5 (6) Axes; [1] Longditudonal motion along rail, [2] 1st lat. joint, [3] 2. lat. joint, [4] 3. lat. joint, [5] 1. rotational joint, [6] 1. gripper.
Almost certainly 24V power supply
<5MBit RS485 multidrop bus to all three control boards.
Axes [1,2], [3,4] and [5,6] have their own control boards with differing layouts but nearly identical components. There is a separate 2-board (probably) inclinometer board attached to the 2. lateral joint. Every joint consists of a brushed DC motor with axles protruding from both ends, with significant gear reduction on one side and a Honeywell glass disk encoder on the other.
Motor Control Board Guts:
- MC68HC711E9CFNE2: MCU, 8BIT 12KB OTP 2MHz 52PLCC
- L4960: Switchmode controller, 2.5A 9-46Vin 5V Out
- SN75176A: Differential Bus Transceiver
- DA05P: ESD Protection Diode Bridge
- 74HC4538: Dual retriggerable precision monostable multivibrator, probably for RS485/something timing alignment
- LMD182003A: 55V H-Bridge
- 82C54: CMOS Programmable Interval Timer
- TL7705ACP: Voltage Supervisor
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Control Box DB-15 Connector
| Pin | Connection |
|---|---|
| 1 | GND |
| 2 | DP/DN |
| 3 | GND |
| 4 | VA |
| 5 | VA |
| 6 | VA |
| 7 | VA |
| 8 | NC |
| 9 | DN/DP |
| 10 | GND |
| 11 | GND |
| 12 | VB |
| 13 | VB |
| 14 | VB |
| 15 | VB |