Joy-IT COM-Motor06 OMNIWHEELS Roboter Radsatz Omni Wheels Kit Instruction Manual
- May 15, 2024
- JOY-It
Table of Contents
OMNIWHEELS
COM-Motor06
oboter Radsatz Omni Wheels Kit
Instruction Manual
GENERAL INFORMATION
Dear customer,
thank you very much for choosing our product.
In the following, we will introduce you to what to observe while starting up
and using this product.
Should you encounter any unexpected problems during use, please do not
hesitate to contact us.
In the following we will show you how to properly assemble, properly connect
and program the omniwheels of the item COM Motor06 to be able to use them
fully.
Before we get into the functionality and explanation of the product, we would
like to provide you with the pinout for each required component to ensure that
you do not have any difficulties when connecting it later.
Motor drivers are required for this product because microcontrollers such as
the Arduino Mega are not capable of providing the power needed for the motors.
PIN ASSIGNMENT (COM-MOTOR06)
The 4 included motors all have the same pinout and are all connected the same
way in this example.
Inside the black part of the motor there is an encoder which can be read out
to obtain additional data such as the current direction of rotation or the
current speed at which the wheel/motor is rotating.
Pin assignment:
Red and black cable: control of the motor, here one cable each is used to
run the motor either forward or backward.
Green cable: Ground Connection of the encoder, here you should make sure
to connect all motors to the same ground point.
Blue cable: Power supply of the encoder, here you have to carefull to
never connect more than 5V.
Yellow cable: Signal A of the encoder
White cable: Signal B of the encoder
The encoder signals can be used to read off both the direction of rotation and
the speed of rotation. The encoder outputs 11 pulses per revolution.
However, the gear ratio of 21.3 must also be taken into account. The end
result is 234.3 pulses per revolution.
Signal at clockwise rotation:
With falling edge at signal B, signal A must be High.
Signal for counterclockwise rotation:
With falling edge at signal B, signal A must be low.
PIN ASSIGNMENT (SBC-MOTORDRIVER2)
The used motor driver (SBC-MotoDriver2 from Joy-IT) can only drive 2
motors, which is why 2 are needed for this tutorial.
The motor driver has 4 outputs, 2 outputs each for one motor, these are the
OUT connections. In addition there are the 6 inputs which are used to control
the motor driver. ENA and ENB are used to switch the respective connection
ports for the motors ON or OFF. The connections IN1 to IN4 are used to control
the motors. From IN1 to IN4, two of these four pins are always used to control
a motor. One of the two pins is always used to run the motor forward, while
the other is always used to run the motor backward.
Now the supply inputs remain, here you find the connections 5 V, GND and Vcc
which serve to supply the motor driver and the motors with voltage.
MODE OF OPERATION
The vehicle can move in different directions depending on the direction in
which the individual wheels turn.
In the diagram below you can see in which direction the wheels must turn (blue
arrows) so that the vehicle moves as desired (red arrows).
USE WITH THE ARDUINO
5.1 Connection
In this tutorial we use the Arduino compatible microcontroller ARD-
Mega2560R3 to drive the
motors. You also need a motor driver, such as the SBC-MotoDriver2 from Joy-IT. Since this motor driver can only control 2 motors at a time, you
will need 2 for this example.
It is important that the motor drivers are connected to PWM pins of the
Arduino. The B signal of the encoders must be connected to an interrupt pin
each.
The +VCC pins of the motor drivers must be connected to a 7.5 V power supply.
Motor 1 Front Left:
| Motor | Arduino | Motordriver1 |
|---|---|---|
| Motor1 + (Red) | – | Out 1 |
| Motor1 – (Black) | – | Out 2 |
| Encoder1 – (Green) | GND | – |
| Encoder1 + (Blue) | +5 V | – |
| Encoder1 A (Yellow) | Pin 12 | – |
| Encoder1 B (White) | Pin 2 | – |
Motor 2 Rear Left:
| Motor | Arduino | Motordriver1 |
|---|---|---|
| Motor2 + (red) | – | Out 3 |
| Motor2 – (black) | – | Out 4 |
| Encoder2 – (green) | GND | – |
| Encoder2 + (blue) | +5 V | – |
| Encoder2 A (yellow) | Pin 13 | – |
| Encoder2 B (white) | Pin 3 | – |
Motor driver 1:
| External | Arduino | Motordriver1 |
|---|---|---|
| – | Pin 8 | IN 1 |
| – | Pin 9 | IN 2 |
| – | Pin 10 | IN 3 |
| – | Pin 11 | IN 4 |
| – | – | +5 V |
| GND | – | GND |
| +7,5 V | – | Vcc |
Motor 3 Front Right:
| Motor3 (VR) | Arduino | Motordriver2 |
|---|---|---|
| Motor3 + (red) | – | Out 2 |
| Motor3 – (black) | – | Out 1 |
| Encoder3 – (green) | GND | – |
| Encoder3 + (blue) | +5 V | – |
| Encoder3 A (yellow) | Pin 14 | – |
| Encoder3 B (white) | Pin 18 | – |
Motor 4 Rear Right:
| Motor4 (HR) | Arduino | Motordriver2 |
|---|---|---|
| Motor4 + (red) | – | Out 4 |
| Motor4 – (black) | – | Out 3 |
| Encoder4 – (green) | GND | – |
| Encoder4 + (blue) | +5 V | – |
| Encoder4 A (yellow) | Pin 15 | – |
| Encoder4 B (white) | Pin 19 | – |
Motor driver 2:
| External | Arduino | Motordriver2 |
|---|---|---|
| – | Pin 4 | IN 1 |
| – | Pin 5 | IN 2 |
| – | Pin 6 | IN 3 |
| – | Pin 7 | IN 4 |
| – | – | +5 V |
| GND | – | GND |
| +7,5 V | – | Vcc |
5.2 Arduino code example
With our prepared sample code you can see how to control the motors for your
desired movement and how to read out the encoders.
