# MINIMAL REQUIREMENTS FOR FUJITEC FIRMWARE
(see 210715_EV-L- DRIVE-COMMUNICATION.xlsx)

1. Set parameters from GUI of PC (similar to the UJI system) as given by "L-DRIVE setting parameters" table
(The GUI should be web interface, accessible remotely?)
1. Input manually parameters in a table on the screen, with range check
2. Save and restore parameters from external memory
3. Switch between preset parameter tables

2. Operate from GUI of PC (similar to the UJI system)
1. Run the L-DRIVE with preset trajectory in AUTO mode
2. Run the L-DRIVE by simulated push buttons in MANUAL mode
3. Run the L-DRIVE in RECOVERY mode (releasing wedged safety gear)
4. Emergency stop working during all operational modes
5. Logging mechanical and electrical parameters during all
operational modes
6. Firmware update of CABs and SCBs

3. Operate from COP as given by "List of communication data between EV and L-DRIVE" table
From COP to L-DRIVE:
a. Set operation mode (AUTO/MANUAL)
b. Set direction in case of MANUAL
c. Set driving speed (4 levels)
d. Set destination floor
e. Set request to SCB (torque state)
f. Send load info
From L-DRIVE to COP:
position, speed, error state, current phase

1. Run the L-DRIVE with preset trajectory in AUTO mode
- Enable SCBs along the trajectory
- Enable CABs along the trajectory
- Generate thrust to hold the cage
- Start running while sending info to COP
- Stop running, report to COP
- Remove thrust on signal from COP
- Disable CABs
- Disable SCBs

2. Run the L-DRIVE by simulated push buttons in MANUAL mode
- ...
3. Run the L-DRIVE in RECOVERY mode (releasing wedged safety gear)
- ...

4. Detect errors
a. Internal:
CAB failure, coil overheat, SCB failure, PC failure
b. Communication:
CAN error, MODBUS error
c. External:
Blackout, Brownout, Momentary power failure, EMC failure

1. Error display
2. Error logging
3. Fail to safety

5. Error recovery
a. Intermittent errors
retry, default fallback, reduced capability, restart
b. Permanent errors
override, safe shutdown

1. Ride-through for single CAB failure
2. Forced shutdown after finished operation for overheat

6. Development operational modes
a. Normal operation with monitoring
b. Experimental operation for new capability
c. Debug mode