Merge pull request #324 from arduino/marqdevx/braccio-fixes

Braccio fixes

Author: marqdevx

content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md

@@ -97,11 +97,11 @@ Following information outlines the technical overview of the Arduino® Braccio C
     |  6               |  250VAC @ 3A                         |  -25°C ~ +85°C                        |
 
 - **USB-C Port**
-    - USB 3.1 port available to enable program upload, and power supply source port for Arduino® Braccio Carrier. 
+    - USB Type C port available to enable programming, and power supply source port under USB PD 3.0 for Arduino® Braccio Carrier. 
 
-    |  USB Version     |  USB Type              |  Purpose                          |
-    | ---------------- | ---------------------- | --------------------------------- |
-    |  3.1             |  C-Type (Reversible)   |  Program Upload & Power Supply    |
+    |  USB Standard   |  USB Power Delivery Rev.   |  USB Type              |  Purpose                          |
+    | --------------- | -------------------------- | ---------------------- | --------------------------------- |
+    |  3.1            |  3.0                       |  Type C (Reversible)   |  Programming & Power Supply       |
 
 - **ESLOV Connector** 
     - The connector provides the capability of module's automatic configuration and handle the sleep state for low power mode. Connector is designated with J2 reference, providing 5 pins for interrupt and I2C protocol at 5V. 
@@ -138,7 +138,7 @@ The USB powers the Arduino® Nano RP2040 Connect which is the heart of the Bracc
 |   U1     |  24 Bit I2C SMBUS I/O              |  U4      |  Line Transceiver                    |
 |   J1     |  CONN FPC SMD                      |  J2      |  CONN JST 5 POS                      |
 |   J3     |  Board Connector                   |  J4      |  Board Connector                     |
-|   U3     |  Power Supply Support Circuit      |  J8      |  USB 3.1 Type C                      |
+|   U3     |  Power Supply Support Circuit      |  J8      |  USB 3.1 Type C (USB PD 3.0)         |
 
 
 ### Processor

content/hardware/06.edu/carriers/braccio-carrier/tech-specs.md

@@ -1 +1 @@
-These are the technical specifications of the Arduino® Braccio Carrier.
+These are the technical specifications of the Arduino® Braccio Carrier. It also includes technical specifications of the Motor SR312 & SR418D compatible with Arduino® Braccio Carrier.

content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml

@@ -14,11 +14,77 @@ Communication protocols:
   Programmable Serial ports: RS232 communication protocol
 Power:
   Supply voltage: 7.4V
-  USB-C: Yes (used for power supply)
+  USB-C: USB Power Delivery 3.0 (PD 3.0) compliant
 Connectors:
   6x Motors: Adam Equipment LHA-04-TS
   2x Motors: Molex 44914-0601
 Dimensions:
   Weight: 54 g
   Width: 78,5 mm
-  Length: 122 mm
+  Length: 122 mm
+Compatible Motors Spec: 
+  Motor Model & Designation:
+    SR312: SO-SR312-MS
+    SR418D: SO-SR418D-MS
+  Communication Interface: RS485
+  Build:
+    Motor Type: 
+      SR312: Metal Brush Motor 
+      SR418D: Brushless Motor 
+    Gear Type: Metal Gear 
+    Bearing Type: 2 Ball Bearings
+    Amplifier Type: 
+      SR312: Digital Controller
+      SR418D: Analog Controller
+  Control Modes:
+    Mode A: Closed-Loop Control 
+    Mode B: Open-Loop Control
+  Rotational Specification:
+    Rotating Direction: CW / CCW
+    Angle Feedback: Absolute
+    Angle Accuracy: ±1.5 Degrees
+    Resolution: 0.1 Degrees
+    Rotation Angle Range: 180 Degrees
+    Rotational Limit: 320° ±5°
+    Center Regression Deviation: ＜1.0°
+  SR312 Electrical Specification:
+    Operating voltage: 4.8V - 6V
+    Rated 4.8V: 
+      Speed (No Load): 0.14sec/60° ±20%
+      Running Current (No Load): 100mA ±20% 
+      Peak Stall Torque (Locked): 3.1kg-cm ±20% / 43.05oz-in ±20%
+      Stall Current (Locked): 0.6A ±20%
+    Rated 6V: 
+      Speed (No Load): 0.12sec/60° ±20%
+      Running Current (No Load): 170mA ±20% 
+      Peak Stall Torque (Locked): 3.8kg-cm ±20% / 52.77oz-in ±20%
+      Stall Current (Locked): 1.0A ±20%
+  SR418D Electrical Specification:
+    Operating voltage: 6V - 7.4V
+    Rated 6V: 
+      Speed (No Load): 0.21sec/60° ±20%
+      Running Current (No Load): 270mA ±20% 
+      Peak Stall Torque (Locked): 12.2kg-cm ±20% / 169.43oz-in ±20%
+      Stall Current (Locked): 1.6A ±20%
+    Rated 7.4V: 
+      Speed (No Load): 0.18sec/60° ±20%
+      Running Current (No Load): 360mA ±20% 
+      Peak Stall Torque (Locked): 14.5kg-cm ±20% / 201.37oz-in ±20%
+      Stall Current (Locked): 2.1 A±20%
+  Operating Condition & Lifetime:
+    Life Span: 1500 Hours (50% Torque Load at 6 Hours/Day of Operation)
+    Operating Temperature Range: 
+      SR312: -5℃ ～ 50℃
+      SR418D: -10℃ ～ 60℃
+  Compatible Connector:
+    Connector: Adam Equipment LHA-04-TS
+  Dimension (L x W x H):
+    SR312:
+      Metric: 31.3 x 16.5 x 28.6 (mm)
+      Imperial: 1.23 x 0.65 x 1.13 (in)
+    SR418D: 
+      Metric: 41.3 x 20.7 x 40.0 (mm)
+      Imperial: 1.68 x 0.81 x 1.57 (in)
+  Weight: 
+    SR312: 27g ±5% / 0.95oz ±5%
+    SR418D: 64g ±5% / 2.19oz ±5%