131 lines
3.3 KiB
JSON
131 lines
3.3 KiB
JSON
{
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"schema_version": "machine-capabilities.v1",
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"machine_id": "fullum-alpha",
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"machine_family": "swing-arm",
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"machine_name": "Fullum swing-arm polisher",
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"controller_version": "polisher-control/0.1.0",
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"supported_motion_families": [
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"swing-arm-rosette"
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],
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"force_range_n": [
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0,
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80
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],
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"table_rpm_range": [
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0,
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5.0
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],
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"spindle_rpm_range": [
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0,
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80
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],
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"cam_amplitude_range_deg": [
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0,
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45
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],
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"cam_offset_range_deg": [
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-30,
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30
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],
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"force_modulation": {
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"supported": true,
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"max_harmonics": 3,
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"max_amplitude_n": 20.0,
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"notes": "Angle-synchronized force modulation from live table encoder angle; validate during commissioning."
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},
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"supported_dither_profiles": [
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"none",
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"default"
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],
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"segment_duration_limits": {
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"min_s": 10,
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"max_s": 7200
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},
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"pause_resume_support": true,
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"telemetry_channels": [
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{
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"name": "timestamp_us",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "table_angle_deg",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "arm_angle_deg",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "fz_n",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "mx",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "my",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "mz",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "spindle_rpm_actual",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "table_rpm_actual",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "arm_amplitude_deg_derived",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "arm_center_deg_derived",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "machine_state",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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},
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{
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"name": "force_setpoint_n",
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"unit": "see docs/05-telemetry-channel-spec-v1.md",
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"sample_rate_hz": 100
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}
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],
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"safety_limits": {
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"max_force_n": 80,
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"max_table_rpm": 5.0,
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"max_spindle_rpm": 80,
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"notes": "Initial source-aligned limits; final hardware commissioning must verify."
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},
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"known_constraints": [
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"Manual mode is the first production target.",
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"No powered Zero-G/admittance mode in v1.",
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"Oscillation amplitude/center are operator-entered configuration in v1, not actuated cam commands.",
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"Controller rejects unknown controller-job fields rather than silently ignoring them."
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],
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"unknowns": [
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"Exact KWR75B-CAN frame map, scaling, status bits, and update rate.",
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"Final ODrive runtime interface and command scaling.",
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"Final SV2A-2150 torque/current command scaling and Iq monitor mapping.",
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"Final safety relay model and wiring details."
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]
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}
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