INTRODUCTION

• 1969 -The ‘mechatronics’ word introduced by Tessturo Mori. He was a senior engineer of Japanese
company Yaskawa Electric Corporation.

• 1971 – the company was granted the trademark rights on the word.

• 1971- 80- mostly the servo technology is used in mechatronics

• 1981-90-IT introduced. Microprocessors were embedded in Mechanical system

• 1991 -2000 – Communication technology was added. Remote
operation and robotics were developed .

• 1996 – 1st journal IEEE on mechatronics was released.

• After 2000, finds application in aerospace, defence, bio-mechanics,

automotive electronics, banking(ATM) etc.,
DEFINITI
ON
• Mechatronics is “ the synergistic integration
of mechanics and mechanical engineering,
Electronics, computer technology, and IT to
produce or enhance products and system”
Graphical representation of mechatronics
Elements of mechatronics system
Actuators and
sensors

Signals and
conditioning

Digital logic
systems

Software and data

acquisition systems

Computers and
display devices
 Elements of mechatronics system
• Actuators and sensors
• Actuators – pneumatic & Hydraulic actuator, electromechanical actuators,
electrical motor such as DC motor, AC motor, stepper motor, servo motor & piezo
electric actuators
• Sensors – linear and rotational sensor, acceleration sensor, force, torque and
pressure sensor, temperature sensor, proximity sensors, light sensors
• Signals and conditioning
• Two types: input and output
• Input signal conditioning devices: discrete circuits, amplifiers, analog to
digital(A/D) convertors, Digital to Analog (D/A) convertors.
• Output signal conditioning devices: amplifiers, Digital to Analog (D/A) convertors,
display decoders (DD) convertors, power transistors.
Elements of mechatronics system
• Digital logic systems
• Logic circuits, micro controllers, programmable logic controllers(PLC), sequencing
and timing controls, control algorithm.

• Software and data acquisition systems

• Data logger, computer with plug in boards

• Computers and display devices

• LED, CRT, LCD, digital displays etc.,
 Examples of mechatronics
•systems
NC and CNC machine tools, flexible manufacturing system, Prototyping
& robots
• Photo copiers, laser printers & fax machines
• Automatic washing machines automatic ovens
• Automatic teller machine (ATM)
• Coin counter
• Automatic/digital camera, digital watch
• CT scan system, automatic blood testing equipment
• Automatic sliding door
Advantages of Mechatronics systems
• Cost effective and good quality products
• High degree of flexibility to modify or redesign
• Very good performance characteristics
• Wide area of applications
• Greater productivity in case of manufacturing organization
• Posibility or remote controlling as well as centralized monitoring and
control
• Greater extend of machine utilization
Disadvantages of Mechatronics
systems
• High initial cost
• Multi-disciplinary engineering background required to design and
implementation
• Need of highly trained workers
• Complexity in identification and correction of problem in the system
Syste
m
Measurement system

Liquid level measurement system

Control
systems
• A control system refers to a group of physical
component connected or related in such a
manner as to command direct or regulate
itself or another system.
 Cooling level control system

Steering control system of an automobile

Temperature and blood pressure control
system of human body
TYPES OF CONTROL SYSTEM

•Open loop control system

•Closed loop or feedback control system
 Open loop control system
• Open loop system are systems in which the output of
a system is not used as a variable to control the
system.
 Element of open loop control
systems

Bread toaster (open loop ) control system

 Closed loop control
system
• Closed loop system uses on a feed back loop to control the operation of
the system.
Room heating (Closed loop) control
system
 Open loop system • Closed loop system
• It does not uses feedback • It uses feedback system
• It is less accurate
• It is more accurate
• It is simple in construction
• Presence of non-linearity causes • It is complicated in
malfunctioning construction
• It perform accurately even
• The response is slow because in presence of non-
manual control
linearity
• Easy maintenance because of no
complex electronic circuit • It perform task faster than
• Cost is less open loop
• It is difficult to maintain
and repair
• Cost is more
Automatic tank level control
system
The working of modern automatic washing
machine is
• Step 1 : pre-wash cycle-(Cold water wash)

• Step 2: main wash cycle- (Hot water wash)

• Step 3: rinse cycle- (Number of preset time)

