IFC-BH02 Interface Free Controller Dual Brush Motor User`s Manual
Contents
1. PWR LED on IFC CP04 ae y x ee o a PWR LED on IFC BH02 PWR LED on IFC MBOO 12V LED on IFC PCOO h 3 step 1s to write program and load it into IFC IFC comes with comprehensive function to reduce program development time Functions library come with the interfacing card in the form of header file h and object file o In order to call these functions particular header file and object file must be included under a project Open MPLAB IDE please ensure MPLAB C18 has been installed User can follow the step in chapter 6 2 of IFC MB0O0O user manual to open project named IFC BH02 for IFC Dual Brush Motor Card Please note that the header file iic h 11c_bh h and lic_cp h and object file iic o 11c_bh o and iic_cp o for IFC MBO0O IFC BHO2 and IFC CP04 have to be included in the project If user did not use the provided sample source code Sample2_BHO2 c user needs to include card s header file at the beginning of the program Figure below shows the example on how to include header file object file and card s header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 30 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 M IFC BHO2 MPLAB IDE v8 10 Seles File Edit View Project Debugger Programmer Tools Configure Window Help z i l Author Cytron Technologies F E Samplez_BH0Z c Project gt Interface Free Co2. Cytron Technologie IFC BH02 Interface Free Controller Dual Brush Motor User s Manual V1 0 Jan 2009 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contained in this publication regarding device applications and the like is intended through suggestion only and may be superseded by updates It is your responsibility to ensure that your application meets with your specifications No representation or warranty is given and no liability is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 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 Index 1 Introduction and Overview 1 1 Introduction of Interface Free Controller 1 2 System Overview 2 Packaging List 3 Product Specification 3 1 Communication Address 3 2 Programmer 3 3 Input and Output device 3 4 Operating Voltage Board or Product Layout Nn KR A BR A A Ww YY Installation hardware NO p lt Installation software NY A Nn A NO N Getting Started 7 1 Basic Setup IFC PC00 IFC MB00 IFC BH02 7 2 Basic Setup with Control Panel IFC PC0
3. The Motor Power In status indicator LED will turn ON when either 12V or 24V external power is connected User may connect external power source from IFC Power Card IFC PCOO IFC Extension Board IFC EBO2 or external battery There are 2 types of voltage for BHO2 to run brush motor which are 12V and 24V By default BHO2 will be solder at option 12V However user can de solder the 12V pad and solder 24V pad if 24V is needed as voltage input However please be caution Only 1 power pad can be soldered each time Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 4 BOARD OR PRODUCT LAYOUT rene a at i wi at Function A Encoder connectors I Motor Power In status indicator LED B_ Encoder voltage selector __ Fuse and fuse holder Communication address selectors D_ Brush Motor connectors L Status indicator LED _ Arow S O G Sideconnector O Arow H Motor Power In connector ma A Connector for encoder User can connect 5V 12V or 24V encoder with suitable voltage pre selected Please ensure the pins are correct when connect encoder to the board Please refer to the marking at the back of connector for wiring polarity and signal B Encoder voltage selector User can use the mini jumper to select 5V 12V or 24V for voltage supplied to encoder Please ensure the voltage selected is sui
4. brush motors independently The encoder voltage was selected at 12V r af oY ae k j Do ensure that the pins connected to encoder are correct for VCC for GND and s for signal Created by Cytron Technologies Sdn Bhd All Rights Reserved 11 G yer on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 User should connect external power source from IFC Power Card IFC PC00 IFC Extension Board IFC EBO2 or external battery There are 2 types of voltage for BHO2 to run brush motor which are 12V and 24V Please ensure the supply voltage is suitable for the motor BHO2 will be soldered at 12V by default However user may de solder the 12V pad and solder the 24V pad if 24V is needed as power source for brush motor 24V pad is soldered on BHO2 board 12V pad is soldered on BHO2 board Default Created by Cytron Technologies Sdn Bhd All Rights Reserved 12 Ci tron 5 ROBOT HEAD to TOE Technologie Product User s Manual IFC BH02 The following figures show the connection of external Power In from Power Card Extension Board and external battery User needs to make sure the polarity is correct when connect external power source for Dual Brush Motor Card If user need to supply 24V to Dual Brush Motor Card from Power Card 2 x 12V batteries must be connected to provide 24V Besides that user needs to ensure 24V pad on BH02 board is soldered Please refer Use
