2x10A UNO ROBOT

CONTROLLER
URC10

User’s Manual
V1.0
SEP 2017
 ROBOT . HEAD to TOE
Product User’s Manual – URC10

Index
1. Introduction and Overview 3
1.0 Introduction of UNO Robot Contoller (URC10) 3
1.1 System Overview 4
1.2 General Description 5
2. Packing List 6
3. Product Specification and Limitations 7
4. Board Layout 9
4.1 Dimension 10
5. Installation (hardware) 11
5.1 Connecting Driver to a DC Motor 11
5.2 Connecting to URC10 using Signal Input Pin (HC-SR04) 13
6. Installation Driver 21
7. Getting Started 25
7.1 Using URC10 with Arduino IDE 25
8. Warranty 37

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

INTRODUCTION AND OVERVIEW

1.0 Introduction of UNO Robot Controller (URC10)

2x10A UNO Robot Controller is designed to drive two high current brushed DC motor up to
10A continuously by using build in CT-UNO as a controller. This board combines the
simplicity of the UNO’s Optiboot bootloader (which load program faster), and the R3
shield compatibility of the latest Arduino UNO R3 with motor driver that can drive 10A
continuously. It offers several enhancements such as support for both locked-antiphase
and sign-magnitude PWM signal as well as using full solid state components which result
in faster response time and eliminate the wear and tear of the mechanical relay and reduce
time for wiring. The board incorporates most of the components of the typical applications.
With minimum interface, the board is ready to Plug and Play. Simply add in power, do simple
coding and this board is ready to drive brushed motor. This board has been designed with
capabilities and features of:
● Support up to 30A peak(10 second) and 10A(continuous) per channel.
● Bi-directional control for two brushed DC motor
● Current limiting at 30A.
● Solid state components provide faster response time and eliminate the wear and
tear of mechanical relay.
● Fully NMOS H-Bridge for better efficiency and no heat sink is required.
● Speed control PWM frequency up to 20KHz (Actual output frequency is same as
input frequency).
● Support both locked-antiphase and sign-magnitude PWM operation.
● Arduino sketch compatible.
● Able to drive brushed motor from 6V to 24V.
● Single power input for both motor and on board controller.
● SMD ATmega328 microcontroller with Optiboot (UNO) Bootloader.
● On board 1A (maximum) 5V voltage regulator.
● On board 500mA (maximum) 3.3V voltage regulator.
● 0-5V digital outputs with 3.3V compatible inputs.
● 14 Digital I/O Pins (6 PWM outputs).(4 pin used for Motor driver)
● 6 Analog Inputs (Can be digital I/O too).
● ISP 6-pin Header.
● 32k Flash Memory.
● 16MHz Clock Speed.
● R3 Shield Compatible.
● TX, RX, Power, pin 13 LEDs are moved to edge.
● LED indicator for I/0 pin
● I/O extension
● 2x HC-SR04 connector
● Utilize USB Micro-B socket.
● On board push buttons for fast test and manual operation.
● No polarity protection!.

Dimension: 75.57cm x 99.7cm

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

1.1 System Overview

Uno Robot Controller is one of motor driver with built in controller. One of the additional
features for URC10 compare to other driver is the I/O extension pin and interface for easiest
communication or connect directly to Arduino Shield. .

1.2 General Description

Driving brush motor is common necessity in most robotic project. A brush motor is a electric
motor that can drive a full rotation. Brush motor is ideally suit for robot mobility. This
motor can operate in forward/reverse with controllable speed motor driver. There are various
kinds of brush motor, some example are geared motor, planetary geared motor, and automobile
DC motor. This board, Uno Robot Controller is design to drive 7V-24V DC motor with build in
programmable microcontroller.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

2. PACKING LIST

Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at sales@cytron.com.my immediately.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

Mobility Uno comes with:

• 1 x Mobility Uno board with every component is soldered properly and tested before board
is shipped.

• User’s Manual and sample Arduino sketch can be downloaded from

http://www.cytron.com.my/p-URC10.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

3. PRODUCT SPECIFICATION AND LIMITATIONS

Power Input Pins Function Description

Label Definition Function

VM Motor Supply VM is for board power sources. VM will supplies power to
Voltage both motor and controller circuit. User must ensure the
voltage and polarity of connection are correct before providing
the power so that Mono can function correctly.
GND System Ground Common ground for both logic operation and stepper motor
power source.
*If power is connect correctly, the PWR LED should light up.

