Terasic Servo Motor Kit User Manual Download | Manualshive

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SMK

User Manual

www.terasic.com

September 12, 2016

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Summary of Contents for Servo Motor Kit

Page 1: ...SMK User Manual www terasic com September 12 2016 ...

Page 2: ...tting Help 5 Chapter 2 Servo Motor Card 6 2 1 Features 6 2 2 Block Diagram of Servo Motor Card 7 2 3 Interface of Servo Motor Card 8 2 4 Power for Motor Card 8 2 5 Interface for FPGA Host 9 2 6 Interface for Servo Motor 11 2 7 CPLD Code for Power Monitor 12 2 8 Servo Motor Control 12 Chapter 3 Design Example 14 3 1 Function Block Diagram 14 3 2 Demo Setup 15 ...

Page 3: ...C servo motors at most The motor daughter card can be linked to the FPGA development kit via the 2x20 Pin GPIO connector The PWM IP and some example designs on different FPGA development boards are also provided in the kit By referring these demos the user can quickly learn how to work with the servo motor and build their own robot machine 1 1 Package Contents The SMK package includes Servo Motor ...

Page 4: ...ns and device datasheets Users can download this system CD from the link http smk terasic com cd 1 3 Assemble the Servo Motor The servo motor and motor daughter card can be connected to any FPGA development kit that is equipped with a 2x20 Pin GPIO connector The pictures below show how the servo motor card is connected to various Terasic FPGA Boards Figure 1 2 Connect the Servo Motor and Motor Car...

Page 5: ...SMK User Manual 3 www terasic com September 12 2016 Figure 1 3 Connect the Servo Motor and Motor Card to DE0 CV Figure 1 4 Connect the Servo Motor and Motor Card to DE0 Nano ...

Page 6: ...SMK User Manual 4 www terasic com September 12 2016 Figure 1 5 Connect the Servo Motor and Motor Card to DE0 Nano SoC Figure 1 6 Connect the Servo Motor and Motor Card to DE1 SoC ...

Page 7: ...tor and Motor Card to DE2 115 1 4 Getting Help Here are the addresses where you can get help if you encounter any problems Terasic Technologies 9F No 176 Sec 2 Gongdao 5th Rd East Dist Hsinchu City 30070 Taiwan Email support terasic com Tel 886 3 575 0880 Website http smk terasic com ...

Page 8: ... photograph of the servo motor daughter card Figure 2 1 Servo Motor Card The major purpose of the servo motor card is to drive the serve motor It receives PWM signal from the host FPGA board converts the voltage of the PWM then sends the PWM to the servo motor The motor will rotate to a desired angle based on the PWM duty cycle it receives The features of the servo motor car are Input 6 2 12V DC t...

Page 9: ...he block diagram of the servo motor card There are 24 level shift populated to convert the voltage level of PWM signals from 3 3V to 5 0V The 6V power regulator provides 6V DC for the servo motor The CPLD is configured to monitor the power constantly When an exception is detected it will automatically shut down the motor The board power comes from the DC jack and 6 2 12V DC power is expected The 5...

Page 10: ... board The POWER SWITCH is used to turn the power on off the motor card When POWER SWITCH is set to off position the servo motor will stop immediately Figure 2 3 Main interface of the servo motor card 2 4 Power for Motor Card External 6 2V 12V DC power is required for the motor card to work Users can provide the required power from the J4 DC Jack or the J1 2 pin connector not installed as shown in...

Page 11: ...o motor card is connected to the host FPGA through the JP0 a 2x20 GPIO header as shown in Figure 2 6 There are 24 PWM channels labeled as PWM0 to PWM23 in the 2x20 GPIO header When driving servo motor the PMW signals is sent from the host FPGA with IO standard 3 3V The Host FPGA board should then provide 3 3V in the VCC3P for the daughter card to use it ...

Page 12: ...or from R310 and R311 to R313 and R314 as shown in Figure 2 7 Figure 2 7 SOC_PM_I2C_SDA and SOC_PM_IC2_SCL Signals The SYS_PM_ALERT is an alert signal from the power monitor chip INA230 SOC_SYS_PDN_n is a reserved signal If users want host FPGA to directly control the daughter power they can move 0 OMH from R318 to R319 and install the D3 component as shown in Figure 2 8 SOC_WARN_LED is a reserved...

Page 13: ...nnect to 24 servo motors The 24 servo motors are drive by 6V DC power If developers wish to drive the 5V device such as an ultrasonic module they can connect the 5V device to JP12 and set J2 1 and J2 2 short as shown in Figure 2 11 In this current example the 5V device will be driven by 5V coming from the 2x20 GPIO header Figure 2 10 24 1x3 header for 24 servo motors Figure 2 11 JP12 power source ...

Page 14: ...etected in order to prevent damages in the motor when servo motor is stuck power current will increase significantly Figure 2 12 CPLD for Power Monitor 2 8 Servo Motor Control The servo motor connector is consistent of three signals as shown in Figure 2 13 The red vcc wire and the brown ground wire are used to provide power for the servo motor The input orange PWM wire is used to specify the rotat...

Page 15: ...SMK User Manual 13 www terasic com September 12 2016 represents 180 degree as shown in Figure 2 15 Figure 2 14 PWM Duty Cycle and Period Figure 2 15 Duty Cyclone V S Angle ...

Page 16: ...e to an angle specified by the duty cyclone of PWM signal as shown in Figure 2 15 in chapter 2 Figure 3 1 Function block diagram In this demonstration users use the KEY and SWITCH on FPGA mainboard to control the behavior of the servo motor Switches SW 0 and SW 1 are used to set the rotation speed of SERVO button KEY 0 is used to increase the angle and button KEY 1 is used to decrease the angle Th...

Page 17: ...emonstration as shown in Figure 3 2 1 Power off the servo motor card 2 Connect servo motor to the PWM0 on the servo motor card 3 Connect the GPIO0 output of the DE0 CV board to the servo motor card 4 Plug 12V DC to the servo motor card 5 Power on the servo motor 6 Connect a USB cable between the host PC and the USB connector J3 on the DE0 CV 7 Please make sure Quartus II has been installed on the ...

Page 18: ...or card 3 Connect the GPIO0 output of the DE0 Nano board to the servo motor card 4 Plug 12V DC to the servo motor card 5 Power on the servo motor 6 Connect a USB cable between the host PC and the USB connector on the DE0 Nano 7 Please make sure Quartus II has been installed on the host PC 8 Execute the batch file DE0_Nano_SMK bat under the demo_batch folder of DE0_Nano_SMK project 9 Press KEY0 to ...

Page 19: ...SMK User Manual 17 www terasic com September 12 2016 Figure 3 3 Demo Setup for DE0 Nano ...

Page 20: ...Mouser Electronics Authorized Distributor Click to View Pricing Inventory Delivery Lifecycle Information Terasic B0493 P0288 FXX 3037 TOP B0492 ...

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