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YAAARC/.c2c

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+name=Neal Probert
+id=410B68274

YAAARC/Y2MD/.xvpics/Y2MDlayout.png

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+P7 332
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+#END_OF_COMMENTS
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+<html>
+  <head>
+    <title>Y2MD YAAARC Dual Motor Driver</title>
+  </head>
+
+  <body>
+	<center>
+	  <h2>Y2MD YAAARC Dual Motor Driver</h2>
+	</center>
+	<hr>
+	Designed by Erik Kauppi, for YAAARC.
+	<ul>
+		<li><a href="Y2MDinstructions.html">Instructions</a></li>
+		<li><a href="Y2MDbom.html">Bill of Materials (Parts List)</a></li>
+		<li><a href="Y2MDschematic.png">Schematic Drawing</a></li>
+		<li><a href="Y2MDlayout.png">Layout Drawing</a></li>
+		<li><a href="Y2MDpinouts.html">Pinouts</a></li>
+	</ul>
+	For more information, contact <a href="mailto:ekauppi@corsa-inst.com">Erik Kauppi</a> (734) 761-1545 of <a href="www.corsa-inst.com">Corsa Instruments</a> (www.corsa-inst.com)
+    <hr>
+    <address><a href="mailto:neal@probestar.com">Neal Probert</a></address>
+<!-- Created: Sun May  6 18:01:21 EDT 2001 -->
+<!-- hhmts start -->
+Last modified: Sun May  6 22:39:48 EDT 2001
+<!-- hhmts end -->
+  </body>
+</html>

YAAARC/Y2MD/Y2MDbom.html

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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html>
+  <head>
+    <title>Y2MD Bill of Materials</title>
+  </head>
+
+  <body>
+	<center>
+	  <h2>Y2MD Bill of Materials</h2>
+	</center>
+	<hr>
+	<table border=0>
+	  <tr>
+		<td>Y2MD Dual Motor Driver</td>
+		<td>Revised: December 20, 1995</td>
+	  </tr>
+	  <tr>
+		<td>Bill of Materials</td>
+		<td>Revision: 1.0</td>
+	  </tr>
+	</table>
+	<table border=1>
+	  <tr>
+		<th>Item</th>
+		<th>Quantity</th>
+		<th>Reference</th>
+		<th>Part</th>
+	  </tr>
+	  <tr><td>1</td><td>3</td><td>C1,C2,C3</td><td>.022 uF</td></tr>
+	  <tr><td>2</td><td>6</td><td>D1-D6</td><td>LEDs</td></tr>
+	  <tr><td>3</td><td>8</td><td>D10-D13,D20-D23</td><td>FR303</td></tr>
+	  <tr><td>4</td><td>1</td><td>J1</td><td>5x2 Header</td></tr>
+	  <tr><td>5</td><td>1</td><td>J2</td><td>GND</td></tr>
+	  <tr><td>6</td><td>1</td><td>J3</td><td>Vs</td></tr>
+	  <tr><td>7</td><td>1</td><td>J11</td><td>M1a</td></tr>
+	  <tr><td>8</td><td>1</td><td>J12</td><td>M1b</td></tr>
+	  <tr><td>9</td><td>1</td><td>J21</td><td>M2a</td></tr>
+	  <tr><td>10</td><td>1</td><td>J22</td><td>M2b</td></tr>
+	  <tr><td>11</td><td>6</td><td>R1-R6</td><td>220 ohm</td></tr>
+	  <tr><td>12</td><td>1</td><td>U1</td><td><a href="http://www.national.com/pf/LM/LM18298.html">L298</a></td></tr>
+	  <tr><td>13</td><td>1</td><td>U2</td><td><a href="http://www.fairchildsemi.com/pf/MM/MM74HC14.html">74JC14</a></td></tr>
+	</table>
+    <hr>
+    <b>Parts Info:</b>
+    <p>
+    <a href="http://www.st.com/stonline/books/pdf/docs/1773.pdf>ST Microelectronics L298 H-Bridge</a>
+    <hr>
+    <address><a href="mailto:neal@probestar.com">Neal Probert</a></address>
+<!-- Created: Sun May  6 17:42:30 EDT 2001 -->
+<!-- hhmts start -->
+Last modified: Sun May  6 18:02:09 EDT 2001
+<!-- hhmts end -->
+  </body>
+</html>

