PLEN Project PLEN5Stack User manual

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PLEN5Stack Assembly Manual
PLEN Project Company
2020/8/31
Corresponding to the products sold in 2020/9/4

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1. Assembly Precautions
Procedures for using the Conversion Kit
2. Contents List
3. Servo Motor Precautions
3.1 Servo Motor Connectors
3.2 Servo Motor Angles
4. Assembly
4.1 Preparations
4.2 Switch Board Assembly
1. Using the Conversion Kit
2. Proceed to next step for Regular Assembly
4.3 Circuit board and Battery Wiring
4.4 Servo Motor set-up
4.5 Thigh Assembly
4.6 Leg Assembly
4.7 Shoulder Assembly
4.8 Arm Assembly
4.9 Servo Fixer Attachment
4.10 Control Board Wiring
4.11 Head Assembly
4.12 Chest Assembly
5. Motion Check
5.1 PLEN's First Steps
5.2 Adjusting the Servo Motors
5.3 Power Supply
5.4 PLEN5Stack Sticker
6. Battery Charging
6.1 Necessary Equipment
6.2 Connect the USB Cable
6.3 Using the Conversion Kit
6.4 Cautions
7. Writing the Firmware
7.1 Preliminary Arrangements
7.2 How to Download the Arduino IDE
7.3 Setting the Arduino IDE
7.4 Install board
7.5 Install library
7.6 Select Board
7.7 Installation Procedure
Conents

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8. References
8.1 PLEN5Stack Servo Motor Number
8.2 Control board terminal name
9. Support

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There will be some steps where force or strength is necessary. Please take the proper measures and
precautions to not hurt yourself or damage the parts and follow the instructions as described.
Please read the entire assembly instructions once before beginning the assembly.
Before assembling, check the content list to see if any parts are missing.
You will need a phillips screwdriver (+ head) for assembly.
Please use the provided pictures as a reference during assembly.
You will need to download some programs required for assembly to the M5Stack. Please refer to 7.
Writing the Firmware.
Please be aware that the colours and/or appearances of some parts in the reference photos provided
may be slightly different.
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.
The servo cable on the arm of PLEN5Stack can breaks when caught and wrapped. Before turning on the
power, make sure the arm cables are free and loose on the upper side.
1. Assembly Precautions

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1. Remove the micro:bit from your PLEN:bit.
2. Remove the two screws in the control board.
3. Slide the control board forward.
4. Remove the chest piece
5. Remove all the cables from the control board:
Servo motors, power cable, eye LED cable
6. Remove the control board
7. Remove the head piece
While pushing the bottom part of the head, lift the head from the top up and out.
8. Loosen the eye LED screws.
9. Remove the cable from the eyes control board
10. Remove the eyes control board
Leave the cable passed through the chest area
1. Write the firmware to PLEN5Stack
Please refer to 7. How to write the firmware
2. Connect the servo motor cables in order into the PLEN5Stack control board
Please refer to 3.1 Servo Motor Connectors
Please refer to 8.2 Control Board Terminal Name for the connection order.
3. Connect the power cable and eye LED cables to the control board.
4. Attach the PLEN5Stack eye control board inside the head part.
Please refer to 4.11 Attaching Head Part
5. Conenct the chest part
Please refer to 4.12 Attaching Chest Part
6. Replace the arm parts
The arm parts can be easily removed by inserting a thin flate object, such as a flat head
screwdriver, between the arm parts and the shoulder parts (on the opposite side of the servo horn).
Please refer to 4.8 Attaching the Arms
7. Motion check → refer to 5. Motion Check
Procedure for Conversion Kit
1. Remove parts from PLEN:bit
Please refer to the PLEN:bit assembly manual to see how to remove the follow parts in reverse order
2. Connecting the Conversion Kit Parts

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Contents List
No Name No Name No Name
1 M5Stack（not included）11 Servo Bracket 21 Servo Horn × 6
2 Battery 12 Servo Fixer 22 PLEN5Stack Sticker ●
3 Control Board ● 13 Back Parts 23 QR Code ●
4 Servo Motors × 8 14 Switch Holder 24 Long sticker
5 Eye LED Board ● 15 Shoulder Parts x 2
6 Eye LED Spacers ● 16 Arm Parts × 2 ●
7 Eye LED Cables 17 Thigh Parts × 2
8 Head Part (Upper) 18 Leg Parts × 2
9 Head Part (Lower) 19 Black Screws × 4
10 Chest Part ● 20 Silver Screws × 4 ●
※The contents of the conversion kit are marked with ●
2. Contents List

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1. The servo motor connectors have a correct orientation. There are two black cables and one white cable,
where the white cable is the signal, the center is power, and the last is ground. Insert each cable such
that the white cable is on the inside.
Pay attention to connector orientation
3. Servo Motor Precautions
3.1 Servo Motor Connectors

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1. Body balance is important for bipedal robots. Since each servo motor is unique and will have its own
initial rotation angle, it will be necessary to adjust each individual servo motor. If this adjustment is not
done, your robot will not be able to walk properly, or will fall easily. Here we will explain how to complete
this adjustment。
2. The servo horn has a small offset between the inner serration and the front cross. When rotating the
cross of the servo horn over the gear of the servo motor, there should be a point where the cross is
approximately horizontal. Please attach the servo horn onto the servo motor gears at this horizontal
position.
3. There is a method of adjusting the servo motor initial position by program that is still in production. The
shoulder parts, for one, are integrated with the servo horn, and must be adjusted by this program.
Angle Adjustment
3.2 Servo Motor Angles

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1. Servo Motors ×8
2. Long Label sticker
3. Pen
Items Needed
4. Assembly
4.1 Preparation
Necessary Items

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Sticker placement
Procedure
Put the servo number stickers to each servo motor cable. Write the numbers 0-7 on eight stickers and fold
each over the cable of each servo motor.

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For the Conversion Kit
4.2 Switch Board Assembly
For those with the Conversion Kit:
For those with the PLEN5Stack Conversion Kit, please use the original PLEN:bit switch board as before.
Please proceed to the next page for the regular assembly
PLEN5Stack uses a dedicated switch holder instead of the switch board.

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1. Back part
2. Switch holder
3. Battery
4. Control Board
5. M5Stack
Necessary Items
4.3 Circuit Board and Battery Wiring
Necessary Items

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Procedure
1. Connect the battery to the control board
2. Fit the switch holder into the back part

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-If you have not written the firmware, please see the [[7. Writing the firmware]] (#7.) page
3. Lightly insert the M5Stack onto the control board. Do not force the board
4. The following below is a complete set of the electrical equipment

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1. Servo Motor ×4 (#0,#1,#4,#5)
2. Servo Bracket
Necessary Items
4.4 Servo Motor Assembly
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. Insert servo motor #1 below servo motor #0 with the gear part facing down. 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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1. The previously assembled servo bracket with servo motors.
2. Complete Electrical set
3. Thigh plastic parts ×2
4. Servo horn ×2
5. Black screws ×2
Necessary items
4.5 Thigh Assembly
Necessary Items

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-If you have not written the firmware yet, please refer to 7. How to write the firmware.
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. When connecting the motors into the pins, ensure that the black (ground) cable is
towards the outside of the control board. Turn on the switch on the M5Stack.
2. The screen of M5Stack will be displayed and the servo motor will rotate and be initialized.

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3. Fix the servo horns on servo motors #1 and #5 as shown in the reference photo.
4. Attach the plastic thigh parts. Ensure the bump on the thigh parts is facing forward, the same direction
the servo cables are exiting the chest.