RC Servo Micro Controller

“The Robot Heart”

Instruction Manual

please read this manual

before opening the controller.

The Mercury Group

www.chapp.com

Installing the software.

1. Place the cd into your cd-rom drive.

2. Double click on the icon named setup.exe.

3. Click on computer icon in RC Servo Control Setup window.

4. Screen will show, now copying files.

5. Completed Successfully will appear.

6. Click OK.

7. You will now find the RC Servo Control software under Start | Programs | RC Servo.

Using the RC Servo Program

Main Screen:

Main Menu:

Main Menu: Main menu of the RC Servo Controller program.

File Menu

1. File Menu

A. Open open a saved program file.

B. Save As save a program file.

C. Exit exit program.

Setup

2. Setup Menu

A. Controller Setup controller setup set ID and Prompt character. ( See 12 & 13 ).

1.Servo Offset Read will read the current servo offset readings from the servo.

2.Servo Offset Write allows the user to define new values for the low and high offsets for

the servo (defaults are L-600 and H-2400, representing 0 -180 degrees for the servo ).

B. PC Comport select com port 1-4 for the controller software to talk to the controller.

Information

3. Information Menu

A. About the Controller Image Graphic pages with details on controller

“The Controller picture has spots that tell what the item is when the mouse is placed over them”

B. About the Controller controller pin out information and general information.

C. About the Program program basics and sample code.

** Double click on help window to close!

Program

3. Program

A. Launches The Controller Program Screen

Axis Move Window

4. Axis Move Window

Shows position 0 – 180 degrees for this servo. Displays windows for the number of axis available for

this servo controller.

Axis Position Windows

5. Axis position window. This displays the current position for this axis 0-180.

Decrement Axis Position

6.Decrement Axis position, in the current window by one.

Increment Axis Position

7.Increment Axis position, in the current window by one.

Axis Move Button

8.Axis move button. Once activated it will execute the move in the current axis position widow.

Once executed the position may be stored by pressing the Store Move button (see below).

Manual Program Window

Program Window.

This windows displays your current program, allows execution, editing and stopping the program.

Programs saved and opened are displayed in this window for execution and editing.

Store Move Button

9.Store move button.

Stores the last executed move. ( Therefore, to store a move it must be entered, executed and stored ).

Execute Button

Execute button.

This executes the current program in the program window.

Stop Button

10.Stop button.

This button will pause current program execution and ask if you wish to continue or stop the program.

Stop will interrupt the current running program (“This is not an Emergency Stop”)

Stop can also be used if a controller is not responding to break out of a command sequence.

Servo Programming Language

The servo program is designed to be a Jog and Save language.

The User Jogs the axis to the desired location and saves the move

by pressing the STORE MOVE button. The command is the placed on

the program text viewer.

The Program text viewer works like any other windows file it allows

cut paste and copy commands. To cut paste or copy simply highlight

the desired text or area and right click. Windows will pop up a message

field with cut and paste options.

Commands used

END

Ends the program (“make sure END is the last line of every program you write”)

PAUSE

Pauses the program for a number of seconds.

Example PAUSE 1 would cause the program to wait 1 second

LOOP

Starts the Program over again.

‘ Comment

Putting a ‘ at the beginning of a line makes it a comment line.

Example ‘ this is a comment line ------------ axis a at home

Note: that the comment line will show up on the caption of the

program screen. DO NOT add comments to any other lines

it will interfere with the program operation.

Manual Servo Programming Language Tips

Programming Tips:

All commands PAUSE, LOOP, END are in capital letters!

If you wish to repeat a single move just copy and paste it in the program.

Add comments in the test to make your program easier to use.

Remember that comments should be on a line by themselves.

All comments are shown in the Program Title Bar as they are read in the program

Also any PAUSE command will appear as it is read.

Servo Programming Language

Main Menu:

Main Menu: Main menu of the RC Servo Controller program.

File Menu

1. File Menu

A. Open open a saved program file.

A. Open as Subroutine open a saved program file and adds it to the current program.

B. Save save a program file.

C. Exit exit program.

Program

2. Program Menu

A. Upload program to controller Uploads the current program to the controller

A. Run program Alows user to start the program

Debug mode will run the program slowly and

show prompts of events as the run.

A. End Controller Program Run Halts program execution

A. Read program Reads the current controller program in memory

A. Serial Receive on Shows serial data sent by the controller

Data

3. Data Menu

A. Read Data Reads the user memory area 1-200

B Write Data Sets all user memory to 0

Help

3.Help

A. About the Controller Image Graphic pages with details on controller

“The Controller picture has spots that tell what the item is when the mouse is placed over them”

B. Program Commands Programming Command Explanations.

Manual Mode

4. Manual Mode

Returns to the Manual control screen.

Program Command Window

5. Program Command Window.

Single click on any command in this window and a short description will appear .

Double click and the command will be placed in the program window or open prompts for more information.

Program Window

5. Program Window.

contains the current program being created or loaded

This window is fully cut and paste compatible you may right click

On it to Cut Paste or Delete.

Servo Program Commands

Available Memory is divided into four variables for operational use and user memory for storage.

