docs: sync control source to AK60 RPi5 BiSS-C

README.md

@@ -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.

ROADMAP.md

@@ -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

docs/00-start-here.md

@@ -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.
 

docs/02-v1-scope.md

@@ -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.

docs/04-host-teensy-protocol-v1.md

@@ -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
 

docs/08-commissioning-checklist.md

@@ -19,14 +19,18 @@
 
 ## Drive bring-up
 
-- [ ] ODrive runtime interface selected and documented.
+- [ ] AK60 runtime interface selected and documented.
-- [ ] ODrive enable/disable/fault reset path verified.
+- [ ] AK60 enable/disable/fault reset path verified.
-- [ ] Spindle RPM command and actual feedback 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.

docs/10-open-questions-for-cedric.md

@@ -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 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, enable/disable, fault reset, and safe stop.
+- 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, drive state/error, DC bus voltage, q-axis current, motor temperature if available.
+- Define telemetry subset: actual RPM, actuator state/error, bus/supply voltage, torque/current if available, motor/drive temperature if available.
-- Export final ODrive config with release.
+- Export final AK60 commissioning parameters with each machine software release.
-- Define spindle enable/fault I/O into HOA + safety chain.
+- 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
 

docs/LLM_CONTEXT.md

@@ -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.
+- Table encoder: **RLS Artos DHR 162 mm**, 20-bit absolute, ordered BiSS-C/RS422 basis.
-- Arm encoder: **RLS Orbis BR10**, 14-bit absolute, SSI/RS422 basis.
+- Arm encoder: **RLS Orbis BR10**, 14-bit absolute, ordered BiSS-C/RS422 basis.
-- Spindle: **ODrive S1 + M8325s 100KV**, v1 velocity control, CAN 2.0B at 1 Mbps preferred.
+- 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.
+- Confirm ordered BiSS-C table/arm encoder frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
-- Define ODrive runtime command/telemetry path, scaling, fault reset, safe stop, and config export.
+- 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.

docs/nick-generated/2026-06-02-spindle-direction-selection.md

@@ -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.
+- 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.
-- ODrive sign mapping is a commissioning item: firmware must be configured so UI `cw`/`ccw` matches physical observed tool rotation.
+- 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

docs/nick-generated/2026-07-06-ak60-rpi5-bissc-source-sync.md

@@ -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.

docs/reference/fullum-control-firmware-spec/Fullum-Polisher-Machine-Control-Firmware-Spec-Report.typ

@@ -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],
+    [Revision], [Draft v1.3 - AK60/RPi5/BiSS-C source sync],
-    [Date], [2026-05-19],
+    [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.
+- *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 (BOM 2026-04-24).
+- *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.
+- *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:* SSI (SC) over RS422 into Teensy via an appropriate transceiver (MAX3490-class working basis).
+- *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`.
+- *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 (BOM 2026-04-24).
+- *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). SSI protocol for harmonization with the table axis. The earlier Artos DHR option-B path is closed.
+- *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:* SSI (SC) over RS422 into Teensy.
+- *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.
+- *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 (Antoine selection, 2026-05-18).
+- *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 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.
+- *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:* ODrive local encoder for commutation; controller interface via CAN preferred, or another confirmed ODrive interface.
+- *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.
+- *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 (Antoine selection, 2026-05-18).
+- *Status:* Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
-- *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.
+- *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:* ODrive S1 local FOC velocity loop; controller command/telemetry path via CAN or confirmed ODrive interface.
+- *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.
+- Selected actuator path: *CubeMars AK60-6 V1.1 KV80* integrated actuator.
-- Control modes available: torque, velocity, position, trajectory; v1 spindle operation uses velocity mode.
+- Low-speed polishing preference: KV80 remains preferred over KV140 for the torque-dominated 10-120 RPM use case.
-- Supply range: 12-48 V operation, 50.5 V maximum.
+- 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.
-- Continuous current: 40 A with heat spreader recommended.
+- 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.
-- Control interfaces: USB, isolated UART, isolated STEP/DIR, analog voltage, PWM, and CAN.
+- 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.
-- CAN: CAN 2.0B at 1 Mbps; CAN-FD 5 Mbps is experimental and is not the v1 baseline.
+- 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.
-- On-board magnetic encoder: MA702, used with the M8325s encoder magnet for the selected package.
+- 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.
-- 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.
 
