'56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv...

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Transcript of '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv...

$Page 1: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

Version 1.0April, 2013

$Page 2: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 3: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

Caution

Caution

$Page 4: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 5: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 6: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 7: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 8: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 9: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 10: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 11: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 12: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 13: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

Herkulex Manager kit

Caution

Caution

Caution

VDDGND

TXDRXD

1

4

Battery

HerkuleX

Herkulex Manager kit

PC Serial Cable

Battery Cable

Herkulex ServoInterface Cable

PC

PC

TXDGND

DSUB9Female

PC

RXD PC

95

3

26

$Page 14: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 15: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 16: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 17: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 18: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 19: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

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$Page 21: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 22: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 23: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 24: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 25: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 26: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 27: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 28: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 29: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 30: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 31: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 32: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 33: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 34: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 35: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 36: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 37: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 38: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 39: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 40: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

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V1

V2

JOG2

V2'

JOG2 JOG2

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$Page 43: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

$Page 44: '56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV$

TTL_TX

TTL_RX

TTL_TX

TTL_RX

TTL_TX

TTL_TX

TTL_RX

TTL_RX

RS232_RX

RS232_TX

AOT_0603P_R01

AOT_0603P_G01Z

PJ_208_2.5PIJ22

LED4

LED2

1

J2

J3

U5

12

1110

813 4

32

9

147

16

15

26

1

3

4

5

BP9

BP5

1u/16V

1u/16V

BP6

1u/16V

BP141u/16V

BP11

U8

1u/16V

BP7

100n/25V

1u/16VBP8

TC733/16/B

R3

1

3

5

410K

BP2

100n/25V

BP10

100n/25V

234

1234

R210K

10K R1

C1+

T1IN

R1OUTR2IN

R1INR2OUT

T2INT1OUTT2OUT

VCC

GND

V+C2+

VIN

CTRL NBGN

D

VOUT

C1-

V-

C2-

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