INTRODUCTION TO MECHATRONICS SYSTEMAIM:
To study about the important features, about Mechatronics
system.
INTRODUCTION TO MECHATRONICS SYSTEM:
Mechatronics is one of the new and existing fields on the
engineering landscape, subsuming parts of traditional engineering
fields and requiring a broader approach to the design of system
that we can formally call as Mechatronics system. Many industries
improving their works through automation which is based on the
inter connection between the electronic control systems and
mechanical engineering. Such control systems generally use
microprocessors as controllers and have electrical sensors
extracting information from mechanical inputs through electrical
actuators to mechanical systems. This can be considered to be
application of computer based digital control techniques through
electronic and electric interfaces to mechanical engineering
problems. Successful design of Mechatronics can lead to products
that are extremely attractive to customer in quality cost
effectiveness. MECHATRONICS DEFINITION:
Mechatronics may be defined as a multi-disciplinary field of
study that implies the synergistic integration of electronic
engineering, electric engineering, control engineering and computer
technology with mechanical engineering for the design, manufacture,
analysis and maintenance of a wide range of engineering products
and processes. Mechatronics brings together areas of technology
involving sensors and measurement systems, drive and actuation
systems, analysis of the behavior of systems microprocessor
systems. The integration across the traditional boundaries of
mechanical engineering, electrical engineering, electronics and
control engineering has to occur at the earliest stages of the
design process if cheaper, more reliable; more flexible systems are
to be developed.
Key element of Mechatronics system:
Fig No.1 Elelments of Mechatronics system
Typical knowledgebase for optimal design and operation of
mechatronic systems comprises of:
Dynamic system modeling and analysis Thermo-fluid, structural,
hydraulic, electrical, chemical, biological, etc. Decision and
control theory Sensors and signal conditioning Actuators and power
electronics Data acquisition A2D, D2A, digital I/O, counters,
timers, etc. Hardware interfacing Rapid control prototyping
Embedded computing Balance theory, simulation, hardware, and
software
Electromechanical elements refer to:
Sensors A variety of physical variables can be measured using
sensors, e.g., light using photo-resistor, level and displacement
using potentiometer, direction/tilt using magnetic sensor, sound
using microphone, stress and pressure using strain gauge, touch
using micro-switch, temperature using thermistor, and humidity
using conductivity sensor.
Actuators DC servomotor, stepper motor, relay, solenoid,
speaker, light emitting diode (LED), shape memory alloy,
electromagnet, and pump apply commanded action on the physical
process IC-based sensors and actuators (digital-compass,
-potentiometer, etc.).MECHATRONICS DESIGN PROCESS:
Fig No. 2 Mechatronics design process
Systems engineering allows design, analysis, and synthesis of
products and processes involving components from multiple
disciplines.
Mechatronics exploits systems engineering to guide the product
realization process from design, model, simulate, analyze, refine,
prototype, validate, and deployment cycle. In mechatronics-based
product realization: mechanical, electrical, and computer
engineering and information systems are integrated throughout the
design process so that the final products can be better than the
sum of its parts. Mechatronics system is not simply a
multi-disciplinary system simply an electromechanical system just a
control systemAPPLICATIONS OF MECHATRONICS ENGINEERING:
Mechatronics engineering finds application in the following
fields.
Electronic home appliances Electronic entertainment products
Engine systems (cars) Large scale application
Fig No. 3 Schematic Layout of Hydraulic System
BASIC COMPONENTS OF A HYDRAULIC SYSTEM:
Reservoir:
A reservoir is an oil supply tank. It is provided to hold the
hydraulic liquid (usually oil).
Pump:
The pump is used to force the liquid into the system.
Prime mover:
A Prime mover, usually an electric motor, is used to drive the
pump.
Valves: Valves are refitted in the system to control liquid
direction, pressure, and flow rate.
Actuator:
An actuator is provided to convert the liquid energy into
mechanical force or torque to do useful work. The actuator is the
actual working element of the system. The actuators can be either
cylinders (to provide linear motion) or hydro motors (to provide
rotary motion).
Fluid-transfer piping:
The hydraulic Piping is provided to carry the compressed liquid
from one place to another.
