PLEN:bit Assembly Manual
PLEN Project Company
2021/10/21

Table of Contents
1. Cautions on Assembly. . 3
2. Table of Contents
i. Common Parts. . . . . . . . . . . . 4
ii. special kit. . . . . . . . . . . . . . . . 5
3. About the angle of Servo horn. . 6
4. Assembly
i. Preparation. . . . . . . . . . . . . . . . . 8ii. Switch board assembly. . . . . . . . 9iii. Circuit board and battery wiring. . 11iv. Servo motor set-up. . . . . . . . . . . 16v. Assembling the Thighs. . . . . . . . 19vi. Attaching leg parts. . . . . . . . . . . . 23vii. Shoulder parts assembly. . . . . . . 27viii. Arm parts assembly. . . . . . . . . . . 31
ix. Servoxer attachment. . . . . . . . . . 35
x. Control board wiring. . . . . . . . . . 38
xi. Head part assembly. . . . . . . . . . . 41
xii. Chest assembly. . . . . . . . . . . . . . .46
5. Motion checki. Let's walk the PLEN:bit!. . . . . . . . . 51
ii. How to adjust ServoMotor position
6. How to charge battery. . 52
7. How to BLE ver. head board
8. Appendix
i. PLEN:bit servo numbering. . . . . . 53
ii. Control board terminal labelling1. Cautions on Assembly
There will be some steps where force is necessary. Please take theproper measures and precautions to not hurt yourself or damage theparts and follow the instructions as described.
You will need a phillips screwdriver (+ head) for assembly.
Please use the provided pictures as a reference during assembly.
Please be aware that the colours and/or appearance of some parts inthe provided pictures and those provided may be slightly diﬀerent.
The required program for the micro:bit has already been included. If
another program is found to have been written in the micro:bit
please follow the link below to install the appropriate program foruse.<br /> PLEN-Basic https://makecode.microbit.org/_4e7MEqgEHaw5<br /> PLEN:bit
Extensions https://makecode.microbit.org/_0960M8DsVKgc
When assembling the servo motors, the initial rotational position ofthe gear on the motors is important. The assembly instructions
includes initial positioning for the motors. Please ensure all
motors are properly set.
When setting the servo motors, make sure you wait at least 2 seconds
after turning the power switch on until the servo motors
automatically set to their initial position. If the servo motors do
not move after 2 full secods, please if check they are connected
properly.

PLEN-Basic

2. Contents list
Contents list

2.1 Common Parts
1. micro:bit
2. Battery
3. Control Board
4. Switch Board set (switch board PCB, , screw x2)
5. Servo Motors x8
6. Head Board Cable
7. Power Cable
8. USB Cable
9. Head Parts(top, bottom)
10. Chest Parts
11. Servo Bracket
12. Servo Fixer
13. Back Parts
14. Switch Board Holder
15. Shoulder Parts
16. Arm Parts×2
17. Thighs Parts×2
18. Legs Parts×2
19. Black Screw
20. Silver Screw×6
21. Servo Horn×6
22. Distance Sensor
23. Sound Sensor
24. Label Sticker
25. head board
26. Connector tool

2.2 special kit
1. BLE ver. head board
2. IR sensor
3. PIR sensor

3. About the Servo motor
3.1 Connector orientation
1. There is a direction in the connector of the servo motor. Make sure that the white cable is onthe inside.

Connector orientation

3.2 About the angle of Servo horn
1. Body balance is important for biped robots. but, since servomotors
have individual diﬀerences in rotation angle, it is necessary toabsorb the individual diﬀerences by the servo horn attached tothis. Therefore, the angle of the servo horn needs to be preciselyadjusted. If this adjustment is not successful, you will not be able
to walk or fall easily. Here we will explain how to make thisadjustment.
2. The servo horn has a slight oﬀset between the inner serration andthe front cross. Therefore, when rotating the cross of the servo
horn by 90 degrees, there is a point where the cross is justhorizontal. Find this and ﬁx the servo horn.
3. As a method other than servo horn adjustment, a method to adjust byprogram is also prepared. (Coming soon) The shoulder parts areintegrated with the servo horn and can not be rotated by 90 degrees,
so they need to be adjusted in the program.

servo horn ﬁx image

4. Assembly
4.1 Preparation
Necessary items
1. Servo Motors x8
2. Label stickers or Circular Stickers
3. PenNecessary items

ProcedureFix the servo number stickers to each Servo motor cable.Write the numbers 0-7 on eight stickers
and place them Attach the sticker in a half-folded form to the servo motor cable.

Sticker placement4.2 Switch board assembly
Necessary items
1. switch board set (switch board PCB, switch board holder, screw x2)

Necessary items

Procedure
1. Align the circuit board and plastic part2. Screw in the circuit board using the two screws at the corners

4.3 Circuit board and battery wiring
Necessary items
1. back part2. switch board
3. battery
4. control board
5. micro:bit
6. power cable

Necessary items

Procedure
1. Connect the power cable to the switch board

2. Insert the switch board into the back plastic part with the switch
and connector going through the appropriate holes as shown in thepicture.