 Firmware obligations:
 
-- Store the ODrive configuration used for commissioning with the machine software release or machine-capability profile.
+- Store the AK60 commissioning parameters used 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.
+- Configure and log velocity limits, current/torque limits, thermal limits, acceleration/deceleration/ramp policy, spindle direction mapping, and fault thresholds.
-- Expose ODrive fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
+- Expose AK60 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 AK60 telemetry channels are listed in §9.1.
-- Log at least actual spindle RPM; strongly recommended ODrive 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_state`: enum/string, AK60 integrated actuator. AK60 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_drive_error`: uint32/string, bitfield/code, AK60 integrated actuator. Raw or mapped AK60 error / fault code.
-- `spindle_bus_voltage_v`: float, V, ODrive S1. DC bus voltage reported by the ODrive.
+- `spindle_bus_voltage_v`: float, V, AK60 integrated actuator. DC bus / supply voltage reported by the actuator if exposed.
-- `spindle_iq_a`: float, A, ODrive S1. Measured q-axis current / torque-producing current, if exposed over the selected interface.
+- `spindle_iq_a`: float, A, AK60 integrated actuator. Measured torque/current channel, 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_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",
+    "actuator": "CubeMars AK60-6 V1.1 KV80",
-    "motor": "M8325s 100KV",
+    "controller": "integrated AK-series drive/controller",
-    "encoder": "ODrive S1 onboard MA702 magnetic encoder with M8325s encoder magnet",
+    "encoder": "integrated actuator sensing / vendor telemetry",
     "control_mode_v1": "velocity",
-    "preferred_runtime_interface": "CAN 2.0B 1Mbps",
+    "preferred_runtime_interface": "CAN, topology/IDs/rates/timeouts to freeze before firmware lock",
-    "supported_drive_modes": ["torque", "velocity", "position", "trajectory"],
+    "supply_voltage_v_working_basis": 24,
-    "odrive_supply_range_v": [12, 48],
+    "safety_stop_basis": "remove actuator power through safety-controlled post-contactor bus; CAN stop is not safety-rated",
-    "odrive_abs_max_v": 50.5,
+    "rated_torque_nm_approx": 3,
-    "odrive_continuous_current_a": 40,
+    "peak_torque_nm_approx": 9,
-    "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",
     "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 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 sign mapping, enable/disable, fault reset, and safe stop.
+- 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 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.
+- 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 ODrive configuration file or parameter dump with the machine software release.
+- Store/export the final AK60 commissioning parameter set with the machine software release.
-- Define the spindle enable/fault I/O wired into the HOA + safety chain.
+- 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)
 

docs/reference/fullum-control-firmware-spec/Fullum-Polisher-Machine-Control-Firmware-Spec-v1.md

