Driver Board User Manual
Contents
1. Control Start Stop Switch oot ge 00000000 4 9 C _ 8000000 lo Hite e 000000 Frequency Control Personal Mechatronics Lab 7 PIC Inputs Driver Board User Manual In order to have manual control of the Unipolar Stepper slide the PIC MAN switch towards MAN Once the board is set to manual 1 The slide switch labelled direction will control the direction of the UP Motor 2 The slide switch labelled Start Stop controls the starting and stopping If the slide switch is slid towards Start then the motor will run if the slide switch is slid towards Stop then the motor will stop Note in stop mode there is a holding torque applied to the motor not all power is cut off from the motor 3 The Trimmer labelled frequency controls the speed of the UP motor Note The unipolar module requires initialization which is automatically done when the board is powered If the module is not working correctly make sure to reset the board to initialize the module 5 3 PIC Control To set the Unipolar Stepper to PIC mode slide the PIC MAN switch towards PIC Once the board is set to PIC 54 First connect the ground of the PIC to the PIC input labelled GND on the board This is a crucial step as the correct functionality of the board cannot be ensured without having a common ground between PIC and Board PIC inputs SO and S1 determine the direction of the UP motor It is important2. The following explanations will make reference to DC1 however all explanations are analogous for DC2 1 The slide switch labelled direction will control the direction of the DC motor 2 The slide switch labelled Start Stop controls the starting and stopping If the slide switch is slid towards Start then the motor will run if the slide switch is slid towards Stop then the motor will stop 3 The Trimmer labelled Duty Cycle controls the speed of the DC motor 8 3 PIC Control To set the DC motors to PIC mode slide the PIC MAN switch towards PIC Once the board is set to PIC The following explanations will make reference to DC1 however all explanations are analogous for DC2 1 First connect the ground of the PIC to the PIC input labelled GND on the board This is a crucial step as the correct functionality of the board cannot be ensured without having a common ground between PIC and Board 2 Connect the corresponding pin from the PIC to the input marked DC1 CLK This input will be a clock signal that will determine the speed of the DC motor based on the duty cycle 3 Connect the corresponding pin from the PIC to the input marked DC1 DIR You must only set this input to a logical 1 or a logical 0 Depending on the input the rotation of the motor will change 8 4 PC Control To set the DC motors to PC mode slide the PIC MAN switch towards PIC ALWAYS POWER THE BOARD USING THE DC JACK WHEN USING THE PC CONTROL The DC m
3. signals press it again to continue monitoring the motor 6 Servo Motor The driver board can run the servo motor in three modes Manual PIC external microcontroller or PC mode The servo motor is referenced in board as SRV The servo motor controller driver is located in the bottom right corner of the controller side of the Driver Board 6 1 Connecting and Powering the Motor SRV Power SRV Output The SRV motor driver has three outputs P for Pulse signal and two terminals corresponding to the motor power In some cases the motor may have a female terminal that can be matched to the male terminals on the board If the terminals do not match the given configuration the motor will have to be wired to the output terminals Personal Mechatronics Lab Driver Board User Manual Power to the motor is provided through the SRV PWR inputs YOU MUST BE EXTREMELY CAREFUL TO RESPECT THE DESIGNATED POLARITIES the consequences are extreme as you will short the power supply you risk not only burning the power supply but also causing irreparable damage to the Driver Board 6 2 Manual Control Duty Cycle Control Start Stop switch PIC Inputs PIC MAN Control In order to have manual control of the servo motor slide the PIC MAN switch towards MAN Once the board is set to manual 1 The slide switch labelled Start Stop controls the starting and stopping If the slide switch is slid towards Start the
