Day Five

Today our group finished taking apart the arm's panels and cleaned it out some more (probably one more day to complete the clean out). We will lube on Day 7, if needed. Dave, John, and I also tested each dc servo to see they worked in both directions and got the servo breaks to release with the connections directly off the servos themselves.


After class, Larry and I worked further on the wired connections. We figured out which servos corresponded to which motor numbers in manual by testing which pins corresponded to which servos breaks. Through a process of elimination, we now know that Motor 1 is the base servo, Motor 2 is the Shoulder servo, Motor 3 is the Elbow servo, Motor 4 is the Wrist Pitch servo, and Motor 5 is the Wrist Yaw servo. 


To get the brakes to release we need to connect a ground to the Motor pin connector and a positive to the Feedback pin connector as detailed below.


Shoulder
Motor connector = pin 7
Feedback connector = pin 11
Motor #2

Elbow
Motor connector = pin 9
Feedback connector = pin 18
Motor #3

Wrist Pitch
Motor connector = pin 10
Feedback connector = pin 11
Motor #4

Wrist Yaw
Motor connector = pin 12
Feedback connector = pin 18
Motor #5