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Oncilla - Hardware Overview
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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

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

S0Servo motor connected to the RB 110 to control the L0 joints
M1L1 motor
M2L2 motor
ME1 (Q1)Magnetic encoder of L1 joint
ME2 (Q2)Magnetic encoder of L2 joint
ME3 (Q3)Magnetic encoder of L3 joint
F_iLoad cell mounted in the body (separate for each leg)

All electronic devices communicate together with a rs-485 bus implementing the SBCP protocol.

Last Author
tuleu
Last Edited
May 8 2018, 15:13

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tuleu created this document.May 8 2018, 12:56
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