DMP Electronics Inc Robotic Division Aug 2010
Agenda DMP SoC Family RB-110 Overview Hardware Introduction Accessory Application Q & A
DMP’s SoC Family •Jul. 1998 • Feb. 2007 • Aug. 2008 •386 – 40MHz • 486 – 300MHz • 486 – up to 1GHz •0.50 um process •0.
Vortex86DX Processor Core BIOS 4 in 1 SoC North Bridge · · · · · South Bridge x86 Legacy Support Unique function for future Embedded Power Consumption, 2.
Vortex86DX
RoBoard RB-110 • Powerful, Tiny Computer dedicated to robotics applications • Based on the Vortex86DX, a 32bit x86 CPU running at 1000MHz with 256MB DRAM • High-Speed Serial Ports (Up to 12Mbps) • Compatible with Windows, Linux and DOS • Open Source C++ Library for RoBoard‘s unique I/O functions (sensors, actuators, etc.
RoBoard RB-110 Size: 96 x 56mm Mini PCI USB USB System Power COM 2 (RS-485) Servo Power PWM S1~S16 LAN COM 6 (TTL, general function, FTDI Hi-Speed) COM 3 (TTL, Full-duplex) I2C COM 4 (TTL, Full-duplex) COM 1 (RS-232) Micro SD slot JTAG 1. 1000MHz, 256MB DDR2 2. PC compatible 3. Build in PWM/GPIO 16Ch 4. USB v2.0 ports 3 5. TTL COM ports 2 6. RS-232 port 1 COM 5 (TTL, Full-duplex, FTDI Hi-Speed) A/D 7. RS-485 port 1 8. FTDI Hi-Speed COM port 1 9.
PWM S1~S16 Locations
Locations Mini PCI USB USB System Power COM 2 (RS-485) Servo Power PWM S1~S16 LAN COM 6 COM 3 (TTL, general function, FTDI Hi-Speed) (TTL, Full-duplex) I2 C COM 4 COM 1 (RS-232) (TTL, Full-duplex) Micro SD slot JTAG COM 5 (TTL, Full-duplex, FTDI Hi-Speed) A/D
Pin 1 Location : Pin 1 Mini PCI USB USB System Power COM 2 (RS-485) Servo Power PWM S1~S16 LAN COM 6 COM 3 (TTL, general function, FTDI Hi-Speed) (TTL, Full-duplex) I2 C COM 4 COM 1 (RS-232) (TTL, Full-duplex) Micro SD slot JTAG COM 5 (TTL, Full-duplex, FTDI Hi-Speed) A/D
Power connector System Power Connector Pin # Signal Name 1 System power 2 GND 1 1 2 3 4 2 Servo Power Connector Pin # Signal Name 3 Vxx 4 GND 3 4
Power connector System power power supply for RoBoard internal DC 6V-24V Servo power (Vxx) power supply for Servo motors Input no limited, but recommend 24V
Power connector Connection Example – use different power sources to avoid power interference of system & servos
Power connector Connection Example – share the same power source if you want the same battery for power supply of both system & servos
Power connector After connecting the Power/HD LED will light Power LED Hard Disk LED (Micro SD card)
Hard Disk: MicroSD As a hard disk, the MicroSD’s speed affects RoBoard’s performance dramatically. A low-class MicroSD can make RoBoard boot/run very slowly. Suggestions The speed of MicroSD should be at least Class 6. Use MicroSD from credible manufacturers (e.g.
PWM 16ch 321 Pin # Signal Name 1 GND 2 Vxx 3 GPXX 321
PWM 16ch Connection Example S16 S15 S14 S13 S12 S11 S10 S9 S8 S7 S6 S5 S4 S3 S2 S1
COM 1 / RS-232 Pin # Signal Pin # Signal Name Name 1 DCD1 2 RXD1 3 TXD1 4 DTR1 5 GND 6 DSR1 7 RTS1 8 CTS1 9 RI1 10 VCC (5V) 10 8 6 4 2 10 8 6 4 2 9 7 5 3 1 9 7 5 3 1
COM 2 / RS-485 Pin # Signal Name Line Color 1 GND Black 2 Vxx Red 3 RS-485+ Other 4 RS-485- Other 4 3 2 1 4 3 2 1
COM 3 / Full Duplex TTL Pin # Signal Name Line Color 1 GND Black 2 Vxx Red 3 TXD3 Other 4 RXD3 Other 4 3 2 1 4 3 2 1
COM 4 / Full Duplex TTL Pin # Signal Name Line Color 1 GND Black 2 Vxx Red 3 4 TXD4 RXD4 Other Other 4 3 2 1 4 3 2 1
Use COM 3/4 as Half-Duplex TTL COM3 & COM4 are buffered:
Use COM 3/4 as Half-Duplex TTL you can simply short TX & RX to get a half-duplex COM port: Ex.
