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PLEN Project PLEN5Stack Assembly Manual

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plen5stack_manual_en.md
8/31/2020
PLEN5Stack Assembly Manual
PLEN Project Company
2020/8/31
Corresponding to the products sold in 2020/9/4
1 / 60

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Summary of Contents for PLEN Project PLEN5Stack

  • Page 1 8/31/2020 PLEN5Stack Assembly Manual PLEN Project Company 2020/8/31 Corresponding to the products sold in 2020/9/4 1 / 60...

  • Page 2: Table Of Contents

    4.11 Head Assembly 4.12 Chest Assembly Motion Check PLEN's First Steps Adjusting the Servo Motors Power Supply PLEN5Stack Sticker Battery Charging Necessary Equipment Connect the USB Cable Using the Conversion Kit Cautions Writing the Firmware Preliminary Arrangements How to Download the Arduino IDE...
  • Page 3 8/31/2020 References PLEN5Stack Servo Motor Number Control board terminal name Support 3 / 60...
  • Page 4 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.
  • Page 5 2. Connecting the Conversion Kit Parts 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...
  • Page 6 Name Name Name M5Stack（not included） Servo Bracket Servo Horn × 6 Battery Servo Fixer PLEN5Stack Sticker ● Control Board ● Back Parts QR Code ● Servo Motors × 8 Switch Holder Long sticker Eye LED Board ● Shoulder Parts x 2 Eye LED Spacers ●...

  • Page 7: Servo Motor Precautions

    plen5stack_manual_en.md 8/31/2020 3. Servo Motor Precautions 3.1 Servo Motor Connectors 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.

  • Page 8: Servo Motor Angles

    plen5stack_manual_en.md 8/31/2020 3.2 Servo Motor Angles 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.

  • Page 9: Assembly

    plen5stack_manual_en.md 8/31/2020 4. Assembly 4.1 Preparation Necessary Items 1. Servo Motors ×8 2. Long Label sticker 3. Pen Items Needed 9 / 60...
  • Page 10 plen5stack_manual_en.md 8/31/2020 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. Sticker placement 10 / 60...

  • Page 11: Switch Board Assembly

    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.

  • Page 12: Circuit Board And Battery Wiring

    plen5stack_manual_en.md 8/31/2020 4.3 Circuit Board and Battery Wiring Necessary Items 1. Back part 2. Switch holder 3. Battery 4. Control Board 5. M5Stack Necessary Items 12 / 60...
  • Page 13 plen5stack_manual_en.md 8/31/2020 Procedure 1. Connect the battery to the control board 2. Fit the switch holder into the back part 13 / 60...
  • Page 14 plen5stack_manual_en.md 8/31/2020 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 -If you have not written the firmware, please see the [[7. Writing the firmware]] (#7.) page 14 / 60...
  • Page 15 plen5stack_manual_en.md 8/31/2020 4.4 Servo Motor Assembly Necessary Items 1. Servo Motor ×4 (#0,#1,#4,#5) 2. Servo Bracket Necessary Items 15 / 60...
  • Page 16 plen5stack_manual_en.md 8/31/2020 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.
  • Page 17 plen5stack_manual_en.md 8/31/2020 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"...

  • Page 18: Thigh Assembly

    plen5stack_manual_en.md 8/31/2020 4.5 Thigh Assembly Necessary Items 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 18 / 60...
  • Page 19 plen5stack_manual_en.md 8/31/2020 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.
  • Page 20 plen5stack_manual_en.md 8/31/2020 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. 20 / 60...
  • Page 21 plen5stack_manual_en.md 8/31/2020 5. Screw in the plastic thigh parts with screws. 6. This stage of the assembly is now complete. 21 / 60...

  • Page 22: Leg Assembly

    plen5stack_manual_en.md 8/31/2020 4.6 Leg Assembly Necessary Items 1. Chest assembly 2. Electrical parts 3. Servo motors ×2 (#3 and 7) 4. Plastic feet parts ×2 5. Servo horn ×2 Necessary Items 22 / 60...
  • Page 23 plen5stack_manual_en.md 8/31/2020 Procedure 1. Insert servo motors #3 and #7 to the thigh parts. Servo motor #3 is to be placed as the robot's left leg as seen in the photo. 2. Connect servo motors #3 and #7 to the control board and power on the M5Stack. 23 / 60...
  • Page 24 plen5stack_manual_en.md 8/31/2020 3. The servo motors will automatically rotate and be initialized. 4. Place a servo horn on each servo motor with the "+" pointing vertically and horizontally as shown in the photo. 24 / 60...
  • Page 25 plen5stack_manual_en.md 8/31/2020 5. Attach the plastic feet parts such that the wider area of the feet are on the outside. 6. This stage of the assembly is now complete. 25 / 60...

