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ServoCenter™嵌入式伺服控制器

用于独立和协调流体伺服运动的嵌入式伺服控制器

Yost LabsServoCenter™产品线是一系列嵌入式伺服控制器,可通过任何USB、串行RS-232MIDI接口设备进行RC(遥控)伺服电机/伺服马达控制。 ServoCenter™还提供DIPTQFP芯片封装。 ServoCenter™4.1定序器除了可以使用ServoCenter产品标准的其他编程选项之外,还可以通过脚本小程序对复杂任务进行编程。

     通过简单、合乎逻辑的命令,独立、同时地寻求令人惊奇和无与伦比的位置控制、速度控制,多达十六个连接的伺服马达。

     可串连多达16个(MIDI版本为32个)ServoCenters™可控制多达256RC伺服器(512MIDI版本),完全独立的运动,只有一个串口、USBMIDI端口;

     独立控制允许多个伺服马达同时工作将不同的速度移动到不同的位置,而群移动允许多个伺服马达轻松同步;

     可以使用简单的原始数据包协议或使用附带的ActiveX控件或Win32 DLL进行编程;

    包含GCC / LinuxQBASICTurboCPythonC#、Visual Basic.NETVisual Basic 6.0C.NETVisual C ++ .NETVisual C ++ 6.0的代码示例。

ServoCenter™4.1伺服控制器提供了一个内置的Sequencer / BASIC Interpreter,称为SC-BASIC,可以让时序器在板上独立运行。定序器程序存储在非易失性EEPROM存储器中,即使在单元复位或断电时也保留程序,无需PC或其他外部命令设备。

广泛应用于机器人电子动画运动控制自动化零售展示等,并在需要独立的和协调的流体伺服运动的其他领域尤其有用。

注意:RC Servo是一种闭环系统,指通常用无线电遥控(Radio Control)电路进行操作的的伺服电机,伺服电机本身不是无线电控制的,只是连接到遥控汽车、飞机上的无线接收机,伺服电机从无线接收机取得信号,意味着不必通过无线电信号去控制机器人、遥控车等,应用于伺服电机即可。可以借助PC、微控制器控制伺服电机。

电脑上发指令,给ServoCenter伺服电机控制器,ServoCenter生成PWM脉宽调频信号控制伺服马达。

脉冲宽度调制(英语Pulse Width Modulation,缩写PWM),简称脉宽调制,是将模拟信号转换为脉波的一种技术,一般转换后脉波的周期固定,但脉波的占空比会依模拟信号的大小而改变。

 

ServoCenter透过PWM频宽脉冲信号调制控制RC Servos伺服电机,伺服电机内置了位置反馈电路。但ServoCenter控制是开环的, 因为伺服电机没有信通通路直达ServoCenter控制器。因此说ServoCenter不能侦测电机力矩。

 

ServoCenter™USBServoCenter USBServoCenter USB
每块板16个伺服通道;
最多可连接16块板卡,通过一个USB端口控制256台伺服电机;
存储多达64个场景预设,即时加载或交叉渐变以平滑过渡;
使用内置的可配置平滑算法提供更自然的运动
9.6厘米x 9.0厘米x 2.5厘米;
2.7盎司(76.5克)。

ServoCenter™USB型号提供虚拟COM端口,允许简单的USB通信。 通过菊花链式USB板,您还可以使用多达256个数字I/O通道和128个模拟输入。 USB驱动程序与Windows、Mac OSX和Linux兼容;

最多64个场景预设可以立即存储和加载,或者交叉淡化以实现平滑的运行。 内置可配置平滑算法提供更自然的运动。 缩放和百分比运动命令允许最大、最小和启动位置等做运动编程和复杂的校准。 绝对、定时、相对和百分比位置命令的添加允许很大的灵活性。 伺服群运动命令,以及伺服反转和伺服启用/禁用命令可用;

......

