User's Manual

Mirobot Mirobot Robot Users Manual
Document version Users Manual Beijing Tsinew Technologies Co.,Ltd.
Figure 3.6 The end flange size
4 Interface description
4.1 Interface board
The Mirobot interface is located at the back of the base of the mechanical arm, and the
schematic diagram of the base interface is shown in Figure 4.1.
Figure 4.1 back interface of substructure
The PIN of the extended communication interface is shown in Figure 4.2. The definition of
each pin is shown in table 4.1.
Figure 4.2 PIN of back extension communication interface of substructure
Table 4.1 pin definition of extended communication interface
15
13
11
9
7
5
3
1
2A
2B
EX0
5V
GND
GND
RX_3
RX_2
16
14
12
10
8
6
4
2
1A
1B
EX1
-
-
-
TX_3
TX_2
Ex0 represents the output of pwm1, and EX1 represents the output of pwm2. 1b, 2b, 1a, and
2A refer to the four interfaces of the external sliding rail stepping motor. The Mirobot external
communication interface needs to be connected with the external expansion interface board by