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projects:giant_robot_arm

Giant Robot Arm

Some notes on the Microbot Alpha II (or 'Teachmover') robot arm.

Electronics

The base of the arm contains one PCB, marked “Microbot Inc. Alpha Motor Drive Assy: 10131 Rev A” (serial 636). It contains 12 single-phase stepper drivers (a combination of RIFA and ST PBL3717 ICs), as well as two LM339N quad comparator ICs.

The PBL3717 drivers can output 5-1200mA per phase at 10-50v, with 5v logic, and rather than 'typical' step/dir control, they have a 'phase' and two-pin selectable current level input. They are capable of full or half stepping.

Serial Comms

Baud SW1 SW2 SW3
110 ON ON ON
150 OFF ON ON
300 ON OFF ON
600 OFF OFF ON
1200 ON ON OFF
2400 OFF ON OFF
4800 ON OFF OFF
9600 OFF OFF OFF

SW4 is unused

Source: http://doks.khk.be/eindwerk/do/files/FiSe413ebf17fb06726200fb06bc9787159b/eindwerk2004178.pdf

Power

Power socket pinout, as seen facing the board

                       
 |          _______         |  | | |
 |         |       |        |1 | | |
 |         | o   o | +5v    |0 | | |
 |         |       |        |0 | | |
 |     RST | o   o |        |µ | |_|
 |         |       |        |F |
 | +VMotor | o   o | GND    |  |
 |         |_______|        |__|
 |
 |__________________________________
    \___________________________/
          DB-50 Connector
projects/giant_robot_arm.txt · Last modified: 2020/04/21 21:47 by hibby