ServoCenter™MINI
每块板16个伺服通道;
最多可连接16块板卡,通过一个USB端口控制256台伺服电机;ServoCenterMini伺服控制器ServoCenterMini伺服控制器
存储多达64个场景预设,即时加载或交叉渐变以平滑过渡;
使用内置的可配置平滑算法提供更自然的运动;
7.48厘米x 4.32厘米x 2.5厘米;
0.95盎司(26.9克)。

ServoCenter™MIDI
任何熟悉MIDI(乐器数字接口)的人都可以轻松配置,如音乐家或特效/动画电子技术人员;
适用于具有MIDI OUT端口的任何设备,以控制具有连续控制器信息的标准RC伺服电机;
使用MIDI IN和MIDI THRU端口菊花链链接多个ServoCenter™板;
使用ServoCenter™MIDI与MIDI定序器进行即时运动控制解决方案,ServoCenter MIDI伺服控制器ServoCenter MIDI伺服控制器

准确和可重复地记录和播放伺服运动;
16,344个伺服位置可以全14位分辨率;
为多媒体展示、互动表演艺术、动力雕塑等开创了许多机会;
8.5厘米x 9.2厘米x 2.5厘米;
2.8盎司(79.4克)
 

订购ServoCenter伺服控制器可单独购买伺服控制器板、DIP或TQFP封装的芯片,或完整的套件。 TQFP芯片型ServoCenterTQFP芯片型ServoCenter

     DIP芯片型ServoCenter伺服控制器DIP芯片型ServoCenter伺服控制器

 

 

 

版本         4.1 USB          4.1 USBmini         MIDI              3.1串口            3.1芯片

控制板

$

$

$

$

DIP $

TQFP $

套件

$

$

$

$

不适用

*控制板:包括ServoCenter控制板。各种手册、编程指导手册、编程案例、驱动、编程组件均可免费下载获得。不包括线缆和电源。

** 套件:包括ServoCenter控制板、线缆(USB、Mini USB、MIDI或串口)和电源,各种手册、编程指导手册、编程案例、驱动、编程组件。

/SC-BASIC语言编译器  ServoCenter4.1控制器提供了一个内置的序/ BASIC编译器,称为SC-BASIC,允许序独立地在主板上运行。序程序保存在非易失EEPROM存储器里,即使设备被重置或断电程序仍保留,无需PC或其他外部命令设备。

SC-BASIC语言是专为ServoCenter4.1伺服控制器设计,作为一个简单、容易学习的语言,它的句法熟悉其他风味BASIC(如QBASIC和Visual Basic),内置功能特别适合ServoCenter。

文档   ServoCenter库文档,包括说明书、协议、原理图、驱动程序、应用笔记、源代码、DLL编程、ActiveX控件、直接串行I / O、固件更新程序、控制面板工具、序和其它工具。    单一ServoCenter控制单一ServoCenter控制    

特点比较

USB 4.1

USB-MINI

MIDI

Serial

伺服器通道独立可配置、额外数字输出

YES

YES

--

--

16个专用数字I/O通道, 单独配置

YES

YES

--

--

8个专用模拟输入通道

YES

YES

--

--

预置存储能力

64个伺服器位置和数字输入/输出预置

64个伺服器位置和数字输入/输出预置

--

--

即使在电源关闭时配置信息仍保存

YES

YES

--

--

看门狗定时器保证安全运行

YES

YES

 

 

最大伺服脉冲分辨率

0.05425 uS

0.05425 uS

 

 

脉冲输出率

20 ms

20 ms

 

 

脉冲宽度范围

10-2390 uS

10-2390 uS

 

 

用户可升级固件;下载新功能

YES

YES

--

--

引导加载程序允许用户创建和上传自己的固件

YES

YES

--

--

支持的波特率

9600, 38400, 57600, 115200 bps

9600, 38400, 57600, 115200 bps

 

9600, 14400, 19200, 38400 bps

连接器

USB type B, 公和母DB9串口

USB 5针Mini type B, 3针串口

 

公和母DB9串口

支持的通讯

USB, RS-232 串口, TTL逻辑水平串口

USB, RS-232 serial串口, TTL逻辑水平串口

MIDI

RS-232

数据格式

--

--

MIDI标准 31.25 kbps

8位数据, 无奇偶校正, 1停位

 

多ServoCenter控制多ServoCenter控制 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

物理规格比较

 