The four variables are words and are labeled Variable #1, Variable #2, Variable #3 and Variable #4.

The user memory is in bytes and is labeled 1-200.

Please Note: the IBUTTON command uses user memory 193-200 is used to store the returned IButton value.

Variable ( V1, V2, V3 or V4 ) Commands:

ANALOG

DECREMENT

IF VARIABLE

INCREMENT

TALK V1

TEMP

VARIABLE =

User Memory ( 1-200 ) Commands:

DATA READ

DATA WRITE

IBUTTON

ACCURACY : Controls # of signals sent to a servo

When Using the RC servo command a signal is sent to the RC

Servo which it compares to an internal signal. The signal the controller

sends is where we want to go. The internal Servo signal tells the Servo where it is.

When a command is issued the Servo will try to move from where it is

to where we say we want to go. Normally we will send this signal

20 times. This allows the servo to find the position desired and stop.

So why change Accuracy? Some times we need to make two motors

move at once so it’s better then to lower the Accuracy value to say 5

and repeat the command a couple of times in the program. This will allow

both motor to move almost at the same time. This lower Value is also

great for the sweep command, it will make the movement look smooth.

Use the slide bar to choose a value from 1 - 200.

ANALOG : Get an Analog input from A1 or A2

This Command will let you read the Value of a resistive component such as

a Potentiometer or a Photo cell. When the command is executed it places the value

of the component as a value of 0 to 255 in the Variable ( V1, V2, V3, or V4 )chosen .

You will choose from radio button A1 or A2. Then you will choose from radio button

Variable #1, Variable #2, Variable #3 or Variable #4. The v5 variable maybe set using variable = command

this command is the scale command for the analog input try setting it to @ 240 as a default.

AUTO START : Set Auto Start On or Off

Put this command at the beginning or end of your program.

If On is selected , the controller will start running the program that is currently

in memory. Once this is done, the program being run can only be stopped by using

the controller program software.

AXIS HOME : Sets all selected servos to home position

You will be asked to select the servos to be sent to the home position.

Use the Axis Home Set Command to specify the home position of each servo.

AXIS HOME SET : Select I/O Axis Point and then choose degree 0-180.

Select the I/O Axis point, then use the sliding bar to select the degree for the home

position of this axis ( 0-180 degrees).

AXIS MOVE : Select a I/O Axis Point and a position to go to from 0 to 180 degrees

User chooses an I/O point that has an RC Servo Connected.

Use the sliding bar to enter a degree position to move this servo ( 0-180 ).

COMMENT LINE : Enter a Comment

Places a Comment line in the program. This is good for reviewing a written program.

Please enter a text line into the popup box.

DATA READ : READ data value in user memory area 1-200 into V1,V2,V3,V4

Use the slide bar to select a User Memory Location for the read.

Then select a variable ( Variable #1, Variable #2, Variable #3 or Variable #4)

for the value to be placed.

DATA WRITE : WRITE data value in user memory area 1-200

Use the slide bar to select a User Memory Location for the write.

Then select a variable ( Variable #1, Variable #2, Variable #3 or Variable #4 )

from which we will take the value and write it to the specified user memory location.

DECREMENT : Select a Variable and subtract 1

Subtract 1 from the value of chosen variable ( Variable #1, Variable #2, Variable #3 or Variable #4 )

END : End Program

Ends The Program.

Once run, the Controller will have to be restated.

IF Auto Start is Selected, Auto Start will be canceled.

GOTO : Goto another point in this program

Changes the program execution to the “TAG” entered.

Enter the TAG into the text box provided.

IBUTTON : Read a serial code from a Ibutton

Reads the value of a Dallas Ibutton 1990A

into user memory locations 193 - 200.

IF VARIABLE : Logical and Math operations

There are two types of operations you may perform. A logical comparison of

two variables and a resulting GOTO or a mathematical operation.

Select a variable from Variable #1, Variable #2, Variable #3 or Variable #4.

Choose an operation.

If a logical operation is selected, you will need to choose the comparison variable ( #1 - #4 ).

Then you will be asked to select a goto TAG.

If a math operation is selected, the math will be performed.

Logical Operators:

----------------------

= Equal to

> Greater Than

< Less Than

<>Not Equal to

Math Operations:

------------------------

V1 + V2 Variable #3 added to Variable #2 with the result in Variable #1

V1 - V2 Variable #3 subtracted from Variable #2 with the result in Variable #1

V1 x V2 Variable #3 multiplied by Variable #2 with the result in Variable #1

V1 / V2 Variable #3 divided by Variable #2 with the result in Variable #1

V3 + V4 Variable #3 added to Variable #4 with the result in Variable #3

V3 - V4 Variable #3 subtracted from Variable #4 with the result in Variable #3

V3 x V4 Variable #3 multiplied by Variable #4 with the result in Variable #3

V3 / V4 Variable #3 divided by Variable #4 with the result in Variable #3

INCREMENT : Select a Variable and Add 1 to the Variable

Add 1 to the Value of chosen variable.

INPUT : ON Input = High goto a line in this program

Select a I/O point for input, IF the value of the input is

High (connected to the 5 volt output), the program

will continue at the chosen TAG.

