From 467e97a7c2ea2902dddb794eeea98f695f63acb1 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Wed, 8 Jun 2022 14:42:59 -0600 Subject: [PATCH 01/15] Initial Commit & Power Spec Update --- .../carriers/braccio-carrier/datasheet/datasheet.md | 10 +++++----- .../06.edu/carriers/braccio-carrier/tech-specs.yml | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md b/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md index b100cfd9b3..79c75c192b 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md +++ b/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 3.1 port available to enable program upload, 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 Version / USB PD Revision | USB Type | Purpose | + | -------------------------------- | ---------------------- | --------------------------------- | + | 3.1 / 3.0 | C-Type (Reversible) | Program Upload & 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 diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 8737a1d3ae..1bbcc32b94 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -14,7 +14,7 @@ Communication protocols: Programmable Serial ports: RS232 communication protocol Power: Supply voltage: 7.4V - USB-C: Yes (used for power supply) + USB-C: USB PD 3.0 (Used for power supply and program upload) Connectors: 6x Motors: Adam Equipment LHA-04-TS 2x Motors: Molex 44914-0601 From ba86a91e7f5459d8248bf8988014a8a291531470 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Tue, 28 Jun 2022 10:50:13 -0600 Subject: [PATCH 02/15] Update with correction for DS & TS --- .../carriers/braccio-carrier/datasheet/datasheet.md | 8 ++++---- .../06.edu/carriers/braccio-carrier/tech-specs.yml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md b/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md index 79c75c192b..4f29051c36 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/datasheet/datasheet.md +++ b/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 under USB PD 3.0 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 PD Revision | USB Type | Purpose | - | -------------------------------- | ---------------------- | --------------------------------- | - | 3.1 / 3.0 | 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. diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 1bbcc32b94..0506102e03 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -14,7 +14,7 @@ Communication protocols: Programmable Serial ports: RS232 communication protocol Power: Supply voltage: 7.4V - USB-C: USB PD 3.0 (Used for power supply and program upload) + USB-C: USB Power Delivery 3.0 (PD 3.0) compliant Connectors: 6x Motors: Adam Equipment LHA-04-TS 2x Motors: Molex 44914-0601 From 46c52e734aac07247d8b1f3d7e2ed412b31ad2e9 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Mon, 27 Jun 2022 16:23:56 -0600 Subject: [PATCH 03/15] Initial Commit --- .../braccio-carrier/tech-spec-sr312.yml | 43 +++++++++++++++++++ .../braccio-carrier/tech-spec-sr418d.yml | 43 +++++++++++++++++++ 2 files changed, 86 insertions(+) create mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml create mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml new file mode 100644 index 0000000000..47c1c2e5d0 --- /dev/null +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml @@ -0,0 +1,43 @@ +Motors: + Name: Arduino® Braccio Carrier Motor SR312 + Model Designation: SO-SR312-MS + Compatibility: Arduino® Braccio Carrier +Communication Interface: RS485 +Build: + Motor Type: Metal Brush Motor + Gear Type: Metal Gear + Bearing Type: 2 Ball Bearings + Amplifier Type: Digital 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° +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% +Operating Condition & Lifetime: + Life Span: 1500 Hours (50% Torque Load at 6 Hours/Day of Operation) + Operating Temperature Range: -5℃ ～ 50℃ +Compatible Connector: + Connector: Adam Equipment LHA-04-TS +Dimensions: + Overall Dimension (L x W x H): + Metric: 31.3 x 16.5 x 28.6 (mm) + Imperial: 1.23 x 0.65 x 1.13 (in) + Weight: 27g ±5% / 0.95oz ±5% \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml new file mode 100644 index 0000000000..07e09f6003 --- /dev/null +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml @@ -0,0 +1,43 @@ +Motors: + Name: Arduino® Braccio Carrier Motor SR418D + Model Designation: SO-SR418D-MS + Compatibility: Arduino® Braccio Carrier +Communication Interface: RS485 +Build: + Motor Type: Brushless Motor + Gear Type: Metal Gear + Bearing Type: 2 Ball Bearings + Amplifier Type: 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° +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: -10℃ ～ 60℃ +Compatible Connector: + Connector: Adam Equipment LHA-04-TS +Dimensions: + Overall Dimension (L x W x H): + Metric: 41.3 x 20.7 x 40.0 (mm) + Imperial: 1.68 x 0.81 x 1.57 (in) + Weight: 64g ±5% / 2.19oz ±5% \ No newline at end of file From 0a4d13d7340a6d11b00a56567a08ae3ff9e20fca Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Mon, 