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*. {F7591089, layout=left, 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 "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.

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*. {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 "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.

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*. {F7591089, layout=leftcenter, 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 "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.