DARwIn OP

Wiring Manual

DARwIn OP Wiring Manual

Created by RoMeLa at Virginia Tech
Version:
Created:
Modified:

1.0.1
5/3/2011
7/26/2011

Principal authors:

THIS

Thanh Pham
Stephen Rouleau
Coleman Knabe
Matthew Stanford
Nolawe Woldesemayat
Mark Umansky
Justin Siegal
Austin Kim
Allison McCormack
Dante Branch
Viktor Orekhov

WIRING

MANUAL IS TO BE USED IN
CONJUNCTION WITH THE FOLLOWING DOCUMENTS:

DARwIn OP Assembly Manual

DARwIn OP Fabrication Manual

PERMISSION IS GRANTED TO COPY, DISTRIBUTE AND/OR MODIFY THIS DOCUMENT UNDER

THE TERMS OF THE CREATIVE COMMONS ATTRIBUTION-NONCOMMERCIAL-SHAREALIKE
3.0 UNPORTED LICENSE. TO VIEW A COPY OF THIS LICENSE, VISIT
HTTP://CREATIVECOMMONS.ORG/LICENSES/BY-NC-SA/3.0/

DARwIn OP Wiring Manual

Table of contents

1. Motor Arrangements

Actuator ID

Actuator Type

M1

Dynamixel MX-28

M2

Dynamixel MX-28

M3

Dynamixel MX-28

M4

Dynamixel MX-28

M5

Dynamixel MX-28

M6

Dynamixel MX-28

M7

Dynamixel MX-28

M8

Dynamixel MX-28

M9

Dynamixel MX-28

M10

Dynamixel MX-28

M11

Dynamixel MX-28

M12

Dynamixel MX-28

M13

Dynamixel MX-28

M14

Dynamixel MX-28

M15

Dynamixel MX-28

M16

Dynamixel MX-28

M17

Dynamixel MX-28

M18

Dynamixel MX-28

M19

Dynamixel MX-28

M20

Dynamixel MX-28

2. Motor Connections
Wire No.
WM1
WM2
WM3
WM4
WM5
WM6
WM7
WM8
WM9
WM10
WM11
WM12
WM13
WM14
WM15
WM16
WM17
WM18
WM19
WM20

From
M20
M19
M1
M2
M7
M8
M5
M3
M6
M4
M9
M10
M11
M12
M13
M14
M15
M16
M17
M18

To
M19
FitPC
FitPC
FitPC
FitPC
FitPC
M3
M1
M4
M2
M7
M8
M9
M10
M11
M12
M13
M14
M15
M16

Approximate Length (cm)

19
8
10
10
23
17
5
18
5
18
13
13
6
6
18
18
25
25
6
6

WM

3-1. Parts List 1 - Electronics

19

Part Number

Description

Qty.

19

Camera

20

Head PCB

22

FitPC

23

CM730

24

Antenna

25

Antenna Connector

26

Fan

27

Back Cover PCB

29

Speaker

30

Power Switch

31

Battery

42

Antenna PCB

20

22

23

30

24

25

26

27

29

42

3-2. Parts List 2 - Wires

Wire No.

Wire Name

W1
W2
W3
W4
W5
W6
W7
W8
W9
W10
W11
W12
W13

Fan Wire
Fan PCB Wire 8-pin
Fan PCB Wire 9-pin
Power Switch Wire
Speaker Wire
Speaker Extension Wire
Antenna Wire
Antenna PCB Wire
FitPC 3-Way Wire
CM730 to FitPC-Top Wire
CM730 to FitPC-Bottom Wire
Head PCB Wire 10-pin
Camera PCB Wire

Approximate
Length (cm)
5
18
18
13
13
9
10
5
5
11
13
28
23

4. Overall Chest Wiring Layout

W3

WM

W2
W1

WM

WM

WM

WM

W1

W4
W10

W6

W5

W11

W12

W9
W13
W7
W8

5. Chest Section Wiring

5-1 Speaker Wiring

5-2 Power Switch Connection

Connects to CM730
Connects to CM730

W6
W5

W4

5. Chest Section Wiring

5-3 Fan Wiring

W1

W2 (8-pins)

W3 (9-Pins)

10

5. Chest Section Wiring

5-4 Head PCB Connection to CM730

Head PCB

W12
Front View

Back View

Connects to CM730

11

5. Chest Section Wiring

5-5 Camera PCB to CM730
Camera PCB

W13

Connects to
CM730
W9

Connects to
FitPC

12

5. Chest Section Wiring

5-6 Antenna Wiring

Backside of
FitPC
Antenna
Connector
W8

W7

Antenna PCB

13

5. Chest Section Wiring

5-7 FitPC Connection to CM730
FitPC Top Side

FitPC Bottom Side

W10

W9

Connects to CM730

Connects to CM730

14

6. Motor Wire Routing

6-1 Routing for the Head
Head PCB

M20

WM2

M16

WM1

W12

15

6. Motor Wire Routing

6-2 Routing for the Arms

M2

M4
M6
WM9
Wire WM9 should be fed through the center
hole of the arm actuator mount before connecting
to motor M4.

Left Arm
* Note that the right arm will follow the same routing configuration

16

6. Motor Wire Routing

6-2 Routing for the Arms
Connects to CM730

M2

WM4

M4
M6
WM10

Left Arm
* Note that the right arm will follow the same routing configuration

17

6. Motor Wire Routing

6-2 Routing for the Arms
M2
WM10

M4
M6
Cable Holder
Attach the cable holder to keep wire
WM10 from getting tangled.

Left Arm
* Note that the right arm will follow the same routing configuration

18

6. Motor Wire Routing

6-3 Routing for the Legs

M8
WM18
M10

M12

M14

Cable
Holders
M16

M18
Attach the cable holders to keep wire
WM18 from getting tangled.

Left Leg
* Note that the right leg will follow the same routing configuration

19

6. Motor Wire Routing

6-3 Routing for the Legs

M8
WM12
M10

M12

M14
WM14
M16

M18
Cable
Holders
Left Leg

Attach the cable holders to keep wire

WM16 from getting tangled.

* Note that the right leg will follow the same routing configuration

20

WM16

6. Motor Wire Routing

6-3 Routing for the Legs
WM6
WM12

M8
M10

M12
M14
WM14
M16

M18

Left Leg
* Note that the right leg will follow the same routing configuration

21