  • Page 26: Shoulder Assembly

    plen5stack_manual_en.md 8/31/2020 4.7 Shoulder Assembly Necessary Items 1. Chest assembly 2. Electrical parts 3. Plastic shoulder parts ×2 4. Black screw ×2 Necessary Items 26 / 60...
  • Page 27 plen5stack_manual_en.md 8/31/2020 Procedure 1. Connect servo motors #0 and #4 to the control board and power on the M5Stack. 2. The servo motors will automatically rotate and be initialized. 27 / 60...
  • Page 28 plen5stack_manual_en.md 8/31/2020 3. Attach the shoulder parts such that they are as horizontal as possible and fix them with screws. 4. Repeat for the opposite side. 28 / 60...
  • Page 29 plen5stack_manual_en.md 8/31/2020 5. This stage of assembly is now complete. 29 / 60...

  • Page 30: Arm Assembly

    plen5stack_manual_en.md 8/31/2020 4.8 Arm Assembly Necessary Items 1. Chest assembly 2. Electric parts 3. Plastic arm parts ×2 4. Servo motors ×2 (#2 and 6) 5. Servo horn ×2 Necessary Items 30 / 60...
  • Page 31 plen5stack_manual_en.md 8/31/2020 Procedure 1. Insert the servo motors into the plastic arm parts. 2. Connect servo motors #2 and #6 to the control board and power on the M5Stack. 31 / 60...
  • Page 32 plen5stack_manual_en.md 8/31/2020 3. The servo motors will automatically rotate and be initialized. 4. Place a servo horn on each servo motor with the "+" pointing vertically and horizontally as shown in the photo with the arms aligned vertically. 32 / 60...
  • Page 33 plen5stack_manual_en.md 8/31/2020 5. Attach the arm parts into the shoulder parts lining up the servo horn "+" in the shoulder parts. Be careful not to let the servo motor cable get caught. 6. This stage of the assembly is now complete. 33 / 60...

  • Page 34: Servo Fixer Attachment

    plen5stack_manual_en.md 8/31/2020 4.9 Servo Fixer Attachment Necessary Items 1. Chest assembly 2. Servo fixer Necessary Items 34 / 60...
  • Page 35 plen5stack_manual_en.md 8/31/2020 Procedure 1. Servo Fixer attachment 2. Pass the cables from servo motors #3 and 7 in the legs up through the hole at the bottom of the servo bracket. 3. Mount the servo fixer into the front of the servo bracket so that other cables are not pinched. ※if it is difficult to attach, remove the servo motor cable from the control board, attach the servo fixer, and then reconnect the cables.

  • Page 36: Control Board Wiring

    plen5stack_manual_en.md 8/31/2020 4.10 Control Board Wiring Necessary Items 1. Chest assembly 2. Electric parts Necessary Items 36 / 60...
  • Page 37 plen5stack_manual_en.md 8/31/2020 Procedure 1. Remove the battery from the control board. 2. Pass the battery cable through the back side of the servo bracket and reconnect it into the control board. 37 / 60...
  • Page 38 plen5stack_manual_en.md 8/31/2020 3. Place the battery in the back part and fix it to the body. ※Below, the complete electrical boards and parts are inside the body. 38 / 60...
  • Page 39 plen5stack_manual_en.md 8/31/2020 6. This stage of the assembly is now complete. 39 / 60...

  • Page 40: Head Assembly

    plen5stack_manual_en.md 8/31/2020 4.11 Head Assembly Necessary Items 1. Body assembly 2. Head plastic parts (top and bottom) 3. Eye LED Board 4. Eye LED Cable 5. Eye LED Spacers Necessary Items 40 / 60...
  • Page 41 plen5stack_manual_en.md 8/31/2020 Procedure 1. Leaving the head parts separate, insert the bottom head part into the neck part of the body. 2. Connect the eye LED cable into the eye LED board and pass the cable through the bottom hole in the head part and have it come out the front of the servo bracket.
  • Page 42 plen5stack_manual_en.md 8/31/2020 3. Insert the LEDs with eye LED board into the eye slots and bottom half of the head. 4. Pass the eye LED cable for the center board through the hole in the head part. 42 / 60...
  • Page 43 plen5stack_manual_en.md 8/31/2020 5. Pass the eye LED spacers through the eye LED board (be careful; this may take force). Then, turn the spacer cut-out outward. 43 / 60...
  • Page 44 plen5stack_manual_en.md 8/31/2020 7. Attach the top part of the head to the bottom, closing the eye LED board inside. 8. Connect the eye LED cable into the main control board in the chest. 44 / 60...
  • Page 45 plen5stack_manual_en.md 8/31/2020 6. This stage of assembly is now complete. 45 / 60...