Fig No. 4 Schematic Layout of Pneumatic System
BASIC COMPONENTS OF A PNEUMATIC SYSTEM: Reservoir (or air
tank):
An air tank is provided to store the compressed air required for
the operations.
Compressor:
The compressor is used to compress the atmospheric air so as to
increase the pressure of the air.
Prime mover:
A Prime mover, usually an electric motor, is used to drive the
compressor. Valves:
Valves are refitted in the system to control air direction,
pressure, and flow rate.
Actuator:
An actuator is provided to convert the air energy into
mechanical force or torque to do useful work.
Fluid-transfer piping: Piping is provided to carry the
compressed air from one place to another.
BASIC SYMBOLS USED IN HYDRAULIS AND PNEUMATIC SYSTEM:
RESULT: Thus the important feature and basic symbols of
pneumatic and hydraulic systems in Mechatronics system was
studied.ELECTRO PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USING
SPDT SWITCH
Expt. No.: Date:
AIM:
To develop a electro-pneumatic circuit for extension and
retraction of double acting cylinder
APPARATUS REQUIRED:
1. Double acting cylinder2. 3/2 solenoid valve3. 5/2 single and
double solenoid valve4. FRL unit5. Relay6. SPDT Switch7. Connecting
tubes & wires8. Data CardPROCEDURE:
1. Provide power supply to the pneumatic trainer from control
trainer by interfacing 24+v and v.2. Using the SPDT switch energize
the corresponding solenoid valve to get the desired movement in the
cylinder.3. Supply the Air to FRL unit.4. Assemble all the
components.5. Check all the connections carefully.6. Test the
circuit. Observe the working of the cylinder using the 3/2 and 5/2
solenoid valve.
CIRCUIT DIAGRAM-SPDT SWITCH
RESULT:Thus the movement of double acting cylinder was carried
out using SPDT switch.
ELECTRO PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USINGPUSH
BUTTON SWITCHExpt. No.: Date:
AIM:
To develop a electro-pneumatic circuit for extension and
retraction of double acting cylinder
APPARATUS REQUIRED:
1. Double acting cylinder2. 3/2 solenoid valve3. 5/2 single and
double solenoid valve4. FRL unit5. Relay6. push button Switch7.
Connecting tubes & wires8. Data CardPROCEDURE:
1. Provide power supply to the pneumatic trainer from control
trainer by interfacing 24+vand-v2. Using the push button switch
energize the corresponding solenoid valve to get the desired
movement in the cylinder.3. Supply the Air to FRL unit.4. Assemble
all the components.5. Check all the connections carefully.6. Test
the circuit. Observe the working of the cylinder using the 3/2 and
5/2 solenoid valve.
CIRCUIT DIAGRAM-SPDT SWITCH
RESULT:Thus the movement of double acting cylinder was carried
out using push button switch.PLC CONTROL OF SINGLE ACTING CYLINDERS
ON DELAY TIMERExpt. No.: Date:
AIM:
To design a circuit to extend and retract the single acting
cylinder with the help of delaytimer controlled by PLC.APPARATUS
REQUIRED:
1. Single acting cylinder2. RS 232 cable3. Versa pro software4.
3/2 single solenoid valve5. FRL unit6. PLC7. Connecting wires and
tubePROCEDURE:
1. Draw the circuit diagram2. Provide +24V and 24V from PLC
trainer to panel.3. Open the versa pro software in desktop4.
Interface PLC with PC using RS 232 cable.5. Write a ladder
diagram.6. Output of PLC (q1) is directly connected to input of
solenoid coil.7. Following the opening procedure of versa pro
software.8. Check the ladder diagram.9. Connect the air supply to
FRL unit.10. Run the PLC. After some delay the cylinder will be
activated.
CIRCUIT DIAGRAM:-ON DELAY TIMER:
RESULT:Thus the actuation of single acting cylinder with ON
delay timer was done using PLC.
PLC CONTROL OF SINGLE ACTING CYLINDERS OFF DELAY TIMERExpt. No.:
Date:
AIM:
To design a circuit to extend and retract the single acting
cylinder with the help of delaytimer controlled by PLC.APPARATUS
REQUIRED:
1. Single acting cylinder2. RS 232 cable3. Versa pro software4.
3/2 single solenoid valve5. FRL unit6. PLC7. Connecting wires and
tubePROCEDURE:
1. Draw the circuit diagram2. Provide +24V and 24V from PLC
trainer to panel.3. Open the versa pro software in desktop4.
