Open vmayoral opened 8 years ago
This document shows step by step the tear down of the dynamixel AX-12A.
The first step is removing the four screws from the black casing. Then, it is posible to remove the front and the back covers. Removing the front cover we could see the gears out of the servo, placed in the cover. It is possible to see how the output gear is connected to the PCB´s potentiometer across the hole in the sheet that divide the gears from the PCB.
Removing the back cover we could see the PCB which is connected to the motor. Removing a little black screw it is possible to get the PCB out to obtain a better view of it. That way the two layers can be seen and more information is recorded.
In the top layer among other electronic components we could see the Atmega8A microcontroller, two dual MOSFETS (SUF 2001) under de electrolytic capacitor and also the two connectors. In the bottom layer we could see a chip with four 3-state buffers (74HC126D), a potentiometer and a voltage regulator (LM78L05).
H/W Specification
ROBOTIS e-Manual v1.25.00 The next link is a short manual about the Dynamixel AX-12/ AX-12+/ AX-12A. http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm
http://www.hizook.com/blog/2010/03/14/robotis-dynamixel-servos-overview-applications-tear-down-and-open-source-software