• Step 4: spin cycle- (Drain the water from

clothes)
Block diagram of automatic washing machine
system
Elements of control system for an automatic camera
Concept of mechatronic approach
Emerging area of mechatronics
• Machine vision
• Automation and robotics
• Development of unmanned vehicles
• Design of subsystem for automotive engineering
• Sensing and control system
• Operation and maintenance of CNC machine
• Expert system and artificial intelligence
• Industrial electronics and consumer products
• Medical mechatronics and medical imaging systems
• Micro/nano mechatronics
• Computer integrated manufacturing (CIM) system
 Need for mechatronics
• Dynamic market conditions
• Producing next generation products
• Integration of modern technologies in products
• Variety in product ranges
• Batch production runs
• Change in design perspective
• Product quality and consistency
• Ease of reconfiguration of the process
• Demand for increased flexibility
Classification of
Mechatronics
Working of a four stroke SI
engine
 Elements of control system for an
electronic engine management system
 UNIT II
8085 MICROPROCESSOR
AND
8051 MICROCONTROLLER
 MICROPROCESSOR
• It is a semiconductor component that incorporates the functions of a central
processing unit (CPU) on a single integrated circuit (IC) . i.e., the central
processing unit (CPU) built on a single IC is called microprocessor.
 MICROPROCESSOR
• It is multipurpose, programmable and clock driven,
• Register based electronic device that reads binary instructions from a
storage device called memory,
• Accept binary data as input, process the data according to the instruction
and provides results as output.
Functional Block diagram of
Microprocessor

ALU Register Array

Control

Microprocessor
Functional Block diagram of
Microprocessor
• ALU (Arithmetic and Logic Unit)
• It carries out arithmetic and logic operations on 8 bit word.
• Arithmetic operation – addition, subtraction , multiplication , division etc.,
• Logic operation - AND,OR,EX-OR
• The content of accumulator and temporary register are the input to the ALU.
• ALU output is stored in accumulator
• Register array
• Register is a storage unit within the microprocessor used to store the data,
address of instruction of any program.
• Microprocessor contained 6 general purpose register it has 8- bit memory
• Registers are B,C,D,E,H and L
• To hold 16-bit data a combination of two 8-bit registers can be used.
• The combination of two 8-bit registers is known as Register Pair (BC, DE and HL).
• These Registers are used to store data temporarily during execution of the
program.
• Control Unit
• The timing and control unit acts as the brain of a computer.
• It controls all operations of the CPU.
• It controls input, output and all other devices connected to the CPU.
Evolution of
Microprocessor
• First generation Microprocessor
• 1st Microprocessor, Intel 4004, a 4 bit PMOS Microprocessor introduced in
1971 by the Intel corporation, USA.45 instructions and 2300 transistors
• It has limited memory-simple aplications.
• An enhanced version of Intel 4004 is Intel 4040.
• e.g., Toshiba’s 73472, Rockwell International’s PPS-4 National IMP-4 etc.,
Evolution of
Microprocessor
• Second generation Microprocessor
• In 1972, Intel introduced 8- bit Microprocessor named as Intel 8008, which
also uses PMOS technology.
• But this technology was slow and not compatible with TTL logic
• In 1973, Intel introduced more powerful and fast 8- bit NMOS
Microprocessor called Intel 8080-3 power supplies.
• 1975-Intel 8085 is the improved version of Intel 8080
• Third generation Microprocessor
• In 1978 Intel introduced a 16- bit Microprocessor called Intel 8086.
• Other 16- bit Microprocessor are Intel 80186, Intel 80286, zilog’s z8000,
Motorola’s 68000, 68010 etc.,
• Forth generation Microprocessor
• In 1980-32bit-Iapx432-not popular
• In 1985 Intel introduced a 32- bit Microprocessor called Intel 60386-desktop -
386MP
• Fifth generation Microprocessor
• Intel i860 is a 64 bit RISC microprocessor
Architecture of
8085
• Three main section
• ALU
• Timing and Control unit-
• Set of register
ARCHITECTURE OF 8085
• ALU
• Addition, Subtraction, Logical AND,OR…etc
• Timing and Control Unit
• timing and control signals –execution of instructions
• Controls the entire operation of the microprocessor
• Register
• 1- 8 bit Accumulator….i.e.-register A (ACC)
• 6-8 bit general purpose register (B,C,D,E,H & L)
• 1- 16 bit register –SP(Stack Pointer)
• 1 -16 bit –PC (Program Counter)
• Instruction register
• Temporary register
• Flag register
• Flag register
• Carry flag (CY) – it is set, If carry or borrow occurs during the arithmetic
operation.
• Parity flag (P) – it is set, if the result has even number of it otherwise made 0.
• Auxiliary carry flag (AC) – Binary coded decimal operations (BCD)
• Zero flag (z) – is set if the result becomes 0
• Sign flag (S) – is set if the result becomes –ve, if +ve, it is set to 0
• 2 bit (don’t care )
Pin diagram
 Signals in 8085 IO/M S0 S1
• 6 group of signals
• Power supply and Clock frequency
0 0 1 Memory write
• VCC +5 (WR=0
• VSS-Ground RD=1,INTA=1)
• X1,X2-F=f crystal freq/2=3MHZ
0 1 0 Memory Read
• CLK
(WR=1
• Address bus (A15-A8)-
RD=0,INTA=1)
• Unidirectional
• Data bus (AD7-AD0) 0 1 1 Opcode fetch
• Bi-directional both data and (WR=1
RD=1,INTA=1)
Address bus(Multiplexed)
• Control and Status signals 1 0 1 I/O write(WR=0
• ALE (Address Latch Enable)-Demultiplex RD=1,INTA=1)
Active High
If ALE=1 (AD7-AD0) will act as A7-A0 1 1 0 I/O Read(WR=1
If ALE=0 (AD7-AD0) will act as D7-D0 RD=0,INTA=1)
• RD,WR,IO/M,S0,S1
• IO/M=0 (Memory related operation)
• IO/M=1 (I/O related operation) 1 1 1 INTA (WR=1
• S1,S0-0 1(WR Operation) RD=1,INTA=0)
• 1 0 (RD Operation)
• 1 1 ( Either Opcode fetch or Interrupt Acknowledge)
• Externally initiated signals
• INTR
• INTA(Active low signal )
• TRAP
• RST 7.5,RST6.5,RST 5.5
• READY
• HOLD(Direct Memory Access)
• RESET IN (Active low signal-Internal registers alters randomly (BC,DE…))
• RESET OUT(Outside devices will be reset)
• HLDA (Direct Memory Access)
• Serial I/O Ports
• SID(Only for serial communications—Bit by Bit)
• SOD
ADRESSING MODES IN 8085

