pick and place robot
TRANSCRIPT
ORGANIZATIONAL PROFILE
The National Small Industries Corporation Limited (NSIC) was established in
1955 by the Government of India with a view to promote, aid and foster the growth of Small
Industries in the country. NSIC continues to remain at the forefront, with it's various programs
and projects, to assist the small-scale sector in the country.
Over a period of four decades of this rescission, growth and development of
small-scale sector, it has proved its strength within the country and abroad dynamically, showing
its progressive attitude towards modernization, up gradation of technology, quality
consciousness, strengthening linkages with large and medium scale enterprises and boosting
exports of products from Small Enterprises. The small-scale sector continues to remain an
important instrument for enterprise-building, dispersal of industries for even regional economic
development and employment generation. NSIC has been successfully able to plan its assigned
role in this endeavor.
Due to changed industrial scenario and gradual globalization of the economy, small-scale
sector has to face stiff competition as the insulated and protected market conditions are no more
going to be available to it. To enable the small-scale industry to meet this challenge, NSIC has
already initiated various steps so that SSI's can play their due role, even during polarization of
various economic forces.
A SPECTRUM OF ACTIVITIES
NSIC provides diversified support through its wide spectrum of programs to TSC to cater
to their different needs related to multi-products and multi-locations markets. It has adopted a
multi-pronged approach to effectively serve the various needs of TSC. Assistance by NISC to
Small Scale Units to sell their goods and services to government departments and agencies,
through 'Single Point Registration Scheme', provides a vast marketing opportunity.
The corporation also arranges indigenous as well as imported raw materials and parts
to ensure that the production cycle of SSI's continues without break and they are able to produce
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high quality products. But that's not all. There is a lot more to NSIC. The organization operates
Hire purchase and Equipment Leasing Schemes for providing machinery and equipment at
doorsteps of the entrepreneurs. These schemes not only have been able to generate a class of
First Generation Entrepreneurs to set up enterprises with minimum investment, the schemes have
also acted as stimulants to the existing entrepreneur for expansion, diversification, modernization
and technology up gradation.
Though a chain of five NSIC Technical Service Centers are located at different parts of
the country, NSIC offers workshops, testing laboratories and common facilities to the
entrepreneurs and their workmen are provided with avenues for skill up gradation through
training in various technical trades. To encourage exports, NSIC has set up Software Technology
Parks providing complete infrastructure to enable small entrepreneurs to undertake Software
exports.
ACTIVITIES
Common facilities
Prototype development
Technology Transfer
Human Resource Development
Placements
Seminars and Workshops
ASSISSTING COUNTRIES WORLDWIDE
NSIC is committed to accelerate the growth of the small-scale sector not only in
India but also in similar countries worldwide NSIC’s efforts in assisting other countries with
infrastructure facilities and support service has been worthy.
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.
CHAPTER-1
GENERAL OVERVIEW
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GENERAL OVERVIEW
1.1 INTRODUCTION:
Technology is the word coined for the practical application of scientific knowledge in the industry.
The advancement in technology cannot be justified unless it is used for leveraging the user’s
purpose. Technology, is today, imbibed for accomplishment of several tasks of varied complexity,
in almost all walks of life.
The society as a whole is exquisitely dependent on science and technology.
Technology has played a very significant role in improving the quality of life. One way through
which this is done is by automating several tasks using complex logic to simplify the work.
1.2 AIM:
The aim of our project is to pick the object from the place and place the
object at the destination. This sort of robot is very much useful in the case of
industries like where the pick and place job is carried on continuously for
example in biscuit company, dairy form etc., this project is also helpful in
minimizing the man power and complete the job automatically and accurately.
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1.3 METHODOLOGY:
The above figure gives the pictorial representation of the procedure followed in the project
development.
In the specifications stage, the requirements of the model were identified. In order to
identify the requirements, literature survey was carried out.
The identified requirements and the specifications of the model were then analyzed to
identify whether or not they were viable. If any of the specifications seemed impracticable, the
specifications were reviewed.
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Specifications AnalysisProduct Design
Test Cases
High-levelDesign
Low-level Design
Coding &Unit
Testing
IntegrationSystem
TestDocumentation
Test Design
Successful
Failure
Once the viable specifications were identified, the design of the product was developed.
A set of all possible test cases was also prepared simultaneously.
The high level design document gives an overview of the design details.
The low level design document contains the intricate details of the product design.
The project was then divided into separate modules and each module was individually
soldered, coded and tested.
All the tested modules were then integrated. The integrated module was then tested for
the set of all possible test cases. In case the integrated module didn’t work for a certain test case, the
specifications were reviewed accordingly.
In general, after every stage in project development, the specifications were reviewed.
After the integrated module satisfied all the test cases, different stages of the project were
documented.
1.4 SIGNIFICANCE OF PROJECT WORK:
During the course of our project we developed a multi system controller that is capable of
controlling devices that work on both ac and dc power supplies satisfactorily. We have developed a
model that gives a demo of industrial automation.
1.5 ORGANISATION OF THE REPORT:
In the report, the second chapter deals with the introduction to the embedded systems, multi system
controllers and its basic details. The third chapter gives the details about the microcontroller
AT89C51.The chapters four and five, contain the details of the encoder and decoder respectively.
The sixth chapter deals with the driver L293D that forms a major component of one of our
application circuits. The specifications of the RF modules used for communication between the
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controller and the controlled devices are discussed in the seventh chapter. The eighth chapter
contains information about the remote controlled car which is one of our application devices.
The power supply and relay circuits are discussed in chapter nine. The tenth chapter consists of the
details of the µvision software that has been used to code our circuits. The eleventh chapter gives
the details about the procedure followed for testing the model developed in our project.
CHAPTER-2INTRODUCTION
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INTRODUCTION
2.1 INTRODUCTION TO EMBEDDED SYSTEMS:
2.1.1 EMBEDDED SYSTEMS:
An embedded system is a specialized computer system that is housed in a large system in order to
carry out certain specific applications. Some embedded systems include operating systems and most
are so specialized such that the entire logic can be implemented as a single program.
2.1.2 APPLICATIONS OF EMBEDDED SYSTEMS:
Industrial machines
Automobiles
Medical equipment
Cameras
Household appliances
Airplanes
Vending machines
Toys etc
Are among the myriad possible hosts of an embedded system.