5. IFC MBOO After user obtain the IFC BH02 user can stack it on IFC system as shown in figure below Ensure the arrow points to the same direction Ensure the orientation marking at the same side Cautions Please ensure that every card is being stacked properly in correct orientation Whole IFC system will be damaged if one of the cards is being stacked wrongly when it is powered up Created by Cytron Technologies Sdn Bhd All Rights Reserved 7 Ci tron 5 ROBOT HEAD to TOE Technologie Product User s Manual IFC BH02 Besides stack every card in correct orientation user must also require to ensure all card pins are not shifted when stacking Figures show the example of stacking cards in proper location and example of stacking cards with shifted pins Ensure that all card D SYLLIS N pins are not shifted amp WT LTT ii ed i in when stacking A innn wa a morne ny Examples of stacking cards with shifted pins Please AVOID this ETUATI S oot PERETTI TDD Pae LLL LLY Created by Cytron Technologies Sdn Bhd All Rights Reserved 8 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 E Ties a kaa ha Ensure that all card pins are not shifted when stacking Examples of stacking cards with shifted pins Please AVOID this Cautions Please ensure that all card pins are not shifted when stacking IFC system will NOT function if t
6. program please refer to c file named Samplel_BH0O2 c which is provided with this card k Compile this project to generate hex file Connect UICOOA IDC connector to IFC MB0O0 as shown The hex file generated is IFC BHO2 hex orm mri fE Dm ENNA RT ca Connector for UICOOA programmer Created by Cytron Technologies Sdn Bhd All Rights Reserved 26 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 l Load the generated hex file using PICkit2 window refer to UICOOA User s Manual for details Power up IFC system if it is OFF m There are also 3 modes for user to select in program Samplel_BHO2 c User can select mode by pressing push button on IFC MBOO Each time after selecting the mode user needs to press reset to restart The modes are Push Button Buzzer on IFC MBOO beeps for 1 time 1 SWI Brush Motor is activated and run based on program Buzzer on IFC MBOO beeps for 2 times Brush Motor is activated Motor 1 will 2 sw change the running direction to counter clockwise and speed to 100 when encoder 1 value gt 1000 Motor 2 will stop when encoder 2 value gt 500 The two motors will run independently The speeds will increase and decrease 3 SW3 gradually and then direction will be changed This program will run repeatedly until the reset button is pressed n Please refer the comments in source code for the details of each m
7. 0 IFC MB00 IFC BH02 IFC CP04 28 8 Warranty 33 NO oS Created by Cytron Technologies Sdn Bhd All Rights Reserved Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 1 INTRODUCTION AND OVERVIEW 1 1 Introduction of Interface Free Controller IFC Interface Free Controller offer a new concept of developing microcontroller embedded system and also robotics system With IFC no more frustration in determine hardware interface and configuring peripheral in software Checking few hundreds pages of data sheet can be waved With the concept of interfacing card user may stack as many as 64 cards in a system to get infinite combination of peripherals The design aims to offer 3 simple steps in microcontroller system development Configure card s address Stack IFC cards Write Program and Run Furthermore with functions based software library user save valuable time during software development by concentrating on algorithm development No more flipping or scrolling PIC data sheet looking for ADCONO TICON or even TRISA With just a programming hand book user may simply copy the header file call comprehensive functions and it s ready to rock IFC come with a brain card main controller where the main program is loaded There are several cards available for robotics development such as control panel 15A brush motor driver brushless motor controller counter and digital input output card P