• Direct addressing
• Register addressing
• Register indirect addressing
• Immediate addressing
• Implicit addressing
• Direct addressing (Address of the operand is directly specified)

• LDA 5000H (Load accumulator A with the contents of memory location 5000H)- 3
Byte instruction (LDA- Opcode,50- Higher order,00-Lower order)- Memory Address

• STA 3010H (Store the content of the accumulator in the memory location 3010H)
(STA-Opcode, 30- Higher order,10-Lower order)- Memory Address

• IN 80H- 2 Byte Instruction (IN Opcode, 80-Operand)(Port address)

• Register addressing (Register is specified as operand)

• MOV B, D (move the content of register D to register B)- Mostly 1 byte instruction
(Only opcode no operand)
• Register indirect addressing (The content of the register pair is used as address
of the operand)

• LDAX D (DE register address having the data)

• STAX B (BC register address having the data)
• MOV A, M—(memory location-HL register pair) (move the content of the memory
location, whose address is in H-L pair(H-L Pair) to accumulator)
• 1 Byte instruction

• Immediate addressing (Operand itself is given in the instruction)

• MVI A, 57H (Move 57 in register A)-2 byte instruction

• LXI B, 5030 (5030 16 bit data stored in BC register)- 3 byte instruction
• Implicit addressing/Inherent addressing (Particular register is implicitly
specified as operand)

• There are certain instruction which operate the content of the accumulator.
• Such instruction do not require the address of the operand
• CMA (Compliment accumulator)
• RAL (Rotate accumulator left)
• RAR (Rotate accumulator right)
Instruction sets 8085
Instruction format
Opcode, Operand
Based on format
1 Byte instruction MOV A,B -(8 bits) HALT -(8 bits) ----(Only opcode)
2 Byte instruction MOV B, 08H-- MOV B ---(8 bits) 08H-- -(8 bits)
3 Byte instruction STA- -(8 bits) 6020H---(8 bits+8 bits )

Based on Operation
• Data transfer group (Memory to Memory- Data will not be transferred)-
No Flags are affected
• Arithmetic group (Addition, Subtraction…)-All Flags are affected
• Logical group(AND,OR,XOR..)-All Flags are affected
• Branch group (CALL,JUMP)-No Flags are affected
• Stack, I/O and Machine control group (HALT)-No Flags are affected
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
Data transfer group
• MOV Rd, Rs

