MCT4159 Lab 3 Manual

KULLIYYAH OF ENGINEERING
DEPARTMENT OF MECHATRONICS ENGINEERING
SEMESTER I 2011/2012
Laboratory Manual
MECHATRONICS
ENGINEERING LAB III
(MCT 4159)
(DSD-MicroprocessorsRobotics)
Mechatronics Engineering Lab III Manual
Rev 1.0 04/08/11
LABORATORY EXPERIMENTS
All experiments except the laboratory project do not require a final
laboratory report.
Data Sheet
(1) Original data sheet. This original data sheet should approved by
instructor(s) during experiment day. If it is a printed from a system
then the original print needs to be approved and signed by the
instructor, else please use the format contain in Appendix B for data
sheet. Make sure the data sheets are approved and signed BEFORE
the end of the laboratory session, marks will be deducted if the data
sheets is not approved and signed prior to end of the laboratory
session.
(2) Calibration curves of instruments which were used in the
performance of the experiment. Include manufacturer of the
instrument, model and serial numbers. Calibration curves will
usually be supplied by the instructor.
(3) Bibliography listing all references used.
PROJECT REPORTS: AN OVERVIEW
All experiments except the laboratory project do not require a final
laboratory report.
The reports MUST BE TYPED and COMPUTER PRINTED and in
the following specification:
Font Type: Times New Roman
Font Size: 12
Any graphs need to be plotted using excel. Please make sure you
use scatter graph when appropriate and add trend lines to those
graph. Identify the R2 value for the graph to see the best fit line
when using as such, discuss on the R 2 value during your discussion
as well. You are only suppose to use a line graph, when you
encounter adding a trend line to the scatter graph as deemed
inappropriate for the discussion that you are suppose to make. The
suitability of the graph used will be considered in marking as well.
Plagiarism is a major offence. Please adhere to universitys
policy for plagiarism. Any student found to commit an offence of
plagiarism will be dealt with accordingly.
Please refer to APA basic format in the LMS for citing and
referencing guides.
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GUIDELINES FOR FINAL REPORT WRITING

The report should be written in such a way that anyone can
duplicate the project and find the same results as the originator.
The reports should be simple and clearly written.
The report should communicate several ideas to the reader.
1. The report should be neatly done. A poorly written report might
instead lead the reader to think that just as little care went into
performing the experiment.
2. The report should be well organized. The reader should be able to
easily follow each step discussed in the text.
3. The report should contain accurate results. This will require
checking and rechecking the calculations until accuracy can be
guaranteed.
4. The report should be free of spelling and grammatical errors.
5. The report should show your analysis of results in your
discussion, with all the relevant sample calculation. The analysis
could be in the form of summary tables, graphs or other appropriate
measure to show your good analysis of the results.
Title page
Specify the project title. Include names of all group members,
matric numbers, group number, date of submission. At top of this
page must bear the subtitle: "Final Laboratory Project Report".
Refer to Appendix A for the example of this title page.
Table of Contents
List each major section and subsection and their page numbers.
Objectives
The objectives are a clear concise statement explaining the purpose
of the project. The objectives serve as a guide to the results. This is
one of the most important parts of the laboratory report because
everything included in the report must somehow relate to the stated
objectives. The objectives can be as short as one sentence and it is
usually written in the past tense. Do not exceed one page.
Abstract/Introduction
Summarize the important results. The abstract must be selfcontained: do not refer to figures and tables located in other
sections of the report. Do not include tables, figures, and equations,
unless absolutely necessary. Do not assume that the reader will
unambiguously identify undefined symbols. Be precise and succinct.
Do not exceed one page. The Abstract should be written with
great care because it is a most important part of the Final
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Report and will have a very large impact on the grade assigned to
the work.
Procedure
The procedure section should contain a schematic drawing of the
experimental setup including all equipment used in a parts list with
manufacturer serial numbers, if any. Show the function of each part
when necessary for clarity. Outline exactly step-by-step how the
project was performed as there is someone desires to duplicate it. If
it cannot be duplicated, the experiment shows nothing.
Results
Include all tables and graphs that document your final results.
Include all relevant information so that you can later refer to these
figures in the discussion section to support your conclusions. If
possible, present the results in the same order that you listed the
objectives. Do not discuss the significance of the results. Include
only final results that satisfy the objectives of the experiment;
lengthier tables and intermediate figures should be included in the
Appendix. Introduce the reader to each figure and table with a brief
paragraph indicating what variables are plotted or tabulated. Each
figure and table must have a unique number and a title or caption.
Graphs
In engineering laboratory reports, one of the methods to represent
the results is graph. The graph sometimes summarized the results.
An acceptable graph has several features. Some of the important
features are as following.
Axis labels defined with symbols and units.
Each line is identified using a legend.
Data points are identified with a symbol: x on the Q ac line to
denote data points obtained by experiment.
Data points are identified with a symbol: o on the Q ac line to
denote data points obtained by theoretical.
Nothing is drawn freehand.
Should have number and title; e.g. Fig. E1.1 Volumetric flow
rate, Q vs. head drop, h. Title is descriptive, rather than
something like Q vs h
All graphs must be generated using a computer. (No scanning or
drawing using pen and pencil)
Assembly Codes / Screen Capture
Some parts of the project may require you to come out with a
program to run certain features such as input from keyboard,
output to display, running a motor, LED, LCD etc. All these
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laboratory session requires a certain coding from your side. If the

