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5. Switch the robot on and conﬁrm if all servo motors have rotated and initialized.

6. Press the M5Stack A and B buttons to check that the limbs work. C button is blink the EYE

LED.

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Содержание PLEN5Stack

Страница 1: ...1 61 PLEN5Stack Assembly Manual PLEN Project Company 2020 2 6 ...

Страница 2: ...rvo motor set up 16 5 Assembling the Thighs 19 6 Attaching leg parts 23 7 Shoulder parts assembly 27 8 Arm parts assembly 31 9 Servo xer attachment 35 10 Control board wiring 38 11 Head part assembly 41 12 Chest assembly 46 5 Motion check 1 Let s walk the PLEN5Stack 51 2 How to adjust ServoMotor position 6 How to charge battery 52 7 Firmware Installation 8 Appendix 1 PLEN5Stack servo numbering 2 C...

Страница 3: ...ﬀerent The required program for the M5Stack has already been included How to install page is 7 Firmware Installation PLEN5Stack https github com plenprojectcompany PLEN5Stack When assembling the servo motors the initial rotational position of the gear on the motors is important The assembly instructions includes initial positioning for the motors Please ensure all motors are properly set When sett...

Страница 4: ...Board Cable 7 Power Cable 8 USB Cable 9 Head Parts top bottom 10 Chest Parts 11 Servo Bracket 12 Servo Fixer 13 Back Parts 14 Switch Board Holder 15 Shoulder Parts 16 Arm Parts 2 17 Thighs Parts 2 18 Legs Parts 2 19 Black Screw x 4 20 Silver Screw 7 21 Servo Horn 6 22 23 24 Label Sticker 25 head board 26 Connector tool ...

Страница 5: ...5 61 Contents list ...

Страница 6: ...6 61 3 About the Servo motor 3 1 Connector orientation 1 There is a direction in the connector of the servo motor Make sure that the white cable is on the inside Connector orientation ...

Страница 7: ... to walk or fall easily Here we will explain how to make this adjustment 2 The servo horn has a slight oﬀset between the inner serration and the front cross Therefore when rotating the cross of the servo horn by 90 degrees there is a point where the cross is just horizontal Find this and ﬁx the servo horn 3 As a method other than servo horn adjustment a method to adjust by program is also prepared...

Страница 8: ...8 2 Label stickers or Circular Stickers 3 Pen Necessary items Procedure Fix the servo number stickers to each Servo motor cable Write the numbers 0 7 on eight stickers and place them Attach the sticker in a half folded form to the servo motor cable Sticker placement ...

Страница 9: ...9 61 4 2 Switch board assembly Necessary items 1 switch board set switch board PCB switch board holder screw x2 Necessary items ...

Страница 10: ...10 61 Procedure 1 Align the circuit board and plastic part 2 Screw in the circuit board using the two screws at the corners ...

Страница 11: ...11 61 4 3 Circuit board and battery wiring Necessary items 1 back part 2 switch board 3 battery 4 control board 5 M5Stack 6 power cable Necessary items ...

Страница 12: ...2 61 Procedure 1 Connect the power cable to the switch board 2 Insert the switch board into the back plastic part with the switch and connector going through the appropriate holes as shown in the picture ...

Страница 13: ...e the correct connector slides smoothly into the pins It is necessary to remove the power cable at the time of Control board wiring mentioned later In this case since it is hard to remove the cable from the connector for children and people with weak force use the supplied connector tool This is a tool to make it easy to remove by holding this tool between the power cable and the connector ...

Страница 14: ...14 61 connector tool use example 5 Plug in the M5Stack to the control board ...

Страница 15: ...15 61 6 complete set of board assembly is seen below ...

Страница 16: ...16 61 4 4 Servo motor set up Necessary items 1 Servo motors 4 numbers 0 1 4 and 5 2 Servo bracket Necessary items ...

Страница 17: ...he part and concordantly the back of the robot Insert servo motor 0 into the servo bracket as shown This will be the robot s left arm Be careful not to have the cable of servo motor 0 pinched between the motor casing and plastic parts when assembling Have the servo motor cable come out the front side of the bracket 2 Insert servo motor 4 following the same procedure as 0 on the opposite side of th...