2.2 INTRODUCTION TO ROBOT
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A robot is a mechanical or virtual artificial agent. In practice, it is usually an electro-mechanical
system which, by its appearance or movements, conveys a sense that it has intent or agency of its
own. The word robot can refer to both physical robots and virtual software agents, but the latter are
usually referred to as Robots There is no consensus on which machines qualify as robots, but there is
general agreement among experts and the public that robots tend to do some or all of the following:
move around, operate a mechanical arm, sense and manipulate their environment, and exhibit
intelligent behavior, especially behavior which mimics humans or animals.
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4 With the future production scheme already taken into consideration, operation to return to
the origin is no more necessary. Adoption of the completely absolute system for all models
enables quick return for production. There robots are now indispensable at the production site
for higher speed production and reduction of loss time. As these models have a very rigid frame
and highly accurate positioning function, they can cope with higher level applications.
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CHAPTER-3
MICROCONTROLLER
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MICROCONTROLLER
3.1 INTRODUCTION:
A microcontroller is a computer on a chip. It is an integrated chip that is usually a part of an
embedded system. It is a microprocessor that is meant to be more self contained, independent and
yet function as a tiny, dedicated computer. It lays emphasis on high integration, low power
consumption, self sufficiency and cost effectiveness.
It is typically designed using the CMOS (complementary metal oxide semiconductor) technology
and has the following features:
a central processing unit
discrete input and output pins
serial input/output ports(UARTs)
peripherals such as timers, counters
RAM,ROM,EPROM,Flash Memory(EEPROM)
Clock generator
May include analog to digital converters
In-circuit programming and debugging support
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3.2 ADVANTAGES:
Design with microcontrollers has the following advantages:
It has low overall system cost as all the peripherals are integrated onto a single chip.
The product size is small, therefore the product is handy.
System design and troubleshooting is simple.
Since the peripherals are integrated on the same chip, the system is reliable.
Additional RAM and ROM can be easily interfaced as and when required.
Microcontrollers with on-chip ROM provides a software security feature.
3.3 ATMEL 89S52:
ATMEL 89C51 is a low power, high performance CMOS 8 bit microcomputer with 4K bytes of
flash programmable and erasable read only memory (PEROM).The device is manufactured using
Atmel’s high density, non volatile memory technology and is compatible with industry standard
MCS-51 instruction set. It provides highly flexible and cost effective solution to many embedded
control applications.
3.4 FEATURES OF ATMEL 89S52:
It has 4K bytes of in-system reprogrammable flash memory (1000 write/erase cycles).
Fully static operation: 0-24 MHz
Three level program memory lock
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Micro controller
Memory(RAM/ROM)
I/O ports
Peripherals
128 bytes internal RAM
32 programmable I/O lines(4 ports)
Two 16 bit timers/counters
Six interrupt sources
Programmable serial channel
Low power idle and Power down modes
8 bit CPU optimized for controlled applications
64 K of external program memory
Full duplex UART
3.5 BLOCK DIAGRAM OF THE MICROCONTROLLER:
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3.6 DESCRIPTION OF BLOCK DIAGRAM:
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3.6.1 CENTRAL PROCESSING UNIT (CPU):
The microcontroller consists of 8 bit ALU with associated registers like register A,
register B,Program status word(PSW),Stack pointer(SP) ,a 16 bit program counter(PC) and a 16 bit
data pointer register(DTPR).
3.6.2 ARITHMETIC LOGIC UNIT(ALU):
The ALU performs arithmetic and logic functions on 8 bit variables. An important and unique
feature of the microcontroller architecture is that the ALU can manipulate 1 bit as well as 8 bit data
types. It performs the Operations over the operands held by the temporary registers TMP1 and
TMP2.The temporary registers cannot be accessed by the user.
3.6.3 ACCUMULATOR (ACC):
It is referred to as register A or Acc.It is an 8 bit register. It holds the source
operand and stores the result of arithmetic operations. It is used as the source or destination register
for logical operations. It is either explicitly or implicitly specified in the instructions.
3.6.4 B REGISTER:
It is a special function register. It can be used to store one of the operands in multiply
and divide instructions. For all other instructions it is used as a scratch pad.
3.6.5 PROGRAM STATUS WORD (PSW):
It is one of the special function registers .It is an 8 bit register. It is a set of
Flags that indicate the status of the microcontroller.
CARRY BIT (CY):
This bit holds the carry bit in case of arithmetic operations. It also serves the purpose of
accumulator in case of Boolean operations. It is set to one when there is a carry out from the D7 bit.
It can also be rest or cleared through instructions.
AUXILLARY CARRY (AC):
It is used in BCD operations usually. This bit is raised when a carry occurs from lower nibble to the
higher nibble during arithmetic operations on BCD numbers.
FLAG 0 (F0):
Flag 0 is available to the user for general purpose.
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CY AC FO RS1 RS0 OV -- P
REGISTER SELECT BITS (RS1 AND RS0):
The two bits RS1 and RS0 are used to select one of the four available register banks
As below:
OVERFLOW FLAG (OF):
The overflow flag was created specifically for the purpose of informing the programmer that the
result of the signed number operation is erroneous. If the result of an operation on signed numbers
is too big for a register, an overflow has occurred and the programmer must be notified.
PARITY (P):
The parity bit reflects the number of 1s in the accumulator.
P=0 implies that accumulator contains an even number of 1s.
P=1 implies that the accumulator contains odd number of 1s.
D1 bit is a user definable flag and is reserved for future use.
3.5.6 SPECIAL FUNCTION REGISTER BANK (SFR):
It is a set of special function registers that can be addressed using their respective addresses
allotted to them. The addresses lie in the range 80H-FFH.
3.5.7 INPUT-OUTPUT (I/O) PORTS (P0-P3):
These four latches-drivers pairs have been allotted to the four parallel I/O ports. These latches have
been allotted addresses in the special function register bank. Using these allotted addresses, the user
can communicate with the ports.
3.5.8 BUFFER:
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RS1 RS0 REGISTER BANKS ADDRESS
0 0 0 00H-07H
0 1 1 08H-0FH 1 0 2 10H-17H
1 1 3 18H-1FH
It is a special function register and consists of two registers namely transmit buffer and the
receive buffer. The transmit buffer receives data parallely and transmits serially. The receive buffer
on the other hand is serial in parallel out register.
3.5.9 TIMING AND CONTROL UNIT:
It derives the timing and control information required for the internal operation of the circuit
and the control information required for controlling the external bus.
3.5.10 OSCILLATOR:
It generates the basic timing clock signal required for the operation of the circuit using a
crystal oscillator connected externally.
