Power supply utilizes SP1310/S2I (power supply side - female) and SP1311/P2I (robot side - male) connectors from WEiPU. You can find the documentation of the connectors here LINK (robot wire sticker LINK).
Power supply parameters:
Complete EMYS wire harness consists of:
The complete harness is shown in Fig. 1. For clarity purposes, all the figures that follow will show only specific parts of the cable harness.
Fig. 1 Wiring system overview.
Neck mounting (part no. 40009486) is where main harness (in electrical braid), containing the USB data and main power supply, branches. Fig. 2 shows how the main harness is located in relation to the neck mounting. As it is shown in Fig. 3, power supply connects via a 4-pin Molex micro spox connector to the Dynamixel daisy chain connection. The other two cables inside the neck junction are connected to the head pitch servo and head yaw servo. Additionally, the daisy chain connection goes from the head pitch servo to the bottom disc servo and then, along with the USB data cable, to the middle disc inside the support tube (part no. 40009497).
Fig. 2 Main conduit location.
Fig. 3 Neck junction.
As it is shown in Fig. 4, the daisy chain connection from the bottom disc servo (along with USB cable) connects to the on-board motion controller, situated in the middle disc. The daisy chain connection then goes from the motion controller to the top disc servo via the support tube. Notice that the USB cable is connected to the motion controller, where it is connected to a USB-RS485 converter, whose output is connected to the Dynamixel bus. This means that the external controller, as well as the on-board controller, are connected to the Dynamixel daisy chain.
Fig. 4 Daisy chain connection - upper end.
Fig. 5 shows the lower end of the daisy chain connection. Cables from the head yaw servo go to the slave neck pitch servo. The daisy chain connection then continues, along with the 3-wire synchronization cable, to the master neck servo. For clarity, a view from underneath the robot is presented in Fig. 6.
Fig. 5 Daisy chain connection - lower end.
Fig. 6 Daisy chain connection - lower end (bottom view).
The Dynamixel daisy chain begins at the master neck pitch servo at the bottom and extends up to the top disc servo with both controllers in the middle. To ensure signal integrity, the bus is terminated on both sides with 120 ohm terminating resistors, inserted into a Molex spox connector. This is shown in Fig. 7
Fig. 7 Daisy chain termination
Cable harness for the eye rotation and eyelid servos is shown in Fig. 8. The harness is connected to the controller and then goes to the eye rotation servo with sufficient slack to enable the carriage to move forward during eye protrusion. The harness for the eyelid servo then goes through the eye support (part no. 40009484) to connect with the eyelid servo inside the eyeball.
Fig. 8 Eyelid and eye rotation servos connection.
Eye protrusion motors are connected directly to the motion controller as shown in Fig. 9.
Fig. 9 Eye protrusion motors connection.
The harness for both the camera and front touch sensor goes through the support tube directly to the front of the robot. Side touch sensor wires go from the motion controller towards the back of the middle disc and then along the disc sides to the touch sensing electrodes. Wires going to the top and bottom touch sensors are routed inside the support tube. Camera and touch sensors connection is shown in Fig. 10.
Fig. 10 Sensor connections.