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Polisher-Control/docs/08-commissioning-checklist.md
Nick Hermes fa9c43fae8 docs: scaffold polisher-control foundation
2026-05-26 16:23:04 +00:00

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Commissioning Checklist

Bench — no machine motion

  • Host can open serial link to Teensy.
  • HEARTBEAT / ACK / NACK verified.
  • Bad CRC/frame rejected with NACK or ignored safely.
  • State machine illegal transitions logged.
  • Telemetry frames parse at expected rate.

Sensor bring-up

  • KWR75B-CAN isolated CAN wiring verified.
  • CAN bit rate confirmed.
  • Vendor frame map decoded into Fx/Fy/Fz/Mx/My/Mz/status.
  • F/T stale-frame watchdog tested.
  • Table encoder angle stable and monotonic.
  • Arm encoder angle stable.

Drive bring-up

  • ODrive runtime interface selected and documented.
  • ODrive enable/disable/fault reset path verified.
  • Spindle RPM command and actual feedback verified.
  • Z force actuator command path verified with safe limits.
  • Brake engaged feedback verified if installed.

Safety

  • E-stop hard circuit tested independent of software state.
  • Force over-limit response tested.
  • Encoder-loss response tested.
  • Drive-fault response tested.
  • Host timeout -> pause -> abort behavior tested.
  • FAULTED requires explicit reset.

Manual run

  • Geometric gate blocks stale/missing geometry.
  • Manual start succeeds after valid geometry.
  • Force/table/spindle setpoints ramp smoothly.
  • Live setpoint changes are logged.
  • Telemetry CSV has required header and >=100 Hz samples.
  • Manual-session log includes setpoint history and actual summary.
  • Artifacts are saved under /data/manual/{session_id}/.
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