Datasheet

ManualsBrandsRoboteQ ManualsIO Expansion & ADCsI/O eXtender, 3A DCDC, 12 In, 16 Out w/ AHRS

RIOX Expansion Card Datasheet 1

RIOX1216

Preliminary - Subject to Change

Smart IO

Expansion Card

with Optional

AHRS for

Robotics

Roboteq's I/O eXtender (RIOX) module is an intelligent I/O

expansion card, with an optional Attitude and Heading Refer-

ence System (AHRS), that seamlessly integrates with Roboteq

Motor Controllers. It is intended for use in robotics navigation,

unmanned vehicles, machine control, industrial automation and

any other applications that need interfacing to the real world.

The RIOX module can also be used stand-alone, or as an IO

extender to PC, PLC or microcomputer based systems.

The module features 12 inputs, each of which can be individu-

ally configured as digital, 0-5V analog, or as pulse inputs. In the

pulse mode, the inputs can capture pulse width, frequency,

duty cycle, or quadrature encoder counts. Each input pin can

also be configured as a driver for RC servos.

The RIOX module has Digital Outputs capable of driving resis-

tive loads such as lights, or inductive loads such as relay, sole-

noids or motors up to 1A each at 40V. Each output can be used

as Input as well.

The card also includes a 32-bit ARM microcontroller for pro-

cessing and buffering the IO, and managing the communication

with motor controllers and/or other components of the system.

The processor can be configured to perform, on its own, a long

list of conversion, capture, filtering, or conditioning on the IO. A

simple and powerful Basic-like programming language is built

into the card and allows users to write programs that process

the I/O in real time.

RIOX provides a standard RS232 and RS485 interface for com-

munication to PCs and various peripherals. A CAN bus interface

allows RIOX to be a master or slave in a CAN bus network that

can be up to 1000m long and contain up to 127 nodes. CAN bus

also allows the simple interfacing to Roboteq motor controllers.

The RIOX module uses screw terminals to ensure easy inser-

tion and removal while providing a most reliable connection.

RIOX is available in a version with an AHRS (Attitude and Head-

ing Reference System (RIOX1216AH), including 3 axis acceler-

ometer, 3 axis gyroscope, 3 axis magnetometer and a Fusion

algorithm.

The RIOX module’s firmware can easily be updated in the field

to take advantage of new features as they become available.

Applications

• Robot navigation

• Unmanned air, land, sea and submarine vehicles

• Motion stabilization systems

• Industrial automation

• Machine Control

• Movie/Stage props

• Automated Test Equipment

Features List

• Built-in 8V to 40V DCDC Converter. 5V output for local

power and external accessories

• Up to 28 Digital Inputs

• Up to 12 Analog Inputs

• Up to 12 pulse Inputs

• 2 Analog Outputs

• 0-5V Analog inputs range, 12-bit resolution

• Pulse width, Duty Cycle or Frequency pulse capture

• Pulse IO pins configurable as PWM for driving RC servos

• Pulse IO pins configurable as interfaces to Ping ultrasound

distance sensors

• Inputs for up to 3 quadrature encoders

• 16 Digital outputs up to 1A each, 40V max

• Direct interfacing to Roboteq Magnetic Guide Sensor

Summary of content (14 pages)

