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Shoulder
Right Foot
Waist -
Turn
Waist -
Bend
Waist - Tilt
Power
Groin Tilt
Sensor
Motor
Headers
Head -
Connectors
Small Chip
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Large Chip
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Forum
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RoboSapienPet's
RoboSapien site
Inside the
V2
V2 IR
Codes
Site Map
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Still working on determining all the pin functions, I dont know what many of the connections into the V2's
head are for at this point. I'd probably need a logic analyzer to figure it out.
Left Foot
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3 Volts
1 Orange BAT-
Out This connector connects
2 Black GND Ground to the board in the left
Back foot. It carries the
3 Blue RFB Touch -> signals from the touch
Ground To I/O sensors and the
Board backward tilt sensor, as
Front well as 3 volts out from
4 Purple RFF Touch -> the brain battery the
Ground connects into the right
5 Yellow BB0 Tilt foot.
6 Green SV Sensor
Right Foot
1 Blue SV Tilt
2 Purple FB0 Sensor
3 Black GND Ground This connector connects
to the board in the right
Front
foot. It carries the
4 Green LFF Touch ->
signals from the touch
Ground To I/O
sensors and the forward
Back Board
tilt sensor, as well as 3
5 Yellow LFB Touch -> volts in from the left
Ground foot and 6 volts out for
6 Volts the brain.
6 Brown 6VIN
Out
7 Red BAT- 3 Volts In
Left Hand
1 Black GND Left The connector connects
2 Green B0 Wrist to the board in the left
Encoder To I/O hand. It carries the
3 Yellow B1
Board signals from the Touch
4 Orange RT sensor and the right
Touch
5 Red SV Wrist Encoder.
Right Hand
1 Black GND Right The connector connects
2 Green B0 Wrist to the board in the right
Encoder To I/O hand. It carries the
3 Yellow B1
Board signals from the Touch
4 Orange LT sensor and the right
Touch
5 Red SV Wrist Encoder.
Picture Pin Colour Name Function Type Description
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Left Shoulder
Right Shoulder
Head Turn
Head Tilt
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Power
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Motor Header 1
1 N/A GND Ground
9 Volts
2 N/A (V
Out
Left
Shoulder
3 N/A B - RS
Rotate
Down
Left
Sholder
4 N/A F - RS
Rotate
Up
Left
Wrist This connector connects
5 N/A B - RE
Rotate half the signals from the
Left mainboard to the motor
Left board. The signals it
Wrist caries are Left Shouder
6 N/A F - RE To I/O Rotate, Left Wrist
Rotate
Right Board Rotate, Head Turn,
Waist Bend, Head
Head Rotate and the output for
B-
7 N/A Rotate the Eyes to move, which
NECK
Left appears to be slaved to
Head the head turning.
F-
8 N/A Rotate
NECK
Right
B- Waist Tilt
9 N/A
CHEST Forward
F- Waist Tilt
10 N/A
CHEST Backward
Head
B-
11 N/A Rotate
HEAD
Down
Head
F-
12 N/A Rotate
HEAD
Up
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B-
13 N/A Eyes
EYEM
F-
14 N/A Eyes
EYEM
Motor Header 2
Left Foot
1 N/A F -RF
Backward
Left Foot
2 N/A B - RF
Forward
Right
3 N/A F - LF Foot
Forward
Right
4 N/A B - LF Foot
Backward
F- Waist Tilt
5 N/A
BODY Left
B- Waist Tilt
6 N/A
BODY Right This connector connects
Waist the second half of the
F- signals from the
7 N/A Rotate
WAIST mainboard to the motor
Left
Waist To I/O board. The signals it
B- Board caries are Left Foot
8 N/A Rotate
WAIST Move, Right Foot Move,
Right
Waist Tilt, Waist Rotate,
Right Right Wrist Rotate and
Wrist Right Shoulder Rotate.
9 N/A F - LE
Rotate
Right
Right
Wrist
10 N/A B - LE
Rotate
Left
Right
Shoulder
11 N/A F - RE
Rotate
Down
Right
Shoulder
12 N/A B - RE
Rotate
Up
Picture Pin Colour Name Function Type Description
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Head IR Transmitters
1 Orange W Right
2 Red S Middle This connector connects
To I/O
to the head IR
3 Grey W Left Board
Transmitter
4 Black V Common
Camera Board
Camera Board, Camera
1 Green CV Uknown is only enabled after a
flinch (as long as the
object remains visible in
2 Yellow HSD Uknown
all the IR sensors). low
frequency signals on
3 Orange RDY Uknown HSD, RDY and SK.
To I/O RST is high while the
Board camera is active (I've
4 Red SK Uknown never seen it go low
while the camera is
active, but I assume it
5 Brown RST Uknown
must at sometime). CV
is the camera power and
6 Black GND Uknown when high the camera is
powered.
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Control Chip
Pin Pin
Function Function
Name Name
Test P23 RDY
VO1 Speaker Output - See Speaker P24
VO2 P25 Interconnection With The
???? connected to ground P26 Driver Chip
GND Ground P27
LT - Right Hand Touch
OS1 P30
Connects to the small crystal Sensor
labeled Y41 on the board RT - Left Hand Touch
OS0 P31
Sensor
LPUP - Left Hand Closed
RST P32
Sensor
RPUP - Right Hand Closed
P10 LI P33
Sensor
P11 RI P34 FB0 - Forward Tilt Sensor
P12 DI P36 REE - Right Eye LED
P13 P37 LEE - Left Eye LED
P14 P50
P15 RDY P51
VDD P52
P20 BB0 - Tilt Backwards Sensor P53 RST
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P21 CB0 - Torso Tilt Sensor P56 Head Tilt Back / Forward
P22 HSD P57 Encoder
Driver Chip
Pin Pin
Function Function
Name Name
WVR - Waist Rotate Left /
PC7 RFB - Left Foot Front Button P61
Right
PB0 BR - Waist Tilt Right P60 CHEST - Waist Tilt Pot
PB1 P87
Waist Rotate Left / Right
PB2 BL - Waist Tilt Left P86
PB3 SDA and SCL repesctively, to the P85 Waist Tilt Backward
PB4 Main Board Serial EEPROM OSC1
To Crystal Oscilator
PB5 OSC0
B0, B1 and B2. Neck \ Hands
PB6 P84 Waist Tilt Forward
Encoder
PB7 P83
Left Shoulder Up / Down
P90 P82
Right Wrist Rotate Left / Right
P91 P81 Left Foot Backward /
P92 P80 Forward
Left Wrist Rotate Left / Right
P93 RST
P94 P77 B1 and B0, Right Wrist
Left Shoulder Rotate Left / Right
P95 P76 Encoder
P96 P75 B1 and B0, Left Wrist
Head Rotate Left / Right
P97 P74 Encoder
P57 B1 and B0, Head Tilt Back / P73
Forward Encoder Interconnection with the
P56 P72
control chip.
VDD P71
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