Electrical
SLG-20 Electrical
Control Board Pinout
Control Board Versions
SLG-20 Modules shipped before 20/02/2022 included V2.2 Control Boards. These boards have a maximum input voltage of 26 volts. SLG-20-AX kits with this board were shipped with power supplies included to run off the 50V power from the Alta X.
SLG-20 Modules shipped after 20/02/2022 included V2.4 Control Boards. These boards have a maximum input voltage of 51 volts and as such, the SLG-20-AX kits with this board do not come with power supplies. These boards can be powered directly from the 12s battery of the Alta. V2.4 control boards must use firmware version v0.91 or later.
The control board version is labelled on the PCB near the top of the board. (You have to remove the top case to see this) To identify the pcb version with the case fitted, you can look at the position of the electrolytic capacitor. On the V2.2 board, the capacitor is near the left edge, but on the V2.4 board, the capacitor is moved 1cm to the right. See below pictures for reference.
Power
The SLG-20 Control Board (V2.4) needs to be powered with a high current power source at 12-51v.
The most reliable way of powering the SLG-20 is directly from a 6-12 cell LiPo Battery.
Servo Connections
Ensure that the servo cable from the Left Module servo is plugged into the servo header marked 'left' on the control board. Ensure that the servo cable from the Right Module servo is plugged into the servo header marked 'Right' on the control board. Plugging in the servos backwards will result in malfunction. Plugging the servos in backwards will also create a safety risk, as the legs can transfer rapidly into the UP position when actuated.
Input Signal Connection
Input PWM signal must be plugged into the servo header marked Input on the control board. See the Input Signal Requirements page for specifications of the PWM signal.
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