3.5.11 EPROM AND PROGRAM ADDRESS REGISTER:
These blocks provide on chip EPROM and a mechanism to internally address the EPROM.
3.5.12 RAM AND RAM ADDRESS REGISTER:
They provide 128 bytes of RAM and a mechanism to internally address the RAM
3.6 PIN DESCRIPTION OF AT89S52:
3.7 Pin Description
3.7.1VCC (PIN 40)
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Supply voltage.
3.7.2 GND (PIN 20)
Ground.
3.7.3 Port 0 (PIN 32-39)
Port 0 is an 8-bit open drain bidirectional I/O port. As an output port, each pin can sink eight
TTL inputs. When 1s are written to port 0 pins, the pins can be used as high-impedance inputs. Port
0 can also be configured to be the multiplexed low-order address/data bus during accesses to
external program and data memory. In this mode, P0 has internal pull-ups. Port 0 also receives the
code bytes during Flash programming and outputs the code bytes dur-ing program verification.
External pull-ups are required during program verification.
3.7.4 Port 1 (PIN 1-8)
Port 1 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 1 output buffers can
sink/source four TTL inputs. When 1s are written to Port 1 pins, they are pulled high by the inter-
nal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low
will source current (IIL) because of the internal pull-ups. In addition, P1.0 and P1.1 can be
configured to be the timer/counter 2 external count input (P1.0/T2) and the timer/counter 2 trigger
input (P1.1/T2EX), respectively, as shown in the following table. Port 1 also receives the low-order
address bytes during Flash programming and verification.
3.7.5 Port 2 (PIN 21-28)
Port 2 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 2 output buffers can
sink/source four TTL inputs. When 1s are written to Port 2 pins, they are pulled high by the internal
pull-ups and can be used as inputs. As inputs, Port 2 pins that are externally being pulled low will
source current (IIL) because of the internal pull-ups. Port 2 emits the high-order address byte during
fetches from external program memory and during accesses to external data memory that use 16-bit
addresses (MOVX @ DPTR). In this application, Port 2 uses strong internal pull-ups when emitting
1s. During accesses to external data memory that use 8-bit addresses (MOVX @ RI), Port 2 emits
the contents of the P2 Special Function Register. Port 2 also receives the high-order address bits
and some control signals during Flash program-ming and verification. Port Pin Alternate Functions
P1.0 T2 (external count input to Timer/Counter 2), clock-out P1.1 T2EX (Timer/Counter 2
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capture/reload trigger and direction control) P1.5 MOSI (used for In-System Programming) P1.6
MISO (used for In-System Programming) P1.7 SCK (used for In-System Programming)
3.7.6 Port 3 (PIN 10-17)
Port 3 is an 8-bit bidirectional I/O port with internal pull-ups. The Port 3 output buffers can
sink/source four TTL inputs. When 1s are written to Port 3 pins, they are pulled high by the internal
pull-ups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will
source current (IIL) because of the pull-ups. Port 3 receives some control signals for Flash
programming and verification. Port 3 also serves the functions of various special features of the
AT89S52, as shown in the following table.
3.7.7 RST (PIN 9)
Reset input. A high on this pin for two machine cycles while the oscillator is running resets the
device. This pin drives high for 98 oscillator periods after the Watchdog times out. The DISRTO bit
in SFR AUXR (address 8EH) can be used to disable this feature. In the default state of bit DISRTO,
the RESET HIGH out feature is enabled.
3.7.8 ALE/PROG (PIN 30)
Address Latch Enable (ALE) is an output pulse for latching the low byte of the address during
accesses to external memory. This pin is also the program pulse input (PROG) during Flash
programming. In normal operation, ALE is emitted at a constant rate of 1/6 the oscillator frequency
and may be used for external timing or clocking purposes. If desired, ALE operation can be
disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is active only during a MOVX
or MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no
effect if the microcontroller is in external execution mode. Port Pin Alternate Functions P3.0 RXD
(serial input port) P3.1 TXD (serial output port) P3.2 INT0 (external interrupt 0) P3.3 INT1
(external interrupt 1) P3.4 T0 (timer 0 external input) P3.5 T1 (timer 1 external input) P3.6 WR
(external data memory write strobe) P3.7 RD (external data memory read strobe)
3.7.9 PSEN (PIN 29)
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Program Store Enable (PSEN) is the read strobe to external program memory. When the AT89S52
is executing code from external program memory, PSEN is activated twice each machine cycle,
except that two PSEN activations are skipped during each access to exter-nal data memory.
3.7.10 EA/VPP (PIN 31)
External Access Enable. EA must be strapped to GND in order to enable the device to fetch code
from external program memory locations starting at 0000H up to FFFFH. Note, however, that if
lock bit 1 is programmed, EA will be internally latched on reset. EA should be strapped to VCC for
internal program executions. This pin also receives the 12-volt programming enable voltage (VPP)
during Flash programming.
3.7.11 XTAL1 (PIN 19)
Input to the inverting oscillator amplifier and input to the internal clock operating circuit.
3.7.12 XTAL2 (PIN 18)
Output from the inverting oscillator amplifier.
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CHAPTER-4 DESIGN AND IMPLEMENTATION
LIST OF COMPONENTS
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4.1 DESIGN AND IMPLEMENTATION
. Power supply circuit supplies +5V DC to all the passive components like resistors, capacitors,
IC and Microcontrollers.
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MICROCONTROLLER
PORERSUPPLY
4.2. CAPACITORS
(a) INTRODUCTION
Fig4.2:Examples of capacitor package Fig4.3: Electrolytic capacitors
A capacitor or condenser is a passive electronic component consisting of a pair of
conductors separated by a dielectric. When a voltage potential difference exists between the
conductors, an electric field is present in the dielectric. This field stores energy and produces a
mechanical force between the plates. The effect is greatest between wide, flat, parallel, narrowly
separated conductors. Capacitors are widely used in electronic circuits to block the flow of direct
current while allowing alternating current to pass, to filter out interference, to smooth the output
of power supplies, and for many other purposes.
(i)Unpolarised
Unpolarised capacitors don't mind which direction they are charged up from, the potential
difference across them can be in either direction.
Fig 4.4: Unpolarised capacitor
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(ii) Polarised capacitor:
Polarised capacitors have a positive and a negative connection, if connected the wrong way
round they will leak and often go pop! While not a huge disaster, it does make a mess you will
have to clear up and the fluids inside them can be quite nasty so be careful when using them.