YAAARC/Y2MD/Y2MDinstructions.html

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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html>
+  <head>
+    <title>Y2MD Instructions</title>
+  </head>
+
+  <body>
+	<center>
+	  <h2>Y2MD Instructions</h2>
+	  <br>
+	  <b>(YAAARC 2 Motor Driver)</b>
+	</center>
+	<h3>Introduction</h3>
+	Y2MD allows you to easily control motors with logic-level signals from your CPU.  It is intended to make building robots easier.  Key features are:
+	<ul>
+	  <li>Controls two DC motors</li>
+	  <li>Rorward and reverse operation of each independently</li>
+	  <li>Supports pulse width modulation (PWM) for speed control</li>
+	  <li>Up to 2 amps per motor</li>
+	  <li>12 to 46 volts motor supply, 5 volt logic supply</li>
+	  <li>Automatic thermal protection in case of overload</li>
+	  <li>Small size (less than 2x2x2")</li>
+	  <li>Under $30 cost</li>
+	  <li>Can also be used to drive stepper motors</li>
+	</ul>
+	<h3>Before you build:</h3>
+	<ul>
+	  <li>The LEDs are optional.  They are just debugging indicators</li>
+	  <li>Choose R6 depending upon motor supply voltage, or omit D6, the motor supply indicator LED.  Use 400 ohms or more for 12 volt supply.  1K works well.</li>
+	  <li>If you're going to use the optional current sending, bend up the two end leads (pin numbers 1 and 15) of the L298 and don't solder them to the board.  Instead solder them to your current sensing resistors, and solder the other to the spare pads near the YAAARC legend.  Choose the resistors so the maximum drop across the resister is less than 2 volts.  Connect your "sense" leads to the junction of the resistor and the L298.</li>
+	</ul>
+	<h3>Assembly notes:</h3>
+	<ul>
+	  <li>The apparent solder bridge between pins 11 and 12 of the 74HC14 is actually a trace.  Don't panic.</li>
+	  <li>For the 8 clamp diodes, make a "U" bend in the lead from the banded end of the diode body.  This lead goes in the square hole.  If you get any diodes in backwards, you will short out the Vs power supply.</li>
+	  <li>If you are installing LEDs, determine which lead should be positive for the LED to work, and orient the LEDs according to the "map" of the board.</li>
+	</ul>
+	<h3>Installation and Hookup:</h3>
+	<ul>
+	  <li>See the drawings for hookup information</li>
+	  <li>Y2MD requires +5V from the CPU connector. (J1, 10 pin header)</li>
+	  <li>Motor power (Vs)input and ground are on the output screw terminal strip.</li>
+	  <li>Motor ground and CPU ground are common, and are connected to the heatsink.</li>
+	  <li>If all LEDs are installed, with 220 ohm resistors, draw on Vcc (+5) could be 100ma.  Omit the LEDs or use 1K resisters, 1206 size, for low-power applications.</li>
+	</ul>
+	<h3>Use:</h3>
+	<p>
+	  Your CPU should set the direction bit high or low for a motor, and set the enable bit high to turn on the motor.  Sequence is not critical -- you can change directionss without turning the motor off, etc.
+	<p>
+	  Unused inputs (direction and enable) should be tied to ground or Vcc.  Current draw will be lower if enable is grounded.
+	<p>
+	  PWM can be done by toggling enable.  Max PWM frequency is 25khz.
+	<p>
+	  If the L298 gets hot, it will automatically reduce motor current to protect itself.  It seems pretty bulletproof so far.  Keep those robots rolling!
+	<p>
+	  Y2MD was created for the Ypsilanti Ann Arbor Area Robotics Club (YAAARC) by Erik Kauppi, 01-01-96.  Send e-mail to erik@hamjudo.com if you have questions.
+	<hr>
+	Updated by Neal Probert for the web.
+    <address><a href="mailto:neal@probestar.com">Neal Probert</a></address>
+<!-- Created: Sun May  6 17:18:30 EDT 2001 -->
+<!-- hhmts start -->
+Last modified: Sun May  6 18:02:23 EDT 2001
+<!-- hhmts end -->
+  </body>
+</html>

