_interface": "CAN 2.0B 1Mbps",
|
||||
"supported_drive_modes": ["torque", "velocity", "position", "trajectory"],
|
||||
"odrive_supply_range_v": [12, 48],
|
||||
"odrive_abs_max_v": 50.5,
|
||||
"odrive_continuous_current_a": 40,
|
||||
"odrive_control_loop_hz": 8000,
|
||||
"odrive_pwm_hz": 24000,
|
||||
"motor_kv_rpm_per_v": 100,
|
||||
"motor_torque_constant_nm_per_a": 0.083,
|
||||
"motor_pole_pairs": 20,
|
||||
"motor_phase_resistance_ohm": 0.024,
|
||||
"motor_phase_inductance_h": 0.0000099,
|
||||
"motor_continuous_current_a_free_air": 40,
|
||||
"motor_continuous_current_a_forced_air": 60,
|
||||
"motor_peak_current_a_3s": 80,
|
||||
"motor_thermistor": "NTC 10k 3435",
|
||||
"preferred_runtime_interface": "CAN, topology/IDs/rates/timeouts to freeze before firmware lock",
|
||||
"supply_voltage_v_working_basis": 24,
|
||||
"safety_stop_basis": "remove actuator power through safety-controlled post-contactor bus; CAN stop is not safety-rated",
|
||||
"rated_torque_nm_approx": 3,
|
||||
"peak_torque_nm_approx": 9,
|
||||
"required_firmware_items": [
|
||||
"saved_odrive_configuration",
|
||||
"saved_ak60_commissioning_parameters",
|
||||
"velocity_command_scaling",
|
||||
"spindle_direction_sign_mapping",
|
||||
"spindle_direction_mapping",
|
||||
"actual_rpm_telemetry",
|
||||
"drive_fault_mapping",
|
||||
"current_limit_configuration",
|
||||
"current_torque_limit_configuration",
|
||||
"thermal_limit_configuration",
|
||||
"brake_chopper_resistor_configuration_if_used"
|
||||
"safety_power_removal_bench_test"
|
||||
]
|
||||
},
|
||||
"safety_limits": {
|
||||
@@ -1765,7 +1750,7 @@ Your controller must expose a static capability profile so upstream software kno
|
||||
"unknowns": [
|
||||
"Z-axis drive control mapping pending confirmation on the SV2A-2150",
|
||||
"Measured force loop bandwidth pending commissioning",
|
||||
"ODrive S1 + M8325s spindle package is selected; firmware command/telemetry mapping still to be documented"
|
||||
"AK60 command/telemetry mapping, CAN topology, safety power-removal behavior, and thermal/current limits still to be documented and bench-tested"
|
||||
]
|
||||
}
|
||||
```
|
||||
@@ -2142,16 +2127,16 @@ Every item flagged **"Preferred, confirm in detailed design"** or **"Open, Cédr
|
||||
### 21.1 Zone 1 — Table (Control Interface)
|
||||
|
||||
- Confirm the KBSI-240D opto-isolated interface as the DC-variator command path, or name the replacement.
|
||||
- Confirm the table encoder transport (SSI (SC) / RS422) and the transceiver choice (MAX3490-class working basis).
|
||||
- Confirm BiSS-C frame details for the ordered table and arm encoders: timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
|
||||
- Confirm whether the table drive or its command path changes electrically as part of the overhaul.
|
||||
|
||||
### 21.2 Zone 2 — Spindle / Toolhead Drive (Control Interface)
|
||||
|
||||
- Define the ODrive runtime command and telemetry path to the controller. CAN 2.0B at 1 Mbps is the preferred baseline unless Cédric selects another ODrive-supported interface.
|
||||
- Define command scaling for spindle velocity setpoint, clockwise/counter-clockwise sign mapping, enable/disable, fault reset, and safe stop.
|
||||
- Define the ODrive telemetry subset mapped into the host logs: actual RPM, drive state, drive error, DC bus voltage, q-axis current if available, and motor temperature if the thermistor is enabled.
|
||||
- Store/export the final ODrive configuration file or parameter dump with the machine software release.
|
||||
- Define the spindle enable/fault I/O wired into the HOA + safety chain.
|
||||
- Define the AK60 runtime command and telemetry path to the controller. CAN is the working basis, but Cédric must freeze CAN topology, IDs, frame rates, stale-frame timeout, startup behavior, and error isolation before firmware lock.
