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Checkout of 9088-00144

Status: Awaiting Input Template: WHL-1000 Checkout (v1.0.6) Started: Jun 19 2026 12:58:32 by Frederik Bendtsen

1 Artifact:

Case #1 : Document SettingsJun 19 2026 12:58:32.823 - -

Description:

Step #1: Node A (ID: 3481) Jun 19 2026 13:03:30.157 - -

Instructions

1. Type the node number corresponding to node A in this module checkout.

Action Required

Node number

Enter a value above to continue.

Logs

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Step #2: Node B (ID: 3405) Jun 19 2026 12:59:02.064 - Jun 19 2026 12:59:04.092

Instructions

1. Type the node number corresponding to node B in this module checkout.

Stored Metric

Number

Node number

Logs

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Case #2 : Initial data from burn-in time in vacuumJun 19 2026 12:58:32.837 - Jun 19 2026 13:00:10.328

Description:

Step #1: Store Burn-in time frame (ID: 3406) Jun 19 2026 12:59:04.239 - Jun 19 2026 12:59:39.441

35s

Stored Metric

Burn-in time frame — StartBurn-in time frame — End

Duration: 2d 18h 0s

Logs

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Step #2: Store Grafana link (ID: 3407) Jun 19 2026 12:59:39.591 - Jun 19 2026 12:59:44.224

Stored Metric

Text

Grafana link

Logs

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Step #3: Node A: Store Burn-in current consumption (ID: 3408) Jun 19 2026 12:59:44.395 - Jun 19 2026 12:59:48.809

Instructions

1. Note the current consumption at 3000rpm before changing speed etc.

Stored Metric

Number

Burn-in current consumption

Logs

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Step #4: Node A: Store Burn-in power (ID: 3409) Jun 19 2026 12:59:49.005 - Jun 19 2026 12:59:52.115

Instructions

1. Note the power at 3000rpm before changing speed etc.

Stored Metric

Number

Burn-in power

Logs

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Step #5: Node A: Store Burn-in RPM ripple (ID: 3410) Jun 19 2026 12:59:52.324 - Jun 19 2026 12:59:54.928

Stored Metric

Number

Burn-in RPM ripple

Logs

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Step #6: Node A: Store Burn-in torque ripple (ID: 3411) Jun 19 2026 12:59:55.149 - Jun 19 2026 12:59:58.351

Stored Metric

Number

Burn-in torque ripple

Logs

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Step #7: Node B: Store Burn-in current consumption (ID: 3412) Jun 19 2026 12:59:58.599 - Jun 19 2026 13:00:00.853

Instructions

1. Note the current consumption at 3000rpm before changing speed etc.

Stored Metric

Number

Burn-in current consumption

Logs

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Step #8: Node B: Store Burn-in power (ID: 3413) Jun 19 2026 13:00:01.096 - Jun 19 2026 13:00:03.573

Instructions

1. Note the power at 3000rpm before changing speed etc.

Stored Metric

Number

Burn-in power

Logs

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Step #9: Node B: Store Burn-in RPM ripple (ID: 3414) Jun 19 2026 13:00:03.827 - Jun 19 2026 13:00:07.048

Stored Metric

Number

Burn-in RPM ripple

Logs

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Step #10: Node B: Store Burn-in torque ripple (ID: 3415) Jun 19 2026 13:00:07.316 - Jun 19 2026 13:00:10.048

Stored Metric

Number

Burn-in torque ripple

Logs

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Case #3 : Node A: Check software versionJun 19 2026 12:58:32.878 - Jun 19 2026 13:00:37.530

Description:

Step #1: Run command (ID: 3416) Jun 19 2026 13:00:10.466 - Jun 19 2026 13:00:14.088

Instructions

1. Run the following commands:

    node A
    list download
    set mrpm_target 0

switch out node A with the numeric node value i.e A=1,2,3,...,n

2. Wait for the wheel to spin down

3. Run the following command:

    switch -d 1500 0

Logs

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Step #2: Store output from command (ID: 3417) Jun 19 2026 13:00:14.215 - Jun 19 2026 13:00:20.473