You can download the sample code here.
When using the code example, plea-se note that all four wheels must be mounted
in a certain orientation.
As an example, we take here the figure a) from the subchapter 4. mode of
operation, as you can see in the figure, all 4 wheels are mounted in a certain
way. This alignment of the wheels ensures that you can drive in all 4 cardinal
directions without any problems.
USE WITH THE RASPBERRY PI
6.1 Connection
In this tutorial we will use an Raspberry Pi to drive the motors. You also
need a motor driver, such as the SBC-MotoDriver2 from Joy-IT.
Since this motor driver can only control 2 motors at a time, you will need 2
for this example.
The +VCC pins of the motor drivers must be connected to a 7.5 V power supply.
Motor 1 Front Left:
| Motor | Raspberry Pi | Motordriver1 |
|---|---|---|
| Motor1 + (Red) | – | Out 1 |
| Motor1 – (Black) | – | Out 2 |
| Encoder1 – (Green) | GND | – |
| Encoder1 + (Blue) | +5 V | – |
| Encoder1 A (Yellow) | GPIO 22 (Pin 15) | – |
| Encoder1 B (White) | GPIO 23 (Pin 16) | – |
Motor 2 Rear Left:
| Motor | Raspberry Pi | Motordriver1 |
|---|---|---|
| Motor2 + (Red) | – | Out 3 |
| Motor2 – (BLack) | – | Out 4 |
| Encoder2 – (Green) | GND | – |
| Encoder2 + (Blue) | +5 V | – |
| Encoder2 A (Yellow) | GPIO 24 (Pin 18) | – |
| Encoder2 B (White) | GPIO 10 (Pin 19) | – |
Motor driver 1:
| External | Raspberry Pi | Motordriver1 |
|---|---|---|
| – | GPIO 2 (Pin 3) | IN 1 |
| – | GPIO 3 (Pin 5) | IN 2 |
| – | GPIO 4 (Pin 7) | IN 3 |
| – | GPIO 14 (Pin 8) | IN 4 |
| – | – | +5 V |
| GND | – | GND |
| +7,5 V | – | Vcc |
Motor 3 Front Right:
| Motor3 (VR) | Raspberry Pi | Motordriver2 |
|---|---|---|
| Motor3 + (Red) | – | Out 2 |
| Motor3 – (Black) | – | Out 1 |
| Encoder3 – (Green) | GND | – |
| Encoder3 + (Blue) | +5 V | – |
| Encoder3 A (Yellow) | GPIO 9 (Pin 21) | – |
| Encoder3 B (White) | GPIO 25 (Pin 22) | – |
Motor 4 Rear Right:
| Motor4 (HR) | Raspberry Pi | Motordriver2 |
|---|---|---|
| Motor4 + (Red) | – | Out 4 |
| Motor4 – (Black) | – | Out 3 |
| Encoder4 – (Green) | GND | – |
| Encoder4 + (Blue) | +5 V | – |
| Encoder4 A (Yellow) | GPIO 11 (Pin 23) | – |
| Encoder4 B (White) | GPIO 8 (Pin 24) | – |
Motor driver 2:
| External | Raspberry Pi | Motordriver2 |
|---|---|---|
| – | GPIO 15 (Pin 10) | IN 1 |
| – | GPIO 18 (Pin 12) | IN 2 |
| – | GPIO 17 (Pin 11) | IN 3 |
| – | GPIO 27 (Pin 13) | IN 4 |
| – | – | +5 V |
| GND | – | GND |
| +7,5 V | – | Vcc |
6.2 Raspberry Pi code example
With our prepared sample code you can see how to control the motors and how to
read the encoders.
You can download the sample code here.
When using the code example, please note that all four wheels must be mounted
in a certain orientation.
As an example, we take here the figure a) from the subchapter 4. mode of operation, as you can see in the figure, all 4 wheels are mounted in a certain way. This alignment of the wheels ensures that you can drive in all 4 cardinal directions without any problems.
ADDITIONAL INFORMATION
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not belong in the household waste. You must return the old appliances to a
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waste equipment must be separated from it.
Return options:
As an end user, you can return your old device (which essentially fulfills the
same function as the new device purchased from us) free of charge for disposal
when you purchase a new device.
Small appliances with no external dimensions greater than 25 cm can be
disposed of in normal household quantities independently of the purchase of a
new appliance.
Possibility of return at our company location during opening hours:
SIMAC Electronics GmbH, Pascalstr. 8, D-47506 Neukirchen-Vluyn, Germany
Possibility of return in your area:
We will send you a parcel stamp with which you can return the device to us
free of charge. Please contact us by email at Service@joy-
it.net or by telephone.
Information on packaging:
If you do not have suitable packaging material or do not wish to use your own,
please contact us and we will send you suitable packaging.
SUPPORT
If there are still any issues pending or problems arising after your purchase,
we will support you by e-mail, telephone and with our ticket support system.
Email: service@joy-it.net
Ticket system: http://support.joy-it.net
Telephone: +49 (0)2845 9360-50 (10-17 o‘clock)
For further information please visit our website: www.joy-it.net
Published: 4.24.2023
www.joy-it.net
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Pascalstr. 8, 47506 Neukirchen-Vluyn
References
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- Joy-IT Helpdesk
- For Makers and Professionals | Joy-IT
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