Kknee1

• BiomechDocs BL Knee PFresearchE
• Biomech Documentation links:
• AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb

• kknee1 knee2 P32_paper_project Pic32

• Wireless Radio (WIP2b)

• Microchip Tools For Coding, Programming

• Using the Powerfoot (Pf_users)

• Biomech Manual

Edit

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

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

1. GND (blk) -> PENC1.7
2. +V (red) -> PENC1.6
3. NC
4. NC
5. AN0 (blk) -> PENC1.4
6. 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

connections

Jst_1mm_connectors