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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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13
shared/machine/fullum-alpha.capabilities.v1.json
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@@ -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"
}
}

2
shared/schemas/controller-job.schema.json
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@@ -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."
}
}
}