Mechanical arm electrical interface

1 Base electrical interface(Developers only)

1.1Base Introduction

A，A. The interface, display and buttons on the top of the base are shown in Figure 1-1:

Figure 1-1 Front view of the base

B, the interface on the left side of the base is shown in Figure 1-2:

Figure 1-2 Left side view of the base

C, the interface on the right side of the base is shown in Figure 1-3:

Figure 1-3 Right side view of the base

1.2 Base interface description

Note: The functional interface groups are all 2.54mm DuPont interfaces, and 2.54mm DuPont cables can be used externally;

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

Tag	Signal	Function	Note
18	G18	-	Temporarily not open
19	G19	3.3 V-out-PNP output /3.3 V-int input
23	G23	-	Temporarily not open
22	G22	3.3 V-out-PNP output /3.3 V-int input
21	G21	3.3 V-out-PNP output /3.3 V-int input
G	GND	Motherboard power signal ground
3V3	3V3	DC3.3 V power supply
5V	5V	Power supply, DC5V

Table 1-1 Functional interface group 1

B. The definitions of interfaces in functional interface group 2 are the same as those in functional interface group 3, as shown in Table 1-2.

Tag	Signal	Function	Note
3	G3	3.3 V-out-PNP output /3.3 V-int input	This parameter is unavailable when usB-Type-c is used
1	G1	3.3 V-out-PNP output /3.3 V-int input	This parameter is unavailable when usB-Type-c is used
16	G16	-	Temporarily not open
17	G17	-	Temporarily not open
2	G2	3.3 V-out-PNP output /3.3 V-int input
5	G5	3.3 V-out-PNP output /3.3 V-int input
25	G25	3.3 V-out-PNP output /3.3 V-int input
26	G26	3.3 V-out-PNP output /3.3 V-int input
35	G35	3.3 V-int input
34	G34	3.3 V-int input
RST	RST	Master reset
BAT	BAT	-	Temporarily not open
3V3	3V3	DC3.3 V power supply
5V	5V	Power supply, DC5V
G	GND	Motherboard power signal ground

Table 1-2 Functional interface groups 2 and 3

Description: Figure 1-5 shows other functions of the interface. If other functions are used, the I/O function is unavailable.

Figure 1-4

C. Power DC interface: The mechArm is powered by a 6.5mm od, 2.0mm OD, and a manufacturer's 8.4V 5A DC power adapter

D. Grove interface: Figure 1-5, Figure 1-6, and Figure 1-7 show the Grove interface definitions

Figure 1-5 Grove interface 1

Figure 1-6 Grove interface 2

Figure 1-7 Grove interface 3

E. type C interface: used to communicate with the PC. G1 and G3 ports are occupied when this interface is used.(For program and firmware burning)

F. Reset button: used when the main control system is reset

G. Buttons A, B, and C: Cooperate with the display

H. Display: The 2-inch IPS screen can be used to display mechArm communication status and adjust robot origin with buttons.

2 Electrical interface at the end of the manipulator(Developers only)

2.1 Introduction of Robot Arm End

A. The side interface of the end of the robot arm is shown in Figure 2-1:

Figure 2-1 End of the robotic arm

2.2 Terminal interface description

A. Table 2-1 shows the definition of each interface in functional interface group 4.

Tag name	Signal name	Function
5V0	5V	Power supply, DC5V
GND	GND	Motherboard power signal ground
3V3	3V3	DC3.3 V power supply
G22	G22	3.3 V-out-PNP output /3.3 V-int input
G19	G19	3.3 V-out-PNP output /3.3 V-int input
G23	G23	3.3 V-out-PNP output /3.3 V-int input
G33	G33	3.3 V-out-PNP output /3.3 V-int input

Table 2-1 Functional port group 4

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

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

Figure 2-2 Grove interface 4

D. Servo interface: It is used when expanding the gripper at the end, and currently supports the use of the matching adaptive gripper.

E. Atom: for 5X5 RGB LED (G27) display and key function (G39)

2 Robotic Arm Electrical Interface