If the input is low the program will continue to the next line.

Key Pad Input: Reads a keyboard input

Scans an optionally attached keyboard to the AUX port and returns the value to V1

LOOP : Start the program over

Loop returns to the start of the program.

MANUAL MODE : return to manual mode ( PC control )

Manual mode allows the Main Screen to control the servo’s

/70/00/000 will restart the program running from the manual screen.

** Note: the serial cable must be connected from the PC to the controller.

OUTPUT : Set an Output state

Set the selected I/O point to High ( 5 volts ) or Low ( 0 volts ).

You will be asked to select an I/O port and then high or low.

PAUSE : Wait a number of seconds

Enter the time in seconds to pause program execution.

Use the slide bar to select a valid amount of time.

RECEIVE : receive a one byte value from RS-232

Select a value to match a one byte ( single character ) serial input.

IF the serial value matches the selected value then the program will

goto the TAG entered. If the values don’t match then the next

program line will be executed.

SOUND : Play a note.

Send a note to a speaker.

Use the slide bars to select pitch and duration of the note.

SLEEP : Sets controller into a low power mode from 1 Min up to 18 Hours

Suspends program for 1 min up to 18 hours and then continues.

SOUND : Play a note

Select Pitch 1-175 and duration of 1 to 200.

SWEEP : Move a servo from one point to another 1 degree at a time

Select an I/O point to move.

Use the slide bar to select a starting point and then the end point.

The servo will move 1 degree at a time.

TALK : send out a message from the RS-232 port

Value to be sent out the serial port.

Enter the value into the text box.

Choose send as text or send as value.

You have the option to check the checkbox for the addition

of a carriage return and line feed at the end of the value.

TALK V1 BIN : send out V1 from the RS-232 port as Binary

Sends out the value in Variable #1 as binary.

TALK V1 DEC : send out V1 from the RS-232 port as decimal

Sends out the value in Variable #1 as decimal.

TALK V1 HEX : send out V1 from the RS-232 port as Hexadecimal

Sends out the value in Variable #1 as hexadecimal.

TEMP : Read temperature from a Dallas DS1820

Reads temperature from a Dallas DS1820

and places the value in Variable #1.

TOGGLE OUTPUT : Changes Output State

Command Changes the STATE of the selected output. It is set to the inverse.

( IF High it is set to Low, IF Low it is set to High ).

VARIABLE = : Set the Value of a variable

Select one of the 4 variables ( Variable #1,Variable #2,Variable #3,Variable #4 )

and enter the value to be held in the variable.

VARIABLE LINE TAG : Set a tag for goto commands

Places a TAG for GOTO and IF commands.

User can use any name up to 5 Characters.

Servo Controller Setup

Terminal Block #1

I/0 or Servo #4 #3 #2 #1 5 volt output

Terminal Block #2 + #5 #6 #7 #8 Ground

5 to 24

DC

RC Servo Connection

RC Servo Connection - connect the three wire servo cables to the appropriate servo motor.

Servo Motor Pin Out:

Terminal # Block #1

1. DC Power 6 Volts Max

2. Control Signal Servo #1 (White wire Most RC SERVO’S) I/O #5

3. Control Signal Servo #2 (White wire Most RC SERVO’S) I/O #6

4. Control Signal Servo #3 (White wire Most RC SERVO’S) I/O #7

5. Control Signal Servo #4 (White wire Most RC SERVO’S) I/O #8

6. DC Common “ Ground”

Terminal # Block #2

1. 5 volt sensor Control power

2. Control Signal Servo #1 (White wire Most RC SERVO’S) I/O #1

3. Control Signal Servo #2 (White wire Most RC SERVO’S) I/O #2

4. Control Signal Servo #3 (White wire Most RC SERVO’S) I/O #3

5. Control Signal Servo #4 (White wire Most RC SERVO’S) I/O #4

RC Servo Connection

DB 9 RS-232 Connector

Connect to your PC.

Safety

These safety tips are always good ideas.

1. Provide Emergency power shut off to the circuit.

2. Make sure that the circuit is protected by a fuse of no greater than 1 amp @ 24 Vdc.

3. Do Not allow children to operate this device.

4. Always test your motor without a load connected. And the Motor securely mounted.

Even a small stepper motor can generate a large amount of torque!

5. Do not allow the systems to run unattended.

6. Never operate the circuit without proper safety guarding for the motors that are being operated.

7. Double check, Test and operate any device you build safely!

Remember Safety is your responsibility !

More Help

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Need Help? Email us at INFOTMG@QWEST.NET state the nature of your problem

Please send picture or drawings if needed. Detailed information about the problem

We try to respond in 24 hours or less Monday – Friday .

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Email us at INFOTMG@QWEST.NET we love to hear your comments

and suggestions.

If your Not Happy !

If you have read this manual and decided that this device is to complex

Or difficult to Operate. Do not open the Shrink Wrapped Controller.

We only accept unopened returns.

Email INFOTMG@QWEST.NET in the Subject line State “RMA requested”

Send a brief note stating that you would like to return the device. We will

Email Instructions for it’s return and refund the amount of Purchase less shipping charges.