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en:hardware:homelab:motor:v5 [2010/11/08 09:49] – created raivo.sellen:hardware:homelab:motor:v5 [2020/07/20 12:00] (current) – created - external edit 127.0.0.1
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-====== Motors module ======+====== Motor module ======
 (Version 5) (Version 5)
  
-Motors module incorporates the motors driver board and different electrical motors. Motors board is designed to be compatible with the Controller module but can also successfully be used for other controller boards as it uses standard motor drivers.  +Motor module incorporates the motor driver board and different electrical motors. Motor board is designed to be compatible with the Controller module but can be also used for other controllers as it is equipped with standard motor drivers. 
 Motor power supplies are separated from the control signals. Motor power supplies are separated from the control signals.
  
-{{:examples:actuator:actuator_board.jpg?400|}}+{{:examples:motor:motor_board.jpg?400|}}
  
-It is possible to drive different types of motors with the module and all these can have separate voltage supply.+It is possible to drive different types of motors with the module.
  
 Following motors can be connected with Motors board: Following motors can be connected with Motors board:
-  * 4 x DC motors or 3 x DC motors and 2 x encoder.+  * 4 x DC motors and 2 x encoder.
   * 2 x unipolar stepper motors.   * 2 x unipolar stepper motors.
   * 1 x bipolar stepper motor.   * 1 x bipolar stepper motor.
   * 2 x RC servo motor.   * 2 x RC servo motor.
-  * UART connector. 
-  * Driver supply selection: jumper JP1 (from controller board or external). 
-  * Supply indicator LED. 
  
-Motors modules supply connector (PWR):+Motor module supply connector (PWR):
  
 ^ Pin ^ Supply connection ^ Voltage ^ Current ^ ^ Pin ^ Supply connection ^ Voltage ^ Current ^
 | 1    | DC motors                        | up to 36 V  | up to 600 mA | | 1    | DC motors                        | up to 36 V  | up to 600 mA |
 | 2    | Bipolar stepper motor            | up to 36 V  | up to 600 mA | | 2    | Bipolar stepper motor            | up to 36 V  | up to 600 mA |
-| 3    | Servo motors                    | 4,8 - 6 V   | up to 1 A    | +| 3    | Servo motors                     | 4,8 - 6 V   | up to 1 A    | 
-| 4    | Unipolar stepper motors       | up to 50 V  | up to 500 mA |+| 4    | Unipolar stepper motors          | up to 50 V  | up to 500 mA |
 | 5    | Drivers logic supply (selectable with JP1) | 5 V         |              |   | 5    | Drivers logic supply (selectable with JP1) | 5 V         |              |  
 | 6    | Ground(GND)                        |             |              |   | 6    | Ground(GND)                        |             |              |  
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   * **DC motor **   * **DC motor **
     * Micromotors L149.6.10 (with gear) {{:kit:datasheets:actuators:dc_gearmotor_6v_25rpm.pdf|datasheet}}     * Micromotors L149.6.10 (with gear) {{:kit:datasheets:actuators:dc_gearmotor_6v_25rpm.pdf|datasheet}}
-    * Micromotors L149.6.43 (with gear) {{:kit:datasheets:actuators:dc_gearmotor_6v_25rpm.pdf|datasheet}} +    * Micromotors LE149.6.43 (with gear + encoder) {{:kit:datasheets:actuators:dc_gearmotor_6v_52rpm_encoder.pdf|datasheet}}
-    * Micromotors LE149.6.10 (with gear + encoder) {{:kit:datasheets:actuators:dc_gearmotor_6v_52rpm_encoder.pdf|datasheet}}+
   * **RC servo motor**   * **RC servo motor**
-    * Robbe FS 100 {{:kit:datasheets:actuators:servo_robbe_fs100.pdf|datasheet}} 
     * E Sky EK2-0501 {{:kit:datasheets:actuators:servo_esky_ek2-0501.pdf|datasheet}}     * E Sky EK2-0501 {{:kit:datasheets:actuators:servo_esky_ek2-0501.pdf|datasheet}}
-    * Futaba XT-S  
-    * Hitec HS422 {{:kit:datasheets:actuators:servo_hs422.pdf|datasheet}} 
   * **Unipolar stepper motor**   * **Unipolar stepper motor**
     * Ming Jong ST35 {{:kit:datasheets:actuators:stepper_motorst35.pdf|datasheet}}     * Ming Jong ST35 {{:kit:datasheets:actuators:stepper_motorst35.pdf|datasheet}}
   * **Bipolar stepper motor**   * **Bipolar stepper motor**
-    * Moons 42PM {{:kit:datasheets:actuators:moons_bipolar_stepper_motors.pdf|datasheet}} 
     * Ming Jong ST28 {{:kit:datasheets:actuators:stepper_motor_st28.pdf|datasheet}}     * Ming Jong ST28 {{:kit:datasheets:actuators:stepper_motor_st28.pdf|datasheet}}
-  * **Piezo sound generator ** (optional) 
  
