1.9 KiB
1.9 KiB
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
- AK60 runtime interface selected and documented.
- AK60 enable/disable/fault reset path 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
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STO channels wired as independent safety channels per SV2A and safety relay manuals.
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Z brake engages on E-stop, STO/drive fault, controller crash, and power loss with no software dependency.
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AK60 power removal through the safety-controlled post-contactor bus verified; CAN stop is not treated as safety-rated.
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E-stop hard circuit tested independent of software state.
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Force over-limit response tested.
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Encoder-loss response tested.
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Drive-fault response tested.
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Host timeout -> pause -> abort behavior tested.
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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}/.