(details) BOT40-II-ASY - BOT40-II Controller - assembled, $58.95 (cpu included).
(details) BOT40-II-KIT - BOT40-II Controller - kit form, $44.95 (cpu included).
SBC40-SVO - Controller Board - bare pcb, $16.95.

BOT40-II Blow-Up

The OricomTech BOT40-II Controller Board is designed for controlling small mobile robotic devices and for general industrial-control applications. It uses a 40-pin PIC microcontroller, and is designed for interfacing multiple R/C style servos.

The BOT40-II Controller can be used for a simple bot, but has plenty of expansion capability for growth into a very sophisticated bot - room for bumper, line-following, fire-fighting, ultrasonics, and other sensor circuitry. This board is specifically designed to support our Bot-Cop Multi-Servo Controller and Walking Machine chips. It is also used on our OOBOT40-II Robot Control Computer, and is small enough to fit directly on a mini-sumo.

Save Your CPU! The pcb has built-in protection on all cpu pins, including pulldown terminations for noise rejection, and series R's for current-limiting and over-voltage protection. These features greatly improve the reliability of the cpu in the face of external assaults.

BOT40-II features include: configurable for either OOPic or standard PIC micro header space for up to 29 R/C servos up to 29 digital I/O lines up to 8 A/D channels configurable busses on all headers RS-232 serial port (true RS232 levels) 2 voltage regulators, 1 fixed and 1 adjustable I²C serial EEPROM large prototyping area

Typical applications include: general embedded controller complex servo control applications small robot controller robot walkers animatronics R/C servo powered mini-sumos

Programming

The BOT40-II boards include a PIC16F877 or 16F877A, 20-Mhz microcontroller chip pre-programmed with a bootloader in the on-chip eeprom, so that a separate chip programmer is not required to start programming the PIC. However, the PIC can be erased and a separate chip programmer or ICSP can be used, if desired. Check the BOT40 Programming Page for details.

The BOT40-II boards can also be ordered without the '877 cpu chip - e-mail us for details: sales@oricomtech.com.

The BOT40-II boards are compatible with the following microcontrollers, in 40-pin DIP package:

PIC Compatibility - the boards accommodate the following Microchip controllers: 16C74 / 77 / 774 16F74/ 77/ 874 / 877 18F442 / 452 and other new 18F' series chips OOPic Compatibility - the OOPic controller and eeprom chips drop straight into the board. Refer to the next page for additional info about interfacing the oopic. Basic Atom Compatibility - the Basic Atom Interpreter 40-pin DIP chip, P/N B0030, is based upon the PIC 16F877 chip and will plug directly into the board. The two RS-232 channels on the board can be used for Basic Atom programming.

• Voltage regulators
• ---- logic REG1 - 5v, up to 1.5A, 7805-equiv TO-220, with heat-sink.
• ---- auxiliary REG2 - adjustable, up to 25v and 5A TO-220, eg LM317 or LM1084-equiv, with heat-sink - (use to power external loads without loading the logic buss on REG1).
• ---- separate connectors for external power and charger inputs.
• ---- separate headers for external on/off switches.
• ---- charger diode-capacitor arrangement can be used as brown-out prevent circuit.

NOTE - it is recommended that servos be run from an external power source providing 5-6 vdc at the required current; however, REG2 is adequate for driving a few servos from a battery higher than 6v (eg, 6 or 8-cell rechargeable R/C car battery), but total load will be limited by the amount of heat dissipated by the regulator.

• CPU
• ---- 40-pin PIC, DIP package (see compatibility table).
• ---- main oscillator - 1 to 20 Mhz, crystal or resonator.
• Programming interface
• ---- 6-pin PRG header.
• ---- can be configured for either PIC Micro ICSP (Vpp-5v-gnd-RB7-RB6-RB3) or OOPic parallel programming (Reset-5v-Sclk-gnd-Sdat).
• CPU Port usage
• ---- A = analog or digital I/O.
• ---- B = servo control or digital I/O.
• ---- C = RS232, I²C, PWM, and servo control or digital I/O.
• ---- D = servo control or digital I/O.
• ---- E = analog or digital I/O.
• EEPROM
• ---- layout for 8-pin I²C serial EEPROM chip, up to 32KB (eg, 24C256).
• ---- used for non-volatile storage of configuration, program, data, etc.
• ---- jumpers configure EEPROM for OOPic or cpu I²C buss operation.
• SPI and I²C Buss
• ---- 5-pin header for making external connections to cpu SPI and I²C busses (Sdo-5v-Sclk-gnd-Sdat).
• ---- can supply 5v power to drive external EEPROMs, etc.
• RS-232 comms
• ---- MAX232-type chip with 2 transmit-receive channels, one is connected to cpu UART, and one is spare.
• ---- spare channel can be used for serial LCD, comms to another board, etc.
• ---- interface via DB09-F or header HDR5.