8. al IFC BHO2 Technologie c Besides stacking each card in correct orientation user also needs to ensure that all the pins are not shifted and were inserted into correct location Ensure that all the ST FLLS RET pins when stacking Q WA T ALTTI E LDD are not shifted and inserted to correct location i i pire MUTT d Connect the brush motor and encoder if necessary to Dual Brush Motor Card Please refer to hardware setup for connecting input devices to Dual Brush Motor Card e Connect the battery to Power card as shown please ensure the polarity is correct Connect 1 x 12V battery to supply operating voltage to IFC Ensure the polarity is correct If 24V is needed in the system connect polarity is correct Created by Cytron Technologies Sdn Bhd All Rights Reserved 29 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 f Connect the External power source for Dual Brush Motor Card Please refer hardware setup in chapter 5 0 for connecting power to Dual Brush Motor Card Please ensure the external power supply voltage selection s pad on BHO2 board is correctly soldered according to power supply voltage 12V or 24V Turn ON the IFC power by pushing the toggle switch to ON There should be at least 4 LED 12V LED on Power Card PWR LED on Main Brain and PWR LED on Dual Brush Motor Card and PWR LED on Control Panel light up as show F
9. e download from Microchip website Please refer user s manual of IFC MBO0 for the installation of MPLAB IDE and MPLAB C18 As for the installation of UICOOA software please refer to UICOOA User s Manual Please refer to MBOO User s Manual Chapter 6 for details step to install MPLAB IDE and C18 compiler Created by Cytron Technologies Sdn Bhd All Rights Reserved 21 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 7 GETTING STARTED IFC is being design with the aim of 3 simple steps to use it Configure card address Stack it Load program and run The system must be at least have a power card IFC PCOO and a main board IFC MBOO to function This section will show the example on how to operate it with Dual Brush Motor card FC BHO2 1 step Address Configure Card s address 2 step Stacking Stack the card s Connect the battery Connect necessary sensor or motor Turn it ON 3 step Program Include the necessary header and object file s Write program using template given Call necessary function referring to Program Reference Notes Compile and Load Program through UICOOA There are 2 basic setups in this chapter for IFC BHO02 the 1 example includes 3 cards IFC PCOO IFC MBOO and IFC BH0O2 while a example includes one extra card which is IFC CP04 Please refer to the following section of this chapter for setup details Created by Cytron T
10. echnologies Sdn Bhd All Rights Reserved 22 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 7 1 Basic Setup IFC PC00 IFC MB00 IFC BH02 This is the basic and minimum setup for IFC BHO2 which comes with 2 brush motor terminals and 2 encoder terminals Though without other card this basic setup can still perform some task such as drive 2 brush motors or controlling the motor based on value counted in encoder Following steps show the installation of this system and method to operate it a 1 step configure the address of card Dual Brush Motor Card has 6 mini jumpers to configure communication address A5 AQ It should be set to 000011 if sample source code is being used b 2 step is to stack all 3 cards together Power card IFC PCOO should be at the bottom while Main board IFC MBO0 at 2 layer and Dual Brush Motor Card IFC BH02 at top layer as shown in following figure Ensure the arrow points to the same direction Ensure the orientation marking at the same side Created by Cytron Technologies Sdn Bhd All Rights Reserved 23 E tron 5 ROBOT HEAD to TOE Technologie Product User s Manual IFC BH02 c Besides stacking every card in correct orientation user must ensure all card s pins are not shifted when stacking the cards Ensure that all card pins are not shifted when stacking ry hi BASLE EOS Om o iD LEE iM e
11. ee priate rai d Connect the brush motor and encoder if necessary to Dual Brush Motor Card Please refer hardware setup for connecting input devices to Dual Brush Motor Card e Connect the battery to Power card as shown please ensure the polarity is correct Connect 1 x 12V battery to supply operating voltage to IFC Ensure the polarity is correct If 24V is needed in the system connect polarity is correct Created by Cytron Technologies Sdn Bhd All Rights Reserved 24 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 f Connect the External power source for Dual Brush Motor Card Please refer hardware setup in chapter 5 0 for connecting power to Dual Brush Motor Card Please ensure the external power supply voltage selection s pad on BHO2 board is correctly soldered according to power supply voltage 12V or 24V Turn ON the IFC power by pushing the toggle switch to ON There should be at least 3 LED 12V LED on Power Card PWR LED on Main Brain and PWR LED on Dual Brush Motor Card light up as shown PWR LED on IFC BH02 PWR LED on IFC MBOO 12V LED on IFC PCOO h 3 step is to write program and load it IFC comes with comprehensive function to reduce program development time Functions library will come with the interfacing card in the form of header file h and object file o In order to call these functions particular header fi