27 Jun 2022 17:08:03 -0600 Subject: [PATCH 04/15] Motors tech spec MD add-on --- .../hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md | 1 + .../hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md | 1 + 2 files changed, 2 insertions(+) create mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md create mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md new file mode 100644 index 0000000000..4806a9c10f --- /dev/null +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md @@ -0,0 +1 @@ +These are the technical specifications of the Motor SR312 compatible with Arduino® Braccio Carrier. \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md new file mode 100644 index 0000000000..454835d397 --- /dev/null +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md @@ -0,0 +1 @@ +These are the technical specifications of the Motor SR418D compatible with Arduino® Braccio Carrier. \ No newline at end of file From 0ff873406b6ea6aae7e91768054f72a591b3a8ba Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 16:47:02 -0600 Subject: [PATCH 05/15] Tech spec merge (Carrier + Motors SR312 & SR418D) --- .../carriers/braccio-carrier/tech-specs.yml | 70 ++++++++++++++++++- 1 file changed, 69 insertions(+), 1 deletion(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 0506102e03..aaf55c2bfb 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -21,4 +21,72 @@ Connectors: Dimensions: Weight: 54 g Width: 78,5 mm - Length: 122 mm \ No newline at end of file + Length: 122 mm +Compatible Motors: + 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° + Electrical Specification: + SR312: + 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: + 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 + Dimensions: + Overall 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% \ No newline at end of file From 30792593994c1485a43ff697ccf8c9e10d0009c2 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 17:17:47 -0600 Subject: [PATCH 06/15] Tech spec display minor adjustment & cleanup --- .../braccio-carrier/tech-spec-sr312.md | 1 - .../braccio-carrier/tech-spec-sr312.yml | 43 ------ .../braccio-carrier/tech-spec-sr418d.md | 1 - .../braccio-carrier/tech-spec-sr418d.yml | 43 ------ .../carriers/braccio-carrier/tech-specs.md | 2 +- .../carriers/braccio-carrier/tech-specs.yml | 132 +++++++++--------- 6 files changed, 67 insertions(+), 155 deletions(-) delete mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md delete mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml delete mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md delete mode 100644 content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md deleted file mode 100644 index 4806a9c10f..0000000000 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.md +++ /dev/null @@ -1 +0,0 @@ -These are the technical specifications of the Motor SR312 compatible with Arduino® Braccio Carrier. \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml deleted file mode 100644 index 47c1c2e5d0..0000000000 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr312.yml +++ /dev/null @@ -1,43 +0,0 @@ -Motors: - Name: Arduino® Braccio Carrier Motor SR312 - Model Designation: SO-SR312-MS - Compatibility: Arduino® Braccio Carrier -Communication Interface: RS485 -Build: - Motor Type: Metal Brush Motor - Gear Type: Metal Gear - Bearing Type: 2 Ball Bearings - Amplifier Type: Digital 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° -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% -Operating Condition & Lifetime: - Life Span: 1500 Hours (50% Torque Load at 6 Hours/Day of Operation) - Operating Temperature Range: -5℃ ～ 50℃ -Compatible Connector: - Connector: Adam Equipment LHA-04-TS -Dimensions: - Overall Dimension (L x W x H): - Metric: 31.3 x 16.5 x 28.6 (mm) - Imperial: 1.23 x 0.65 x 1.13 (in) - Weight: 27g ±5% / 0.95oz ±5% \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md deleted file mode 100644 index 454835d397..0000000000 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.md +++ /dev/null @@ -1 +0,0 @@ -These are the technical specifications of the Motor SR418D compatible with Arduino® Braccio Carrier. \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml deleted file mode 100644 index 07e09f6003..0000000000 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-spec-sr418d.yml +++ /dev/null @@ -1,43 +0,0 @@ -Motors: - Name: Arduino® Braccio Carrier Motor SR418D - Model Designation: SO-SR418D-MS - Compatibility: Arduino® Braccio Carrier -Communication Interface: RS485 -Build: - Motor Type: Brushless Motor - Gear Type: Metal Gear - Bearing Type: 2 Ball Bearings - Amplifier Type: 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° -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: -10℃ ～ 60℃ -Compatible Connector: - Connector: Adam Equipment LHA-04-TS -Dimensions: - Overall Dimension (L x W x H): - Metric: 