Ankle 0806
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Contents
support electronics
JANK1 | BENCH2 | BENCH2F | BATPTC1 | BATMRG1 | BATPWR1 | POT4a | QAKAMP | MM32 | CPU | Sensoray526
mechanical
- transmission ratio 319.2 (4:1 gear box, 3mm advance screw, 38.1mm moment arm)
- springs : http://www.centuryspringmfg.com/Springs/springs.html
spacers
http://precisionbrand.com/products/default.asp?p_catid=428
lead screw
Ankle Sensors
Linear Pot
- gray wire coming out of the side of the ankle POT (Novotechnik ptn025)
shield : not connected at pot red : 5v black : gnd white : signal green : NOT connected
Motor
Link to motor page and specs : Maxon motor number 305013 24v 200w
- Copley : Accelnet controller - required addition of 3x250uH inductors
- Other maxon controllers : DES 70/10 EPOS 10 to 20 amp MIP
Motor power
- 3 wires 18 AWG
RED : Motor winding 1 BLACK : Motor winding 2 WHITE : Motor winding 3
brake
- pair 0f 26 AWG wires coming out of the silver unit on the back of the motor. This is the brake but there aren't any specs online only in the printed catalog??? go figure. There should be a catalog in lab.
blue : GND red : +24v
motor hall sensor
- 5 thin wires (hall sensors - 26 AWG)
blue : GND green : hall supply 4.5 to 20V red-gray : hall sensor 1 black-gray : hall sensor 2 white-gray : hall sensor 3
Optical Encoder Motor Shaft
As of Sep 14 : uses HEDS-1250 and matching disk
Specs : HEDS
black : GND red : +5 blue : Ch A orange : Ch B white : Index
Ankle Position Encoder
Replaced with HEDS standard encoder
CUI ENCODER REMOVED: Specs: Cui MG30 [1] black : GND red : +5 gray : Ch A yellow : Ch B orange : Ch Z
