iRobot IR-CT01 Manuel utilisateur
EZ Controller (IR-CT01)
User Manual
EZ Controller User Manual_EN_V.1.0
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INDEX
01 Overview 3
1.1. Precautions------------------------------3
1.2. Proper Storage---------------------------3
02 Function & Operation 4
2.1. Function----------------------------------4
2.2. Mode Selection---------------------------5
2.3. External Switch and Signal Input---------5
2.4. Parts Pin Map-----------------------------6
03 Example of Actuator Control through
Arduino IDE 7
3.1. Overview---------------------------------7
3.2. Ex. –2 Position Control ------------------7
3.3. Ex. – Toggle Position---------------------9
3.4. Ex. – Manual Position--------------------10
3.5. Ex. – Basic Function---------------------11
3.6. Ex. – Extra IO(1)--------------------------12
2.7. Ex. – Extra IO(2)--------------------------13
3.8. Ex. – External Communication-------- --14
3.9. Ex. – Mode Selection --------------------15
3.10. Ex. – Stroke Limit-----------------------16
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1
Overview
Arduino-based EZ Controller is a controller to easily operate / test mightyZAP linear servo actuators.
The features of EZ Controller are as follows.
Operate the linear actuator simply and easily through various input devices on the board by using the built-in
basic program.
Various motion programming is available by example program provided from us or by your own coding via
Arduino.
Connectable with various external accessories. (External switch, etc.)
No need for a separate circuitry to control the mightyZAP linear actuator. Also, for safety, it is equipped with
power protection circuits for prevention of reverse power, over-current, and static electricity.
1.1 Precautions
The following precautions require special attention when using, so be sure to read them carefully. Please note that
warranty will be void for problems caused by failure to comply with the following.
1. Do not apply excessive force when connecting products. Also, do not apply excessive force to the components
or the pins on the board. It may cause malfunction.
2. Be advised that it may cause a short circuit when connecting
power to the board on the metal plate that is not insulated. Be
sure to attach the enclosed plastic support to the board before
use. (See the picture on the right)
3. Since the voltage applied to the EZ controller is directly applied to
the connected actuator, check the operating voltage range of the
actuator and check the polarity when connecting external power.
Ex) If user connects the actuator whose input voltage is 7.4V (D7
or L7 series) to the board, and accidently connects 12V power to
the board may cause the damage of actuator.
4. When connecting the actuator to the board, make sure to check the polarity of the pins.
It may cause motor or actuator PC board damage.
5. Use the appropriate connector to prevent damage due to incorrect insertion.
6. Apply proper input to each terminal.
Make sure proper signal voltage and pay attention to the proper wiring between power and signal terminal.
7. Do not overturn the variable resistance knob when setting the start and end points of the rod.
8. Keep the product away from fire, water, dust and oil and keep the product out of reach of children.
9. This product is designed for indoor use. Please refrain from using outdoors.
1.2 Proper Storage
Do not use or store the product in the following extreme environments. It may cause malfunction or product damage.
High temperature environment over 60℃ or low temperature below minus 20℃
Direct sunlight or near fire
Hot, humid and dusty places
Severe vibration condition
Places that can cause static electricity
To prevent short circuit, be sure to
install the enclosed plastic support
before use!
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Set the positions of the A and B points by adjusting the blue V/R ③ (A
position) and ④ (B position) respectively.
-Clockwise:- (actuator retraction direction)
-Counterclockwise: + (actuator extension direction)
For convenience, it is recommended to set A to minimum position and B
to maximum position as shown below.
-A point (part ③): Turn clockwise to set the minimum position
-B point (part ④): Turn counterclockwise to set the maximum position
Please note that the minimum and maximum positions of A and B may
be reversed and changed depending on user settings.
2
Function & Operation
2.1 Function
EZ Controller Components and Description
① A Position External switch input (○: +, ●:-)
② B Position External switch input (○: +, ●:-)
: Position command by external switch or external signal.
It is same function as ⑨,⑩ push button.
