USER MANUAL

MEGAROBOTICS Co., Ltd.

MGR-CA128 Robot Controller for AI MOTOR

Thank you for your purchasing Megarobotics® MGR-CA128!MGR-CA128 is optimum control board for Robot System driven by AI Motor.

Contents

1. Features and Functions 3

2. Specifications 4

3. Component Descriptions 5

3.1. MCU 6

3.2. ISP Connector 6

3.3. LEDs 6

3.4. AI Motor Connector 7

3.5. RS-232 Connector of TTL level 7

3.6. RS-232 Connector of RS-232 level 8

3.7. Dip switches for AI Motor Communication Channel Setting 8

3.8. Power Supply Terminal / Power Switch 9

3.9. IR Receive Module 9

3.10. Magnetic Buzzer 10

3.11. Interrupt Switch 10

3.12. User Extension Section 10

4. Circuit Diagram 11

3 MGR-CA128 manual(ENG) Ver. 1.02

1. Features and Functions

Adopted Mother board-Daughter Board structure for easy upgrade & quick troubleshooting◎

Adopted powerful Atmega128-16AI◎

- 14.7456MHz (guarantees 0% error rate for communication)

- 128KByte of In-System Reprogrammable FLASH Memory

- 4KByte EEPROM

- 4KByte Internal SRAM

- SPI Interface for ISP (In-System Programming)

- Dual programmable Serial USARTs

- 53 programmable I/O Lines

- Two 8-bit timers

- Two expanded 16-bit timers

- Two 8-bit PWM channels

- 6 PWM channels with programmable Resoultion from 2 to 16 bits

- 8-channel, of 10-bit ADC

Support AI Motor series◎

- 4 connectors for AI-601

- 8 connectors for AI-701 and AI-1001

- Up to 31 AI Motors in series

Advanced Power Circuit◎

- Wide power range : DC 6~11V

- Power connector : 5.5 plug or 2695-02(=CHW0640-02) - 5.5 plug is prior to 2695-02Φ Φ

- Reverse voltage protection for logic protection

- Regulator output voltage : DC 5V or 3.3 V

- LED indicators for DC 5V output

- Easy handling Power Switch

Easy Communication Channel Sellection.◎

- Communication channels for AI Motor : MCU or PC (No need to change connectors)

Other Features◎

- Input) 2 Interrupt Switches

-Output) 1 Magnetic Buzzer

-Output) 1 IR Receive Module

-Output) 2 LEDs

4 MGR-CA128 manual(ENG) Ver. 1.02

2. Specifications

MGR-CA128 has Mother Board(MGR-BM1) & Daughter Board(MGR-BD128) structure.

Board MGR-BM1 (Mother Board) MGR-BD128 (Daughter Board)

Image

Weight 42g 16g

PowerPower Input; DC +6V~11VOutput; DC +5V (Max. 1.5A)Output; DC +3.3V (Max. 1.5A)

+5V from Mother Board

MCU none Atmega128-16AI (14.7456Mhz)

Interface

8 connectors for AI Motor 701 & 10014 connectors for AI Motor 601(non-assembled)2 RS-232 connectors of RS-232 level1 RS-232 connectors of TTL level(RS-232 connector for Bluetooth Module)

1 ISP connector(compatible with MGR-LAISP-15)

OtherFeatures

(Input) 2 Interrupt Switches(Output) 1 IR Receive Module(Output) 1 Magnetic Buzzer SpeakerUser Extension section; 6 x 8

(Input) Reset Switch(Output) 2 LED indicatorsUser Extension section;4 x 2, 5 x 3, 5 x 3

MountingFasten the M3.0 bolt into the bolt hole on the

boardInsert daughter board into the connectors on

the Mother board

5 MGR-CA128 manual(ENG) Ver. 1.02

3. Component Descriptions

AI-601 connector (non-assembled)

Connector for AI-701 & AI-1001

RS-232connectors of RS-232 level (PC MCU)↔

Power Switch

Power Supply

Power Supply

Interrupt Switch

AI MOTOR CommunicationChannel Setting Switch

RS-232 connector of RS-232 level (PC AI MOTOR)↔

Connector for AI-701 & AI-1001

Connector for AI-601(non-assembled)

IR Receive Module

Magnetic Buzzer

RS-232 connectors of TTL level(PC MCU) for Bluetooth Module↔

User Extension section

LED for indicating DC 5V output

User Extension sectionISP connector

LED Indicators

RESET Switch

User Extension section

MCU

6 MGR-CA128 manual(ENG) Ver. 1.02

3.1. MCU

Atmega128-16AI▶

- Internal Flash memory 128KByte- 4KByte Internal EEPROM- 4KByte Internal SRAM- Support ISP

- For further information, refer to http://www.atmel.com

3.2. ISP Connector

For downloading program on MCU FLASH or EPROM▶

Compatible with MGR-LAISP-15▶

Ribbon Cable Connectors : Box Header(HIF3FB)0▶

- Mate with : Receptacle 5320-10- For further information, refer to http://www.hirose.co.kr

