Product Manual

xLynx-CB

Version 1.1

Phi Robotics Research Pvt. Ltd.

www.phi-robotics.com
 Table of Contents
1 Introduction ................................................................................................................................................... 2
2 Board Features ............................................................................................................................................... 2
3 Specifications ................................................................................................................................................. 2
3.1 PCB Details ............................................................................................................................................ 2
4 Hardware Connections ................................................................................................................................... 3
4.1 Power Supply ......................................................................................................................................... 3
4.2 Programming the Board ....................................................................................................................... 3
4.3 Expansion Port ...................................................................................................................................... 4
4.4 IO Ports ................................................................................................................................................. 5
4.5 LEDs, Switches and Buzzer..................................................................................................................... 7
4.6 CAN Controller ...................................................................................................................................... 7
5 Reference ....................................................................................................................................................... 7
1 Introduction
xLynx-CB is a high precision stepper and servo motor controller expansion board, powered by ARM Cortex-M3
based LPC1768 microcontroller. xLynx-CB is ideal for low power, high performance embedded applications.
The board may also be used for any application other than motor control also. The board can simultaneously
handle 6 servo motors, 2 Phi Robotics Lynx boards and 1 Phi Robotics Smart Lynx board. The board can be
powered using USB or external 5V power supply.

xLynx-CB is enabled with Phi Robotics Expansion Bus. It has SPI and CAN communication peripherals on the
expansion bus. Phi Robotics Expansion Bus is a cross-platform stackable connector which allows user to build
modular systems. Multiple expansion boards can be stacked on top of a base board to expand the system
functionality. All the signals on the expansion bus are standardised to 3.3V. Base board expansion bus have
3.3.V and 5V supply lines to power expansion boards. All Phi Robotics base boards and expansion boards
comply with this expansion bus design.

Phi Robotics Expansion Bus is a 10x2 pin connector having the following peripherals: UART, SPI, I2C, CAN,
GPIO and external interrupts. All expansion bus peripherals are enabled on base boards, however on
expansion boards only peripherals that are required are enabled.

2 Board Features
 20 pin expansion port for communication with Phi Robotics base boards
 Separate CAN terminal for CAN interface
 Compatible with SmartLynx and Lynx motor driver boards
 USB powered and programming
 JTAG for programming and debugging
 UART/I2C connector for serial communication
 On-board 3.3V regulator
 Reverse power supply protection circuit
 On board 6 user LEDs, 1 user switch and 1 buzzer

3 Specifications
 LPC1768 Package: LQFP100
 Power supply: USB/External 5V power supply/from Phi Robotics base boards using expansion port
 Onboard regulator:3.3V

3.1 PCB Details

 PCB size: 95.25 mm x 57.15 mm
 PCB type: FR4
 Board thickness: 1.6 mm
 Solder mask: Black
 Surface finish: Immersion gold
4 Hardware Connections

Figure 1 - xLynx-CB top view

4.1 Power Supply

The board requires 5V external power supply which can be provided using external 5V power supply to
terminal T3 or USB. However, when xLynx-CB is stacked on any of the Phi Robotics base boards, external power
supply is not required. For 3.3V peripherals, the board has a 3.3V regulator. A separate terminal (T2) is
available to provide power to servo motors.

4.2 Programming the Board

The board can be programmed using USB in ISP mode. JTAG is also available for programming and debugging.
4.3 Expansion Port
Connector J1 is the expansion port which has SPI and CAN channels for communication. The expansion port is
compatible with Phi Robotics base boards and expansion boards. Jumper JP1 is for selecting one of the 4 chip
select pins available on the expansion port. 5V power supply pin is also provided for interfacing external
circuits. Figure 2 shows the pin layout of J1.

Figure 2 - xLynx-CB expansion port pin layout

4.4 IO Ports
xLynx-CB has a 8x3 pin header (J4) to connect servo motors. 6 PWM pins and 2 GPIO pins of the
microcontroller are connected to this header for servo motor control. Figure 3 shows the pin layout of J4.

Figure 3 - xLynx-CB J4 header

Connector J2 and J9 are auxiliary IO ports that support UART, I2C and CAN communication. Figure 3 shows
pin layout of J2 and J9.

Figure 4 - xLynx-CB J2 and J9 pin layout

Connector J5 is used to connect xLynx-CB with Phi Robotics SmartLynx or Lynx stepper motor driver. Figure 5
shows the pin layout for J5.
 Figure 5 - xLynx-CB J5 pin layout

Connectors J6 and J7 are used to connect xLynx-CB with Phi Robotics Lynx stepper motor driver. Figure 6
shows pin layout of J6 and J7.

Figure 6 - xLynx-CB J6 and J7 pin layout

4.5 LEDs, Switches and Buzzer
6 User LEDs are connected on port P1.15, P1.29, P3.26, P1.16, P0.19 and P0.20. A user switch is connected to
port P2.11.LEDs and switch are connected in active low configuration. Buzzer is connected to port P1.26 in
active low configuration.

Along with the above, the following LEDs and switches are available on xLynx-CB:

 REV: Reverse supply

 PWR: External power supply LED
 USB: USB power to the board LED
 PROG: LED Blinks while programming the board
 3V3: 3.3V regulator indication LED
 PB1: General purpose user switch
 Reset: Switch used to reset the microcontroller

4.6 CAN Controller

LPC1768 chip has two on-chip CAN controllers; xLynx-CB board has two on-board MCP2551 CAN transceivers
for it. CAN1 communication channel is available on expansion port while Terminal T1 is used for CAN2
interface.

Following are the jumper settings to use CAN communication:

JP2SW1/JP3SW1 (CAN DIS) jumper is used for disabling the transceiver. If CAN communication channel is not
used, user can disable the channel by making it ON. JP2SW2/JP3SW2 (Term EN) is used to enable termination
resistor on the CAN bus. Termination resistor is required for avoiding the reflection of the signal on both side
of the bus. To enable the termination resistance JP2SW2/JP3SW2 jumper should be in ON state. CAN
termination resistance should be ON only for end nodes in the network.

5 Reference
LPC1768 datasheet: http://www.nxp.com/documents/data_sheet/LPC1769_68_67_66_65_64_63.pdf

TXB0108 Datasheet: http://www.ti.com/product/txb0108

L6470 Datasheet:http://www.st.com/web/catalog/sense_power/FM142/CL851/SC1794/SS1498/LN1723/PF248592

A3977 Datasheet:http://www.allegromicro.com/en/Products/Motor-Driver-And-Interface-ICs/Bipolar-Stepper-
Motor-Drivers/A3977.aspx

MCP2551 Datasheet:http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en010405

MCP1826S Datasheet: http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en531455

FT232RL Datasheet: http://www.ftdichip.com/Products/ICs/FT232R.htm

Phi Robotics Research Pvt. Ltd.
www.phi-robotics.com