The sensors are aligned perfectly to reduction gearing. Setting up can be tricky - a multimeter comes in handy for testing, and making position adjustments.
The hand sensor is still a mystery, see previous post Magnet Madness
For now, accepting the fact this won't do anything useful, have purposefully left disconnected and will decided later what I'm doing here.
Update: Its a shame Colne Robotics didn't invest in designing a decent gripper tension feedback mechanism similar to that employed in the Microbot MiniMover-5 triggering a micro-switch contact under tension, or the gripper is completely closed.
Another grey area in the instructions is chassis grounding - prototype models had their 7805 voltage regulator bolted to the chassis which grounds the circuit to the metal work. Later, single-interface models do not do this, so a chassis ground cable was included in my wiring. This will allow me to easily switch between interface circuits.
Tracing the circuit, the majority of the 14-pin header for the feedback sensors are ground connections.
Also, note, in Input Mode, the port address line D2 (header pin 8) is spare - no connection
|Microswitch Assignment to Functions||INPUT BIT||CABLE / PIN|
|Forearm||MS1 (D3)||Yellow (13)|
|Left Wrist||MS2 (D4)||Brown (12)|
|Right Wrist||MS3 (D5)||Green (9)|
|Shoulder||MS4 (D6)||Pink (11)|
|Gripper||MS5 (D7)||Purple (9)|
|Base||MS6 (D8)||Blue-Green (14)|