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 "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 [[ 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 [[ 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/ ]] .

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 "here":https://redmine.amarsi-project.eu/projects/quad/wiki/O[[ oncilla_hardware_-_a/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/O[[ oncilla_hardware_-_SBCP protocola/sbcp/ ]] .