Signal Input Pins Function Description

Label Definition Function

DIR 1 Motor Input for motor 2 to rotate CW (clockwise) or CCW

Rotating (counterclockwise). This pin is TTL/CMOS logic (5V and
Direction 0V). The direction is depends on the Arduino code For
Control Pin example:
DIR = 0V CW
DIR = 5V CCW

PWM 1 Speed control Pin Input pin to Control the motor speed.This pin need PWM
signal.

PWM 2 Speed control Pin Input pin to Control the motor speed.This pin need PWM
signal.

DIR 2 Motor Input for motor 2 to rotate CW (clockwise) or CCW

Rotating (counterclockwise). This pin is TTL/CMOS logic (5V and
Direction 0V). The direction is depends on the Arduino code For
Control Pin example:
DIR = 0V CW
DIR = 5V CCW

TRIG Sonar Sensor Connection for Sonar sensor connected to Arduino pin
trigger Pin: number D9 for Sonar 1 and Arduino pin number D11 for
Sensor 1- D9 Sonar sensor number 2.
Sensor 2- D11

ECHO Sonar Sensor Connection for Sonar sensor connected to Arduino pin
Echo pin: number D8 for Sonar 1 and Arduino pin number D10 for
Sensor 1- D8 Sonar sensor number 2.
Sensor 2- D10

+5V 5V Output 5V output to power up sensor.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

GND System Ground Common ground for both logic operation and stepper motor
power source.

The truth table for the control logic for motor 1 and motor 2 are as follow:

PWM DIR Output A Output B

Low X(Don’t care) Low Low
High Low High Low
High High Low High

Pin No Pin Name Description

M1A Motor 1 Output A Connect to motor 1 terminal A
M1B Motor 1 Output B Connect to motor 1 terminal B
VM POWER + Positive Supply (positive terminal of battery)
GND POWER - Negative Supply (negative terminal of battery)
M2A Motor 2 Output A Connect to motor 2 terminal A
M2B Motor 2 Output B Connect to motor 2 terminal B

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

Absolute Maximum Rating

No Parameter Max Typical Min Unit

1
Input Voltage (Motor Supply 7 - 24 V
Voltage)
2
IMAX (Maximum Continuous - - 10 A
Motor Current)*
3
IPEAK – (Peak Motor Current) ** - - 30 A
4
VIOH (Logic Input – High Level) 5 - 1.3 V
5
VIOL (Logic Input – Low Level) 0.7 - 0 V
* For momentary peak current. Driving at this condition may trigger overheat or over-current cut-off.
**Must not exceed 1 second.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

4.BOARD LAYOUT

Label Function Label Function

A Connector for Sonar H Small LED as POWER indicator
B Connector to Motor I Voltage input (7V-24V)
C Small LED as indicator J Connector for analog input
D ICSP connector K Connector for Digital IO
E USB connector for Arduino L Connector for LCD
F Push button to reset M Power extension
G Push button to test N Power select

A – A connector to connect to two Sonar(HC-SR04) .

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

B – A 2 ways connector for user to connect particular DC motor. Please skru the
wire properly by referring to chapter 5, Hardware Installation.

C – Red LEDs acting as indicator for motor direction These LEDs will indicate
which direction is being powered at a moment
.
D – ICSP connector/ SPI conection

E – USB for UART communication between URC10 and PC’s Serial

Communication Interface (SCI).

F – A push button acting as reset button to URC10. If this button is pressed, URC10 will
be reset to initial stage. Please DO NOT pressed this button during operation
.
G – A push button to activate self test on URC10. When it is pressed and hold, URC10 will
start to drive stepper motor. If power supply is connected and this button is pressed,
LEDs at C will illuminate sequentially.

H – A small green LED to indicate status of power. If power is connected,

this LED will light ON.

I – Voltage input for the power source.

J – A 6x3 ways connector for analog input complete with Signal, 5V and GND pin.

K – A 4x3 ways connector for Digital IO complete with Signal, 5V and GND pin.

