This upgrade is for robots equipped with controller bottom board ver. 2.3 rev. A-C. It is an improvement of the eye servos current measurement unit.

Link to PDF.

Preparation

Tools

For this operation you will need three tools: a soldering station and tweezers.

 solder station tweezers

Parts

To perform this hardware upgrade, you have to get following parts:

  • 4x SMD Current Sense Resistor, 0.033 ohm, 1 W, ± 1%, 1206 [3216 Metric] LINK,
  • 4x SMD Resistor 47k ohm, 100 mW, ± 1%, 0603 [1608 Metric] LINK,
  • 4x SMD Resistor 1k ohm, 100 mW, ± 1%, 0603 [1608 Metric] LINK,
  • 4x SMD Capacitor, 1 µF, ± 10%, 25 V, 0603 [1608 Metric] LINK,

 

Replacement

1. The first step is to remove EMYS controller from the head. 

  • Remove upper disc,
  • Remove cover of middle disc,
  • Unscrew four screws from the controller,

first second

 

 2. Take out the bottom board of the controller.

 emys controller bottomtop

 

3. Each servo has an independent current measurement circuit based on ZXCT1109 integrated circuit. See full controller schematic here LINK.

schema

 4. Replace four (3 resistors and 1 capacitor) elements for each current measurement circuit on the EMYS controller bottom board.

replacement

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.1, 15.05.2017

FLASH Documentation