3. Connect the battery to the switch board following the below
reference picture.

4. Connect the control board and switch using the power cable. Theconnectors are diﬀerent so please ensure the correct connector
slides smoothly into the pins.<br /> ※ It is necessary to remove the power cable at the time of\"Controlboard wiring\" mentioned later. In this case, since it is hard toremove the cable from the connector, for children and people withweak force, use the supplied connector tool. This is a tool to makeit easy to remove by holding this tool between the power cable andthe connector.

connector tool use example

5. Plug in the micro:bit to the control board.

6. complete set of board assembly is seen below

4.4 Servo motor set-up
Necessary items
1. Servo motors ×4 (numbers 0,1,4, and 5)
2. Servo bracket

Necessary items

Procedure
1. Orient the servo bracket such that the long back is horizontal andtowards the back when inserting the servo motors. The side of thebracket with this long bar in the middle is the "back" of the partand concordantly the back of the robot. Insert servo motor #0 into
the servo bracket as shown. This will be the robot's left arm. Be
careful not to have the cable of servo motor #0 pinched between themotor casing and plastic parts when assembling. Have the servo motor
cable come out the "front" side of the bracket.

2. Insert servo motor #4 following the same procedure as #0 on theopposite side of the bracket.

3. Again, be careful not to have the cable of servo motor #1 pinchedbetween the motor casing and plastic parts when assembling.

4. Insert servo motor #5 following the same procedure as #1 in thelast available position in the bracket. Ensure all servo motor
cables are coming out the "front" face of the bracket.

4.5 Assembling the Thighs
Necessary items
1. The previously assembled servo bracket with servo motors.
2. The previously assembled control board</p>battery</li>
switch board
3. Thigh plastic parts ×2
4. Servo horn ×2
5. Screws ×2

Necessary items

Procedure
1. Ensure the switch board switch is in the oﬀ position. Connect servo
motors #1 and #5 to the control board pins as shown. The servo
motor pins numbering is given in the Appendix 5.2 picture. Whenconnect the motors into the pins, ensure that the black (ground)cable is towards the outside of the control board. Turn the switch
on the switch board on.

2. The servo motors should rotate automatically to their initialposition.

3. Attach the servo horn plastic parts to servo motors #1 and #5 asshown in the photo. Ensure the axis of the + on the horn is alignedwith the edges of the servo motors.

4. Orient the servo bracket such that the bar across the center of thebracket is horizontal and at the back of the assembly. The
orientation in the photo below shows the bracket such that therobot's front is being looked at and the head is on top. Attach theplastic thigh parts onto the servo horns as shown, such that thebump on the plastic parts are pointing in the same direction as the"front" of the servo bracket.

5. Fix the thigh parts to the horn with the screws.

6. After fully screwing in each of the thigh screws, remove the servo
cables from the control board.

4.6 Attaching leg parts
Necessary items
1. body sets
2. circuit sets

番

3. servo×2 (3,7 )4. legs×2
5. servo horn×2

Necessary items

Procedure
1. Insert servo motors numbers 3 and 7 into the thigh parts as shown.
The gears of the servo motors will be pointing towards the "back" ofthe robot.

2. Connect the servo cables for motors 3 and 7 into the control board.
Servo motor number 3 is to be placed as the robot's left leg. Motor
number 3 is connected to the corresponding pin set #3 again withthe black (ground) cable towards the outside of the control board.
Repeat for motor #7. Turn the switch board back on.

3. The servo motors should rotate automatically to their initialposition.

4. Similar to servo motors #1 and #5, attach the servo horns to each
servo motor such that the axis of the + on the horn is aligned withthe edges of the servo motors as closely as possible.

5. Attach the feet plastic parts while paying attention to ensure thewider side of the feet are towards the outside of the robot. Insert
the + side of the foot into the servo horn and then insert theopposite side of the foot into the bump on the front side of thethigh. *This may take some strength.

6. After ﬁxing the feet to the servo motors, unplug the servo motors
from the control board and turn the power switch oﬀ.

4.7 Shoulder parts assembly
Necessary items
1. body sets
2. circuit sets
3. shoulder×2
4. screw×2

Necessary items

Procedure
1. Connect servo motors #0 and 4 from the servo bracket into theirrespective pins on the control board and turn the power switch on.

2. The servo motors should rotate automatically to their initialposition.

3. Insert the shoulder parts into servo motors 0 and 4 such that theﬂat edges are aligned with the servo motor as closely as possible.
The wider side of the shoulder parts with the + cut should be
towards the back of the robot. Screw in the plastic shoulder part
into the servo motor.

4. Repeat the previous step for the opposite shoulder

5. Unplug the servo motors from the control board and turn the powerswitch oﬀ.

4.8 Arm parts assembly
Necessary items
1. body sets
2. circuit sets
3. arm×2番

4. servo×2 (2,6 )5. servo horn×2

Necessary items

Procedure
1. Place the servo motors #2 and 6 into the plastic arm parts suchthat motor #2 is the robot's left arm.