Instructions

1. Insert output from the above command.

  switch -d 1500 0

Example:

cr3-9  rewl@15  switch -d 1500 0 @ 13:58:04 d. 03/03/26
  Switching to flash 0
  Will run this image 1 times
push queue error
  Rebooting............................................................
  | rewl
  | samc21 [0]
  | v1.7.1-0-gb889706
  | Feb  3 2026 10:06:50
 cr3-9  rewl@15 

Stored Metric

Text

Command output

Logs

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Step #3: Run command (ID: 3418) Jun 19 2026 13:00:20.611 - Jun 19 2026 13:00:24.212

Instructions

1. Run the following command:

    
    switch -d 1500 1

Logs

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Step #4: Store output from command (ID: 3419) Jun 19 2026 13:00:24.363 - Jun 19 2026 13:00:28.318

Instructions

1. Insert output from the above command.

  switch -d 1500 1

Example:

cr3-9  rewl@15  switch -d 1500 1 @ 13:58:14 d. 03/03/26
  Switching to flash 1
  Will run this image 1 times
push queue error
  Rebooting............................................................
  | rewl
  | samc21 [1]
  | v1.7.1-0-gb889706
  | Feb  3 2026 10:06:51
 cr3-9  rewl@15 

Stored Metric

Text

Command output

Logs

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Step #5: Store FW version (ID: 3420) Jun 19 2026 13:00:28.482 - Jun 19 2026 13:00:32.543

Instructions

1. Write down the FW version.

Template: vN.N-N-gXXXXXXX
Example: v1.7.1-0-gb889706

Stored Metric

Text

FW version

Logs

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Step #6: Run command (ID: 3421) Jun 19 2026 13:00:32.818 - Jun 19 2026 13:00:35.455

Instructions

1. Run the following command:

    stdbuf2

Logs

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Step #7: Store Miniboot version (ID: 3422) Jun 19 2026 13:00:35.648 - Jun 19 2026 13:00:37.327

Instructions

1. Note the miniboot version.

    Template: N.N.N-NgXXXXXXX
    Example: 2.0.1-6-g3bb938f

Stored Metric

Text

Miniboot version

Logs

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Case #4 : Node A: Angle offset adjustmentJun 19 2026 12:58:32.905 - Jun 19 2026 13:02:45.223

Description:

Step #1: Run command (ID: 3423) Jun 19 2026 13:00:37.617 - Jun 19 2026 13:00:39.361

Instructions

1. With the following commands prepare and execute angle offset adjustment script:

    set drv_enable 1
    set pid_en 1
    set self_test 20
    watch stdbuf2

Logs

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Step #2: Store Angle offset (ID: 3424) Jun 19 2026 13:00:39.481 - Jun 19 2026 13:01:01.945

22s

Stored Metric

Number

Angle offset

Logs

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Step #3: Store -8100 RPM Steady-state power (ID: 3479) Jun 19 2026 13:02:19.140 - Jun 19 2026 13:02:24.758

Instructions

1. Note the steady-state power at -8100 rpm

Stored Metric

Number

Steady-state power

Logs

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Step #4: Store 8100 RPM Steady-state power (ID: 3480) Jun 19 2026 13:02:29.347 - Jun 19 2026 13:02:34.186

Instructions

1. Note the steady-state power at 8100 rpm

Stored Metric

Number

Steady-state power

Logs

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Step #5: Store output from script (ID: 3427) Jun 19 2026 13:01:11.589 - Jun 19 2026 13:01:36.631

25s

Instructions

1. Store output from the "angle_offset" script

Stored Artifact

Logs

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Step #6: Store Grafana link (ID: 3428) Jun 19 2026 13:02:34.390 - Jun 19 2026 13:02:44.997

10s

Stored Metric

Text

Grafana link

Logs

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Case #5 : Node A: Run dynamic self testJun 19 2026 12:58:32.928 - -

Description:

Step #1: Run command (ID: 3429) Jun 19 2026 13:02:45.333 - Jun 19 2026 13:02:50.319

Instructions

1. With the following commands, spin down the wheel to 0 rpm (if spinning), reboot, prepare and execute self test script for wheel 1000:

    node A
    set mrpm_target 0

switch out node A with the numeric node value i.e A=1,2,3,...,n

2. Wait for the wheel to spin down

3. Run the following commands

    reboot
    set drv_enable 1
    set pid_en 1
    set self_test 1000
    watch stdbuf2

Logs

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Step #2: Store 8100 RPM Steady-state power (ID: 3430) Jun 19 2026 13:02:50.431 - -

Instructions

1. Note the steady-state power at 8100 rpm

Action Required

Steady-state power

Constraints:

Minimum: 7
Maximum: 16

Enter a value above to continue.