coding is required from you before/during/after the project, you are
required to supply your source codes in the report. At the same
time, an appropriate screen/camera capture showing your results
would be necessary to show the output of your experiments.
Sample Calculations
If any of the experiment requires that you come out with a
calculation to get to the end results. You are required to give one
example of each calculation that leads to a result reported in the
document. Include one calculation for each figure or table reported
in the Results section. Introduce each calculation with a brief
paragraph indicating to the reader which specific point in a figure or
entry in a table is being calculated. These calculations are samples
only and must be annotated. The rest of the calculation should be
done using excel. Please prints out a full table calculation using
excel as part of your sample calculations. All excel softcopies data
MUST be submitted.
Discussion and Conclusion
Discussion and conclusion should be separate. This section should
give an interpretation of the results explaining how the object of the
project was accomplished. If any analytical expression is to be
verified, calculate % error and account for the sources. (% error
An analysis expressing how favorably the empirical data
approximate theoretical information. There are many ways to find
% error, but one method is introduced here for consistency. Take
the difference between the empirical and theoretical results and
divide by the theoretical result. Multiplying by 100% gives the %
error. You may compose your own error analysis as long as your
method is clearly defined). Discuss this project with respect to its
faults as well as its strong points. Suggest extensions of the project
and improvements. Also recommend any changes necessary to
better accomplish the objectives. Use the available theory to explain
why the relevant variables behaved in the observed fashion. The
discussion questions act as a guide only for you to do your
discussion, not as part of a question and answer scheme.
IMPORTANT: IN DISCUSSION YOU MUST DISCUSS AND
ANALYSE YOUR RESULTS, AND LINK TO THEORY AS
APPROPRIATE. THE USE OF SUMMARY TABLES AND VARIOUS
CHARTS AND PLOTS WILL HELP TO MAKE YOU YOUR
DISCUSSION AND FINALLY CONCLUSION MUCH CLEARER TO
THE AUDIENCE.
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The marking scheme for the reports is as follows:

Format
2 marks
Procedure
4 marks
Discussion
15 marks
Graphs / Summary Table
10 marks
Summary table Calculation
5 marks
Calculation Sample
10 marks
Conclusion
2 marks
Grammar
2 marks
Total
50 marks
CERTIFICATION OF ORIGINALITY AND AUTHENTICITY.
All reports need to include the certification of originality and
authenticity to be accepted. This certificate will act as a proof that
the report have been done by all the group members and not only
by an individual of the group. If there is a proof that the report is
being done only by an individual within the group, the marks for the
reports will only be given to the sole individuals who does the
reports.
The certificate of originality and authenticity MUST only be sign
when reports have been completed, understood and agreed upon by
all members of the groups. EACH group member will need to sign
in what is their contribution to the reports and tick (/) that they
have READ, UNDERSTAND AND AGREE that it is shall be
submitted for marking.
The full certificate of originality and authenticity could be seen in
Appendix C.
REFERENCE: COMPULSARY READING MATERIAL FOR LAB

