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cerebot_mc7:refmanual [2015/06/02 22:35] – Martha | cerebot_mc7:refmanual [2015/06/03 17:29] (current) – [5. Current and Voltage Feedback] Martha | ||
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- | {{ : | + | {{: |
Features include: | Features include: | ||
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The half bridge connections between the bridge output signals and the Motor Control PWM module are configured in the following way: | The half bridge connections between the bridge output signals and the Motor Control PWM module are configured in the following way: | ||
+ | < | ||
VMOT1 PWM1H, | VMOT1 PWM1H, | ||
VMOT2 PWM2H, | VMOT2 PWM2H, | ||
VMOT3 PWM3H, | VMOT3 PWM3H, | ||
VMOT4 PWM4H, | VMOT4 PWM4H, | ||
+ | </ | ||
These outputs from the bridges are available on connectors J14 & J15 or J16 & J18. Connectors J14 & J15 are screw terminal connectors for wire attachment. Connectors J16 & J18 are 6-pin JST connectors used by the gear head motors available from Digilent. | These outputs from the bridges are available on connectors J14 & J15 or J16 & J18. Connectors J14 & J15 are screw terminal connectors for wire attachment. Connectors J16 & J18 are 6-pin JST connectors used by the gear head motors available from Digilent. | ||
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The current/ | The current/ | ||
+ | < | ||
IMON1 AN0 | IMON1 AN0 | ||
IMON2 AN1 | IMON2 AN1 | ||
Line 195: | Line 198: | ||
VMON3 AN12 | VMON3 AN12 | ||
VMON4 AN13 | VMON4 AN13 | ||
+ | </ | ||
---- | ---- | ||
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===== Appendix B: Connector Descriptions and Jumper Settings ===== | ===== Appendix B: Connector Descriptions and Jumper Settings ===== | ||
- | ^ Label ^ Function | + | ^ Label ^ Function |
- | | **J4** | + | | **J4** |
- | This screw terminal connector is used to power the servo power bus from an external power supply. JP5 and JP8 must have the shorting blocks removed when using this option for powering the servo power bus. | | + | | **J5 & J7** | **Pull-up enable for I2C port #1**: These two jumpers are used to enable/ |
- | | **J5 & J7** | **Pull-up enable for I2C port #1** | + | | **J6** |
- | These two jumpers are used to enable/ | + | | **J8** |
- | | **J6** | + | | **J9** |
- | This connector provides access to the I2C signals, power and ground for I2C port #1. | | + | | **J10-J12** |
- | | **J8** | + | | **J13** |
- | This connector provides access to the I2C signals, power and ground for I2C port #2. | | + | | **J14-J15** |
- | | **J9** | + | | **J16-J17** |
- | This connector is used to access the signals for the CAN interface. | + | | **J18-J19** |
- | | **J10-J12** | + | | **J20** |
- | | **J13** | + | | **J21** |
- | This connector is used to connect the on-board programming and debug circuit to the PC for use with the MPLAB® IDE. | | + | | **J22** |
- | | **J14-J15** | + | | **J24** |
- | These are used to connect external loads to the bridges. J14 provides access to the VMOT1 and VMOT2 signals. J15 provides access to the VMOT3 and VMOT4 signals. When the bridge circuits are used to form h-bridges, J14 provides access to one h-bridge and J15 provides access to the other. | + | | **JP1** |
- | | **J16-J17** | + | | **JP2 & JP3** | **SPI Master/ |
- | J16 is a six pin JST connector that provides connection to VMOT1 and VMOT2 for use as an h-bridge to drive a motor. These are the same signals as on J14. Connector J16 also provides access to the two phase inputs to the quadrature encoder peripheral in the dsPIC microcontroller. J17 is an alternate connector for access to the quadrature encoder inputs. | + | | **JP4** |
- | | **J18-J19** | + | | **JP5 & JP8** | **Internal Servo Bus Power Select**: These jumpers are used to connect the REG5V0 bus (the output of the internal 5V switching regulator) to the servo power bus to provide power to servos. Install shorting blocks on these two jumpers to power the servo power bus from the internal power supply. Remove the shorting blocks from these two jumpers when the servo power bus is powered from an external supply. |
- | J18 is a six pin JST connector that provides connection to VMOT2 and VMOT3 for use as an h-bridge to drive a motor. These are the same signals as on J15. Connector J16 also provides access to two pin-change interrupt capable pins on the dsPIC microcontroller. These inputs can be used to implement a quadrature in softwarer. J19 is an alternate connector for access to the quadrature encoder signals. | + | | **JP6** |
- | | **J20** | + | | **JP7** |
- | This is used to connect to the external power supply that powers the bridge circuits. This powers the high side of the bridges and provides the ground connection for the current return path. | | + | | **JP9, JP10, JP11, & JP12** |
- | | **J21** | + | | **JP14 & JP15** |
