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Torque Feedback Controller Guide

summary

Last update 10-30-09:

1 - status unknown, available
6 - status unknown, available - CEB has a LAB.
7 - believed to be operational, available
8 - believed to be operational, used with lifefixture, has lifefix ECO [DO NOT USE ON ROBOT]

datasheets

(PDF) RX 8564LC real time clock

SC/MC 2x0-218 PCA

200-218-001

8-6-09 : found on bench. MC doesn't seem to be powered (unable to program)
(date unknown - June???) location AK-WB2

200-218-002

8-6-09 : running overnight stress test (+5a, -5a, +5, -5, 3sec off)
8-??-09 : reveived from MPD

200-218-003

4-27-09 : will start testing.
needs R233 and R222 shorted (solder ball)

200-218-005

location (IW)
4-16-09 : SHORTED R233 and R222 to enable local VBAT MEASUREMENT. DONT CONNECT EXTERNAL BATTERY CABLE
location ceb benchtest (MIT), used for code dev

200-218-006

10-29-09 : used for early bench test experiments w/217-005
4-25-09 : has problem with MC reset
4-2-09 : start bench test at 3:10am (w/217-006), finished 2pm - works well!

200-218-007

10-31-09 : pair 218-007 217-005 believed to be successfully stress tested

10-24-09 : measure real time clock coin cell voltage as 2.626V
- D14 : TP82 to TP42 = -0.370V
- R128=1.3mV -> 26nA

4-6-09 : start bench test at 2am; finished 9:10pm (w/217-007) works well.

200-218-008

12-9-09 : USe on the lifefix
has LIFEFIX ECO, has BATTERY ECO, has MILE ECO
10-29-09 : DO NOT INSTALL INTO ROBOT.
8-30-09 : modified temp measurement for lifefix. C73=10nF, R102=2.0k
modified for MILE encoder
location (6-26-09) - used for CEB code development at lab

200-218-009

11-3-09 : updated with -753 firmware, started calibration
11-1-09 : pair Upd_2x0_218_controller#200-218-009 218-009 Upd_2x0_217_power_board#200-217-009 217-009 believe to be successfully stress tested
10-29-09 : installed in S3 when it was acting up.
location AK-WB1 ???

200-218-010

4-2-09 : ran bench test for 1.5 hrs with 217-010

ECOs

BATTERY ECO

Enables measurement of the battery voltage without an external battery data cable.

solder ball / zero ohm resistor across R222 and R233

MILE ECO

Allows the EC30-MILE encoder to be connected to MC, increases output clock voltage.

Disconnect pin6 of D10 from the signal Hall.C;

On J10 (5pin x 1.25mm header) install a 4.7k 0603 resistor between pin 4 (5VDMC) and pin 3 (HALL_C).

Replace R86 with a 220 ohm 0402

pinout

1 GND
2 VCC (5)
3 N-
4 N+
5 B-
6 B+
7 A-
8 A+
9 GND
10 VCC
11 SSI-DAT (to HALL.A)
12 SSI-CLK (to HALL.C)

LIFEFIX ECO

Increases cutoff frequency of the analog temperature measurement signal. The 'battery temperature' signal represents the loadwasher force.

replace C73 w/10nF, 0402 NPO
replace R102 w/2.0K, 1%, 0402

rev 300 mods for DIGITAL SSI interface on EXT

These ECO permits the connection of an RMB20SC, or CB's AKENCx PCAs AKENC

EXT_AN0 - modify for high speed digital input to MC
- replace R207 w/1k (1% resistor)
- replace C135 with a 1.6K (1%) resistor

EXT_AN1 - (use as analog input) - disconnect AA HALL SENSOR
- remove R94

ANALOG_EXTPWR - switch to 5V
- remove R226 and R228 (if installed)
- short R227 (w/0 ohm 0402 or solder ball)

HALL_B signal requires no change (goes to MC via 1k)

AKENC3 pinout

* J8           / AKENC3d
* 1 (gnd BLK) -> P1  (gnd)
* 3 (+5  RED) -> P2  (+5)  
* 4 (an0 GRN) -> P5  (an0  - P24.MISO)
* 6 (Hlb BLU) -> P6  (dig0 - MC.SPI_CLK)

RMB20SC (highest resolution) connection

SC J8.1 (GND) to RMB20 GND
SC J8.3 (EXTPWR) to RMB20 Vdd
SC J8.4 (EXT AN0) to RMB20 DATA+
SC J8.6 (HALL_B) to RMB20 CLOCK+
RMB20SC has differential driver IC "LB197Q" that would require biasing to receive CMOS logic. Thus remove this IC from the RMB20 and attach directly to the IC pads.

218 300-310 ECOs for use with RMB20 and BSENC1

On the 218-301 and 218-310 (Rev 301, 310 SC / MC boards) MPD has only made some of the SSI encoder changes that we need. Here is a summary of what is needed for each revision.

BS encoder support:

Rev 310 : C74=DNP, we should populate C74=1.6k to protect the ADC.
Rev 301 : Need to change R76 from 49.9k to 1k, and C74 from 3.3nF to 1.6K

For the RMB20 :

Rev 310 : No ECOs are required
Rev 301 : C135=DNP, change to C135=1.6K to protect the ADC

SC/MC board tests

Measure RTC voltage (TP14 to GND), with SC powered, and with SC not-powered

Upd 2x0 218 controller

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