Electrical Engineering Technology SUNY College of Technology, Alfred, NY Embedded Controller Applications ELET 3144 Spring Semester 2008

Introduction to Servos
The servo motor is a specialized motor that may be commanded to turn to a specific position. The servo motor consists of a DC motor, a gear reduction unit, a shaft position sensor, and an electronic circuit that controls the motor’s operation. The next figure shows a typical servo motor used or RC cars or small mobile robots.

Fig. 1 A typical hobby servo motor

1.- Unmodified (closed-loop servos)
Unmodified servos are closed loop in the sense that there is a feedback mechanism that allows the servo to move to a specific angle. Servo motors use a standard three-wire interface consisting of a power, ground, and control line. The power supply is typically 5-6 volts. The control line expects a periodic control pulse (pulse train) no faster than 20 milliseconds. This means that you should not send pulses faster than 20 ms. Pulses slower than 20 ms will work, but you will not get the optimal response out of the servo.

Fig. 2 Typical control signal for a servo motor

Pulses that are far too slow may cause your robot to seem awkward and jerky. Rotation position of the servo depends on the pulse with (time the pulse is high or near +5V). This is called Pulse Coded Modulation (PCM) or Servo Pulse Width Modulation (Servo PWM). The following figure shows how the closed-loop servos work.

1 ms to move to the right. The following figure shows how the open-loop servos work.5 ms to move to the left. 1. Using this rotational speed and the diameter of the wheel. 3 Control signals to position the servo in a specific position Depending on the manufacturer. you can vary the speed. the range of the pulse width to drive the servo varies. 1. 3 Control signals to rotate the servo in a specific direction If a servo is driving the wheel of a mobile robot. you can calculate the distance the robot travels Distance S = π ω D where S is the distance traveled in one minute (cm) D is diameter of the wheel (cm) ω is the angular velocity of the servo measured in Revolutions Per Minute (RPM) .9 ms to 1. One main advantage of this type of servos is that it can be used to drive a robot wheel continuously while controlling both speed and direction.. Open-loop servos are similar to closed-loop in that they turn one direction or the other depending on the pulse that are given. The main difference is that the feedback mechanism stopping the servo from “moving to far” has been removed The speed of the servo depends on how much more or how much less the pulse with is compared to a “STOP” pulse. you can measure the rotational speed or get the manufacturer rated rotational speed. In general. By varying the pulse widths. Open-loop servos expect a periodic control pulse of 20 ms just as close-loop servos. Here the STOP pulse stops the servo from moving rather that moving to the CENTER position. Fig.5 ms in the center.5 ms to 2.Modified (open-loop servos) Modified servos are modified so that they can turn freely forever. There is no way of determining how far they have traveled.Fig. or making them only to turn to a certain angle since the feedback mechanism has been removed. typical values are in the ranges: 0. 2.

4 Typical Servo Motor Pulse Width Position Signals To generate the waveforms required to control the servo motor using the 68HC11. and branches if .5 us = 15 msec) STD TOC2 LDAA #%11000000 . Get present TOC2 value ADDD #30000 . The length of the positive-going control pulse is around 2msec (2000us) TCTL1 EQU $1020 TFLG1 EQU $1023 TOC2 EQU $1018 ORG $2000 LDS $3000 LDX #TFLG1 AGAIN LDAA #%10000000 . Add 4000 and store it back (4000 X 0. the Output Compare Register and the Free Running Counter (TCNT) available in the 68HC11 can be used. Wait until OC2F sets and toggle the output . Get present TOC2 value ADDD #4000 . Reset OC2F in TFLG1 STAA 0. Driving the servo motor in clockwise direction. The period of the signal is around 17 msec . 4. Add 300000 and store it back (30000 x 0.X $40 LOOP2 . and depending on the length of the positive-going pulse.X $40 LOOP1 . BRCLR performs a logical AND of the memory location specified . Wait until OC2F sets and toggle the output . Program 1. The following programs show how to control a servo motor using the 68HC11. and the mask supplied with the instruction. Set OM2=1 and 0L2=1 in TCTL1 to set OC2(PA6) on successful compare STAA TCTL1 LDAA #%01000000 . Set the lenght of the positive-going control pulse to 2 msec LDD TOC2 . The total duration of the signal is: Duration in zero level + Positive-going ("1")=15ms+2ms=17ms BRA AGAIN Program 2.X LOOP2 BRCLR 0. The power supply is typically 5-6 volts. ground . Using the OC2 (PA6) to generate a train of pulses to drive a servomotor clockwise (CW) .Using a Modified Servomotor to control a mobile robot using the 68HC11 Most hobby servo motors use a standard three-wire interface consisting of a power. the result is zero . Fig. Set OM2=1 and 0L2=0 in TCTL1 to clear OC2(PA6) on successful compare STAA TCTL1 LDAA #%01000000 .X LOOP1 BRCLR 0. The control signal uses a train of pulses. will be the speed and direction of the motor. and control line. Reset OC2F in TFLG1 STAA 0. Driving the servo motor in counterclockwise direction. . Set the lenght of the zero level control pulse to 15 msec LDD TOC2 . Typical pulse width values to control the motor in clockwise (CW) and counterclockwise(CCW) directions are given in Fig.5 us = 2 ms) STD TOC2 . .

X LOOP2 BRCLR 0. Set the lenght of the zero level control pulse to 15 msec LDD TOC2 . Wait until OC2F sets and toggle the output . the result is zero .5 us = 15 msec) STD TOC2 LDAA #%11000000 .X 0.X $40 LOOP2 . The period of the . Set OM2=1 and 0L2=0 in TCTL1 to clear OC2(PA6) on successful TCTL1 #%01000000 0. Set the lenght of the positive-going control pulse to 1 msec LDD TOC2 .5 us = 1 ms) STD TOC2 . Set OM2=1 and 0L2=1 in TCTL1 to set OC2(PA6) on successful compare STAA TCTL1 LDAA #%01000000 . Reset OC2F in TFLG1 .. BRCLR performs a logical AND of the memory location specified . Get present TOC2 value ADDD #2000 . Reset OC2F in TFLG1 STAA 0. The length of the TCTL1 EQU TFLG1 EQU TOC2 EQU ORG LDS LDX AGAIN LDAA compare STAA LDAA STAA LOOP1 BRCLR to generate a train of pulses to drive a servomotor counterclockwise (CCW) signal is around 16 msec positive-going control pulse is around 1 msec (1000us) $1020 $1023 $1018 $2000 $3000 #TFLG1 #%10000000 . Add 2000 and store it back (2000 X 0. Wait until OC2F sets and toggle the output .X $40 LOOP1 . Add 300000 and store it back (30000 x 0. Get present TOC2 value ADDD #30000 . The total duration of the signal is: Duration in zero level + Positive-going ("1")=15ms+1ms=16ms BRA AGAIN Using the OC2 (PA6) . and branches if . and the mask supplied with the instruction.

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