Robotic Arm Electrical Interface

1 The electrical interface of the manipulator base

1.1 Introduction to the base

​ A. Figure 1-1 shows the front ports and buttons on the base:

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​ Figure 1-1 Front view of the base

1.2 Description of the bottom electrical interface

Note: Function interface group is 2.54mm Dupont interface, external can use 2.54mm Dupont wire.

​ A. Table 1-1 shows the definition of each interface in a functional interface group.

Tag name Signal name Function Note
5V 5V Power supply, DC5V
5V 5V Power supply, DC5V
GND GND Motherboard power signal ground
NC NC -- Temporarily not open
NC NC -- Temporarily not open
18 GPIO18 -- PAD serial port occupation
GND GND Motherboard power signal ground
23 GPIO23 3.3 V-out-PNP output /3.3 V-int input
24 GPIO24 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground
25 GPIO25 3.3 V-out-PNP output /3.3 V-int input
08 GPIO08 3.3 V-out-PNP output /3.3 V-int input
07 GPIO07 3.3 V-out-PNP output /3.3 V-int input
01 GPIO01 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground
12 GPIO12 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground
16 GPIO16 3.3 V-out-PNP output /3.3 V-int input
20 GPIO20 3.3 V-out-PNP output /3.3 V-int input
21 GPIO21 3.3 V-out-PNP output /3.3 V-int input
3.3 3.3V DC3.3 V power supply
NC NC -- Temporarily not open
03 GPIO03 Occupied by SCL (serial clock line) in the I2C bus
04 GPIO04 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground
17 GPIO17 -- PAD serial port occupation
27 GPIO27 3.3 V-out-PNP output /3.3 V-int input
22 GPIO22 3.3 V-out-PNP output /3.3 V-int input
3.3 3.3V DC3.3 V power supply
10 GPIO10 3.3 V-out-PNP output /3.3 V-int input
09 GPIO09 3.3 V-out-PNP output /3.3 V-int input
11 GPIO11 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground
00 GPIO00 3.3 V-out-PNP output /3.3 V-int input
05 GPIO05 3.3 V-out-PNP output /3.3 V-int input
06 GPIO06 3.3 V-out-PNP output /3.3 V-int input
13 GPIO13 3.3 V-out-PNP output /3.3 V-int input
19 GPIO19 3.3 V-out-PNP output /3.3 V-int input
26 GPIO26 3.3 V-out-PNP output /3.3 V-int input
GND GND Motherboard power signal ground

​ Table 1-1 Functional interface group

Description: Figure 1-2 shows other functions of the interface. If other functions are used, the I/O function is unavailable.

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​ Figure 1-2

​ B. Power DC interface: use a DC power socket with an outer diameter of 6.5mm and an inner diameter of 2.0mm;

The 8.4V 5A DC power adapter provided by the manufacturer can be used to power the mycobot280.

​ C. Key switch: After pressing it, the internal power is turned on, and the key lights up with a white light; when it is pressed again, the white light goes out, and the internal power is turned off.

​ D. Type C interface: It can be used to connect and communicate with the PC.

​ E. HDMI interface: This interface is HDMI type A interface. If you want to display the robot operation interface, the user can display the operation page to other equipment terminals by connecting the HDMI display interface.

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​ Figure 1-3 HDMI interface

​ F. USB2.0 interface*2: serial port bus standard 2.0 interface for data connection; The USB port is used to copy program files and connect peripherals such as mouse and keyboard.

​ G. USB3.0 port : The port that uses serial bus 3.0 for data connection. The USB port is used to copy program files and connect peripherals such as mouse and keyboard.

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​ Figure 1-4 Defining USB ports

​ H. The network interface: (as shown in figure 1-5) ports for network data connection. Ethernet interfaces can be used for communication between a PC and a robot system or for Ethernet communication with other devices.

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​ Figure 1-5 Network interface definition

​ I. Micro USB interface: an interface for data connection with serial bus standard 2.0; users can use the Android cable to copy program files.

2 Mechanical arm end electrical interface

2.1 The end of the manipulator is introduced

​ A. Figure 2-1 and Figure 2-2 show the side interfaces at the end of the manipulator.

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​ Figure 2-1 Side view of the end of the manipulator

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​ Figure 2-2 Side view of the end of the manipulator

2.2 Description of terminal electrical ports

​ A. Figure 2-3 shows the definition of each interface in a function interface group.

Tag name Signal name Function Note
5V0 5V0 Power supply, DC5V
GND GND Motherboard power signal ground
3V3 3V3 DC3.3 V power supply
22 GPIO22 3.3 V-out-PNP output /3.3 V-int input
19 GPIO19 3.3 V-out-PNP output /3.3 V-int input
23 GPIO23 3.3 V-out-PNP output /3.3 V-int input
33 GPIO33 3.3 V-out-PNP output /3.3 V-int input

​ Figure 2-3 Functional interface group

​ B. Type C interface: used to communicate with PC and update firmware.

​ C. Grove interface 4: Figure 2-4 shows the definition of Grove interface 4

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​ Figure 2-4 Grove port 4

​ D. Steering gear interface: used for expanding the end of the gripper, currently supporting the use of adaptive gripper.

​ E. Atom: For 5X5 RGB LED (G27) display and button function (G39)

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