4. an external microcontroller or using the computer application software The maximum current that any one motor can draw is 5 amperes The Driver Board is capable of running the following motor configurations simultaneously 1 2DC Motors 1 Unipolar Stepper Motor 1 Servo Motor and 1 Brushless Motor OR 2 1 Bipolar Motor 1 Unipolar Stepper Motor 1 Servo Motor and 1 Brushless Motor Throughout this User Manual a logic of 1 or high logic refers to 5 Volts and a logic of 0 or a low logic refers to a ground 0 Volts signal e 5600062 i 00000060 Personal Mechatronics Lab 3 Driver Board User Manual The above picture shows the different modules on the Driver Board Although these modules are fully labelled on the board the following table shows each module and a small description of each module 1 Modular Arrangement of the Driver Board The Driver Board has been arranged to be user friendly and each circuit have been divided in modules The new Driver Board has two main parts a controller and a driver part The left side of the board contains all the controller modules while the right side of the board contains all the driver modules Power and Output terminals have also been separated in the layout of the board to avoid confusion Module Description 1 Power 2 Computer Interface 3 Unipolar Stepper Controller 3a Unipolar Stepper Driver 4 DC 1 Controlle
5. it run The direction of the motor will be controlled by adjusting the duty cycle 2 To stop the motor press the STOP button 3 The Pause button will control the Servo Monitor screen Press the button to pause the signals press it again to continue monitoring the motor 7 Mode Selector The Driver Board CANNOT simultaneously run the DC motors and Bipolar Stepper motor The mode Selector determines which type of motor the board is set to run Within the Mode Selector module there are two indicative LEDs that display which mode the board is in If the LED next to DC is on then the motor is in DC MODE If the LED next to BP is on then the board is in Bipolar MODE It is also crucial to change the position of the Mode jumper If the board is set to BP mode it is ESSENTIAL to also PLACE THE MODE JUMPER on the BP side of the headers The same is true for DC mode if the board is in DC mode the jumper should be placed on the DC header Note If the jumper is in the wrong position you do not risk damaging the board however the board will not function correctly 8 DCMotor The driver board can run the two DC motors each in any of the following three modes Manual PIC external microcontroller or PC mode The DC motors are referenced in board as DC1 and DC2 The DC motor controller is located below in power and computer interface modules The driver section is located in the top section of the driver side of the Driver Boar
6. used for communicating with the PC 5 Unipolar Stepper Motor The driver board can run the unipolar stepper motor in three modes Manual PIC external microcontroller or PC mode The unipolar stepper motor is referenced in board as UP The unipolar stepper motor controller is located in the top right corner of the controller side of the Driver Board The driver section is located in the lower section of the driver side of the Driver Board Personal Mechatronics Lab Driver Board User Manual 5 1 Connecting and Powering the Motor UP Power LED Indicators UP Output The UP motor driver has five outputs C for Centre Tap and four terminals corresponding to the motor windings In some cases the motor may have more than one center tap lead all such leads should be connected to the C terminal The remaining terminals for the windings are activated sequentially by the motor driver as indicated by their corresponding LED s and should be connected to the appropriate leads on the motor Failure to do so will cause the motor to stall and to overheat Power to the motor is provided through the UP PWR inputs YOU MUST BE EXTREMELY CAREFUL TO RESPECT THE DESIGNATED POLARITIES the consequences are extreme as you will short the power supply you risk not only burning the power supply but also causing irreparable damage to the Driver Board 5 2 Manual Control Direction Control PIC MAN
7. A mpm mL PERSONAL MECHATRONICS LAB Personal Mechatronics Lab Driver Board User Manual August 2010 Driver Board User Manual Table of Contents General Notes 1 Modular Arrangement of the Driver Board 2 Powering the Board 3 Computer Interface 4 Driver Board Software 5 Unipolar Stepper Motor 5 1 Connecting and Powering the Motor 52 ManualControl 53 PIC Control 5 4 PC Control 6 Servo Motor 6 1 Connecting and Powering the Motor 6 2 Manual Control 6 3 PIC Control 64 PC Control 81 Connecting and Powering the Motor 82 Manual Control 8 3 PIC Control 8 4 PC Control 9 Bipolar Stepper Motor 9 1 Connecting and Powering the Motor 9 2 Manual Control 9 3 PIC Control 9 4 PCControl 10 Brushless Stepper Motor 10 1 Connecting and Powering the Motor 10 2 Manual Control 10 3 PIC Control 104 PC Control Personal Mechatronics Lab 2 Driver Board User Manual General Notes The Driver Board V 3 0 has been designed with the user in mind It is an educational printed circuit board that offers a complete method to test and understand motor drivers The Driver Board is capable of running 2 DC motors 1 unipolar stepper motor 1 bipolar stepper motor 1 servo motor and 1 brushless DC motor and it provides the user the option of running the motors either manually using