• The content of Rs is copied to Rd

• MOV M, A,B
• B-58H
• A-58H
• MVI A, 05H (Move Immediate data to register)
• A-05
• LDA 2050H (Load accumulator direct)2050H(S8 Data)---A=S8
• LDAX B(Load accumulator indirect) B—20;C—00(2000 Mem. Location
having 9F- Hence accumulator has got 9F)
• LXI –Load register pair immediate
• LXI B,1506H (B-15;C-06)
• LHLD-Load HL register direct
• LHLD 2055H (H-F8;L-51)------2055-51&2056-F8
• STA (Store accumulator direct)
• STA 2050H
• Accumulator---has F2—This data(F2) will be stored in 2050H address
• STAX(Store accumulator indirect)
• STAX B
• Accumulator---has 82—This data(82) will be stored in 5010H address pair(BC)
• B-50; C-10
 Arithmetic group
• ADD B- Add content of register with accumulator (The result will be store din
accumulator )- All flags will be modified
• ADC D(Add content of register with accumulator with carry flag)(D+A+C= The result
will be store din accumulator )- All flags will be modified---Carry flag is reset
• ADI 05H (Add immediate with accumulator)- All flags will be modified
• ACI 07H(Add immediate accumulator with carry flag) - Carry flag is reset
• DAD D(Add the register pair)D+HL= The result will be store din HL )-Only carry
flag is modified
• SUB B (Subtract content of register with accumulator )-All flags will be modified
• SBB B (Subtract content of register with accumulator with carry flag)(A-B-C= The
result will be stored in accumulator)- All flags will be modified/carry flag is modified
• SUI 05H (Subtract immediate data with accumulator ) The value 05 will be
subtracted- All flags will be modified
• SBI 05H(Subtract immediate accumulator with carry flag, The result will be store din
accumulator )- carry flag is modified
Arithmetic group
• INR B (Increment- Carry flag will not be modified rest of all flags
will be modified)
• INX D (Increment register pair- Stored in DE- No flags are
modified)
• DCR B-Decrement(Carry flag will not be modified rest of all flags
will be modified)
• BCX D-Decrement- No flags are modified
• DAA- Decimal Adjust Accumulator
• Check lower order bits>9 or Auxiliary carry flag is set= It will add 6
• 4B---51
Logical group
CMP B -Compare register or Accumulator(stored in register) (not
stored in accumulator)
B- A<B; A>B; A=B (Flags will be reset/set accordingly)

CPI 08H- Compare register or Accumulator (The result will be stored

in register)

ANA X- Logical AND with accumulator

ANI 52H- AND immediate with accumulator(The result will be stored

in accumulator)

XRA B- XOR content of register with accumulator(The result will be

stored in accumulator) The result will be

XRI 71H- XOR immediate with accumulator (The result will be stored
in accumulator)
ORA H- Logical OR with register/memory
Logical group
XRI 71H Immediate OR with register/memory

RLC Rotate Accumulator Left

0 (Carry Flag) 1011 0101(Accumulator)
1 0110 1011
RRC Rotate Accumulator Right
0 (Carry Flag) 1011 0101(Accumulator)
1 1101 1010

RAL Rotate Accumulator Left with Carry

0 (Carry Flag) 1011 0101(Accumulator)
1 0110 1010

RAR Rotate Accumulator Right with Carry

0 (Carry Flag) 1011 0101(Accumulator)
1 0101 1010
Logical group
CMA – Commpliment the content of Accumulator

CMC –Commpliment carry (Carry flag only modified)

STC – (Set to carry) Set to 1

Branch Instruction group
Jump (Execution sequence)
JMP uncoditional
JMP 5000H--- Memory address 8010
ADD B------------Memory address 8013

JMP-Conditional
JN Jump on carry ( Go to alloted memory location)
JNC Jump on No carry
JZ Jump on Zero (Z=1)
JNZ Jump on No Zero (Z=0)
JP Jump possitive
JM Jump minus
JPE Jump on Even parity
JPO Jump on Odd parity

CALL Unconditional
CALL 7010H
Branch Instruction group
CALL Conditional
CC
CNC
CZ
CNZ
CP
CM
CPE
CPO
RET (Return Instrstruction-Unconditional)

