Upd pcb

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PFMENU DOCS

  • Operational:
  • SC : 205, 09, 08
  • PB : 004

Robert Todo

  • When U39 is removed - save and send to Linear Tech for failure analysis
  • Verify operation of RE40 encoder new motor test stand. Appears to not be working
  • Rewire 8-cell A123 battery pack to 7cell.
  • programming cable in PCB repair box is bad.
  • Build Vclamp8 with NEW PFET and 35w resistor
  • Ship 1 Vclamp8 to UPD

CEB todo

  • check IW experiment, get code at IW, add to SVN
  • get ankle statemachine running
  • build ankle
  • think about EC30 connectors for maxon
  • review DY schematics
  • resend code to Matt Raurer
  • verify Q15 operation of code on MC
  • MC feedforward.
  • verify that PSER1C board has GND from USB to target
  • current measurement PCB (with Y voltage measure)
  • encoder breakout boards
  • SG breakout boards
  • new WIFI wireless

State / Motor Controller

100-8A (BF2)

  • Motor control NOT operational (State operational)

TODO


110-006

  • 11-26-08 : NEEDS U39 replaced
  • 11-25-08: Not operational
  • 11-19-08 : traced MC power. Found that 3.3V supply only goes 1V - applied 3.3V from prg adpt and MC booted. Forced R155 high and 5V MC supply worked.
  • 11-19-08 : appears that MC switcher is bad. Apply 3.3V to ISP, SC boots, but MC does not.
  • 11-8-08 : requires external device to hold it on...
  • 10-6-08 : installed in UP#3

TODO

  • replace U39

ECOs


110-007

  • 11-26-08 : operational
  • 11-26-08 : R102 missing this is a pull up on the real time clock
  • 11-26-08 : added R141 to GND ECO (force power on)
  • 11-25-08 : Applied power, not operational
  • 11-19-08 : Applied power, seems to run okay.
  • 11-19-08 : Needs 3.3V to poweron status : component gets hot.
  • 10-8-08 : received from UPD - tested - seems to be DOA
  • 10-7-08 : received by UPD
  • 10-6-08 : died in ankle while using the battery and under high current load - traced to 3.3V motor controller supply not working. Was used with power board that has TVS installed on caps, and external TVS were also used. Died
  • 10-5-08 : installed in UP#3, made battery measurement ECO

TODO

  • install R102
  • verify that current filter caps are correct

ECOs



110-008

  • 11-26-08 : appears that the motor controller dsPIC is unpowered.
  • 11-19-08 : Rob added GND connection to keep board powered on (either at TP93 or otherside R141)
  • 11-19-08 : Applied 3.3V to ISP header and SC booted.
  • 11-19-08 : IMU #2 connected, push switch and won't power up
  • 10-5-08 : need to evaluate
  • 10-4-08 : Removed from UP#3, as randomly powers on at ~10hz due to noise? possibly damaged due to the pushbutton that WAS attached.
  • 10-1-08 : Modified for auto-off : requires external signal for power on, has MC battery voltage ECO

TODO

  • Diagnose failure

ECOs



110-009 (BF1)

  • 11-26-08 : operational, but missing CAP in middle row (C142?)
  • 11-20-08 : Needs the 24 pin flex connect to be replaced. (replaced 11-25-08)
  • 11-19-08 : Needs battery measurement modification.
  • 11-8-08 : has jumper wire to turn self on, but wouldn't boot until IMU attached. After first power, remove IMU and works fine.

TODO

110-205

  • 11-26-08 : needs 3.3V to be applied to get started.
  • 11-25-08 : flex connector replaced

TODO

ECOs













Power Board

100-002

Possibly used to be 110-ENG2

TODO

ECOs

110-004

  • 11-26-08 : benched tested for 3 days.
  • 11-26-08 : has 2.0 ohm gate drive
  • 11-26-08 : has 225W TVS on bypass caps.

TODO

ECOs


110-005

  • 10-8-08 : installed in upright2; during power platarflexion tests heard noises of instability from motor. reduce motor filter (Q & D) to PWM max of 20k (from 30k). During one test, the motor system seized (making noise) and 17amps was coming from the battery. Afterwards, attempts to energy mode 2/3 caused 1.1amp current draw from power supply


TODO

ECOs


110-007

  • 11-26-08 : operational

TODO

ECOs


110-008

  • 11-26-08 : is operational, but seems like it might be warm. I=180mA in mode 3, 0 torque. Added schottky and still gets warm (Hot). Upto 280mA depending on motor angle.

TODO

  • diagnose large power draw


ECOs

IMU

Blue radio

Wifi radio

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