Revision as of 16:37, 21 January 2009

• PCB Hardware

• ASSEMBLY NOTES / INSTRUCTIONS

• 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

• 01-21-09 : Bearings have been replaced
• 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"