41.3 x 20.7 x 40.0 (mm) - Imperial: 1.68 x 0.81 x 1.57 (in) - Weight: 64g ±5% / 2.19oz ±5% \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.md b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.md index dcfcbbaf39..5c613ef820 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.md +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.md @@ -1 +1 @@ -These are the technical specifications of the Arduino® Braccio Carrier. \ No newline at end of file +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. \ No newline at end of file diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index aaf55c2bfb..16398aec01 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -23,70 +23,70 @@ Dimensions: Width: 78,5 mm Length: 122 mm Compatible Motors: - 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° - Electrical Specification: +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° +Electrical Specification: + SR312: + 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: + 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 +Dimensions: + Overall Dimension (L x W x H): SR312: - 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: - 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 - Dimensions: - Overall 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% \ No newline at end of file + 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% \ No newline at end of file From 84e588cfc4161263f1e269850779f34c7398b163 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 17:54:29 -0600 Subject: [PATCH 07/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 132 +++++++++--------- 1 file changed, 66 insertions(+), 66 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 16398aec01..aaf55c2bfb 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -23,70 +23,70 @@ Dimensions: Width: 78,5 mm Length: 122 mm Compatible Motors: -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° -Electrical Specification: - SR312: - 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: - 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 -Dimensions: - Overall Dimension (L x W x H): + 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° + Electrical Specification: 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% \ No newline at end of file + 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: + 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 + Dimensions: + Overall 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% \ No newline at end of file From d3c97cf5a92a5fd8590ad20d4769cc3440a30511 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 19:56:56 -0600 Subject: [PATCH 08/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 134 +++++++++--------- 1 file changed, 67 insertions(+), 67 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index aaf55c2bfb..27c624e7a0 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -22,71 +22,71 @@ Dimensions: Weight: 54 g Width: 78,5 mm Length: 122 mm -Compatible Motors: - 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° - Electrical Specification: +Compatible Motors: SR312 & SR418D Smart Motors +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° +Electrical Specification: + SR312: + 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: + 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 +Dimensions: + Overall Dimension (L x W x H): SR312: - 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: - 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 - Dimensions: - Overall 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% \ No newline at end of file + 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% \ No newline at end of file From 273762cfb033cac356750b9fa48cc44160cb96b2 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 20:39:04 -0600 Subject: [PATCH 09/15] Tech spec table readjustment --- .../hardware/06.edu/carriers/braccio-carrier/tech-specs.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 27c624e7a0..b5e0fecf54 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -22,7 +22,9 @@ Dimensions: Weight: 54 g Width: 78,5 mm Length: 122 mm -Compatible Motors: SR312 & SR418D Smart Motors +Compatible Motors: + SR312 Smart Motor + SR418D Smart Motor Motor Model Designation: SR312: SO-SR312-MS SR418D: SO-SR418D-MS From 735f4e43a156495910b7d37137e622b041d24a72 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 20:48:17 -0600 Subject: [PATCH 10/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 136 +++++++++--------- 1 file changed, 67 insertions(+), 69 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index b5e0fecf54..378f7eda7c 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -22,73 +22,71 @@ Dimensions: Weight: 54 g Width: 78,5 mm Length: 122 mm -Compatible Motors: - SR312 Smart Motor - SR418D Smart Motor -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° -Electrical Specification: - SR312: - 