  • Page 46: Chest Assembly

    plen5stack_manual_en.md 8/31/2020 4.12 Chest Assembly Necessary Items 1. Body assembly 2. Plastic chest part 3. M5Stack 4. Silver screws ×4 Necessary Items 46 / 60...
  • Page 47 plen5stack_manual_en.md 8/31/2020 Procedure 1. Remove the M5Stack from the control board. 2. Pass the control board through the chest part at the front side. 47 / 60...
  • Page 48 plen5stack_manual_en.md 8/31/2020 3. Attach the chest part to the body. 4. Screw in the chest part to the body with the screws. 48 / 60...
  • Page 49 plen5stack_manual_en.md 8/31/2020 5. Re-insert the M5Stack on the front. 6. Power on the M5Stack and make sure all servo motors are in initial position. Some may rotate automatically slightly back to this initial position. 7. Confirm that the limbs work by pressing the A and B buttons on the M5Stack. The eye LEDs should blink with the C button.

  • Page 50: Motion Check

    2. That's it! We're done! Enjoy your PLEN5Stack! 3. But, if it doesn't walk... Your PLEN5Stack might try to walk but will fail and fall over if the servo horn "+" angle was installed at an incorrect angle. It is possible to make minor adjustments using the program.

  • Page 51: Power Supply

    Press the button on the left side once, when viewing the M5Stack from the front. Turning the power off Press the button on the left side twice quickly, when viewing the M5Stack from the front. 5.4 PLEN5Stack Sticker Place the sticker where you see fit. Sticker...

  • Page 52: Battery Charging

    In this case, the LED on the upper right of the back will not light up. Method 2 (Similar to PLEN:bit) 1. Connect the micro USB cable to the back of PLEN5Stack. (Note the orientation of the connector) 2. Connect the other end to a PC or USB charging outlet.

  • Page 53: Writing The Firmware

    8/31/2020 7. Writing the Firmware 7.1 Preliminary Arrangements In order to write the PLEN5Stack firmware, you will need Arduino IDE ver.1.8.0 or later . Please download and install beforehand. 7.2 How to Download the Arduino IDE You can access the Arduino IDE download page and select your environment.

  • Page 54: Setting The Arduino Ide

    plen5stack_manual_en.md 8/31/2020 7.3 Setting the Arduino IDE 1. "File" -> "Preferences" 2. Press the button to the right of the additional board manager URL 3. Enter the URL: https://dl.espressif.com/dl/package_esp32_index.json 54 / 60...

  • Page 55: Install Board

    plen5stack_manual_en.md 8/31/2020 7.4 Install board 1. "Tools" -> "Board..." -> "Board Manager..." 2. Type "esp32" in the board manager 3. Install esp32 55 / 60...

  • Page 56: Install Library

    8/31/2020 7.5 Install library 1. "Sketch" -> "Include Library" -> "Manage Library..." PLEN5Stack library 2. Enter "plen5stack" in the library manager 3. Install [ PLEN5Stack ] M5Stack library 4. Type "m5stack" in the library manager 5. Install [ M5Stack ] Adafruit NeoPixel library 6.

  • Page 57: Select Board

    plen5stack_manual_en.md 8/31/2020 7.6 Select Board 1. "Tools" -> "Board..." -> "M5Stack-Core-ESP32" 2. "Tool" -> "Serial Port" -> Select (The port name will vary depending on the user environment.) 57 / 60...

  • Page 58: Installation Procedure

    8/31/2020 7.7 Installation Procedure 1. Open [File] → [Sketch example] → [PLEN5Stack] → [Firmware FullColor LED] 2. Connect M5Stack to your computer with the USB-C cable 3. Click the upload button [→]. 58 / 60...
  • Page 59 8/31/2020 8. Reference 8.1 PLEN5Stack Servo Motor Number 8.2 Control board terminal 59 / 60...
  • Page 60 plen5stack_manual_en.md 8/31/2020 9. Support If you encounter any issues, please contact the us: PLENSupport: https://plen.jp/wp/contact/ Changes History Date of Changes Issue 2020/2/27 Pre-sale version 2020/6/23 Specification corrections (images、text) 2020/6/25 Switch board corrections 2020/6/30 Added links to table of contents, modified "Installation Procedure" 2020/7/2 Corrections of "Install library"...

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