Fig 4.5: polarised capacitor
(iv) Capacitors in Parallel
Fig 4.7- Capacitors in Parallel
When capacitors are connected in parallel (fig 4) their combined capacitance is equal to the
individual capacitance added together. For eg: if capacitors C1 and C2 are connected in series
their combined resistance, C is given by:
C=C1+C2
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(v) Capacitors in Series
Fig 4.8: Capacitors in series
When capacitors are connected in series (figure 5) their combined resistance is less than any of
the individual capacitances. There is a special equation for the combined capacitance of two
capacitors C1 and C2:
C = (C1×C2)/(C1+C2)
4.1.4. RESISTORS
Fig 4.10: Resistors
Type : passive
Electronic symbol : (Europe)
(US)
25
A resistor is a two-terminal electronic component that produces a voltage across its
terminals that is proportional to the electric current through it in accordance with Ohm's law:
V = IR
Resistors are elements of electrical networks and electronic circuits. The primary
characteristics of a resistor are the resistance, the tolerance, maximum working voltage and the
power rating. Other characteristics include temperature coefficient, noise, and inductance.
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CHAPTER-5
POWER SUPPLY
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POWER SUPPLY
5.1 1N4007:
5.1.1 FEATURES:
Low forward voltage drop
High surge current capability
5.1.2 ABSOLUTE MAXIMUM RATINGS:
S Symbol Parameter Value Unit
IO Average Rectified Current 0.375” lead length
@ TA=750C
1.0 A
If(surge) Peak forward surge current
8.3ms single half-sine-wave
Superimposed on rated load
30 A
PD Total Device Dissipation
Derate above 250C
2.5
20
W
mW/°C
RөJA Thermal Resistance, Junction to Ambient 50 ° C/W
Tstg Storage Temperature Range -55 to +175 °C
TJ Operating Junction Temperature -55 to +150 °C
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5.1.3 ELECTRICAL CHARACTERISTICS:
Parameter 1N4007 Units
Peak repetitive reverse voltage 1000 V
Max. RMS Voltage 700 V
DC Reverse Voltage(Rated VR) 1000 V
Max. Forward @ 1.0A 1.1 V
Max. Reverse Current @ rated VR TA=250C
TA=1000C
5.0
500
µA
Max. Full Load Reverse Current,
Full cycle TA=750C
30 µA
Typical Junction Capacitance VR=4.0V,f=1.0MHz 15 Pf
5.1.4 TYPICAL CHARACTERISTICS:
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5.2 3-TERMINAL 500mA VOLTAGE REGULATOR:(KA7805, KA7812)
5.2.1 FEATURES:
Output current of 500mA
Output Voltages of 5V,12V
Thermal overload protection
Short circuit protection
Output transistor Safe Operating Area Protection
5.2.2 DESCRIPTION:
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The 3-Terminal Regulator is available in TO-220/D-PAK package and with several fixed output
voltages, making them useful in a wide range of applications. Each type employs internal current
limiting, thermal shutdown and safe operating area protection, making it essentially indestructible.
If adequate heat sinking is provided, they can deliver 1A output current. Although it is designed as
a fixed voltage regulator primarily, the device can be used with external components to obtain
adjustable voltages and currents.
5.2.3. INTERNAL BLOCK DIAGRAM:
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SERIES PASSELEMENT
CurrentGenerator
SOA protection
Starting circuit
Reference voltage
Error Amplifier
Thermal protection
Input Output
Gnd
5.2.4 ABSOLUTE MAXIMUM RATINGS:
PARAMETER SYMBOL VALUE UNIT
Input voltage (for V0=5V,12V) I 5
Thermal resistance junction- Cases (T0-220) JC C/W
Thermal resistance junction- Air (T0-220) JA 5 C/W
Operating Temperature Range OPR ~ + 125 C
Storage TemperatureRange STG 55 ~ +125 C
5.2.5 ELECTRICAL CHARACTERISTICS OF 7805 REGULATOR:
Parameter Y Symbol C Conditions
. Min
T yp. Max. U Unit
Output voltage V 0 T J=+250C 4. 8 5. 0 5. 2 V
5mA≤I0≤1A,
P 0≤15W,V1=7V to 20V
4. 75 5. 0 5. 25
L Line Regulation R Regline T J =250CV0=7V to 25V- 4. 0 1 00
mVV I=8V to 12V
2
- 1. 6 50
L Load Regulation Regload T J=250C I0 =5mA to
1.5mA
- 9 1 00
MV
I0=250mA t
o 750mA
- 4 5 0
Quiescent Current Q T J=+250C - 5. 0 8. 0 MA
QuiescentCurrent
Change
Δ IQ D =5mA to 1A - 0. 03 0. 5 Ma
V I=7V to 25V - 0. 3 1. 3
O Output voltage drift Δ VO/δT I 0=5Ma - - 0.8 - MV/°C
O Output noise voltage V N F NO=10Hz to 10kHz - 4 2 - µ V/V0
R Ripple Rejection R R F R=120Hz 6 2 7 3 - D B
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V 0=8V to 18V
Dropout voltage VDrop I 0=1A,TJ=+25°C - 2 - V
Short Circuit Current ISC V I=35V,TA=25°C - 2 30 - M A
Peak current I PK T J=25°C - 2. 2 - A
5.2.6 ELECTRICAL CHARACTERISTICS OF 7812 REGULATOR:
Parameter Symbol Conditions Min. T Typ. Max Unit
Output voltage V0 T J=+25°C 11.5 1 2.0 12.5 V
5mA≤I0≤1A,
P 0≤15W,V1=7V to 20V
11.4 1 2.0 12.6
Line Regulation Regline TJ=25°CVO=14.5V
to 30V
- 10.0 2 40
MV
V I=16V
o2V
- 3 .0 120
Load Regulation Regload TJ=25°C
I0=5mA
to 1. 5mA
- 11 240
MV
I 0=250mA
to 750mA
- 5. 0 120
Quiescent Current I 0 TJ=+25°C - 5 .1 8 .0 mA
Quiescent Current Change δIQ I0=5mA to 1A - 0. 1 0. 5 mA
V I=14.5V to 30V - 0 . 5 1. 0
Output voltage drift δV0/δT I0=5mA - -1 - mV/°C
Output noise voltage VN F=10Hz to 10kHz - 7 6 - µ V/V0
Ripple Rejection RR F=120Hz
V0=15V to 25V
5 5 71 - DB
Dropout voltage VDrop I0=1A,TJ=+25°C - 2 - V
Short Circuit Current ISC VI=35V,TA=25°C ← 2 30 - mA
Peak current IPK T J=25°C - 2.2 - A
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5.2.7 TYPICAL PERFORMANCE CHARACTERISTICS:
fig. peak output current
Fig: output voltage
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5.3 BC 547 TRANSISTOR:
5.3.1 GENERAL DIAGRAM:
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Collector 1
