MIRO Assembly Guide

Check you have all the parts, wires and tools you are supposed to. You will need to supply a Philips P1 screwdriver, and a pair of good tweezers is advised.

MIRO's head is already assembled on delivery, so several of the control boards are already installed. You will not usually need to open the head shell; if you do (to service a part, for example) you will need the MIRO head-opening tool, which is supplied.

Parts list

Part Quantity
MIRO (Body & Head)1
Board UC11
Board UC21
Board UC41
Board UC51
Board UC81
Board UC91
Board UC131
Board UC141
Cable UC1:J3 - C1:J3 4-pin1
Cable UC2:J5 - UC4:J4 4-pin1
Cable UC4:J5 - C1:J2 4-pin (blue plugs)1
Cable UC4:J3 - C1:J8 4-pin1
Cable UC5:J1 - UC2:J4 4-pin1
Cable UC6:J1 - UC1:J3 4-pin
can be found attached inside the body shell
1
Cable UC8:J1 - UC2:J1 4-pin1
Cable UC9:J1 - C1:J7 4-pin1
Cable UC14:J1 - UC5:J4 4-pin1
Cable Bluetooth 4-pin female-female1
Straight Screws13
Flanged Screws17
MIRO head-opening tool1
Cable TiesEnough
Pixie dustA little (look carefully)

Remove Body Shell

First, invert MIRO, and remove the 6 screws from the underside that secure the body shell in place (see image). Turn MIRO back over. MIRO ships with the neck lift actuator disconnected, so you will be able to push the head forward and down far enough so that the body shell is freed.

Gently lift and slide the shell to the rear of MIRO to remove, taking care to disengage the plastic slot guard from its home in the slot under MIRO's body shell. Store these, and all screws, safely, for reassembly.

The additional image, left, shows one way to safely invert your MIRO.

Install boards

Most of the remainder of these instructions detail installation of the circuit boards that populate MIRO's body cavity. Each is connected to one or more of the others by the cables provided.

Connectors on each board have names printed alongside (for example "J1"); these are referenced in the text.
You may find it easier to connect the wires before securing a board to the body.
Provided zip-ties can be used to secure cables and then cut short.

UC1

UC1 is the driver board for MIRO's wheel motors (you can find the name printed at the bottom of each board). Secure UC1 to the body using 2 × flanged screws (see image).

Connections

Connector Cable Destination Notes
UC1:J42-pinRight wheel motorBlack & white cable
UC1:J64-pinRight wheel motor optical encoderDestination found underneath motor. Blue, white, yellow & red cable.
UC1:J52-pinLeft wheel motorBlack & yellow cable
UC1:J74-pinLeft wheel motor optical encoderDestination found underneath motor. Blue, white, yellow & red cable.
UC1:J12-pinBattery BoxBlack & red cable
UC1:J34-pinC1:J3Use provided cable

UC4

UC4 is the P1 "spinal" processor board. Secure it in place with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC4:J55-pinC1:J2Use provided blue-capped cable; secure under fasteners under neck (see image)
UC4:J34-pinC1:J8Use provided cable; secure under fasteners under neck (see image)
UC4:J22-pinSpeakerBlack & Orange Cable; speaker at front left under C1
UC4:J12-PinBattery BoxBlack & red cable, connection is on rear of UC4

UC2

UC2 is the driver board for the neck lift & yaw motors. Secure UC2 in place (see image) with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC2:J54-pinUC4:J4Use provided cable
UC2:J73-pinNeck yaw gearbox motor encoderBrown, white yellow cable
UC2:J62-pinNeck yaw gearbox motorBlack & white cable
UC2:J23-pinNeck pitch gearbox motor encoderBlack, blue & brown cable
UC2:J32-pinNeck pitch gearbox motorYellow & black cable

UC5

UC5 is the front sensor array board. The board is secured in place (see image) with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC5:J14-pinUC2:J4Use provided cable
UC5:J62-pinRear light sensor (right)Very short green & black cable
UC5:J52-pinRear light sensor (left)Long green & black cable
UC5:J25-pinCliff sensor (front left)Red, brown, white, yellow & black cable
UC5:J72-pinFront light sensor (left)Green & black, found underneath cliff sensor
UC5:J35-pinCliff sensor (front right)Red, brown, white, yellow & black cable
UC5:J82-pinFront light sensor (right)Yellow & black, found underneath cliff sensor

UC8

UC8 is the LED control board (right). Once connected, secure UC8 in place (see image) with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC8:J14-pinUC2:J1Use provided cable

UC9

UC9 is the LED control board (left). Once connected, secure UC9 in place (see image) with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC9:J14-pinC1:J7Use provided cable

UC14

UC14 is the tail motor control board. Secure the board in place (see image) with 2 × flanged screws.

Connections

Connector Cable Destination Notes
UC14:J14-pinUC5:J4Provided cable
UC14:J32-pinTail gearbox motorBlack & white cable
UC14:J23-pinTail left/right potentiometerBlack, blue & brown cable found at the back next to the tail
UC14:J43-pinTail up/down potentiometerBlack, blue & brown cable found on the side of the tail motor gearbox

UC13

UC13 is the P3 "forebrain" processor board. Secure the board in place (see image) with 2 × flanged screws.

Do not, at this stage, install the provided SD card—this will be installed in a later step, below.

Connections

Connector Cable Destination Notes
UC13:J33-pinBattery boxBlack, yellow & red cable
J46-pinNeck loomJ4 (unlabelled) found between between J3 & J4
Wi-Fi chipAntennaTailTake the end of the antenna (protruding from inside the tail) and connect it to the Wi-Fi chip that is attached to the back of UC13.

Bluetooth module

Secure the board in place (see image) with 2 × flanged screws. Once installed, straighten the antenna as shown in the picture.

Connections

Connector Cable Destination Notes
Male pinsFemale-Female labelled cableUC13Connect the pins to the bottom 4 pins on UC13, in the order shown below.

C1

The C1 board is the the connection point between the body and the head, and comes pre-installed. It just needs the battery power connector attaching (see image).

Connections

Connector Cable Destination Notes
J12-pinBattery BoxBlack & Red cable

Calibration

The next step requires MIRO to be powered up, so you should install fresh Batteries next. Select mode 8, "calibrate", and then turn MIRO on. The LIFT axis (the rack and pinion drive system that lifts MIRO's neck up and back) will move to its calibrate position. Leave MIRO powered up whilst you attach the rack & pinion with the arrow cut-out aligned with the shaft, as shown in the image. Turn MIRO off.

The blue LED on board UC13 will remain lit—this is expected.

Finishing up

Use the provided cable ties to organise your wiring, taking particular care to secure any cables away from the six fixing pillars where the body shell will attach. Select mode 12, "demo", and switch MIRO on. If all is well, MIRO will start running in demo mode. You can take a look at Wrangling for some insight into what is happening.

However, we are using demo mode here just to establish that everything is working more-or-less correctly. If not, and especially if your robot sounds like a telephone, go over all the connections you have made and check them carefully to ensure they are fully home.

This test establishes that nothing is electrically at fault, but does not prove that all boards are linked to the bus; if it appears that some component is not working, see the page on Testing.

Reattaching the body shell

Select mode 9, "shell release", and power up. The neck lift will be lowered until the head is forward and down, allowing the shell to be reattached. Power off and immediately select mode zero (all switches OFF) since it is difficult to do this after the shell has been reattached.

Connect UC1:J3 to UC6:J1 (the board attached to the shell) (see image), and then put the body shell back in place (as you are doing this, locate the white plastic slot guard into the slot in the underside of the body shell, taking care not to apply any force). Secure the body shell by reinserting the screws that were removed from the underside of the body.

Connections

Connector Cable Destination Notes
UC6:J14-pinUC1:J3Use long black, brown, yellow & red cable connected to the board on the body shell.