PLEN Project PLEN5Stack User manual

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PLEN5Stack Assembly Manual
PLEN Project Company
2020/2/6

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Table of Contents
1. Cautions on Assembly. . 3
2. Table of Contents
1. Common Parts. . . . . . . . . . . . 4
2. special kit. . . . . . . . . . . . . . . . 5
3. About the angle of Servo horn. . 6
4. Assembly
1. Preparation. . . . . . . . . . . . . . . . . 8
2. Switch board assembly. . . . . . . . 9
3. Circuit board and battery wiring. . 11
4. Servo motor set-up. . . . . . . . . . . 16
5. Assembling the Thighs. . . . . . . . 19
6. Attaching leg parts. . . . . . . . . . . . 23
7. Shoulder parts assembly. . . . . . . 27
8. Arm parts assembly. . . . . . . . . . . 31
9. Servo xer attachment. . . . . . . . . . 35
10. Control board wiring. . . . . . . . . . 38
11. Head part assembly. . . . . . . . . . . 41
12. Chest assembly. . . . . . . . . . . . . . .46
5. Motion check
1. Let's walk the PLEN5Stack!. . . . . . . . . 51
2. How to adjust ServoMotor position
6. How to charge battery. . 52
7. Firmware Installation
8. Appendix
1. PLEN5Stack servo numbering. . . . . .
2. Control board terminal labelling

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1. Cautions on Assembly
There will be some steps where force is necessary.
Please take the proper measures and precautions to not hurt yourself or damage the parts
and follow the instructions as described.
You will need a phillips screwdriver (+ head) for assembly.
Please use the provided pictures as a reference during assembly.
Please be aware that the colours and/or appearance of some parts in the provided pictures
and those provided may be slightly different.
The required program for the M5Stack has already been included.
How to install page is [7. Firmware Installation]
PLEN5Stack https://github.com/plenprojectcompany/PLEN5Stack
When assembling the servo motors, the initial rotational position of the gear on the motors is
important.
The assembly instructions includes initial positioning for the motors.
Please ensure all motors are properly set.
When setting the servo motors, make sure you wait at least 2 seconds after turning the
power switch on until the servo motors automatically set to their initial position.
If the servo motors do not move after 2 full secods, please if check they are connected
properly.

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2. Contents list
2.1 Common Parts
1. M5Stack
2. Battery
3. Control Board
4. Switch Board PCB
5. Servo Motors x 8
6. Head Board Cable
7. Power Cable
8. USB Cable
9. Head Parts(top, bottom)
10. Chest Parts
11. Servo Bracket
12. Servo Fixer
13. Back Parts
14. Switch Board Holder
15. Shoulder Parts
16. Arm Parts×2
17. Thighs Parts × 2
18. Legs Parts × 2
19. Black Screw x 4
20. Silver Screw × 7
21. Servo Horn × 6
22.
23.
24. Label Sticker
25. head board
26. Connector tool

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Contents list

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3. About the Servo motor
3.1 Connector orientation
1. There is a direction in the connector of the servo motor. Make sure that the white cable is on
the inside.
Connector orientation

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3.2 About the angle of Servo horn
1. Body balance is important for biped robots. but, since servomotors have individual
differences in rotation angle, it is necessary to absorb the individual differences by the servo
horn attached to this.
Therefore, the angle of the servo horn needs to be precisely adjusted. If this adjustment is
not successful, you will not be able to walk or fall easily.
Here we will explain how to make this adjustment.
2. The servo horn has a slight offset between the inner serration and the front cross.
Therefore, when rotating the cross of the servo horn by 90 degrees, there is a point where
the cross is just horizontal.
Find this and fix the servo horn.
3. As a method other than servo horn adjustment, a method to adjust by program is also
prepared. (Coming soon)
The shoulder parts are integrated with the servo horn and can not be rotated by 90 degrees,
so they need to be adjusted in the program.
servo horn fix image

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4. Assembly
4.1 Preparation
Necessary items
1. Servo Motors x8
2. Label stickers or Circular Stickers
3. Pen
Necessary items
Procedure
Fix the servo number stickers to each Servo motor cable.Write the numbers 0-7 on eight stickers
and place them Attach the sticker in a half-folded form to the servo motor cable.
Sticker placement

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4.2 Switch board assembly
Necessary items
1. switch board set (switch board PCB, switch board holder, screw x2)
Necessary items

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Procedure
1. Align the circuit board and plastic part
2. Screw in the circuit board using the two screws at the corners

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4.3 Circuit board and battery wiring
Necessary items
1. back part
2. switch board
3. battery
4. control board
5. M5Stack
6. power cable
Necessary items

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Procedure
1. Connect the power cable to the switch board
2. Insert the switch board into the back plastic part with the switch and connector going
through the appropriate holes as shown in the picture.

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3. Connect the battery to the switch board following the below reference picture.
4. Connect the control board and switch using the power cable. The connectors are different so
please ensure the correct connector slides smoothly into the pins.
※ It is necessary to remove the power cable at the time of "Control board wiring" mentioned
later. In this case, since it is hard to remove the cable from the connector, for children and
people with weak force, use the supplied connector tool. This is a tool to make
it easy to remove by holding this tool between the power cable and the connector.

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connector tool use example
5. Plug in the M5Stack to the control board.

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6. complete set of board assembly is seen below

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4.4 Servo motor set-up
Necessary items
1. Servo motors ×4 (numbers 0,1,4, and 5)
2. Servo bracket
Necessary items

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Procedure
1. Orient the servo bracket such that the long back is horizontal and towards the back when
inserting the servo motors.
The side of the bracket with this long bar in the middle is the "back" of the part and
concordantly the back of the robot.
Insert servo motor #0 into the servo bracket as shown. This will be the robot's left arm.
Be careful not to have the cable of servo motor #0 pinched between the motor casing and
plastic parts when assembling.
Have the servo motor cable come out the "front" side of the bracket.
2. Insert servo motor #4 following the same procedure as #0 on the opposite side of the
bracket.

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3. Again, be careful not to have the cable of servo motor #1 pinched between the motor casing
and plastic parts when assembling.
4. Insert servo motor #5 following the same procedure as #1 in the last available position in
the bracket.
Ensure all servo motor cables are coming out the "front" face of the bracket.

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4.5 Assembling the Thighs
Necessary items
1. The previously assembled servo bracket with servo motors.
2. The previously assembled control board\
battery
switch board
3. Thigh plastic parts ×2
4. Servo horn ×2
5. Screws ×2
Necessary items

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Procedure
1. Ensure the switch board switch is in the off position.
Connect servo motors #1 and #5 to the control board pins as shown.
The servo motor pins numbering is given in the Appendix 5.2 picture.
When connect the motors into the pins, ensure that the black (ground) cable is towards the
outside of the control board.
Turn the switch on the switch board on.
*if you have not installed firmware, see [7. Firmware Installation].
2. The servo motors should rotate automatically to their initial position.