Aiw hardware

PCB Hardware

• SCREWS
• side plates : 2.5mm
• ser spring to actuator : 2mm
• par spring : 7/64"
• belt tension adjust : 50 mills

system

ak2

• 12-4-08 : +20% series spring, with clamp in stiffest position
• 12-4-08 : Controller Upd_pcb#110-006 (has battery ECO)
• 12-1-08 : Controller Upd_pcb#110-009
• 12-1-08 : normal series spring with clamp in softest position
• FET Upd_pcb#110-005
• Pyramid 5
• Drive5

ak3

• 12-8-08 : operational with WOW pack
• 12-7-08 : +20% series spring, with clamp in stiffest position
• drive assembly #1
• Controller Upd_pcb#110-205
• FET Upd_pcb#110-004
• BT 8b
• pyramid 8

pyramid

2

• 12-7-08 : found removed from proto3 with broken wire
• 12-3-08 : Installed on Proto3. SG gain needed to be reduced from 850 to 550.
• 12-1-08 : Q&D test, connector seems good

3

• 11-28-08 : May have been calibrated in OCT, current on test stand

4

• 12-1-08 : Q&D test, connector seems good

5

• 12-1-08 : operational on PROTO3. SG gain is 850.
• 11-28-08 : to be tested. May have been calibrated in OCT

8

• 12-7-08 : installed on proto3 without testing. apparently doesn't work.

motor / assembly

drive 1

• 12-8-08 : belt tension missing 1 of the 4 screws (head is broken)
• 11-28-08 : verified with +-1.5Amps

drive 3

• 11-1-08 : motor frozen

drive 5

• 12-6-08 : CEB tests drive, no response on any channel - all high - probably ground is open
• 12-5-08 : robert repairs encoder - by replacing with encoder from frozen motor
• 12-4-08 : problems with encoder, no pulses on channel b
• 11-28-08 : verified with +-1.5Amps

drive 6

• 12-6-08 : motor 6 pully has a problem. mounted incorrectly?
• 12-6-08 : added motor connectors