Interface PLC with PC using RS 232 cable.5. Write a ladder
diagram.6. Output of PLC (q1) is directly connected to input of
solenoid coil.7. Following the opening procedure of versa pro
software.8. Check the ladder diagram.9. Connect the air supply to
FRL unit.10. Run the PLC and observe the working of single acting
cylinder.
CIRCUIT DIAGRAM-OFF DELAY TIMER
RESULT:Thus the actuation of single acting cylinder with OFF
delay timer was done using PLC.
AUTOMATION OF SINGLE ACTING CYLINDER USING PLC
Expt. No.: Date:
AIM:
To simulate the automatic sequence of single acting cylinder
using PLC. APPARATUS REQUIRED:
1. Compressor 2. FRL Unit 3. 3/2 Solenoid Operated DCV 4. Single
Acting Cylinder 5. PLC 6. Versa Pro Software.
PROCEDURE:
1. Draw the circuit diagram. 2. Provide +24V and 24V from PLC
trainer to panel. 3. Open the versa pro software in desktop. 4.
Interface PLC with PC using RS232 cable. 5. Write a ladder diagram.
6. Output of PLC (Q1) is direct connecting to input of solenoid
coil. 7. Following the opening procedure of versa pro software. 8.
Check the ladder diagram. 9. Connect the air supply to FRL unit.
10. Run the PLC. 11. Observe the working of single acting cylinder
is automatic reciprocating.
CIRCUIT DIAGRAM:
Single Acting CylinderCompressorFRL Unit3/2 Single Solenoid
valve
RESULT: Thus the automation of single acting cylinder is done by
using PLC.
OPERATION OF DOUBLE ACTING CYLINDER WITH AND LOGIC CIRCUIT
EXPT NO: 7 DATE:
AIM:
To operate a double acting cylinder using AND logic circuit in
Pneumatic Trainer Kit. APPARATUS REQUIRED:
1. Basic Pneumatic Trainer Kit
2. Double Acting Cylinder
3. 4/2 Pilot Operated DCV
4. 3/2 Hand Levered DCV
5. Two Pressure Valve
6. FRL Unit
PROCEDURE:
1. Connect the FRL unit to the main air supply.
2. The various components are connected as per circuit.
3. Block the valve openings if necessary.
4. Check the leakage of air supply and correct it.
5. Open the valve and operate the cylinder.
RESULT: Thus the double acting cylinder using AND logic circuit
was operated in Pneumatic Trainer Kit.
OPERATION OF DOUBLE ACTING CYLINDER WITH OR LOGIC CIRCUIT
EXPT NO: 8 DATE:
AIM:
To operate a double acting cylinder using OR logic circuit in
Pneumatic Trainer Kit.
APPARATUS REQUIRED:
1. FLUIDSIM Software
2. Double Acting Cylinder
3. 4/2 Pilot Operated DCV
4. 3/2 Hand Levered DCV
5. Shuttle Valve
6. FRL Unit
PROCEDURE:
1. Connect the FRL unit to the main air supply.
2. The various components are connected as per circuit.
3. Block the valve openings if necessary.
4. Check the leakage of air supply and correct it.
5. Open the valve and operate the cylinder.
RESULT:
Thus the double acting cylinder using OR logic circuit was
operated in Pneumatic Trainer Kit.
DESIGN THE FLUID POWER CIRCUIT USING DOUBLE ACTING CYLINDERS
Expt. No.: Date:
AIM:
To actuate single and double acting cylinders in a pneumatic
circuit.
APPARATUS REQUIRED:
1. Single acting cylinder2. 3/2 push button spring return DCV3.
3/2 single pilot valve4. 5/2 single, double pilot DCV5. Air service
unit6. Connecting tubes
PROCEDURE:
1. The connection is made as shown in figure.2. The pilot
pressure are fed into the 3/2 direction control valve.3. When the
button is pushed the air is sent into single acting cylinder.4. The
cylinder moves in forward position.5. When the push button is
released, it retracts because of the spring.6. Feed the air through
different valves and make the cylinder to actuate.
