Control 6 Motores

CONTROLLER
DESCRIPTION
The CONTROLLER is to enable up to six
motors to be controlled using position
feedback.
The central control element for the
CONTROLLER is a Picaxe-40X
microcontroller.
Other devices may also be connected to the
unused inputs and outputs.
The CONTROLLER is suitable for many
applications, such as the ROBOT ARM.
Figure 1 Controller PCB Assembly

THE PROJECT
Tocarry out the project, the student must:
• Design and build a suitable system Assemble the printed circuit board, connect the wiring,
motors and position feedback potentiometers.
• Program the Picaxe microcontroller and adjust the program parameters.

INVESTIGATION
This project provides a number of different aspects of the CONTROLLER for investigation. Some
ideas are listed below.
•Investigate attaching additional input and output devices.
• Investigate adding more "intelligence" or different sequences to the program.
• Investigate other devices that could use up to six bi-directional motors with position feedback.

SCORPIO TECHNOLOGY VICTORIA PTY. LTD.
A.B.N. 34 056 661 422

17 Inverell Ave., Mt. Waverley, Vic. 3149
Tel: (03) 9802 9913
Fax: (03) 9887 8158

Issued: August2009

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www.scorpiotechnology.com.au

1. COMPONENTS REQUIRED
1.1. COMPONENTS SUPPLIED
This unit is designed for use in conjunction with the ROBOT ARM unit and component kit. The
following components are supplied in the kit:
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1 x Printed Circuit Board (PCB)
1 x Picaxe-40X (Microcontroller)
3 x L293D (Motor Driver IC)
1 x IC Socket (40 pin)
3 x IC Socket (16pin)
1 x 4MHz Resonator - 3 Pin
1 x LED (Red) 5mm
1 x Stereo Socket - 3.5mm

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9 x 0.1uF Capacitor (monolithic or equivalent)
1 x Resistor - 220 Ohms (Red-Red-Brown-Gold)
2 x Resistor - 10k Ohms (Brown-Black-Orange-Gold)
1 x Resistor - 22k Ohms (Red-Red-Orange-Gold)
1 x Capacitor - 100uF (electrolytic)
1 x 1N4004 Diode (or equivalent)
1 x Sliding Switch (small)5 x Potentiometer 25k - Linear (B) - Splined Shaft

NOTE: This document describes the use of a Picaxe-40X. Other 40 leg Picaxe microcontrollers
may be used, but changes may need to be made to the program and/or hardware.
NOTE: This project requires the use of small DC motors and a suitable mechanism to control.
These are not supplied in the kit.

1.2. ADDITIONAL REQUIREMENTS
1.2.1.REQUIRED COMPONENTS
• Electric hook-up wire in assorted colours.
• Tinned copper wire for PCB assembly wire links.
• Assorted screws, nuts and washers.
1.2.2. COMPUTER REQUIREMENTS
• To install the PICAXE programming editor software requires a PC running Windows 95 or later
with approximately 20MB free space. Any PC that runs the Windows operating system will
work in textual 'BASIC' mode, howevera Pentium 4 processor or later is recommended for
graphical flowcharting. (We have also used an iMac running OSX and Windows XP.)
• A PC with 9-pin serial (RS-232) interface. (The PC may require an USB to RS-232 adapter.)
• The PICAXE editor can be downloaded from www.rev-ed.co.uk or from www.picaxe.co.uk.
• A PICAXE serial interface cable. This can be purchased from a number of suppliers ormay be
constructed as per the instructions in this document.
1.2.3. LED INDICATORS ON MOTORS (OPTIONAL)
These components are available from Scorpio Technology or from electronics suppliers:
• 6 x LED (Red) 5mm or 3mm
• 6 x Resistor - 220 Ohms (Red-Red-Brown-Gold)
• 6 x LED (Green) 5mm or 3mm
1.2.4. DISCONNECT CONTROLLER FROM THE PROJECT (OPTIONAL)
The connectors allow the CONTROLLER to bedisconnected from project. These components are
available from electronics suppliers.
• 6 x 0.1" Pin Plug - 6 pin
• 6 x 0.1" Header Socket - 6 pin

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2. HOW THE CIRCUIT WORKS (THEORY)
2.1. ABOUT PICAXE MICROCONTROLLERS
The PICAXE* is a type of IC (Integrated Circuit) called a microcontroller, which is another name
for a single chip computer. The PICAXE has similar features to a...