FD04A Flexibot Driver User's Manual

FD04A Flexibot Driver User's Manual
FD04A
Flexibot Driver
User’s Manual
V1.1
May 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superseded by updates.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.
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Product User’s Manual – FD04A
Index
1.
Introduction and System Overview
1
2.
Packaging List
2
3.
Product Specification and limitations
3
4.
Board Layout
5
5.
Installation (hardware)
7
5.1 Connecting Battery and Motor
7
5.2 Connecting to Microcontroller
11
6.
Getting Started
12
7.
Warranty
13
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Product User’s Manual – FD04A
1. INTRODUCTION AND OVERVIEW
Flexibot Driver 4 Channels, FD04A is special designed to drive 4 DC brush motors.
Since PR19, Flexibot – Using Transwheel (PR19) is using it as motor driver, it is being
named after this bot. However, the application of FD04A is not limited to the DIY project,
PR19. It offers low cost and easy to use DC motor driver capable of driving up 4 DC brush
motor, and the current can goes up to 3-Ampere. With minimum interface the board is ready
for driving motor with direction, start, stop and speed control. It has been designed with
capabilities and features as below:
•
•
•
•
•
•
•
•
•
Industrial grade PCB.
Each component is soldered properly and tested.
Able to drive 4 DC motor at 3A.
Protection against over current.
Bi-directional control for 4 DC motors.
2 LEDs as direction indicator for each motor.
1 LED as power indicator.
Pluggable connector for more user friendly design.
Fully compatible with Cytron DIY project, Flexibot – Using Transwheel
(PR19).
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Product User’s Manual – FD04A
2. PACKAGING LIST
Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at [email protected] immediately.
FD04A come with:
•
•
•
•
1 x FD04A board with every component soldered properly.
5 x Pluggable Terminal block
1 x 14 way IDE cable connector.
1 x 3A fast blow fuse
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Product User’s Manual – FD04A
3. PRODUCT SPECIFICATION AND LIMITATIONS
Absolute Maximum Rating
Symbol
Value
Parameter
Unit
26
PWR
Voltage supply to motor
V
Maximum Output Current (continuous) for
*Imax
3
A
FD04A.
* This Imax is limited by on board 3A fuse, changing the value of fuse will increase the Imax. However, it will not
protect individual H-bridge.
Pin Connections
2
4
6
8
10
12
14
1
3
5
7
9
11
13
Figure show the pin orientation of the 2x7 IDE socket and the orientation is same for both
PR19 and FD04A PCB. The function of each pin is described as below:
No
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Name
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Functions
Motor 1 pin 1
Motor 1 speed control
Motor 1 pin 2
Motor 2 pin 1
Motor 2 speed control
Motor 2 pin 2
Motor 3 pin 1
Motor 3 speed control
Motor 3 pin 2
Motor 4 pin 1
Motor 4 speed control
Motor 4 pin 2
5V
GND
Table 1
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Product User’s Manual – FD04A
Referring to Table 1, there are 4 channels of FD04A and each channel has 3 control pins,
which are pin 1, pin 2 and speed control. Pin 1 and pin 2 of each channel control the motor
activation and direction, while speed control should be given the PWM if speed is needed. If
speed is not necessary, the speed control pin is connecting to 5V. The motor will run with full
speed.
True table for pin 1 and pin 2:
Pin 1
0
0
1
1
Pin2
0
1
0
1
Motor state
Brake to Ground
CW (relative)
CCW
(relative)
Brake to V motor
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Product User’s Manual – FD04A
4. BOARD LAYOUT
C
A
B
P
O
I
M
G
K
Label
A
B
C
D
E
F
G
H
F
J
L
N
E
D
Function
Horizontal toggle switch
Fuse and fuse holder
7 x 2 IDE socket
Power indicator LED
Power supply pluggable terminal
block
Motor 3 pluggable terminal block
Motor 4 pluggable terminal block
Status indicator LED for motor 4
H
Label
I
J
K
L
M
Function
Status indicator LED for motor 3
Right L298 motor driver
Schottky diodes
Left L298 motor driver
N
O
P
Motor 2 pluggable terminal block
Status indicator LED for motor 1
Motor 1 pluggable terminal block
Status indicator LED for motor 2
A – Switch to ON or OFF FD04A board.
B – 3A fuse used as circuit protection.
C – Socket to connect FD04A driver to user circuit board or PR19 board.
D – Power supply indicator LED. It is green in color. Once motor power is inserted to the
board, this LED will turn ON.
E – Connector for motor power supply
F – Connecter for motor 3.
G – Connecter for motor 4.
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Product User’s Manual – FD04A
H – These are a pair of yellow LED. These LED are to indicate the direction of motor 4. If
motor 4 run in clockwise direction, CW status LED for motor 4 will turn ON else if motor 4
run in counter clockwise direction, CCW status LED for motor 4 will turn ON.
