Hours 0909
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Contents
Sep 09 hours
Sun : Sep 13, 2009
- 15 mins - admin
Sat : Sep 12, 2009
- hours 30 mins + 30 mins home depo
- discuss LF status with RC (nearly vibrated off table, ball nut and loadwasher out of AK)
- attempt to import large overnight text file into matlab. need to write a new converter.
- trip to HD to purchase blue SP and clamps to hold LF
- 4:05 - 9:10pm
- greatly improved Kistler charge amp class, mostly working
- 1 hr discussion / interview with Robot Designer
Fri : Sep 11, 2009
- hours : 3:10pm to 9:30pm
- create background process for move_ecat from python, rewrite the copley_control class
- explain motor PI loop to ZH, discover improper saturation of I term.
- w/ZH use sweep frequency to drive fixture under mechanical various conditions
- start life fixture
Thur Sep 10, 2009
- 12:45 - 4:20 pm; email re test fixture, phone with RC re lifefix; starting writing firmware to allow getting/setting MC variables by para_id, write python serial_port_helper; write program to test belt.
- Arrive IW 5pm - leave 3:55am (-2 hr for dinner)
- test min/max
- discuss with RC the torque ripple.
- replace broken belt
- write motor current function generator
- do belt resonance exprements, send plot to RC / ZH
- help a proper belt broken test
Wed Sep 9
- 4:05pm - 1am (-1 hr dinner w/RC) + 1.5 hrs on phone at home==
- discuss status of fixture with Rob (wanted to see if there were problems.)
- spoke w/Rick and Zhixiu on status then tune up the AK to full power.
- Met with Kristin we experiment with lifefix to find cause of resonance
- experiments with life fix and Q of resonance
- clampped masses to end of drive ball screw, fixture, etc, nothing seemed to change resonance freq
- found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q
- confirmed ZERO cogging in motor outside of lifefix
- measured LW thrust with motor leads shorted, and when driving 'constant' current; found significant ripple.
Tue Sep 8
- 3:15 - 2:20aa
- working on life fix, demo results, rick observed that lw thrust is very low; we use loadcell as a conformation and discover there's a problem
- turns out that charge amp scale values were different from those on my PC viewer, and AK code ( guess they had been reset.)
- discuss with Zhixiu alignment of the datasets. figure out how a PVT works,
- final turning of life fix and leave it running
- find that at high thrusts there are problems.
- modified ReadLoadCell.cpp - adjusted sample rate, added time to filename, improved file write
Mon Sep 7
- 4pm - 4:15am
- working on life fixture
- scripted pfcmd in linux, got test jit working
- burned out rs232 cable due to ground problems?