RET Contitional
CC,CNC,CZ ,CNZ,CP,CM,CPE,CPO

RST(Restart)
Machine Control Group
NOP
No Operation
Fetch and decode
No oerations
HLT
Halt
Register content not modified
DI- Disable Interrupt
Critical programs-Disable
EI- Disable Interrupt
Critical programs-Enable
RIM –Read Interrupt Mask
Pheriperal data will be sent to MP
0100 0000
SIM-Set Interrupt Mask
Give instruction to interrupt(from accumulator)
RIM (Read Interrupts Mask)
SIM(Set Interrupts Mask)
Timing diagram of
8085
• Opcode fetch cycle (4T or 6T)
• Memory Read cycle (3T)
• Memory write cycle (3T)
• I/O read cycle (3T)
• I/O write cycle (3T)
• Interrupt acknowledge (6T or 12T)
• Bus idle cycle (2T or 3T)
Timing Diagram
OPCODE FETCH
Memory Read
cycle
Memory write
cycle
I/O read
cycle
I/O write
cycle
□ Fetching the Opcode 06H from the memory 2000H. (OF machine cycle)
□ Read (move) the data 43H from memory2001H. (memory read)
 STA 526AH
STA means Store Accumulator -The contents of the accumulator is stored in the
specified address(526A).
The opcode of the STA instruction is said to be 32H. It is fetched from the memory
41FFH(see fig). - OF machine cycle
Then the lower order memory address is read(6A). - Memory Read Machine Cycle
Read the higher order memory address (52).- Memory Read Machine Cycle
The combination of both the addresses are considered and the content from
accumulator is written in 526A. - Memory Write Machine Cycle
Assume the memor y addr ess for the instr uction and let the content of
accumulator is C7H. So, C7H from accumulator is now stored in 526A.
 IN C0H

□ Read the content of port C0H and send it to the accumulator.

□ Read the port address C0H from 4126H.
□ Fetching the Opcode DBH from the memory 4125H.
□ Let the content of port is 5EH.
Microcontroller

• A Microcontroller is a small computer on a single integrated circuit

containing a processor core, memory and programmable
input/output peripherals.
Features Microcontroller

• 8 bit CPU
• On chip oscillator
• 4Kb of ROM
• 128 bytes of RAM
• 21 special functions register
• 32 I/O lines
• 64 KB address space for external data memory
• 64 KB address space for program memory
• 2 16-bit timer/counter
Block diagram of
8051
 Block diagram of
8051
Program Status word- Current status of the Microcontroller
IR Instruction register
DPTR-Data pointer (All the address)
Program Counter –Next instruction is to be fetched
Buffer-Check the data
Program Additional Register
ROM- Permanent data will be stored
RAM- Both read and write
Stack Register- Details of all Information
SFR-(Special function register)
Port 0,1,2,3-32 Pins
OSC-To generate the Clock
PSEN-(Program Store Enable)-Active low pin-64Kb of external ram-
EA-External Access
Block diagram of
8051
 UNIT
3
PROGRAMMABLE PERIPERAL INTERFACE
Content

• Introduction
• Architecture of 8255
• Keyboard interfacing
• LED display –interfacing
• ADC and DAC interface
• Temperature Control
• Stepper Motor Control
• Traffic Control interface
 Introduction
• To communicate with the outside world, microprocessor use peripherals
(I/O devices)
• Input devices – Keyboards, A/D converters etc.,
• Output devices – CRT, Printers, LEDs etc.,
• Peripherals are connected to the microprocessors through electronic
circuit known as interfacing circuits.
Microprocessors unit with I/O
devices

Input Output
Micro
devices
(keyboard processor devices
) s (LED)
Input Output
peripherals peripherals
• Some of the general purpose interfacing devices
• I/O ports
• Programmable peripherals interface (PPI)
• DMA controllers
• Interrupt controller

• Some of the special purpose interfacing devices

• CRT controller
• Keyboard
• Display
• Floppy Disc controllers
Peripheral interfacing Chips are used
generation of I/O ports
• Programmable peripherals interface Inter 8255 (PPI)
• Programmable Interrupt controller (PIC) Intel 8259
• Programmable communication interface (PCI) Intel 8251
• Keyboard display Controller Intel 8279
• Programmable counter /Inverter timer Intel 8253
• A/D and D/A Converter Interfacing
Advantage
s
• To perform specific functions by giving a control word to the internal
register.
• Control word –instructions informs the peripheral about various
functions to perform.
• Format (CW) specified by the manufacturer.
 Microprocessors unit with I/O
devices

Input
devices Micro Output
PPI 8279
(key 8255 Display
proce device
board) ssors (LED)
Periphera Display
l Interfac
Interface e
Address Space
Partitioning
• The Microprocessors uses 16 bit wide address bus for addressing
memories and I/O devices.
• Using 16 bit wide address bus, it can access 216 = 64k bytes of
memory and I/O devices
• Two schemes for the allocation of addresses to memories
and I/O
devices
• Memory mapped I/O
• I/O mapped I/O
Memory mapped I/O

• It has only one address space

• Address space is defined as the set of all possible addresses that a
microprocessor can generate
• Some addresses assigned to memories and Some addresses to I/O
devices
• Memory locations are assigned with addresses from 8000 to 84FF
• I/O devices are assigned with addresses from 8500 to 85FF
I/O mapped I/O scheme

