©2010 zmp inc. all rights reserved. electronic devices motor control learning kit from electronic...
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©2010 ZMP INC. All Rights Reserved.
ElectronicDevices
Motor ControlLearning Kit
From Electronic Devices to H8 Embedded Programming
EmbeddedProgramming HDL
HardwareDescriptionLanguage
Programming the H8 CPU
Extra Text about Motor Control
Free Standard Development Environment
Altera MAX II CPLD
Original CPLD Board
Additional HDL Textbook
Resistances, Transistors ElectronicDevices
Circuit Diagrams & BoardPatterns
Basics Circuits with Breadboard
Basic learning of Resistance properties, Transistors switching, LEDs, etc. and Properties of electronic devices in general. 。
Practice basic circuit learning with a breadboard included in the set 。
H Bridge is a collection of four FET arranged in an H shape 。 By checking the patterns and the circuit boards the user can learn to associate the diagram and the real device 。
Embedded Programming requires not only knowledge of software but also of hardware 。Perform experiments with the breadboard using the H8 Microcontroller.
Either a bipedal or a wheeled robot, the basics of motor control are the same 。 Learn DC Motor control through the C language 。 A/D Conversion, embedding process, encoders, PWM and PID control 。
The Integrated Development Environment HEW distributed by the makers of the H8 mic. Renesas is used by professionals embedded engineers. Learn to use it too 。
Learn Hardware Design using the widely used Altera CPLD board. While H8 is well suited for software prog. CPLD is suitable for hardware prog 。
Learn from AND ・ OR Logic operations to decoders, selectors, flipflops, etc 。 Included Counters, State machines, Signal processing and last feedback control 。
CPLD ( FPGA )H8 CPU
CPLD Extension Board
HDL Learning Package ( Option )
A NEW extension for our BASIC material. Using the CPLD Extension Board you not only perform motor control (H-bridge, angle sensor A/D conversion, etc) but also can use the H8 CPU as well 。
e-nuvoBASIC
Ver. 1.1
©2010 ZMP INC. All Rights Reserved.
Push SW ( ×1 )、 Dip SW ( ×3 )、 LED ( ×8 ) para practicar CPU digital I/0 。
I/O Port( Switch 、 LED )
■ Motor Control Learning Kit e-nuvo BASIC specs
1975 Ms Eng 1987 Dr. Eng (Waseda Univ).1975-2000 NTT. 1981-1982 Visiting Scholar, Dept. Mechanical Eng., Columbia Univ., NYC.From 1988 NTT New Fields Promotion Group Leader. 1992 NTT Human Interface Labs. Autonomous Robot Systems Lab. Research Group Leader. 2000- Professor, Dept. Electrical Eng., Faculty of Eng., Shibaura Inst. Tech. 2003-Professor, Graduate School of Engineering Management (MOT Program). Board member: RSJ (the Robotics Society of Japan), SICE (Society of Instruments and Control Engineers) 。Division Chairs: JSME (Japan Society of Mechanical Engineers) Robotics Mechatronics Division, SICE System Integration Division and Control Division
■ Motor Control Learning Kit e-nuvo BASIC Basic Configuration
■ Textbook 「 Electronic Devices & Motor Control 」
■ Textbook Supervisor : Makoto Mizukawa
4 FET switchs in a H Pattern, the easiest way to understand H Bridges 。
H Bridge Circuit
Experiments using a Gyro Sensor and an Accel Sensor 。
Sensor Board ( Option )
Gyro SensorMurataENC-03