YAAARC/Y2MD/Y2MDpinouts.html

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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html>
+  <head>
+    <title>Y2MD Pinouts</title>
+  </head>
+
+  <body>
+	<center>
+	  <h1>Y2MD Pinouts</h1>
+	</center>
+	<hr>
+	<table border=1>
+	  <tr><th colspan=2>J1</th></tr>
+	  <tr><td>1&#149;</td><td>&#149;2</td><tr>
+	  <tr><td>3&#149;</td><td>&#149;4</td><tr>
+	  <tr><td>5&#149;</td><td>&#149;6</td><tr>
+	  <tr><td>7&#149;</td><td>&#149;8</td><tr>
+	  <tr><td>9&#149;</td><td>&#149;10</td><tr>
+	</table>
+	<table border=1>
+	  <tr>
+		<th>J1 Pin#</th>
+		<th>Name</th>
+		<th>Function</th>
+	  </tr>
+	  <tr><td>1</td><td>DIR 1</td><td>Motor 1 Direction</td></tr>
+	  <tr><td>2</td><td>Vcc</td><td>Logic +5V</td></tr>
+	  <tr><td>3</td><td>Enable A</td><td>Motor ON|OFF|PWM</td></tr>
+	  <tr><td>4</td><td>Vcc</td><td>Logic +5V</td></tr>
+	  <tr><td>5</td><td>DIR 2</td><td>Motor 2 Direction</td></tr>
+	  <tr><td>6</td><td>Vs</td><td>Motor Supply Voltage</td></tr>
+	  <tr><td>7</td><td>Enable B</td><td>Motor 2 ON|OFF|PWM</td></tr>
+	  <tr><td>8</td><td>N/C</td><td>No Connect</td></tr>
+	  <tr><td>9</td><td>GND</td><td>Ground</td></tr>
+	  <tr><td>10</td><td>GND</td><td>Ground</td></tr>
+	  </table>
+	<p>
+	  Enable HI = Motor On
+	  Enable OPEN or N/C = Motor Off
+	<p>
+	  I(led) ~ 10-15ma
+	<p>
+	  I(Vs)low ~ 45ma @ 12V ~ .4W
+    <hr>
+    <address><a href="mailto:neal@probestar.com">Neal Probert</a></address>
+<!-- Created: Sun May  6 18:05:54 EDT 2001 -->
+<!-- hhmts start -->
+Last modified: Sun May  6 18:17:55 EDT 2001
+<!-- hhmts end -->
+  </body>
+</html>

