# 通信接口

### Rotrics机械臂有4个通信接口：

![](/files/-M5aVEXwjkrn4hSQvh7Y)

* 1 x 12pin的步进电机控制接口。主要用于驱动3D打印挤出机，滑轨和传送带等。
* 2 x USB Type-C接口。主要用于通过串口与外部模块和PC通信，可以连接PC、触控屏、气泵盒等。
* 1 x 5pin的前端通信接口。主要用于控制激光、3D打印的冷却风扇以及气动旋转模块等。

### 12-pin步进电机接口引脚说明

![](/files/-M76dT5T-6d2AaEubPOM)

* Motor A1、B1、A2、B2，四线步进电机的对应连接线；
* PWM x 3，三个PWM通信控制接口，使用同一个PWM信号；
* +12V x 3，12V电源；
* GND；
* ADC，ADC接口；

### 5-pin前端引脚说明

![](/files/-M76ePFYPNDyZw04xmnf)

前端5-pin接口主要用于控制前端模块功能，比如激光雕刻模块、3D打印模块、以及后续推出的旋转关节模块，还可以用于DIY前端模块，比如制作更高功率的激光雕刻模块。


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