CIRCUIT DIAGRAM:
RESULT:Thus the fluid power is calculated by the air pressure in
the pneumatic circuit.
ACTUATION OF SINGLE ACTING CYLINDER USING ON DELAY TIMER
Expt. No.: Date:
AIM:
To develop an electro-pneumatic circuit for the activation of
single acting cylinder using timer.
APPARATUS REQUIRED
1. Single acting cylinder2. 3/2 single solenoid valve3. Slide
valve4. FRL unit5. Connecting tubes & wires
PROCEDURE:
1. Provide power supply to electrical controller by interfacing
the +ve to ve and ve to -ve2. Provide power supply to pneumatic
trainer for electrical controller by interfacing 24+ve to +ve and
ve to ve.3. Using the SPDT switch energize the corresponding
solenoid to get the desired movement of the cylinder4. Actual the
time delay circuit.5. From time delay, give connection to single
acting cylinder to actuate the cylinder according to time set.6.
Design and draw the pneumatic circuit.7. Connect the air supply.8.
Test the circuit9. Observe the working of the cylinder.
CIRCUIT DIAGRAM-ON TIMER:
RESULT:Thus the movement of single acting cylinder was carried
out using time delay.
ACTUATION OF SINGLE ACTING CYLINDER USING OFF DELAY TIMER
Expt. No.: Date:
AIM:
To develop an electro-pneumatic circuit for the activation of
single acting cylinder using timer.
APPARATUS REQUIRED
1. Single acting cylinder2. 3/2 single solenoid valve3. Slide
valve4. FRL unit5. Connecting tubes & wires
PROCEDURE:
1. Provide power supply to electrical controller by interfacing
the +ve to ve and ve to -ve2. Provide power supply to pneumatic
trainer for electrical controller by interfacing 24+ve to +ve and
ve to ve.3. Using the SPDT switch energize the corresponding
solenoid to get the desired movement of the cylinder4. Actual the
time delay circuit.5. From time delay, give connection to single
acting cylinder to actuate the cylinder according to time set.6.
Design and draw the pneumatic circuit.7. Connect the air supply.8.
Test the circuit9. Observe the working of the cylinder.
Circuit diagram-OFF TIMER
RESULT:Thus the movement of single acting cylinder was carried
out using time delay.
AUTOMATIC ACTUATION OF DOUBLE ACTING CYLINDER USING PLC
Expt. No.: Date:
AIM
To simulate the automatic sequence of double acting cylinder
using PLC.
APPARATUS REQUIRED:
1. Double acting cylinder2. RS 232 cable3. versa pro software4.
5/2 double solenoid valve5. FRL unit6. PLC7. Connecting wires and
tube.
CIRCUIT DIAGRAM
PROCEDURE:
1. Draw the circuit diagram2. Provide +24V and 24V from PLC
trainer to panel.3. Open the versa pro software in desktop4.
Interface PLC with PC using RS 232 cable.5. Write a ladder
diagram.6. Both outputs of PLC (q1 and q2) are directly connected
to inputs of solenoid coils.7. Following the opening procedure of
versa pro software.8. Check the ladder diagram.9. Connect the air
supply to FRL unit.10. Run the PLC and observe the working of
double acting cylinder.
RESULT:
Thus the ladder diagram for the automatic running of double
acting cylinder is drawn andexecuted.DESIGN OF PNEUMATIC CIRCUIT
USING PNEUMOSIM SOFTWARE
Expt. No.: Date:
AIM:To simulate the pneumatic circuit with single acting, double
acting cylinders by manual and automatic mode using pneumatic
simulation software
REQUIREMENTS:1. Personal Computer2. PNEUMOSIM
SoftwarePROCEDURE:
1. Open the software in the personal computer.2. Select the new
file in it.3. Click on the supply elements and then select, copy,
paste the compressor.4. Click the attenuator and then select copy,
paste the single and double acting cylinder.5. Then select, copy,
paste the 3/2, 5/2 single and double solenoid valve.6. Select the
air supply unit.7. Connect all the components.8. Start and operate
the single, double acting cylinders.CIRCUIT DIAGRAM:
RESULT:Thus the Pneumatic circuit for single acting, double
acting cylinder was simulated using PNEUMOSIM software.DESIGN OF
HYDRAULIC CIRCUIT USING HYDROSIM SOFTWARE
Expt. No.: Date:
AIM:
To simulate the hydraulic circuit with single acting, double
acting cylinders by manual and automatic mode using hydraulic
simulation software
REQUIREMENTS:
1. Personal Computer2. HYDROSIM SoftwarePROCEDURE:
1. Open the software in the personal computer.2. Select the new
file in it.3. Click on the supply elements and then select, copy,
paste the pump and tanks.4. Click the attenuator and then select,
copy, paste the single and double acting cylinder.5. Then select,
copy, paste the 3/2, 5/2 single and double solenoid valve.6.