Logs

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Step #3: Store output from script (ID: 3431) Jun 19 2026 12:58:32.937 - -

Instructions

1. Store output from the "self_test" script

Logs

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Step #4: Store Grafana link (ID: 3432) Jun 19 2026 12:58:32.941 - -

No additional details available for this step.

Logs

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Case #6 : Node A: Driver 2 testJun 19 2026 12:58:32.944 - -

Description:

Step #1: Run command (ID: 3433) Jun 19 2026 12:58:32.946 - -

Instructions

1. Check that the wheel can spin in both directions at driver 2 with the following commands:

    reboot
    set drv_enable 2
    set pid_en 1
    set mrpm_target 2000000

Logs

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Step #2: Confirm wheel spin (ID: 3434) Jun 19 2026 12:58:32.950 - -

Instructions

1. Confirm the wheel spin at 2000rpm

Logs

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Step #3: Run command (ID: 3435) Jun 19 2026 12:58:32.953 - -

Instructions

1. Run the command:

	set mrpm_target -2000000

Logs

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Step #4: Confirm wheel spin (ID: 3436) Jun 19 2026 12:58:32.957 - -

Instructions

1. Confirm the wheel spin at -2000rpm

Logs

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Step #5: Run command (ID: 3437) Jun 19 2026 12:58:32.961 - -

Instructions

1. Run the command:

    
    set mrpm_target 0

2. Wait for the wheel to spin down

3. Run the command:

    
    reboot

Logs

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Step #6: Store Grafana link (ID: 3438) Jun 19 2026 12:58:32.964 - -

No additional details available for this step.

Logs

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Case #7 : Node A: PullJun 19 2026 12:58:32.968 - -

Description:

Step #1: Run command (ID: 3439) Jun 19 2026 12:58:32.970 - -

Instructions

1. Run the command:

    pull -e 0

Logs

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Step #2: Store output from script (ID: 3440) Jun 19 2026 12:58:32.973 - -

Instructions

1. Store output from the "pull -e 0" script

Logs

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Case #8 : Node A: 50mNm torque box testJun 19 2026 12:58:32.977 - -

Description:

Step #1: Confirm Grafana logging (ID: 3441) Jun 19 2026 12:58:32.979 - -

Instructions

1. Confirm that Grafana logging is active and running with a 100ms sampling interval

Logs

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Comments

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Step #2: Run command (ID: 3442) Jun 19 2026 12:58:32.982 - -

Instructions

1. With the following commands, perform the 50mNm torque test on driver 1:

    set mrpm_per_sec_max 404630
    set drv_enable 1
    set pid_en 1
    set mrpm_target -8100000

2. Wait to convergence


    set mrpm_target 8100000

3. Wait to convergence


    set mrpm_target -8100000

4. Wait to convegence


    set drv_enable 0
    set mrpm_target 0
    set pid_en 0

Logs

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Step #3: Store Grafana link (ID: 3443) Jun 19 2026 12:58:32.985 - -

Instructions

1. Store the Grafana link from the driver 1 50mNm torque box test

Logs

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Step #4: Store test data (Change with new step type for file upload) (ID: 3444) Jun 19 2026 12:58:32.989 - -

Instructions

1. Store the data from RPM and Torque view in a .csv file names "node_a_driver_1.csv"

Logs

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Step #5: Run command (ID: 3445) Jun 19 2026 12:58:32.993 - -

Instructions

1. Wait for the wheel to stop spinning before continuing

2. With the following commands, perform the 50mNm torque test on driver 2:

    set mrpm_per_sec_max 404630
    set drv_enable 2
    set pid_en 1
    set mrpm_target -8100000

3. Wait to convergence


    set mrpm_target 8100000

4. Wait to convergence


    set mrpm_target -8100000

5. Wait to convegence


    set drv_enable 0
    set mrpm_target 0
    set pid_en 0

Logs

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Step #6: Store Grafana link (ID: 3446) Jun 19 2026 12:58:32.996 - -

