Revision as of 20:30, 24 January 2009

• PCB Hardware

• ASSEMBLY NOTES / INSTRUCTIONS

• SCREWS
  • side plates (sholder screws) : 2.5mm
  • K2 spring to ball nut / actuator : 2mm
  • K3 spring : 7/64"
  • front / back cover : 5/64"
  • belt tension adjust : 50 mills

system

Proto 1

• wow_left

Proto 2

• wow_right

Proto 3

• proto3

Proto BAK

• protoBAK

gear system

• 9.6 est small diameter ?? . (15 teeth?), 5mm more
• ~25mm diameter - (40 teeth), 6mm bore
• w/belt 26.32mm diameter
• 35 mm spacing
• current ratio ~2.5
• large pulley radius could grow by 7.3mm (abs max) - although part of the pyramid is in the way. lathe to fix that.
• 39mm pulley has 62 teeth - for a ratio of 4.13!

pyramid_2008

motor / assembly

• left ankle belt riped, and replaced at 5.64N. Pully had runout, caused by under dimension of the pully. Believed to be cause of belt break. Everything fixed.

drive 1

• 01-16-09 : DRIVE 1 GEAR BOX IS OUT OF SEVICE! THE EC30 MOTOR from this drive is now in drive 3
• 1-11-09 : tried to replace with new GT2 white belt - but 2nd motor bearing cover has damaged torx screw
• 1-11-09 : the belt was probably replaced (with better used belt) on 12-8-09
• 12-8-08 : belt tension missing 1 of the 4 screws (head is broken)
• 11-28-08 : verified with +-1.5Amps

todo

• remove torx screw - possibly drill out and replaced with a hex flat head?

drive 2

drive 3

• right ankle belt previously tensioned at 5.64. Today was measured to be 4.2 - 4.4N. Retightened to 5.6
• 01-16-09 : DRIVE 3 IS NOW MATED WITH EC30 MOTOR FROM DRIVE 1 and is installed in Proto 1 with new White GT2 Belt and adjust to 5.64N using outlined fixture process

drive 4

• 01-22-09 : Replaced motor and re-adjusted belt to new set point of 6.64N
• 1-21-09 : installed into 'backup'
• 1-21-09 : Bearings have been replaced
• 1-19-09 : has defective thrust bearing
• 1-12-09 :Installed New White GT2 Belt and adjust to 5.64N using outlined fixture process

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

• 1-19-09 : belt replaced with white GT2 and tensioned
• 12-6-08 : motor 6 pully has a problem. mounted incorrectly?
• 12-6-08 : added motor connectors

battery packs

• WOW#1 - 12.5 amp fuse
• WOW#x - 10 amp fuse
• WOW#x - 10 amp fuse
• WOW#5 - 12.5 amp fuse

bluetooth

• 100:001 : 8B (PDA -> right) "iwxxx1"
• 100:002 : 65 (PDA -> left) "default"
• 100:003 : DF (PDA #4
• 100:004 ??: 8E (PDA #5)
•  ???:??? : 18 (PDA #3)

• others are "Iwxxxx" or "iwxxx"