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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.

rev 300 mods for LINEAR OUTPUT RMB20 -V interface

This ECO permits analog output RMB20 to be used.

EXT_AN1 - 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)

RMB20V (any -V will work, 45 or 90deg is best) connection

SC J8.1 (GND) to RMB20 GND
SC J8.3 (EXTPWR) to RMB20 Vdd
SC J8.5 (EXT AN1) to RMB20 Vout

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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