68000 Microprocessor Trainer User Manual
68000 Microprocessor Application Board / Lab Experiment Workbook
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DSD EXPERIMENT 1:
-INTRODUCTION TO BASIC
LOGIC GATES-
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Digital System Design

Experiment No. 1: Introduction to Basic Logic Gates.
Objective
This experiment will introduce AND, OR, NAND, NOR and Exclusive OR
logic gates. You will learn about:
Electrical characteristics of logic circuits.
Operation of basic gates.
The concept of a universal gate.
Components needed:
74LS08, 74LS00, 74LS32, 74LS02, 74LS86.
I. Prelab
You must have this information when you ENTER THE LAB.
A.
Use the TTL Logic Data Book to locate the following information.
1.
Define tPHL and tPLH.
2.
Locate the datasheets for the following parts: 74LS08, 74LS00, 74LS32,
74LS02, 74LS86.
3.
a.
Create a table that shows the TYPICAL delay values for t PHL and tPLH
for each gate.
b.
There are more delay values for the 74LS86 than there are for the
other gate types. Why is this? EXPLAIN!
From the datasheet of the 74LS00:

a.
What is the minimum input voltage for a logic 1?
b.
What is the minimum input voltage for a logic 0?
c.
What is the minimum output voltage for a logic 1?
d.
What is the minimum output voltage for a logic 0?.
e.
Compute the difference (C A), (D-B). Why must this be a positive

number? Explain what a noise margin is and why it is important.
B.
Prepare truth tables for each of this experiment's logic diagrams.
C.
Label each of the logic diagrams with pin assignments using the TTL Data
Book.
II. Procedure
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Assemble the circuits in Figure 1 through Figure 5. Verify that each circuit
operates as expected. Compare your results with those in your truth tables.
a
b
1
2
7408
a
b
3
7402
Figure 4 NOR
B.
7400
1
2
1
7432
Figure 3 OR
Figure 2 NAND
Figure 1 AND
a
7486
Figure 5 XOR
A universal gate is a logic gate that can be used to create all the basic logical
functions. These two gates are the NAND and the NOR.
1.
Connect the circuit in Figure 6 and verify that it operates as an inverter.
2.
Connect the circuit in Figure 7 and verify that it operates as an inverter.
3.
Connect the circuit in Figure 8 and verify that it operates as an OR gate.

x
y
Figure 6
4.
x
z
a
b
Figure 7
z
Figure 8
Assemble each of the circuits in Figure 9 through Figure 11 and

determine the equivalent gate represented by each circuit.
a
b
Figure 9
a
z
b
b
Figure 10
Figure 11
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All combinational logic functions can be represented in sum-of-products

(AND/OR) form and product-of-sums (OR/AND) form. This implies that all
functions can be implemented in two levels of logic provided that at each
level gates have enough inputs. In practice, this may not be realizable due to
limitations on fan-in (maximum number of inputs a gate may have). It should
also be noted that AND/OR and OR/AND forms can be converted to forms
that use only the universal gates.
1.
Assemble the circuits in Figure 12 and Figure 13 and show that the
(AND/OR) form is equivalent to the (NAND/NAND) form.
a
b
z
c
2.
z
d
Figure 12
Assemble the circuits in Figure 14 and Figure 15 and show that the
(OR/AND) form is equivalent to the (NOR/NOR) form.
a
a
b
b
z
c
D.
Figure 13
Figure 14
Figure 15
In logic circuits it is not always obvious that there is a time delay between the
time an input changes and the time the output changes. This delay is known
as propagation delay and it must be taken into account in many circuit
designs.
1.
Connect the circuit in Figure 19. Notice that the output appears to
always be a logic `1' regardless of the input setting.
x
z
Figure 19
2.
E.
Connect the 1 Mhz digital clock output on the test box to the input of the
circuit. Monitor the input to the circuit on CH1 of the scope and monitor
the output of the circuit on CH2. Adjust the CH2 vertical scale in order to
clearly see the `glitch' caused by propagation delay. Record all
waveforms.
Design Problem
Part 1: Universal NAND Gate
Using a single 7400 IC, connect a circuit that produces the following:
1. A 2-input AND gate
2. A 2-input OR gate
3. A 2-input NOR gate
4. A 2-input XOR gate
Part 2: NAND Circuit
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Is it possible to design the following equation?

