Answers.Body: <p>Here's what the part looks like from the outside:</p>
  <p><a href="https://i.sstatic.net/IuymI.jpg" rel="noreferrer"><img src="https://i.sstatic.net/IuymI.jpg" alt="exterior" /></a></p>
  <p>The first step to opening it up is to remove the cover over a section of the drive. Note that this process is likely to cause permanent damage to the part as it requires prying and bending.</p>
  <p><a href="https://i.sstatic.net/llKfO.jpg" rel="noreferrer"><img src="https://i.sstatic.net/llKfO.jpg" alt="cover off" /></a></p>
  <p>We can now slide the gray back cover off.</p>
  <p><a href="https://i.sstatic.net/1iqTT.jpg" rel="noreferrer"><img src="https://i.sstatic.net/1iqTT.jpg" alt="both covers off" /></a></p>
  <p>The PCB is clipped in at the front, but with some care we can separate the gearbox from the motor.</p>
  <p><a href="https://i.sstatic.net/khEO7.jpg" rel="noreferrer"><img src="https://i.sstatic.net/khEO7.jpg" alt="gearbox separated" /></a></p>
  <p>The gearbox houses a pair of bevel gears. The gray one that is part of the drive shaft is 11 tooth and the smaller one is 9 tooth.</p>
  <p><a href="https://i.sstatic.net/C0x2S.jpg" rel="noreferrer"><img src="https://i.sstatic.net/C0x2S.jpg" alt="gearbox" /></a></p>
  <p>With significant force, the drive shaft can be separated to remove it and reveal the magnet that is used to sense drive angle.</p>
  <p><a href="https://i.sstatic.net/Wtd7K.jpg" rel="noreferrer"><img src="https://i.sstatic.net/Wtd7K.jpg" alt="drive shaft and magnet" /></a></p>
  <p>Moving back towards the motor, we find a double planetary gearbox similar to the one found in several motors without angular drives.</p>
  <p><a href="https://i.sstatic.net/mRiA1.jpg" rel="noreferrer"><img src="https://i.sstatic.net/mRiA1.jpg" alt="double planetary" /></a></p>
  <p><a href="https://i.sstatic.net/maoVt.jpg" rel="noreferrer"><img src="https://i.sstatic.net/maoVt.jpg" alt="planetary side view" /></a></p>
  <p>The motor itself is soldered to a PCB. There's nothing other than traces on the side facing the motor, so I haven't bothered to desolder it.</p>
  <p><a href="https://i.sstatic.net/xtDOM.jpg" rel="noreferrer"><img src="https://i.sstatic.net/xtDOM.jpg" alt="motor and PCB" /></a></p>
  <p>The main microcontroller appears to be an STM8S103. My part has the following part information:</p>
  <pre><code>S103
  PHVG
  939Y
  </code></pre>
  <p>The other significant visible part labeled <code>509R</code> is a thermistor that serves to put a hard limit on motor current.</p>
  <p>Viewed from the other side, we can see the hall effect sensor that is used to detect drive angle. The part number on mine is <code>BCZK 116</code>.</p>
  <p><a href="https://i.sstatic.net/1uF29.jpg" rel="noreferrer"><img src="https://i.sstatic.net/1uF29.jpg" alt="PCB top" /></a></p>
  
Answers.ContentLicense: CC BY-SA 4.0
Answers.CreationDate: 2022-01-21T15:28:02.430Z
Answers.LastActivityDate: 2022-02-03T01:05:30.953Z
Answers.LastEditDate: 2022-02-03T01:05:30.953Z
Answers.UserDisplayName: jncraton
Body: <p>Is there any information available about the internals of the SPIKE Prime and Robot Inventor angular motors?</p>
  <p>What Hall-Sensor is used by the SPIKE motors?</p>
  <p>To be more precise: I'd like to get information about the internal components of motors in a way similar to <a href="https://bricks.stackexchange.com/questions/15057/what-internal-electronics-do-spike-prime-and-mindstorms-robot-inventor-use">this teardown of the SPIKE Prime Hub</a>.</p>
  
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2021-09-18T12:23:53.293Z
Comments.Text: There's some spec sheets at https://education.lego.com/en-us/product-resources/spike-prime/downloads/technical-specifications - does that suffice?
Comments.UserDisplayName: IvanSanchez
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2023-07-22T16:14:08.570Z
Comments.Text: any chance to get the value or part no. of the hall sensor?
Comments.UserDisplayName: AbdElhaleem
Comments.ContentLicense: CC BY-SA 4.0
Comments.CreationDate: 2023-07-24T21:10:53.947Z
Comments.Text: @AbdElhaleem In the answer the last sentence is this: "The part number on mine is BCZK 116." Does this answer your question? If not, please ask a dedicated question with the necessary details.
Comments.UserDisplayName: zovits
Tags: <piece-information><electronics><disassembly><robot-inventor><spike-prime>
Title: What electronics are inside the SPIKE Prime angular motors?
UserDisplayName: user18913
ThreadText: # What electronics are inside the SPIKE Prime angular motors?
  
  (Asked by: username_0 on 2021-09-18)
  
  Is there any information available about the internals of the SPIKE Prime and Robot Inventor angular motors?
  
  What Hall-Sensor is used by the SPIKE motors?
  
  To be more precise: I'd like to get information about the internal components of motors in a way similar to [this teardown of the SPIKE Prime Hub](https://bricks.stackexchange.com/questions/15057/what-internal-electronics-do-spike-prime-and-mindstorms-robot-inventor-use).
  
  **Tags:** piece-information, electronics, disassembly, robot-inventor, spike-prime
  > **Comments:**
  > **username_1**: There's some spec sheets at https://education.lego.com/en-us/product-resources/spike-prime/downloads/technical-specifications - does that suffice?  
  > **username_2**: any chance to get the value or part no. of the hall sensor?  
  > **username_3**: @AbdElhaleem In the answer the last sentence is this: "The part number on mine is BCZK 116." Does this answer your question? If not, please ask a dedicated question with the necessary details.  
  
  ---
  
  ## 1 answers
  
  ### Answer by username_4 on 2022-01-21. Score: 8
  
  Here's what the part looks like from the outside:
  
  The first step to opening it up is to remove the cover over a section of the drive. Note that this process is likely to cause permanent damage to the part as it requires prying and bending.
  
  We can now slide the gray back cover off.
  
  The PCB is clipped in at the front, but with some care we can separate the gearbox from the motor.
  
  The gearbox houses a pair of bevel gears. The gray one that is part of the drive shaft is 11 tooth and the smaller one is 9 tooth.
  
  With significant force, the drive shaft can be separated to remove it and reveal the magnet that is used to sense drive angle.
  
  Moving back towards the motor, we find a double planetary gearbox similar to the one found in several motors without angular drives.
  
  
  The motor itself is soldered to a PCB. There's nothing other than traces on the side facing the motor, so I haven't bothered to desolder it.
  
  The main microcontroller appears to be an STM8S103. My part has the following part information:
  S103
  PHVG
  939Y
  
  The other significant visible part labeled 509R is a thermistor that serves to put a hard limit on motor current.
  Viewed from the other side, we can see the hall effect sensor that is used to detect drive angle. The part number on mine is BCZK 116.
  
  
  ---
  
  