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:
o
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 |