I – These are a pair of yellow LED. These LED are to indicate the direction of motor 3. If
motor 3 run in clockwise direction, CW status LED for motor 3 will turn ON else if motor 3
run in counter clockwise direction, CCW status LED for motor 3will turn ON.
J – Motor driver for FD04A. Each motor driver is capable of driving 2 DC brush motor.
K – Schottky diodes used to clamping diode.
L – Motor driver for FD04A. Each motor driver is capable of driving 2 DC brush motor.
M – These are a pair of yellow LED. These LED are to indicate the direction of motor 2. If
motor 2 run in clockwise direction, CW status LED for motor 2 will turn ON else if motor 2
run in counter clockwise direction, CCW status LED for motor 2 will turn ON.
N – Connecter for motor 2.
O – These are a pair of yellow LED. These LED are to indicate the direction of motor 1. If
motor 1 run in clockwise direction, CW status LED for motor 1 will turn ON else if motor 1
run in counter clockwise direction, CCW status LED for motor 1 will turn ON.
P – Connecter for motor 1.
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Product User’s Manual – FD04A
5. INSTALLATION (HARDWARE)
5.1 Connecting Battery and Motor
In a typical application, the motor power supply (battery) should be soldered directly
to PCB. However, user may choose to use pluggable terminal block to connect to the
battery’s cable. Same applied to motor terminal. The control pin come with connector and is
ready for user to interface with wire.
Before the battery (power) is plugged in, make sure the polarity is correct to prevent the
explosion. User MUST follow the overlay on FD04A PCB to make sure the correct polarity
of battery.
Negative
Positive
Caution: Make sure the motor power source wires do not contact with each other while
the process of connecting power source wire with green terminal. The contacted wire will
caused fire spark if the power supply is connected and these will cause damage to power
supply or battery.
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Product User’s Manual – FD04A
Create the power supply to terminal block according to the order shown in figure 8
below:
1
2
3
4
5
6
For motor connecting, cut the red and black wire into 18cm length each. Solder the red wire
on the positive pin of motor while solder black wire on the negative pin of motor. There is a sign beside the negative pin of motor as shown in following figures.
Sign beside the
negative pin of
motor
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Product User’s Manual – FD04A
Cut black shrink tube into 1cm each. Place the heat shrink tube over electricity conduction
joint between motor pin and wire. Supply heat to the black shrink tube and it will cover the
joint neatly as shown in figure above.
Following step is to connect the other end of motor wires to pluggable terminal block.
Choose which ever motor port to connect. For more detail about motor connecting to FD04A
and PR19, user may obtain the steps from PR19 (Flexibot-Using Transwheel) User’s Manual
at our website www.cytron.com.my
For motor cable connection to FD04A driver, negative black cable is connect to CCW and
positive red cable is connect to CW. User is required to ensure the connection of motor cable
with FD04A is correct. Wrong connection of motor to FD04A driver will result in different
direction of motor rotation.
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Product User’s Manual – FD04A
Figure below show motor connecting to FD04A driver and Robot base. For the tidiness of
Flexibot, user may place Flexibot’s battery under the PR19 PCB. User may refer to PR19
User’s Manual for more details for battery connecting. One 12V Li-Po battery is enough to
supply voltage to both of the PR19 circuit and FD04A.
Warning: DONOT connect the battery to the motor connector or motor to the battery
connector. It might explode (short circuit).
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Product User’s Manual – FD04A
5.2 Connecting to Microcontroller
Though FD04A is designed for PR19, user may connect to any circuit as long as the
connection of control pin is correct. However to ease the explanation, the example
installation of connecting the FD04A to Microcontroller circuit board will mainly refer to the
connection to PR19 circuit board.
FD04A comes with 14 way IDE cable connector. This cable is used to connect FD04A driver
to microcontroller. For microcontroller connecting, connect the IDC connector with the
FD04A driver and then connect the other end of IDC connector to PR19 PCB. Following
figure shows the connection between FD04A driver and microcontroller.
Connect to FD04A driver
Connection
Connect the end of IDC connector to PR19 PCB
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Product User’s Manual – FD04A
6. GETTING STARTED
This section will show the example on method to operate FD04A. FD04A driver has
been designed to work with interface to microcontroller.
For this section, FD04A will be interface with PR19 (Flexibot-Using Transwheel). Please
refer PR19, DIY project from Cytron website for details example of interfacing to FD04A.
Please refer to http://www.cytron.com.my/PR19.asp
Notes: CW and CCW LED will turn ON when FD04A connect to Flexibot (PR19). It is
because of PWM. The motor will stop for off duty cycle but the back EMF from motor
will drive another LED.
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Product User’s Manual – FD04A
7. WARRANTY
¾
¾
¾
¾
Product warranty is valid for 6 months.
Warranty only applies to manufacturing defect.
Damage caused by mis-use is not covered under warranty.
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:
Fax:
+607-521 3178
+607-521 1861
URL: www.cytron.com.my
Email: [email protected]
[email protected]
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