Connect all the components7. Start and operate the single, double
acting cylinders.CIRCUIT DIAGRAM:
RESULT:Thus the Hydraulic circuit for single acting, double
acting cylinder was simulated using HYDROSIM software.STUDY OF 8051
MICROCONTROLLER AND STEPPER MOTOR
Expt. No.: Date:
AIM:
The study the fundamentals of 8051 microcontrollers and stepper
motor.
MICROCONTROLLER:
A microcontroller is an integration of a microprocessor with
memory and input, output interfaces and other peripherals such as
timers on a single chip.
A microcontroller may take an input from the device it is
controlling and control the device by sending signals to different
components in the device.
A microcontroller is often small and low cost. The components
may be chosen to minimize size and to be as inexperience as
possible.
Another name for a microcontroller is embedded controller. They
can control features or action of the product.
Register in microcontroller:
A microcontroller contains a group of registers each type of
register having a different functions.
Accumulator:
The accumulator (A) is an 8 bit register where data for an input
to the arithmetic and logic unit is temporarily stored. So the
accumulator register is a temporary handling register for data to
be operated on by the arithmetic and logic unit also after the
operation the register for holding the result.
B Register:
In addition to accumulator an 8 bit B-register is available as a
general purpose register when it is not used for the hardware
multiply/divide operation.
Data pointer (DPTR):
The data pointer consists of a high byte (DPH) and a low byte
(DPL). Its function is to hold a 16 bit address. It may be
manipulated as a 16 bit data register. It serves as a base register
in direct jumps, lookup table instructions and external data
transfer.
Stack pointer:
The stack refers to an area of internal RAM that is used in
conjunction with certain opcode data to store and retrieve data
quickly. The stack pointer register is used, by the 8051 to hold as
internal RAM that is called top of stock. The stack pointer
register is 8 bit wide. It is increased before data is stored
during PUSH and CALL instructions and decremented after data is
restored during POP and RET instruction. The stack pointer is
initialized to 07H after a reset. This causes the stack to begin at
location 08H.
Program counter:
The 8051 has 16 bit program counter. It is used to hold the
address of memory location from which the instruction to be
fetched. 8051 is a 16 bit hence it can be address up to 216 byte
i.e. 64k of memory. The PC is the only register that does not have
an internal address.
Internal RAM:
The 8051 has 128 bytes internal RAM. It is addressed using RAM
address register
First thirty two bytes from address 00H to 1FH of internal RAM
constitute 32 working registers. They organized into four banks of
eight registers each. The four register banks are numbered 0 to 3
and consist of eight registers named R0 to R7. Each register can be
addressed by name or by its RAM address. Only one register bank is
in use at a time. Bits Rs0 and Rs1 in the PSW determine which bank
of register is currently in use. Register banks when not selected
can be used as general purpose RAM.
PIN diagram of microcontroller:
The 8051 microcontroller is available in a 40 pin dual in-line
(DIL) package arrangement. It is important to note that many pins
of 8051 are used for more than one function.
The function of each of the pins is as follows.
PORT 0 (pins 32-39):
Port 0 pins can be used as I/O pins. The output drives and input
buffers of port 0 are used to access external memory address, time
multiplexed with the data being written or read. Thus port 0 can be
used as multiplexed address data bus.
PORT 1 (pins 1-8):
Port 1 pins can be used only as I/O pins.
PORT 2 (pins 21-28):The output drives of port 2 are used to
access external memory. Port 2 outputs the high order byte of the
external memory address when the address is 16 bits wide otherwise
port 2 is used as I/O ports.