YAAARC/Y2MD/index.html

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+Y2MD.html

YAAARC/Y3MD/howto/index.html

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+<h1>How to build a Y3MD</h1>
+
+The Y3MD is <a href=http://www.yaaarc.org>Ypsilanti Ann Arbor Area
+Robotics Club</a>'s design for a 3 channel Motor Driver.  It acts as an 
+H-bridge amplifier, so a small processor like a Basic Stamp or a LEGO Mindstorms
+RCX can drive much larger motors, such as those found in Barbie Ride-On Jeeps.<p>
+Each channel of the motor driver can easily drive a 30 amp, 12 volt motor.
+There are 3 channels, to match the 3 motor outputs on a LEGO Mindstorms RCX.
+The outputs can be run in parallel to drive higher current motors.<p>
+The boards can be cut into 3 sections for individual H bridges.
+
+<p>
+It is a simple circuit. With no input, the N channel MOSfets are kept
+turned off by the 15k pull up resistors, likewise for the P channel
+MOSfets, except their resistors are wired to pull down.  Each LED in
+the optoisolator is coupled to a phototransistor.  Each phototransistor
+drives a MOSfet.  The LEDs are wired so that 1 pair will be turned on by a
+positive voltage, the other pair will be turned on by a negative voltage.
+It is impossible to turn on both pairs of LEDs at the same time.  Which means
+that it is impossible to turn on both pairs of MOSfets at the same time.<p>
+
+Each P channel MOSfet shares a heatsink with an N channel MOSfet.  If
+the circuit is built correctly, it is
+impossible for both MOSfets on a heatsink to be on at the same time.  
+I had a bad solder joint on a pullup resistor on the first prototype, which
+was on a circuit board with wimpy little traces.
+Without that pullup resistor, it was possible for both MOSfets to be on
+at the same time.  The MOSfets failed and the wimpy traces blew up.
+These circuit boards have very wide traces, so the MOSfets explode without
+damaging the circuit board.
+<p>
+
+<ol>
+<li> Identify the parts<br>
+
+<a href=images/allparts.jpg><img src=images/allparts_t.jpg alt=allparts.jpg></a><br>
+    <ol>
+    <li> 6 <a href=http://www.digikey.com/scripts/dksearch/dksus.dll?PName?Name=HS104-2-ND&site=us>TO-220 PWR CLR 1.45"10W heat sinks</a>
+    <li> 9 Connectors 3 power, 3 motor, 3 input.
+    <li> 1 Y3MD circuit board
+    <li> 6 4-40 nuts 
+    <li> 6 4-40 .25 inch screws 
+    <li> 3 <a href=http://www.digikey.com/scripts/dksearch/dksus.dll?PName?Name=PS2501-4-ND&site=us>PS2501-4 4 channel Opto isolators</a>
+    <li> 3 1k resistors LED current resistor.
+    <li> 12 15k resistors  pullup resistors.
+    <li> 6 <a
+    href=http://www.digikey.com/scripts/dksearch/dksus.dll?PName?Name=IRF4905-ND&site=us>IRF4905,
+    55V, 74Amp P channel MOSfet</a> install next to the P on the circuit board.
+    <li> 6 <a href=http://www.digikey.com/scripts/dksearch/dksus.dll?PName?Name=IRF1010N-ND&site=us>IRF1010N 55V, 85Amp N channel MOSfet</a> install next to the N on the circuit board.
+    </ol>
+
+<li> mount resistors,<br> component side is the side with words.
+
+<ol>
+<li> Install the 3, 1K Ohm resistors (current limit for LEDs for optoiso).<br>
+<a href=images/threeresistors.jpg><img src=images/threeresistors_t.jpg alt=threeresistors.jpg></a><br>
+<li> Install the 12, 15K Ohm resistors (pull up or down resistors for MOSfets).
+<br>CAUTION.  If you have a bad joint on any one of these resistors,
+the smoke will come out of a P channel MOSfet! 
+<b>check those solder joints</b>
+<a href=images/allresistors.jpg><img src=images/allresistors_t.jpg alt=allresistors.jpg></a><br>
+</ol>  
+<li> mount the optoisolators
+<br> Pin 1 is the square pad.  Upper left corner.<br>
+<a href=images/opto.jpg><img src=images/opto_t.jpg alt=opto.jpg></a><br>
+<a href=images/optocloseup.jpg><img src=images/optocloseup_t.jpg alt=optocloseup.jpg></a><br>
+<br> Insert each chip
+<br> Bend pins on opposite corners of the chips, to hold the chip on when you
+flip the board over to solder.<br>
+<a href=images/optopinsbent.jpg><img src=images/optopinsbent_t.jpg alt=optopinsbent.jpg></a><br>
+<br> Solder them.
+<li> mount connectors.  Make sure the openings point out.
+<li> identify and install the MOSfets. <br>
+Note that pairs of MOSfets share a 
+
+<ol> 
+<li> IRF4905, P channels go next to the P.
+<li> IRF1010N, N channels go next to the N.
+<br> Screw goes into the hole in the N channel MOSfet.
+<br> Put the N channel and screw onto the heatsink so the threads stick out the bottom of the "U".
+<br> P channel onto the threads.
+<br> Then the nut.<br>
+<a href=images/twomosfets.jpg><img src=images/twomosfets_t.jpg alt=twomosfets.jpg></a><br>
+<br> Repeat for all 6 pairs of MOSfets.
+</ol>
+<li> Solder in the MOSfets.<br>
+<a href=images/connectorsmosfet.jpg><img src=images/connectorsmosfet_t.jpg alt=connectorsmosfet.jpg></a><br>
+<li> Test it with a 1KOhm resistor in series with the power supply.  This will provide enough
+current to light an LED, but not enough to blow up a MOSfet.
+</ol>
+Here are George and Erik sorting the parts to make the first 10 kits.<br>
+<a href=images/sortingparts.jpg><img src=images/sortingparts_t.jpg alt=sortingparts.jpg></a><br>
+</html>
+

YAAARC/Y3MD/y3md/index.html

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+<html>
+<head>
+<title>Version 0.1 Y3MD, Yaaarc's 3 channel Motor Driver design</title>
+</head>
+<body>
+
+
+<h1>Version 0.1 Y3MD, Yaaarc's 3 channel Motor Driver design</h1>
+
+<a href=y3md_0_1.pdf>a slightly out of date Schematic</a>
+<p>
+<a href=send>Files sent to AP Circuits</a><p>
+<a href=rawdata>The raw data files and more information</a><p>
+<a href=howto>Parts list and how to build one</a><p>
+<h3> Contributors</h3>
+<ul>
+<li> Erik Kauppi
+<li> Jay Nugent
+<li> Neal Probert
+<li> Ron Wilson
+<li> Keith Mc.
+<li> George
+<li> Paul Haas (that's me)
+</ul>
+</body>
+
+</html>