12. he pins are shifted Created by Cytron Technologies Sdn Bhd All Rights Reserved 9 Cytr on X ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 User can use mini jumper provided on IFC BHO2 to select the communication address of IFC BH02 For example figure below shows the communication address 000011 selected Please make sure the address selected 1s compatible with the program Each slave card must have unique address Please refer chapter 7 for details of writing program for IFC BH02 User also needs to select power source for the encoder if it is connected to BHO2 There is an encoder voltage selector for encoder User can use the mini jumper to select 5V 12V or 24V for voltage supplied to encoder Please ensure the voltage selected is suitable with the encoder and only ONE input voltage 5V 12V or 24V is selected Figure below shows that 12V was selected for encoder voltage AS ACI Weed L w 12V was selected for Encoder Caution Please ensure that only ONE input voltage range SV 12V or 24V selected for each encoder voltage selector If user need to supply 24V to encoder 2 x 12V batteries must be connected to Power Card or to provide 24V Created by Cytron Technologies Sdn Bhd All Rights Reserved 10 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 Figure below shows how to connect Encoder and motor to BHO2 Each BHO2 can drive 2
13. in writing program for IFC BH02 Note2 Each time open a new project for IFC user need to add ALL header files and object files for all related IFC cards that are used User also needs to include ALL cards header file at the beginning of the program Please refer sample source code for the example to include card header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 32 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 8 WARRANTY gt Product warranty is valid for 6 months gt Warranty only applies to manufacturing defect gt Damage caused by miss use is not covered under warranty gt Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan IA Taman Universiti 81300 Skudai Johor Malaysia Tel 607 521 3178 Fax 607 521 1861 URL www cytron com my Email support cytron com my sales cytron com my Created by Cytron Technologies Sdn Bhd All Rights Reserved 33
14. l cards are stacked to get a complete embedded system The minimum card requires is Power card and Main Board Encoder digital sensor Relays etc Brushless motors 2 Brush motors Brush motor Power and communication This document explains the method to use IFC BH02 Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 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 CE E i i a i i i 1 1x IFC Dual Brush Motor Card JFC BHO2 with 7 x mini jumper 1 x Female Connector 3961 03 2 x Female Connector 3961 02 2 x Female Connector 2510 03 7 x 3961 iron pin 6 x 2511 iron pin Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 3 PRODUCT SPECIFICATION 3 1 Communication Address There are 64 2 communication address of IFC BHO2 that can be selected The 6 bits communication address is determine by selector A5 through AO 6 set of 1x3 headers on IFC BHO2 User may set the card address by using the mini jumper However user is required to make sure the communication address chosen on board is compatible with program written in Main Board 3 2 Programmer User d
15. lay Station 2 Controller card analog input card dual brush motor card and power card This document will focus on the dual brush motor card IFC BHO2 This card has been designed with capabilities and features as below e Industrial grade PCB e Every component is soldered properly and tested before board is shipped e Circuit power and busy indicator LED e 12V operation e 6 set of 1x3 headers to select communication address e 2 brush motor ports e 2 encoder ports e Selectable power source for encoder 5V 12V or 24V e Drive brush motor in 2 different ranges of voltage 12v or 24 V default is 12V e 2 motor status indicator LED to indicate the direction of motor CW and CCW e Motor Power In status indicator LED e Maximum of 5A continuous current output per channel e Control each channel of motor independently for start stop speed and direction e Dimension 11 1cm x 6 9cm e Template and sample source code is provided for MPLAB C18 compiler Warning This card is not suitable for fast direction changing application due to some timing delay needed when changing the motor direction using onboard relays Created by Cytron Technologies Sdn Bhd All Rights Reserved l Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 1 2 System Overview With serial communication perception IFC offer million of possibilities to develop embedded system creatively and easily In IFC severa