COM 5 / Full Duplex TTL / FTDI Hi-Speed Pin # Signal Name Pin # Signal Name Pin # Signal Name Pin # Signal Name 1 GND 2 Vxx 3 TXD5 4 RXD5 1 2 3 4 1 2 34 Note: You can also use COM 5 as Half-Duplex TTL (same as COM 3/4)
Pin # Signal Name Pin # Signal Name 1 DCD6 2 RXD6 3 TXD6 4 DTR6 5 GND 6 DSR6 7 RTS6 8 CTS6 9 RI6 10 TXDEN6 10 8 6 4 2 9 7 5 3 1 6 COM 6 / TTL / FTDI General Serial Port
COM 6 / TTL / FTDI General Serial Port COM6 is the second port of the built-in FTDI FT2232H, and can function as COM, SPI, I2C, … See FTDI FT2232H datasheet for more details References for FTDI FT2232H: FT2232H Datasheet : http://www.ftdichip.com/Documents/DataSheets/DS_FT2232H.pdf VCP Drivers : http://www.ftdichip.com/Drivers/VCP.htm D2XX Drivers : http://www.ftdichip.com/Drivers/D2XX.htm More information : http://www.ftdichip.com/Products/FT2232H.
A/D 8 Ch Pin # Signal Name Pin # Signal Name 1 AD-VIN0 2 ADGND 3 AD-VIN1 4 ADGND 5 AD-VIN2 6 ADGND 7 AD-VIN3 8 ADGND 15 13 11 9 7 5 3 1 16 14 12 10 8 9 AD-VIN4 10 ADGND 11 AD-VIN5 12 ADGND 13 AD-VIN6 14 ADGND 15 AD-VIN7 16 ADGND 6 4 2 A/D 8 Ch 15 13 11 9 7 5 3 1 16 14 12 10 8 6 4 2
A/DConnection 8 Ch Example – Measure battery voltage with A/D Channel7 (AD-VIN7)
2 IC Pin # Signal Name 1 VCC (5V) 2 GND 3 I2C0_SCL 4 I2C0_SDA 5 ~Reset 6 VCC3 (3.
2 IC Connection Example : Connect to DMP RM-G144 6-Axis Magnetic Compass & Accelerometer
2 IC Connection Example : Connect to DMP RM-G145 3-Axis Gyro
LAN connector Pin # Signal Name Pin # Signal Name 4321 1 LAN-TX+ 2 LAN-TX- 3 LAN-RX+ 4 LAN-RX- 4321
USB Pin # Signal Name Pin # Signal Name 1 VCC 2 VCC 3 LUSBD0- 4 LUSBD1- 5 LUSBD0+ 6 LUSBD1+ 7 GND 8 GND 9 GGND 10 GGND 10 8 6 4 2 9 7 5 3 1 10 8 6 4 2 9 7 5 3 1
USB Connection Example
PWM Initial pull up/down switch Pin Signal Name Left PWM init Pull Down Right PWM init Pull UP
Console Redirection switch Pin Signal Name Left Console Redirection enable Right Console Redirection disable
Mini VGA Card •Volari Z9S VGA Chipset with 32MB DDR2 •Up to 1600 x 1200 @16M Color •Support Windows 98/2000/XP, Linux
Mini PCI Wireless Card • VIA VT6655 Chipset • 802.
RoBoard RB-110 Cable set COM 1 / RS-232 I2C COM 6 COM 2/3/4/5 Power LAN Connector
Use RB-110 to Control Bioloid
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