JHU DVRK Hardware Status - jhu-dvrk/sawIntuitiveResearchKit GitHub Wiki
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This page documents all FPGA/QLA boards and DVRK setup and status in JHU.
Maintainer: Zihan Chen
Email: zihan dot chen at jhu dot edu
Current Setup
| Robot | Axis | S/N | FPGA | QLA | Status |
|---|---|---|---|---|---|
| MTML | 1-4 | M28003 | 3792-21 | 3791-18 | GOOD |
| MTML | 5-8 | M28003 | 3792-41 | 3791-31 | GOOD |
| MTMR | 1-4 | M28247 | 3792-22 | 3791-14 | GOOD |
| MTMR | 5-8 | M28247 | 3792-43 | 3791-41 | GOOD |
| PSM1 | 1-4 | M28007 | 3116-01 | 3791-15 | GOOD |
| PSM1 | 5-8 | M28007 | 3116-03 | 3791-19 | GOOD |
| PSM2 | 1-4 | M27374 | 3792-40 | 3791-30 | GOOD |
| PSM2 | 5-8 | M27374 | 3792-12 | 3791-10 | GOOD |
Manufacture Batch
| Batch | FPGA S/N | Number | QLA S/N | Number |
|---|---|---|---|---|
| Pilot | 3116-XX | 05/05 | 3174-XX | 05/05 |
| Batch 1 | 3792-XX | 10/44 | 3791-XX | 10/44 |
| Batch 2 | 3985-XX | 01/68 | 3984-XX | 01/68 |
FPGA boards
Pilot
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3116-01 | GOOD | JHU | FireWire Port Issue (Fixed) |
| 3116-02 | GOOD | JHU | Ethernet |
| 3116-03 | GOOD | JHU | |
| 3116-04 | FAIL | JHU | Power Issue |
| 3116-05 | GOOD | JHU | SUJ Development Anton |
Batch 1
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3792-21 | GOOD | JHU | DVRK BOX ??? |
| 3792-41 | GOOD | JHU | DVRK BOX ??? |
| 3792-22 | GOOD | JHU | DVRK BOX ??? |
| 3792-43 | GOOD | JHU | DVRK BOX ??? |
| 3792-12 | GOOD | JHU | |
| 3792-37 | GOOD | JHU | Power issue when mated with QLA |
| 3792-40 | GOOD | JHU | |
| 3792-27 | GOOD | JHU | |
| 3792-42 | GOOD | AVCOM | Test firmware for AVCOM |
| 3792-39 | GOOD | JHU | Ethernet |
Batch 2
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3985-66 | GOOD | JHU |
Batch 3
| S/N | Status | Location | Comment |
|---|---|---|---|
| 4266-17 | BAD | JHU | Power Issue |
QLA boards
Pilot
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3174-01 | GOOD | JHU | |
| 3174-02 | GOOD | JHU | |
| 3174-03 | GOOD | JHU | |
| 3174-04 | FAIL | JHU | Axis 4 no power feedback (bool) |
| 3174-05 | GOOD | JHU | SUJ Development Anton |
Batch 1
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3791-18 | GOOD | JHU | Axis3 VREF = 0, Now uses Axis4 VREF |
| 3791-07 | GOOD | JHU | Axis 3 Cur Issue Fixed ZC R52 |
| 3791-08 | GOOD | JHU | |
| 3791-31 | GOOD | JHU | |
| 3791-14 | GOOD | JHU | |
| 3791-41 | GOOD | JHU | |
| 3791-15 | GOOD | JHU | |
| 3791-19 | GOOD | JHU | |
| 3791-30 | GOOD | JHU | |
| 3791-10 | GOOD | JHU |
Batch 2
| S/N | Status | Location | Comment |
|---|---|---|---|
| 3984-13 | GOOD | JHU |
Batch 3
| S/N | Status | Location | Comment |
|---|---|---|---|
| 4265-14 | GOOD | JHU | Short under J3 (Enc/Din) Fixed |