• In this scheme, addresses assigned to memories locations can also be

assigned to I/O devices
• Since the same address may be assigned to memories locations or an
I/O devices
• The microprocessor has a signal to distinguish whether the address
on the address bus is for memories locations or an I/O devices
I/O mapped I/O scheme

• When signal is high, then address on the address bus is for an I/O
devices
• When signal is low, then address on the address bus is for memory
locations
• Two extra instruction IN and OUT are used to address I/O devices.
• The IN instruction is used to read the data of an input devices.
• The OUT instruction is used to send the data of an input devices.
• This scheme is suitable for a large system.
PROGRAMMABLE PERIPHERALS INTERFACE
INTER 8255 (PPI)
 Operating mode of 8255
CS A1 Ao Result
0 0 0 Port A
0 0 1 Port B
0 1 0 Port C
0 1 1 Control Register
1 X X No Selection
Operating mode of 8255
• Bit Set Reset (BSR) Mode
• I/O Mode
I/O
Mode
• The 8255 has the following 3 modes of operation
• Mode 0 – Simple Input/output
• Mode 1 – Input / Output with the Handshake or strobed
• Mode 2 – Bi-directional I/O
I/O
Mode
Mode 0 – Simple Input/output
• Port A and port B are used as two simple 8-bit I/O port
• Port C as two 4-bit port
• Features
• Outputs are latched
• Inputs are buffered not latched
• Ports do not have handshake or interrupt capability
 I/O
• Mode 1 – Input / Output with the Handshake
Mode
• Input or output data transfer is controlled by handshaking signals.
• Handshaking signals are used to transfer data between devices whose data
transfer speeds are not same.
• Port A and Port B are designed to operate with the Port C.
• When Port A and Port B are programmed in Mode 1, 6 pins of port C is
used for
their control.
 I/O
• D0-D7 data bus
Mode
– bi directional, tri state data bus line
– It is used to transfer data and control word from 8085 to 8255
• RD (Read)
– When this pin is low, the CPU can read data in the port or status word through
the data buffer
• WR (write)
– When this pin is low, the CPU can write data in the port or in the control register
through the data buffer
 I/O
•
Mode
Mode 2 – Bi-directional I/O
• Port A can be programmed to operate as a bidirectional port.
• The mode 2 operation is only for port A
• When port A is programmed in Mode 2, the Port B can be used in either
Mode 1 or Mode 0.
• Mode 2 operation the port a is controlled by PC3 to PC7 of port C.
PIN
DIAGRAM
OF 8255
Traffic Light Control System Using 8085
One at a time
T=10 sec; Yellow will glow
PROGRAMMING and OPERATION of
8255
• Programming in MODE 0
• D7 –set to 1
• D6,D5,D2- all set to 0 –MODE 0
• D4,D3,D1 and D0- determine weather the corresponding ports are to
configured as input or output
 A B GROUP A GROUP B
D4 D3 D1 D0 PORT A PORTC U PORT B PORT C L

0 0 0 0 OUT OUT OUT OUT

0 0 0 1 OUT OUT OUT IP
0 0 1 0 OUT OUT IP OUT
0 0 1 1 OUT OUT IP IP
0 1 0 0 OUT IP OUT OUT
0 1 0 1 OUT IP OUT IP
0 1 1 0 OUT IP IP OUT
0 1 1 1 OUT IP IP IP
1 0 0 0 IP OUT OUT OUT
1 0 0 1 IP OUT OUT IP
1 0 1 0 IP OUT IP OUT
1 0 1 1 IP OUT IP IP
1 1 0 0 IP IP OUT OUT
1 1 0 1 IP IP OUT IP
1 1 1 0 IP IP IP OUT
Programming in MODE
1
• IBF- input buffer full
• INTR- interrupt request
• INTE-interrupt enable

