INTRODUCTION TO MECHATRONICS SYSTEM

AIM:
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 photoresistor, 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 system

APPLICATIONS 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:
4

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:
5

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:

10

11

12

RESULT:
Thus the important feature and basic symbols of pneumatic and hydraulic systems in Mechatronics
system was studied.
13

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 cylinder
2. 3/2 solenoid valve
3. 5/2 single and double solenoid valve
4. FRL unit
5. Relay
6. SPDT Switch
7. Connecting tubes & wires
8. Data Card
PROCEDURE:
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.

14

CIRCUIT DIAGRAM-SPDT SWITCH

RESULT:
Thus the movement of double acting cylinder was carried out using SPDT switch.

15

ELECTRO PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USING

PUSH BUTTON SWITCH
Expt. No.:
Date:
AIM:
To develop a electro-pneumatic circuit for extension and retraction of double acting cylinder
APPARATUS REQUIRED:
1. Double acting cylinder
2. 3/2 solenoid valve
3. 5/2 single and double solenoid valve
4. FRL unit
5. Relay
6. push button Switch
7. Connecting tubes & wires
8. Data Card
PROCEDURE:
1. Provide power supply to the pneumatic trainer from control trainer by interfacing 24+vand-v
2. 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.

16

CIRCUIT DIAGRAM-SPDT SWITCH

RESULT:
Thus the movement of double acting cylinder was carried out using push button switch.
17

PLC CONTROL OF SINGLE ACTING CYLINDERS ON DELAY TIMER

Expt. No.:

Date:

AIM:
To design a circuit to extend and retract the single acting cylinder with the help of delay
timer controlled by PLC.
APPARATUS REQUIRED:
1. Single acting cylinder
2. RS 232 cable
3. Versa pro software
4. 3/2 single solenoid valve
5. FRL unit
6. PLC
7. Connecting wires and tube
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 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.

18

CIRCUIT DIAGRAM:-ON DELAY TIMER:

RESULT:
Thus the actuation of single acting cylinder with ON delay timer was done using PLC.
19

PLC CONTROL OF SINGLE ACTING CYLINDERS OFF DELAY TIMER

Expt. No.:

Date:

AIM:
To design a circuit to extend and retract the single acting cylinder with the help of delay
timer controlled by PLC.
APPARATUS REQUIRED:
1. Single acting cylinder
2. RS 232 cable
3. Versa pro software
4. 3/2 single solenoid valve
5. FRL unit
6. PLC
7. Connecting wires and tube
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 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.

20

CIRCUIT DIAGRAM-OFF DELAY TIMER

RESULT:
Thus the actuation of single acting cylinder with OFF delay timer was done using PLC.

21

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.

22

CIRCUIT DIAGRAM:

Single Acting Cylinder

3/2 Single Solenoid valve

FRL Unit

Compressor

RESULT:
Thus the automation of single acting cylinder is done by using PLC.
23

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.

24

RESULT:
Thus the double acting cylinder using AND logic circuit was operated in Pneumatic Trainer Kit.

25

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.

26

RESULT:
Thus the double acting cylinder using OR logic circuit was operated in Pneumatic Trainer Kit.
27

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 cylinder
2. 3/2 push button spring return DCV
3. 3/2 single pilot valve
4. 5/2 single, double pilot DCV
5. Air service unit
6. 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.

28

CIRCUIT DIAGRAM:

RESULT:
Thus the fluid power is calculated by the air pressure in the pneumatic circuit.

29

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 cylinder
2. 3/2 single solenoid valve
3. Slide valve
4. FRL unit
5. Connecting tubes & wires
PROCEDURE:
1. Provide power supply to electrical controller by interfacing the +ve to ve and ve to -ve
2. 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
cylinder
4. 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 circuit
9. Observe the working of the cylinder.

30

CIRCUIT DIAGRAM-ON TIMER:

RESULT:
Thus the movement of single acting cylinder was carried out using time delay.

31

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 cylinder
2. 3/2 single solenoid valve
3. Slide valve
4. FRL unit
5. Connecting tubes & wires
PROCEDURE:
1. Provide power supply to electrical controller by interfacing the +ve to ve and ve to -ve
2. 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
cylinder
4. 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 circuit
9. Observe the working of the cylinder.