8. Start Stop PIC Inputs Switch Frequency Control In order to have manual control of the Brushless motor slide the PIC MAN switch towards MAN Once the board is set to manual 1 The slide switch labelled direction will control the direction of the brushless motor 2 The slide switch labelled Start Stop controls the starting and stopping If the slide switch is slid towards Start then the motor will run if the slide switch is slid towards Stop then the motor will stop 3 The Trimmer labelled frequency controls the speed of the brushless motor 10 3 PIC Control To set the brushless motors to PIC mode slide the PIC MAN switch towards PIC Once the board is set to PIC 1 First connect the ground of the PIC to the PIC input labelled GND on the board This is a crucial step as the correct functionality of the board cannot be ensured without having a common ground between PIC and Board Personal Mechatronics Lab 17 Driver Board User Manual 10 4 Connect the corresponding pin from the PIC to the input marked ON OFF This input can be either a logic 1 for ON or logic for OFF as well as a clock signal that will determine the speed of the motor Connect the corresponding pin from the PIC to the input marked DIR You must only set this input to a logical 1 or a logical 0 Depending on the input the rotation of the motor will change PC Control To set the Brushless to PC mode slide the PIC MAN switch tow
9. ar Monitor screen Press the button to pause the signals press it again to continue monitoring the motor Note the bipolar monitoring is done using the DC 1 and DC 2 monitors 10 Brushless Stepper Motor The driver board can run a 5 Volts brushless motor in three modes Manual PIC external microcontroller or PC mode The brushless motor is referenced in board as BLDC The brushless motor controller is located in the bottom left side of the controller section of the Driver Board The driver section is located in the middle of the driver side of the Driver Board BLDC Power BLDC Sensors BLDC Output Personal Mechatronics Lab 16 Driver Board User Manual A complete set of terminals has been added to accommodate the brushless sensors power and their inputs to the controller section There are three terminals for the output of the BLDC motor each to connect the corresponding phase of the motor Note You should be consistent between the sensor and the phase of the motor i e for phase A connect its sensor to the terminal labelled a Power to the motor is provided through the BLDC PWR inputs YOU MUST BE EXTREMELY CAREFUL TO RESPECT THE DESIGNATED POLARITIES AND LIMIT THE VOLTAGE TO 5 VOLTS the consequences are extreme as you will short the power supply you risk not only burning the power supply but also causing irreparable damage to the Driver Board 10 2 Manual Control Direction Control
10. ards PIC ALWAYS POWER THE BOARD USING THE DC JACK WHEN USING THE PC CONTROL The Brushless module can be enabled or disabled by pressing the UNIPOLAR button located at the top of the module Note The Brushless monitor will not be affected by disabling the module From the User Interface you can L Press PLAY button to start the motor Adjust the speed of the motor to make it run Set the direction of the motor by selecting the Forward or Reverse buttons To stop the motor press the STOP button The Pause button will control the Brushless Monitor screen Press the button to pause the signals press it again to continue monitoring the motor Personal Mechatronics Lab 18 Driver Board User Manual 1 Power Module Usa this module to conrect the power to the Driver Board Turn the Eoard ON or OFF using tha switch cn tris module 2 Computer Interface Use this module to conrect the USB cable te the Driver Board It is Fossible to power the board using the USE connecter 3 Unipolar Module Controls she speed and direcsion of unipo motors Provides inputs to control the motor using external microzontroller 4 5 DC Modules Controls che speed and direczion of DC motors Provides inpu s to trel zte motor using an extemal misrozontroller Bipolar Module Con rols speed and direczion of Eipalzr motors Prov des inputs zc control the motor using an external Con