F = AB + CD
using a single 7400 IC?
Implement the equation using a minimum number of 7400 ICs and consider
alternatives to the suggested IC.
III. Results and Discussion

Results of the experiment shall be noted down in the students report. At the same time,
students are to demo to the demonstrator that they have completed the experiment.
Discussion should be based on the results that you have obtained from the experiments.
Below are some of the questions that supposed to be discussed in your discussion and
analysis.
1. Explain why a logic `1' can be used as one input to a NAND gate in order to
use the gate as an inverter.
2. Accurate drawings of the waveforms. Explain those results.
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DSD EXPERIMENT 2:
- Combinational Logic Circuit
and Basic ALU-
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Experiment No. 2: Combinational Logic Circuit and Basic ALU.
Objective
This experiment will help you get familiar with Combinational circuit design using logic gates.
You will learn about:
Building a combinational circuit using several logic gates
Commonly used combinational circuits
Basic of ALU - Adder and Subtractor
Components needed:
74LS08, 74LS00, 74LS32, 74LS02, 74LS86.
I. Prelab
1. Download and print out all the datasheets which will be used in this experiment.
2. Prepare truth tables for all the combinational logic circuits shown below (Part 1 and 2) and
derive their expression. For the circuit in part 2, design the circuit using only basic logic gates
(AND, OR and NOT).
Part 1:
Basic combinational circuit - 3 input 1 output logic circuit.
Figure 1.
Multiplexer - 4-to-1 multiplexer.
Figure 2
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*A sum-of-products implementation of the 4-to-1 multiplexer appears in figure above. It

realizes the multiplexer function:
Decoder - 2 to 4 decoder
Figure 3
Part 2: Design Problem

Design an Adder-Subtractor circuit as shown below:
Figure 4 - Adder-subtractor combination: (a) operation table; (b) truth table for yi and c0;
(c) circuit (using XOR); (d) logic symbol
II. Procedure
Assemble all the circuits in Part 1, and 2. Verify that each circuit operates as expected.
Compare your results with those in your truth tables.
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DSD EXPERIMENT 3:
- Flip Flop and Sequential
Logic Circuit-
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Experiment No. 3: Flip Flop and Sequential Logic Circuit.
Objective
-To become familiar with the input/output characteristics of several types of standard flip-flop
devices and the conversion among them.
Components needed:
1- 555 IC, variable resistance and capacitors.
1-74LS00 TTL IC
1-74LS74 TTL IC
1-74LS76 TTL IC
I. Prelab
1. Download and print out all the datasheets which will be used in this experiment.
2. Prepare truth tables for and familiarize yourself with all the circuits shown below (Part 1 and
2). Solve all the design problems in Part 2.
Part 1:
1) Construct the clocked RS flip flop of Figure 1. Draw a complete truth table for the circuit.
Then use clock pulse as an input at E. Use pulse switch as your clock source. Explain how
the circuit behaves.
Figure 1
2) Using the 74LS74 dual D flip flop, investigate the operation of the D flip-flop in Figure 2.
Pay attention to the change in state of the device as the clock signal is rising or falling. Draw
the complete truth table for the circuit.
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Figure 2
3) Using the 74LS76 dual JK flip flop, determine its logical operation. The circuit diagram is
shown in Figure 3. Pay attention to the change in state of the device as the clock signal is
rising or falling. Draw the complete truth table for the circuit.
Figure 3
Part 2: Design Problem
1) Designing a Counter
Using JK flip-flops and any other applicable gates design, implement and verify a counter that
displays the following sequence of numbers:
0, 3, 6, 9, 12, 14 and back to 0 to repeat the sequence.
Note that there will be memory states that are not used. The counter must be self-starting,
that is if the circuit starts from any of the unused (i.e. undefined) states, the counter must
transfer the circuit to one of the defined states to continue the output in the aforementioned
sequence.
In the design you must include a function bit controlling whether you are counting up or down.
Use the 74LS47 (BCD to seven segment display decoder) to drive the display.
2) Designing a Car Security System
The State diagram; and the next-state / implementation table of a car security system are as
shown in Figure 4 below. Please complete the task by using K-map and identify the excitation
equation. Finally construct the logic circuit and test the output to verify the answer
experimentally. From the state diagram, explain how the car security works.
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Figure 4
II. Procedure
Assemble all the circuits in Part 1 and 2. Verify that each circuit operates as expected.
Compare your experimental results with the PreLab.