: For position setting, use ③ and ④
③ “A” Position setting V/R : “A” position setting by
adjusting variable resistor. (A position command made by ①
or ⑨)
④ “B” Position setting V/R : “B” position setting by
adjusting variable resistor. (B position command made by ②
or ⑩)
⑤ PC connection micro USB
terminal : Arduino Sketch
download/Serial
communication
⑥ Reset Switch: Controller
reset
⑦ 12V main power input
terminal
⑧ Mode selection Switch
⑨ A Position push button
Switch
⑩ B Position push button Switch
⑪ MCU F/W download connector(ICSP) : User manipulation prohibited
⑫ Arduino I/O 핀(Digital:3 , Analog:3 / GND, 12V, SIG)
⑬ Internal power terminal(GND / 3.3V / 5V / 12V) : power output terminal internally used.
[Current Limit of each terminal]
- 3.3V : ~150mA / 5V : ~ 900 mA / 12V : Depending on Input Voltage Source
⑭ PWM port
⑮ TTL port
⑯ RS-485 port
⑰ Linear Potentiometer for manual position
⑱ User external communication terminal (Bluetooth : TX / RX / GND / 3.3V)
⑯
①
②
③
⑤
⑧
⑨
⑩
⑪
⑫
⑬
⑭
⑮
⑥
④
⑦
⑰
⑱
○
●
○
●
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2.2 Mode Selection
Test the operation of the actuator using the basic operation program built into the EZ Controller.
The basic operation program consists of Manual Mode, Position Select Mode, and Position Toggle Mode.
(The mode switch only affects the basic operation program.)
Manual Position Select Position Toggle
Manual Mode : Connect the actuator, move the Mode switch(⑧) to the lowest position, set it to Manual Mode.
Then, operate actuator by change the position of the linear potentiometer(⑰).
Position Select Mode : Connect the actuator, move the Mode switch(⑧) to the middle position, set it to Position
Select Mode. Adjust the blue position setting variable resistors (A:③ &B:④) to set A and B Position respectively,
and then press the white push buttons(A:⑨& B:⑩) in the center to operate the actuator as Point A and Point B.
Position Toggle Mode : Connect the actuator, move the Mode switch⑧) to the top, set it to Position Toggle Mode.
Adjust the blue position setting variable resistors (A:③ &B:④) to set A and B Position respectively, and then
press any of the white push buttons(⑨or⑩) in the center to operate the actuator to point A and B.
2.3 External Switch
A/B position external switch input & External signal input
(Pic. ①,②)
Connect external switches or apply a voltage level signal for position command. It is the same function
as the white push button switches (⑨, ⑩). Only the position command can be made, and each position
setting should be made through the blue variable resistors (③ and ④).
1) External Switch Connection
: Connect the both ends of the terminal with switches to input the signal. (Short circuit at both ends
of the terminal)
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2) External Signal Input
: To recognize the signal in the second hole of each terminal, apply 3.3~12V level signal.
2.4 Part Pinmap
- Parts No : Part number described on the manual Page 4.
- Pin Name : Arduino(Leonardo) I/O Pin
Part No
Pin Name Purpose Part No Pin Name Purpose
①,⑨ I/O10 GPIO– A Signal ⑫ A0,A2,A3 GPIO - Analog
②,⑩ D3 GPIO– B Signal ⑭ D5 GPIO - PWM
③ A4 Analog–A Variable resistor
⑮,
⑯
D0,D1
For TTL,RS485 Communication
④ A5 Analog–B Variable resistor
⑰
⑰
A1 Analog -Potentiometer
⑤ Serial
USB Serial, Sketch download
⑱
⑱
IO8,IO9 Software Serial
⑧ D4,IO12,D6 GPIO – Slide SW
⑫ D7,IO11,IO13
GPIO - Digital
⑯
①
②
③
⑤
⑧
⑨
⑩
⑪
⑫
⑬
⑭
⑮
⑥
④
⑦
⑰
⑱
○
●
○
●
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3
Example of Actuator Control
through Arduino IDE
Actuator control via the Arduino IDE's data communication protocol (RS-485 or TTL). This is for the advanced users of
Arduino who want to control actuators more freely through data communication of Arduino.
3.1 Overview
Here are Arduino examples to control mightyZAP through EZ Controller. The examples are for serial data
communication (TTL or RS-485 communication) and do not support PWM communication.
The EZ Controller is designed based on Arduino Leonardo, and the Arduino API provided by us is based on Arduino
Leonardo / Uno. For detailed description of each parameter function, please refer to the mightyZAP user manual.