2. Directly connect servo motors #2 and 6 into their respective pinson the control board and turn the power switch on.

3. The servo motors should rotate automatically to their initialposition.

4. Attach the servo horns to each servo motor such that the axis of
the + on the horn is aligned with the edges of the servo motors as
closely as possible.

5. Insert the left and right arms into the shoulder pieces lining up
the servo horn with the cut + shape on each shoulder. *Ensure thearms are inserted pointing down.

6. After ﬁxing the arms to the shoulder parts, unplug the servo motors
from the control board and turn the power switch oﬀ.

4.9 Servo ﬁxer attachment
Necessary items
1. Body assembly set
2. Servo ﬁxer part

Necessary items

Procedure
1. Pass the cables of the eight servo motors through the servo bracket
and through front as shown.

The cables of motors #3 and 7 are passed through the lower hole ofthe bracket, and left there for later.

2. Servo motors #1 and 5 are passed between the opening in the servo
ﬁxer, while the remaining cables are temporarily wrapped up aroundthe top ofthe body to keep them out of the way.

3. Attach the servo ﬁxer part so as to not catch and pinch any of theother servo motor cables.

4.10 Control board wiring
Necessary items
1. Battery assembly
2. Control board assembly

Necessary items

Procedure
1. Remove the micro:bit and the power cable from the control board.
Pass the power cable along with the servo motor cables from the backside through the front hole in the body and reconnect the power
cable to the control board again.

2. Put the battery into the back plastic part on top of the switch
board and keep the battery cable underneath the battery. Attach theback plastic part to the back of the servo bracket.

3. Connect all servo motor cables following the appropriate order with
servo motor number matching pin number.

4.11 Head part assembly
Necessary items
1. body sets
2. head parts(top, bottom)
3. head board
4. head board cable

Necessary items

Procedure
1. Take apart the top and bottom plastic parts of the head

2. Connect the ﬁnal head-board control cable to the head-board

3. Unscrew the nuts on each LED down about 3mm.

4. Pass the head-board cable through the hole in the bottom side of thehead plastic part.

5. Bend the LED legs 90 degrees such that the head-board is rotated up,and insert both LEDs into the semi-circular grooves in the bottom
plastic heat part such that the nuts on each LED are on the insideof the head.

6. Align and place the top plastic head part onto the bottom part byﬁrst passing the LED bulbs through the top heat eye holes.

7. Insert the head-board cable through the top hole in the servo
bracket and pass through the front side of the body. Insert theassembled head into the same hole to ﬁx the head to the servo
bracket.

8. Connect the head-board cable into the control board.

4.12 Chest assembly
Necessary items
1. body sets
2. chest
3. micro:bit

・

4. sound sensor distance sensor
5. screw×2

Necessary items

Procedure
1. First slide the control board into the chest part from the front
oriented as shown in the photo.

2. Attach the control board and chest assembly to the servo bracketbody.

3. Screw the control board into the chest through the two screw holes
in the corners of the control board.

4. Insert the micro:bit.

5. Switch the robot on and conﬁrm if all servo motors have rotated andinitialized.

6. Press the micro:bit A and B buttons to check that the limbs work.

7. Plug the sound sensor and the distance sensor into the pin terminals
on the front of the control board on PLEN:bit.

5. Motion check5.1 Let's walk the PLEN:bit!
1. Press A Button to check if PLEN:bit walks.
2. Enjoy PLEN:bit!
3. if can't walk PLEN:bit...<br /> Use this ->https://makecode.microbit.org/_Veh6c5AVMawp
4. Plug in the USB cable into PLEN:bit and your computer. A new drive
will appear in your ﬁle explorer.
5. When you download the ﬁles they may be downloaded directly to yourcomputer as a .hex ﬁle. Simply move these ﬁles into the newPLEN:bit drive that was created when it was plugged in and they will
be uploaded into the micro:bit.

5.2 How to adjust ServoMotor position
1. Download this program->https://makecode.microbit.org/_3crgeTemLVUY
2. Push A to start correction
3. Push A or B to move each servo
4. Push A+B to switch to next servo
5. Loop
6. Ends when smile is displayed
7. Reset, then Push B to walk. If PLEN does not fall over, setting iscomplete6. How to charge battery
1. Connect PLEN:bit ( back Switch Board ) and PC ( or USB charger ) withcable.
2. Charging : LED ON
3. Full charge : LED OFF

7. How to BLE ver. head board
1. change [head board] and [BLE ver. head board]
2. You can control from PLEN Connect(APP)<br /> iPhone :https://itunes.apple.com/jp/app/plen-connect/id990980940?mt=8Android : https://play.google.com/store/apps/details?id=jp.plen.plenconnect2

8. Appendix
8.1 PLEN:bit servo numbering

8.2 Control board terminal labelling

PLEN:bit Support
If you have any questions, please contact one of the following

PLEN Support : https://plen.jp/wp/contact/