@@ -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.
+- **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 (BOM 2026-04-24).
+- **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.
+- **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:** SSI (SC) over RS422 into Teensy via an appropriate transceiver (MAX3490-class working basis).
+- **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`.
+- **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 (BOM 2026-04-24).
+- **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). SSI protocol for harmonization with the table axis. The earlier Artos DHR option-B path is closed.
+- **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:** SSI (SC) over RS422 into Teensy.
+- **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.
+- **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 (Antoine selection, 2026-05-18).
+- **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 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.
+- **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:** ODrive local encoder for commutation; controller interface via CAN preferred, or another confirmed ODrive interface.
+- **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.
+- **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 (Antoine selection, 2026-05-18).
+- **Status:** Fixed hardware direction (Antoine confirmation 2026-07-05; CEDRIC-PROP-20260609-001 accepted).
-- **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.
+- **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:** ODrive S1 local FOC velocity loop; controller command/telemetry path via CAN or confirmed ODrive interface.
+- **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.
+- Selected actuator path: **CubeMars AK60-6 V1.1 KV80** integrated actuator.
-- Control modes available: torque, velocity, position, trajectory; v1 spindle operation uses velocity mode.
+- Low-speed polishing preference: KV80 remains preferred over KV140 for the torque-dominated 10-120 RPM use case.
-- Supply range: 12-48 V operation, 50.5 V maximum.
+- 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.
-- Continuous current: 40 A with heat spreader recommended.
+- 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.
-- Control interfaces: USB, isolated UART, isolated STEP/DIR, analog voltage, PWM, and CAN.
+- 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.
-- CAN: CAN 2.0B at 1 Mbps; CAN-FD 5 Mbps is experimental and is not the v1 baseline.
+- 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.
-- On-board magnetic encoder: MA702, used with the M8325s encoder magnet for the selected package.
+- 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.
-- 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.
 
 Firmware obligations:
 
-- Store the ODrive configuration used for commissioning with the machine software release or machine-capability profile.
+- Store the AK60 commissioning parameters used 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.
+- Configure and log velocity limits, current/torque limits, thermal limits, acceleration/deceleration/ramp policy, spindle direction mapping, and fault thresholds.
-- Expose ODrive fault state to the host and map faults into the normal `DRIVE_FAULT` / spindle fault handling path.
+- Expose AK60 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 AK60 telemetry channels are listed in §9.1.
-- Log at least actual spindle RPM; strongly recommended ODrive 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_state`: enum/string, AK60 integrated actuator. AK60 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_drive_error`: uint32/string, bitfield/code, AK60 integrated actuator. Raw or mapped AK60 error / fault code.
-- `spindle_bus_voltage_v`: float, V, ODrive S1. DC bus voltage reported by the ODrive.
+- `spindle_bus_voltage_v`: float, V, AK60 integrated actuator. DC bus / supply voltage reported by the actuator if exposed.
-- `spindle_iq_a`: float, A, ODrive S1. Measured q-axis current / torque-producing current, if exposed over the selected interface.
+- `spindle_iq_a`: float, A, AK60 integrated actuator. Measured torque/current channel, 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_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",
+    "actuator": "CubeMars AK60-6 V1.1 KV80",
-    "motor": "M8325s 100KV",
+    "controller": "integrated AK-series drive/controller",
-    "encoder": "ODrive S1 onboard MA702 magnetic encoder with M8325s encoder magnet",
+    "encoder": "integrated actuator sensing / vendor telemetry",
     "control_mode_v1": "velocity",
-    "preferred_runtime_interface": "CAN 2.0B 1Mbps",
+    "preferred_runtime_interface": "CAN, topology/IDs/rates/timeouts to freeze before firmware lock",
-    "supported_drive_modes": ["torque", "velocity", "position", "trajectory"],
+    "supply_voltage_v_working_basis": 24,
-    "odrive_supply_range_v": [12, 48],
+    "safety_stop_basis": "remove actuator power through safety-controlled post-contactor bus; CAN stop is not safety-rated",
-    "odrive_abs_max_v": 50.5,
+    "rated_torque_nm_approx": 3,
-    "odrive_continuous_current_a": 40,
+    "peak_torque_nm_approx": 9,
-    "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",
     "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 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 sign mapping, enable/disable, fault reset, and safe stop.
+- 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 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.
+- 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 ODrive configuration file or parameter dump with the machine software release.
+- Store/export the final AK60 commissioning parameter set with the machine software release.
-- Define the spindle enable/fault I/O wired into the HOA + safety chain.
+- 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)
 

docs/reference/source-map.md

@@ -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.

firmware/teensy/README.md

@@ -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.
 

host/polisher_control/contracts.py

@@ -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.
     """

shared/machine/fullum-alpha.capabilities.v1.json

@@ -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"
+  }
 }

shared/schemas/controller-job.schema.json

@@ -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."
         }
       }
     }