3.3. LEDs

For Debugging or current status indicating▶

Status0 : connect to PG4 pin of Atmega128▶

Status1 : connect to PG3 pin of Atmega128▶

7 MGR-CA128 manual(ENG) Ver. 1.02

3.4. AI Motor Connector

AI-601 AI-701 & AI-1001

Connectors for AI MOTOR▶

- Up to 31 AI Motors in series- 4 connectors for AI-601 : use pin header, if necessary- 8 connectors for AI-701 & AI-1001

Channel setting Switch : USART Channel No.1 of Atmega128(MCU) or USART(PC)▶

Wire-to-Board Wafer : YW200-04▶

- Mis-Insertion prevent structure- Lock for firm fix- Mate with : Wire-to-Board Housing YH200-04,

Wire-to-Board Crimp Terminal YT200- For further information, refer to http://www.yhconnector.com

3.5. RS-232 Connector of TTL level

▶ RS-232 connection for communication devices of TTL

level (0V, +5V)Supporting various communication devices▶

with supplying 5V, 3.3V powerUse either RS-232 connector of TTL level or RS-232▶

connector of RS-232 level(PC MCU) as they use the↔

same communication channel(USART0).RF or Bluetooth Module Interface▶

PCB Header : 5267-05▶

- Mate with : Female Housing 5264-05,Female Terminal 5263

- For further information, refer to http://www.molex.com

8 MGR-CA128 manual(ENG3)Ver.1.04.hwp

3.6. RS-232 Connector of RS-232 level

RS-232 connector for C AI MOTOR↔ RS-232 connector for PC MCU↔

▶ RS-232 connection for communication devices of RS-232 level (+12V, -12V)RS-232 connector for PC AI MOTOR▶ ↔

: In case PC directly controls AI MOTORRS-232 connector for PC MCU▶ ↔

- In case PC communicates with MCU- Easy debugging with <printf> command in C language, as connected toUSART0 of Atmega128

PCB Header : 6410-03▶

- Mate with : Female Housing 2695-03,Female Terminal 2759

- For further information, refer to http://www.molex.com

3.7. Dip switches for AI Motor Communication Channel Setting

For communication channel setting for AI MOTOR;▶

2 options - either MCU or PCCommunication Channel Setting▶

1 2PC AI MOTOR↔ ON ONMCU AI MOTOR↔ OFF OFF

DIP switch : KSD02H▶

- For further information, refer to http://www.otaxkorea.co.kr

9 MGR-CA128 manual(ENG3)Ver.1.04.hwp

3.8. Power Supply Terminal / Power Switch

2695-02(=CHW0640-02) Connection 5.5 Plug ConnectionΦ

Input Power Range : DC +6V ~ 11V▶

Possible to use 2695-02(or CHW0640-02) or 5.5 PlugΦ▶

In case both of them connected at the same time, 2695-02 will be disconnected as 5.5 plugΦ▶

is at the first priority.Easy operation with big sized-Rocker switch▶

PCB Headers : 6410-02A▶

- Mate with : Female Housing 2695-02,Female Terminal 2759

- For further information, refer to http://www.molex.com

3.9. IR Receive Module

For receiving IR remote control signal▶

Received signal will be sent to External Interrupt 7 of▶

MCU(Atmega128)IR Receiver Module : KSM603LM▶

- Center Frequency : 37.9㎑- Compatible with all kinds of remote controllers- For further information, refer to http://www.kodenshi.co.kr

10 MGR-CA128 manual(ENG3)Ver.1.04.hwp

3.10. Magnetic Buzzer

For making buzzer sound▶

Unlike oscillation circuit, PD5 pin of MCU(Atmega128)▶

makes various sounds via softwareMagnetic Buzzer : BJM-05▶

- Peak Frequency : 2.4㎑- Sound Pressure Level : 85dBA (5V, at 10cm)- Input Voltage : 3~8V- Max. Current : 60mA- Coil Resistance : 36~44Ohm- For further information, refer to http://www.bujeon.co.kr

3.11. Input switch

Switch for user command input▶

Two Interrupt switches are connected separately to▶

External Interrupt 0 and External Interrupt 1 of MCU(Atmega128)Built-in Pull-up resistance for MCU which is not▶

equipped internal Pull-up circuit

3.12. User Extension Section

User Extension section for adding extra components▶

Extension holes are arranged with standard 2.54mm▶

pitch for high extension flexibility;- MGR-BM1 : 6 x 8- MGR-BD128 : 4 x 2,

5 x 3,5 x 3

For any further information, refer to※ www.megarobotics.com or contact customer service center(mailto:help@megarobotics.com).

11 MGR-CA128 manual(ENG3)Ver.1.04.hwp

4. Circuit Diagram

12 MGR-CA128 manual(ENG3)Ver.1.04.hwp