Data Sheet

CoreDeviceInterfaceSpecifications  ModernRoboticsInc
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ModernRoboticsCoreDeviceInterface
to1023.Ifthevoltagevalueissetoutsideoftheallowablerange,itwillbemodifiedtoforcethevaluein
range.
Theoutputfrequencyfieldwillsetthechanneloutputfrequencyintherange1–5,000Hzbasedonthe
valuebeingintherange1to5,000if
theModeis waveform(1,2or3).IfMode0isselected,thisfield
willbeover‐writtento0.
4.5 PWMOutput
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ThePWMOutputports,P0andP1outputaPulseWidthModulated(PWM)signal.Eachportis
individuallycontrollableandtheoutputtime(ontime)and theperiodcanbothbeset.
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TheP0/P1outputontim efieldsetsthepulsewidthforthechanneloutputinunits
of1µS.Settinga
valuewhichisgreaterthantheP0/P1outputperiodwillresultintheoutputbeingpermanentlysetto
logic1.
TheP0/P1outputperiodfieldsetsthepulserepetitionperiodforthechanneloutputinunitsof1µS.If
thePWMfeatureisbeingusedtogenerate
pulsesforastandardR/Cstyleservo,theoutputperiod
shouldbesetto20,000andtheoutputontimeshouldbesetwithintherange750–2,250formost
servos.Settingapulsewidthoutsidetheselimitsmaydamagetheservo.
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4.6 LEDSet
TheCDIhastwobuiltinLEDs,oneredandonebluethatcanbecontrolledbytheuser.TheLEDsetfield,
0x17inthememorymapisabytecanbesetasfollowstoturnontheLEDs.
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0x01–turnontheredLED
0x02–turn
ontheblueLED
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