11. d 8 1 Connecting and Powering the Motor Simply connect both leads of your DC motor to DC1 OUT polarity irrelevant and similarly for your second DC motor connect it to DC2 OUT only in the case that you wish to run two DC motors Personal Mechatronics Lab 11 Driver Board User Manual DC1 Power DC2 Power DC1 Output DC2 Output The drivers for each DC motor are fully independent thus it is necessary to provided power to both power inputs DC1 PWR and DC2 PWR if both motors are going to be run Different power sources can be used for each motor or the same power source can be used to run both motors Power to the motors is provided through the DC1 PWR and DC2 PWR inputs YOU MUST BE EXTREMELY CAREFUL TO RESPECT THE DESIGNATED POLARITIES the consequences are extreme as you will short the power supply you risk not only burning the power supply but also causing irreparable damage to the Driver Board 8 2 Manual Control Direction Switch CONTROLLER PIC Inputs Start Stop Switch Frequency Control PIC Man noona Control In order to have manual control of the DC motors slide the PIC MAN switch towards MAN Note It is not possible to run 1 motor using the PIC and the second motor using the Board Both boards must simultaneously be controlled by the board or by the PIC Personal Mechatronics Lab 12 Driver Board User Manual Once the board is set to manual
12. e motor to stall and to overheat Power to the motor is provided through the DC1 PWR or DC2 PWR inputs It is irrelevant which input you power DC1 PWR DC2 PWR or even both together it all amounts to the same thing However YOU MUST BE EXTREMELY CAREFUL TO RESPECT THE DESIGNATED POLARITIES the consequences are extreme as you will short the power supply you risk not only burning the power supply but also causing irreparable damage to the Driver Board Personal Mechatronics Lab 14 Driver Board User Manual 9 2 Manual Control Direction Control Start Stop Switch PIC Inputs Frequency PIC MAN Control Control In order to have manual control of the Bipolar Stepper motor slide the PIC MAN switch towards MAN Once the board is set to manual 1 The slide switch labelled direction will control the direction of the BP motor 2 The slide switch labelled Start Stop controls the starting and stopping If the slide switch is slid towards Start then the motor will run if the slide switch is slid towards Stop then the motor will stop Note in stop mode there is a holding torque applied to the motor not all power is cut off from the motor 3 The Trimmer labelled frequency controls the speed of the BP motor 9 3 PIC Control To set the Bipolar Stepper to PIC mode slide the PIC MAN switch towards PIC Once the board is set to PIC 1 First connect the ground of the PIC to the PIC input labelled GND on the board Thi
13. n the motor will run if the slide switch is slid towards Stop then the motor will stop Note in stop mode there is a holding torque applied to the motor not all power is cut off from the motor 2 The Trimmer labelled frequency controls the duty cycle given to the servo motor controlling the movement of the motor 6 3 PIC Control To set the servo motor to PIC mode slide the PIC MAN switch towards PIC Once the board is set to PIC 1 First connect the ground of the PIC to the PIC input labelled GND on the board This is a crucial step as the correct functionality of the board cannot be ensured without having a common ground between PIC and Board 2 The input labelled CLK provides the pulse signal that will run the motor Note Driving a servo motor requires a low frequency 50 Hz and low duty cycle signal ranging from 0 9 ms to 2 1 ms Failure to provide a high frequency signal could permanently damage the motor 6 4 PCControl Personal Mechatronics Lab 10 Driver Board User Manual To set the Servo motor to PC mode slide the PIC MAN switch towards PIC ALWAYS POWER THE BOARD USING THE DC JACK WHEN USING THE PC CONTROL The servo module can be enabled or disabled by pressing the SERVO button located at the top of the module Note The servo monitor will not be affected by disabling the module From the User Interface you can 1 Press PLAY button to start the motor Adjust the position of the motor to make
