Difference between revisions of "Kknee1"
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*{{T_lab_pca}} | *{{T_lab_pca}} | ||
| + | Documentation for the "Kknee1 PCB" | ||
| + | |||
| + | =winter 2010= | ||
| + | * SEA pot appears as MC.HALL (iochan=1010, AN=7) | ||
| + | **can be read with cmd 1118 position 8 : 1140=0, 750=-2000 0 6 1540=2000 0 6 | ||
| + | * | ||
| + | |||
| + | ==todo== | ||
| + | *decide how to use mc.hall | ||
| + | *route | ||
=summer 2010= | =summer 2010= | ||
| Line 43: | Line 53: | ||
# AN0 (blk) -> PENC1.4 | # AN0 (blk) -> PENC1.4 | ||
# DIG1 (grn) -> PENC1.5 | # DIG1 (grn) -> PENC1.5 | ||
| − | =PCBs= | + | =Schematics and PCBs= |
| − | *http://bmech2.media.mit.edu/ | + | *[http://bmech2.media.mit.edu/for_wiki/pic32/hc_kknee1-042710.pdf Schematic] |
| + | *[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1t.pdf PCB top] | ||
| + | *[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1b.pdf PCB bottom] | ||
| + | *webserver directory : http://bmech2.media.mit.edu/for_wiki/pic32/ | ||
=errors= | =errors= | ||
| Line 58: | Line 71: | ||
==status== | ==status== | ||
| − | *SN1 : use for dev; | + | *SN1 : use for dev; |
| + | * #2 : used for paper project - issues after solenoid connection | ||
| + | * #3 : 9-25-2011 given to KE | ||
| + | * #5 : 9-25-2011 given to KE | ||
==ECO1== | ==ECO1== | ||
| Line 70: | Line 86: | ||
*install Schottky between CY1.1 (cathode) and QY1.2 | *install Schottky between CY1.1 (cathode) and QY1.2 | ||
*reduce RY1 to ~1k | *reduce RY1 to ~1k | ||
| + | |||
| + | |||
| + | =connections= | ||
| + | [[Jst_1mm_connectors]] | ||
Latest revision as of 23:09, 25 September 2011
- BiomechDocs BL Knee PFresearchE
- Biomech Documentation links:
- AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb
- kknee1 knee2 P32_paper_project Pic32
Documentation for the "Kknee1 PCB"
Contents
winter 2010
- SEA pot appears as MC.HALL (iochan=1010, AN=7)
- can be read with cmd 1118 position 8 : 1140=0, 750=-2000 0 6 1540=2000 0 6
todo
- decide how to use mc.hall
- route
summer 2010
Rev200 MC interface connectors
- motor connectors HP-CON25 3MF
- SC/MC300 - Signal J8.3 (ANALOG_EXTPWR) is by default connected to 24v supply. Need to change jumpers for 5V supply. This is used to power the joint ankle sensor.
MR encoder to 8x1.25mm
- MR 8pin
- 2 Vcc 1
- 3 Gnd 2
- 5 /A 4
- 6 A 3
- 7 /B 6
- 8 B 5
- 9 /I 8
- 10 I 7
todo
- attempt to reboot MC - if MC comm fails.
- system SM to better control the MC state.
- MC dataport to become syncronized to commands over its FUP - not from the SC
- printf to stdout seems to drop data.
- commands to support IMPED, close SEA toque, and trajectory modes.
- SEA feedback loop in MC (ability to set gain and offset)
- ability to read SEA
assembly notes
- white LED has black text marking the index pin (die is faintly visible also)
- add note to assembly docs
- QY1 needs to be installed upside down and slightly rotated, as pins 2 and 3 need to be flipped
- add note to assembly docs
AKENCxx interface
- GND (blk) -> PENC1.7
- +V (red) -> PENC1.6
- NC
- NC
- AN0 (blk) -> PENC1.4
- DIG1 (grn) -> PENC1.5
Schematics and PCBs
- Schematic
- PCB top
- PCB bottom
- webserver directory : http://bmech2.media.mit.edu/for_wiki/pic32/
errors
- PIC32 FUP, and SWIFI outputs need their serial ports swapped
- PIC32 FUP needs PGC and PGD swapped
performance
- pic32 contains timing result for the firmware and various speeds.
notes
052710
- MC firmware : on bmech2, ricpf, trunk, MC; used vlist:ak_p32.vlist
status
- SN1 : use for dev;
- #2 : used for paper project - issues after solenoid connection
- #3 : 9-25-2011 given to KE
- #5 : 9-25-2011 given to KE
ECO1
- rotate and reverse QY1
ECO2
- install jumper from C84 to PSW2.1 (brings Vsup to the SWIFI side connectors.)
ECO3
- install 20K between pins 8 and 9 of PKNE1
- install Schottky between CY1.1 (cathode) and QY1.2
- reduce RY1 to ~1k