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: - 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 -Dimensions: - Overall Dimension (L x W x H): +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° + Electrical Specification: 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% \ No newline at end of file + 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: + 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 + Dimensions: + Overall 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% \ No newline at end of file From 9a9b6d9e16dbb610598e38c4b213e5553387df5c Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 20:57:26 -0600 Subject: [PATCH 11/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 134 +++++++++--------- 1 file changed, 68 insertions(+), 66 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 378f7eda7c..9f4064a196 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -23,70 +23,72 @@ Dimensions: Width: 78,5 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° - Electrical Specification: + Model A: SR312 Smart Motor + Model B: SR418D Smart Motor +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° +Electrical Specification: + SR312: + 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: + 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 +Dimensions: + Overall Dimension (L x W x H): SR312: - 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: - 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 - Dimensions: - Overall 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% \ No newline at end of file + 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% \ No newline at end of file From e3b0ca22b3c114dfc262b802a0e285de01792bf7 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 21:04:42 -0600 Subject: [PATCH 12/15] Tech spec table readjustment --- .../hardware/06.edu/carriers/braccio-carrier/tech-specs.yml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 9f4064a196..c2244c39a9 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -22,10 +22,7 @@ Dimensions: Weight: 54 g Width: 78,5 mm Length: 122 mm -Compatible Motors Spec: - Model A: SR312 Smart Motor - Model B: SR418D Smart Motor -Motor Model Designation: +Compatible Motor Model: SR312: SO-SR312-MS SR418D: SO-SR418D-MS Communication Interface: RS485 From ef88307555c13336130beea8108d2b3cd0c8b299 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 21:10:49 -0600 Subject: [PATCH 13/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 133 +++++++++--------- 1 file changed, 67 insertions(+), 66 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index c2244c39a9..378f7eda7c 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -22,70 +22,71 @@ Dimensions: Weight: 54 g Width: 78,5 mm Length: 122 mm -Compatible Motor Model: - 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° -Electrical Specification: - SR312: - 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: - 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 -Dimensions: - Overall Dimension (L x W x H): +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° + Electrical Specification: 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% \ No newline at end of file + 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: + 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 + Dimensions: + Overall 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% \ No newline at end of file From bd5630fd8e0567c0bd75c162808491fb54c0a2e3 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 21:17:52 -0600 Subject: [PATCH 14/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 49 +++++++++---------- 1 file changed, 24 insertions(+), 25 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index 378f7eda7c..c68d0b3bb4 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -47,31 +47,30 @@ Compatible Motors Spec: Rotation Angle Range: 180 Degrees Rotational Limit: 320° ±5° Center Regression Deviation: ＜1.0° - Electrical Specification: - SR312: - 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: - 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% + 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: From e13bcc7868deb4ff1c0e638d800f3c75a81eb567 Mon Sep 17 00:00:00 2001 From: jho1213gt Date: Thu, 30 Jun 2022 21:30:19 -0600 Subject: [PATCH 15/15] Tech spec table readjustment --- .../carriers/braccio-carrier/tech-specs.yml | 21 +++++++++---------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml index c68d0b3bb4..4de5ea55a7 100644 --- a/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml +++ b/content/hardware/06.edu/carriers/braccio-carrier/tech-specs.yml @@ -78,14 +78,13 @@ Compatible Motors Spec: SR418D: -10℃ ～ 60℃ Compatible Connector: Connector: Adam Equipment LHA-04-TS - Dimensions: - Overall 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% \ No newline at end of file + 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% \ No newline at end of file