16. le and object file must be included under a project Open MPLAB IDE please ensure MPLAB C18 has been installed User can follow the step in chapter 6 2 of IFC MBOO user manual to open project named IFC BH02 for IFC Dual Brush Motor Card Please note that the header file iic h and 11c_bh h and object file lic o and 1ic_bh o for IFC MBOO and IFC BH02 have to be included in the project If user did not use the provided sample source code Samplel_BH0O2 c user also needs to include card s header file at the beginning of the program Figure below shows the example to include header file object file and card s header file Created by Cytron Technologies Sdn Bhd All Rights Reserved 25 Cytr on 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 M IFC BHO2 MPLAB IDE v8 10 Sele Fie Edit View Project Debugger Programmer Tools Configure Window Help os gt Cytron Technologies Project gt Interface Free Controller Dual B Project description Samplel for IFC BHOzZ Header Files 30 December 2008 2 iic h E ic_bh h aen Files include h file for cards aetlhiclude h file for all the cards used finclude lt pl ef246e5 h gt i 15F2685 ler finclude iic h Nother Files include iic bh h OSC HSPLL config FCMEN OFF config ITESO OFF config PWET OFF config BOREN OFF config WOT OFF PICLEF2Z685 OWS novzdcc bank QO Loni j To better understand the
17. n Bhd All Rights Reserved Example of 12V connection 1 x 12V Battery The battery connected in this figure is Sealed Lead Acid Battery However user 1s free to connect any type of battery as external power source 16 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 User may follow the steps below to build a cable connector for connecting the external power source from 2 extra batteries Materials needed a 4xcable b 1x 3961 3 female connector c 3x 3961 iron pins Solder some lead on it Solder some lead on it cable on it Created by Cytron Technologies Sdn Bhd All Rights Reserved 17 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 q Ensure the iron pins are fully inserted to the connector Connect the cable to batteries Please ensure the polarity is correct Red for positive while black for negative 12V Battery Battery Created by Cytron Technologies Sdn Bhd All Rights Reserved 18 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 After power is connected to Motor Power in the Motor Power In status indicator LED will turn ON The Motor Power In status indicator LED will turn ON no matter 12V or 24V external power is connected If the indicator LED does not turn ON when power is connected please check the polarity and connection DO NOT proceed
18. ntroller Dual Br Project description Sample for IFC BHOZ with IFC CP I Header Files 30 December 7008 E ibh te iic_cp h E object Files i iico include h file for cards o g include h file for all the cards used bese amp ic_bh o iic_cp a AT Library Files include iic h finclude iic_bh h finclude iic_cp h config O amp 8C HSPLL config FCHEN OFF config IESO OFF config PWET OFF config BOREN OFF config WET OFF config MCLEE oM config FEA DEN OFF config DEBUG OFF PIC TSF 2685 Wy nmovedce bank Lmz j To better understand the program please refer to c file named Sample2_BH0O2 c which is provided with this card k Compile this project to generate hex file Connect UICOOA IDC connector to IFC MB00 as shown The hex file generated is IFC BHO2 hex per iT ER i a TE TEP eee ofS At jen ot Connector for UICOOA programmer l User can also add the tic_cp h and tic_cp o in project opened in chapter 7 1 remove the C file Samplel_BHO2 c in the project and replace it with Sample2_BH0O2 c without creating a new project for this example Created by Cytron Technologies Sdn Bhd All Rights Reserved 31 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 m Load the generated hex file using PICkit2 window refer to UICOOA User s Manual for details Power up IFC system if it is OFF n This sam
