Milford Instruments, 120 High Street, South Milford, LEEDS, LS25 5AQ, United Kingdom.      tel. +44 1977 683665
http://www.milinst.com
Hextor by David L Buckley - September 2001
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Attach the Arm and Ultrasonics-servo


The Arm and the Ultrasonics-scanning-servo (Ultrasonics-servo) are both held on by the same pair of M4 screws and nuts.
Use part #33	M4 x 20 pan head steel screws and
    part #34	M4 nuts

Before mounting the Arm plug the leads onto the Circuit-board headers #12 and #13 and use Hextor_0.BSx to set the servo discs to the right position. Press the right middle button 'AdjN' (Adjust Neutral) to step through all the servos until you get to #12, this should be the arm and using the middle buttons you can raise and lower it. If the Gripper moves instead then you have the connectors for servos 12 and 13 on the wrong headers , just swap them over. Make sure the arm can travel freely through its full range from 0 to 255. If you set the mid point to be slightly below horizontal then it will be easier to pick objects from off the ground. When the disc is in the right position secure it with its screw.

Now do the same with the Gripper, set the disc so that at a value of 20 the Finger-tips are just touching then secure the disc with its screw.

Fasten the Arm and Ultrasonics-servo onto the body.

Use a wire-tie and tidy the Ultrasonics-servo cable and plug the connector onto the header marked 'Scanner Servo' on the Circuit-board.
Thread the leads from the Arm through the hole by the right-front-leg and plug them onto the circuit board headers #12 and #13. Use Hextor_0.BSx and press the right middle button 'AdjN' (Adjust Neutral) to step through all the servos until you get to #12, this should be the arm and using the buttons you can raise and lower it. If the Gripper moves instead then you have the connectors for servos 12 and 13 on the wrong headers , just swap them over as above.

You can now mount the Ultrasonic-sensor-head onto the Ultrasonics-servo and plug the sensor lead onto the header marked 'Transducer', or you may prefer to leave it off until you work your way through to Hextor_8US.BSx.

Your Hextor should now look like that in pictures 6 and 7.

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
5
6 - Neutral position 7 - Up position
6 7


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