The motor board appears to consist of 11 H-Bridges. Signal voltage appears to be ~3 Volts. Signals are a mix of various PWM and non PWM, I have not recorded which are which yet, but I beleive it is related to the form of position feedback the joint has (Pot, Encoder Board, Limit Switch or None). At some point I will go through and figure out which is which. I also want to go back and double check these. It took me a while to realize it, but they eyes are not actualy controlled seperately, they are slaved to the head motions. So when the head moves left, the eyes will rotate to the left, this means the signal on the eye pins should be 9 volt outputs.
The main driving transistors for the H-Bridges are A928A (PNP) and C2328A (PNP) the datasheets for which are available here and here. Each H-Bridge appears to consist of several resistors, 8 transistors and a diode. If anyone can come up with a schematic for this, let me know ( I'm assuming its somewhat similar to this).
Motor Board Connectors |
|||||||
Picture |
Pin |
Wire |
Name |
Power |
Action |
Power |
Action |
 |
1
|
Brown |
Left Shoulder (RS) |
-
|
Rotate Up |
+
|
Rotate Down |
|
2
|
Orange |
+
|
-
|
||||
 |
1
|
Orange |
Right Shoulder (LS) |
-
|
Rotate Down |
+
|
Rotate Up |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Blue |
Left Wrist (RE) |
-
|
Rotate Right |
+
|
Rotate Left |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Blue |
Right Wrist (LE) |
-
|
Rotate Right |
+
|
Rotate Left |
|
2
|
Brown |
+
|
-
|
||||
Picture |
Pin |
Wire |
Name |
Power |
Action |
Power |
Action |
 |
1
|
Red |
Left Foot (RF) |
-
|
Move Forward |
+
|
Move Backward |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Red |
Right Foot (LF) |
-
|
Move Backward |
+
|
Move Forward |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Yellow | Head - Tilt |
-
|
Tilt Up |
+
|
Tilt Down |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Green | Head - Turn |
-
|
Turn Right |
+
|
Turn Left |
|
2
|
Brown |
+
|
-
|
||||
Picture |
Pin |
Wire |
Name |
Power |
Action |
Power |
Action |
 |
1
|
Purple | Waist - Tilt |
-
|
Tilt Left |
+
|
Tilt Right |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
White | Waist - Tilt |
-
|
Tilt Forward |
+
|
Tilt Backward |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Blue | Waist - Rotate |
-
|
Rotate Left |
+
|
Rotate Right |
|
2
|
Brown |
+
|
-
|
||||
 |
1
|
Black
|
"D" Cell Connection |
Black
|
- "D" Cell Connection
|
||
|
2
|
Red
|
Red
|
+ "D" Cell Connection
|
||||
 |
1
|
Black
|
On / Off Switch |
Black
|
9 Volt Out
|
||
|
2
|
Red
|
Red
|
9 Volts In
|
||||
Motor Board Pins (Top) |
|||
 |
|||
|
a
|
GND |
h
|
9 Volts |
|
b
|
Left Shoulder - Rotate Down |
i
|
Left Shoulder - Rotate Up |
|
c
|
Left Wrist - Rotate Left |
j
|
Left Wrist - Rotate Right |
|
d
|
Head - Rotate Left |
k
|
Head - Rotate Right |
|
e
|
Waist - Tilt Forward |
l
|
Waist - Tilt Backward |
|
f
|
Head - Rotate Down |
m
|
Head - Rotate Up |
|
g
|
? Unknown ? |
n
|
? Unknown ? |
|
|
|||
|
o
|
Left Foot - Move Backward |
u
|
Left Foot - Move Forward |
|
p
|
Right Foot - Move Forward |
v
|
Right Foot - Move Backward |
|
q
|
Waist - Tilt Left |
w
|
Waist - Tilt Right |
|
r
|
Waist - Rotate Left |
x
|
Waist - Rotate Right |
|
s
|
Right Wrist - Rotate Right |
y
|
Right Wrist - Rotate Left |
|
t
|
Right Shoulder - Rotate Down |
z
|
Right Shoulder - Rotate Up |
Motor Board Pads (Bottom) |
|||
 |
|||
|
1
|
Waist - Rotate Right |
2
|
Right Wrist - Rotate Left |
|
3
|
Right Shoulder - Rotate Up |
4
|
Right Shoulder - Rotate Down |
|
5
|
Right Wrist - Rotate Right |
6
|
Waist - Rotate Left |
|
7
|
Waist - Tilt Left |
8
|
Right Foot - Move Forward |
|
9
|
Left Foot - Move Backward |
a
|
Left Foot - Move Forward |
|
b
|
Head - RotateRight |
c
|
Right Foot - Move Backward |
|
d
|
Waist - Tilt Right |
e
|
Waist - Tilt Backward |
|
f
|
? Unknown ? |
g
|
Head - Tilt Up |
|
h
|
? Unknown ? |
i
|
Head - Tilt Down |
|
j
|
Waist - Tilt Forward |
k
|
Head - Rotate Left |
|
l
|
Left Wrist - Rotate Left |
m
|
Left Shoulder - Rotate Down |
|
n
|
Ground |
o
|
Left Shoulder - Rotate Up |
|
p
|
Left Wrist - Rotate Right |
q
|
9 Volts |
|
r
|
9 Volts |
s
|
Ground |
|
Note : the two "? Unknown ?" should relate
to the eyes.
|
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