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SV203

- Servo Motor Controller Board

The SV203 is a PIC16C73 microcontroller based servo motor
controller board that accepts RS-232 serial data from a host
computer and outputs PWM (pulse-width-modulated) signals to
control up to eight RC (radio-controlled, i.e. model airplanes, cars,
etc.) servo motors. Unused servo pins can be reconfigured as digital
outputs for controlling on/off devices. LED displays can be driven
directly by the pins but devices such as relays and solenoids may
need a simple transistor driver circuit.

There is also a 5-channel A/D port for reading analog voltage
between 0-5 volts, and a SPI (synchronous peripheral interface)
port which allows data to be shifted in or out serially.

The SV203B/C has the added feature of being able to run a
standalone BASIC program stored on board an 8K EEPROM. An
optional IR-Receiver/Transmitter (IR100) is also available to allow
Infrared Serial Communications.

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Содержание SV203

Страница 1: ...Rev 1 20 714 985 9286 Fax 714 985 9288 2700 E Imperial Hwy Suite N Brea CA 92821 ...

Страница 2: ...for controlling on off devices LED displays can be driven directly by the pins but devices such as relays and solenoids may need a simple transistor driver circuit There is also a 5 channel A D port for reading analog voltage between 0 5 volts and a SPI synchronous peripheral interface port which allows data to be shifted in or out serially The SV203B C has the added feature of being able to run a...

Страница 3: ...f the pulse width is increased to approximately 2 4 ms the servo will rotate to the opposite maximum position Figure 1 A 1 5 ms pulse will set the servo in the middle neutral position The SV203 controller is designed to the specifications of a Futaba servo model FP S148 These servos have a neutral position at 1 52 ms 90 degrees at 0 6 ms and 90 degrees at 2 4 ms Other servos may have slightly diff...

Страница 4: ...either from 4 alkaline batteries or 5 NiCad cells An AC adapter can also be used 6VDC at 300mA If using NiCads a 4 cell pack might be easier to find than a 5 cell pack The board will operate fine with 4 cells but may not last as long as 5 cells Figure 2 pin out for SV203 ...

Страница 5: ...4 SV203 Power Supply and Pin out DB 9 DB 9 DB 25 DB 25 Macintosh Macintosh DB 9 DB 9 1 3 1 2 5 2 2 3 3 3 4 4 5 8 4 7 5 6 6 7 7 8 8 9 9 Figure 2a DB cross referenced chart ...

Страница 6: ...e servo connector is designed to be used with Futaba type servos with J type connectors The servos have three colored wires Black for ground Red for power and White for signal Connect the cable with the White wire pointing to S1 S8 and the Black wire toward the outside edge of the board Figure 3 servo connected to SV203 ...

Страница 7: ...Board ID Number 0 Any Board regardless of Enter Servo to control 4 ID move Servo 4 to Enter Position of Servo 254 position 254 Quit y n n SV203 Servo Controller Enter Board ID Number 1 Board with ID 1 Enter Servo to control 2 Turn off Servo 2 Enter Position of Servo 0 Quit y n n SV203 Servo Controller Enter Board ID Number 1 This command is invalid because Enter Servo to control 9 there is no Serv...

Страница 8: ...se refer to Command Listing Page p 26 for a complete listing For example the commands to select a board select a servo and move to a position are BD SV and M respectively If your want to move servo 3 of a board with an ID number equal to 1 to position 85 you would send the flowing command string BD1SV3M85 enter The commands can also be separated by spaces or commas for ease of reading BD1 SV3 M85 ...

Страница 9: ... line limit including spaces and commas BD1 SV1 M30 SV2 M104 SV3 M25 enter The commands above will select Board 1 Move servo 1 to position 30 then move servo 2 to position 104 and move servo 3 to position 25 all at about the same time Any parameter value for the command not in the range of the command will be ignored see Command Listing Page p 26 The board will start processing the command string ...

Страница 10: ...r redefined by using the WE command see Commands Descriptions Page p 20 This allows multiple boards of different ID number to be connected to the same serial port You can enable the board in two other ways You can pre enable the board at power up by changing the default settings see Changing Default Settings Page p 22 or you can enable the board by sending an ID number 0 such as BD0 enter This wil...

Страница 11: ...t another servo or to make sure the servo is selected send SV followed by the servo number The servo number must be between 1 and 8 because there is a maximum of eight servos that the board can control i e SV3 enter servo 3 will be selected Any move commands that follow will operate on servo 3 ...

Страница 12: ...pe servo the maximum mechanical movement is about 180 degrees The 1 to 255 position ranges gives a precision of a little under one degree The figure below shows what position the servo will be in given the value of position M128 M1 M255 Sending a zero to the servo can turn off the pulse width command signal to the servo which causes the servo to remove power from the motor M0 enter ...

Страница 13: ...will move the servo relative to the current position of the servo by adding or subtracting the value entered to the current servo position i e M100 enter I10 enter I 20 enter The selected servo will first move to position 100 then to position 110 100 10 and then finally to position 90 100 10 20 ...

