Transcript
RO254PN1 Advanced RoboBalluSensor
Specifications
254PN1-DC3V2.doc
Page 1 of 4
Set Up Instructions
1. Connect the sensor to a 12VDC power supply.
The Advanced RoboBallu Sensor is designed to detect the infrared light emitted by the RoboBallu. The sensor has an adjustable range and an adjustable sensitivity and its variable output has been linearized so that the distance from the RoboBallu can be determined. The Sensor is supplied ready for 3-wire operation, that is, it is designed for dedicated micro-controller units that have a DC voltage supply available for the sensor. This is supplied via the red (+ve) and black (-ve) leads. The white (output) lead supplies a variable output voltage suitable for an analogue input on the micro-controller. It however can be easily modified to operate as a 2 Wire Interface device, suitable for use with LEGO MINDSTORM and other 2 Wire devices, see page 2 for modification details. The Sensor has been designed to be used with preprogrammed robots competing in the ‘RoboCup Junior’ * competitions. Features of the Advanced RoboBallu Sensor:
2. Using a digital multimeter, connect between the -ve (black wire)& output (white wire), with DC Volts range selected. 3. Switch off the RoboBall. 4. Set trimpots VR1 & VR2 fully clockwise. 5. Adjust the Sensitivity trimpot VR1 anti-clockwise until the output voltage equals 3.95V. 6. Next, adjust the Range trimpot VR2 anticlockwise until the output voltage equals 7.55V. 7.
The Advanced RoboBallu Sensor should now be ready to use. See Table 1 for an indication of output voltage vs distance. For optimum performance you will need to test your sensor and use your results to set up the interface. To do this you will need to pick one of the IR LEDs inside the RoboBallu and point it directly towards the end of the Advanced RoboBallu Sensor’s plastic tube when doing the measurements at the respective distance. Distance from Sensor to Active RoboBall (mm)
Our Indicative Result
No RoboBall 2000 1500 1000 800 600 500 400 350 300 250 200
7.5V 7.4V 7.2V 7.0V 6.8V 6.6V 6.3V 5.9V 5.7V 5.3V 4.9V 4.5V
Trimpot adjustable Sensitivity VR1 (Background) Trimpot adjustable Range VR2 (Gain) Linear response for calculating distance Standard 3 wire interface Easily modified to work with 2 wire interfaces Wide input voltage range, 12VDC as standard, easily modified to operate of 5VDC, 6VDC or 9VDC. Capable of sensing the RoboBallu at up to 2mtrs Designed to interface directly to the A to D input of a microprocessor
Mechanical Specifications VR2 VR1 +ve
Table 1. Output Voltage vs Distance
13
-ve Out
60 Dimensions = mm ± 0.5mm Weight = 4.5 g
Infrared Peak wavelength
Adjusting the Viewing Angle of the Sensor
lp = 940nm
Electronic Specifications
Input Voltage Input Current Output Voltage
9 Volt, 6 Volt & 5 Volt Operation The Advanced RoboBallu Sensor can be easily modified to operate from a 9VDC, 6VDC or a 5VDC source, see page 3 for modification details.
Optical Specifications
Your Measured Voltages
A plastic tube has been fitted to the Phototransistor to make the sensor very directional. In most cases the sensor will be to directional, the tube can be trimmed back with a sharp knife, until the viewing angle of the sensor, meets the requirements of your application.
: 12VDC : 7.0mA (max) : see Table in Set Up
______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
RO254PN1 Advanced RoboBalluSensor
Specifications Page 2 of 4
254PN1-DC3V2.doc
2 Wire Interface Modification The LEGO RCX can best be described as having a 2wire interface. The Advanced RoboBallu Sensor can be easily modified to operate as a 2-Wire Interface device, suitable for use with LEGO MINDSTORM and other 2 Wire devices. In this case the white wire (output) is discarded and only the red (+) and black (-) wires are used. The LEGO MINDSTORM and other 2 Wire devices read the output of the sensor through the red (+ve) wire as well as using it to supply +ve DC voltage to the sensor.