- | This is a screw terminal connector used to provide external power to the board. Be sure to observe proper polarity (marked near the connector) when providing power via this connector, or damage to the board and/or connected devices may result. This provides the input voltage to the 5V switching regulator on the board. Connectors J21, J22, and J24 are wired in parallel. | + | | **S1-S8** |
- | | **J22** | + | | **JA-JC** |
- | This is a two pin header connector that provides another mean of connecting an external power supply. Connectors J21, J22, and J24 are wired in parallel. | + | | **JPA – JPC** | **Pmod header power select**: Any of the Pmod connectors can provide either regulated or unregulated power. To use regulated power, place the jumper block over the center pin and the pin marked 3V3. To use unregulated power, place the jumper block over the center pin and the pin marked 5V0. | |
- | | **J24** | + | |
- | This is a 2.5mm x 5.5mm, center positive, coax power connector used to provide external power to the board. The optional Digilent 5V Switching Power Supply is connected here. Connectors J21, J22, and J24 are wired in parallel. | + | |
- | | **JP1** | + | |
- | This jumper is used to enable/ | + | |
- | | **JP2 & JP3** | **SPI Master/ | + | |
- | These jumpers are used to select whether the Cerebot MC7 is configured as an SPI master device or as an SPI slave device. See the SPI Interface section above for a discussion of how to set these jumpers. | + | |
- | | **JP4** | + | |
- | | **JP5 & JP8** | **Internal Servo Bus Power Select** | + | |
- | These jumpers are used to connect the REG5V0 bus (the output of the internal 5V switching regulator) to the servo power bus to provide power to servos. Install shorting blocks on these two jumpers to power the servo power bus from the internal power supply. Remove the shorting blocks from these two jumpers when the servo power bus is powered from an external supply. | + | |
- | | **JP6** | + | |
- | This jumper is used to enable/ | + | |
- | | **JP7** | + | |
- | | **JP9, JP10, JP11, & JP12** | + | |
- | These jumpers are used to enable/ | + | |
- | | **JP14 & JP15** | + | |
- | This jumper is used to select the source of main board power. | + | |
- | + | ||
- | Place a shorting block on JP15 in the lower, “USB” position to have the board powered from the USB programmer/ | + | |
- | + | ||
- | Place a shorting block on JP14 in the upper, “REG” position to have the board powered from internal 5V switching regulator. | + | |
- | | **S1-S8** | + | |
- | These are used to connect RC servos to the board. The signals on these pins are shared with Pmod connector JC and the on-board LEDs. | | + | |
- | | **JA-JC** | + | |
- | These connectors provide access to the I/O pins on the PIC32MX795 microcontroller. Digilent Pmod peripheral modules can be attached to these connectors. | + | |
- | | **JPA – JPC** | **Pmod header power select** | + | |
- | Any of the Pmod connectors can provide either regulated or unregulated power. To use regulated power, place the jumper block over the center pin and the pin marked 3V3. To use unregulated power, place the jumper block over the center pin and the pin marked 5V0. | | + | |
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===== Appendix C: Measured Current Monitoring Data ===== | ===== Appendix C: Measured Current Monitoring Data ===== | ||
==== Half Bridge 1: IMON1 ==== | ==== Half Bridge 1: IMON1 ==== | ||
+ | |||
+ | {{: | ||
+ | |||
+ | ^ Current (amps) | ||
+ | | 0 | 0.997 | | ||
+ | | 0.5 | 1.11 | | ||
+ | | 1 | 1.213 | | ||
+ | | 1.5 | 1.318 | | ||
+ | | 2 | 1.424 | | ||
+ | | 2.5 | 1.531 | | ||
+ | | 3 | 1.638 | | ||
+ | | 3.5 | 1.747 | | ||
+ | | 4 | 1.856 | | ||
+ | | 4.5 | 1.969 | | ||
+ | | 5 | 2.084 | | ||
+ | | 5.5 | 2.2 | | ||
+ | | 6 | 2.321 | | ||
+ | | **Over current trip** | ||
+ | |||
+ | |||
+ | ==== Half Bridge 2: IMON2 ==== | ||
+ | |||
+ | {{: | ||
+ | |||
+ | ^ Current (amps) | ||
+ | | 0 | 1.028 | | ||
+ | | 0.5 | 1.139 | | ||
+ | | 1 | 1.242 | | ||
+ | | 1.5 | 1.348 | | ||
+ | | 2 | 1.45 | | ||
+ | | 2.5 | 1.556 | | ||
+ | | 3 | 1.662 | | ||
+ | | 3.5 | 1.77 | | ||
+ | | 4 | 1.88 | | ||
+ | | 4.5 | 1.99 | | ||
+ | | 5 | 2.106 | | ||
+ | | 5.5 | 2.223 | | ||
+ | | 6 | 2.344 | | ||
+ | | **Over current trip** | ||
+ | |||
+ | |||
+ | ==== Half Bridge 3: IMON3 ==== | ||
+ | |||
+ | {{: | ||
+ | |||
+ | ^ Current (amps) | ||
+ | | 0 | 1.003 | | ||
+ | | 0.5 | 1.113 | | ||
+ | | 1 | 1.218 | | ||
+ | | 1.5 | 1.326 | | ||
+ | | 2 | 1.43 | | ||
+ | | 2.5 | 1.537 | | ||
+ | | 3 | 1.644 | | ||
+ | | 3.5 | 1.752 | | ||
+ | | 4 | 1.861 | | ||
+ | | 4.5 | 1.973 | | ||
+ | | 5 | 2.092 | | ||
+ | | 5.5 | 2.205 | | ||
+ | | 6 | 2.328 | | ||
+ | | **Over current trip** | ||
+ | |||
+ | |||
+ | ==== Half Bridge 4: IMON4 ==== | ||
+ | |||
+ | {{: | ||
+ | |||
+ | |||
+ | ^ Current (amps) | ||
+ | | 0 | 0.967 | | ||
+ | | 0.5 | 1.077 | | ||
+ | | 1 | 1.181 | | ||
+ | | 1.5 | 1.282 | | ||
+ | | 2 | 1.389 | | ||
+ | | 2.5 | 1.493 | | ||
+ | | 3 | 1.6 | | ||
+ | | 3.5 | 1.707 | | ||
+ | | 4 | 1.816 | | ||
+ | | 4.5 | 1.926 | | ||
+ | | 5 | 2.039 | | ||
+ | | 5.5 | 2.158 | | ||
+ | | 6 | 2.278 | | ||
+ | | **Over current trip** | ||
+ | |||