ArbotiX-M Hardware Overview

ArbotiX-M Schematic

Click on the links to learn about the Arbotix-M's hardware capabilities.


  • ArbotiX Power

    DC Power Jack
    There are two DC jacks that you can use to power your ArbotiX. Both of these jacks are electricaly equivalent, so you may power your ArbotiX through either jack.

    1)The blue screw-terminal port will accept two wires -the ground-wire will be on the left screw terminal and the posistive-voltage-wire will be on the right (as indicated by the symbol)

    2)The black barrel jack will accept a standard 2.1*5.5mm DC jack. This can be very convienet for plugging in SMPS power supplies to your ArbotiX M.

    The power that is fed through these jacks will power:
    1)Any DYNAMIXEL servos connected to the ArrbotiX M
    2)The on board power regulator (which will in turn supply a regulated 5v to the rest of the board)

    The ArbotiX-M will work with input voltages from 7-30V, but is most commonly used at 11-12V, as most DYNAMIXELs work safely at this voltage.

    Learn more about powering the ArbotiX here

  • ArbotiX Power Regulator

    Regulator
    The 5V regulator will step down the input voltage from VIN to 5V for the ATMEGA644p and most attached sensors and devices. It is normal for the regulator to get hot to the touch.

    The regulator on the ArbotiX-M can work with inputs from 7v to 30v. On the output side, the regulator can supply 1.5A at 5V.

    The Regulator does not supply power to the digital pins D12-D15.

    Learn more about powering the ArbotiX here

  • ArbotiX Power Selection

    Power Selection Jumper
    The Power Selection Jumper will allow you to choose how to power the ArbotiX's microcontroller circuitry.

    Connecting the jumper between the middle pin and 'VIN' pin will power the microcontroller from the 5v regulator, which is in turn powered through the main DC power terminal/jack.

    By connecting the jumper between the middle pin and the 'USB' Pin, the microcontroller will be powered from the 5v supply from the FTDI cable - in most cases this is 5v from your computer's USB connector. The voltage regulator/DC Jacks will be bypassed.

    Power ATMEGA644p through VIN through regulator Power ATMEGA644p through USB/FTDI
    arbotixm_power_select_vin.png arbotixm_power_select_usb.png

    Learn more about powering the ArbotiX here

  • ArbotiX Power LED

    Power LED
    This LED will turn on when the ATMEGA644 is receiving 5v power, either through USB or the regulator. .

  • ArbotiX Reset

    Reset Button
    This Button will reset the ArbotiX and restart the loaded program.

  • ArbotiX FTDI

    FTDI Serial Port / Programming Port
    The FTDI port is a dual programming and serial port. By connecting an FTDI device (like a FTDI Cable or a UartSBee you can program the ArbotiX and relay serial communications.

    This port also allows the connected computer to reset the ArbotiX board. This is useful when programming or beginning communication with the ArbotiX. To disable this behavior, remove the 'J2' jumper.

    NOTE-The FTDI port and the XBee socket share a serial port, so only one can be used at a time. To program the ArbotiX while an XBee is connected, you must use an ISP programmer.

    Learn more about programming the ArbotiX here

  • ArbotiX ISP

    ISP Programming Port
    The ISP (In System Programmer) port is a secondary way of programming the ArbotiX. The main advantage of using the ISP port over the FTDI port is that it does not require a serial connection. This means you can leave your XBee plugged in while you program your ArbotiX. The disadvantage is that you cannot send or receve serial communications via the ISP port.
    -The ArbotiX can only be programmed via FTDI if the ATMEGA644p has a Bootloader on it. All ArbotiX units ship with a bootloader, but programming via an ISP programmer will overwrite the bootloader.

    Learn more about programming the ArbotiX here

  • ArbotiX Digital Input/Output

    Standard Digital I/O Headers
    The Digital I/O headers give you easy access to the ArbotiX's digital pins. Each header has a Signal-Voltage-Ground configuration, making them plug and play compatible with many sensors like RobotGeek and Phidgets Sensors.

    Digital Pins D3and D4 are PWM pins and usable with the analogWrite function.

    The headers on Digital Pins D0-D7 and D16-D23 are supplied 5v from the 5v power bus.

    arbotixm-digital_lines_1.png arbotixm-digital_lines_2.png

    Tip: The signal pin is always the pin closest to the ATMEGA644p processor, and the ground pin is always the one closest to the outer edge of the board.

