Difference between revisions of "Kknee1"
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*{{T_lab_pca}} | *{{T_lab_pca}} | ||
− | + | Documentation for the "Kknee1 PCB" | |
+ | =winter 2010= | ||
+ | * SEA pot appears as MC.HALL (iochan=1010, AN=7) | ||
+ | **can be read with cmd 1118 position 8 : 1140=0, 750=-2000 0 6 1540=2000 0 6 | ||
+ | * | ||
+ | |||
+ | ==todo== | ||
+ | *decide how to use mc.hall | ||
+ | *route | ||
=summer 2010= | =summer 2010= | ||
+ | |||
+ | ==Rev200 MC interface connectors== | ||
+ | |||
* motor connectors [http://www.rcdude.com/servlet/the-1495/Hyperion-Gold-Bullet-Connectors/Detail HP-CON25 3MF] | * motor connectors [http://www.rcdude.com/servlet/the-1495/Hyperion-Gold-Bullet-Connectors/Detail HP-CON25 3MF] | ||
+ | |||
+ | *SC/MC300 - Signal J8.3 (ANALOG_EXTPWR) is by default connected to 24v supply. Need to change jumpers for 5V supply. This is used to power the joint ankle sensor. | ||
+ | |||
+ | ==MR encoder to 8x1.25mm== | ||
+ | *MR 8pin | ||
+ | *2 Vcc 1 | ||
+ | *3 Gnd 2 | ||
+ | *5 /A 4 | ||
+ | *6 A 3 | ||
+ | *7 /B 6 | ||
+ | *8 B 5 | ||
+ | *9 /I 8 | ||
+ | *10 I 7 | ||
=todo= | =todo= | ||
+ | *attempt to reboot MC - if MC comm fails. | ||
+ | *system SM to better control the MC state. | ||
+ | *MC dataport to become syncronized to commands over its FUP - not from the SC | ||
+ | *printf to stdout seems to drop data. | ||
+ | *commands to support IMPED, close SEA toque, and trajectory modes. | ||
+ | *SEA feedback loop in MC (ability to set gain and offset) | ||
+ | *ability to read SEA | ||
=assembly notes= | =assembly notes= | ||
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# AN0 (blk) -> PENC1.4 | # AN0 (blk) -> PENC1.4 | ||
# DIG1 (grn) -> PENC1.5 | # DIG1 (grn) -> PENC1.5 | ||
− | =PCBs= | + | =Schematics and PCBs= |
− | *http://bmech2.media.mit.edu/ | + | *[http://bmech2.media.mit.edu/for_wiki/pic32/hc_kknee1-042710.pdf Schematic] |
+ | *[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1t.pdf PCB top] | ||
+ | *[http://bmech2.media.mit.edu/for_wiki/pic32/kknee1b.pdf PCB bottom] | ||
+ | *webserver directory : http://bmech2.media.mit.edu/for_wiki/pic32/ | ||
=errors= | =errors= | ||
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*PIC32 FUP needs PGC and PGD swapped | *PIC32 FUP needs PGC and PGD swapped | ||
− | = | + | = performance = |
− | * | + | * [[pic32]] contains timing result for the firmware and various speeds. |
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=notes= | =notes= | ||
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==status== | ==status== | ||
− | *SN1 : use for dev; | + | *SN1 : use for dev; |
+ | * #2 : used for paper project - issues after solenoid connection | ||
+ | * #3 : 9-25-2011 given to KE | ||
+ | * #5 : 9-25-2011 given to KE | ||
==ECO1== | ==ECO1== | ||
*rotate and reverse QY1 | *rotate and reverse QY1 | ||
+ | |||
==ECO2== | ==ECO2== | ||
*install jumper from C84 to PSW2.1 (brings Vsup to the SWIFI side connectors.) | *install jumper from C84 to PSW2.1 (brings Vsup to the SWIFI side connectors.) | ||
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*install Schottky between CY1.1 (cathode) and QY1.2 | *install Schottky between CY1.1 (cathode) and QY1.2 | ||
*reduce RY1 to ~1k | *reduce RY1 to ~1k | ||
+ | |||
+ | |||
+ | =connections= | ||
+ | [[Jst_1mm_connectors]] |
Latest revision as of 23:09, 25 September 2011
- BiomechDocs BL Knee PFresearchE
- Biomech Documentation links:
- AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb
- kknee1 knee2 P32_paper_project Pic32
Documentation for the "Kknee1 PCB"
Contents
winter 2010
- SEA pot appears as MC.HALL (iochan=1010, AN=7)
- can be read with cmd 1118 position 8 : 1140=0, 750=-2000 0 6 1540=2000 0 6
todo
- decide how to use mc.hall
- route
summer 2010
Rev200 MC interface connectors
- motor connectors HP-CON25 3MF
- SC/MC300 - Signal J8.3 (ANALOG_EXTPWR) is by default connected to 24v supply. Need to change jumpers for 5V supply. This is used to power the joint ankle sensor.
MR encoder to 8x1.25mm
- MR 8pin
- 2 Vcc 1
- 3 Gnd 2
- 5 /A 4
- 6 A 3
- 7 /B 6
- 8 B 5
- 9 /I 8
- 10 I 7
todo
- attempt to reboot MC - if MC comm fails.
- system SM to better control the MC state.
- MC dataport to become syncronized to commands over its FUP - not from the SC
- printf to stdout seems to drop data.
- commands to support IMPED, close SEA toque, and trajectory modes.
- SEA feedback loop in MC (ability to set gain and offset)
- ability to read SEA
assembly notes
- white LED has black text marking the index pin (die is faintly visible also)
- add note to assembly docs
- QY1 needs to be installed upside down and slightly rotated, as pins 2 and 3 need to be flipped
- add note to assembly docs
AKENCxx interface
- GND (blk) -> PENC1.7
- +V (red) -> PENC1.6
- NC
- NC
- AN0 (blk) -> PENC1.4
- DIG1 (grn) -> PENC1.5
Schematics and PCBs
- Schematic
- PCB top
- PCB bottom
- webserver directory : http://bmech2.media.mit.edu/for_wiki/pic32/
errors
- PIC32 FUP, and SWIFI outputs need their serial ports swapped
- PIC32 FUP needs PGC and PGD swapped
performance
- pic32 contains timing result for the firmware and various speeds.
notes
052710
- MC firmware : on bmech2, ricpf, trunk, MC; used vlist:ak_p32.vlist
status
- SN1 : use for dev;
- #2 : used for paper project - issues after solenoid connection
- #3 : 9-25-2011 given to KE
- #5 : 9-25-2011 given to KE
ECO1
- rotate and reverse QY1
ECO2
- install jumper from C84 to PSW2.1 (brings Vsup to the SWIFI side connectors.)
ECO3
- install 20K between pins 8 and 9 of PKNE1
- install Schottky between CY1.1 (cathode) and QY1.2
- reduce RY1 to ~1k