14. odules can be enabled or disabled by pressing the DC 1 MOTOR OR DC 2 MOTOR buttons located at the top of the DC 1 and DC 2modules respectively Note The DC monitors will not be affected by disabling the module From the User Interface you can 1 Press PLAY button to start the motor Adjust the speed of the motor to make it run 2 Set the direction of the motor by selecting the Forward or Reverse buttons 3 stop the motor press the STOP button Personal Mechatronics Lab 13 Driver Board User Manual 4 The Pause button will control the DC Monitor screen Press the button to pause the signals press it again to continue monitoring the motor 9 Bipolar Stepper Motor The driver board can run the bipolar stepper motor in three modes Manual PIC external microcontroller or PC mode The bipolar stepper motor is referenced in board as BP The bipolar stepper motor controller is located in the middle left side of the controller section of the Driver Board The driver section is located in the top part of the driver side of the Driver Board 9 1 Connecting and Powering the Motor BP Output The DC motor outputs become the BP motor outputs in BP mode There are four terminals corresponding to the motor windings The terminals are activated sequentially by the motor driver as indicated by their corresponding LED s and should be connected to the appropriate leads on the motor Failure to do so will cause th
15. r 4a DC 1 Driver 5 0 2 Controller 5a DC2 Driver 6 Bipolar Stepper Controller Bipolar Stepper Driver 7 Brushless DC Controller 7a Brushless DC Driver 8 Servo Motor Controller 9 Mode Selector Provides the necessary power for the controller side of the board It has a 2 1 mm jack for a 12 V adapter the voltage is regulated to 45V 1 25 A protection fuse can also be found in this module Provides a USB connector for communication with the PC The on board microcontroller PIC18F4550 resides on this module The PIC microcontroller is responsible for the PC Board communication Provides the tools to control the speed and direction of the unipolar stepper motor It also provides the required terminals to drive the unipolar motor when using an external microcontroller Set of transistors and LED indicators that allow the user to verify which coil of the motor is being energized Provides the necessary tools to control the speed and direction of the first DC motor Set of transistors forming an H bridge Provides LED indicators to shows the direction the motor is running Provides the necessary tools to control the speed and direction of the first DC motor Set of transistors forming an H bridge Provides LED indicators to shows the direction the motor is running Provides the necessary tools to control the speed and direction of the bipolar stepper motor It also provides the required terminals
16. s capable of communicating with a PC by using the USB port The motors can be monitor and controlled from a PC 80000000000000000000 To use the computer interface Connect the USB cable to the board 8 PICISFASSD IE Install the application on the PC e the board ON 0000000000000000000 To use the Computer Interface module you need to install the Driver Board Software 4 Driver Board Software The Driver Board software called Motor Controller is a Windows based interface that allows communication between the PC and the Driver Board Once the software is installed and running the main will window will be displayed All the modules of the window will be disabled as long as the USB cable is unplugged Also the STATUS of the board will show as Not Connected and the red indicator will be on Personal Mechatronics Lab Driver Board User Manual Seon UH Brushless Monitor in cere 1 A When the board is connected through USB the board STATUS will be Connected and the green indicator will light up As soon as the board is connected the monitor windows located in the middle of the window will display the real time information from the motors Also all the modules excluding bipolar module will become enabled NOTE When using the driver board software to any motors power the board using the DC jack The USB connection will be mainly
