Cytron Technologies MO-­SPG­-30E Series User manual

ROBOT.HEADtoTOE
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DCGearedMotorwithEncoder
MOSPG30EXXXK
User'sManual
V1.3
Mar2014
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Index
1.IntroductionandOverview 3
2.PinDescriptions 5
3.SampleSchematic 7
4.Warranty  8
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1.0IntroductionandOverview
Figure1.0DCgearedmotorwithencoderanditsremovablecover
This document explains the general method to use the encoder for MOSPG30EXXXK. “XXX”            
is referring to the gear ratio of Cytron’s SPG30 Geared Motor series which is either 20, 30, 60,                 
150*, 200 or 300*. This DC Geared Motor with Encoder is formed by a quadrature hall effect                
encoder board which is designed to fit on the rear shaft of Cytron’s SPG30 Geared Motor series.                
Two hall effect sensor are placed 90 degree apart to sense and produce two output A and B which                  
is 90 degree out of phase and allowing the direction of rotation to be determined. This encoder                
provides 3 counts per revolution of the rear shaft. Please note that the encoder is mounted at the                 
rearshaft,theminimumresolutionisdependsonthemotor’sgearratio.
*TheactualgearratioforSPG30E150Kis120:1
*TheactualgearratioforSPG30E300Kis270:1
FeaturesofQuadratureHallEffectEncoder:
●Operatingvoltage:4.5Vto5.5V
●Twodigitaloutputs(Quadraturewaveform)
●Smallinsizeandlightinweight
●Resolution:3pulsesperrearshaftrevolution,singlechanneloutput.
●60countspermainshaftrevolutionfor1:20gearedmotor
●90countspermainshaftrevolutionfor1:30gearedmotor
●180countspermainshaftrevolutionfor1:60gearedmotor
●450360countspermainshaftrevolutionfor1:120gearedmotor(SPG30E150K)
●600countspermainshaftrevolutionfor1:200gearedmotor
●900810countspermainshaftrevolutionfor1:270gearedmotor(SPG30E300K)
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1.1StateDiagramsandWaveform
StateDiagram
ClockwiseRotation
CounterClockwiseRotation
SquarequadraturewaveformforChannelAandB(Clockwise)
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2.0PinDescriptions
Figure2.0202006connectorpindescriptions
Pin
Name
Description
1
Motor
Outputofmotordriver
2
Motor+
Outputofmotordriver
3
HalleffectsensorVcc
Supplyvoltageforsensorcircuit(4.5V5.5V)
4
HalleffectsensorGND
Ground
5
ChannelA
Outputoftheencoder
6
ChannelB
Outputoftheencoder
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Figure2.1Rearviewofthemotorwithencoderandcover
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3.0SampleSchematic
Figure3.0Sampleschematicdiagramwithrespecttosamplesourcecode**
**Schematic above is an example with respect to the sample source code provided. RC4, RC7,              
RA2, and RA5 can be replaced by any other digital I/O pins. Besides, for PWM control, user can                 
also use CCP1 instead of CCP2. For Channel A and channel B, this sample (schematic and source                
code) shows continuous monitoring of quadrature signals which can be done by any digital I/O pin.               
Users are encouraged to modify the schematic and source code to allow use of external interrupt to                
count the rising or falling edge of either channel to reduce the processing power used by monitoring                
both channel A and B. The encoder output is open drain or sometime called NPN output. Users              
need to pullup resistor to any voltage user want. As an example circuit above, channel A and                
channel B are pullup with 1K resistor to 5V, therefore it will output ground and 5V when the motor                  
rotates.
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4.0WARRANTY
● Productwarrantyisvalidfor6months.
● Warrantyonlyappliestomanufacturingdefect.
● Damagedcausedbymisuseisnotcoveredunderwarranty
● Warrantydoesnotcoverfreightcostforbothways.
Preparedby
CytronTechnologiesSdn.Bhd.
No.16,JalanIndustriRinganPermatangTinggi2,
KawasanIndustriRinganPermatangTinggi,
14100SimpangAmpat,
Penang,Malaysia.
Tel: +6045453867
Fax: +60185866083
URL: www.cytron.com.my
Email:[email protected]
[email protected]
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