Hours 0909
From DIDEAS Wiki
Contents
Sep 09 hours
Thr Sep 17
- 5 mins - discuss status of LF w/RC
- 15 mins - discsss status of LF w/DC, discuss network requirements and problems with my PC network
Wed Sep 16
- 45 mins - home - working on swifi_analysis
- 2:45p-7:30pm
- ordered power poles from powerwerk
- coded LF analysis, added envelope and trajectory error calculations - verified
- FET board #5 is bad now. appears to have been damaged yesterday before I arrived
- Located new FET board #8
- located failed component on LDWASH1 amp. Will need to get component from lab.
- setup drive electronics, zero back-drive, added 3rd power supply to reduce gnd currents.
- 11:30pm -4:40am
- repair LDWASH amp
- rephase copley amp, was have large currents.
- figure out problem with loadwasher amp settings (was off by a factor of 2)
- added trajectory position to SWIFI output
- have terminal programming logging
- have run_lifefix read resistance and compute temperature
Tue Sep 15
- 30 mins
- document (email) resistance measurement
- investigation into how to update the code in a running python program - without stopping it.
- 3:55pm - 2:10 am -1hr dinner w/RC
- discuss w/ED signals for Copley control
- find that USB serial cable for charge amp is damaged
- experiment with using a pair of loadwashers in parallel
- order more USB cables from usbgear.com - should arrive in 2 days
- interview Alexey Zaparovanny
- rewrite in modular manner the SWIFI support code for integration into life fix.
Mon Sep 14
- 20 mins phone w/Eric re leaving move_ecat running indefinably (eg using signals)
- 11:55a-6:30pm -1:30 phone, -30 lunch
- 2nd phone discussion w/Eric to demostrate the use of signals on the copley program
- phone discuss with RC, wants envelope for AK encoder
- find bug in the MC resistance measurement and recode datastructures and for debug / reading from LF
Sun Sep 13
- 15 mins - admin
- 1+ 9:10p-12:55a
- clean up the class that runs the coply amplifier, Popen works, now can hold the servo position while the python script runs.
- clean up the charge amp class, reading back parameters now reflects the current state of the amp. required the pre commands.
Sat Sep 12
- 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
- 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
- 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.
- 5pm - leave 3:55am (-2 hr for dinner) (AT IW)
- test min/max
- discuss with RC the torque ripple.
- replace broken belt
- write motor current function generator
- do belt resonance experiments, 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
- clamped 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 experiments 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
- implement 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 experiments, 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)
- experiments with motor current loop PI parameters and determinate 3db current loop frequencies
aug 31
- arrive 3:30pm - leave 1:20am
- discuss python data collection with ED
- Zhixiu and I study the lifefixture and its control
- write code to generate sine forcing function, and sine sweep function
- study motor actual current vs desired current.