• OBF-output buffer full

• INTR-interrupt request
• INTE-interrupt enable
Programming in MODE
2
Interfacing
cable
Basic Key operation
Keyboard Microprocessor Interface software Flowchart
INTERFACING-
keyboard
LED
Operation
Microprocessor interface to LED (Common
anode)
Microprocessor interface to 7 segment
LED (Parallel)
Microprocessor interface to 7 segment LED
(serial)
Serial interface of
7 segment LED to
Microprocessor
software flowchart
INTERFACE-LED
display
ADC
INTERFACE
BLOCK diagram of ADC
0808
PIN diagram of ADC
0808
DAC
INTERFACE
Pin diagram of
DAC
Pin diagram of
DAC
INTERFACING diagram for
DAC
TEMPERATURE
CONTROL
• Temperature sensor –convert temp to electrical signal by thermistor
• Transducer convert physical data into electrical signal
• Physical data –temp, light, flow, speed etc…
• LM34 & LM35 –temperature sensor by NATIONAL SEMICONDUCTOR
CO-OPERATION
• LM34 • LM35
• Output voltage is linearly • Output voltage is linearly
proportional to Fahrenheit temp proportional to Celsius temp
• No external calibration • No external calibration
• 10mV for each degree of • 10mV for each degree of
Fahrenheit temp Centigrate temp
 STEPPER MOTOR CONTROL
interface
• Digital motor used to translate electrical pulse into mechanical
movement
• Center tap winding connected to 12 V supply
• Motor can be excited by grounding four terminals of the two windings
• ROTOR-Stepper motor has permanent magnet rotor .It is also known as
shaft
• STEP ANGLE-It is minimum degree of rotation associated with a single
step
Stepper Motor Interface
Excitation
Table
Step X1 X2 X3 X4
1 0 1 0 1
2 1 0 0 1
3 1 0 1 0
4 0 1 1 0
1 0 1 0 1
 Traffic Light Control
System
• Allow traffic from W to E and E to W transition for 20 seconds
• Give transition period of 5 seconds (yellow bulbs ON)
• Allow traffic from N to s and S to n for 20 seconds
• Give transition period of 5 seconds (yellow bulbs ON)
• Repeat the process
Traffic Light Control
System
Interfacing diagram for Traffic Light Control
System
 UNIT
4
PROGRAMMABLE LOGIC CONTROLLER
Content

• Introduction
• Basic structure
• Input and output processing
• Programming
• Mnemonics
• Timers, counters and internal relays
• Data handling
• Selection of PLC
PROGRAMMABLE LOGIC
CONTROLLER
• A Programmable Logic Controller(PLC) is a digital computer used for
automation of typically industrial electromechanical processes, such
as control of machinery on factory assembly lines, amusement rides
or light fixtures.
Application
s
• Automated manufacturing process equipment and machinery
• Packaging and filling equipment
• Chemical mixing
• Conveyor systems and distillation etc.,
 Features and specification
• They are rugged and designed to withstand vibration, temperature,
humidity and noise
• The interfacing for inputs and outputs is inside the controller.
• They are easily programmed and have an easily understood
programming language.
• Programming is primarily concerned with logic and switching
operation.
Hardwired motor
circuit
Hardwired motor circuit with
PLC
Basic structure
• PLC is designed as a replacement for the hardwired relay and timer
logic, where PLC provides ease and flexibility of control based on
programming and executive logical instruction.
• The internal functions such as timers, counter and shift registers
making sophisticated control possible using even the smallest PLC.
• PLC capable of performing function such as
• counting,
• logistics,
• numerical application,
• comparing and processing of signals.
• A PLC is divided in to 4 parts. They are
• Input/output module (I/O)
• Central processing Unit (CPU)
• Memory
• Programming unit
i) Input/output module (I/O)
• It is used to transfer the data between external devices and CPU
• It is incorporated into PLC in two ways
I. Fixed I/O – it is a small unit that comes in one piece with processor i.e., the
I/O terminals cannot be changed in fixed I/O
II. Modular I/O – it is packed together i.e., there are several compartment of
I/O module are plugged together.
Central processing Unit (CPU)
• It is consisting of a microprocessor which interrupts the input signal and
carries out the control actions according to the program stored in the
memory, communicating the decision as an action signal to the output.
• It scan the total information package stored in the memory and input and
output devices continuously.
• During the scan the CPU executes instruction based on input data, sends
appropriate output responses to the output devices, updates data
acquisition systems and indicate condition changes
• Scan time for larger unit depends on the size of the memory and
configuration of the system
• Power supply unit is needed to convert the AC voltage to the low DC
voltage necessary for the processor and to supply power to other
circuit in the input and output interface module.
Memory
Unit
• The memory in PLC stores the digital control logic, the process
program and the necessary instruction to operate the system.
• The memory used in PLC are
• Non-volatile memory
• Volatile memory
• According to purpose of usage
• RAM –volatile memory
• ROM- permanent storage
Programming
unit
• It is used to enter the required program into the memory of the
processor
• There are normally 3 approaches followed by the program
• Use of hand held programmer
• Terminal with video display unit
• PC with appropriate software
Architecture
• Buses
• Data buses – it is used for communicating data b/n elements
• Address buses-it is used to read the address of locations for accessing stored
data
• Control buses- it is used for internal control action carried by the CPU
• System buses- it is used for communication b/n Input/output ports and
input/output units
• Memory
• RAM
• ROM
• PROM
• EPROM
• Electrically EPROM
Optoisolator