Страница 18: ...vo motor 1 pinched between the motor casing and plastic parts when assembling 4 Insert servo motor 5 following the same procedure as 1 in the last available position in the bracket Ensure all servo motor cables are coming out the front face of the bracket ...

Страница 19: ...ling the Thighs Necessary items 1 The previously assembled servo bracket with servo motors 2 The previously assembled control board battery switch board 3 Thigh plastic parts 2 4 Servo horn 2 5 Screws 2 Necessary items ...

Страница 20: ...otor pins numbering is given in the Appendix 5 2 picture When connect the motors into the pins ensure that the black ground cable is towards the outside of the control board Turn the switch on the switch board on if you have not installed ﬁrmware see 7 Firmware Installation 2 The servo motors should rotate automatically to their initial position ...

Страница 21: ...cket such that the bar across the center of the bracket is horizontal and at the back of the assembly The orientation in the photo below shows the bracket such that the robot s front is being looked at and the head is on top Attach the plastic thigh parts onto the servo horns as shown such that the bump on the plastic parts are pointing in the same direction as the front of the servo bracket ...

Страница 22: ...22 61 5 Fix the thigh parts to the horn with the screws 6 After fully screwing in each of the thigh screws remove the servo cables from the control board ...

Страница 23: ...23 61 4 6 Attaching leg parts Necessary items 1 body sets 2 circuit sets 3 servo 2 3 7 4 legs 2 5 servo horn 2 Necessary items ...

Страница 24: ...ds the back of the robot 2 Connect the servo cables for motors 3 and 7 into the control board Servo motor number 3 is to be placed as the robot s left leg Motor number 3 is connected to the corresponding pin set 3 again with the black ground cable towards the outside of the control board Repeat for motor 7 Turn the switch board back on ...

Страница 25: ...d rotate automatically to their initial position 4 Similar to servo motors 1 and 5 attach the servo horns to each servo motor such that the axis of the on the horn is aligned with the edges of the servo motors as closely as possible ...

Страница 26: ... the outside of the robot Insert the side of the foot into the servo horn and then insert the opposite side of the foot into the bump on the front side of the thigh This may take some strength 6 After ﬁxing the feet to the servo motors unplug the servo motors from the control board and turn the power switch oﬀ ...

Страница 27: ...27 61 4 7 Shoulder parts assembly Necessary items 1 body sets 2 circuit sets 3 shoulder 2 4 screw 2 Necessary items ...

Страница 28: ...cedure 1 Connect servo motors 0 and 4 from the servo bracket into their respective pins on the control board and turn the power switch on 2 The servo motors should rotate automatically to their initial position ...

Страница 29: ...t the ﬂat edges are aligned with the servo motor as closely as possible The wider side of the shoulder parts with the cut should be towards the back of the robot Screw in the plastic shoulder part into the servo motor 4 Repeat the previous step for the opposite shoulder ...

Страница 30: ...30 61 5 Unplug the servo motors from the control board and turn the power switch oﬀ ...

Страница 31: ...31 61 4 8 Arm parts assembly Necessary items 1 body sets 2 circuit sets 3 arm 2 4 servo 2 2 6 5 servo horn 2 Necessary items ...

Страница 32: ...1 Place the servo motors 2 and 6 into the plastic arm parts such that motor 2 is the robot s left arm 2 Directly connect servo motors 2 and 6 into their respective pins on the control board and turn the power switch on ...

Страница 33: ...rvo motors should rotate automatically to their initial position 4 Attach the servo horns to each servo motor such that the axis of the on the horn is aligned with the edges of the servo motors as closely as possible ...

Страница 34: ... the shoulder pieces lining up the servo horn with the cut shape on each shoulder Ensure the arms are inserted pointing down 6 After ﬁxing the arms to the shoulder parts unplug the servo motors from the control board and turn the power switch oﬀ ...

Страница 35: ...35 61 4 9 Servo ﬁxer attachment Necessary items 1 Body assembly set 2 Servo ﬁxer part Necessary items ...

Страница 36: ...re passed through the lower hole of the bracket and left there for later 3 Servo motors 1 and 5 are passed between the opening in the servo ﬁxer while the remaining cables are temporarily wrapped up around the top ofthe body to keep them out of the way 4 Attach the servo ﬁxer part so as to not catch and pinch any of the other servo motor cables ...

