Overview

NeuroArm is a 3 Degree of Freedom (DOF) robot. The platform has undergone several revisions in robotic design throughout its history:

1. NeuroArm 1: Fall Quarter, 2012 - Summer Quarter, 2013
2. NeuroArm 2: Fall Quarter, 2013 - Spring Quarter, 2014 (Two identical twin robots; 2w and 2s)
3. NeuroArm 3: Summer Quarter, 2014 - Present

Components

1. Motors:
   • NeuroArm 1 and 2: EC 60 flat Ø60 mm, brushless, 100 Watt, without cover (Part #: 411678)
   • NeuroArm 3: RE 50 Ø50 mm, Graphite Brushes, 200 Watt (Part #: 370356)
2. Encoders:
   • NeuroArm 1 and 2w: Encoder MILE, 1024 CPT, 2 Channels, with Line Driver (Part #: 421986)
   • NeuroArm 2s: Encoder MILE, 4096 CPT, 2 Channels, with Line Driver (Part #: 421988)
   • NeuroArm 3: E6 Optical Kit Encoder
3. Motor Controllers:
   • NeuroArm 1 and 2: Synapticon's SOMANET which consists of the following three modules that connect to each other:
     • EtherCAT communication chip
     • Core C22 XMOS Processor
     • IFM DC 900
   • NeuroArm 3: Synapticon's SOMANET which consists of the following three modules that connect to each other:
     • EtherCAT communication chip
     • Core C22 XMOS Processor
     • IFM DC 100
4. Power Supplies
   • NeuroArm 1, 2, and 3: 24V 6.5A Power Supply

Configuration

Configuration details for connecting and programming NeuroArm for the above pieces of hardware continue on the next several pages of the wiki.
From a high-level perspective, configuration involves the following steps:

1. Establish electrical connections between the motors, Synapticon's SOMANET motor controller nodes, power supply, and master computer:
   • Electrical Configuration Tutorial
2. Run the IgH EtherCAT Master application to communicate among the master computer and nodes:
   • EtherCAT Master Tutorial
3. Download the XDE environment for writing applications and use it to compile programs that run on the master computer and nodes:
   • XDE Tutorial
4. Flash the nodes (upload the code onto the actual SOMANET Cores), turn on the EtherCAT Master program, and run the master application to operate the robot:
   • Flashing Code Tutorial

Usage

Once the robot and master computer have been configured, it is very easy to write applications for NeuroArm.

• TODO add links