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docs: sync control source to AK60 RPi5 BiSS-C

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Nick Hermes
2026-07-06 10:21:23 +00:00
parent edb8648f78
commit 5883620f73
18 changed files with 32083 additions and 31969 deletions
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docs/08-commissioning-checklist.md
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@@ -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.