USB 4.1

USB-MINI

Serial 3.1

MIDI 1.2

DIP Chip

TQFP Chip

尺寸

3.775" (9.6 cm)

2.945" (7.48 cm)

3.375" (8.5 cm)

3.375" (8.5 cm)

0.61" (1.55 cm)

0.463" (1.175 cm)

3.55" (9.0 cm)

1.7" (4.32 cm)

3.625" (9.2 cm)

3.625" (9.2 cm)

2.05" (5.207 cm)

0.463" (1.175 cm)

1.0" (2.5 cm)

.56" (1.42 cm)

1.0" (2.5 cm)

1.0" (2.5 cm)

0.31" (0.787 cm)

0.047" (0.12 cm)

2.7 oz

0.95 oz

2.8 oz

2.8 oz

0.1 oz

0.1 oz

接口

初级输入

USB B型

USB 5针Mini B型

9针IBM RS-232 DCE型

5针DIN MIDI输入

TTL信号水平串口

二级输入/直通

Serial DB9 female In, DB9 male Thru style RS-232 DCE 3-pin TTL serial

Serial 3-pin In, 3-pin Thru

不适用

不适用

不适用

第三级输入/直通

TTL 串口3针输入, 3针直通

TTL串口3针输入, 3针直通

9针IBM RS-232 DTE型

5针DIN MIDI-直通

不适用

伺服器接口

3针标准通用RC伺服连接器

标准RC伺服控制信号

数字输入/输出接口

3针(地, +5v, 信号)

 

不适用

不适用

不适用

模拟输入接口

3针(地, +5v, 信号)

 

不适用

不适用

不适用

电气

电源

最小1A, 7.5VDC - 15VDC

12 mA, 2.7V to 5.5V

电源插孔

母, 2.1mm x 5.5mm, 中心正极

不适用

伺服器功率输出

额定4.8VDC 或6.0VDC (可选), 至5A

不适用

线缆

线缆类型

USB设备线缆

USB MINI 设备线

9针串口(DB9F~DB9M)

5针DIN MIDI

不适用

 

Servo Center™

Embedded Servo Controllers for Independent and Coordinated Fluid Servo Motion

The Yost Labs’ Servo Center™ product line is a family of embedded servo controllers that allow RC servo motor control from any USB, serial RS-232, MIDI-capable device. ServoCenter™ is also available in DIP and TQFP chip packages. The ServoCenter™ 4.1 Sequencer allows complex tasks to be programmed via a script sequencer in addition to other programming options that are standard in the ServoCenter products.

  • Amazing and unsurpassed control of the seek position and seek speed of up to sixteen connected servos — independently and simultaneously, with simple, logical commands
  • Ability to chain up to 16 (32 for MIDI version) ServoCenters™ to control up to 256 RC servos (512 for MIDI version), with completely independent movement, from only one serial, USB, or MIDI port
  • Independent control allows multiple servos to simultaneously move a different speeds to different positions, while group moves allows multiple servos to synchronize easily
  • Programmable using a simple raw packet protocol or using the included ActiveX control or Win32 DLL
  • Code examples included for GCC/Linux, QBASIC, TurboC, Python, C#, Visual Basic.NET, Visual Basic 6.0, C#.NET, Visual C++.NET, and Visual C++ 6.0

The ServoCenter™ 4.1 controller provides a built-in Sequencer / BASIC Interpreter called SC-BASIC which allows the sequencer to run independently on the board itself. Sequencer programs are stored in non-volatile EEPROM memory that retains the program even when the unit is reset or powered off, eliminating the need for a PC or other external command device.

General Information

The ServoCenter™ family of embedded servo controllers allows RC servo motor control from any USB, serial RS-232, MIDI-capable device. ServoCenter is also available in DIP and TQFP chip packages. The ServoCenter 4.1 Sequencer allows complex tasks to be programmed via a script sequencer in addition to other programming options that are standard in the ServoCenter products. 

ServoCenter allows amazing and unsurpassed control of the seek position and seek speed of up to sixteen connected servos -- independently and simultaneously, with simple, logical commands.

