Difference between revisions of "Aiw hardware"
From DIDEAS Wiki
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==5== | ==5== | ||
+ | *1-20-09 : installed new connector from pyramid 5, back inside proto2 | ||
*1-20-09 : has flaky connector. removed from proto2 | *1-20-09 : has flaky connector. removed from proto2 | ||
*12-1-08 : operational on PROTO3. SG gain is 850. | *12-1-08 : operational on PROTO3. SG gain is 850. |
Revision as of 05:55, 21 January 2009
- SCREWS
- side plates : 2.5mm
- K2 spring to ball nut / actuator : 2mm
- K3 spring : 7/64"
- front / back cover : 5/64"
- belt tension adjust : 50 mills
system
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!
proto2
- 1-19-09 : turned well with hugh, has new belt today
- 1-8-09 : brief test with Hugh and upright3 parameters. Delivered very little power, but could be tuning.
- 1-6-09 : Doesn't work with MCver CG6. Reinstalled CD6 from Dec 4. Probably should update to ~Dec 12 (tx demo)
- 12-31-08 : believed to be working from TX demo
- built with SC006, PB005. Problems with drive5 encoder.
- 12-4-08 : +20% series spring, with clamp in shows 2 detends (middle stiffness)
- 12-4-08 : Controller Upd_pcb#110-006 (has battery ECO)
- 12-1-08 : Controller Upd_pcb#110-009
- 12-1-08 : normal series spring with clamp in softest position
- Controller [Upd_pcb#110-006]]
- FET Upd_pcb#110-005
- Pyramid 5
- Drive6
proto1 (previously proto3)
- 01-16-09 : Proto 1 Now Has Gear Box 3 in it and a New White GT2 Belt and adjust to 5.64N using outlined fixture process
- 1-11-09 : needs K3 ramps
- 1-11-09 : needs lock tight on 4 black K3 bolts, and 4 side plate shoulder screws.
- 1-11-09 : belt is really tight. Lots of friction.
- 1-11-09 : will assembled with Upd_218_controller#110-008 and Upd_217_power_board#110-008
- 1-8-09 : board set problems that caused oscilation? with initial mode 3 switch. Safety fet or anther failed.
- 1-6-09 : believe that power board is bad. will be updated with Upd_217_power_board#110-007
- 12-31-08 : needs more testing
- 12-31-08 : realized that PROTO1 plated was recently mounted onto ankle - thus PROTO3 became PROTO1
- 12-13-08 : SC and MC operational (respond to commands / LEDs flash). Power board not lit. filter, max PWM 30k.
- 12-12-08 : magic smoke escapes. (FET Upd_217_power_board#110-004
- 12-8-08 : operational with WOW pack
- 12-7-08 : +20% series spring, with clamp in stiffest position
config
- drive assembly #3
- Controller [Upd_218_controller#110-008]]
- FET Upd_217_power_board#110-008
- BT 8b (right)
- pyramid 8 (with WOW on top)
- series spring +20% - max forward position (no holes showing)
pyramid
1
- 01-09-09 : recabled
todo
- TEST
2
- 1-20-09 : can't use in system with WOW battery pack.
- 01-09-09 : recabled
- 12-7-08 : found removed from proto3 with broken wire
- 12-3-08 : Installed on Proto3. SG gain needed to be reduced from 850 to 550.
- 12-1-08 : Q&D test, connector seems good
todo
- TEST
3
- 11-28-08 : May have been calibrated in OCT, current on test stand
4
- 12-1-08 : Q&D test, connector seems good
5
- 1-20-09 : installed new connector from pyramid 5, back inside proto2
- 1-20-09 : has flaky connector. removed from proto2
- 12-1-08 : operational on PROTO3. SG gain is 850.
- 11-28-08 : to be tested. May have been calibrated in OCT
6
- 01-09-09 : recabled
todo
- TEST
8
- 1-20-09 : removed connector cable and installed onto pyramid 5
- 1-10-09 : was working, however one of the 4 mounting pins came out and is unusable.
- 12-7-08 : installed on proto3 without testing. apparently doesn't work.
9
- 01-09-09 : recabled
todo
- TEST
motor / assembly
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
- 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
- 1-19-09 : has defective thrust bearing
- 01-12-09 :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"