56 8vhuÓv 0dqxdo€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv...

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Page 1: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV

Version 1.0April, 2013

Page 2: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 3: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV

Caution

Caution

Page 4: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 5: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 6: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 7: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 8: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 9: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 10: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 11: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 12: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 13: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV

Herkulex Manager kit

Caution

Caution

Caution

VDDGND

TXDRXD

1

4

Battery

HerkuleX

Herkulex Manager kit

PC Serial Cable

Battery Cable

Herkulex ServoInterface Cable

PC

PC

TXDGND

DSUB9Female

PC

RXD PC

95

3

26

Page 14: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 15: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 16: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 17: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 18: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 19: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 20: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 21: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 22: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 23: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 24: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 25: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 26: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 27: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 28: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 29: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 30: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 31: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 32: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 33: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 34: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 35: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 36: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 37: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 38: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 39: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 40: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 41: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV

V1

V2

JOG2

V2'

JOG2 JOG2

Page 42: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 43: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 44: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV

TTL_TX

TTL_RX

TTL_TX

TTL_RX

TTL_TX

TTL_TX

TTL_RX

TTL_RX

RS232_RX

RS232_TX

AOT_0603P_R01

AOT_0603P_G01Z

PJ_208_2.5PIJ22

LED4

LED2

1

J2

J3

U5

12

1110

813 4

32

9

147

16

15

26

1

3

4

5

BP9

BP5

1u/16V

1u/16V

BP6

1u/16V

BP141u/16V

BP11

U8

1u/16V

BP7

100n/25V

1u/16VBP8

TC733/16/B

R3

1

3

5

410K

BP2

100n/25V

BP10

100n/25V

234

1234

R210K

10K R1

C1+

T1IN

R1OUTR2IN

R1INR2OUT

T2INT1OUTT2OUT

VCC

GND

V+C2+

VIN

CTRL NBGN

D

VOUT

C1-

V-

C2-

Page 45: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 46: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV
Page 47: 56 8VHUÓV 0DQXDO€¦ · 6pdoo oljkw dqg hdv\ wr dvvhpeoh +hunxoh; vhuyrv pdnh dvvhpeolqj mrlqwv dqg zlulqj vlpsoh DQG HDV\ WDVN 7ZR FRQQHFWRUV DWWDFKHG WR +HUNXOH; VHUYR DOORZV