Robot Construction Component

Servo Sequencer
Servo Robot motion controller &
General Purpose microcontroller board

The servo sequencer is in reality a general purpose

reprogrammable microcontroller board built for ease of
use with e-Gizmo Servo Driver-Controller kit. These two
kits, when put together, form a powerful servo motor
motion control system.

The servo sequencer is built around Zilog Encore!

XP microcontroller, z8F082A. This IC is essentially
a complete microcontroller system, everything you
need, plus more, are already built inside this chip.
Even the flash programmer and debugger are on-
chip. The On-Chip Debugger OCD, through the ZDS
II PC development software, lets you program the IC
in-circuit, and allows you to do complex debugging
operations (real time program tracking, breakpoints,
register access, etc), eliminating the need for
expensive development hardware like those required
by most other competing microcontroller chips. Even
the PC development software ZDS II, a full featured General Specifications
integrated development software with ANSI C compiler
and assembler, is free! Controller: z8F082A
28 pins Encore! XP
The Servo Sequencer can readily connect with two Program Memory: 8Kbytes Flash
e-Gizmo Servo Driver-Controller, making it capable RAM Memory: 1024 bytes
of controlling up to 32 servo motors at the same time. Clock Frequency: 5.53 MHz Internal
Note that this is not the physical limit for sequencer; Servo Controller Interface: 2 Servo Driver-Controller
you can actually add more servo driver-controller board (Up to 32 servo motors)
if there is a need to by using a few servo sequencer User I/O: 16 Multi function I/O
user I/Os. Built-in Peripherals: 10 bit ADC
Two 16-bit Counter/Timers
Servo Sequencer is just a name we have given to the Comparator
board. Being a general purpose microcontroller board, OPAMP
you can use it freely for many other applications, even UART
to circuits not at all related to servo control. On chip Temperature Sensor
Power Supply: 5V-9V DC
Programming Language: ANSI C and Assembly
PC Development Software: Zilog Developer Studio ZDSII

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 1 of 9 pages

 of 9 pages
page 2
3 - PC1/ANA5/CINN/LED
2 - PC0/ANA4/CINP/LED
5 - PC3/COUT/LED
4 - PC2/ANA6/LED

1 – +3.3V out
1 – +3.3V out

5 - PC7/LED
4 - PC6/LED
3 - PC5/LED
2 - PC4/LED
6 - GND
6 - GND

© 2008 e-Gizmo Mechatronix Central

11- +3.3V OUT 12 - GND
POWER INDICATOR LED
9 - +3.3V OUT 10 - GND
7 - +3.3V OUT 8 - GND
Power
Supply
- 5 - +3.3V OUT
3 - PB1/ANA1/AMPINN
1 - PB0/ANA0/AMPOUT

6 - PD0
4 - PB5/VREF
2 - PB4/ANA7
Input
4.2 - 9VDC + 9 - +3.3V OUT
7 - +3.3V OUT
10 - GND
8 - GND
5 - +3.3V OUT 6 - PD0
3 - PB3/CLKIN/ANA3 4 - PB5/VREF
1 - PB2/ANA2/AMPINP 2 - PB4/ANA7
3 - DEBUG
2 - GND
1 - +3.3V Out

1 – +3.3V out
2 - PA0/T0IN/T0UT/XIN
3 - PA1/T0OUT/XOUT
4 - PA2/DE0
5 - PA3/CTS0
6 - GND

1 - +3.3V out
2 - PA4/RXD0
3 - PA5/TXD0
4 - PA6/T1IN/T1OUT
5 - PA7/T1OUT
6 - GND
Figure 1. Connectors layout of the Servo Sequencer.

Servo Sequencer
Pin Description

Zilog has thrown literally everything inside the F082A

chip. Personally, I find it even tougher to think of
applications that will require some peripherals not
present inside this chip. Aside from the usual I/O drivers
and buffers, there is nothing else you will need (for the
microcontroller sub circuit). This fact is revealed with the
simplicity of the Sequencer module. It contains only the
chip itself, and a 3.3V on board regulator - which is not
even necessary if an external 3.3V source is available.
The on-board regulator, however, allows the module to
operate over a wider range of supply voltage, and to
limited extend, protects it from damaging abnormal input
supply conditions.

The F082A Encore! XP chip used in this product is a Figure 2. Servo sequencer with LED I/O Monitor board
28 pin variant. To gain access to all internal hardware installed.
features with only 28 pins to work on, each I/O pins are
shared by two or more peripherals. Hence, as shown in JP9 – User I/O
the following pin descriptions, each pins can have two or
more software selectable alternate functions. Each pins Pin
can be indepently configured to function as follows: 1 – +3.3V out
2 - PA0/T0IN/T0UT/XIN
JP7 – User I/O 3 - PA1/T0OUT/XOUT
4 - PA2/DE0
Pin 5 - PA3/CTS0
1 – +3.3V out 6 - GND
2 - PC0/ANA4/CINP/LED
3 - PC1/ANA5/CINN/LED PA0..PA3 – General purpose logic input/output
4 - PC2/ANA6/LED 5V tolerant (note 1)
5 - PC3/COUT/LED T0IN – Timer0 input. This input can be used for
6 - GND gating, counting, and capture functions
T0OUT – Timer0 output.
PC0.. PC3 – General purpose logic input/output T0OUT – Complement of T0OUT in PWM Mode.
ANA4..ANA6 – 10-bit ADC analog inputs DE0- Device Enable. This allows automatic control of
CINP – Comparator (+) input external RS-485 drivers.
CINN – Comparator (-) input CTS0 – Clear to Send , flow control input for the
COUT – Comparator Output UART.
XIN – External crystal input.
LED – Direct LED drive capable outputs
XOUT – External crystal output.

JP8 – User I/O

JP10 – User I/O
Pin
Pin
1 – +3.3V out
1 – +3.3V out
2 - PC4/LED
2 - PA4/RXD0
3 - PC5/LED
3 - PA5/TXD0
4 - PC6/LED
4 - PA6/T1IN/T1OUT
5 - PC7/LED
5 - PA7/T1OUT
6 - GND
6 - GND
PC4.. PC7 –General purpose logic input/output
PA4..PA7 – General purpose logic input/output, 5V
LED – Direct LED drive capable outputs
tolerant (note 1)
RXD0 – Receive input of UART or IRDA
TXD0 – Transmit ouput of UART or IRDA
T1IN – Timer0 input. This input can be used for

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 3 of 9 pages

 gating, counting, and capture functions
T1OUT – Timer1 output. JP4 – Debug
T1OUT – Complement of T1OUT in PWM Mode.
1 - +3.3V out
2 - GND
JP2 and JP3 are reserved for Servo Controller 3 - Debug
Functions.
JP4 is used for in system flash programming and
JP2- Servo Driver Controller Interface (M1 to M16) debugging.

1 - ENABLE1
2 - ACKNOWLEDGE Program Development Setup
3 - ENABLE2
4 - CLOCK OUT This guide assumes that you are already familiar with Z8
5,7,9,11 - +3.3V Out Encore! Microcontroller chip. Detailed discussion of the
6 - DATA OUT chip’s architecture and programming is beyond the scope
8,10,12 - GND of this document. Zilog’s site www.zilog.com contains a
wealth of information detailing everything you need to
JP3- Servo Driver Controller Interface (M17 to M32) know about this chip, from specifications to application
examples.
1 - ENABLE3
2 - ACKNOWLEDGE
3 - ENABLE4
4 - CLOCK OUT
5,7,9 - +3.3V Out
6 - DATA OUT
8,10 - GND

JP2 and JP3 , when not used for servo functions,

assumes their native functions as listed follows:

JP2- User I/O

Designing with the Z8 Encore!
1 - PB0/AN0/AMPOUT
Microcontroller
2 - PB4/ANA7
3 - PB1/ANA1/AMPINN
by
4 - PB5/VREF
Luis G. Sison
5,7,9,11 - +3.3V Out
and
6 - RESET/PD0
Osmonn T. Burgos
8,10,12 - GND
This book is for everyone who wants
JP3- User I/O
to design electronic products using a
microcontroller. Numerous easy-to-
1 - PB2/ANA2/AMPINP
follow exercises take you through the
2 - PB4/ANA7
hardware and firmware design of a
3 - PB3/CLKIN/ANA3
microcontroller-based system.
4 - PB5/VREF
5,7,9 - +3.3V Out Publisher: Alexan Commercial
6 - RESET/PD0
8,10 - GND

JP4 is where you connect the programming/debugging

cable.

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 4 of 9 pages

Equipment Required:

Zilog Developer Studio ZDS II. You can program the

sequencer board in C or assembly language, or a com-
bination of the two. The Zilog Developer Studio ZDS II
packaged into one integrated software platform every-
thing you need to develop applications . This Zilog free-
ware ZDS II has built in program editor, C and assembly
language compiler, and debugging functions.

Personal Computer running the ZDS II.

Pentium II (or higher) PC running Windows 98/ME/XP
operating system.
Serial Port (COM port)

Programming Cable (Dongle). The Sequencer board

is connected to the PC running ZDS II during program-
ming and debugging operations with the use of a pro-
gramming cable (a.k.a dongle). The PC end connects to
JP4
a COM port, while the Sequencer end connects to the
debug JP4.
Power Supply. The sequencer’s built-in regulator allows Figure 3. The programming cable is plugged on to the
it to work over a wide range of input supply voltage. It Sequencer board through JP4, with the programmer
will work best with a supply input of 4.2V to 6VDC. Use board component side facing out.
a power supply or battery source with current rating of
at least 200mA. Be careful with the polarity of the supply
input. Wrong supply connection may permanently dam-
age the sequencer board.

Power Supply
5V DC Adaptor
or 4.8-6.0V Battery

COM Port
Debugging
Cable

PC running
Sequencer / General Purpose Zilog’s ZDS II
MCU module development envi-
ronment

Figure 4. Servo Sequencer programming and debugging setup.

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 5 of 9 pages

Servo Application Examples

Figure 5. You can install quickly and just as easily a Ser- Figure 7. A Servo Motion Controller configuration with
vo Driver controller module with the Sequencer board. two Servo Driver Controller installed. The lower Servo
Simply plug to join them together forming a complete Driver module connects through JP2, and the upper
Servo motion controller circuit. module connects through the Sequencer JP3. This will
allow independent control of up to 32 servo motors.

Figure 6. If your installation calls for a flexible link be- Servo Application Example Program
tween the two board, you can connect them together us-
ing the JP3 interface connectors. Prepared wire connec- A C language program prototype containing the low level
tors are available and are sold separately. Keep in mind routines necessary to interface the Servo Controller with
that with this connection, motor addressing now starts at the Sequencer is bundled with the Servo Sequencer.
Motor 17 instead of Motor 1. You can download a copy of this program from the Servo
Sequencer product page at www.e-gizmo.com.

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 6 of 9 pages

GSM/GPRS Modem Control Application
Bill of Materials
The Servo Sequencer, as previously mentioned, is
actually a general purpose microcontroller board that ID Description
you can use in numerous applications other than servo
functions. In this sample application, you will see how C1 220 uF / 16V Electrolytic Cap
the Servo controller sets up the GSM module for use as C2 220 uF / 6.3V Electrolytic Cap
simple SMS autoresponding unit - you give it a ring, and C5 150
it will reply with an SMS message. You can work this D1 smd LED green size 1210
sample program to create more GSM functions such as JP1 2 pin terminal block
remote output controls, data logging, and monitoring.■ JP10 RJ22 jack
JP2 6X2 angle connector
JP3 HEADER 5X2 n/a
JP4 HEADER 3 3 pin con for dongle
JP7 RJ22 jack
JP8 RJ22 jack
JP9 RJ22 jack
R3 220 ohms
U1 BA033 DPAK 3.3V LDO Voltage Regulator
U3 z8F082A Flash Microcontroller

Figure 8. e-Gizmo GSM/GPRS modem kit easily connects with the Servo Sequencer board (JP10).
These two makes a powerful GSM/GPRS application platform.

Figure 9. Connection diagram of the Servo Sequencer + GSM/GPRS modem application. (Power
supply connections are not shown.)

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 7 of 9 pages

 1 2 3 4

of 9 pages
U1
JP1 BA033 VDD
1 3 R3
1 Vin +5VV
3.3
D 2 220 D
+ C3
GND

HEADER 2 C1 + D1
CAPACITOR POL LED

page 8
CAPACITOR POL
2

VDD JP7
1
C0
2
C1
3
C2 PC[0:3]
4
VDD C3
5
6
C5 VDD JP5
1
C C0 C
2
CAP C1 VDD JP8
3

© 2008 e-Gizmo Mechatronix Central

C2
JP2 6 U3 C3
4
C4
1
5 2
27 23 C0 C5
1 2 PB0/ANA0/AMPOUT PC0/ANA4/CINP/LED 6 3

VDD
28 24 C1 C4 C6 PC[4:7]
3 4 PB1/ANA1/AMPINN PC1/ANA5/CINN/LED 7 4
1 25 C2 C5 C7
5 6 PB2/ANA2/AMPINP PC2/ANA6/LED 8 5
4 26 C3 C6
7 8 PB3/CLKIN/ANA3 PC3/COUT/LED 9 6
2 16 C4 C7
9 10 PB4/ANA7 PC4/LED 10
3 17 C5
11 12 PB5/VREF PC5/LED 11
5 19 C6
VDD (PB6) AVDD PC6/LED
HEADER 6X2 10 20 C7 HEADER 11
(PB7) AVSS PC7/LED
VDD JP9
VDD
7 A0
PA0/T0IN/T0OUT/XIN 1
8 A1 JP6 A0
PA1/T0OUT/XOUT 2
JP3 21 11 A2 A1
RESET/PD0 PA2/DE0 1 3
12 A3 A0 A2 PA[0:3]
1 2 PA3/CTS0 2 4
22 13 A4 A1 A3
3 4 DBG PA4/RXD0 3 5
14 A5 A2
B 5 6 PA5/TXD0 4 6 B
15 A6 A3
7 8 PA6/T1IN/T1OUT 5

VSS
18 A7
9 10 PA7/T1OUT 6
A4
7
HEADER 5X2 Z8 ENCORE XP_28 A5
8
A6 VDD JP10
9

9
A7
10 1
A4
11 2
A5
3
JP4 VDD HEADER 11 A6 PA[4:7]
4
A7
1 5
2 6
3
HEADER 3
Servo Sequencer

Servo Sequencer
Title
A A
Figure 10. Servo Sequencer Schematic Diagram.
Size Number Revision
A
Date: 16-Jul-2007 Sheet of
File: D:\My Documents\My Designs\e-Gizmo Projects.DDB
Drawn By:
1 2 3 4
 PCB LAYOUT

TOP COMPONENT SIDE

BOTTOM COPPER SIDE

Servo Sequencer © 2008 e-Gizmo Mechatronix Central page 9 of 9 pages