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HiTechnic Servo Controller Specification

This document provides a specification for a servo controller designed for use with the LEGO MINDSTORMS NXT system. The servo controller connects to the NXT brick using a 6-wire sensor interface and supports up to 6 servo channels controlled via PWM signals. It communicates with the NXT using the I2C protocol and can be daisy chained with up to 3 additional controllers.

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Lody Elfo
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62 views

HiTechnic Servo Controller Specification

This document provides a specification for a servo controller designed for use with the LEGO MINDSTORMS NXT system. The servo controller connects to the NXT brick using a 6-wire sensor interface and supports up to 6 servo channels controlled via PWM signals. It communicates with the NXT using the I2C protocol and can be daisy chained with up to 3 additional controllers.

Uploaded by

Lody Elfo
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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HiTechnic

FIRST Servo Controller


Specification
For LEGO MINDSTORMS NXT
 
Dataport Systems, Inc – HiTechnic Division 
 

© Dataport Systems, Inc 2008.                                                                                    Revision  1.2 
HiTechnic FIRST Servo Controller Specification

Contents
1.  Summary .................................................................................................................. 3 
2.  Description ............................................................................................................... 3 
2.1.  Function ................................................................................................................ 3 
3.  Technical Description .............................................................................................. 4 
3.1.  Operation .............................................................................................................. 4 
4.  Appendix 1 ............................................................................................................... 5 
4.1.  Electrical Connections.......................................................................................... 5 

Specification Rev1.3 Page 2 of 5


©Dataport Systems, Inc 2008
HiTechnic FIRST Servo Controller Specification

HiTechnic First Motor Controller for LEGO NXT


1. Summary
This specification defines a servo controller for use with the LEGO NXT Mindstorms
system. The servo controller will provide six channels each of which can support an FTC
servo. The servos are driven by standard PWM signals.

Power will be supplied from an external 9v – 15v battery via a screw terminal block.
The design and manufacture will be in compliance with worldwide standards for safety
and chemical composition per the LEGO company’s requirements.
2. Description
2.1. Function
The servo controller will interface with the NXT brick using the 6 wire sensor interface.
All of the 6 wires will be used, as this device uses the legacy analog signal of 5v (not 9v)
supplied through a 10.0k resistor to automatically generate daisy chain I2C addresses.
The servo controller will communicate with the NXT brick using the LEGO company’s
defined use of the I2C interface.
The servo controller will accept six single byte position values for each of the six servo
channels.
The servo controller will accept a timing parameter to control the rate of servo
movement.
The servo controller will accept an enable parameter to control output of the servo PWM
signals.
The servo controller will return a status indicating busy.
The first servo controller in the daisy chain will use an I2C address of 02/03. Subsequent
controllers will obtain addresses of 04/05, 06/07 and 08/09. Only four controllers may be
daisy chained.
The servo controller will consume 5mA or less from the NXT “brick” 4.3v unregulated
supply.

Specification Rev1.3 Page 3 of 5


©Dataport Systems, Inc 2008
HiTechnic FIRST Servo Controller Specification

The servo controller will supply up to 4 amps total to all six servo channels when running
from 9v – 15v.
The servo controller uses separate grounds for the NXT I2C interface and the battery
supply to reduce ground loop problems. These grounds are tied together with (33 ohm)
resistors in each module. Care should be taken when wiring the battery supply between
modules to ensure that the terminals are tight and that an adequate gauge of wire is used
for the likely servo current consumption.
3. Technical Description
3.1. Operation
The servo controller firmware supports the following memory model.

Address Type Contents


00 – 07H chars Sensor version number
08 – 0FH chars Manufacturer
10 – 17H chars Sensor type
18 – 3DH bytes Not used
3E, 3FH chars Reserved
40H byte Status
41H byte Step time
42H byte Servo 1 position
43H byte Servo 2 position
44H byte Servo 3 position
45H byte Servo 4 position
46H byte Servo 5 position
47H byte Servo 6 position
48H byte PWM enable
The Sensor version number field will report a revision number in the format “Vn.m”
where n is the major version number and m is the revision level. Revision numbers will
typically reflect the firmware level. The version number will be used to indicate the
hardware level.
The Manufacturer field will contain “HiTechnc”.
The Sensor type field will contain “ServoCon”.
The Status field returns 1 if there are still servos changing position, else it will return 0.
The Step time field sets the step time for the servo channel which has the furthest to
move. Other servo channels which are not at their designated positions yet will run at a
slower rate to ensure they reach their destination positions at the same time. This value

Specification Rev1.3 Page 4 of 5


©Dataport Systems, Inc 2008
HiTechnic FIRST Servo Controller Specification

may range from 1 – 15. If the field is set to 0, no timing s applied, ie; the servos move at
their maximum rate.
The Servo 1/2/3/4/5/6 position fields will accept a value between 0 – 255 to set the PWM
output from 0.75 – 2.25mS. Note that some servos may hit their internal mechanical
limits at each end of this range causing them to consume excessive current.
The PWM enable field is used to control the PWM output. If it is set to zero (00H), it will
enable the PWM outputs, causing the servos to be active, and start a ten second timeout
running. If it is set to 255 (0FFH), it will disable the PWM outputs, causing the servos to
be inactive. If no I2C communication is received during the ten second timeout period,
the PWM enable field will automatically revert to 255 (0FFH), disabling the servos. If the
PWM enable field is set to 170 (0AAH), it will enable the PWM outputs, causing the
servos to be active, and disable the ten second timeout. The PWM enable field is set to
255 (0FFH) during power up and after the timeout has elapsed.

4. Appendix 1
4.1. Electrical Connections

Specification Rev1.3 Page 5 of 5


©Dataport Systems, Inc 2008

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