Motorola Microprocessor Servo Pod for KHR-2

[AI-Bot]

Hello.

For those of you who wanted to replace your RCB3J because of it limitation.
You may consider using...
This is what I for Sandai project.
Mix this board with a small CPU, you can make anything.
I will probably put this on the KHR-2 this weekend and have a running demo shortly.
I think they drop their price to $250.








ServoPod-USB™ is suitable for dedicated control of RC Servo motors, DC motors, BDCM, stepper motors, solenoids, and other bipolar power outputs, such as general converter/inverter applications, data collection and many networked control applications.
FEATURES:

* Board Size: 2.3"(W) x 4.0"(L) x 0.6"(H)
* Weight: 1.9 ounces
* Operating Temp: 0 to + 70 Deg C. Industrial Temp, -40 to +85 Deg C is available for special order. Please call for detail.
* Programming Language:
IsoMax™, Resident Language
FORTH, IsoMax built-in procedural language
SmallC (Free download Demo Edition)
StatiC(Free download Demo Edition)
Assembler, Full Version is available here
Note: SmallC & StatiC Demo version come with limited Assembler.
* DSP56F807 MPU, 16-bit processor
* Up to 40 MIPS at 80 MHZ core frequency
* Memory & Configuration Modes
Mode A (internal only)
60K x 16 Program Flash
2K x 16 Boot Flash
8K x 16 Data Flash
2K x 16 Program ram
4K x 16 Data Ram
Mode B (internal & external combine)
32K x 16 Program Flash
2K x 16 Boot Flash
8K x 16 Data Flash
2K x 16 Program ram (internal)
32K x 16 Program ram (external)
4K x 16 Data Ram (internal)
48K x 16 Data Ram (external)
Mode 3 (external only) - IsoMax does not support this mode. Assembly, C, Codewarrior, and other Third party compilers are supported. Jtag-cable-10P is required
64K x 16 Program Ram
64K x 16 Data Ram
* JTAG/OnCE port for debugging
* Examine registers, memory, of peripherals
o Set breakpoints, Step, or trace instructions
* Serial Peripheral Interface (SPI)
o Full-duplex synchronous operation on four-wire interface, Master or Slave
* Two Serial Communication Interface,
Jumper configurable as
one USB interface and one RS-232 interface (default)
or, Two Serial RS-232 interfaces
Optional configurations below are only available per special request. Please call
one USB, and one TTL or RS-422/485
one RS-232, and one TTL or RS-422/485
* CAN 2.0 A/B module
SN65HVD230, 3V CAN Transceiver
Multiple boards can be network (MSCAN)
Ideal for harsh or noisy environments, like automotive applications
Programmable bit rate up to 1Mbit
* Low power sleep mode
* Up to 22 GPIO lines, atleast 10 are shared with external memory address/data lines
* Two 8-channel 12-bit ADCs
Single Conversion is 1.7us (8.5 ADC cycles)
Continuous Conversion is 1.2us (6 ADC cycles)
Simultaneous conversion on each ADC
Single ended or differential inputs
Signed or unsigned results
ADC can be sync’d with PWM
Optional interrupts:
+ at end of scan
+ out-of-range limit
+ zero crossing
+ Programmable high limit
+ Programmable low limit
+ Programmable offset
* Up to six General Purpose Quad Timers
Each channel has its own timebase, 4 16-bit timers
Count up/down
Cascadable
Four channels, each programmable as input capture or output compare
Input capture trigger rising edge, falling edge, or any edge
Output capture action Set, reset or toggle
External sync input
* Two Quadrature Decoder
32-bit position counter
16-bit position counter
16-bit revolution counter (initialize by SW or external event)
40MHZ count frequency (up to)
Logic to decoder quadrature signals
Configurable digital filter for inputs
Watchdog timer to detect stalled shaft
* 12-channel PWM module
15-bit counter with programmable resolutions down to 25ns
12 independent outputs or six complementary pairs of outputs
Center aligned or Edge aligned pulses
Automatic dead time insertion for complementary outputs
* 6-current sense pins
* 6-fault pins
* WatchDog Timer/COP module
o COP is CPU clock divided by 16384
* Low voltage, stop and Wait Modes
* Onboard three user's leds
* Onboard 5V & 3V linear regulators
* Onboard Power On/Off switch
* Onboard Push Button Reset switch
* Onboard Header Connectors for 26 RC-Servos

Development of the user programming in internal FLASH memory facilitated through Serial Communnication Interface, or JTAG interface.
Note: JTAG-cable-10P is optional. It only requires for future IsoMax™ upgrade, or switching from IsoMax™ to C/CodeWarrior, or Serial Bootloader, or SmallC, or StatiC, and vice versa... To obtain an upgrade copy of IsoMax™ srecord file, you must sign the license agreement

The ServoPod-USB™ is a complete system, ready to develop, or run, dedicated applications. Simply plug in the supplied USB cable and begin programming. External power supply is not required. quired.

[Orac]

Very nice, as I see it there are 3 options for people.

1 - keep the RCB 3/J boards in place and use the robot as is, with little opportunity for sensors/autonomy but a reasonable piece of software to allow good control via a remote control.

2 - replace with the Lynxmotion SSC-32, gives most of the functionality of the RCB but also allows control; from an external microprocessor/PC

3 - use the Servopod. This is completely open for development, but you'll have to start from scratch and develop software for the lower control functions as well as the higher level functions.

Many choices

[limor]

i wonder if it can read the position feedback from the servos.
this involves changing the ports from pwm-write to to pwm-read.

[ryann2k1]

Hi...
I wonder to know..whether this board could be used also to replace RCB-1, since KHR-1 requires 17 servos control and this board only provides 12 servos pwm control.


Cheers,

ryann2k1