Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
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(3) Servo Number
Total 24 different servos can be operated independently on the main board. As IRH-100 is 16 DOF humanoid,
16 servo channels have been assigned on the main board at the factory. Spare & empty channels can be
activated in case of adding more DOF by users.
[Recommended Joint Positions of Spare Channels]
CH # Joint Position
S00 Right Pelvis Vertical Rotation
S06 Left Pelvis Vertical Rotation
S14 Right Shoulder Rotation
S16 Right Wrist or Gripper
S19 Left Shoulder Rotation
S21 Left Wrist or Gripper
S22 Head Left/Right Rotation (Pan)
S23 Head Up/Down (Tilt)
Main controller is a main system to control IRH-100. Its main features are : Servo motor control, 6
axis gyro/accelerometer sensor, Bluetooth 4.0 module, motion data memory, LED display, Piezo
output, battery charging connection, IRduino port and IR sensor port, etc.
3.1. Main Features
(1) Servo Control (24ch)
Servo pulse control for 24 servos and Same as R/C(Radio control) servo pulse standard.
PPM(Pulse Position Modulation) Compatible [ Radio-Control Servo Pulse Mode]
(2) Motion Control and Management
Through main controller, various motion management such as motion creation, motion Editing, motion test,
motion execution, torque on/off can be done. 100 different motions are basically provided, and another 100 x
user motions can be saved in the controller. Motion data can be downloaded(saved) into the controller and
3
Main Controller
(IRC
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24)