17. s is a crucial step as the correct functionality of the board cannot be ensured without having a common ground between PIC and Board 2 Connect the corresponding pin from the PIC to the input marked CLK This input will be a clock signal that will determine the speed of the BP motor based on the frequency of the clock signal Connect the corresponding pin from the PIC to the input marked DIR You must only set this input to a logical 1 or a logical 0 Depending on the input the rotation of the motor will change 4 Connect the corresponding pin from the PIC to the input marked Start Stop You must only set this input to a logical 1 or a logical 0 Given a logical 1 the motor will run given a logical 0 the motor will stop with a holding torque Personal Mechatronics Lab 15 Driver Board User Manual 9 4 PC Control To set the Bipolar Stepper to PC mode slide the PIC MAN switch towards PIC ALWAYS POWER THE BOARD USING THE DC JACK WHEN USING THE PC CONTROL The Bipolar module can be enabled or disabled by pressing the BIPOLAR button located at the top of the module Note The Bipolar monitor will not be affected by disabling the module From the User Interface you can 1 Press PLAY button to start the motor Adjust the speed of the motor to make it run 2 Set the direction of the motor by selecting the Forward or Reverse buttons 3 To stop the motor press the STOP button 4 The Pause button will control the Bipol
18. to drive the unipolar motor when using an external microcontroller Combination of DC 1 and DC 2 drivers connected by the 11 jumper Provides the necessary tools to control the speed and direction of the brushless motor It also provides the required terminals to drive the unipolar motor when using an external microcontroller Combination of three half bridges connected to the phases of the motor It provides LED indicators to show the two phases that are always on Provides the necessary tools to control the movement of the servo motor Switch to select between running the DC motors or the bipolar stepper motor LED indicators show what mode the board is Personal Mechatronics Lab Driver Board User Manual 2 Powering the Board The Driver Board can be powered in two ways using the POWER module or through the USB connector The Power Module The board can be powered using the 12 V power adapter The voltage is after regulated to 5 V Most of the LEDs on the board will turn ON once power is applied Note Applying power to the board ONLY powers the controller side of the board Powering through USB The power module can be bypassed by using the USB connection An LED indicator in the Computer Interface module will light up as soon as the connection is done The Power switch turns the Driver Board ON or OFF no matter which method is used to power the board 3 Computer Interface The driver board i
19. to never ground both inputs Setting SO to a logical 1 and S1 to a logical 0 will provide one rotation Setting 51 to a logical 1 and SO to a logical 0 will provide rotation in the opposite direction Note if at any point the UP motor is no longer functioning and the circuit seems to be acting erratically then it is recommended that you reinitialize the circuit by briefly setting SO and 51 to a logical 1 50 Si Output 0 1 Direction 1 1 0 Direction2 1 a initialization The input labelled CLK provides the clock that will run the shift register and determine the speed of the UP motor The minimum width of clear pulse is 20 ns and the maximum frequency that can be supplied is 25 MHz PC Control To set the Unipolar Stepper to PC mode slide the PIC MAN switch towards PIC ALWAYS POWER THE BOARD USING THE DC JACK WHEN USING THE PC CONTROL Personal Mechatronics Lab Driver Board User Manual The Unipolar module can be enabled or disabled by pressing the UNIPOLAR button located at the top of the module Note The Unipolar monitor will not be affected by disabling the module From the User Interface you can 1 Press PLAY button to start the motor Adjust the speed of the motor to make it run 2 Set the direction of the motor by selecting the Forward or Reverse buttons 3 Tostop the motor press the STOP button 4 The Pause button will control the Unipolar Monitor screen Press the button to pause the
20. trols the speed and direcior of bru sniess Isto control the mozer mizrozentroller cn this module DRIVER BOARD V 3 0 QUICK USER GUIDE 7 Brushless Module motors Frovides i using an external microcontroller MOTORS OUTPUT Servo Module Controls zhe dirsction o servo motors Provides inputs to control the motar using an external 8 Mede Selector Select between DZ and Bipolar modules Use jumper c adjust the DC or kipoler power sourze 5a DC Driver Drives the DC motor using H bridge Use the terminals a beled DC 10 0 2 fcr power and he metor Bipolar Driver Drives the 3ipolar mo tor using both H bridges Use the same terminals as tre EC motors 7a Brusaless Driver Drives the BrusFless motor us ing Fa f H Eridzes Use tenvinals lake ed BLDC to connect the motor power and che HALL sensers 3a Brusaless Driver Drives the unipolar metor using a series of trans sors the temminals lake ed UP to connect the moto ard its power 19 Personal Mechatronics Lab
Download Pdf Manuals
Related Search