Base 2
3Emitter
5.3.2 MAXIMUM RATINGS:
Rating Symbol BC547 Unit
Collector-Emitter voltage VCE0 45 Vdc
Collector-Base voltage VCB0 50 Vdc
Emitter-Base voltage VEB0 6.0 Vdc
Collector current continuous Ic 100 MAdc
Total device Dissipation @TA=25°C
Derate above 25°C
PD 625
50
mW
mW/°C
5.3.3 THERMAL CHARACTERISTICS:
Characteristics Symbol Max. Unit
Thermal resistance, junction to ambient R_JA
2 00 °C/W
Thermal resistance, junction to case R_JC 8 3.3 ° C/W
5.3.4 ELECTRICAL CHARACTERISTICS:
1. OFF CHARACTERISTICS:
Characteristic Symbol Min. Typ. Max. Unit
Collector-emitter breakdown voltage
( IC=1.0mA,IB=0)
V(BR)CE0 45 - - V
Collector-base breakdown voltage
( IC=100µA dc)
V(BR)CB0 50 - - V
Emitter-base breakdown voltage
( IE=10µA,IC=0)
V(BR)EB0 6.0 - - V
Collector cutoff current
(VCE=50V,VBE=0)
(VCE=30V,TA=125°C)
ICES -
-
0.2
-
15
4.0
nA
µA
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2. ON CHARACTERISTICS:
Characteristic Symbol Min. Typ. Max. Unit
D current gain
( IC=2.0mA,VCE=5.0V)
hFE 1 10 - 800 -
Collector-emitter saturation voltage
( IC=10mA,IB=0.5mA)
( IC=100mA,IB=5.0mA)
( IC=10mA)
VCE(sat)
-
-
-
0.09
0.2
0.3
0.25
0.6
0.6
V
Base-emitter On voltage
( IC=2.0mA,VCE=5.0V)
( IC=10mA,VCE=5.0V)
IBE(on)
0.55
-
-
-
0.7
0.77
V
Base-emitter saturation voltage VBE(sat)- 0 0.7- V
3. SMALL CHARACTERISTICS:
Characteristic Symbol Min. Typ. Max. Unit
Current gain Band Width Product
( IC=10mA,VCE=5.0,f=100Mhz)
fT 150 300 - MHz
Output capacitance
(VEB=0.5V,IC=0,f=1.0Mhz)
Cobo - 1. 7 4.5 pF
Input capacitance
(VEB=0.5V,IC=0,f=1.0Mhz)
Cibo - 10 - pF
Small signal current gain
( IC=2.0mA,VCE=5.0V,f=1.0khz)
Hfe 125- 900-
Noise Figure
(IC=0.2mA,VCE=5.0V,Rs=2KΩ,
F =1.0khz,δf=200hz)
NF - 2 .0 10 dB
37
5.4 POWER SUPPLY
5.4.1 OPERATION:
. The input voltage to the diodes 1 and 2 is supplied from a transformer and is equal to the peak
AC voltage of the secondary winding of the transformer as shown in graph 1.
. The circuit consisting of the combination of the two diodes is called full wave rectifier and the
output of this is graph 2 which contains high ripple.
. These diodes combined with a capacitor are known as full wave rectifier with a capacitor.
. This capacitor is known as filtering capacitor improves the output of the rectifier considerably and
the output of this stage is shown in graph 3.
. The efficiency of this rectifier is 81.2%.
. The resistor is used to limit the voltage and current those are supplied to the regulator in order to
avoid the regulator from getting damaged.
. The diode 3 is used to protect the diodes 1 and 2 from the back current discharged by the
capacitor.
38
VIN (ac)
VIN (ac)
Vout (dc)1 2 3
Regulator|||||||
2|||||||
3|||||||
4
. The output at this point is not completely regulated since there is still some amount of ripple
present in the rectified voltage.
. Therefore a regulator is used to ensure low voltage ripple and excellent load and line voltage
regulation.
. The graph 4 gives the output of the regulator and this voltage is 99.9% regulated.
. The resistor after the regulator is used to limit the current supplied to the LED.
.When the voltage supplied is greater than 3.8V, the LED will glow.
. The regulated DC voltage output is taken across the capacitor and is further supplied to other
applications.
5.4.2 OUTPUT AT DIFFERENT STAGES OF THE POWER SUPPLY:
39
Voltage
T
T
T
T
1
2
3
4
CHAPTER-6
KEIL µVISION3
SOFTWARE
40
6. KEIL µVISION3 SOFTWARE
6.1 µVISION3 OVERVIEW :
The µVision3 IDE is a windows based software development platform that combines a
robust editor, project manager, and integrated make facility. µVision3 integrates all tools
including the C compiler, macro assembler, linker/locator, and HEX file generator. µVision3
helps expedite the development process of our embedded applications by providing the
following:
Full-featured source code editor
Device database for configuring the development tool setting
Project manager for creating and maintaining our projects
Integrated make facility for assembling, compiling, and linking our embedded
applications
Dialogs for all development tool settings
True integrated source level Debugger with high-speed CPU and peripheral simulator
Advanced GDI interface for software debugging in the target hardware and for
connection to Keil ULINK
Flash programming utility for downloading the application program into Flash ROM
Links to development tools manuals, device datasheets and user’s guides
.In the Build Mode, we maintain the project files and generate the
application. In the Debug Mode, we verify our program either with a powerful CPU and
peripheral simulator or with the Keil ULINK USB-JTAG Adapter (or other AGDI drivers) that
connect the debugger to the target system. The ULINK allows us also to download our
application into Flash ROM of our target system.
41
6.2 FEATURES and BENEFITS:
Feature Benefit
The µVision3 Simulator is the only
Debugger that completely simulates all
on-chip peripherals.
Write and test the application code before production
hardware is available. Investigate different hardware
configurations to optimize the hardware design.
Simulation capabilities may be expanded
using the Advanced Simulation Interface
(AGSI).
Sophisticated systems can be accurately simulated
by adding our own peripheral drivers.
The Code Coverage feature of the
µVision3 Simulator provides analysis of
our program’s execution.
Safety-critical systems can be thoroughly tested and
validated. Execution analysis reports can be viewed
and printed for certification requirements.
The µVision3 Device Database
automatically configures the
development tools for the target micro
controller.
