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Template:Back Panel Definitions

Revision as of 15:24, 13 November 2013 by Alexalspach (Talk | contribs)

1. External Power Port
This port is used to supply external power or battery power to the Allegro Dog. It accepts two separate 24V inputs: One input powers the power management system and the second powers the motor controllers and motors.

Note When power is supplied to the power management system it will automatically turn on without any further action from the user. It is only powered off when the power supply is removed. Powering the internal computer and motor controllers requires further action.

2. Main Power Switch
This main power switch controls the supply of power to then entire Allegro Dog system. To use the internal computer, motors or 24V/B, 12V and 5V internal power sources, this switch must be switched to 'on'.
{{{2}}} Upon flipping this switch, the 24V/B, 12V and 5V internal power sources will become active. The internal computer, as well as the motor controllers and motors will remain unpowered until manually powered on by the user.
{{{2}}} Turning this switch off will kill power to the entire Allegro Dog system no matter the status. Both the computer and motors / motor controllers, as well as any other device powered by the power management system, will lose power immediately.
3. Emergency Stop
This emergency stop switch kills the 24V/A supply of power to the motor controllers and motors. The switch affects nothing else in the system. When triggered, the computer and any other devices supplied by the 24V/B, 12V or 5V internal power sources will remain active.
{{{2}}} When turning on the 24V/A power, make sure the emergency switch is up.
4. PC Power Switch and Status Light
This push button will boot up the Allegro Dog's internal computer only if the main power switch (#2, above) is switched on. When the computer is on, the button will light up orange. If necessary, you can shut down the computer using this button, also.
{{{2}}} By default, the computer is not automatically booted when the main power switch is turned on.
5. SSD Read/Write Status Light
This red light will illuminate when reading from or writing to the internal solid-state drive.
6. External CAN Port, Channel 1
This CAN port can be used to control the Allegro Dog's front legs using an external computer running RoboticsLab and RealtimeRobotics.
{{{2}}} CAN channel 1 is used to communicate with motor drivers number 1, 2 and 3. These three motor drivers control the front two legs of the Allegro Dog.
7. External CAN Port, Channel 2
This CAN port can be used to control the Allegro Dog's hind legs using an external computer.
{{{2}}} CAN channel 2 is used to communicate with motor drivers number 4, 5 and 6. These three motor drivers control the hind two legs of the Allegro Dog.
8. Motor Controller / Motor Power Switch and Status Light (24V/A)
This motor controller power push button will enable the 24V/A power to the motor controllers and motors only if the main power switch (#2, above) is switched on. When the motor controllers are powered, the button will light up orange.
{{{2}}} By default, power to the motor controllers remains disabled when the main power switch is initially turned on.
{{{2}}} This switch does not disable motor controller power when pressed again. To disable motor power only, you can hit the emergency stop (#3, above) without any adverse effects. To re-enable the motor controller power, switch off the emergency stop then press the motor controller power button once again.
9. 24V/B Status Light
This light shows the status of the 24V/B (5A) power supplied by the power management system. This power source is switched on when the main power switch (#2, above) is switched on. This line can be used to power additional sensors or other devices.
10. 12V Status Light
This light shows the status of the 12V (1A) power supplied by the power management system. This power source is switched on when the main power switch (#2, above) is switched on. This line can be used to power additional sensors or other devices.
11. 5V Status Light
This light shows the status of the 5V (3A) power supplied by the power management system. This power source is switched on when the main power switch (#2, above) is switched on. This line can be used to power additional sensors or other devices.
12. WiFi / External USB 2.0 Port
The Allegro Dog is WiFi enabled. This can be used to set up an ad hoc network for wireless control and system monitoring. If removed, an external USB 2.0 port becomes available.
13. Sling Hook
This hook can be used along with the provided sling to hoist the dog for testing and repair.
14. Serial Number Plate
This plate contains identifying information specific to the Allegro Dog to which it is attached.