User's Manual
Contents
1. for MO SPG 30E XXXK XXX is referring to the gear ratio of Cytron s SPG 30 Geared Motor series which is either 20 30 60 150 200 or 300 This DC Geared Motor with Encoder is formed by a quadrature hall effect encoder board which is designed to fit on the rear shaft of Cytron s SPG 30 Geared Motor series Two hall effect sensor are placed 90 degree apart to sense and produce two output A and B which is 90 degree out of phase and allowing the direction of rotation to be determined This encoder provides 3 counts per revolution of the rear shaft Please note that the encoder is mounted at the rear shaft the minimum resolution is depends on the motor s gear ratio Features of Quadrature Hall Effect Encoder Operating voltage 4 5 V to 5 5 V Two digital outputs Quadrature waveform Small in size and light in weight Resolution 3 pulses per rear shaft revolution single channel output 60 counts per main shaft revolution for 1 20 geared motor 90 counts per main shaft revolution for 1 30 geared motor 180 counts per main shaft revolution for 1 60 geared motor 450 count per main shaft revolution for 1 150 geared motor 600 count per main shaft revolution for 1 200 geared motor 900 count per main shaft revolution for 1 300 geared motor Created by Cytron Technologies Sdn Bhd All Rights Reserved 3 ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK 1 1 State Diagrams and Waveform State Diagram Clockwise R2. B The encoder output is open drain or sometime called NPN output Users need to pull up resistor to any voltage user want As an example circuit above channel A and channel B are pull up with 1K resistor to SV therefore it will output ground and 5V when the motor rotates Created by Cytron Technologies Sdn Bhd All Rights Reserved I ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK 4 0 WARRANTY e Product warranty is valid for 6 months e Warranty only applies to manufacturing defect Damaged caused by miss use is not covered under warranty e Warranty does not cover freight cost for both ways Prepared by Cytron Technologies Sdn Bhd 19 Jalan Kebudayaan 1A 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 8
3. ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK Cytron Technologie Geared Motor with Encoder MO SPG 30E XXXK User s Manual V1 2 Jun 2013 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 Created by Cytron Technologies Sdn Bhd All Rights Reserved l ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK Index 1 Introduction and Overview 3 2 Pin Descriptions 5 3 Sample Schematic 7 4 Warranty 8 1 0 Introduction and Overview Created by Cytron Technologies Sdn Bhd All Rights Reserved 2 ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK Figure 1 0 DC geared motor with encoder and its removable cover This document explains the general method to use the encoder
4. otation 1 Created by Cytron Technologies Sdn Bhd All Rights Reserved 4 ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK 2 0 Pin Descriptions Figure 2 0 2020 06 connector pin descriptions ee Nee Channel B Output of the encoder Created by Cytron Technologies Sdn Bhd All Rights Reserved 5 ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK Figure 2 1 Rear view of the motor with encoder and cover Created by Cytron Technologies Sdn Bhd All Rights Reserved 6 ROBOT HEAD to TOE Product User s Manual MO SPG 30E xxxK 3 0 Sample Schematic Microcontroller Board PICIGFa76A Chama A Channa B bt be R a H oh bt dal ie Fe Diode IN4148 DC Geared Motor with Encoder Figure 3 0 Sample schematic diagram with respect to sample source code Schematic above is an example with respect to the sample source code provided RC4 RC7 RA2 and RAS can be replaced by any other digital I O pins Besides for PWM control user can also use CCP1 instead of CCP2 For Channel A and channel B this sample schematic and source code shows continuous monitoring of quadrature signals which can be done by any digital I O pin Users are encouraged to modify the schematic and source code to allow use of external interrupt to count the rising or falling edge of either channel to reduce the processing power used by monitoring both channel A and
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