System integrity

RT.1

• Battery Voltage Monitor

1. Verify that the voltage lays within a min-max range.
2. Set a flag to run in a power saving mode (reduced pff or shorted leads)"

RT.2

• Battery Current Monitor

1. Make sure that the RMS current is within an acceptable range.

RT.3

• Battery Power Monitor

1. Make sure that the RMS battery power corresponds to the (vq,iq) prediction. Discrepancies will be used to detect excessive leakage or shoot through in the motor driver electronics.

RT.4

• Motor Position Integrity Monitor

1. Verify that the incremental encoder used for position feedback and commutation has not drifted in relation to the single turn encoder measurement.

RT.5

• Motor Temperature Monitor

1. Verify that the motor temperature is within an acceptable range.
2. Regulate pff to keep the motor temperature below a preset high limit.

RT.6

• Drive Transmission Monitor

1. Verify that motor torque production correlates with a series spring torque model--confirming assumptions about the linkage between theta, the output joint angle, and beta, the unloaded motor-position based prediction of output joint angle.

RT.7

• Shock Watch" Monitor

1. Verify that force, torque and acceleration are within a prescribed range.

RT.8

• Power Supply Voltage Monitor

1. Verify that MC key system voltages are within each's prescribed range.
   1. +12 volts
   2. +5 volts
   3. +3.3 volts digital
   4. +3.3 volts analog
2. Verify SC key system voltages
   1. safety DSNS
   2. 3.3V digital
   3. 3.3 volts analog
   4. 3.0 volt reference
   5. 3.3V volts strain gauge