Up to 16 (32 for MIDI version) ServoCenters may be chained together to control up to 256 RC servos (512 for MIDI version), with completely independent movement, from only one serial, USB, or MIDI port! Independent control allows you to move one servo to a position slowly, while another is moving to a different position at a faster speed, and group moves allow you to synchronize multiple servos easily.

ServoCenter controllers are especially useful for applications such as robotics, animatronics, motion control, automation, retail displays, and other areas where independent and coordinated fluid servo motion is desired.

ServoCenter can be programmed using a simple raw packet protocol or using the included ActiveX control or Win32 DLL. Sample programs illustrating all programming methods are included in the documentation and examples CD. The ServoCenter Command Protocol allows complex servo movement commands to be issued by constructing and transmitting simple command packets. Code examples are included for:

GCC/Linux, QBASIC, TurboC, Python, C#, Visual Basic.NET, Visual Basic 6.0, C#.NET, Visual C++.NET, and Visual C++ 6.0.

 

Order Info   ServoCenter servo controllers may be purchased as individual servo controller boards, DIP or TQFP chips, or in complete packages. All prices shown are USD.

Version

4.1 USB

4.1 USB MINI

MIDI

3.1 Serial

3.1 Chip

Board Only*

$

$

$

$

DIP $

TQFP $

Full Package**

$

$

$

$

n/a

Board Only Contents: ServoCenter controller only. All manuals, programming guides, programming examples, drivers, and programming components available for download at no cost. No cable or power supply included.
** Full Package Contents: ServoCenter controller, plus cable (USB, Mini USB, MIDI or Serial) and power supply. All manuals, programming guides, programming examples, drivers, and programming components provided on CD.

Downloads and Documentation

A library of ServoCenter documentation, including manuals, protocols, schematics, drivers, application notes, source code, DLL programming, ActiveX control, direct serial I/O, firmware updater, control panel utility, sequencer, and other tools.

Feature Comparison

The ServoCenter Family

All ServoCenter boards feature 16 servo channels per board, and allow independent and simultaneous control of each servo's position, speed, and seek-time. Both USB and Serial boards allow chaining of up to 16 boards for a total of 256 servos controlled via one USB or serial port. MIDI boards allow chaining of up to 32 boards for a total of 512 servos controlled via one MIDI out port. ActiveX and Win32 DLLs allow for rapid, powerful program development, creating complex control applications easily. A simple yet robust serial protocol supports both ASCII and binary protocol modes.

On-board pads allow for external power or battery power, and all boards provide over-current and over-temperature protection. An on-board regulator supports both 4.8V/6.0V servo supply voltages. All boards feature a power switch and reset button.

ServoCenter 4.1 USB and 4.1 MINI

ServoCenter 4.1 USB and 4.1 MINI models provide a virtual COM port, allowing simple USB communication. By daisy-chaining USB boards, you can also make use of up to 256 servo control channels, 256 digital I/O channels, and 128 analog inputs. USB drivers are compatible with Windows, Mac OS X, and Linux.

Up to 64 scene presets can be stored and loaded instantly, or cross-faded for smooth transitions. A built-in configurable smoothing algorithm provides for more natural movement. Scaled and percentage motion commands allow for max, min, and startup position for motion programming and complex calibration. The addition of absolute, timed, relative, and percentage position commands allow great flexibility. Servo group movement commands are available, as well as servo inversion and servo enable/disable commands.

Status LEDs provide feedback and troubleshooting assistance with 1 power LED and 2 flexible status LEDs. Digital I/O channels have configurable internal pull-up resistors, and provide power supply pins for connection to external digital I/O modules. Analog Input channels provide power supply pins for connection to external analog input modules, and can be read in either 8-bit or 10-bit resolutions.

ServoCenter MIDI

ServoCenter MIDI allows MIDI continuous controller messages to directly control standard RC servos. ServoCenter MIDI is designed to be easily configured by anyone familiar with MIDI. By allowing MIDI continuous controller messages to control servos, ServoCenter MIDI opens up countless performance and sequencing options for musicians or special effects/ animatronics technicians. ServoCenter MIDI allows any device with a MIDI (Musical Instrument Digital Interface) OUT port to control standard RC servo motors.