How to Convert the “Advanced RoboBallTM Sensor” from 3-wire to a 2-wire Interface. Two components need to be added to the sensor, a Diode (1N4148) and a 400mW 5.6Volt Zener Diode (BZX79C5V6). You may need a magnifying glass to identify them, both have a black ring at one end to indicate the cathode (k) end. k
Once these two components are mounted and soldered in place, then the white wire can be cut off. The final thing to be done concerns two solder pads located on the under side of the PCB close to the IR detector. They are rectangular in shape and have a fine coating of solder. These two pads must be electrically joined together either by melting excess solder on them so that the pads join together, or by placing a short piece of fine wire from one pad to the other and soldering it in place.
Short out these pads
a
These two components are supplied in a separate plastic bag with the Advanced RoboBallu Sensor. It is easier to first look for the 1N4148 markings than the zener diode markings. Once you have identified the 1N4148 the other component will be the zener. (Due to different manufacturers the zener may have a different markings to that stated.) These two components are added to the PCB at the points shown below, situated between the trimpots VR1 and VR2. BZX79C5V6 Zener Diodes to be fitted, Cathode (k) this side
The Advanced RoboBallu Sensor should now be ready to use as a 2-wire sensor, but the RCX will need to be setup. The sensor will only give a reading on the LEGO MINDSTORM RCX if the input is setup to receive the LEGO MINDSTORM light sensor and the plug brick is plugged in the right way around. Connecting brick the wrong way around will not damage anything but just give a 0% reading. Setup Instructions for 2 wire interface 1. Connect the sensor to your I/O (Input/Output) port, typically “SOCKET 1” on your controller. 2. Turn your controller “ON”. 3. Switch the RoboBallu “OFF”. 4. Press “VIEW” button on your controller until indicating arrow points at “SOCKET 1”
1N4148 Diode to be fitted, Cathode (k) this side
IR (Infra-Red light) detector
Look at the picture below before soldering the diodes in place, note that they are mounted on the PCB standing vertically, with the top lead bent over to save space. Note the location of the black band on each component.
5. Set trimpots VR1 & VR2 fully clockwise. 6. Adjust the Sensitivity trimpot VR1 anti-clockwise until the display on the controller shows 64%.
7. Adjust the Range trimpot VR2 anti-clockwise until the display on the controller shows 16%. BZX79C5V6 Zener Diodes to be fitted, Cathode (k) this side
8. Place the RoboBallu at a 2mtr distance from the sensor and turn the RoboBallu “ON”. The display should read approximately 24%
1N4148 Diode to be fitted, Cathode (k) this side ______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
RO254PN1 Advanced RoboBalluSensor
Specifications
254PN1-DC3V2.doc
9. Now place the RoboBallu at a 1mtr distance from the sensor, the display should read approx. 42% 8.
10.
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BZX79C Zener Diode to be fitted to the right pair of holes, Cathode (k) this side
The Advanced RoboBallu Sensor should now be ready to use. See Table 2 for an indication of output percentage vs distance. For optimum performance you will need to test your sensor and use your results to set up the interface. To do this you will need to pick one of the IR LEDs inside the RoboBallu and point it directly towards the end of the Advanced RoboBallu Sensor’s plastic tube when doing the measurements at the respective distance. Distance from Sensor to active RoboBallu
Indicative Percentage reading
No RoboBall 2000mm 1500mm 1000mm 800mm 600mm 500mm 400mm 350mm 300mm 250mm
16% 24% 32% 42% 46% 58% 65% 80% 87% 91% 95%
Your Measured Percentages
Table 2. Output Percentage vs Distance
Modification for 5V, 6V & 9V Supply Operation
+ve (Red) -ve (Black) O/P (White) The left pair of hole is not used in this modification We recommend that the zener diode be fitted as stand-up components. The cathode (k) is marked with a black ring. k
a
BZX79C Zener Diode to be fitted to the right pair of holes, Cathode (k) this side
The zener diode and the surface mount chip resistor should be soldered to the circuit board with a fine tip soldering iron and resin cored solder.