PORT 3 (pins 10-17):
All ports pins of port-3 are multifunctional. They have special
functions including two external interrupts two counter two special
data lines and two timing control strobes. Power supply pins Vcc
and ground to pin Vcc with rated power supply current of 125mA.
Oscillator Pins XTA2 (pin 18) and XTA1 (pin 19):
For generating an internal clock signal the external oscillator
is connected at these two pins.
ALE (address latch enable) Pin 30:
AD0 to AD7 lines are multiplexed. To determine these lines and
for obtaining lower half of an address, an external latch and ALE
of 8051 is used.
RST (Reset pin 9):
This pin is used to reset 8051. For proper reset operation,
reset signal must be held high at least for two machine cycles,
while oscillator is running.
PSEN (Program Store Enable pin29):
It is the active low output control signal used to activate the
enable signal if the external ROM/EPROM. It is activated every six
oscillator periods while reading the external memory. Thus this
signal acts as the read store to external program memory.
STEPPER MOTOR
A motor in which the rotor is able to assume only discrete
stationary angular position is a stepper motor. The rotary motion
occurs in a stepwise manner from one equilibrium position to the
next.
Construction features:
A stepper motor could be either of the reluctance type of or
permanent magnet type. A PM motor consists of multiphase stator and
two part permanent magnet rotor variable reluctance motor has
magnetized rotor. PM stepper motor is the most commonly used type.
The basic two phase stepper motor consists of two pairs of stator
poles. Each of four poles has its own winding. The excitation of
any one winding generates a north pole and a South Pole gets
attracted and the torque induced at the diametrically opposite
side. The rotor magnetic system has two end faces.The left face is
permanently magnetized as south and the right face as North Pole
faces.The north pole structure is twisted with respect to the south
pole structure so that south pole precisely between two north
poles. In an arrangement where there are four stator poles and
three pairs of rotor poles, there exist 12 possible stable position
in which a south pole if the rotor can lock with a north pole of
the stator. From this is can be noted that the step size is
= 360 (Ns*Nr)
Ns number of stator poleNr number of pairs of rotor poles
Generally step size of the stepper motor depends up on rotor
poles. There are three different schemes available for stepping a
motor. They are
1. Wave scheme2. 2 phase scheme3. Half stepping or missed
scheme
Wave switching scheme:
AnticlockwiseClockwise
StepA1A2B1B2StepA1A2B1B2
1100011000
2000120010
3010030100
4001040000
Two phase switching scheme:AnticlockwiseClockwise
StepA1A2B1B2StepA1A2B1B2
1100111010
2010120110
3011030101
4101041001
Operational features of stepper motor:
There are many kinds of stepper motor like unipolar type,
bipolar type, single phase type,multiphae type; single phase
stepper motor is often used for quartz watch. In PM type stepper
motor, a permanent magnet is used for motor and coils are put on
stator. The stepper motor model which has 4 poles at top and bottom
and at either sides. X coil, X coil, r coil and r coilare put to
the upper side and the lower pole. r coil and r coil are rolled up
for the direction of the pole becomes opposite when applying an
electric current to the r coil. It is similar about X and X too.
The turn of the motor is controlled by the electric current which
pairs into X, X, r, r. The rotor rotational speed and the direction
of turn can be controlled by this control.Speed control of a
stepper motor:The requirement is to use a microcontroller to drive
a stepper motor in both forward and reverse directions of shaft
rotation and to implement a two speed arrangement switches are to
be used to produce the two speeds and a reversal of shaft rotation.
Generally a stepper motor has four sets of coils; one end of each
coil may be connected together and then connected to DC supply. The
remaining four ends may be driven through transistors either
separately or in integrated circuit form. A four bit code sequence
continuously applied to the drive circuit from the microcontroller
port causes the motor shaft to rotate in angular steps. Stepper
motor have step angles of 1.8 degree step revolution and turning
force may be improved by using a step down gear box. The stepping
code sequence may be obtained from the motor manufacturer or
distributor. The program in this example was a common four step
sequence of A,9,5,6 that it sent continuously would cause the motor
shaft to rotate.