Accel SensorAnalog Devices
ADXL322
Practice with Analog (Potentiometerand A/D) and Digital (Encoder andPulse Counter) Angle sensors 。
Angle Sensor (2 types)
Encoder
Potentiometer( Resistance )
CPU board used also by e-nuvo WHEEL 。 Suitable for different types of experiments due to being generic 。
Generic CPU Board
Serial Port ・ FW Write ・ Log
E8 Emulatorconnection
( For Debug )
H8/Tiny CPURenesas
Technology
Hardware Design with HDL using the CPLD board
HDL Learning Package( Option )
CPLDAlteraMAX II
Switch &LEDs For basic
experiments
Learn the basics of electronic devices with the help of a breadboard and your own wiring 。
Breadboard
Support for Renesas Integreated Development Environment HEW 。 Also a debugger for the E8 Emulator 。
Integrated DevelopmentEnvironment HEW
External ports of the H8 CPU and the CPLD 。 Included Jumper Wires 。
External I/O Port
※ Information on this document might be changed without any prior notice 。
Actuators
RecommendedDevelopmentEnvironment
Sensors
Angle Sensor
Pose Sensor ( Option )
Accel Sensor ( Option )
RS-232C ( For Flash Writing )
ZMP Original Accel Sensor Board ( ×1 ) ・ Accel Sensor : ANALOG DEVICES ADXL322JCP
Product Name Motor Control Learning Kit e-nuvo BASIC ver.1.1
Renesas TechnologyHEW ( High-performance Embedded Workshop )Integrated Development
Flash Writing Tool Renesas Technology FDT ( Flash Development Toolkit )
PC I/F
CPU
・ Encoder ( ×1 ) Resolution 4[pulse/rev] ( basic/2mult/4mult )・ Potentio Meter 5kΩ
ZMP Original Gyro Sensor Board ( ×1 ) ・ Gyro Sensor : Murata ENC-03RC×1
Current Sensor Shunt Resistor 0.22Ω
CPLD ( Option)
PowerFor Control CPU5[v] 、 CPLD3.3[v] ( 1.2[v]Batt×3 を Booster )For Motor 3.6[v] ( 1.2[v] Batt×3 を Direct Input )
Attached Parts Breadboard, Jumper Wire, Alligator Clip, CPU Writing harness,etc
■ Microcontroller for C programmers
We recommend the Renesas course [Microcontoller for C programmers] for students who wish to know more about microcontroller systems 。 The course uses the same chip as BASIC and WHEEL 。
Manufacturer :ZMP INCADDRESS: 6F Sumitomo Fudosan Koishikawa Bldg., 5-41-10, Koishikawa, Bunkyo-ku, Tokyo 112-0002, JAPANTEL: +81-3-5802-6901 FAX: +81-3-5802-6908URL: http://www.zmp.co.jp E-Mail: [email protected]
Authorized Sales Agent :
ZMP Original Generic CPU Board ( ×1 ) ・ Renesas Technology H8 Tiny ( HD64F3687FP )
ZMP Original Generic CPLD Board ( ×1 ) ・ Altera MAX II EPM240T100C5
Mabuchi DC Motor RE-280RA 、 Reduction Gears 30
e-nuvo BASIC Basic Package
(1) 電子部品の基礎(2) 組み込みプログラミング ・開発環境の構築 ・ポートの入出力
( SW , LED ) ・割り込み処理(エンコー
ダ) ・ PWM 生成(モータ駆動) ・角度制御( ON/OFF 制
御)
組み込みプログラミングの基礎(モータ制御基礎編)
(1) 組み込みプログラミング ・タイマー ・シリアル通信(送受信) ・バッファを用いたシリア
ル通信(2) PID 制御の実装 ・ PID 制御(浮動小数点演
算) ・ PID 制御のチューニング
(1) フィルタの実装 ・一次遅れフィルタ(2) PID 制御の実装と設計 ・モデルベース制御 ・電流フィードバックの実装 (整数演算を用いた PID
制御) ・ PID 制御のチューニング
(1) CPLD 開発環境(2) HDL 基礎編 ・デコーダ、セレクタ ・ D ラッチ,フリップフロッ
プ ・フルアダー ・カウンタ、ダイナミック点
灯 ・ステートマシン、時計、電
卓
(1) モータ制御基礎編 ・ H ブリッジ ・ PWM 信号の生成 ・エンコーダのカウント ・ディジタルフィルタ( D-F
F ) ・ AD 変換 ・フィードバック制御
組み込みプログラミングの基礎( PID 制御実装編)
PID 制御器の設計と実習 Verilog HDL を用いた回路設計( HDL 基礎編)
Verilog HDL を用いた回路設計(モータ制御基礎編) 開発中!
■ e-nuvo WHEEL への発展e-nuvo BASIC で学習した組み込みプログラミングの技術を応用して倒立二輪ロボット e-nuvo WHEEL の制御が可能になります。さらなる発展学習としてご活用ください。同じH8 マイコンと同じ CPLD を採用していますので、開発環境が同じであることによる教育効果が期待できます。