Motorino. Ausgabe Copyright by Joy-IT 1

Transcription

1 3 3 Motorino Ausgabe Copyright by Joy-IT 1

2 3 Motorino Index 1. Introduction 2. Technical specification & security information 3. Setting up the Arduino 4. Installation 5. Setting up the I2C-Address Ausgabe Copyright by Joy-IT 2

3 Dear customer, thank you for purchasing our product. Please find our instructions below. 1. Instruction Die Motorino board is an extension-board for connecting and using up to 16 PWM-controlled-5V-Servomotors. Also larger projects are no problem with this extension board. This board is, for example, perfect for controlling the JOY-iT robot arm. ART-Nr.: Robot02 High-quality robot arm, made of aluminium With rotary plate and mounting point for motorcontrols / singfle-board computer. Powered by 6 20 Kg digital servo-motors. Image 1: Robot02 Ausgabe Copyright by Joy-IT 3

4 2. Technical specification & security information The Motorino-Extensionboard is equipped with 16 channels for 5V-servomotors and with an optinal connection for an additional capacitor. The power supply can be established by a 5V coaxial power connector or by a power supply between 4,8V and 6V. The Motorino-Board is also equipped with an additional crystal oscillator which makes the frequencys as precise as possible and the discrepancy as low as possible. Image 2: Board description Connection for additional capacitor Channel ,8V-6V Power supply 5V-DC IN Ausgabe Copyright by Joy-IT 4

5 The channel-numbers are written on the backside of the board. The 3 PINs of each channel are, from bottom to top, ground line, voltage line and signal line [GND V+ PWM]. Simply put the board onto the GPIO-PINs of your Arduino and the cables of your 5V-Servo-Motors on the Channel-PINs. An additional power supply, by cable or a 5V coaxial power connector, is required. To prevent sudden voltage drops, a capacitor is mounted on the board. If this capacitor is insufficient in special cases, you are able to connect another capacitor in parallel with the intended connection. Image 3: board backside The used power supply has to be adequate for the performance of the motors. A weak power supply is often recognizable by stuttering motors. The motors should always perform a smooth motion. We recommend to use our 4.8A power supply RB-Netzteil2 which provides 24W continous output. After connecting the board to your Arduino, an additional power supply and the servo-motors, the board is ready to use. Security information: To protect against polarity reversal, please note the markings on the inputs of the board (+ and - symbol). Polarity reversal can damage the board, the connected Arduino and other periphery. The connected motors, and the generated movement, can pose a risk. We recommend to remain at a safe distance and take actions so that noone can encounter with moving parts. This applies in particular for children. Ausgabe Copyright by Joy-IT 5

6 3. Setting up the Arduino The software-example in chapter 4 shows the basic function and usage of the servo-motors with the Motorino. You can connect motors to any channel. The example will drive every channel and will use the full motion-radius. Of course you can modify the example and change it to your needs. Please transfer the code completly to your Arduino. Please not that you first need to load necessary librarys into the Arduinos Librarymanager. You can find the steps to install those librarys on the next site. The Wire library needs to be loaded from the library-database. Because we have equipped the Motorino-Board with an additional crystal oscillator, a special library is needed. This library is based on the Adafruit-PWM-Servo-Driver-Library but is specially adjusted to our board. We recommend to exclusively use our own, adjusted library. You can download this library here. Ausgabe Copyright by Joy-IT 6

7 To install the Wire library, please oben the Arduino Librarymanager as seen below. Image 4: Arduino Sketch-Menu In the now opening manager, search the Wire libary and install it. Image 5: Arduino Librarymanager Ausgabe Copyright by Joy-IT 7

8 Next step is to include our modified library, which you have already downloaded. Extract the archive and copy the folder Adafruit-PWM-Servo-Driver_library-master in the following folder: C:\Users\[your Username]\Documents\Arduino\libraries The librarys are now installed. 4. Installation You can now execute the example-file to test the Motorino-Board. You can find this file in the following folder: C:\Users\[your Username]\Documents\Arduino\libraries\Adafruit_PWM_Servo_Driver_Library\examples\servo Open the located file and transfer it to your Ardino. The example-program will drive each servo one after the other. 5. Setting up the I2C-Address It is also possible to connect multiple Motorino-boards. Please note that, in this case, every board needs its own I2C-Address. To configure the boards I2C-Address, you can solder the jumper. An opened jumper sets a 0, a closed jumper sets a 1. Image 6: I2C-Jumper Ausgabe Copyright by Joy-IT 8