Instructions

1. Store the Grafana link from the driver 2 50mNm torque box test

Logs

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Step #7: Store test data (Change with new step type for file upload) (ID: 3447) Jun 19 2026 12:58:32.999 - -

Instructions

1. Store the data from RPM and Torque view in a .csv file names "node_a_driver_2.csv"

Logs

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Case #9 : Node B: Check software versionJun 19 2026 12:58:33.003 - -

Description:

Step #1: Run command (ID: 3448) Jun 19 2026 12:58:33.005 - -

Instructions

1. Run the following commands:

    node B
    list download
    switch -d 1500 0

Logs

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Comments

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Step #2: Store output from command (ID: 3449) Jun 19 2026 12:58:33.008 - -

Instructions

1. Insert output from the above command.

  switch -d 1500 0

Example:

cr3-9  rewl@16  switch -d 1500 0 @ 14:34:28 d. 03/03/26
  Switching to flash 0
  Will run this image 1 times
push queue error
  Rebooting............................................................
  | rewl
  | samc21 [0]
  | v1.7.1-0-gb889706
  | Feb  3 2026 10:06:50
 cr3-9  rewl@16 

Logs

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Comments

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Step #3: Run command (ID: 3450) Jun 19 2026 12:58:33.012 - -

Instructions

1. Run the following command:

    
    switch -d 1500 1

Logs

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Comments

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Step #4: Store output from command (ID: 3451) Jun 19 2026 12:58:33.015 - -

Instructions

1. Insert output from the above command.

  switch -d 1500 1

Example:

cr3-9  rewl@16  switch -d 1500 1 @ 14:34:38 d. 03/03/26
  Switching to flash 1
  Will run this image 1 times
push queue error
  Rebooting............................................................
  | rewl
  | samc21 [1]
  | v1.7.1-0-gb889706
  | Feb  3 2026 10:06:51
 cr3-9  rewl@16 

Logs

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Comments

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Step #5: Store FW version (ID: 3452) Jun 19 2026 12:58:33.019 - -

Instructions

1. Write down the FW version.

Template: vN.N-N-gXXXXXXX
Example: v1.7.1-0-gb889706

Logs

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Comments

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Case #10 : Node B: Angle offset adjustmentJun 19 2026 12:58:33.022 - -

Description:

Step #1: Run command (ID: 3453) Jun 19 2026 12:58:33.024 - -

Instructions

1. With the following commands prepare and execute angle offset adjustment script:

    set drv_enable 1
    set pid_en 1
    set self_test 20
    watch stdbuf2

Logs

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Comments

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Step #2: Store Angle offset (ID: 3454) Jun 19 2026 12:58:33.028 - -

No additional details available for this step.

Logs

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Step #3: Store -8100 RPM Steady-state power (ID: 3455) Jun 19 2026 12:58:33.031 - -

Instructions

1. Note the steady-state power at -8100 rpm

Logs

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Comments

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Step #4: Store 8100 RPM Steady-state power (ID: 3456) Jun 19 2026 12:58:33.034 - -

Instructions

1. Note the steady-state power at 8100 rpm

Logs

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Comments

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Step #5: Store output from script (ID: 3457) Jun 19 2026 12:58:33.037 - -

Instructions

1. Store output from the "angle_offset" script

Logs

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Comments

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Step #6: Store Grafana link (ID: 3458) Jun 19 2026 12:58:33.041 - -

No additional details available for this step.

Logs

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Case #11 : Node B: Run dynamic self testJun 19 2026 12:58:33.044 - -

Description:

Step #1: Run command (ID: 3459) Jun 19 2026 12:58:33.046 - -

Instructions

1. With the following commands, spin down the wheel to 0 rpm (if spinning), reboot, prepare and execute self test script for wheel 1000:

    reboot
    set drv_enable 1
    set pid_en 1
    set self_test 1000
    watch stdbuf2

Logs

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Comments

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Step #2: Store 8100 RPM Steady-state power (ID: 3460) Jun 19 2026 12:58:33.050 - -

Instructions

1. Note the steady-state power at 8100 rpm

Logs

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Comments

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Step #3: Store output from script (ID: 3461) Jun 19 2026 12:58:33.053 - -

Instructions

1. Store output from the "self_test" script

Logs

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Step #4: Store Grafana link (ID: 3462) Jun 19 2026 12:58:33.057 - -

No additional details available for this step.