32

Circuit diagram-OFF TIMER

RESULT:
Thus the movement of single acting cylinder was carried out using time delay.
33

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 cylinder
2. RS 232 cable
3. versa pro software
4. 5/2 double solenoid valve
5. FRL unit
6. PLC
7. Connecting wires and tube.
CIRCUIT DIAGRAM

34

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 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 and
executed.
35

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 Computer
2. PNEUMOSIM Software
PROCEDURE:
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.
36

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 Computer
2. HYDROSIM Software
PROCEDURE:
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 components
7. 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.
37

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
38

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.

39

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 pole
40

Nr 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

Step
1
2
3
4

A1
1
0
0
0

Step
A1
1
1
2
0
3
0
4
1
1. Wave scheme

Anticlockwise
A2
0
0
1
0
Anticlockwise
A2
0
1
1
0

B1
0
0
0
1

B2
0
1
0
0

Step
1
2
3
4

A1
1
0
0
0

B1
0
0
1
1

B2
1
1
0
0

Step
1
2
3
4

A1
1
0
0
1

Clockwise
A2
0
0
1
0
Clockwise
A2
0
1
1
0

B1
0
1
0
0

B2
0
0
0
0

B1
1
1
0
0

B2
0
0
1
1

2. 2 phase scheme
3. Half stepping or missed scheme

Wave switching scheme:

Two phase switching scheme:

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
41

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.
42

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 Motor
2. Interface Board
PROCEDURE:
1. Switch ON the micro controller
2. Initialize the starting address
3. Enter the mnemonics code in the microcontroller
4. Reset the microcontroller
5. Execute the program
PROGRAM:

ADDRESS

LABEL

4100
4100

ORG 4100H
START

4103
4105

INSTRUCTION

MOV DPTR,#4500H
MOV R0,#04

J0

MOVX A, @DPTR

4106

PUSH DPH

4108

PUSH DPL

43

OPCODE

410A

MOV DPTR,#FFCOH

410D

MOV R2,#04H

410F

MOV R1,#FFH

4111

DLY1

MOVR3,#FFH

4113

DLY

DJNZ R3,DLY

4115

DJNZ R1,DLY1

4119

MOV @DPTR,A

411A

POP DPL

411C

POP DPH

411E

INC DPTR

411F

DJNC R0,J0

4121

SJMP START

4123

END

4500

TABLE

DB 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.
44

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 Motor
2. Interface Board
PROCEDURE:
1. Switch ON the micro controller
2. Initialize the starting address
3. Enter the mnemonics code in the microcontroller
4. Reset the microcontroller
5. Execute the program
PROGRAM:
ADDRES
S

LABEL

4100

INSTRUCTION

OPCODE

ORG 4100H

4100

START:

MOV R4, #33H

4102

L2:

DPTR, #FORWARD

4105

L1

4108

R4, L2

410A

DELAY

410D

R4, #33H

45

410F

L3:

DTPR, #REVERSE

4112

L1

4115

R4, L3

4117

DELAY

411A

START

411C

L1:

R0, #04H

411E

LOOP:

A, @DPTR

411F

83H

4121

82H

4123

DPTR, #OFFCOH

4126

R2, #04H

4128

L7:

R1, # 05H

412A

L6:

R3 , #OFFH

412C

L4:

R3, L4

412E

R1, L6

4130

R2, l7

4132

@DPTR ,A

4133

82H

46

4135

83H

4137

DPTR

4138

R0, LOOP

413A
413B

DELAY:

R5, #01H

413D

L9:

R2, #05H

413F

L8;

R2, L8

4141

R5, L9

4143

RET

4144

FORWARD DB 09, 05, 06, 0A

:

4148

REVERSE:

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.
47

HYDRAULIC LINEAR ACTUATION TRAINER

Expt. No.:

Date:

AIM:
To study the working of linear actuation system.
APPARATUS REQUIRED:
1. Linear actuation system
5. RS 232 cable
6. Patch chords
CIRCUIT DIAGRAM:

48

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.No

Velocity up
(cm/sec)

Flow
(cm3/sec)

Velocity down
(cm/sec)

Flow
(cm3/sec)

Pressure
(kg/cm2)

Displayed force
in kg

Calculated force
in kg

% of error

FORCE:
Sl.No

49

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.
50