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+====== CAN-GC6 CANBUS Servo Controller ======
+[[english|{{  rocrail-logo-35.png}}]]
+[[:english|Content]] -> [[:hardware-en|Hardware]] -> [[:hardware-en#gca-cbus|CANBUS]]
+  * [[:cbus:overview-en|CAN-GC Overview]]
+  * [[:can-gca1-en|CAN-GC1]] | [[:can-gca1e-en|CAN-GC1e]] | [[:can-gcln-en|CAN-GCLN]] | [[:can-gca2-en|CAN-GC2]] | [[:can-gc3-en|CAN-GC3]] | [[:can-gc4-en|CAN-GC4]] | [[:can-gca5-en|CAN-GC5]] | **[[:can-gc6-en|CAN-GC6]]**  | [[:can-gc7-en|CAN-GC7]] | [[:can-gc8-en|CAN-GC8]]
+    * [[:cbus:cangc6-firmware-en|Firmware]]
+ \\
+| //4 channel servo controller with [[:mgv137-en|GCA137]] support for polarisation.// |\\
+ \\
+^By Rob Versluis  & Peter Giling^
+ \\
+===== Features =====
+  * Position events.
+  * Optional external switch position sensors.
+  * [[mgv137-en|GCA137]] support for polarisation
+  * [[:cbus:cangc6-firmware-en#setup_panel_flim|Interactive comfortable setup]] and merg CBUS FLiM compatible.
+  * Compatible 12VDC merg CBUS connector. (J3)
+  * Opto-isolation for feed-back switches.
+  * Individual direction-speed selection.
+  * 'Bouncing' option.
+  * Smooth running motor due to high resolution stepping.
+ \\
+===== The final board =====
+|  V2.3  |
+| {{:cbus:can-gc6-pict05.jpg?600}}  |
+| Profesional boards are available. |
+ \\
+===== LEDs, Jumpers & Connectors=====
+|  2.3 Component side.  |
+| {{:cbus:cangc6-leds.jpg}} |\\
+ \\
+^ LED ^ Function ^ Aspect ^ Color ^
+| L1 | CAN activity |  Random  |  Red  |
+| L2 | FLiM learning mode (PB1) |  1Hz  |  Yellow  |
+| L3 | CPU is running  |  Continuous  |  Green  |
+| L4 | Servo busy |  2.5Hz  |  Red  |\\
+ \\
+^ Jumper ^ Function ^
+| JP1 | 120 Ohm line termination¹ |\\
+¹) A CAN bus must be terminated on both ends to get 60 Ohm.\\
+ \\
+^ Connector ^ Function ^  remark  ^
+| J1, J2 | CAN and 12V power |  only needed if used in CAN-GC system  |
+| J3 | 'MERG' CBUS and 12V power |  only needed if used in MERG Cbus system  |
+| S1..S4 | Servo 1...4 |  |
+| F1..F4 | External switch position feedback (2 inputs for each switch) |  |
+| ICSP1 | In-circuit serial programming |  |
+| GCA137 | Piggyback board connection for polarization |  |
+ \\
+===== Connection Servo's =====
+Most servo's come with a connector which will fit on Servo 1..4 connector on the CAN-GC6.\\
+The signal line (useally orange )  should be at the edge of the board.\\
+===== Mounting options for servo motor =====
+|  {{:mgv:hardware:servo-support-1.jpg?400}}  |
+|  See http://www.rbs-modellbau.de/  |
+|  {{:mgv:hardware:servoset_pict_02.jpg?400}}  | {{:mgv:hardware:servoset_pict_01.jpg?400}}  |
+|  A nice mounting support is available from {{www.phgiling.net|GCA.}} \\  Sideways or in line movement is possible  |  The set contains all that is needed, incl. servomotor \\ see [[servoset-en|GCA servo support ServoSet]]  |
+ \\
+===== Connection limit switches =====
+**If you are not planning to use this option, F1..F4, U4 and U5 can be omitted.**
+F1..F4 are made for connection of limit switches, to feed-back that turnout is really on its desired position.\\
+Switch should be on when position is OK\\ \\
+Connection should be made according this table :
+^  Connector  ^  Turnout#  ^  position  ^  Connections  ^
+|  F1  |  1  |  straight  |  C + S **<sup>(1</sup>**  |
+|  F1  |  1  |  round  |  C + R  |
+|  F2  |  2  |  straight  |  C + S  |
+|  F2  |  2  |  round  |  C + R  |
+|  F3  |  3  |  straight  |  C + S  |
+|  F3  |  3  |  round  |  C + R  |
+|  F4  |  4  |  straight  |  C + S  |
+|  F4  |  4  |  round  |  C + R  |
+<sup> **1) C** = common, **S** = straight, **R** = round / turnout</sup>
+ \\
+See also here: **[[#hardware_feed-back|Hardware feed-back]]**