Logs

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Case #12 : Node B: Driver 2 testJun 19 2026 12:58:33.060 - -

Description:

Step #1: Run command (ID: 3463) Jun 19 2026 12:58:33.062 - -

Instructions

1. Check that the wheel can spin in both directions at driver 2 with the following commands:

    reboot
    set drv_enable 2
    set pid_en 1
    set mrpm_target 2000000

Logs

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Step #2: Confirm wheel spin (ID: 3464) Jun 19 2026 12:58:33.066 - -

Instructions

1. Confirm the wheel spin at 2000rpm

Logs

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Step #3: Run command (ID: 3465) Jun 19 2026 12:58:33.069 - -

Instructions

1. Run the command:

	set mrpm_target -2000000

Logs

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Step #4: Confirm wheel spin (ID: 3466) Jun 19 2026 12:58:33.072 - -

Instructions

1. Confirm the wheel spin at -2000rpm

Logs

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Step #5: Run command (ID: 3467) Jun 19 2026 12:58:33.077 - -

Instructions

1. Run the command:

    
    set mrpm_target 0

2. Wait for the wheel to spin down

3. Run the command:

    
    reboot

Logs

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Step #6: Store Grafana link (ID: 3468) Jun 19 2026 12:58:33.080 - -

No additional details available for this step.

Logs

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Case #13 : Node B: PullJun 19 2026 12:58:33.084 - -

Description:

Step #1: Run command (ID: 3469) Jun 19 2026 12:58:33.086 - -

Instructions

1. Run the command:

    pull -e 0

Logs

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Step #2: Store output from script (ID: 3470) Jun 19 2026 12:58:33.089 - -

Instructions

1. Store output from the "pull -e 0" script

Logs

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Case #14 : Node B: 50mNm torque box testJun 19 2026 12:58:33.093 - -

Description:

Step #1: Confirm Grafana logging (ID: 3471) Jun 19 2026 12:58:33.095 - -

Instructions

1. Confirm that Grafana logging is active and running with a 100ms sampling interval

Logs

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Step #2: Run command (ID: 3472) Jun 19 2026 12:58:33.099 - -

Instructions

1. With the following commands, perform the 50mNm torque test on driver 1:

    set mrpm_per_sec_max 404630
    set drv_enable 1
    set pid_en 1
    set mrpm_target -8100000

2. Wait to convergence


    set mrpm_target 8100000

3. Wait to convergence


    set mrpm_target -8100000

4. Wait to convegence


    set drv_enable 0
    set mrpm_target 0
    set pid_en 0

Logs

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Step #3: Store Grafana link (ID: 3473) Jun 19 2026 12:58:33.102 - -

Instructions

1. Store the Grafana link from the driver 1 50mNm torque box test

Logs

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Step #4: Store test data (Change with new step type for file upload) (ID: 3474) Jun 19 2026 12:58:33.106 - -

Instructions

1. Store the data from RPM and Torque view in a .csv file names "node_b_driver_1.csv"

Logs

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Step #5: Run command (ID: 3475) Jun 19 2026 12:58:33.109 - -

Instructions

1. Wait for the wheel to stop spinning before continuing

2. With the following commands, perform the 50mNm torque test on driver 2:

    set mrpm_per_sec_max 404630
    set drv_enable 2
    set pid_en 1
    set mrpm_target -8100000

3. Wait to convergence


    set mrpm_target 8100000

4. Wait to convergence


    set mrpm_target -8100000

5. Wait to convegence


    set drv_enable 0
    set mrpm_target 0
    set pid_en 0

Logs

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Step #6: Store Grafana link (ID: 3476) Jun 19 2026 12:58:33.113 - -

Instructions

1. Store the Grafana link from the driver 2 50mNm torque box test

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Step #7: Store test data (Change with new step type for file upload) (ID: 3477) Jun 19 2026 12:58:33.118 - -

Instructions

1. Store the data from RPM and Torque view in a .csv file names "node_b_driver_2.csv"

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Step #8: Plot data (Find new step type for this) (ID: 3478) Jun 19 2026 12:58:33.121 - -

Instructions

1. Plot the data from the 50mNm torque box tests for nodes A and B using the guide given below

Data Plot Guide

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