  • ArbotiX Digital Input/Output

    Hobby Servo Digital I/O Headers
    Digital I/O pins D12-D15 are very similar to the other digital pins -their 'signal' pin is tied directly to the ATMEGA644p and they use the same 3-pin headers.

    However these pins are not powed from the 5v power bus. Instead, these pins are powered by the green screw-terminal jack on the left of the board.

    In addition to having a seperate power bus, these 4 Digital I/O ports are PWM enabled. This means that these 4 ports are ideal for controlling hobby servos. You can easily plug in a separate power supply that is appropriate for your hobby servos, making it easy to mix DYNAMIXEL and Hobby Servos

    arbotixm-digital_lines_3.png

    Tip: The signal pin is always the pin closest to the ATMEGA644p processor, and the ground pin is always the one closest to the outer edge of the board.

  • ArbotiX User LED

    User LED
    The User LED is connected to pin D0. Most InterbotiX default firmware will toggle this LED on or off to indicate that they are receiving communication packets. However this can be re-purposed for other tasks

    The LED is attached to an external resistor, so you can also use D0 for other purposes.

  • ArbotiX Analog Input Ports

    Analog Input Headers
    The Analog Output headers give you easy access to the ArbotiX's 8 analog pins. Each header has a Signal-Voltage-Ground configuration, making them plug and play compatible with many sensors like RobotGeek and Phidgets Sensors.

    Analog pins double as Digital I/O pins. You can access them in the Arduino IDE by addressing digital pins 24-31 to access analog pins A0-A7.

    Analog Pin A0 A1 A2 A3 A4 A5 A6 A7
    Digital Pin 24 25 26 27 28 29 30 31

    arbotixm-analog_lines.jpg

    Tip: The signal pin is always the pin closest to the ATMEGA644p processor, and the ground pin is always the one closest to the outer edge of the board.

  • ArbotiX DYNAMIXEL Ports

    3x 3-Pin DYNAMIXEL Ports (TTL)
    These 3 ports will allow you to Plug DYNAMIXEL servos directly into the ArbotiX. DYNAMIXEL servos can be daisy-chained, or you can add a AX/MX Power Hub to expand your ports even more. Because all the DYNAMIXEL servos will be on the same serial port, all 3 ports on the ArbotiX are electrically identical.

    NOTE:These ports are only compatible with 3-Pin TTL DYNAMIXEL servos. The following servos will work with the ArbotiX-M

    -AX-12A
    -AX-18A
    -AX-12W
    -MX-28T
    -MX-64T
    -MX-106T

    A 4-pin RS-485 bridge will be available in the future.

    arbotixM-dyanaLines.png

  • ArbotiX XBee

    XBee Socket
    The XBee socket allows you to quickly add wireless communications to your ArbotiX by pluggin in an XBee. The XBee will create a wireless serial connection, allowing you to easily connect the ArbotiX to another microcontroller or a computer through a second XBee module.

    Note:The XBee socket shares a serial port with the FTDI port, so only one of those can be used at a time.

    NOTE:The ArbotiX Robocontroller is not compatible with XBee pros.

    Learn more about configuring and working with XBees here

  • ArbotiX XBee

    IIC/I2C/I2C Pins
    The ArbotiX M does not have a dedicated IIC port, but it still supports the IIC protcol on pins 16 and 17.

    IIC Pin ArbotiX-M Pin
    SCL 16
    SDA 17
  • ArbotiX Jumper 1

    Serial Jumper(J1) This jumper ties the TX and RX pins together for the serial port assigned to the DYNAMIXEL bus. These lines need to be tied together to ensure proper communication with the DYNAMIXEL servos.

    For normal operation, this header should be set at all times. However if you need to use this serial port for other purposes, you can access the TX and RX lines through this port. The RX pin is the pin to the left (ATMEGA644P pin 11) and the TX pin is the pin to the right(ATMEGA466P pin 12),

  • ArbotiX Jumper 2

    Reset Jumper(J2)
    This jumper connects the reset pin on the ATMEGA644p to the reset button and the FTDI port. This allows the Arduino IDE to reset the ATMEGA chip for programming.

    The pin to the left is tied to the FTDI port through a capacitor. The pin to the right is tied to the RESET pin on the ATMEGA466P


Looking for the ArbotiX Hardware overview? Click here