Mistakes in tool settings are practically eliminated
and tool configuration time is minimized.
The µVision3 IDE integrates additional
third-party tools like VCS, CASE, and
FLASH/Device Programming.
Quickly access development tools and third-party
tools. All configuration details are saved in the
µVision3 project.
Identical Target Debugger and Simulator
User Interface.
Shortens our learning curve.
µVision3 incorporates project manager,
editor, and debugger in a single
environment.
Accelerates application development. While editing,
we may configure debugger features. While
debugging, we may make source code modifications.
42
6.3 ENVIRONMENT:
The µVision3 screen provides us with a menu bar for command entry, a tool bar where we
can rapidly select command buttons, and windows for source files, dialog boxes, and information
displays. µVision3 lets us simultaneously open and view multiple source files.
µVision3 has two operating modes:
6.3.1 BUILD MODE:
Allows us to translate all the application files and to generate executable programs.
The features of the Build Mode are described under Creating Applications.
6.3.2 DEBUG MODE:
Provides us with a powerful debugger for testing our application. The Debug Mode is
described in Testing Programs.
In both operating modes we may use the source editor of µVision3 to modify our source
code. The Debug mode adds additional windows and stores an own screen layout. The
following picture shows a typical configuration of µVision3 in the Debug Mode.
43
The tabs of the Project Workspace give us access to:
Files and Groups of the project.
CPU Registers during debugging.
Tool and project specific on-line Books.
Text Templates for often used text blocks.
Function in the project for quick editor navigation.
The tabs of the Output Window provides: Build messages and fast error access;
Debug Command input/output console; Find in Files results with quick file access.
The Memory Window gives access to the memory areas in display various formats.
The Watch and Call Stack Window allows us to review and modify program variables and
displays the current function call tree.
The Workspace is used for the file editing, disassembly output, and other debug
information.
44
The Peripheral Dialogs help us to review the status of the on-chip peripherals in the
microcontroller.
6.4 SOFTWARE DEVELOPMENT LIFE CYCLE:
When you use the Keil µVision3, the project development cycle is
roughly the same as it is for any other software development project.
1. Create a project, select the target chip from the device database, and configure the tool
settings.
2. Create source files in C or assembly.
3. Build our application with the project manager.
4. Correct errors in source files.
5. Test the linked application.
The following block diagram illustrates the complete µVision3 software development cycle.
Each component is described below.
45
6.4.1 µVISION3 IDE:
The µVision3 IDE combines project management, a rich-featured editor with interactive
error correction, option setup, make facility, and on-line help. Use µVision3 to create our source
files and organize them into a project that defines our target application. µVision3 automatically
46
C Compiler
Macro Assembler
Library Manager
CLibrary
User Library
Library/ Locator
CPU and peripheral interfacing
Keil ULINK JTAG Adapter
AGDI Target Interface
Third party Emulator
µVision3 IDE with editor and make
µVision3 Debugger
compiles, assembles, and links our embedded application and provides a single focal point for
our development efforts.
6.4.2 C COMPILER & MACRO ASSEMBLER:
Source files are created by the µVision3 IDE and are passed to the C or EC++ Compiler
or Macro Assembler. The compiler and assembler process source files and create re-locatable
object files.
6.4.3 LIBRARY MANAGER:
The library manager allows us to create object library from the object files created by the
compiler and assembler. Libraries are specially formatted, ordered program collections of object
modules that may be used by the linker at a later time. When the linker processes a library, only
those object modules in the library that are necessary to create the program are used.
6.4.4 LINKER/LOCATOR:
The Linker/Locator creates an executable program file using the object modules extracted
from libraries and those created by the compiler and assembler. An executable program file (also
called absolute object module) contains no re-locatable code or data. All code and data reside at
fixed memory locations. This executable program file may be used:
To program an Flash ROM or other memory devices,
With the µVision3 Debugger for simulation and target debugging,
With an in-circuit emulator for the program testing.
6.4.5 µVISION3 DEBUGGER:
The µVision3 symbolic, source-level debugger is ideally suited for fast, reliable program
debugging. The debugger includes a high-speed simulator that let us simulate a microcontroller
system including on-chip peripherals and external hardware. The attributes of the chip you use
are automatically configured when we select the device from the Device Database.
47
The µVision3 Debugger provides several ways for us to test our programs on real target
hardware. Use the Keil ULINK USB-JTAG adapter for Flash downloading and software
test of our program via on-chip debugging system like the Embedded ICE macro cell that
is integrated in many ARM devices.
Use the AGDI interface to attach use the µVision3 Debugger front end with our target
system using other debuggers like Monitor, In-System Debugger, or Emulator.
6.5 USER INTERFACE:
The µVision3 User Interface consists of menus, toolbar buttons, keyboard shortcuts,
dialog boxes, and windows that you use as you interact with and manage the various aspects of
your embedded project.
The menu bar provides menus for editor operations, project maintenance, development
tool option settings, program debugging, external tool control, window selection and
manipulation, and on-line help.
The toolbar buttons allow you to rapidly execute µVision3 commands. A Status Bar
provides editor and debugger information. The various toolbars and the status bar can be
enabled or disabled from the View Menu commands.
Keyboard shortcuts offer quick access to µVision3 commands and may be configured via
the menu command Edit-Configuration-Shortcut key.
The following sections list the µVision3 commands that can be reached by menu
commands, toolbar buttons, and keyboard shortcuts. The µVision3 commands are grouped
mainly based on the appearance in the menu bar:
File Menu and File Commands
Edit Menu and Edit Commands
View Menu
Project Menu and Project Commands
Debug Menu and Debug Commands
Peripherals Menu
48
6.5.1. FILE MENU AND COMMANDS:
File Menu
Tool
bar
Short
cut Description
New... Ctrl+N Create a new source or text file
Open Ctrl+O Open an existing file
Close Close the active file
Save Ctrl+S Save the active file
Save as... Save and rename the active file
Save All Save all open source and text files including project
and the active file
Device Database Maintain the µVision3 device database
License
Management
Maintain and review the installed software
components
Print Setup... Setup the printer
Print Ctrl+P Print the active file
Print Preview Display pages in print view
1 .. 10 Open the most recent used source or text files
Exit Quit µVision3 and prompt for saving files
6.5.2 PERIPHERALS MENU:
49
Menu Item
Reset CPU
Sets CPU to reset state.
Interrupts
Opens dialog for the interrupt controller.
I/O Ports
Opens dialogs for the on-chip I/O Ports.
