Difference between revisions of "AK-TEST1"
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=NOW CALLED S03= | =NOW CALLED S03= | ||
*7-3-09 : REQUIRES CALIBRATION (has been opened) | *7-3-09 : REQUIRES CALIBRATION (has been opened) | ||
=status= | =status= | ||
| − | + | *7-3-09 : belt broke while pole testing. | |
*7-3-09 : CEB removed side plate to replace IMU cable | *7-3-09 : CEB removed side plate to replace IMU cable | ||
*7-2-09 : has broken IMU cable (red) | *7-2-09 : has broken IMU cable (red) | ||
*7-2-09 : IMU#2 installed doesn't work. | *7-2-09 : IMU#2 installed doesn't work. | ||
| + | |||
| + | =config= | ||
| + | |||
| + | *IMU1 (7-3-09) | ||
| + | *STATE09 (7-3-09) | ||
| + | *FET #??? (7-3-09) | ||
| + | *28J ramps (7-3-09) | ||
| + | *"drive #5 (6-10-09)" (7-3-09) - not original #5 - as this one lacks shoulder screws. | ||
=forcefield calb= | =forcefield calb= | ||
Latest revision as of 06:28, 8 October 2009
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
NOW CALLED S03
- 7-3-09 : REQUIRES CALIBRATION (has been opened)
status
- 7-3-09 : belt broke while pole testing.
- 7-3-09 : CEB removed side plate to replace IMU cable
- 7-2-09 : has broken IMU cable (red)
- 7-2-09 : IMU#2 installed doesn't work.
config
- IMU1 (7-3-09)
- STATE09 (7-3-09)
- FET #??? (7-3-09)
- 28J ramps (7-3-09)
- "drive #5 (6-10-09)" (7-3-09) - not original #5 - as this one lacks shoulder screws.
forcefield calb
- hall zero : apply 2 amps, then switch to mode 0, -1670, then switch to mode 3, -1540
- zero the motor encoder
- apply -4 amps, motenc gets to 24308, hall(normal) 7520
- switch to mode 0, 23824, hall=7340
- switch to mode 3 no change.
- apply +5 amps, hall = -3000
- apply +15 amps, hall = -6000
