Replacement for CS-600 (Futaba S3306)

Since the local vendor that used to supply the Futaba S3003 cannot supply the Cirrus CS-600 Jumbo FET servo, I search and found that the Futaba S3306 carries almost same characteristics with CS-600. This means that I can use it to replace the Cirrus servo.

Futaba S3306 Hi-Torque Servo

The largest servo in the futaba range, the S3306 offers a full 25.0 kg/cm torque together with excellent speed, and is water resistant, so is perfectly suited to larger scale models and robots.

Torque: 25.0 kg/cm Speed: 0.16 sec/60° Dimensions: 66 x 30 x 57.1mm Weight: 128g

Here is how this servo looks like.

This is the Futaba S3306 High Torque/High Speed Servo for 1/5 Scale Cars.

FEATURES: Ideal steering servo for 1/5 scale vehicles
High speed
High torque
Dual ball bearings
One year limited warranty

INCLUDES: Futaba S3306 1/5 scale High Torque/High Speed Servo
Two grommets
Four screws
Four eyelets
Two White plastic servo horns (arms)
1- "X"  3.8"    (98mm) diameter
1- "6-arm" 3.5" (88mm) diameter

SPECS:           4.8V                         6V
Torque: 266.5 oz-inch          333 oz-inch
Speed: .20 sec @ 60°   .16 sec @ 60°

Size- 2.6 x 1.18 x 2.25 in. (66x30x57mm)
Weight- 128g (4.52oz)
Output Shaft Diameter: 8mm
This servo can be purchased online at Active Robot or direct to Futaba.

Mechanical Parts Differences

We are having a big problem now because our local suppliers (Vanguard, Blitzlogic)cannot supply this big Jumbo Pro Cirrus CS-600 Servo Motor. They dont even have the other brand like Hitecc or Futaba for about the same specs with this Cirrus. As such we might have to source overseas.

Next the Lazy Susan weight distribution bearing. The one that we have is not the same size. Yet the middle hole is too small compare to Lazy Suzan. As such installing the new Jumbo Servo in the middle will require platforms for top and bottom. This will increase the height that might affect the standard height of the servo stud. However for the time being we cannot finalize ot yet since we do not have the actual Jumbo servo dimension yet.
Next for the bodykit, the standard thicjness of the flat aluminum available is 3mm which is about 1/8". This is too thick to bend and quite heavy for jumbo servo. Due to this reason, we have to modify the bodykit design and dimension again to fits the available items.

Serial Servo Controller Part2

PIC SSC
Write the PIC code using MicroCode and transfer the HEX code generated from SSC.BAS to PIC chip 16F84A using EPICWIN program. This is the code that I use :
'*************************************************************************************
TRISB =000000
TRISA=001101

DEFINE 0SC 4
include "modedefs.bas"

Led VAR PORTA.4
Baud CON N2400
Com_In VAR PORTA.0
Com_Out VAR PORTA.1
Control VAR BYTE
Slider VAR BYTE
Sync VAR BYTE
I VAR BYTE
S0 VAR BYTE
S1 VAR BYTE
S2 VAR BYTE
S3 VAR BYTE
S4 VAR BYTE
S5 VAR BYTE
S6 VAR BYTE
S7 VAR BYTE

LOW PORTB.0
LOW PORTB.1
LOW PORTB.2
LOW PORTB.3
LOW PORTB.4
LOW PORTB.5
LOW PORTB.6
LOW PORTB.7
HIGH Led

S0 = 127
S1 = 111
S2 = 144
S3 = 65
S4 = 127
S5 = 127
S6 = 127
S7 = 127

Start:

SERIN Com_In,Baud,7,Set_Pos,[255],Slider,Control
SEROUT Com_Out,Baud,[Slider,Control]

IF Slider = 0 THEN S0 = Control

IF Slider = 1 THEN
S1=Control
S2=254-S1
ENDIF

IF Slider = 2 THEN S3 = Control

IF Slider = 1 THEN
S4=Control
S5=254-S4
ENDIF

IF Slider=4 THEN S6=Control

IF Slider=5 THEN S7=Control

Set_Pos:

PULSOUT PORTB.0,S0
PULSOUT PORTB.1,S1
PULSOUT PORTB.2,S2
PULSOUT PORTB.3,S3
PULSOUT PORTB.4,S4
PULSOUT PORTB.5,S5
PULSOUT PORTB.6,S6
PULSOUT PORTB.7,S7

GOTO Start
'***************************************************************************************

Futaba S3003 Test
Connect the four Futaba S3003 standard servo motors to R4, R5, R6, R7 of the PIC chip output.

VB SSC
As the actual slider program is quite long and time consuming to program, therefore for test purposes I just simply used the downloaded version of the executable file that I download from http://www.thinkbotics.com/book_support.

Serial Servo Controller Part1

The first step toward completing the robotic arm project is to make sure the PIC Chip 16F84A gadgets are all OK. This will involve some engineering work from software, hardware, and mechanical job. As for first stage since I already got the EPICA programmer and MicroCode software, what I have to do is to write the test program for the Serial Servo Controller. As for information, the software for EPICA is called EPICWIN.EXE and the software for PIC is called MicroCode.

The code is first being programmed using MicroCode. Next, once all OK. the code is compiled and will produced a HEX code that will be burnt onto the PIC chip. The HEX code later is opened using EPICWIN where later on it will be programmed on to the PIC chip 16F84A.

The intermediate device that is used to transfer the HEX code from PC to PIC chip is called a EPICA PROGRAMMER. It is connected to the PC using 25P DSUB connector through parallel port.

Software Test
This is the code for ssc-test.bas that I used to program the Serial Servo Controller
'----------------------------------------------------------------------------------------
'NAME : ssc-test.bas
'COMPILER : PicBasic Pro - microEngineering Labs
'NOTES : Program to test the serial servo controller board
'----------------------------------------------------------------------------------------
TRISB=000000
TRISA=001101
DEFINE OSC 4
Button_1 VAR PORTA.2
Button_2 VAR PORTA.3
Led VAR PORTA.4
I VAR BYTE

Low Led
Start:
FOR I=1 TO 10
HIGH Led
PAUSE 200
LOW Led
PAUSE 200
NEXT I
Loop:
LOW Button_1
LOW Button_2

IF Button_1 = 1 THEN HIGH Led
IF Button_2=1 THEN LOW Led

GOTO Loop
END

The code is programmed using MicroCode software that later on after compiling will create a HEX file. This HEX file is used by EPICWIN to burnt onto the PIC chip.


Circuit Test
The circuit is quite simple. However to shorten the R&D period I just used the one Matthew installed on the prototype board. After correcting some wiring mistakes I managed to power it on. Firstly I thought the input DC power supply got problem because the EPICA LED is OFF. Upon checking, I found the 9V DC supply is OK. As suggested by the book author, I managed to drive the SSC circuit LED to blink 10X continuosly. Next I also managed to trigger button 1 to ON the LED and button 2 to turn OFF the same LED. In fact , this means that the assembled circuit is OK and all the parts used are OK as well. Next it also meant that I successfully burnt the program to PIC chip 16F84A. One more, this shows that the EPICA programmer is working fine. This is how it woll looks like once completed.