Serial
Opens dialogs for the on-chip Serial Port.
Timer
Opens dialogs for the on-chip Timers/Counters.
Watchdog
Opens dialogs for the on-chip Watchdog Timer.
A/D Converter
Opens dialogs for the on-chip Analog to Digital Converter.
D/A Converter
Opens dialogs for the on-chip Digital to Analog Converter.
I²C Controller
Opens dialogs for the on-chip I²C Controller.
CAN Controller
Opens dialogs for the on-chip CAN Controller.
6.6 CREATING APPLICATIONS:
50
Create a Project: explains the steps required to setup a simple application and to
generate HEX output.
Project Target and File Groups: shows how to create application variants and
organized the files that belong to a project.
Tips and Tricks: provides information about the advanced features of the
µVision3 Project Manager.
6.6.1 CREATE A PROJECT:
µVision3 includes a project manager which makes it easy to design applications for an
ARM based microcontroller. We need to perform the following steps to create a new project:
Create Project file and Select CPU
Project Workspace-Books
Create New Source Files
Add Source Files to the Project
Create Files Groups
Set tool Options for Target Hardware
Configure the CPU Start-up Code
Build Project and Generate Application Program Code
Create a HEX File for PROM Programming
6.6.2 Description:
Create Project file and Select CPU:
To create a new project file, go to the µVision3 menu and select Project — New —
µVision Project. The Create New Project dialog asks us for the new project file name. At this
time navigate to the folder where our new project will reside. It's a good idea to use a separate
folder for each project. Use the icon Create New Folder in this dialog to create a new empty
folder. Select this folder and enter the file name for the new project, i.e. Project1. µVision3
51
creates a new project file with the name PROJECT1.UV2 which contains a default target and file
group name. We can see these names in the Project Workspace — Files.
Select Microcontroller from Device Database:
When we create a new project µVision3 asks us to select a CPU for our project. The
Select Device dialog box shows the µVision3 device database. Just select the microcontroller
you use. For the example in this chapter we are using the Philips LPC2106 controller. This
selection sets necessary tool options for the LPC2106 device and simplifies the tool
configuration.
Copy and Add the CPU Start-up Code:
An embedded program requires CPU initialization code that needs to match the
configuration of our hardware design. This Start-up Code depends also on the tool chain that we
are using. Since we might need to modify that file to match our target hardware, the file should
be copied to our project folder.
For most devices, µVision3 asks us to copy the CPU specific Start-up Code to your
project. This is required on almost all projects (exceptions are library projects and add-on
52
projects). The Start-up Code performs configuration of the microcontroller device and
initialization of the compiler run-time system.
Therefore we should answer with YES to this question.
Add Source Files to Project:
Once we have created our source file we can add this file to our project. µVision3 offers several
ways to add source files to a project. For example, we can select the file group in the Project
Workspace — Files page and click with the right mouse key to open a local menu. The option
Add Files opens the standard files dialog. Select the file MAIN.C we have just created.
Setting Tool Options:
µVision3 lets us set options for your target hardware. The dialog Options for Target opens
via the toolbar icon or via the Project — Options for Target menu item. In the Target tab you
specify all relevant parameters of your target hardware and the on-chip components of the device
we have selected. The following dialog shows the settings for our example.
53
Configure Start-up Code:
The CPU Start-up Code (on most ARM targets the file name is Startup.S) may be open
from the Project Workspace — Files Tab. Most start-up files have embedded comments for the
µVision3 Configure Wizard which provides menu driven selections.
54
The default settings of the Start-up Code give a good starting point on most single chip
applications. However you need to adapt the configuration for your target hardware. CPU/PLL
clock and BUS system is target specific and cannot be automatically configured. Some devices
provide options to enable or disable on-chip components (for example on-chip xdata RAM on
8051 variants).We must ensure that the settings in the start-up file match the other settings in
your project. The button Edit as Text opens the Start-up Code in a standard editor window and
allows us to review the source code of this file.
Build a Project:
Typically, the tool settings under Options — Target are all we need to start a new application.
We may translate all source files and link the application by clicking on the Build Target toolbar
button.
55
When we build an application, µVision3 displays errors, warnings, and any other messages in the
Output Window — Build page. Double-click on a message to open the corresponding source
file.
After building the project, may:
Modify existing source code or add new source files to the project. The Build Target
toolbar button translates only modified or new source files and generates the executable
file. µVision3 maintains a file dependency list and knows all include files used within a
source file. Even the tool options are saved in the file dependency list, so that µVision3
rebuilds files only when needed. With the Rebuild Target command, all source files are
translated, regardless of modifications.
Test Programs with µVision3 Debugger: The µVision3 Debugger offers two operating
modes: simulator that allows you to verify your application on our PC, or Target
Debugging with an Evaluation Board or our hardware platform
Program your application into Flash ROM. µVision3 integrates command-line driven
Flash Utilities or can use the ULINK USB-JTAG Adapter for Flash programming. We
may need to create a HEX file to use Flash programming utilities.
Create HEX File:
Once we have successfully generated our application we can start debugging. After we have
tested our application, it is required to create an Intel HEX file to download the software into an
EPROM programmer or simulator. µVision3 creates HEX files with each build process when
Create HEX file under Options for Target — Output is enabled. The FLASH Fill Byte, Start and
End values direct the OH166 utility to generate a sorted HEX files; sorted files are required for
some Flash programming utilities.
56
We may start our PROM programming utility after the make process when us specify the
program under the option User — Run User Program #1 as explained under Start ExternalTools
6.7 PROJECT TARGETS AND FILE GROUPS:
By using different Project Targets µVision3 lets us create several programs from a
single project. We may need one target for testing and another target for a release version of your
application. Each target allows individual tool settings within the same project file. Files Groups
let us group associated files together in a project. This is useful for grouping files into functional
blocks or for identifying engineers in our software team. We have already used file groups in our
example to separate the CPU related files from other source files. With these techniques it is
easily possible to maintain complex projects with several 100 files in µVision3.
The dialog Project-Components, Environment, Books…-Project Components allows us
to create project targets and file groups. We have already used this dialog to add system
configuration files in a file group. An example project structure is shown below.
57
The Project Workspace shows all groups and the related files. Files are built and linked in the
same order as shown in this window. You can move file positions with Drag & Drop. We may
select a target or group name and Click to rename it. The local menu opens with a right mouse
Click and allows you for each item:
to set tool options
to remove the item
to add files to a group
to open the file.
In the build toolbar you can quickly change the current project target to build.
