Upright

Sensors

• SG1 (torque) -> SG channel 1 (2.0k, 500x)
• SG2 (compression) -> SG channel 2 (8.2k, 122x)
• SG3 (series) -> SG channel 3 (5.9k, 170x)
  • INA326 gain : 2 * R2/R1 = (2 * 500k/xx)

AKCPU2Z Modifications

• verify JR1 is in position in 2-3
• change RB1 from 470 ohm to 0.0 ohms.

UPSG1

• U1-U3 populated with 4.096V reference, X60003CIG3Z-41T1CT-ND

BLMD6C

• more details for uprights here.

Software Modifications

• QEI changed from 4x to 2x mode as:
  • 1) encoder has higher resolution
  • 2) gear ratio is higher.
  • even in 2x mode, max planterflexion results in count of -27k, close to limit of -32k