IMPORTANT: Before using any device, please check its power requirement. They can be found in the "part description":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_part_description. Especially the powerboard input is *12V*. The figure below gives a general overview of the hardware scheme. The bold lines show the power connections. Part details can be found "here":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_part_description | S0 | Servo motor connected to the RB 110 to control the L0 joints | | M1 | L1 motor | | M2 | L2 motor | | ME1 (Q1) | Magnetic encoder of L1 joint | | ME2 (Q2) | Magnetic encoder of L2 joint | | ME3 (Q3) | Magnetic encoder of L3 joint | | F_i | Load cell mounted in the body (separate for each leg) | All electronic devices communicate together with a rs-485 bus implementing the "sbcp":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_SBCP protocol. {F7591064, layout=left, float, size=full. alt="Oncilla Electronic Architecture"}

IMPORTANT: Before using any device, please check its power requirement. They can be found in the [[ oncilla/part-description/ ]] IMPORTANT: Powerboard input is designed for **12V** PSU or **3 cells LiPo** batteries. !!24V will permanently destroy the board!! {F7591089, layout=center, size=full, alt="Oncilla Electronic Architecture"} The figure above gives a general overview of the hardware scheme. The bold lines show the power connections. Part details can be found in the [[ oncilla/part-description/ ]] | ##S0## | Servo motor connected to the RB 110 to control the L0 joints | | ##M1## | L1 motor | | ##M2## | L2 motor | | ##ME1 (Q1)## | Magnetic encoder of L1 joint | | ##ME2 (Q2)## | Magnetic encoder of L2 joint | | ##ME3 (Q3)## | Magnetic encoder of L3 joint | | ##F_i## | Load cell mounted in the body (separate for each leg) | All electronic devices communicate together with a rs-485 bus implementing the [[ oncilla/sbcp/ | SBCP ]] protocol.

IMPORTANT: Before using any device, please check its power requirement. They can be found in the "part description":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_part_description. Especially the powerboard input is *12V*.[[ oncilla/part-description/ ]] IMPORTANT: Powerboard input is designed for **12V** PSU or **3 cells LiPo** batteries. !!24V will permanently destroy the board!! {F7591089, layout=center, size=full, alt="Oncilla Electronic Architecture"} The figure belowabove gives a general overview of the hardware scheme. The bold lines show the power connections. Part details can be found "here":https://redmine.amarsi-project.eu/projects/quad/wiki/Oin the [[ oncilla_hardware_-_a/part_-description/ ]] | S0##S0## | Servo motor connected to the RB 110 to control the L0 joints | | M1| ##M1## | L1 motor | | M2| ##M2## | L2 motor | | | ##ME1 (Q1)## | Magnetic encoder of L1 joint | | | ##ME2 (Q2)## | Magnetic encoder of L2 joint | | | ##ME3 (Q3)## | Magnetic encoder of L3 joint | | F_i| ##F_i## | Load cell mounted in the body (separate for each leg) | All electronic devices communicate together with a rs-485 bus implementing the "sbcp":https://redmine.amarsi-project.eu/projects/quad/wiki/O[[ oncilla_hardware_-_a/sbcp/ | SBCP ]] protocol. {F7591064, layout=left, float, size=full. alt="Oncilla Electronic Architecture"}