Revision as of 17:39, 13 September 2009

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?

Sun Sep 6

• 4:30p - 5:30p
  • incorporate reading of ABS encoder into 10 khz ISR
  • add support to io_mile for zero mech angle offset (eg incremental encoder and abs encoder don't have the same zero.)

• 10:15p - 2:15p
  • LF experments with slower PVT files
  • PVT file error causes max plantar flextion, other was full speed w/leads shorted
  • thus belt breks due to one of these events
  • returned to working in MILE encorer - include zero offset into the MC mode 2 boot sequenece
  • implment MILE updates at 10 KHZ and enable an error check (mile vs INC)
  • error check can force change in the MC SM state
  • need different behavior when operating in LF mode

Sat Sep 5

• 1 hr - working on invoices

Fri Sep 4

• 2:20hrs
  • ED email re MC not working, research SVN and email response
  • experments with lifefix, load WB thrust profile

Thur Sep 3

• 4:35p - 2:40 a
  • work on LF code and PI / FF tuning
  • correct charge amp scale factors
  • verify successful thrust table playback (triggered from motor position)

Wed Sep 2

• 5pm - 3:20 am -30 mins
  • On LF, implement FF current loop control
  • meet with Rob Lado for programming position
  • document the freq sweep experments, email to RC and ZH

Tue Sep 1

• 10:30 - 3:30 am
  • wrote python class "lifefix_test_ and class "motor_controller" to config lifefixture.
  • modified lifefix_support.c for ability to read/write parameters abstractly (by param ID)
  • experments with motor current loop PI parameters and determinate 3db current loop frequencies