|
||||
- Define command scaling for spindle velocity setpoint, clockwise/counter-clockwise direction mapping, enable/disable, fault reset, ramp-to-zero / live-reversal policy, and safe stop behavior.
|
||||
- Define the AK60 telemetry subset mapped into the host logs: actual RPM, actuator state, actuator error, bus/supply voltage, torque/current if available, and motor/drive temperature if available.
|
||||
- Store/export the final AK60 commissioning parameter set with the machine software release.
|
||||
- Define the spindle enable/fault I/O and the hardwired AK60 power-removal path through the HOA + safety chain; prove with a bench E-stop/power-loss test.
|
||||
|
||||
### 21.3 Zone 4 — Z-Axis / Force Actuator (Control Interface)
|
||||
|
||||
|
||||
@@ -18,4 +18,5 @@ Source-truth rule:
|
||||
|
||||
- These repo docs are implementation aids.
|
||||
- Approved P11 source specs and schemas outrank generated summaries.
|
||||
- 2026-07-06 source refresh: repo reference copy now reflects Raspberry Pi 5, AK60-6 V1.1 KV80, and ordered Renishaw/RLS BiSS-C encoders.
|
||||
- If anything here conflicts with a source spec, ask Antoine before changing technical direction.
|
||||
|
||||
@@ -10,7 +10,7 @@ Core modules to implement:
|
||||
- KWR75B-CAN decoder via isolated CAN transceiver;
|
||||
- table and arm encoder readers;
|
||||
- force PID and actuator output;
|
||||
- ODrive command/telemetry path;
|
||||
- AK60 command/telemetry path;
|
||||
- telemetry packet builder;
|
||||
- fast interlocks and watchdogs.
|
||||
|
||||
|
||||
@@ -13,7 +13,7 @@ class SpindleDirection(StrEnum):
|
||||
"""Toolhead spindle rotation direction using stable protocol/schema values.
|
||||
|
||||
Physical convention: clockwise/counter-clockwise are as viewed from above the
|
||||
toolhead looking down toward the mirror/tool contact. ODrive sign mapping is
|
||||
toolhead looking down toward the mirror/tool contact. AK60 direction mapping is
|
||||
a commissioning item and must be configured so these UI/protocol values match
|
||||
the observed tool rotation.
|
||||
"""
|
||||
|
||||
@@ -133,12 +133,21 @@
|
||||
],
|
||||
"unknowns": [
|
||||
"Exact KWR75B-CAN frame map, scaling, status bits, and update rate.",
|
||||
"Final ODrive runtime interface and command scaling.",
|
||||
"Final AK60 runtime interface, CAN topology/IDs/rates, command scaling, safety power-removal behavior, and commissioning parameters.",
|
||||
"Final SV2A-2150 torque/current command scaling and Iq monitor mapping.",
|
||||
"Final safety relay model and wiring details."
|
||||
],
|
||||
"supported_spindle_directions": [
|
||||
"cw",
|
||||
"ccw"
|
||||
]
|
||||
],
|
||||
"hardware_basis": {
|
||||
"host": "Raspberry Pi 5 + touchscreen",
|
||||
"real_time_controller": "Teensy 4.1",
|
||||
"force_sensor": "Kunwei KWR75B-CAN",
|
||||
"spindle": "CubeMars AK60-6 V1.1 KV80 integrated actuator",
|
||||
"table_encoder": "RLS Artos DHR162, ordered P/N DHR162DB20BAAS30DA02 + SAR162C143AF14WAP00, BiSS-C/RS422",
|
||||
"arm_encoder": "RLS Orbis BR10, ordered P/N BR10DCD14B12DH00 + BM120A190A1ABA00, BiSS-C/RS422",
|
||||
"source_sync": "2026-07-06"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -159,7 +159,7 @@
|
||||
"cw",
|
||||
"ccw"
|
||||
],
|
||||
"description": "Toolhead spindle rotation direction, as viewed from above the toolhead looking down toward the mirror/tool contact. ODrive sign mapping is commissioned to match this physical convention."
|
||||
"description": "Toolhead spindle rotation direction, as viewed from above the toolhead looking down toward the mirror/tool contact. AK60 direction mapping is commissioned to match this physical convention."
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user