 [{{  :examples:motor:motors.jpg?400  |Motors}}] [{{  :examples:motor:motors.jpg?400  |Motors}}]
  
-~~PB~~+<pagebreak>
 ===== Electrical connections ===== ===== Electrical connections =====
  
-Motors module board is connected with Controller module to the port PE-PB-PD. The power supplies of the motors are connected with separate PWR connector, where every type of motor can have different voltage. Drivers on the board can be supplied externally or directly from Controller module. This is determined by the jumper JP1. If the jumper connects pin 1 and 2 the logic supply is taken from the Controller module. If logic supply is correctly provided the on-board LED //+5V// have to light up. The Motors board is equipped with UART connector which enables to connect external UART compatible devices directly to board.+Motor module board is connected with Controller module to the port PE-PB-PD. The power supplies of the motors are connected with separate PWR connector, where every type of motor can have different voltage. Drivers on the board can be supplied externally or directly from Controller module. This is determined by the jumper JP1. If the jumper connects pin 1 and 2 the logic supply is taken from the Controller module. If logic supply is correctly provided the on-board LED //+5V// have to light up. 
  
-[{{  :examples:motor:actuator_schematics_port_pwr.png?580  |Signal connector of Motors module , powers supply of motors and UART connector}}]+[{{  :examples:motor:motors_sch_pwr.png?580  |Power supply for motors}}]
  
 ==== DC motors ==== ==== DC motors ====
  
-DC motors are connected to the connector group DC1. Every pair can handle one motor - all together 4 DC motors. In parallel of connector 3 two encoders ENC1 and ENC2 are connected. In case of using the encoders the DC motor connector 3 cannot be connected with DC motor at the same time (these ports have to be configured as inputs by the software). Motors are controlled with widely used H-bridges, L293D dual H-bridge driver is used for the DC motors. Motors can also be replaced by some other actuator which can be controlled digitally and if the current do not exceed 500 mA (piezo generator, relay etc.) +DC motors are connected to the connector group DC. Every pair can handle one motor - all together 4 DC motors. Motors are controlled with widely used H-bridges, L293D dual H-bridge driver is used for the DC motors. Motors can also be replaced by some other actuator which can be controlled digitally and if the current do not exceed 500 mA (piezo generator, relay etc.) 
  
-[{{  :examples:motor:actuator_dc_schematics.png?580  |Schematics of DC motor connection}}]+[{{  :examples:motor:motors_sch_dc.png?580  |Schematics of DC motor connection}}]
  
 ^ AVR pin ^ Control signal ^ AVR pin ^ Control signal ^ ^ AVR pin ^ Control signal ^ AVR pin ^ Control signal ^
-| PB4 | Motor 1 1A | PD6 | Motor 3 1A | +| PB4 | Motor 1 A | PD6 | Motor 3 A | 
-| PB7 | Motor 1 2A | PD7 | Motor 3 2A | +| PB7 | Motor 1 B | PD7 | Motor 3 B | 
-| PD0 | Motor 2 1A | PD4 | Motor 4 1A | +| PD0 | Motor 2 A | PD4 | Motor 4 A | 
-| PD1 | Motor 2 2A | PD5 | Motor 4 2A |+| PD1 | Motor 2 B | PD5 | Motor 4 B | 
 + 
 +==== Encoder ==== 
 + 
 +^ AVR pin ^ Control signal ^ 
 +| PE6 | Encoder 1 |  
 +| PE7 | Encoder 2 |  
  