19. ode o To remove a card from IFC system the power should be switched OFF p Please use proper tool to remove the card User may refer previous section in chapter 5 0 Installation hardware for the method to remove card with IFC card opener Created by Cytron Technologies Sdn Bhd All Rights Reserved 27 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 7 2 Basic Setup with Control Panel IFC PC00 IFC MB00 IFC BH02 IFC CP04 Adding a control panel which comes with a 2 x16 character LCD and 4 programmable push buttons will offer more interesting demonstration Following steps show the installation of this system and method to operate it a 1 step configure the address of cards IFC BH02 and IFC CP04 Dual Brush Motor Card has 6 mini jumpers to configure communication address A5 AQ It should be set to 000011 if sample source code is being used As for Control Panel it should be set to CP1 Upper side b 2 step is to stack all 4 cards together Power card IFC PCOO should be at the bottom Main board IFC MBOO at P layer Dual Brush Motor Card IFC BH02 at 3 layer and Control Panel at the top layer as shown in following figure Ensure the arrow points to the same direction Ensure the orientation marking is at the same side Created by Cytron Technologies Sdn Bhd All Rights Reserved 28 Cytr on 5 ROBOT HEAD to TOE __ Technologies Product Useer s Manu
20. oes not need to prepare programmer for IFC BHO2 IFC BH02 is one of the slave cards of IFC system The slave program is preloaded before shipped to customer User will only need the Main Board of IFC system IFC MB0O0 to control this slave card 3 3 Input and Output device The output devices on BHO2 are as below e 2 status indicator LED Power and busy LED Power LED PWR will turn ON when power is supplied to BHO2 Busy LED Busy will turn ON or blinking when BHO2 is communicating with master card IFC MBOO e Motor Power In status indicator LED e 2 brush motor port to connect brush motor The brush motor connected can run up to 5A per channel BHO2 will be solder at 12V for motor voltage option in default However user may de solder the 12V pad and solder 24V pad if motor used is rated at 24V e 2 motor s direction indicator LED for each motor clockwise CW and counter clockwise CCW The input devices on BHO2 are as below e 2 encoder input port ready with selectable power source Selectable power source for encoder input port SV 12V or 24V User can select the encoder power source by using the mini jumper 3 4 Operating Voltage e The operation voltage of IFC BHO2 is 12V User needs to stack a Power Card IFC PCOO and connect a 12V battery on Power Card to supply 12V to Dual Brush Motor Card However user needs to connect external power source through Power In connector on IFC BHO2 to supply voltage to brush motor
21. ple project will print message at LCD on Control panel after reset The message print after reset are Welcome IFC User o There are 3 modes for user to select in program Sample2_BH0O2 c User can select each mode by pressing push button on IFC CP04 Each time after selecting the mode user needs to press reset to restart The modes are Push Button Buzzer on IFC MBOO beeps for 1 time Brush Motor is activated and run based on program The motor s status will be display on Control Panel Buzzer on IFC MB00 beeps for 2 times Motor 1 will change the running direction to counter clockwise and speed to 100 when encoder 1 value gt 1000 Motor 2 will stop when encoder 2 value gt 500 LCD will displays the both speeds and encoders value at the same time Buzzer on IFC MBOO beeps for 3 times Brush Motor is activated The two motors will run independently The speeds will increase and decrease gradually and then direction will be changed This program will run repeatedly until the reset button is pressed p Please refer the comments in source code for the details of each mode q Before remove a card from IFC system make sure power should be switch OFF first r Please use proper tool to remove the card User may refer last section in chapter 5 0 for method to remove card with IFC card opener Notel User can refer to IFC BHO2 Card Function Library for the program function list It will help user
22. r s Manual for IFC PCOO for the connection of battery to Power Card Do ensure that the polarity and connection of cables are correct Created by Cytron Technologies Sdn Bhd All Rights Reserved 13 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 24V pad is soldered on BHO2 board Following figure shows the example connection of external power source from IFC Extension Board Please refer User s Manual for IFC EB02 for the more details Created by Cytron Technologies Sdn Bhd All Rights Reserved 14 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual IFC BH02 User may connect the external power source from external battery as shown in figures below If user needs to supply 24V from external battery ensure 24V pad is soldered on BHO2 board 24V pad is soldered on BHO2 board Example of 24V connection 2 x 12V Batteries The batteries connected in figure are Sealed Lead Acid Battery However user is free to connect any type of battery as external Created by Cytron Technologies Sdn Bhd All Rights Reserved 15 Cytron 5 ROBOT HEAD to TOE _ Technologies Product User s Manual FC BH02 If user needs to supply 12V from external battery user may de solder the 24V pad and solder 12V pad to BHO2 board 12V pad is soldered on BHO2 board Created by Cytron Technologies Sd
