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**: @username_2 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:
  
  [![exterior](https://i.sstatic.net/IuymI.jpg)](https://i.sstatic.net/IuymI.jpg)
  
  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.
  
  [![cover off](https://i.sstatic.net/llKfO.jpg)](https://i.sstatic.net/llKfO.jpg)
  
  We can now slide the gray back cover off.
  
  [![both covers off](https://i.sstatic.net/1iqTT.jpg)](https://i.sstatic.net/1iqTT.jpg)
  
  The PCB is clipped in at the front, but with some care we can separate the gearbox from the motor.
  
  [![gearbox separated](https://i.sstatic.net/khEO7.jpg)](https://i.sstatic.net/khEO7.jpg)
  
  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.
  
  [![gearbox](https://i.sstatic.net/C0x2S.jpg)](https://i.sstatic.net/C0x2S.jpg)
  
  With significant force, the drive shaft can be separated to remove it and reveal the magnet that is used to sense drive angle.
  
  [![drive shaft and magnet](https://i.sstatic.net/Wtd7K.jpg)](https://i.sstatic.net/Wtd7K.jpg)
  
  Moving back towards the motor, we find a double planetary gearbox similar to the one found in several motors without angular drives.
  
  [![double planetary](https://i.sstatic.net/mRiA1.jpg)](https://i.sstatic.net/mRiA1.jpg)
  
  [![planetary side view](https://i.sstatic.net/maoVt.jpg)](https://i.sstatic.net/maoVt.jpg)
  
  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.
  
  [![motor and PCB](https://i.sstatic.net/xtDOM.jpg)](https://i.sstatic.net/xtDOM.jpg)
  
  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`.
  
  [![PCB top](https://i.sstatic.net/1uF29.jpg)](https://i.sstatic.net/1uF29.jpg)
  
  
  ---
  
  