 ==== Stepper motors ==== ==== Stepper motors ====
  
-Motors board supports two different types of stepper motors. Two unipolar and one bipolar motor can be connected with the board. Bipolar stepper is controlled with dual H-bridge L293D and unipolar stepper is driven by transistor array ULN2803. The patterns of the stepper signals are generated by the software. It is important to check the sequence of the stepper motor windings. The supply wires of unipolar stepper motor are connected to pins 1 and 2. If unipolar stepper has only 5 wires, the pin 1 is left unconnected. +Motor board supports two different types of stepper motors. Two unipolar and one bipolar motor can be connected with the board. Bipolar stepper is controlled with dual H-bridge L293D and unipolar stepper is driven by transistor array ULN2803. The patterns of the stepper signals are generated by the software. It is important to check the sequence of the stepper motor windings. The supply wires of unipolar stepper motor are connected to pins Vcc. If unipolar stepper has only 5 wires, the first pin is left unconnected. 
  
 Stepper motor connections: Stepper motor connections:
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 | 1  | 1   | + supply | + supply |      | | 1  | 1   | + supply | + supply |      |
 | 2  | 2   | + supply | + supply |      | | 2  | 2   | + supply | + supply |      |
-| 3  | 1a  | PE0     | PE4     | PB0  | +| 3  | 1A  | PE0     | PE2     | PB0  | 
-| 4  | 2a  | PE1     | PE5     | PB1  | +| 4  | 2A  | PE1     | PE3     | PB1  | 
-| 5  | 1b  | PE2     | PE6     | PB2  | +| 5  | 1B  | PE6     | PE4     | PB2  | 
-| 6  | 2b  | PE3     | PE7     | PB3  |+| 6  | 2B  | PE7     | PE5     | PB3  |
  
 +NB! Unipolar stepper 1 has parallel connection with encoders and UART. When using the encoders or UART1 unipolar stepper motor cannot be used on the same time.
  
 [{{:examples:motor:stepper:samm_mootorid_skeem.png?580|Unipolar (left) and bipolar (right) stepper motor windings}}] [{{:examples:motor:stepper:samm_mootorid_skeem.png?580|Unipolar (left) and bipolar (right) stepper motor windings}}]
  
-[{{:examples:motor:actuator_stepper_schematics.png?580|Schematics of stepper motor connections}}]+[{{  :examples:motor:motors_sch_stepper.png?580  |Schematics of stepper motor connections}}]
  
 ==== Servo motor ==== ==== Servo motor ====
  
-RC servo motors are connected to the connector PWM1 and PWM2 on the Motors board. Motors are connected so that the signal wire (usually yellow or white) is on the pin 1 (close to the edge of the board).  Two servo motors can be used at the same time. The control signals are connected directly with microcontroller timer outputs. +RC servo motors are connected to the connector //Servo// on the Motor board. Motors are connected so that the ground wire (usually black or brown) is on the pin GND (close to the edge of the board).  Two servo motors can be used at the same time. The control signals are connected directly with microcontroller timer outputs.
- +
-^ AVR pin ^ Control signal ^ +
-| PB5(OC1A) | PWM1        | +
-| PB6(OC1B) | PWM2        | +
- +
-===== Connectors of the motors ===== +
- +
-[{{:examples:motor:actuator_motor_con_schematics.png?580|Connectors of the motors}}] +
- +
- +
-===== Connecting the module ===== +
- +
-While connecting the module it is advised to follow the order as described below. Before connecting any cable make sure that the power is removed from Controller board.+
  
-  - Connect the Motors module with Controller module by using the ribbon cable. +^ AVR pin ^ Control signal ^ Connector ^ 
-  - Connect the motors which are needed. +| PB5(OC1A) | PWM1  |  Lower | 
-  - Connect the power distributor of the motors supply. +| PB6(OC1B) | PWM2  |  Upper |
-  - If needed connect the JTAG programmer with Controller module. +
-  - Connect the power supply with Controller module.+
  
-[{{:examples:actuator:actuator_connection.jpg?580|Connecting the Motors module}}]+[{{:examples:motor:motors_sch_servo.png?200|Schematics of servo motor connections}}]
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