Difference between revisions of "Electrical wiring"

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(Replaced content with "This pages has been moved to our new documentation website at 🌐 https://icub-tech-iit.github.io/documentation/icub_wiring .")
 
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[[Image:robotcub2.jpg|right|300px|thumb|The iCub]]
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This pages has been moved to our new documentation website at 🌐 https://icub-tech-iit.github.io/documentation/icub_wiring .
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Wiring documentation is available from the SVN repository [https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ electronics_public] . There are typically folders called "ICUBX_LOGIC AND HARNESS" in the main folder. The bill of materials is also available from the "bom" folder (e.g. ICUB2_LOGIC_HARNESS/iCub 2.0.0/bom).
 
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== Wiring manual ==
 
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* The new software used for the design and the documentation of the wiring of the robot is Capital Design from Mentor Graphics. The schematics are divided in Logic and Harness.
 
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In the Logic schematics there are the logical and electrical connections between boards and sensors in the robot. In the Harness schematics there are the drawings of all the cables and bundles present on the robot.
 
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In the picture below there is the position of all the harness that you find in the pdf. In order to find a cable in the Harness file of your robot, you should start looking at this picture to find out where you have to look at.
 
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The Motor&Board_Placement is the document where you can find the wireframe of the robot with all the electronic boards installed on the robot. If you want to find a correspondence between motor name and joint name in the robotMotorGui, refer to [http://eris.liralab.it/wiki/ICub_joints ICub_joints]
 
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[[File:Harness_position.JPG|framed|center|Harness_Position]]
 
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=== '''Logic and Harness iCub 1''' ===
 
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For the iCub 1.x the wiring schematics are the old version made with Orcad. You can find the files in the link below:
 
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https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB1_LOGIC_HARNESS/ 
 
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And also:
 
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[http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCubPlatform/hardware/head/cabling/ Here] for head cabling
 
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[http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCubPlatform/hardware/upperbody/cabling/ Here] for upperbody cabling
 
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[http://robotcub.svn.sf.net/viewvc/robotcub/trunk/iCubPlatform/hardware/lowerbody/cabling/ Here] for lowerbody cabling
 
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=== '''Logic and Harness iCub 1.7.1''' ===
 
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iCub 1.7.1 is the iCub 1 with Head V2 and forearms and hands V2. Therefore the logic and harness are slightly different from iCub 1
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB1_LOGIC_HARNESS/iCub%201.7.1/iCub%201.7.1_upperbody_logic.pdf iCub 1.7 Upperbody Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB1_LOGIC_HARNESS/iCub%201.7.1/iCub%201.7.1_upperbody_harness.pdf iCub 1.7 Upperbody Harness]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB1_LOGIC_HARNESS/iCub%201.7.1/Motor&Board%20Placement.pdf iCub 1.7  Motor and Board Placement]
 
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=== '''Logic and Harness iCub 2- CAN based''' ===
 
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There are three different version of iCub 2:
 
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=====iCub 2 - Full robot =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.0.0/pdf/iCub%202_2.0.0_XXXX_Logic.pdf iCub 2 Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.0.0/pdf/iCub%202_2.0.0_XXXX_Harness.pdf iCub 2 Harness]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.0.0/pdf/Motor&Board%20Placement.pdf Motor and Board Placement]
 
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=====iCub 2.3 - Full robot with Talking Head =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.3.0%20TalkingHead/pdf/iCub%202_2.3.0_XXXX_Logic.pdf iCub 2.3 Talking Head Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.3.0%20TalkingHead/pdf/iCub%202_2.3.0_XXXX_Harness.pdf iCub 2.3 Talking Head Harness]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.3.0%20TalkingHead/pdf/Motor&Board%20Placement%20Talking%20H.pdf iCub 2.3 Talking Head Motor and Board Placement]
 
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=====iCub 2.5 - Full robot with Seaslegs =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.5.1%20SeasLegs/pdf/iCub2_5_1_5672_B_Logic.pdf iCub 2.5 Seaslegs  Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.5.1%20SeasLegs/pdf/iCub2_5_1_6070_A_Harness.pdf iCub 2.5 Seaslegs  Harness]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2_LOGIC_HARNESS/iCub%202.5.1%20SeasLegs/pdf/Motor&Board%20Placement.pdf iCub 2.5 Seaslegs  Motor and Board Placement]
 
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===  '''Logic and Harness iCub 2.5- ETHERNET based''' ===
 
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The wiring for the robot with Ethernet backbone has been called 3.x in the Logic and Harness schematic since there has been a big change.
 
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=====iCub 2.5.3 Motor and Board Placements =====
 
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::*[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.0%20Ethernet/pdf/iCub%203_3.0.2_Motor%20Board%20Placement.pdf iCub 2.5.3 Motor Board Placement]
 
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=====iCub 2.5.3 - Full robot with SeasLegs =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.0%20Ethernet/pdf/iCub%203_3.0.2_5672_Logic.pdf iCub 2.5.3 Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.0%20Ethernet/pdf/iCub%203_3.0.2_6070_Harness.pdf iCub 2.5.3 Harness]
 
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===== iCub 2.5.3 - Koroibot =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/Koroibot%20Ethernet/pdf/Koroibot%203.0.3_6513%20Logic.pdf Koroibot Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/Koroibot%20Ethernet/pdf/Koroibot_3.0.4_6515_Harness.pdf Koroibot Harness]
 
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===== iCub 2.5.3.1 - Full robot with Battery pack =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.1%20with%20BatteryBackPack/pdf/iCub%203_3.1.0_5672_Logic.pdf iCub 2.5.3.1 Battery Pack Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.1%20with%20BatteryBackPack/pdf/iCub%203_3.1.0_6070_Harness.pdf iCub 2.5.3.1 Battery Pack Harness]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.1%20with%20BatteryBackPack/pdf/iCub%20Misc_3.1.0__BackpackExternalCable_Logic.pdf External Cable Battery Pack Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB2.5_ETH_LOGIC_HARNESS/iCub%203.1%20with%20BatteryBackPack/pdf/iCub%20Misc_3.1.0_6789_BackpackExtPowerCable_Harness.pdf External Cable Battery Pack Harness]
 
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===  '''Logic and Harness iCub Power Cable''' ===
 
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It applies to all the robot version but the iCub with battery pack.
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB_MISC/Cables/icub%20power%20cable/6486_ExtPowerCable_3.0.1.pdf External Power Cable Logic]
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/ICUB_MISC/Cables/icub%20power%20cable/ExtPowerCable%20Harness_5906_2.0.0.pdf External Power Cable Harness]
 
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===  '''Logic and Harness iCub Skin''' ===
 
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=====iCub 2.5.3 Skin =====
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/SKIN/Skin-Logic%20Full%20robot%203.0.4.pdf Skin-Logic Full robot] 
 
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:::[https://svn.robotology.eu/repos/iCubHardware-pub/trunk/electronics/public/SKIN/Skin-Harness%20Full%20robot%203.0.4.pdf Skin-Harness Full robot]
 
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All these documents are GPL/FDL as per the entire RobotCub documentation even if at the moment a proper header is not available.
 
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<br>
 
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Back to the [[Manual | table of contents]]
 

Latest revision as of 15:32, 29 October 2020

This pages has been moved to our new documentation website at 🌐 https://icub-tech-iit.github.io/documentation/icub_wiring .