Difference between revisions of "Ankle 0806"
From DIDEAS Wiki
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=mechanical= | =mechanical= | ||
| − | *transmission | + | *transmission ratio 190 (4:1 gear box, 47 tpi screw) |
==lead screw== | ==lead screw== | ||
Revision as of 21:46, 29 August 2006
Contents
mechanical
- transmission ratio 190 (4:1 gear box, 47 tpi screw)
lead screw
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
- controllers pg266 pg268 pg271 10 to 20 amp pg273
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
Specs : HEDS
black : GND red : +5 blue : Ch A orange : Ch B white : Index
Ankle Position Encoder
black : GND red : +5 gray : Ch A yellow : Ch B orange : Ch Z
