Motor Driver for Haptics QC

Quality Check for 8 motor board

1. Write the firmware to PIC32MK by a PC with PICkit3.

1.1 Install MPLAB IPE v6.15

IPE come with IDE.

1.2 Start MPLAB IPE

https://gyazo.com/906d5b918a990bdebbc88a692b7fb119

1.2. Move to Advanced Mode

Click menu "Settings-Advanced Mode"

https://gyazo.com/12cb5a4aca66714b9226e0a265d41b2d

Enter "microchip" as the password.

https://gyazo.com/235e8615f836da3f51fd6dac9843eae1

1.3 Choose device and tool

Connect PICkit3.

Choose Family and Device as below.

PICkit3 will shown in Tool. So, choose it.

https://gyazo.com/fde15b97521324f8476e53b206462183

1.4. Power setting

Click the left "Power" button and press Power Settings. Check "power target circuit from PICkit3" and adjust the voltage level.

https://gyazo.com/fae565f1ae137d7e86d5072e8d61c377

1.5. Select a hex file.

Click the left "Operate" button and click the "Browse" button for "Hex File". Then choose the downloaded hex file.

https://gyazo.com/3b97f00a3be675aa1837be3817f4c9d1

1.6. Connect to PICkit3

Connect PICkit3 to PC and connect the board and PIC kit3.

Push the connector softly to keep the contacts.

https://gyazo.com/d9d3d60e373a5bd8edcb09650a730a7e

Click the "Connect" button.

https://gyazo.com/52f206639b9f5763935a8e3cb98830ab

Then, the "Output - IPE" tab will shows:

Connecting to MPLAB PICkit 3...

Currently loaded firmware on PICkit 3

Firmware Suite Version.....01.56.09

Firmware type..............PIC32MZ

Programmer to target power is enabled - VDD = 3.250000 volts.

Target device PIC32MK0512MCJ064 found.

Device ID Revision = A1

DEVSN0 = 0100010c

DEVSN1 = 50434239

1.7. Program the firmware

- Click Program button.

https://gyazo.com/4553121e536075b57d25d6da2a22777b

Then, the "Output - IPE" tab will shows:

2023-12-11 14:44:39 +0900 - Programming...

Device Erased...

Programming...

The following memory area(s) will be programmed:

program memory: start address = 0x1d000000, end address = 0x1d00dfff

boot config memory

configuration memory

Programming/Verify complete

2023-12-11 14:44:49 +0900 - Programming complete

*** Hold In Reset mode is enabled ***

2. Connect the board to the PC via the USB-UART board.

2.1 Connect UART

Connect the USB-UART board to the "UART1" connector on the board using a FFC cable and the Power cable.

Connect the USB-UART board and the PC with a USB micro B cable.

https://gyazo.com/80a35e76cc29ce08c69d41125370b12c

https://gyazo.com/f2807644cdf6a3bed0c6caba941c3bef

2.2 Download and run the test software on Windows.

Run PCController.exe

https://gyazo.com/8310ff05f9f014863d144f9886a95209

2.3 Check UART port.

Click the Dropdown list of "UART port#" and select the correct COM port. If there are multiple ports, please unplug USB-UART from the PC once and check the list—the port that disappeared is what we want to use.

Click "List borads" button. You will see "#1M8C0F4" and 10 white panels.

https://gyazo.com/d77a2ead2974c6b060153652770ee8b8

Remove FFC from the board.

Connect the FFC cable to the "UART0" connector on the board.

Click "List borads" button. You will see "#1M8C0F4" and 10 white panels again.

3. Test 8 motor connectors

Connect motor to one of the motor connectors (MC0 ~ MC7) by FFC.

https://gyazo.com/a2688048853c7134392f5f4e700f1e14

Click "Drive and Measure" button. Then the motor will rotate and you will see the sensor outputs.

https://gyazo.com/4392eaca06257555e3c506642c2c64a2

Check the output of the corresponding panel (Top row, left to right: MC0-MC2, Second row: MC3-MC5, Third row: MC6, MC7, FS1, fourth row: FS2)

If the graphs in the correponding panel is similar to the above. The motor connector is good. Otherwise, there will be some connection error.

Repeat for all motor connectors.

4. Check 2 force sensor connectors

Connect the motor to one of the FS connectors (FS0 ~ FS1) by FFC.

Click "Measure" button and rotate the motor by hand.

Then, you will see graphs similar to the 9th panel below.

A video for FS connectors; rotate the motor by hand.

https://scrapbox.io/files/6576b911aa631d00244b0a4d.mp4