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pontech SV203 User Manual

Servo motor controller board
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Rev. 1.20
(714) 985-9286
Fax (714)985-9288
2700 E. Imperial Hwy., Suite N - Brea, CA 92821

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Summary of Contents for pontech SV203

  • Page 1 Rev. 1.20 (714) 985-9286 Fax (714)985-9288 2700 E. Imperial Hwy., Suite N - Brea, CA 92821...
  • Page 2 SV203 - Servo Motor Controller Board The SV203 is a PIC16C73 microcontroller based servo motor controller board that accepts RS-232 serial data from a host computer and outputs PWM (pulse-width-modulated) signals to control up to eight RC (radio-controlled, i.e. model airplanes, cars, etc.) servo motors.
  • Page 3 (Figure 1). A 1.5 ms pulse will set the servo in the middle (neutral) position. The SV203 controller is designed to the specifications of a Futaba servo model FP-S148. These servos have a neutral position at 1.52 ms.
  • Page 4 300mA. If using NiCads, a 4-cell pack might be easier to find than a 5-cell pack. The board will operate fine with 4 cells, but may not last as long as 5 cells. (Figure 2 - pin-out for SV203)
  • Page 5 SV203 - Power Supply and Pin-out DB-9 DB-9 DB-25 DB-25 Macintosh Macintosh DB-9 DB-9 8 , 4 (Figure 2a – DB cross-referenced chart)

  • Page 6: Servo Connections

    Black for ground, Red for power, and White for signal. Connect the cable with the White wire pointing to S1…S8, and the Black wire toward the outside edge of the board. (Figure 3 - servo connected to SV203)
  • Page 7 SV203 - Example Interface OPEN “COM1:9600,N,8,1,CD0,CS0,DS0” FOR OUTPUT AS #1 PRINT:PRINT “*****SV203 Servo Controller *****” INPUT “Enter Board ID Number: INPUT “Enter Servo # to control: Servo$ INPUT “Enter Position of Servo: Pos$ PRINT #1, “BD”;ID$;”SV”;Servo$;”M”;Pos$ INPUT “Quit (y/n)”; Q$: IF Q$ = “y” THEN EXIT DO...
  • Page 8 - Operation of Board Connect the servos to the board, plug in the RS-232 cable to a COM port of a PC and the other end to the SV203. Power the board and the servos should return to the neutral position. Run the example programs.
  • Page 9 SV203 - Operation of Board Once a board or servo is selected, it will stay selected until power is removed or another select command is received. For example, if the following commands were sent: BD1 SV2 M100 <enter> The next command will still move servo #2: M150 <enter>...
  • Page 10 SV203 - Commands Descriptions Select Board Before the board will accept any commands, it must first be enabled. To enable the board, you must send the BD command followed by the board ID number (n). The default ID number of the board is 1.
  • Page 11 SV203 - Commands Descriptions Select Servo On power-up, servo #1 is pre-selected. To select another servo or to make sure the servo is selected, send “SV” followed by the servo number. The servo number must be between 1 and 8 because there is a maximum of eight servos that the board can control.
  • Page 12 SV203 - Commands Descriptions Move to absolute position This command will move the selected servo to an absolute position. The range of the position is between 1 and 255. On a RC-type servo, the maximum mechanical movement is about 180 degrees.
  • Page 13 SV203 - Commands Descriptions Incremental move relative to current position This command will move the servo relative to the current position of the servo by adding or subtracting the value entered to the current servo position. i.e. M100 <enter> I10 <enter>...
  • Page 14 SV203 - Commands Descriptions Delay/Pause in milliseconds (ms) Delay commands may be added to the string to pause between movements: SV1 M20 D1000 M100 <enter> servo #1 will move to position 20. There is a one-second (1000 ms) pause, and then servo #1 will move to position 100.
  • Page 15 SV203 - Commands Descriptions Pin Set Pin Clear Pin Toggle These commands allow you to use the servo port as a digital output by setting, clearing or toggling individual bits of the servo port. In order to use the port as a digital output, the servo PWM must first be turned off by sending a M0 command to each servo pin that you want to use as digital output.
  • Page 16 SV203 - Commands Descriptions Read a voltage on the A/D port Port A (see figure on previous page) is a 5-Channel, 8-bit A/D input that can read an analog voltage. The n is a number between 1 to 5, which tells which pin on the A/D port to request. When the...
  • Page 17 SV203 - Commands Descriptions SI, SOn Shift byte In/Out the SPI port These commands allow you to use Port C (see figure on p.14) on the board as a synchronous serial port to shift in or out a byte of data.

  • Page 18: Commands Descriptions

    SV203 - Commands Descriptions There is a configuration register at location 60 in RAM. The value of the register is initialized by the contents of EEPROM in location 11. The register configures the shift function for MSF (most significant first) or LSF (least significant first), data valid on clock...
  • Page 19 SV203 - Commands Descriptions WRm n Write to RAM Read from RAM where m is the memory address (see table on next page), n is the value to be stored. These commands allow you to modify and read the contents of the internal register or RAM of the processor.
  • Page 20 SV203 - Commands Descriptions RAM Memory Map: Address (m) Address (m) Usage Usage Note Note Port A Port B Port C TMR1L TMR1H T1CON CCPR2L CCPR2H CCP2CON 51 to 58 Current Servo Position Servo Select Shift Config Register TRIS A...
  • Page 21 WE0 2 <enter> change the board ID number to #2 i.e. RE1 <enter> the SV203 returns the initial servo value of servo #1...
  • Page 22 SV203 - Commands Descriptions EEPROM Memory Map: Address Address Usage Usage Factory Factory Note Note default default Board ID # Initial Servo #1 Value 128 0 - off or Digital Initial Servo #2 Value 128 0 - off or Digital...

  • Page 23: Changing Default Settings

    SV203 - Changing Default Settings When the board is powered-up, it first reads the external EEPROM to get its Board ID number, Initial positions for the servo, Baud rate, and some other initial flags. These initial settings can be changed by using the WE command (for WE command see p.20).
  • Page 24 You can also use the enclosed program on disk called DEFAULT.EXE to reset the default settings of the board. If the baud rate of the SV203 has been altered, either on purpose or inadvertently, the DEFAULT.EXE program cannot be used. In this case, the above method of shorting pins 7 and 8 of connector J3 is preferred.
  • Page 25 SV203 - Controlling Multiple Boards You can connect multiple boards to the same serial line by reassigning different ID numbers to each board. If you are using the second board for output only, the wiring below will work just fine.
  • Page 26 SV203 - Notes ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ______________________________________________ ___________________...
  • Page 27 SV203 - Commands Listing Commands Commands Parameter Parameter Description Description 0 to 255 Board Select 1 to 8 Servo Select 0 to 255 Move to an absolute location -128 to 127 Move relative to current position 1 to 65535 Delay (ms)
  • Page 28 SV203 - Schematic...

  • Page 29: Warranty

    Pontech warrants its products against defects in materials and workmanship for a period of 90 days. If you discover a defect, Pontech will, at its option, repair, replace, or refund the purchase price. Simply return the product with a description of the problem and a copy of your invoice (if you do not have your invoice, please include your name and telephone number).
  • Page 30 Copyright 1997-98 by Pontech. All rights reserved.