23. table with the encoder before powering up the board and only ONE input voltage range 5V 12V or 24V is selected C 2 Motor s direction indicator LEDs for each motor The CW LED will turn ON when motor run in clockwise while CCW LED will turn ON when motor run in counter clockwise Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 D The connector to connect brush motor The brush motor connected can run up to 5A for each motor E The orientation marking on IFC BHO2 Every IFC card will have this orientation marking this is to help user in ensuring the cards are stack correctly F Relay for driving brush motor Each motor need 2 relay to drive motor in CW and CCW direction G Side connector for stack card and communication between cards H Motor Power In connector for user to connect external power source for motor The external power source must be provided to IFC BHO2 in order to run motor User may connect it using the standard connector provided The voltage for motor will also depends on pad soldered on the BHO2 card either 12V or 24V Only 1 input can be soldered as input I Motor Power In status indicator LED The Motor Power In status indicator LED will turn ON when either 12V or 24V external power is connected J 15A fuse used as motor control circuit protection K 6 set of 1x3 headers
24. to turn on the IFC system The Motor Power In status indicator LED turn ON when either 12V or 24V external power is connected Next turn ON the power on Power Card the PWR LED of IFC BHO02 will ON as shown in Figure Initially if there are no functions related to IFC BHO2 being called in Main Board s program the busy LED will not ON or blink PWR LED on IFC BH02 PWR LED on IFC MBOO 12V LED on IFC PCOO Created by Cytron Technologies Sdn Bhd All Rights Reserved 19 Cytron 5 ROBOT HEAD to TOE Technologie Product User s Manual IFC BH02 To open the cards user should use the IFC card s opener to open the stacked cards Figure shows the method to open cards with the opener Please turn OFF the IFC system before open IFC cards j E E Caution Please use the opener to open IFC cards to avoid damage of the pins or cards Created by Cytron Technologies Sdn Bhd All Rights Reserved 20 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 6 INSTALLATION SOFTWARE User need only to write program for IFC MBO0O in order to send data and communicate with IFC BHO2 A program editor C compiler and UICOOA software are required to be installed in order for user to write program compile it and load the program to IFC main board User is recommended to use MPLAB IDE as source code editor and MPLAB C18 as C compiler Both of the softwares are available for fre
25. use as communication address selector on IFC BHO2 User can set the card address by using the mini jumper L 2 status indicator LEDs are used to indicate the status for power ON PWR and busy in communicating with Main Board card Busy PWR LED will turn ON when power supplied to the board Busy LED will turn ON when the card is busy in communicating with master card IFC MBO0 M Reserved for Manufacturing Test Point Please DO NOT short or connect wire to any of these pins N Microcontroller which used as controller for this slave card O An arrow to help user in ensuring the cards are stack correctly Every IFC card has this arrow user needs to ensure that the arrow points to the same direction when IFC cards are stack together Cautions Only ONE power input 12V or 24V can be soldered on BHO2 board as power source for motor If user accidently solders both pad to power input the PCOO and battery will be damaged Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 Cytr on gt ROBOT HEAD to TOE Technologie Product User s Manual FC BH02 5 INSTALLATION HARDWARE For the hardware installation of IFC BHO2 user will first need the Main Board card IFC MBO0O and Power Card IFC PCOO of IFC system IFC MBO0 is the main controller of the IFC system while IFC PCO0O is the main power supply of the system For the installation of IFC MBO0 and IFC PC00 please refer to the user s manual of
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