PAGE 1
RIOX1216 Preliminary - Subject to Change Smart IO Expansion Card with Optional AHRS for Robotics Roboteq's I/O eXtender (RIOX) module is an intelligent I/O expansion card, with an optional Attitude and Heading Reference System (AHRS), that seamlessly integrates with Roboteq Motor Controllers. It is intended for use in robotics navigation, unmanned vehicles, machine control, industrial automation and any other applications that need interfacing to the real world.
PAGE 2
• Standard RS232 port for interfacing to computers and other peripherals • • CAN bus interface • • Easy connection to IO using screw terminals High performance on-board 32-bit ARM Cortex M3 processor with FPU Heartbeat LEDs to indicate proper operation and CAN communication • Built-in Programming Language for local processing of I/O data in realtime.
PAGE 3
Block diagram Block diagram The diagram below shows the RIOX processor. 5V Out 12 CAN Transceiver Analog/Digita/Pulse Input Conditioning IO Connectors 3 Axis Gyroscope Accelerometer Magnetometer RS232 Driver RS485 Driver (AHRS Version) ARM Cortex M3 with FPU IO Processor Digital Ouptut Driver 16 5V DC/DC Converter 3.3V 8V to 40V DC Input RTC NVRAM FIGURE 1. RIOX I/O Processor Module Connectors and LEDs The RIOX1216 is fitted with LEDs for easy monitoring and diagnostics.
PAGE 4
Power and Status LEDs The power LED will lit whenever the module is powered. The status LED will flash to indicate that the MCU is running. The LED flashing rate and color can change to indicate fault or warning conditions. CAN Communication LED The CAN LED will flash whenever data frames are detected on the CAN bus, regardless of the originating and receiving nodes. The LED will keep flashing up to 1 second after the last packet was detected. LED will flash only upon receiving data.
PAGE 5
Connections to Inputs 1 to 12 Communication I/O Connector Pinout Pin assignment is found in the table below. 5 1 9 6 FIGURE 4. DSub 9 pin locations TABLE 2.
PAGE 6
5V Out 1K to 10K 1kOhm 20kOhm 1K to 10K DIN 33kOhm Ground FIGURE 5. Pull down and Pull up switch wiring Analog/Pulse Input Connection DC, Pulse or AC voltage sources can be applied directly to the input. Analog captures must be configured in Absolute mode. Potentiometers and other ratiometric sensors can use the 5V output available on the I/O connector. For best precision, capture must then be configured in Relative mode, to compensate fluctuations in the 5V output.
PAGE 7
Connections to Inputs 1 to 12 Connection to Ultrasound Sensor All inputs can be used to interface directly to inexpensive Parallax Ping ultrasound distance sensors. Digital Output Connections The 16 Digital Outputs are Open Drain MOSFET outputs capable of driving over 1A at up to 40V. Since the outputs are Open Drain, the output will be pulled to ground when activated. The load must therefore be connected to the output at one end and to a positive voltage source (e.g. a battery) at the other.
PAGE 8
Analog Output Connection The two analog outputs will generate a voltage ranging from 0 to 3300 mV. The output is connected directly to an operational amplifier with limited current drive capability. It should therefore only be connected to relatively high impedance loads (1kOhm or higher). Electrical Specifications Absolute Maximum Values The values in the table below should never be exceeded, permanent damage to the card may result. TABLE 3.
PAGE 9
Electrical Specifications TABLE 4. Parameter Measure point Min Typ Max Pulse Capture Resolution Pulse inputs Frequency Capture Pulse inputs 100 10000 Hz Encoder count Internal -2.147 2.147 10^9 Counts Encoder frequency Encoder input pins 1000 kHz 1 Units us Note 1: Current decreases as input voltage increases Note 2: Sum of all 5VOut outputs Note 3: Total average current on all outputs of a driver not to exceed 4.5A Operating & Timing Specifications TABLE 5.
PAGE 10
Reading/Setting Configuration and Accessing I/O via Serial USB, RS232 and RS485 serial communication can be used to read and change the many configuration and operating parameters of the RIOX. It can also be used to read and write I/O. A set of commands are available for this purpose and described in the serial commands section of this document. AHRS The RIOX1216AH is equipped with a 3-axis Accelerometer, Gyroscope and Magnetometer.
PAGE 11
Using the PC Utility The AHRS calibration process requires that the sensor be rotated in every direction, in every angle, for approximately one minute. The rotation must be made while keeping the board in the same location in space, i.e. not moved laterally, up or down). The collected data is then analyzed to automatically determine a couple of dozen parameters needed by the AHRS fusion algorithm to work correctly. A button is provided on the setup screen of the PC utility.
PAGE 12
Basic. Scripts can be simple or elaborate, and can be used for various purposes. Language description and reference can be found on the Roboteq web site. Command Reference Summary RIOX accepts a number of commands via its serial port for reading operational data, sending commands, setting configuration, and performing maintenance. Commands can be sent from any port: RS232, RS485, TTL Serial and are processed as they arrive. Real Time Queries These are commands for reading RIOX data.
PAGE 13
Command Reference Summary TABLE 7. Query Arguments Description TM [Channel] Read Time TRN none Read Power Unit Tree filename V none Read 5V output VAR [VarNumber] Read User Integer Variable Real Time Commands These are commands used to instruct RIOX to do something. They begin with the exclamation mark character. Table 8 shows the list of supported commands TABLE 8.
PAGE 14
TABLE 9.