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MICROPROCESSOR
EXPERIMENT 4:
-INTRODUCTION TO
MC68230 PI/T- INPUT SWTICHES AND
OUTPUT LEDS-
(WARNING NOTICE: PLEASE MAKE SURE YOU HAVE READ

THE 68000 MICROPROCESSOR TRAINERS MANUAL AND THE
APPLICATION BOARD MANUAL BEFORE STARTING THE
EXPERIMENT. THE MANUAL IS AVAILABLE IN THE
DIGITAL/MICROPROCESSOR LAB,)
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EXPERIMENT # 4
1. INTRODUCTION TO MC68230 PI/T
2. INPUT SWITCHES AND OUTPUT LEDS
1.1 PRE-REQUISITE READING
Please make sure you have completed a MCT3235 as a
prerequisite or read on your own on the M68000 interfacing
from the recommended book in MCT3235.
Please make sure as well you have read the 68000
Microprocessor Trainer Manual Model: GOTT-MP-68K and Page
1 to 15 of Application Board Manual EXP-AP Model: GOTT-MP68K-APPS
These
manuals
are
available
Systems/Microprocessor Labs.
in
the
Digital
1.2 BACKGROUND
PI/T is one of the fundamentals understanding required in
microprocessor M68000 as this is the basic communication
between requirement between M68000 and the external
peripherals.
In order to control the environment various input and output
devices such as switch, sensors, actuators, cylinders and
solenoids are being used. In this experiment, 2 basic input
output are use to simulate an actual sensor/actuators which
are DIP switch and LEDS.
1.2 OBJECTIVES
The objectives of the experiment are:
1. To introduce students to the world of microprocessor and its
interfacing
2. To introduce students on how to program an assembler and
transfer the program into the microprocessor and memory.
3. To demonstrate basic i/o operation and applications, which is
to read input data from 8-bit DIP Switch (SW1) and Output
the results to 8 LEDs (L1 L8)
4.
1.4 EQUIPMENT:
Personal Computer
Main Trainer Board
Serial connector (Between Main Trainer Board and PC)
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Application Board
1.5
PROCEDURE (1):
1. Make sure that you have read Part 3 (Getting Started) of
68000 Microprocessor Trainer manual. If you have any
question in getting started please make sure you ask the
demonstrator/instructor NOW.
2. Check that your communication between Main Trainer
board and PC is now available. Open to page 12-13 for
testing communication link.
3. Open Easy68K assembly. You are supposed to be familiar
with the assembly already by now, since the same
assembler is being used for your assignment given in
module MCT3235 (Microprocessor Based Design). The
same assembler should help you to ensure consistency in
your programming.
4. FOR PART A: Type in the following instruction into your
assembler.
BEGIN
ORG
MOVE.B
MOVE.B
MOVE.B
MOVE.B
MOVE.B
END
$080C00
#$80, $10000D
#$00, $100005
#$80, $10000F
#$FF, $100007
#$00, $100013
BEGIN
Configure port
Configure port
Configure port
Configure port
clear all o/p
A
A
B
B
ctrl
dir input
ctrl
dir output
5. Compile the following codes