Permanent Magnet stepper motor; (b) 90 step; (c) 45 step
RESULT:
Thus the fundamentals of microcontroller and stepper motor were
studied.RUN THE STEPPER MOTOR IN DIFFERENT SPEED AND DIFERENT
DIRECTION
Expt. No.: Date:
AIM:
To run a stepper motor in forward and reverse rotation using
8051 assembly language
APPARATUS REQUIRED:
1. Stepper Motor2. Interface Board
PROCEDURE:
1. Switch ON the micro controller2. Initialize the starting
address3. Enter the mnemonics code in the microcontroller4. Reset
the microcontroller5. Execute the programPROGRAM:
ADDRESSLABELINSTRUCTIONOPCODE
4100ORG 4100H
4100STARTMOV DPTR,#4500H
4103MOV R0,#04
4105J0MOVX A, @DPTR
4106PUSH DPH
4108PUSH DPL
410AMOV DPTR,#FFCOH
410DMOV R2,#04H
410FMOV R1,#FFH
4111DLY1MOVR3,#FFH
4113DLYDJNZ R3,DLY
4115DJNZ R1,DLY1
4119MOV @DPTR,A
411APOP DPL
411CPOP DPH
411EINC DPTR
411FDJNC R0,J0
4121SJMP START
4123END
4500TABLEDB 09,05,06,0A
RESULT:
Thus the program to run the stepper motor at different speed and
different direction was derived using 8051 assemble language and
was verified.
RUN THE STEPPER MOTOR IN FORWARD AND REVERSE DIRECTION
Expt. No.: Date:
AIM:
To run a stepper motor in forward and reverse rotation using
8051 assembly language
APPARATUS REQUIRED:
1. Stepper Motor2. Interface Board
PROCEDURE:
1. Switch ON the micro controller2. Initialize the starting
address3. Enter the mnemonics code in the microcontroller4. Reset
the microcontroller5. Execute the program
PROGRAM:
ADDRESS
LABELINSTRUCTIONOPCODE
4100ORG 4100H
4100START:MOV R4, #33H
4102L2:DPTR, #FORWARD
4105L1
4108R4, L2
410ADELAY
410DR4, #33H
410FL3:DTPR, #REVERSE
4112L1
4115R4, L3
4117DELAY
411ASTART
411CL1:R0, #04H
411ELOOP:A, @DPTR
411F83H
412182H
4123DPTR, #OFFCOH
4126R2, #04H
4128L7:R1, # 05H
412AL6:R3 , #OFFH
412CL4:R3, L4
412ER1, L6
4130R2, l7
4132@DPTR ,A
413382H
413583H
4137DPTR
4138R0, LOOP
413A
413BDELAY:R5, #01H
413DL9:R2, #05H
413FL8;R2, L8
4141R5, L9
4143RET
4144FORWARD:DB 09, 05, 06, 0A
4148REVERSE:DB 0A, 06, 05, 09
RESULT:
Thus the program to rotate the stepper motor in forward and
reverse direction was derived using 8051 assemble language and was
verified.HYDRAULIC LINEAR ACTUATION TRAINER
Expt. No.: Date:
AIM:
To study the working of linear actuation system.
APPARATUS REQUIRED:
1. Linear actuation system5. RS 232 cable6. Patch chords
CIRCUIT DIAGRAM:
PROCEDURE:
1. Load the verse pro software to PC.2. Open the verse pro
software.3. Switch ON PLC and linear actuation system.4. Connect
the PC and PLC.5. Draw ladder logic diagram.6. Download in PLC.7.
Run the program.8. Check the performance of linear actuation
system.SPEED:Sl.NoVelocity up(cm/sec)Flow(cm3/sec)Velocity
down(cm/sec)Flow(cm3/sec)
FORCE:Sl.NoPressure (kg/cm2)Displayed force in kgCalculated
force in kg% of error
Force:
Model calculation:
(i) velocity = flow / area area (a) = ( / 4) x (d2 ) flow =
velocity x area(ii) pressure in kg/cm2 = force in kg / area in cm2
calculated force in kg =% error =[ (displayed force calculated
force) / (displayed force) ] x 100
=
=
RESULT:
Thus the working of hydraulic linear actuation system was
studied by using hydraulic linear actuation trainer.
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