6.7.1 TIPS AND TRICKS:
The following section discusses advanced techniques we may use with the µVision3 Project
Manager.
58
Start External Tools after Build Process shows how to execute programs after a
successful build command which is useful for post-processing as required for symbol
information by some emulators or programmers.
Specify a Separate Folder for Listing and Object Files lets us direct the object and
listing files of your project to specific folders.
Use a CPU that is not in the µVision Device Database explains how to define new
Devices that can be selected from the Device Database™.
Create a Library File gives us the tool setup that is required for creating library files.
File Extensions allows us to set the file extension for the various file types of a project.
Import Project Files from µVision Version 1 explains you how to import existing
µVision Version 1 *.PRJ files.
Version and Serial Number Information allows you to view project specific tool
version information.
File and Group Specific Options are set via Options for ... in context menu that opens via a
right mouse click on an item in the Project Workspace.
Options for ... provides the following configuration options:
Properties Dialog allows us to set file and group specific options.
Include Always specific Library Modules specify library modules that should be always
included in a project.
Use a Custom Translator shows how to pre-process files with a custom specific
translator.
59
Different Compiler and Assembler Settings allows us to change tool options for a file
group or even a single file.
6.8 DEBUG FUNCTIONS:
We use Debug Functions to:
Extend the capabilities of the µVision3 Debugger.
Generate external interrupts,
Log memory contents to a file,
Update analog input values periodically,
Input serial data to an on-chip serial port,
6.9 SIMULATION:
The µVision3 Debugger incorporates a C script language you can use to create Signal
Functions. Signal functions let us simulate analog and digital input to the microcontroller. Signal
functions run in the background while µVision3 simulates our target program.
The µVision3 simulator simulates the timing and logical behaviour of serial
communication protocols like UART, I²C, SPI, and CAN. But µVision3 does not simulate the
I/O port toggling of the physical communication pins on the I/O port.To provide fast simulation
speed and optimum access to communication peripherals, the logic behaviour of communication
peripherals is reflected in virtual registers that are listed with the DIR VTREG command. This
has the benefit that we can easily write debug functions that stimulate complex peripherals.
60
CHAPTER-7CODE
61
CODE
11.1 CODE FOR THE TRANSMITTER:
$MOD51
ORG 00H
MOV P1,#0FFH
MOV P2,#00H
MOV P3,#0FFH
MOV P0,#00H
BACK:MOV A,P1
MOV P0,A
JNB P3^0,L1
JNB P3^1,L2
JNB P3^2,L3
JNB P3^3,L4
JNB P3^4,L5
JNB P3^5,L6
JNB P3^6,L7
JNB P3^7,L8
SJMP BACK
L1:MOV P2,#10H
SJMP BACK
L2:MOV P2,#20H
SJMP BACK
L3:MOV P2,#30H
SJMP BACK
62
L4:MOV P2,#40H
SJMP BACK
L5:MOV P2,#50H
SJMP BACK
L6:MOV P2,#60H
SJMP BACK
L7:MOV P2,#70H
SJMP BACK
L8:MOV P2,#80H
SJMP BACK
END
LCD code
63
CHAPTER-8TESTING
64
TESTING THE CIRCUIT
8.1 BASIC TESTS:
It is essential to conduct certain preliminary tests prior to testing the software to prevent the damage
of the electronic components.
8.1.1 CHECKING THE POWER SUPPLY:
The power supply circuit is expected to produce a constant dc power supply of 5V (or 12V).The
magnitude of the dc voltage given by the circuit depends upon the voltage regulator used.
To test the circuit, a 9-0-9 step down transformer (12-0-12V) is used. The primary is connected
to 230V AC and the secondary is connected to the full wave rectifier part of the circuit. Upon
switching on of the mains, the LED must glow and the voltage across the output terminals must
show 5V (or 12V).
8.1.2 CHECKING THE ICs:
The pins of various ICs used are to be checked properly for their default status in order to ensure
smooth functioning.
The power supply is connected to the chips and voltages across corresponding pins are
checked using a digital multimeter.By default, the input ports of the microcontroller are configured
to 1 and the output ports are configured to 0.
When the microcontrollers haven’t been connected, the address and data pins of the
encoder and decoders default to 0.
8.1.3 CHECKING THE WORKING OF APPLICATION DEVICES:
65
After all the previously mentioned tests have been successful and the code has been
developed, the application specific codes are dumped into the transmitter and receiver
microcontrollers respectively.
The power supply is switched on and the application is tested for several test cases.
8.1.4 TROUBLESHOOTING:
1) If the circuit doesn’t function as expected, check the Vcc and Ground connections. Also
check for short connections if any.
2) While designing the circuit, take into account the specifications of all the components used.
3) Use limiting resistors, capacitors, protection diodes etc wherever possible to avoid damage
of the other components.
4) Check if the code has been dumped in the microcontroller properly or not, by checking the
buffer in the “SUPER-PRO” software.
66
CHAPTER-9CONCLUSION
67
CONCLUSION
In this prototype project we designed in such a way that, with
the help of robot we pick the object from the place and place the object at the
destination. This sort of robot is very much useful in the case of industries like
where the pick and place job is carried on continuously for example in biscuit
company, dairy form etc., this project is also helpful in minimizing the man
power and complete the job automatically and accurately.
13.1 FUTURE SCOPE:
With increased complexity, this device can be successfully used in any environment where
automation is desired. With the future production scheme already taken into
consideration, operation to return to the origin is no more necessary. Adoption
of the completely absolute system for all models enables quick return for
production. There robots are now indispensable at the production site for higher
speed production and reduction of loss time. As these models have a very rigid
frame and highly accurate positioning function, they can cope with higher level
applications.
68
APPENDIX
69
APPENDIX
BIBLIOGRAPHY
REFERENCE BOOKS:
8051 MICROCONTROLLERS AND EMBEDDED SYSTEMS- MAZIDI & MAZIDI
ADVANCED MICROPROCESSORS AND PERIPHERALS- RAY AND BHURCHANDI
REFERENCE SITES:
www.keil.com
www.wisegeek/microcontroller.com
www.wikipedia.com
www.mytutorialcafe.com
www.avrfreaks.com
www.softpedia.com
www.rfsolutions.co.uk
www.freewebs.com
70
www.tpub.com
www.electronics4u.com
www.ipic.co.jp
www.electronics.howstuffworks.com
www.consumer.phillips.com
www.amazon.co.uk
www.directron.com
www.remotecontroltechnology.com
www.zilog.com
www.atmel.com
71