• Electrical connection from the external world is usually by means of

optoisolator
• When a digital pulses passes through the LED, a pulse of Infrared
radiation is produced.
• This pulses is detected by the phototransistor and gives rise to a
voltage in that circuit.
Optoisolator
Input channel with optoisolator
• Common input voltage is 5V and 24V
• Output voltage is 24V and 240V
• Output are often specified as being of
• Relay type
• Transistor type
• Triac type
Relay type of output

The relay type output is used for both ac and dc switching

Relay are slow to operate
Transistor type output

The transistor type output is used for dc switching

This give faster switching action
Triac type of output

The triac type output is used for switching AC voltages

Programmin
g
• The programming of PLC is based on the ladder diagram.
• Ladder diagram involve writing a program in a similar maner to
drawing a switching circuit.
Switch controlling
Solenoid

Ladder Diagram for

Switch Control

e.g., solenoid valve

open to allow water
to enter a vessel
Temperature Control System
Logic
functions

An AND System

An OR System
 NOT System

NOR System
NAND System

XOR System
Cylinder
Sequencing A+,
B+, A- and B-
List of Mnemonics used for the Mitsubishi f
Series PLC
Mnemonics for Logic
system
Mnemonics for Logic
system
Time
r
Timer circuit programmed to cause an output to go
ON for 0.5s, then OFF for 0.5s, then OFF for 0.5s
and so on

ON-OFF
cycle timer
Internal relay
Counter
Master control relay
JUMP
Instruction
Data
handling
• Data movement
• Data comparison
• Arithmetic operation
• Code conversion
Data Movement
Controlling the speed of motor
 Selection of
PLC definition
• System
• Choosing the I/O hardware
• I/O timing consideration
• Analog I/O module –resolution, voltage level
• Conversion speed
• Analog closed control
• Communication
• Counter, encoders and positioning
• Selecting suppliers
 UNIT
ACTUATORS AND MECHATRONICS SYSTEMS DESIGN

5
CONTE
NT
 Types of stepper and servo motors – construction, working principle
 Design process - Stages in designing mechatronics system
 Traditional and mechatronic design concept
 Possible design solution
 Case studies of mechatronics systems
 Pick and place robot
 Engine management system
 Automatic car park barrier
Stages in designing mechatronics system
Need for design

Analysis of problem

Preparation of specification

Generation of possible solution

Evaluation

Production of detailed design

Production of working drawing

Implementation of design
Traditional
design

A mechanical system

Mechanical Hydraulic Electrical

linkages , drives and motors,
etc., pneumatic switches
actuators etc.,
Mechatronic design

A
mechanical
system

Mechanical Hydraulic Electrical

linkages , and motors,
drives etc., pneumatic switches
actuators etc.,

Electronic
components,
computers & IT
systems
Comparison of traditional and mechatronics
design

Traditional design Mechatronics design

• It is based on a traditional • It is based on mechanical,
systems such as mechanical, electronics, computer
hydraulic and pneumatic technology and control
systems engineering.
• Less flexible • More flexible
• Less accurate • More accurate
• More complicate mechanism in • Less complicate mechanism in
design design
• It involve more components • It involve fewer components
and moving parts and moving parts
Possible design
solution
• Timer switch
• Windscreen wiper motion
• Weighing scales
Timer
switch
Possible solution for timer
switch
Windscreen wiper motion
Possible solution for Windscreen wiper
motion
Weighing
scales

Weighing Scales Weighing Scales mechanism

Wheatstone bridge arrangement with ADC
Wheatstone bridge with microcontroller
Case studies

• Pick and place robot

• Autonomous mobile robot
• Wireless surveillance balloon
• Engine management system
• Automatic car park barrier
Pick and place
robot
Gripper mechanism of a robot
Microcontroller circuit for pick and place robot
Autonomous mobile robot
Elements of autonomous mobile robot
Wireless surveillance
balloon
Applications of wireless surveillance
Ballon
• Border security (TARS) in military
• Enhancing battle field situational awareness
• Coastal surveillance
• Platform for mounting telecommunication, television, radio
transmitters etc.,
• Aerial platform for scientific instrument testing
Engine Management
System
 Basic components
• Electronic control unit
• Fuel delivery system
• Ignition system
• Various sensors
• Throttle position sensors
• Exhaust gas oxygen sensors
• Manifold absolute pressure sensors
• Temperature sensors
• Engine speed/Timing sensors
• Exhaust gas regulation sensors
• Mass sir flow sensors
Interfacing of sensors with controller in Automatic car park barrier