With full 14-bit resolution, ServoCenter MIDI allows for 16,384 servo positions. MIDI Continuous Controller messages control each servo position as well as on/off. By using ServoCenter with a MIDI sequencer, you can have an instant motion control solution that allows accurate and repeatable recording and playback of servo motions. MIDI IN and MIDI THRU ports allow the daisy-chaining of multiple ServoCenter boards as well as other MIDI devices.

ServoCenter MIDI is especially useful for servo control applications where MIDI music messages are to be coordinated with fluid servo motion. The broad range of MIDI sequencer software and MIDI controller devices make creating and storing servo motor motion performances easy for non-programmers. This opens up many opportunities for multimedia displays, interactive performance art, kinetic sculptures, and more.

By using the simple MIDI protocol, ServoCenter makes motor control easy for non-programmers. MIDI channel settings are switch-selectable, and the data format is the MIDI standard interface running at 31.25 kbps. MIDI manufacturer ID number: 00H 01H 56H.

ServoCenter 3.1 CHIP

ServoCenter 3.1 CHIP models are available in DIP and TQFP packages, and are fully functional servo controller integrated circuits. The ServoCenter Protocol allows very complex servo commands with simple command packets. Comprehensive documentation, sample schematics, and programming examples get you started quickly, receiving command packets from any serial-capable device, including (with support circuitry) a personal computer or microcontroller. The data format is 8 data bits, no parity, and 1 stop bit. The baud rate is selectable (9600, 14400, 19200, or 38400 bps), and 16 unique board identification numbers are possible.

Feature ComparisonUSB 4.1USB-MINIMIDI
       
Board only price $ $ $
Board with cable, power supply & CD $ $ $
Servo channels individually configurable as extra digital outputs YES YES  
16 dedicated digital I/O channels, individually configurable YES YES  
8 dedicated analog input channels YES YES  
Preset storage capability 64 presets for servo position & digital I/O 64 presets for servo position & digital I/O  
Configuration information saved even when powered off YES YES  
Watchdog timer for failsafe operation YES YES  
Max servo pulse resolution 0.05425 uS 0.05425 uS  
Pulse output rate 20 ms 20 ms  
Pulse width range 10-2390 uS 10-2390 uS  
User upgradeable firmware; download new features YES YES  
Bootloader allows users to create and upload their own firmware YES YES  
Baud rates supported 9600, 38400, 57600, 115200 bps 9600, 38400, 57600, 115200 bps  
Connectors USB type B, male and female DB9 serial USB 5-pin Mini type B, 3-pin serial  
Communication supported USB, RS-232 serial, TTL logic-level serial USB, RS-232 serial, TTL logic-level serial MIDI
Data Format     MIDI standard at 31.25 kbps
Length 3.775″ (9.6 cm) 2.945″ (7.48 cm) 3.375″ (8.5 cm)
Width 3.55″ (9.0 cm) 1.7″ (4.32 cm) 3.625″ (9.2 cm)
Height 1.0″ (2.5 cm) .56″ (1.42 cm) 1.0″ (2.5 cm)
Weight 2.7 oz 0.95 oz 2.8 oz
Primary Input USB Type B port USB 5-pin Mini Type B 5-pin DIN MIDI-IN
Secondary Input/Thru Serial DB9 female In, DB9 male Thru style RS-232 DCE 3-pin TTL serial Serial 3-pin In, 3-pin Thru  
Tertiary Input/Thru TTL serial 3-pin IN, 3-pin Thru TTL serial 3-pin IN, 3-pin Thru 5-pin DIN MIDI-THRU
Servo Interface 3-pin standard universal RC servo connector 3-pin standard universal RC servo connector 3-pin standard universal RC servo connector
Digital I/O Interface 3-pin (Ground, +5v, Signal)    
Analog Input Interface 3-pin (Ground, +5v, Signal)    
Power Supply Minimum 1A, 7.5VDC – 15VDC Minimum 1A, 7.5VDC – 15VDC Minimum 1A, 7.5VDC – 15VDC
Power Jack Male, 2.1mm x 5.5mm, center positive Male, 2.1mm x 5.5mm, center positive Male, 2.1mm x 5.5mm, center positive
Servo Power Output Regulated 4.8VDC or 6.0VDC (selectable), up to 5A Regulated 4.8VDC or 6.0VDC (selectable), up to 5A Regulated 4.8VDC or 6.0VDC (selectable), up to 5A
Cable Type USB device cable USB MINI device cable 5-pin DIN MIDI
 

