¶ Inside Right Knee
We opened up the right knee to see what’s inside of it (see Lokomat progress log, 2022-06-15).
We found 2 potentiometers, 1 sensor that we believe measures force/torque, and the motor itself. All connections are linked up through a big connector that runs its wires into the Beckhoff terminal:
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Potentiometer: Poti 1, linked to Beckhoff Term 5, Channel 2
- 1 - Brown => White
- 2 - White => Brown
- 3 - Green => Green
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Potentiometer: Poti 2, linked to Beckhoff Term 5, Channel 3.
- 14 - Brown => Pink
- 15 - White => Blue
- 16 - Green => Red
- 14 - Brown => Pink
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Torque sensor, linked up to Beckhoff Term 7, Channel 2.
- 17 - Black => Black
- 18 - Red => Purple
- 4 - White => Yellow
- 5 - Green => Grey
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Motor
- 1 lead, 2 wires
- 12 - Brown => Green
- 13 - Brown => Green
- 1 lead 2 wires
- 24 - White => Yellow
- 25 - White => Yellow
- 1 lead, 2 wires