Hexapod Electronics and UMAC Controller

Removal of Hexapod Electronics from the Solar Tower

26 Feb 2009

This morning Marco and I removed the electronics from the rack at the top of the Solar Tower and took them to the lab so motion tests could be performed with the hexapod and the the new G-Ring and retro-reflector holder. The step are as follows:

  1. Remove side panel of electronic cabinet
  2. Unplug the input power from the back. In this rack the input power is 110 V AC @ 60 Hz. However, for the UMAC and hexapod power, 220 V AC @ 50 Hz can be supplied into the same male plug on the back of the top section. However, the fans above and below the electronics rack, that are powered by the electronics rack, will only accept 110 V AC, or will be destroyed. These fans were left in the rack at the top of the Solar Tower so in the lab, where only the electronic rack was powered, 220 V AC power was input.
  3. Unplug the 24 cables that connect to the hexapod. These cables are for:
    • Motor Power (MOT1->6)
    • Brakes (BRK1->6)
    • Encoders (ERO1->6)
    • Limit Switches (LIM1->6)
  4. Unplug the ethernet cable. The UMAC is on a private network, which has been setup on the large switch in the electronics cabinet. This switch is connected to only one switch in the lab. The UMAC was later plugged directly into the switch in the lab, as was my laptop, for testing. The address for the UMAC is
    • IP: 192.168.1.115
    • port: 1025
  5. Remove screws holding the rack
  6. Remove fan from above the rack so there is clearance for cables when rack is removed
  7. Remove rack
  8. Replace side panel, put fan back into cabinet and close front door

Photo description

  • Hexapod Electronics and UMAC Controller (wired):
    IMG_4812.jpg

  • Hexapod Electronics and UMAC Controller (unwired):
    IMG_4820.jpg

  • DM Electronics:
    IMG_4813.jpg

  • Top of Tube with through plugs:
    IMG_4815.jpg

  • Side of cabinet removed:
    IMG_4818.jpg

  • Switch with private network plugs on the left:
    IMG_4819.jpg

Cabling of Hexapod Controller to Hexapod

-- DougMiller - 26 Feb 2009
I Attachment Action Size Date Who Comment
IMG_4812.jpgjpg IMG_4812.jpg manage 27 K 26 Feb 2009 - 12:06 DougMiller Hexapod Electronics and UMAC Controller (wired)
IMG_4813.jpgjpg IMG_4813.jpg manage 30 K 26 Feb 2009 - 12:16 DougMiller DM Electronics
IMG_4815.jpgjpg IMG_4815.jpg manage 26 K 26 Feb 2009 - 12:18 DougMiller Top of Tube with through plugs
IMG_4818.jpgjpg IMG_4818.jpg manage 30 K 26 Feb 2009 - 12:19 DougMiller Side of cabinet removed
IMG_4819.jpgjpg IMG_4819.jpg manage 30 K 26 Feb 2009 - 12:20 DougMiller Switch with private network plugs on the left
IMG_4820.jpgjpg IMG_4820.jpg manage 22 K 26 Feb 2009 - 12:21 DougMiller Hexapod Electronics and UMAC Controller (unwired)
Topic revision: r2 - 05 Mar 2009, DougMiller
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