+ \\
+==== PSK header connectors ====
+**
+IMPORTANT NOTE !!!!!!\\
+Some users seem to know better, and solder wires directly to the pins or the pc-board.!\\
+That is totally unacceptable !!\\
+Wires will easily break off, and cause a lot of damage in many cases.\\
+So use connectors !!!!!\\
+In order to ease making these cables, it is also possible to buy the necessary tool, to create the PSK cables.\\
+The best wire to be used with PSK connectors is 0,25 mm².\\
+This special plier is available for net price of € 20,00 if ordered together with complete kits. {{:mgv:hardware:crimpzange.jpg?200}}\\
+Just ask [[peter.giling@rocrail.net|peter.]]\\
+**
+<html><a name="setup"/></html>
+===== Setup =====
+{{:cbus:cangc6-cbus-setup.png}}
+====Servo sliders====
+| L | Left position |
+| R | Right position |
+| SpL | Speed left |
+| SpR | Speed right |
+The labels "L" and "R" are also test buttons. (7046+)\\
+====Polarization Relay====
+This options flips the polarization relay.\\
+====External sensor====
+Use the external sensor input for this servo instead of the generated event after reaching the wanted position.\\
+====Bounce====
+Bounce the servo slightly after reaching the end position.\\
+====Sensor====
+The Event Nr. to use for reporting that the servo is in position.\\
+====Usage====
+Shows the Rocrail object ID which is linked to this servo.\\
+====Short events====
+Ignore the event node number and compare the event number only.\\
+====Long events====
+For long events the BUS variable on the interface tab of sensors, switches and other objects is used to address the module its node number.\\
+The address variable is equal to the one used with short events.\\
+====SoD====
+**"Start of Day"**\\
+The servo positions will be reported at SoD event.\\
+====Node Nr.====
+Only for use with long events.\\
+====Save position====
+The servo positions will be saved in EEPROM after a Power Off message on CAN BUS.\\
+ \\
+=====Switch Setup=====
+====Single Gate====
+The switch interface option **[[:switch-int-en#single_gate|Single Gate]]** must be set.\\
+ \\
+===== Hardware feed-back =====
+CAN-GC6 is also provided with connections (F1..4) for hardware feed-back.\\
+This is an extra option, to install a switch at both end positions of the turnout frog.\\
+{{:gca:connection_hardware_feed-back.pdf|This drawing explains how to connect it.}}  \\
+\\
+Another possibility is the shared use of the circuit of the frog polarization. For this purpose, the frog is connected with the common terminal C = pin 2 and the two track polarities are connected with S = pin 1 and R = pin 3. In this case, the supply of __the frog should not be linked over an occupancy sensor__, because the current consumption of the optocouplers would simulate an occupancy of the switch. It should be considered that this kind of circuit give a reversed logic for the voltage at the optocouplers. So it's necessary that __the not with the frog connected track polarity__ should connect to the corresponding terminal S or R.\\
+{{:cbus:can-gc6_feedback_frog_polarization.pdf|Turnout feedbeck with the frog polarization circuit}}
+===== Hardware =====
+|{{:cbus:can-gc6-sch.pdf|The schematics}}|
+|{{:cbus:can-gc6-pcb.pdf|The pcboard with parts positions}}|
+|{{:cbus:can-gc6_partslist.pdf|Bill of materials}}|
+|{{:cbus:can-gc6_gerber.zip|Gerber files}}|
+^ N.B. Only complete ordered kits will be supported! ^
+\\
+^      Housing is only for DIY 3D printing.  ^
+|  {{ :gca:can-gc6_box.zip  |  Box and cover for CAN-GC6 (without GCA137 unit on top)}}  |
+\\
+===== Development Tools =====
+  * MPLAB X v1.00
+  * C18 v3.40
+  * PICKit 3
+  * **[[:pic-adap-en|PICKit3 Adapter]]**
+  * TLL866 II Plus