User`s manual

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SC08A

SERVO CONTROLLER

User’s Manual

V1.0

Feb 2011

Information contained in this publication regarding device applications and the like is intended through suggestion only and may

be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. No

representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the accuracy

or use of such information, or infringement of patents or other intellectual property rights arising from such use or otherwise. Use

of Cytron Technologies’s products as critical components in life support systems is not authorized except with express written

approval by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any intellectual property rights.

Summary of content (27 pages)

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SC08A SERVO CONTROLLER User’s Manual V1.0 Feb 2011 Information contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A Index 1. Introduction and Overview 3 2. Packaging List 4 3. How RC Servo Motor Works 5 4. Board Layout 7 5. Installation (hardware) 9 5.1 Setting Up SC08A 9 5.2 Connecting SC08A to Computer 12 5.3 Connecting SC08A to Microcontroller 14 5.4 Expanding SC08A for 32 Channels 17 6. Installation (software) 6.1 Sample Program for PIC16F877A 7. Getting Started 7.1 Protocol for SC08A 8.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 1. INTRODUCTION AND OVERVIEW SC08A offers reliable yet user friendly RC Servo motor controller to hobbyist and students. Different with SC16A, SC08A is designed to control 8 independent standard RC (Remote Control) servo motors simultaneously in a single board. Each servo signal pin is able to generate servo pulses from 0.5 ms to 2.5 ms, which is greater than the range of most servos, further allows for servos to operate 180 degrees.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 2. PACKAGING LIST Please check the parts and components according to the packing list. If there are any parts missing, please contact us at sales@cytron.com.my immediately. 1. 1 x SC08A main board 2. 1 x 2510H-04 connector (with terminal pins) 3. 1 x 2561-04 connector (with terminal pins) 4. 1 x mini jumper 5. User’s Manual and other necessary softcopy should be downloaded from www.cytron.com.my Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 3. How RC Servo Motor works Radio Control (RC) hobby servos are small actuators designed for remotely operating model vehicles such as cars, airplanes, and boats. Nowadays, servos are become more popular in robotics, creating humanoid robot, biologically inspired robot, robotic arm and etc. This is because its’ ability to rotate and maintain and certain location, position or angle according to control pulses from a single wire.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A SC08A is designed to simultaneously generate 8 independent servo control signals. The servo controller can generate pulses from 0.5 ms to 2.5 ms, which is greater than the range of most servos, and which allows for a servo operating range of over 180 degrees. Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 4. BOARD LAYOUT A I H G B C F Label E Function D Label Function A Servo motor power source connector F UART/expansion pin connectors B Servo motor channels G Servo test button C SC08A selection channels H PIC16F1827 D Servo power indicator LED I Reset button E Power indicator LED Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A A – Blue terminal block for servo motor power source. Please connect correct power to the provided connector and check the polarity before plug in. Normally, rated voltage to drive servo motors is in between 4.8V and 6V. Some may need 7.2V. It is depending on the type of servo motor used. Over supply voltage may spoil the servo motor! B – 8 channels of servo motor. Each channel consists of 3 header pin. Servo motor channels t are labeled at the top.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 5. INSTALLATION (HARDWARE) SC08A is designed to control 8 channels of RC servo motor. Following steps will guide user in using SC08A. The controller can either be a microcontroller with UART interface or PC desktop/Laptop with UC00A. 5.1 Setting up SC08A 1. Servos are typically powered by independent power source ranging from 4.8V to 9V (standard is 4.8V to 6.0V). The power source should be connected to blue terminal block shown as figure below.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A at the top of servo motor port, please follow the label to connect the servo. Servo motor pin label 3. For basic connection (8 servos maximum), At JP11, please ensure a mini jumper is set at 1-8. A mini jumper is set at '1-8'. Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 4. SC08A needs its own power to power up the circuit;. The standard power source is 5V for SC08A. 5. Following steps will further explain the hardware setup for PC desktop/Laptop, Microcontroller and also expansion mode. Caution: Always ensure the Power source for servo is connected correctly before servo motor is connected to SC08A, else all servo motor will be damaged. Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 5.2 Connecting SC08A to Computer One of the main concerns in controlling servo is the hard work needed to get start. However, with SC08A, getting start is easy as 1 2 3. Since USB was removed from the board, SC08A offer a UC00A as alternative method to communicate SC08A with PC or laptop. With UC00A, no RS232 (serial port, DB9) is needed. This will save tremendous work and time.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 3. Please beware that, only one host can be connected to SC08A at a moment. Either computer or a microcontroller. DONOT connect two hosts (computer and microcontroller) to a SC08A at the same time. Caution: Only one host should be connected to SC08A, either computer (through UC00A) or microcontroller (through UART). Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 5.3 Connecting SC08A to Microcontroller Another concern of user is for embedded system to control servo motors. For microcontroller to interface with SC08A, the minimum requirement will be TTL UART (Universal Asynchronous Receiver and Transmitter) and 5V supply. 5V will not be an issue since most of embedded or microcontroller system is 5V powered, tapping the 5V from host system will be reasonably easy.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A pin of SK40C. In other words, Rx of SC08A should be connected to SK40C's Transmitter pin (Tx), while Tx of SC08A should be connected to SK40C's Receiver pin (Rx). 8 9 10 * For step 6, please repeat step 1 – 5 for other end of rainbow cable. **For step 10, Tx and Rx should cross connected. 3. In this setup, SC08A will share 5V power source from host or microcontroller board.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A Hardware connection between SK40C and SC08 Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 5.4 Expanding SC08A for 16 Channels SC08A provides the flexibility to be expanded and control 16 channels of servo motor simultaneously. In some application, more than 8 servos are required. No worries, 2 units of SC08A can be combined for expansion mode to control 16 servos. Following steps will guide user to setup SC08A for expansion mode. 1. Two units of SC08A are needed. 2. Setup both SC08A according to steps in section 5.1.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 4. Link up both SC08A with the cable. Following figure shows the sample connection. Please ensure the 2510 connector is being connected. Users may use either U_1 or U_2 to connect SC08A to another SC08A board. UART cable to connect to UC00A or microcontroller 4 way cable to link SC08A_1 and SC08A_2 5. For SC08A_1(board 1), a mini jumper should be put at “1-8” while for SC08A_2(board 2) a mini jumper should be at “9-16”.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A SC08A_2 : A mini jumper is set to '9-16' 6. For SC08A_2, servo connected at “S1” will be recognized as “S9” in software. This applied to the rest of servo port on SC08A_2. Every label should be added with 16 during software development. Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 6. INSTALLATION (SOFTWARE) Cytron Technologies was provided a sample program for users understanding. The sample program is using SK40C and PIC16F877A to control servo through SC08A. 6.1 Sample program for PIC16F877A Most servo motor is being used as actuator for humanoid, legged mobile robot and many other applications. All these developments are based on embedded controller, which is microcontroller or microprocessor.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 8. Sample source code for PIC16F877A is compatible for PIC16F876A. Cytron Technologies developed based on PIC16F877A is because PICC Lite does not support PIC16F876A. Created by Cytron Technologies Sdn. Bhd.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 7. GETTING STARTED 7.1 Protocol of SC08A Like SC16A, SC08A has two types of protocol but the protocols are different with SC16A. The 1st protocol is important which is uses to send command to SC08A, further control a particular servo to a position with a defined speed. 2nd protocol is for host to request the current position of servo. The 2nd protocol is alternative to user, if position reporting is not requirement, it can be ignored.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A Position and Speed Command Both computer and microcontroller actually send command to SC08A serially. This section explains the protocol to send command. a) The command is being sent in packet format. Each packet consists of 4 bytes. i. 1st byte: Mode + Servo motor channel ii. 2nd byte: Position (Higher 7 bit) iii. 3rd byte: Position (Lower 6 bit) iv.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 2nd byte: Higher 7bit 0b 0 x x x x x x x 7 6 5 4 3 2 1 0 3rd byte: Lower 6 bit 0b 0 0 x x x x x x 7 6 5 4 3 2 1 0 3rd byte: Lower 6 bit 2nd byte: Higher 7bit 0b 12 11 10 9 8 7 6 5 4 3 2 1 0 x x x x x x x x x x x x x 13 bit servo position 4th byte represents the speed of servo rotation. The speed is from 0 – iii. 100. The higher value, the faster and the lower value is servo will rotate to its position.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 0 = 0.3 seconds 40 = 3.60 seconds 1 = 2.0 minutes 50 = 2.80 seconds 10 = 14 seconds 60 = 2.2 seconds 20 = 7.0 seconds 63 = 1.9 seconds 30 = 4.14 seconds d) For more details, user may refer to sample source code provided. Comments are being provided in the sample code to help user understanding. Servo position reportingCommand This section explains the position reporting command.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A Servo starting position Command a) This command useful for users to initialize the starting position for servo motors. To initialize starting position, the command is being sent in packet format. Each packet consists of 3 bytes. i. 1st byte: Mode + Servo motor channel ii. 2nd byte: Position (Higher 7 bit) iii. 3rd byte: Position (Lower 6 bit) b) 1st byte is combination from mode and servo motor channel.
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ROBOT . HEAD to TOE Product User’s Manual – SC08A 8.WARRANTY Product warranty is valid for 6 months. Warranty only applies to manufacturing defect. Damage caused by misuse is not covered under warranty. Warranty does not cover freight cost for both ways. Prepared by Cytron Technologies Sdn. Bhd. 19, Jalan Kebudayaan 1A, Taman Universiti, 81300 Skudai, Johor, Malaysia. Tel: Fax: +607-521 3178 +607-521 1861 URL: www.cytron.com.my Email: support@cytron.com.my sales@cytron.com.