  - Uses of Prototyping Area - pullups, pulldowns, series R's, zener diodes, digital chips, analog chips, opAmps, EEPROMs, speaker amps, bipolar inverters, MOSFET drivers, pushbutton switches, LEDs, sensor conditioning.

• Miscellaneous
• ---- LEDs - layout for 4 LEDs with series resistors, non-dedicated.
• ---- cpu Reset switch.
• Prototyping Area
• ---- large 9x12 hole prototyping area.
• ---- allows addition of custom circuitry to suit particular applications.
• ---- proto area laid out for ease of build-up, with +5v and ground busses aligned for easy addition of components.

I/O Channels

• Analog
• ---- up to 8 A/D channels, 8-12 bit resolution, cpu-dependent.
• ---- proto area can be used for custom signal conditioning.
• Digital I/O
• ---- up to 29 digital I/O lines, 0-5V, 20 mA output drive.
• ---- 2 hardware PWM channels.
• Servo control
• ---- direct connection of up to 29 Futaba-wired servos (signal-pwr-gnd).
• ---- servo power provided externally or via REG2.

  Built-in pulldowns on I/O pins, plus middle row = +5v, make it easy to use some pins for software configuration high-low jumpering.

• External Headers
• ---- all 0.100" spacing.
• ---- inner = port pins.
• ---- middle (typical) = +5v or external power buss.
• ---- outer (typical) = all grounds.
• ---- middle and outer rows on all headers are configurable.
• ---- HDR1 = 3x9 TIL - 8 analog, or 9 digital I/O or servos.

  Having a ground pin next to every signal pin on the headers makes it extremely easy to wire sensors and effectors in such a way as to minimize inductive wiring loops and associated noise problems, since every line can use parallel, twisted, or shielded wires. This way sensors can be shielded against noise pickup, and motors + servos will radiate less EMI.

• ---- HDR2 = 3x8 TIL - 8 servos or digital I/O.
• ---- HDR3 = 3x8 TIL - 8 servos or digital I/O.
• ---- HDR4 = 3x4 TIL - 4 servos or digital I/O.
• ---- HDR5 = 2x4 DIL - 2 RS-232 ports.
• ---- layout convenient for making multiple 2-wire (signal+gnd) or 3-wire (signal-power-gnd) connections.
• ---- I²C = 1x5 SIL - external I²C buss.
• ---- PRG = 1x6 SIL - ICSP and OOPic parallel programming.

Safety and Transient Suppression Features

• CPU I/O Line Protection:
• ---- all digital I/O lines on ports B, C, and D of the cpu have both pulldown terminations and also series R's to alleviate floating pin noise problems, overvoltages, and
• Power Input Protection:
• ---- auxiliary header for external switch, fuse, etc.
• ---- CHG charger input to logic supply with series diode.
• ---- multiple points for insertion of bypass capacitors and transient suppressors.
• Power Buss Isolation:
• ---- 2 separate power busses = +5v, +S (servos).
• ---- Servos can be configured for operation off +5v buss REG1, from adjustable regulator REG2, or external +S power.
• ---- REG2 and +S ground busses are physically isolated from logic ground buss, with 1-point connection via ferrite or inductor for EMI suppression.

Power

• REG1 logic power - input 8 - 15 VDC, up to 1-Amp.
• REG2 auxiliary power - input 6 - 12 VDC, up to 5-Amp.
• power for servos is provided from off-board, via headers, normally 4.8 - 6 vdc at approx 300 mA per connected servo.
• REG2 can be used to power a few servos

Physical

• 3.6" x 3.0" (91 x 76 mm), industrial-quality double-sided FR4 pcb with heavy buss traces, plated-through holes, solder masks and silk-screen.
• mounting hole in each corner (#4 screw).

• includes BOT40-II pcb plus parts kit, pre-assembled and tested.
• get your robot/control application up and running faster.

<| BOT40-II-KIT - kit form

• includes majority of parts required for botboard operation - over 60 parts:
• ---- BOT40-II controller pcb.
• ---- logic power supply - caps, 7805 1A voltage regulator.
• ---- cpu - (1 ea) Microchip 16F77 or 16F877, 20-Mhz microcontroller chip.
• ---- other chips - (1 ea) MAX232 serial port driver, (1 ea) 24C32 8KB serial eeprom.
• ---- sockets - (1 ea) 8-pin, (1 ea) 16-pin, (1 ea) 40-pin.
• ---- cpu parts - reset and 20 Mhz crystal circuitry.
• ---- RS-232 port components.
• ---- misc - sockets, switches, headers, LEDs, resistors, capacitors, etc.
• also includes polarized mating power plug, heatsink, and parts for populating proto area.
• basic construction time - about 1 - 2 hours - requires good soldering skills.

• customer-supplied parts:
• ---- REG2 (auxiliary power) circuitry, and custom components for proto area.
• ---- miscellaneous external cables.

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