---
# System prepended metadata

title: Pneumatic Manipulating System

---

# Pneumatic Manipulating System
Pneumatic Manipulating System is designed to control to solenoid valve to perform pneumatic manipulation.

SID:
![](https://i.imgur.com/HrFy3Ek.png)


## Mani Slot Card

Mani Slot Card (Manipulator Slot Card) is responsible of communicating with the SBC, and decode the control message from UART bus, then convert to I2C command based on I2C I/O extender IC () and send to dragon board.

[Gitlab repo](http://git.cityuhkur.com/hardware/mani-slot-card-v3)

### Pinout: (V1, 2019)
#### Front
![](https://i.imgur.com/FqYxMie.jpg)

#### Back
![](https://i.imgur.com/K8eUVVU.jpg)

#### P1
<small>from bottom to top</small>
1. 5V        <small>To Plug Mani1</small>
2. MG1       <small>To Plug Mani1</small>
3. MG2       <small>To Plug Mani1</small>
4. MG3       <small>To Plug Mani1</small>
5. MG4       <small>To Plug Mani1</small>
6. MG5       <small>To Plug Mani1</small>
7. MG6       <small>To Plug Mani1</small>
8. MG7       <small>To Plug Mani2</small>

#### P2
<small>from left to right</small>
1. 5V        <small>To Plug Mani2</small>
2. MG8       <small>To Plug Mani2</small>
3. MG9       <small>To Plug Mani2</small>
4. MG10      <small>To Plug Mani2</small>



### Pinout: (V3, 2021)
:::danger
It has been confirmed that this board contains wrong design. Some functions, such as camera and 
:::
#### Front
![](https://i.imgur.com/XldQhPG.jpg)

##### Micro-ROV
<small>from left to right</small>
1. 12V
2. PWM
3. Cam
4. GND

##### Dragon Board(Hung Lone Board)
<small>from left to right</small>
1. 12V
2. SCL
3. SDA
4. GND

##### Cam Out
<small>from left to right</small>
1. Cam
2. GND


#### Back
![](https://i.imgur.com/fWFZxRT.jpg)

#### LED Driver 1
<small> from **right** to left </small>
1. 12V
2. PWM
3. GND

#### LED Driver 2
<small> from **right** to left </small>
1. 12V
2. PWM
3. GND
 

## Dragon Board (Hung Lone board)
Dragon Board included a I2C I/O extender IC, which receive command from mani slot card. Accroding to the command, the IC will send high low logic to the respective pin which connected Si2302 NMOS to control the solenoid valves on/off.

[Gitlab repo](http://git.cityuhkur.com/hardware/hung_lone_brd)
 
## Pneumatic Block Material List
- SY3220-5MZD valve * 5
- Magnetic solenoid switch * 10
## Current Problem
- Easy broke
    - I2C line burnt (shorted accidentally)
- Hard to debug
    - Once problem occured, many stuff to check(Motherboard -> Mani slot card -> Dragon board)
- Hard to replace dragon board
    - Need to resolder the magnetic solenoid switch
    - Need to reassemble the whole pneumatic block