Antoine/Polisher-Control
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

docs: sync control source to AK60 RPi5 BiSS-C

Browse Source
This commit is contained in:
Nick Hermes
2026-07-06 10:21:23 +00:00
parent edb8648f78
commit 5883620f73
18 changed files with 32083 additions and 31969 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
docs/10-open-questions-for-cedric.md
View File

@@ -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