Difference between revisions of "Ankle 0806"

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==Sensors==
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=support electronics=
 +
[[JANK1]] | [[BENCH2]] | [[BENCH2F]] | [[BATPTC1]] | [[BATMRG1]] | [[BATPWR1]] | [[POT4a]] | [[QAKAMP]] | [http://www.diamondsystems.com/products/diamondmm32at MM32]  | [http://www.digitallogic.ch/english/products/datasheets/ms_pc104_detail.asp?id=MSMP3SEG CPU]
 +
| [http://www.sensoray.com/html/526data.htm 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==
 +
*[http://www.nookind.com/pdf/NookBallScrew.pdf  ECS-10030]
 +
 
 +
=Ankle Sensors=
 +
 
  
 
===Linear Pot===
 
===Linear Pot===
−
Novotechnik ptn025  see spec sheet attached to email
 
−
* ohms = ???
 
  
−
shield  not connected at pot
+
*gray wire coming out of the side of the ankle POT (Novotechnik ptn025)
−
red 5v
 
−
black gnd
 
−
green NOT connected
 
−
white signal
 
  
 +
shield  : not connected at pot
 +
red : 5v
 +
black : gnd
 +
white : signal
 +
green : NOT connected
  
 
===Motor ===
 
===Motor ===
  
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Link to motor page and specs
+
Link to motor page and specs : [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_176_e.pdf Maxon motor number 305013 24v 200w]
−
Maxon motor number 305013 24v 200w
+
 
−
http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_176_e.pdf
+
 
 +
 
 +
*Copley : [http://www.copleycontrols.com/motion/downloads/pdf/Accelnet_Panel.pdf Accelnet controller] - required addition of 3x250uH inductors
 +
 
 +
*Maxon controllers [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_266_e.pdf DEC70/10] - no inductance required for PM-EC-30  [http://www.maxonmotorusa.com/files/download/pdf/306089-dec70-10-e.pdf User man]
 +
 
 +
* Other maxon controllers : [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_268_e.pdf DES 70/10] [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_271_e.pdf EPOS 10 to 20 amp] [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_273_e.pdf MIP]
 +
 
 +
* Maxon encoder / brake options : [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_238_e.pdf ENC-238] [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_246_e.pdf ENC-246] [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_278_e.pdf Brake 278]
 +
 
 +
 
 
   
 
   
−
*3 thick wires (3 phase power???)
+
====Motor power====
−
  RED
+
* 3 wires 18 AWG
−
  BLACK
+
  RED : Motor winding 1
−
  WHITE
+
  BLACK : Motor winding 2
 +
  WHITE : Motor winding 3
  
−
* 2 thin 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.
+
====brake====
−
24v
+
* 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
 
  
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* 5 thin wires  (hall sensors???)
+
* [http://www.maxonmotorusa.com/files/catalog/2005/pdf/05_278_e.pdf Brake Specs]
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   white-gray
+
 
−
   red-gray
+
  blue : GND
−
   black-gray
+
  red : +24v
−
   blue
+
 
−
  green
+
====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===
 
===Optical Encoder Motor Shaft===
−
http://www.usdigital.com/data-sheets/EM1%20HEDS%20Data%20Sheet.pdf
 
−
see sheet with ankle for wire color pin location
 
−
 
  
−
===Optical Encoder Ankle Position===
+
As of Sep 14 : uses HEDS-1250 and matching disk
−
http://www.cui.com/pdffiles/encd_hollowshft_MG30.pdf
+
 
−
see sheet with ankle for wire color pin location
+
Specs : [http://www.usdigital.com/data-sheets/EM1%20HEDS%20Data%20Sheet.pdf HEDS]
 +
 
 +
black : GND
 +
red : +5
 +
blue : Ch A
 +
orange : Ch B
 +
white : Index
 +
 
 +
===Ankle Position Encoder===
  
−
* 5 wires:
+
Replaced with HEDS standard encoder
  
−
  black
+
CUI ENCODER REMOVED:
−
  red
+
  Specs: [http://www.cui.com/pdffiles/encd_hollowshft_MG30.pdf Cui MG30]
−
  orange
+
[http://cui.com/adtemplate.asp?invky=456264&catky=112362&subcatky1=899424&subcatky2=254070&subcatky3=]
−
  blue
+
  black : GND
−
  white
+
  red : +5
 +
  gray : Ch A
 +
  yellow : Ch B
 +
  orange : Ch Z

Latest revision as of 23:24, 24 September 2006

support electronics

JANK1 | BENCH2 | BENCH2F | BATPTC1 | BATMRG1 | BATPWR1 | POT4a | QAKAMP | MM32 | CPU | Sensoray526

mechanical

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



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
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