The Advanced RoboBallu Sensor can be very easily modified to change it from a standard 12V Supply to a 5V, 6V or 9V Supply. A standard 400mW Zener Diode (BZX79C) needs to be added to the circuit board (PCB) and a surface mount resistor needs to be added across 2 solder pads on the bottom of the PCB. There is a set of holes and pads already on the PCB that the zener diode can be fitted to, these are located between the trimpots VR1 and VR2. Diodes are polarised and must be inserted the correct way around. The solder pads that will be used to solder the resistor to are rectangular and located under the PCB close to the Phototransistor. A different voltage zener diode and resistor value are used for the 6V and 9V supply versions. See Table 3 for appropriate values. The Zener Diode and resistor are not required for 5V operation however the two resistor pads indicated in picture above Table 3 will need to be shorted together.
Mount chip resistor here or short out pads, see Table 3
5VDC Supply
6VDC Supply
9VDC Supply
Zener Diode & Part No.
Not Fitted
5.1V BZX79C5V1
7.5V BZX79C7V5
Resistor Value in ohms
0 Short Pads
33
100
Table 3. Zener Voltage & Resistance Value Vs Supply Voltage
______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
RO254PN1 Advanced RoboBalluSensor 254PN1-DC3V2.doc
Specifications Page 4 of 4
Setup Instructions for 5V, 6V & 9V Operation 1. Connect the sensor to your 5V, 6VDC or 9VDC power supply. 2. Using a digital multimeter, connect between the -ve (black wire) & output (O/P) (white wire), with DC Volts range selected. 3. Switch off the RoboBall. 4. Set trimpots VR1 & VR2 fully clockwise. 5. Adjust the Sensitivity trimpot VR1 anti-clockwise until the output voltage equals 1.60V for a 5V supply, 2.10V for a 6V supply or 3.07V for a 9V supply. 6. Next, adjust the Range trimpot VR2 anti-clockwise until the output voltage equals 3.00V for a 5V supply, 3.57V for a 6V supply or 5.63V for a 9V supply. 9. The Advanced RoboBallu Sensor should now be ready to use. See Table 4 for an indication of output voltage vs distance. For optimum performance you will need to test your sensor and use your results to set up interface. To do this you will need to pick one of the IR LEDs inside the RoboBallu and point it directly towards the end of the Advanced RoboBallu Sensor’s plastic tube when doing the measurements at the respective distance. Distance from Sensor to Active RoboBallu (mm)
No RoboBall 2000 1500 1000 800 600 500 400 350 300 250 200
5VDC Supply
6VDC Supply
9VDC Supply
3.0V 2.4V 2.1V 1.8V 1.6V 1.2V 1.0V 0.8V 0.8V 0.8V 0.8V 0.8V
3.6V 3.2V 2.9V 2.7V 2.5V 2.3V 2.1V 1.9V 1.7V 1.4V 1.3V 1.3V
5.6V 5.3V 5.0V 4.8V 4.6V 4.4V 4.2V 4.0V 3.7V 3.3V 2.8V 2.8V
Your Measured Voltages
Table 4. Output Voltage vs Distance
“Advanced RoboBall Sensor” Design & Specifications Copyright © Wiltronics Research Pty Ltd 2002 We reserve the right to alter these specifications without notice. RoboBall is a Trademark of Wiltronics Research Pty Ltd
*ROBOCUP JUNIOR is a Registered name of the ROBOCUP FEDERATION *LEGO & LEGO MINDSTORM are registered Trade Marks of the LEGO GROUP OF COMPANIES
DESIGNED AND MANUFACTURED IN AUSTRALIA
______________________________________________________________________________________________________ WI L T RON I CS RESEA RCH PT Y L T D PO Box 4043, Alfredton 3350, AUSTRALIA Ph. +61 3 5334 2513 Fax +61 3 5334 1845 http:/ www.wiltronics.com.au