L – A 4x1 ways connector for user to connect particular SPI/I2C device

.
M – A 8x1 ways connector for power extension, normally not use.

N – A jumper at back of PCB is to to select power for I2C/SPI device

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10
4.1 DIMENSION

*All dimension in milimeter.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

5. INSTALLATION (HARDWARE)

5.1 Connecting Driver to a DC Motor

URC10 is compatible with 2 types of PWM operation, which are:

1. Sign-Magnitude PWM - For sign-magnitude PWM operation, 2 control signals are used to
control the speed and direction of the motor. PWm is feed to the PWM pin to control the speed
while DIR pin is used to control the direction.
2. Locked-Antiphase PWM - For locked-antiphase PWM operation, only 1 control signal is
needed to control the speed and direction of the motor. PWM pin is connected to logic high while
the DIR pin is being feed with the PWM signal. When the PWM signal has 50% duty cycle, the
motor stops running. If the PWM has less than 50% duty cycle, the motor will turn CW(or CCW
depending on the connection). If the PWM signal has more than 50% duty cycle, motor will turn
CCW(or CW depending on the connection)

Sample connection diagram is as follow:

URC10 pin control name Control Mode

Sign magnitude Locked Anti-Phase

DIR1 (pin 4) Direction control Enable driver

PWM1 (pin 5) Speed Control Speed & Direction

PWM2 (pin 6) Speed control Speed & Direction

DIR2 (pin 7) Direction control Enable driver

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

5.2 Connecting to URC10 using Signal Input Pin(HC-SR04)

Typical application would require a controller to generate pulses and wait for reflected
ultrasonic burst. Following figure shows an example of HC-SR04 connected to URC10. The
above example shows that the TRIG pin is connected to pin number D9 and Echo pin connected to
pin number D8.

Example connection as follow:

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

6. INSTALLATION DRIVER

This board (URC10) use CH340G USB to UART converter as for skecth uploading bridge. This
UART chip require USB driver to be installed on computer.

Please download the respective driver for your computer or laptop:

1. Windows user
2. MAC OS driver for OSX Mavericks 10.9, Yosemite 10.10, and El Capitan 10.11
3. MAC OS driver for OSX Sierra 10.12
4. Linux normally pre-installed with the proper driver

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

7. GETTING STARTED

You will need URC10 board and USB Micro B cable to start.

This section will show how to get started with URC10 and connect to computer for sketch
uploading.

7.1 Using URC10 with Arduino IDE

After installation of URC10 driver, user is ready to use URC10 with computer/laptop.

A. Connect USB to URC10, another end of USB cable to PC.

B. Power up URC10. When power is connected, power indicator LED will turn ON.
C. URC10 board will use power from USB if no external power connected.
D. Get the latest Arduino IDE from http://arduino.cc/en/Main/Software.
E. When the download finishes, unzip the downloaded file. Make sure to preserve the
folder structure. Double-click the folder to open it. There should be a few files and
subfolders inside.
F. Double click on Arduino IDE icon at your desktop.
G. Try BLINK example: go to FILES>Examples>0.1Basic>Blink
H. Select board: Tools>Board>Arduino UNO
I. Select serial port number with biggest number
J. Upload sketch:
Now, simply click the "Upload" button in the environment. Wait a few seconds -
you should see the D0 and D1 leds on the board flashing. If the upload is
successful, the message "Done uploading." will appear in the status bar. A few
seconds after the upload finishes, you should see the pin 13 LED on the board
start to blink (in orange). If it does, congratulations! You've gotten URC10
up-and-running.

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved

 ROBOT . HEAD to TOE
Product User’s Manual – URC10

8. WARRANTY

❖ Product warranty is valid for 6 months.

❖ Warranty only applies to manufacturing defect.
❖ Damage caused by miss-use is not covered under warranty.
❖ Warranty does not cover freight cost for both ways.

Prepared by
Cytron Technologies Sdn. Bhd.
19, Jalan Kebudayaan 1A,
Taman Universiti,
81300 Skudai,
Johor, Malaysia.
Tel: +607-521 3178
Fax: +607-521 1861
URL:
www.cytron.com.my
Email: support@cytron.com.my
sales@cytron.com.my

Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved