Driver PCA9685

Block appearance in REPEAT VISION

 The Driver PCA9685 block describes how to connect servos via the PCA9685 controller’s pulse-width modulation (PWM) driver to Arduino microcontrollers.

 The Driver name PCA9685 property specifies the name for one controller driver board.

 The PCA9685 Driver modes property specifies one of five modes of mutual operation of servo drives connected to the driver:

1. Rotation of one servo drive – full rotation clockwise and counterclockwise is realized;

2. Multiple servo rotation – servos rotate at the same angle together;

3. Movement of several servo drives in turn – the alternate movement of several servomotors is implemented;

4. Rotate on command – servos rotate on command coming from the analog input potentiometer of the Arduino microcontroller;

5. Wave movement – a mode in which a chain of servo drives implements a wave-like movement.

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• Servo rotation angle equals 0 ̊;

• Minimum impulse PWM signal 150;

• Maximum impulse PWM signal 600.

 When selecting the WaveMovement mode, you can configure the wave parameters:

• speed;

• amplitude;

• wave phase shift.

 The Number of connected servo drives property specifies the number of input ports in the block to which the Servo motor block can be connected.

Important

The numbers of pins to which the servo drives are connected can be fed to the block input:

• One driver unit can connect 16 servo drives;

• Pin numbers from 0 to 15.

1.  Properties

Property	Default Value	Description	Units of measurement
PCA9685 Driver modes: Rotation; RotationSeveral; MovementTurn; TurnСommand; WaveMovement	Rotation	Servomotor rotation modes	-
PWM signal frequency: 50; 60	50	PWM frequency of servo control signal	Hz
Delay time	15	Servomotor rotation delay time	ms
Servo rotation angle	0	The rotation angle of the servo drive from the initial position	degrees
Wave speed, available when selecting PCA9685 Driver modes - WaveMovement	3	-	-
Amplitude, available when selecting PCA9685 Driver modes - WaveMovement	45	-	-
Phase offset, available when selecting PCA9685 Driver modes - WaveMovement	45	-	-
Driver name PCA9685	pwm	Name of one driver controller	-
Minimum impulse PWM	150	Minimum PWM signal pulse	-
Maximum impulse PWM	600	Maximum PWM signal pulse	-
Number of connected servo drives	3	Number of connected servo drives	-

2.  Inputs and outputs

Parameters	Input/Output	Description	Units of measurement	Port type
Input	Input	-	-	Automation

In order to see the connection capabilities of the block, you need to go to page Description of block ports

3.  Code generation

Important

Block supports C source code generation