Terasic Servo Motor Kit Manuel utilisateur
SMK User Manual
www.terasic.com
September 12, 2016
SMK User Manual
www.terasic.com
September 12, 2016
Chapter 1 Servo Motor Kit.............................................................................. 1
1.1 Package Contents...........................................................................................................1
1.2 SMK System CD............................................................................................................2
1.3 Assemble the Servo Motor.............................................................................................2
1.4 Getting Help...................................................................................................................5
Chapter 2 Servo Motor Card .......................................................................... 6
2.1 Features..........................................................................................................................6
2.2 Block Diagram of Servo Motor Card.............................................................................7
2.3 Interface of Servo Motor Card.......................................................................................8
2.4 Power for Motor Card....................................................................................................8
2.5 Interface for FPGA Host ................................................................................................9
2.6 Interface for Servo Motor ............................................................................................11
2.7 CPLD Code for Power Monitor...................................................................................12
2.8 Servo Motor Control....................................................................................................12
Chapter 3 Design Example .......................................................................... 14
3.1 Function Block Diagram..............................................................................................14
3.2 Demo Setup..................................................................................................................15
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September 12, 2016
Chapter 1
Servo Motor Kit
The SMK (Servo Motor Kit) is designed for developer who wish to learn servo motor control and
build their robot machine. It includes one servo motor driver daughter card and one servo motor.
The motor driver card can drive 24 RC servo motors at most. The motor daughter card can be
linked to the FPGA development kit via the 2x20 Pin GPIO connector.
The PWM IP and some example designs on different FPGA development boards are also provided
in the kit. By referring these demos, the user can quickly learn how to work with the servo motor
and build their own robot machine.
1.1 Package Contents
The SMK package includes
Servo Motor Daughter Card
RC Servo Motor
40-pin Cable
System CD Download Guide
Figure 1-1 The SMK package contents
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1.2 SMK System CD
The SMK System CD contains all the documents and supporting materials associated with Servo
Motor Kit, including the user manual, reference designs, and device datasheets. Users can
download this system CD from the link: http://smk.terasic.com/cd.
1.3 Assemble the Servo Motor
The servo motor and motor daughter card can be connected to any FPGA development kit that is
equipped with a 2x20 Pin GPIO connector. The pictures below show how the servo motor card is
connected to various Terasic FPGA Boards:
Figure 1-2 Connect the Servo Motor and Motor Card to DE10-Lite
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Figure 1-3 Connect the Servo Motor and Motor Card to DE0-CV
Figure 1-4 Connect the Servo Motor and Motor Card to DE0-Nano
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Figure 1-5 Connect the Servo Motor and Motor Card to DE0-Nano-SoC
Figure 1-6 Connect the Servo Motor and Motor Card to DE1-SoC
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Figure 1-7 Connect the Servo Motor and Motor Card to DE2-115
1.4 Getting Help
Here are the addresses where you can get help if you encounter any problems:
Terasic Technologies
9F., No.176, Sec.2, Gongdao 5th Rd, East Dist, Hsinchu City, 30070. Taiwan
Email: [email protected]
Tel.: +886-3-575-0880
Website: http://smk.terasic.com
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September 12, 2016
Chapter 2
Servo Motor Card
This chapter will introduce the servo motor daughter card included in the Kit. The daughter card is
mainly responsible for converting the 3.3V PWM signals from FPGA into 5.0V PWM signals to
control the rotate angle of servo motors. Besides, the daughter card also provide 6V DC needed to
drive the motor.
2.1 Features
Figure 2-1 shows a photograph of the servo motor daughter card.
Figure 2-1 Servo Motor Card
The major purpose of the servo motor card is to drive the serve motor. It receives PWM signal from
the host FPGA board, converts the voltage of the PWM, then sends the PWM to the servo motor.
The motor will rotate to a desired angle based on the PWM duty cycle it receives.
The features of the servo motor car are:
Input 6.2~12V DC to generate 6V DC to drive servo motors.
Translate 3.3V PWM to 5.0V PWM
Provide 5V DC power output for host
2X20 3.3V GPIO Interface for host
Drive 24 servo motors at most
Fuse protection for each servo driving port
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MIPI Build-In Altera CPLD and Power Monitor Chip:
oBattery voltage monitor
oTotal current monitor
oAuto shutdown when battery is low or total current is too high.
oSource code is available for users to modify according to their application.
2.2 Block Diagram of Servo Motor Card
Figure 2-2 shows the block diagram of the servo motor card. There are 24 level shift populated
to convert the voltage level of PWM signals from 3.3V to 5.0V. The 6V power regulator
provides 6V DC for the servo motor. The CPLD is configured to monitor the power constantly.
When an exception is detected, it will automatically shut down the motor. The board power
comes from the DC jack and 6.2 ~ 12V DC power is expected. The 5V DC output power can be
used to supply 5V power for the FPGAmainboards designed with 5V input requirement.
Figure 2-2 Block Diagram of Servo Motor Card
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2.3 Interface of Servo Motor Card
Figure 2-3 shows main interface of the servo motor card. The 2x20 GPIO is used to connect to the
FPGA mainboard to get 24 PWM control signals from the FPGA. There are 24 1x3 SERVO
HEADER on the board. These 24 header can be used to drive 24 servo motors. The DC JACK
receives 6.2~12.0V DC source to provide power for the motor card. DC 6V is generated to drive
servo motors. The DC 5V OUPUT connector can output 5V DC power which can be used to
provide power for FPGA main board. The POWER SWITCH is used to turn the power on/off the
motor card. When POWER SWITCH is set to off position, the servo motor will stop immediately.
Figure 2-3 Main interface of the servo motor card
2.4 Power for Motor Card
External 6.2V~12V DC power is required for the motor card to work. Users can provide the required
power from the J4 DC-Jack or the J1 2-pin connector (not installed) as shown in Figure 2-4. If
DC-Jack is used, please make sure the DC-Plug of the power source is meet required specification
as shown in Figure 2-5. Terasic also provide the power supply, user can change the power supply
from http://smk.terasic.com/buy.
Note, do not provide power from J4 DC Jack and J1 2-pin power input at the same time. Otherwise,
the board will be damaged.
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