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Update support.md
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@pattacini
pattacini authored Dec 15, 2024
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Expand Up @@ -26,37 +26,37 @@ This upgrade kit is meant to update the head with new eyes composed by high-reso

<center> ![](img/Head4k_parts.jpg) </center>

| Alias | Description | Code | Rev | Qty |
|-------------------------------|-----------------------------------------------------------------------------|-------|-----|-----|
| RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 6 |
|S1_5-6--_-_I2338_B | Dowel pin Ø1.5 x 6 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 2354 | | 10 |
|MYONIC_SHIM_PS_2-5_4_THK_0-1 | Myonic Precision Shim PS Ø3x4 mm thickness 0,10 mm | 2698 | | 8 |
|MYONIC_SHIM_PS_5_7_THK_0- 15 | Myonic Precision Shim PS Ø5x7 mm thickness 0,15 mm | 2701 | | 10 |
| RC_IIT_023_P_027 | Eyelid motor encoder support | 5831 | A5 | 1 |
| RC_IIT_023_P_058 | Eyes tilt rod | 5848 | A2 | 1 |
| G2-2--_-_U5923_G | Set screw, hex socket, M2,0 x 2,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 12766 | | 4 |
| M3x06-6LOBE-ISO14581-A2-70 | M3x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 6 |
| Alias | Description | Code | Rev | Qty |
|--------------------------------|----------------------------------------------------------------------------------|-------|-----|-----|
| RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 6 |
|S1_5-6--_-_I2338_B | Dowel pin Ø1.5 x 6 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 2354 | | 10 |
|MYONIC_SHIM_PS_2-5_4_THK_0-1 | Myonic Precision Shim PS Ø3x4 mm thickness 0,10 mm | 2698 | | 8 |
|MYONIC_SHIM_PS_5_7_THK_0- 15 | Myonic Precision Shim PS Ø5x7 mm thickness 0,15 mm | 2701 | | 10 |
| RC_IIT_023_P_027 | Eyelid motor encoder support | 5831 | A5 | 1 |
| RC_IIT_023_P_058 | Eyes tilt rod | 5848 | A2 | 1 |
| G2-2--_-_U5923_G | Set screw, hex socket, M2,0 x 2,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 12766 | | 4 |
| M3x06-6LOBE-ISO14581-A2-70 | M3x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 6 |
| M1_6X04-6LOBE-ISO14583-A4-70 | M1.6 x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A4-70 | 15841 | | 2 |
| M2X08-6LOBE-ISO14583-A2-70 | M2 x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | | 4 |
| M2_5X06-6LOBE-ISO14581-A2-70 | M2.5 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2- |15931 | | 4 |
| M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 8 |
| M2_5X08-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15994 | | 6 |
| M3X06-6LOBE-ISO14583-A2-70 | M3 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16022 | | 4 |
| IC_034_G_007 | Eye bulb with inserts | 18375 | 0 | 2 |
| IC_034_G_025 | Orin NX support with inserts | 18384 | 0 | 1 |
| IC_034_M_020 | V2 eye tilt brace A | 18385 | 0 | 1 |
| IC_034_P_017 | Eye pan frame with protrusion | 18386 | 0 | 2 |
| IC_034_P_019 | Eye CCD mounting plate | 18387 | 0 | 2 |
| IC_034_P_020 | Eye tilt brace A | 18388 | 0 | 1 |
| IC_034_P_021 | Eyelid reinforcement | 18389 | 0 | 1 |
| IC_034_P_022 | Eyelid upper | 18390 | 0 | 1 |
| IC_034_P_023 | Eye pan frame | 18391 | 0 | 2 |
| IC_034_P_025 | V2 eye pan rod | 18392 | 0 | 2 |
| IC_034_G_029 | BASE FRAME for boards | 18400 | 0 | 1 |
| IC_034_G_030 | Support for COM with inserts | 18401 | 0 | 1 |
| IC_034_G_031 | Support for connector with inserts | 18402 | 0 | 1 |
| IC_034_G_034 | Cover backpack assy | 18405 | 0 | 1 |
| IC_034_P_034 | V2 head eyes tilt frame | 18475 | 0 | 1 |
| M2X08-6LOBE-ISO14583-A2-70 | M2 x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | | 4 |
| M2_5X06-6LOBE-ISO14581-A2-70 | M2.5 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2- | 15931 | | 4 |
| M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 8 |
| M2_5X08-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15994 | | 6 |
| M3X06-6LOBE-ISO14583-A2-70 | M3 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16022 | | 4 |
| IC_034_G_007 | Eye bulb with inserts | 18375 | 0 | 2 |
| IC_034_G_025 | Orin NX support with inserts | 18384 | 0 | 1 |
| IC_034_M_020 | V2 eye tilt brace A | 18385 | 0 | 1 |
| IC_034_P_017 | Eye pan frame with protrusion | 18386 | 0 | 2 |
| IC_034_P_019 | Eye CCD mounting plate | 18387 | 0 | 2 |
| IC_034_P_020 | Eye tilt brace A | 18388 | 0 | 1 |
| IC_034_P_021 | Eyelid reinforcement | 18389 | 0 | 1 |
| IC_034_P_022 | Eyelid upper | 18390 | 0 | 1 |
| IC_034_P_023 | Eye pan frame | 18391 | 0 | 2 |
| IC_034_P_025 | V2 eye pan rod | 18392 | 0 | 2 |
| IC_034_G_029 | BASE FRAME for boards | 18400 | 0 | 1 |
| IC_034_G_030 | Support for COM with inserts | 18401 | 0 | 1 |
| IC_034_G_031 | Support for connector with inserts | 18402 | 0 | 1 |
| IC_034_G_034 | Cover backpack assy | 18405 | 0 | 1 |
| IC_034_P_034 | V2 head eyes tilt frame | 18475 | 0 | 1 |

## Content material WKIT_009

Expand Down Expand Up @@ -131,7 +131,7 @@ T_E =
\end{equation}
$$

To use the [gaze controller](https://robotology.github.io/robotology-documentation/doc/html/group__iKinGazeCtrl.html), it is required the instantiation of `head_version` `"v2.10"`, available since the distro release 2024.11.0.
To use the [gaze controller](https://robotology.github.io/robotology-documentation/doc/html/group__iKinGazeCtrl.html), you must instantiate `head_version` `"v2.10"`, which is available since the distro release [2024.11.0](../../sw_versioning_table/2024.11.0.md).

## Software instructions

Expand Down

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