Страница 14: ...tion 20 There is a one second 1000 ms pause and then servo 1 will move to position 100 Caution When using the Delay command the board will not receive input from the serial port during the delay state The host computer that is talking to the board has to wait at least the same amount of time before another command string can be sent Any commands sent during the delay will be ignored ...

Страница 15: ...st first be turned off by sending a M0 command to each servo pin that you want to use as digital output i e SV7 M0 PS7 enter Pin S7 of the servo port will be set high 5 Volts i e SV8 M0 enter PT8 enter Pin S8 of the servo port will be toggled flipped set high if pin was low or cleared if pin was high The pins can drive and sink up to 25 mA a driver circuit such as the one below may be required to ...

Страница 16: ...ells which pin on the A D port to request When the board receives this command it will read the specified voltage on the pin and return a value between 0 to 255 which represents a voltage between 0 to 5 Volts i e AD1 enter If wires were connected as in the figure below and the potentiometer as in the middle position the board would return a value close to 28 followed by ASCII 13 which is about 2 5...

Страница 17: ... shows how to connect shift register chips 74HC164 or 74HC165 to the board to make a serial to parallel or parallel to serial converter Use the SO command to make a serial to parallel converter i e SO3 enter pins 3 and 4 of the 164 will be set high while all others are low 3 decimal à 00000011 binary Use the SI command to make a parallel to serial converter i e SI enter the board will return a num...

Страница 18: ...on 60 in RAM The value of the register is initialized by the contents of EEPROM in location 11 The register configures the shift function for MSF most significant first or LSF least significant first data valid on clock going high or low and the number of bits to shift in out ...

Страница 19: ...ese commands allow you to modify and read the contents of the internal register or RAM of the processor The internal RAM is a volatile memory storage so when power is removed the contents will be erased i e WR51 20 enter servo 1 will move to position 20 this command is equivalent to SV1 M20 enter i e RR52 enter the position of servo 2 will be returned ...

Страница 20: ...e Note 5 Port A 6 Port B 7 Port C 14 TMR1L 15 TMR1H 16 T1CON 27 CCPR2L 28 CCPR2H 29 CCP2CON 51 to 58 Current Servo Position 59 Servo Select 60 Shift Config Register 133 TRIS A 134 TRIS B 135 TRIS C Note All other RAM locations not listed are used by the system and should not be used ...

Страница 21: ... be stored These commands allow you to modify and read the contents of the external EEPROM connected to the processor The EEPROM is a non volatile memory storage so any information written to it will stay even when power is removed i e WE0 2 enter change the board ID number to 2 i e RE1 enter the SV203 returns the initial servo value of servo 1 ...

Страница 22: ...al 3 Initial Servo 3 Value 128 0 off or Digital 4 Initial Servo 4 Value 128 0 off or Digital 5 Initial Servo 5 Value 128 0 off or Digital 6 Initial Servo 6 Value 128 0 off or Digital 7 Initial Servo 7 Value 128 0 off or Digital 8 Initial Servo 8 Value 128 0 off or Digital 9 Baud Rate 50 9600 baud 24 19200 baud 100 4800 baud 200 2400 baud 10 Pre Enable Flag 1 1 Yes 0 No 11 Shift Config Register 0 M...

Страница 23: ... other initial flags These initial settings can be changed by using the WE command for WE command see p 20 To change ID i e WE0 3 enter 3 is the new ID number To have the board be pre enable on power up i e WE10 1 enter To change Servo initialization i e WE2 0 enter Servo 2 will be off when the board is turned on See the Memory Map on previous page for other default settings ...

Страница 24: ...oard and wait for about 3 seconds You can also use the enclosed program on disk called DEFAULT EXE to reset the default settings of the board If the baud rate of the SV203 has been altered either on purpose or inadvertently the DEFAULT EXE program cannot be used In this case the above method of shorting pins 7 and 8 of connector J3 is preferred ...

Страница 25: ... numbers to each board If you are using the second board for output only the wiring below will work just fine If the other boards need to be used for both input and output then use the wiring below Since the RS232C standard is designed for a single peripheral the output pin of the boards cannot be tied directly together ...

Страница 26: ...____ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ___________________...

Страница 27: ...lue the board will return a value between 0 to 255 followed by ASCII 13 which represent a voltage between 0 to 5 Volts SOn 0 to 255 Shift a byte out to the SPI port SI None Shift a byte in form the SPI port WRm n m 0 to 255 n 0 to 255 Write to internal RAM m is the memory location n is the value to write RRm m 0 to 255 Read the contain of internal RAM m is the memory location to read WEm n m 0 to ...

Страница 28: ...27 SV203 Schematic ...

Страница 29: ...ranty does no apply if product has been damaged by accident abuse or misuse Copyright and Trademarks Copyright 1997 98 by Pontech All rights reserved PIC is a registered trademark of Microchip Technology Inc FUTABA is a registered trademark of FUTABA Corporations Disclaimer of Liability Pontech is not responsible for special incidental or consequential damages resulting from any breach of warranty...

Страница 30: ...Copyright 1997 98 by Pontech All rights reserved ...

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