下载DOWNLAND

1. ServoCenter 4.1 Manual Volume 1 Installation & Hardware

2. ServoCenter 4.1 Manual Volume 2 Protocol Reference

3. ServoCenter 4.1 Manual Volume 3 Programming

4. ServoCenter 4.1 Manual Volume 4 Sequencer & SC-BASIC Interpreter

5. ServoCenter 4.1 USB Windows Drivers 微软系统驱动Version 2.08.14 released on 4/12/11

ZIP file containing the USB drivers necessary to communicate with ServoCenter 4.1 USB. WHQL certified drivers for Windows XP, Windows Server 2003, Windows Vista, Windows Server 2008, Windows 7, Windows Server 2008 R2. Includes support for both 32-bit and 64-bit Windows

6. ServoCenter 4.1 USB Mac OS X Drivers 苹果系统驱动Version 2.02.16 released on 2/28/11

File containing the USB drivers necessary to communicate with ServoCenter 4.1 USB for use with 32-bit, 64-bit and PPC architectures.

7. Please see the FTDI Drivers Download page for the latest drivers and drivers for legacy or unlisted operating systems

See the FTDI Installation Guides page for detailed installation guides.

8. ServoCenter 4.1 Programming Examples 例程

DESCRIPTION EXAMPLES/SOURCE CODE

DLL Programming

DLL programming in C#

SCJM01.zip

DLL programming in Visual C++ .NET

SCJM02.zip

DLL programming in Visual C++ 6.0

SCJM03.zip

DLL programming in Visual Basic .NET

SCJM04.zip

DLL programming in Visual Basic 6.0

SCJM05.zip

DLL programming in Python

SCJM06.zip

64-bit DLL Programming

64-bit DLL programming in Visual Basic .NET 2010

ActiveX Control

ActiveX control with Visual Basic 6.0

SCJM07.zip

Direct Serial I/O

Direct serial I/O in Python

SCJM08.zip

Direct serial I/O in REALBasic

SCJM09.zip

Direct serial I/O in MaxMSP 5

SCJM10.zip

Direct serial I/O in PHP

SCJM11.zip

Direct serial I/O in Visual Basic 6.0

Joystick Control Example

SCJM12.zip

.NET Assembly

.NET Assembly in Visual C# 2008

SCJM13.zip

.NET Assembly in Visual C++ 2008

SCJM14.zip

.NET Assembly in Visual Basic 2008

SCJM15.zip

9. Development Libraries 开发库

ServoCenter 4.1 .NET Assembly Installer

ServoCenter 4.1 DLL Installer Includes 64-bit DLL. Updated 11/8/2011

ServoCenter 4.1 ActiveX Control Installer

10. ServoCenter 4.1 Tools 工具

ServoCenter 4.1 Firmware Updater 固件

The ServoCenter 4.1 Firmware Updater allows users to update their ServoCenter 4.1 to the latest firmware version. Firmware releases includes new features, bug fixes, and the latest updates.

ServoCenter 4.1 Control Panel Utility 控制屏

The ServoCenter 4.1 Control Panel Utility allows control of servos, servo settings, I/O setup, preset editing, and sequencer programming.

ServoCenter 4.1 Sequencer / SC-BASIC Interpreter 编译器

Designed as a simple, easy to learn language specifically suited to the architecture and problem domain of ServoCenter 4.1.

 

CaseStudy成功案例

美军DARPA2005机器人沙漠挑战赛,半决赛MonsterMoto's Jackbot视频http://pan.baidu.com/s/1qYFAu9u

Rex智能互动机器人(头颅)

VR行业应用:蛋椅、模拟驾驶仓、机动游乐设施...

机器人

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