Inspection checklist after transport

Visual inspection of electrical connections: No loose connectors or bent pins.

Ensure all buttons on main control box are in the OFF position and the circuit breaker is open.

Power the 5V supply and measure voltage with a multimeter to review voltage and polarity.

Connect 5V power to the robot and check that the beamer, Raspberry Pi and Jetson power up correctly.

On Roboy 3.0 Brain only: Before connecting 24V remove the soft-start circuitry located in the hip. (This is due to a ground isolation bug in the design of the soft-start) After this is done, uninstall the back plate of the robot in order to access the electronics behind it. Remove the bulk capacitor located below the core board and restore the 24V connections. Make sure no soft-start circuit remains when connecting the 24V supply, either all or none of the circuits should be on the robot’s electrical system at a time (5 total).

Power the 24V supply and again review voltage and polarity.

Connect 24V power to the robot while ensuring the circuit breaker remains in the open (green) position. (Check power delivery and current limiting once again)

Close the circuit breaker and remain alert and ready to turn it off in case of emergency.

Verify that power is delivered to the core board: Fan spins and board LEDs light up.

Turn each body part on with the corresponding button in the control box and check that all motor units power on and light up correctly before switching to the next part. Simultaneously monitor (if possible) current consumption for nominal values.

Now that everything is up and running you are ready to ssh into the robot and start bringing the software up.

(Optional) Test icebus impedance to verify it is 120 ohms. Only one motor control board should have a termination resistor active on the bus. For this measure the resistance between pins 3 and 4 in the icebus connector to the core board while the corresponding body part is powered on. The termination resistor can be disabled in the motor control boards via the on board DIP switch, 2nd circuit (1st is the write protect for the eeprom that stores the board’s ID).