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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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17
docs/LLM_CONTEXT.md
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@@ -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.