Страница 37: ...37 61 4 10 Control board wiring Necessary items 1 Battery assembly 2 Control board assembly Necessary items ...

Страница 38: ...e servo motor cables from the back side through the front hole in the body and reconnect the power cable to the control board again 2 Put the battery into the back plastic part on top of the switch board and keep the battery cable underneath the battery Attach the back plastic part to the back of the servo bracket ...

Страница 39: ...39 61 3 Connect all servo motor cables following the appropriate order with servo motor number matching pin number ...

Страница 40: ...40 61 4 11 Head part assembly Necessary items 1 body sets 2 head parts top bottom 3 head board 4 head board cable Necessary items ...

Страница 41: ...41 61 Procedure 1 Take apart the top and bottom plastic parts of the head 2 Connect the ﬁnal head board control cable to the head board ...

Страница 42: ...42 61 3 Unscrew the nuts on each LED down about 3mm 4 Pass the head board cable through the hole in the bottom side of the head plastic part ...

Страница 43: ... up and insert both LEDs into the semi circular grooves in the bottom plastic heat part such that the nuts on each LED are on the inside of the head 6 Align and place the top plastic head part onto the bottom part by ﬁrst passing the LED bulbs through the top heat eye holes ...

Страница 44: ...rd cable through the top hole in the servo bracket and pass through the front side of the body Insert the assembled head into the same hole to ﬁx the head to the servo bracket 8 Connect the head board cable into the control board ...

Страница 45: ...45 61 4 12 Chest assembly Necessary items 1 body sets 2 chest 3 M5Stack 4 screw 2 Necessary items ...

Страница 46: ...46 61 Procedure 1 Remove M5Stack from control board Pass the control board through the body part and bring it out to the front 2 Attach the chest parts to the servo bracket body ...

Страница 47: ...47 61 3 Screw the control board to the chest part 4 Insert the M5Stack ...

Страница 48: ...48 61 5 Switch the robot on and conﬁrm if all servo motors have rotated and initialized 6 Press the M5Stack A and B buttons to check that the limbs work C button is blink the EYE LED ...

Страница 49: ...49 61 5 Motion check 5 1 Let s walk the PLEN5Stack 1 Press A Button to check if PLEN5Stack walks 2 Enjoy PLEN5Stack ...

Страница 50: ...50 61 6 How to charge battery 1 Connect PLEN5Stack back Switch Board and PC or USB charger with cable 2 Charging LED ON 3 Full charge LED OFF ...

Страница 51: ...Choose your environment then click JUST DOWNLOAD button 2 Add board manager URL https dl espressif com dl package_esp32_index json 3 Add esp32 board 4 Add M5Stack library 5 Download this repository from here 6 Open the ﬁrmware ino using the Arduino IDE 7 Click the upload button that is like a right arrow ...

Страница 52: ...uires Arduino IDE ver 1 8 0 or above Please download and install it before to do continued steps How to Download the Arduino IDE Access the Arduino IDE download page and then choose your environment Click JUST DOWNLOAD button You do not need to select donation menu ...

Страница 53: ...53 61 Setting the Arduino IDE 1 File Preferences 2 Right button for Additonal Boards Manager URLs 3 Inpust the URL https dl espressif com dl package_esp32_index json ...

Страница 54: ...54 61 ...

Страница 55: ...55 61 Install board 1 Tools Boards Boards Managers 2 Input the esp32 for Boards Managers 3 Instal the esp32 ...

Страница 56: ...56 61 ...

Страница 57: ...57 61 Install libraly 1 Skecth Include Library Manage Libraries 2 Input the m5stack for Library Manaber 3 Install the M5Stack ...

Страница 58: ...58 61 ...

Страница 59: ...59 61 board select 1 Tools Board M5Stack Core ESP32 2 Tools Port Select the your Serial Ports Port name is diﬀerent in each environments ...

Страница 60: ...60 61 Installation Procedure Download PLEN5Stack repository 1 Open ﬁrmware ino This is placed ﬁrmware directory with Arduino IDE 2 Connect M5Stack to PC with USBTypeC cable 3 Click the Upload button ...

Страница 61: ...5Stack servo numbering Control board terminal labelling PLEN5Stack Support If you have any questions please contact one of the following PLEN5Stack Slack community http u0u0 net YJzp PLEN Support https plen jp wp contact ...

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