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edits
Project:UMI RTX Robot arm: Difference between revisions
From London Hackspace Wiki
→Reverse engineering
(→People involved: Added AlexR) |
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| Line 147: | Line 147: | ||
{| class="wikitable" | {| class="wikitable" | ||
|+Pin outs for the main cable | |+Pin outs for the main cable | ||
! 40pin cable pin !! Function !! arduino pin | ! 40pin cable pin !! Function !! arduino pin !! launchpad pin | ||
|- | |- | ||
|1 | |1 | ||
|Wrist left (roll left + pitch) motor + | |Wrist left (roll left + pitch) motor + | ||
|4 | |4 | ||
|29 | |||
|- | |- | ||
|2 | |2 | ||
|Wrist left (roll left + pitch) motor - | |Wrist left (roll left + pitch) motor - | ||
|5 | |5 | ||
|30 | |||
|- | |- | ||
|3 | |3 | ||
|Wrist right (roll left + pitch) motor + | |Wrist right (roll left + pitch) motor + | ||
|6 | |6 | ||
|19 | |||
|- | |- | ||
|4 | |4 | ||
|Wrist right (roll left + pitch) motor - | |Wrist right (roll left + pitch) motor - | ||
|7 | |7 | ||
|36 | |||
|- | |- | ||
|5 | |5 | ||
|wrist yaw motor + | |wrist yaw motor + | ||
|8 | |8 | ||
|35 | |||
|- | |- | ||
|6 | |6 | ||
|wrist yaw motor - | |wrist yaw motor - | ||
|9 | |9 | ||
|59 | |||
|- | |- | ||
|7 | |7 | ||
|shoulder yaw motor + | |shoulder yaw motor + | ||
|46 | |46 | ||
|77 | |||
|- | |- | ||
|9 | |9 | ||
|shoulder yaw motor - | |shoulder yaw motor - | ||
|12 | |12 | ||
|76 | |||
|- | |- | ||
|8 | |8 | ||
|elbow yaw motor + | |elbow yaw motor + | ||
|10 | |10 | ||
|75 | |||
|- | |- | ||
|10 | |10 | ||
|elbow yaw motor + | |elbow yaw motor + | ||
|11 | |11 | ||
|51 | |||
|- | |- | ||
|11 | |11 | ||
|gripper motor + | |gripper motor + | ||
|3 | |3 | ||
|45 | |||
|- | |- | ||
|12 | |12 | ||
|gripper motor - | |gripper motor - | ||
|2 | |2 | ||
|46 | |||
|- | |- | ||
|13 | |13 | ||
| Line 218: | Line 230: | ||
|left wrist ch1 | |left wrist ch1 | ||
|A9 | |A9 | ||
|23 | |||
|- | |- | ||
|20 | |20 | ||
|left wrist ch2 | |left wrist ch2 | ||
|25 | |25 | ||
|24 | |||
|- | |- | ||
|21 | |21 | ||
|right wrist ch1 | |right wrist ch1 | ||
|A10 | |A10 | ||
|25 | |||
|- | |- | ||
|22 | |22 | ||
|right wrist ch2 | |right wrist ch2 | ||
|27 | |27 | ||
|26 | |||
|- | |- | ||
|23 | |23 | ||
|wrist yaw ch1 | |wrist yaw ch1 | ||
|29 | |29 | ||
|13 | |||
|- | |- | ||
|24 | |24 | ||
|wrist yaw ch2 | |wrist yaw ch2 | ||
|A11 | |A11 | ||
|12 | |||
|- | |- | ||
|25 | |25 | ||
|shoulder ch1 | |shoulder ch1 | ||
|33 | |33 | ||
|11 | |||
|- | |- | ||
|26 | |26 | ||
|shoulder ch2 | |shoulder ch2 | ||
|A13 | |A13 | ||
|32 | |||
|- | |- | ||
|27 | |27 | ||
|elbow ch1 | |elbow ch1 | ||
|A12 | |A12 | ||
|31 | |||
|- | |- | ||
|28 | |28 | ||
|elbow ch2 | |elbow ch2 | ||
|31 | |31 | ||
|53 | |||
|- | |- | ||
|29 | |29 | ||
|gripper ch1 | |gripper ch1 | ||
|23 | |23 | ||
|79 | |||
|- | |- | ||
|30 | |30 | ||
|gripper ch2 | |gripper ch2 | ||
|A8 | |A8 | ||
|78 | |||
|- | |- | ||
|31 | |31 | ||
| Line 298: | Line 322: | ||
{| class="wikitable" | {| class="wikitable" | ||
|+Pin outs for the z-axis only cable | |+Pin outs for the z-axis only cable | ||
! 10pin cable pin !! Function !! arduino pin | ! 10pin cable pin !! Function !! arduino pin !! launchpad pin | ||
|- | |- | ||
|1 | |1 | ||
|ch 2 | |ch 2 | ||
|14 | |14 | ||
|74 | |||
|- | |- | ||
|2 | |2 | ||
| Line 310: | Line 335: | ||
|ch 1 | |ch 1 | ||
|25 | |25 | ||
|73 | |||
|- | |- | ||
|4 | |4 | ||
| Line 317: | Line 343: | ||
|PWM | |PWM | ||
|44 | |44 | ||
|72 | |||
|- | |- | ||
|6 | |6 | ||
|Direction, + up, - down (11.87 resistor) | |Direction, + up, - down (11.87 resistor) | ||
|43 | |43 | ||
|71 | |||
|- | |- | ||
|7 | |7 | ||