3.2. Example - 2 Position Control (RS-485/TTL)
The EZ controller contains two variable resistors (Figures 3 and 4) that can assign two positional points and two buttons
(Figures 9 and 10) that commands to reach the assigned points. (Alternatively, it is also possible to reach the assigned
points with an external physical switch or external voltage signal (Figure 1 or 2). For detailed information about
external switch, see 2.3 External switches on page5.
Here is the example of moving to 2 assigned positions which is set by position setting variable resistors (#3&4) through
2 switches (#9&10). Select [Example] - [IRROBOT_EZ Controller] - [EZ]–[EZ Controller_2Positions]
[Description]
- Mode switch (#8) can be positioned anywhere. (Mode switch only works in the built-in basic program)
- Supply power to the input power terminal(#7). Make sure correct input voltage(7.4V or 12V) and correct
polarity.(GND and VCC)
- Carefully insert the connector suitable for the selected communication. (#14 PWM / #15 TTL / #16 RS-485)
(For PWM connector (#14), refer to the page 6 to make sure correct polarity.)
- Set two positional points (position A & B) by turning variable resistors (#3&4). (Clockwise turn – Retracting
direction(short stroke) / Counter clockwise turn- Extension direction(long stroke))
- Press A, B button (#9, 10 ) to make positional command to the assigned goal positions.
- It is also possible to reach the assigned points with an external switch or external voltage signal (#1 or 2). For
detailed information about external switch, see 2.3 External switches on page5.
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- [Program Description]
Example of setting two points with the value of a
variable resistor and moving them to the corresponding
point when the buttons of A and B are pressed.
Mapping for PWM value
Short : 900 Long : 2100
Read the variable resistor values of Position A and
Position B and assign values to “A_stroke_val” and
“B_stroke_val” variables respectively.
The map () function maps the variable resistor's resistor
value to the actuator's position range.
*
In case not using a variable resistor,,
A_stroke_val = 100;
B_stroke_val =
3600;
It has a scale of 4096 and enters a value between 0 and
4096.
Tester.MightyZAP.goalPosition() : TTL,485 control
Tester.servof_CH1.writeMicroseconds() : PWM control
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3.3. Example - TogglePosition
This is an example of inverting 2 Positions designated by 1 toggling button.
Select [Example] - [IRROBOT_EZController] - [EZ]– [EasyControl_TogglePosition]
[Description]
- Mode switch (#8) can be positioned anywhere. (Mode switch only works in the built-in basic program)
- Supply power to the input power terminal (#7). Make sure correct input voltage(7.4V or 12V) and correct
polarity.(GND and VCC)
- Carefully insert the connector suitable for the selected communication. (#14 PWM / #15 TTL / #16 RS-485)
(For PWM connector (#14), refer to the page 6 to make sure correct polarity.)
- Set two positional points (position A & B) by turning variable resistors (#3&4). (Clockwise turn – Retracting
direction(short stroke) / Counter clockwise turn- Extension direction(long stroke))
- Press A or B button (#9 or 10 ) to make positional command to the assigned goal positions. (Either button
between A and B)
- It is also possible to reach the assigned points with an external switch or external voltage signal (#1 or 2). For
detailed information about external switch, see 2.3 External switches on page5.
[Program Description]
Example in which the two points set as variable
resistors are reversed from point A to point B and
point B to point A when the A or B button is pressed.
When the A or B button is pressed, the tg_flag value
declared as bool is inverted, and when the value is 1, it
moves to the A point, and when it is 0, it moves to the
B point.
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3.4. Example –Manual Position
Moving the position of the actuator by moving distance of the linear potentiometer.
Select [Example] - [IRROBOT_EZController] - [EZ]– [EasyControl_MPosition]
[Description]
- Mode switch (#8) can be positioned anywhere. (Mode switch only works in the built-in basic program)
- Supply power to the input power terminal (#7). Make sure correct input voltage(7.4V or 12V) and correct
polarity.(GND and VCC)
- Carefully insert the connector suitable for the selected communication. (#14 PWM / #15 TTL / #16 RS-485)
(For PWM connector (#14), refer to the page 6 to make sure correct polarity.)
- By adjusting the variable linear potentiometer (#17), user is able to operate actuator. In the manual mode, it is not
affected by the setting of the position setting variable resistor (# 3 & 4), and as the linear potentiometer moves,
the actuator position can be controlled in the full stroke section.
[Program Description]
Actuator position operation after reading
Potentiometer value with “Manual_position_val “variable
Table des matières
