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Hextor by David L Buckley - September 2001
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Adjust and Mount the Hip-servos


Layout the body and legs as in picture 1.
Plug in the LCD-pad and the hip servos - picture 2. The servo header-plugs on the Circuit-board are numbered.
Switch on and load Hextor_0.BSx.
Make sure the servo-supply is switched ON.
Press the left hand button on the keypad - Neut(ral).
The servos will go to the default Neutral positions. (Do not use the facility to alter the default Neutral position in the BOS controller.)
Use the Servo-disc-retaining-screws to attach each hip servo to its disc on the body.
Picture 4 shows the recommended neutral positions of the hip servos and the underbody cable routing.
Note the Neutral position of the two rear legs is offset to the rear.

Servo numbering
Servo numbering
0  left front hip		6  right front hip
1  left front knee		7  right front knee
2  left middle hip		8  right middle hip
3  left middle knee		9  right middle knee
4  left rear hip		10 right rear hip
5  left rear knee		11 right rear knee
12 arm, 13 gripper, 14 spare

1 2
3 4

'Hextor_0.BSx
'Setup program for the servos,
'buttons allow:-
'	legs to be set to 
'		Neutral position - legs up
'			the correct position for attaching the legs 
'			and body to the leg servos as in the html 
'			assembly instructions.
'		standUp position - ie legs down
'	servo positions to be adjusted
'		servos 0 - 11 (legs), alter neutral setting in BOS
'		servos 12,13,14	no setting in BOS to alter.

Make sure there is enough slack in all the leads for the legs to move freely.

5 - cable routing left side 6 - left front leg
5 6
7 - left front leg 8 - left middle leg
7 8
9 - left middle leg 10 - left middle leg
9 10
11 - left rear leg 12 - left rear leg
11 12
13 - back legs 14 - right rear leg
13 14
15 - right front leg
15


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