6. Please read page 14 16 of the Part 3 (Getting Started)
Section on how you are to download the machine codes.
7. Download the machines codes to the M68000.
8. FOR PART B: Change the above program to configure Port
A as output and Port B as input.
9. FOR PART C: Change the above program to configure Port
A as output and Port B as output
PROCEDURES (2)
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your programming.
4. FOR PART D: BASIC INPUT AND OUTPUT
Type in the following instruction into your assembler.
BEGIN
READ
ORG
MOVE.B
MOVE.B
MOVE.B
MOVE.B
MOVE.B
MOVE.B
MOVE.B
BRA
$080C00
#$80, $10000D
#$00, $100005
#$80, $10000F
#$FF, $100007
#$00, $100013
$100011, d0
d0, $100013
READ
END
BEGIN
Configure port A
Configure port A
Configure port B
Configure port B
clear all o/p
Read dip switch
output to LEDs
ctrl
dir input
ctrl
dir output

7. Download the machines codes to the M68000. Please
confirm that you have set the JUMPER for the I/O Module
Selector According to this experiment. Refer to Part 2
(Setting Up) on Application Board Manual for the module
selector list.
8. Execute the program.
9. Adjust on the setting for the 8 bit DIP switch and monitor
the change pattern on the 8 LEDs.
10. FOR PART E: INVERTED INPUT / OUTPUT
Modify the codes in Part D to invert the input data. For
example if the switch as set to high, then the LED will
be off, and if the switch is set to low then the LED will
be on.
11.
FOR PART F: RUNNING LIGHTS

Modify the codes in PART D, to do the following:
the LED light will move from left to right as below
when a left switch is on. (running light)
For example: After switch is on the LED will be
LED1 LED2 LED3 LED4 LED5 LED6 LED7 LED8
1
0
0
0
0
0
0
0
next
0
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
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0
0
0
0
0
0
0
0
0
1
0
0
Rev 1.0 04/08/11
0
1
0
0
0
1
0
0
0
0
0
0
And repeat from left to right until switch is off.

12. FOR PART G: RUNNING LIGHTS WITH DELAY
Modify the codes in PART F, to do the following:
Include delays when the running light moves from
left to right.
13. FOR PART H: RUNNING LIGHTS WITH DELAY AND
SKIP
Modify the codes in PART G, to do the following:
Having the light to move a bit slower, not skip each
LED as follows:
LED1 LED2 LED3 LED4 LED5 LED6 LED7 LED8
1
0
0
0
0
0
0
0
next
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
14. FOR PART I: TRAFFIC LIGHT SIMULATION
Modifying the codes in PART D-H, design a traffic light
sequence experiment. Ensure that you have enough
delays and correct sequence for the traffic light. No
accident can occur in your intersection.
1.5 RESULTS:
Results of the experiment shall be given in assembly codes for
the report. At the same time, students are to demo to the
demonstrator that they have completed the experiment.
CODES
CODES
CODES
CODES
CODES
CODES
CODES
CODES
CODES
PART
PART
PART
PART
PART
PART
PART
PART
PART
A
B
C
D
E
F
G
H
I
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Please get signature from the instructor/demonstrator that

you have complete both lab part.
1.6 DISCUSSION:
Discussion should be based on the results that you have obtained
from the experiments, below are some of the questions that
supposed to be discussed in your discussion and analysis.
Identify what you have done line by line
Explain what is happening to the codes
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MICROPROCESSOR
EXPERIMENT 5:
-7 SEGMENTS DISPLAY-
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EXPERIMENT # 5
7-SEGMENTS DISPLAY
1.1 BACKGROUND
One of the important aspects in microprocessor is its flexibility
in change data based on the requirement of the end user. A
Human-Machine-Interface (HMI) is also vital in ensuring that
programs done are base on real scenario and human
interactions.
1.2 OBJECTIVES
1. To demonstrate microprocessor controller 7-segment display
interface.
2. To demonstrate the flexibility and HMI interactive feature
within the microprocessors.
1.3 EQUIPMENT:
Personal Computer
Main Trainer Board
Application Board
1.4 PROCEDURE:
your programming.
4. FOR PART A: ONE DIGIT DECIMAL COUNTER
Type in the following instruction into your assembler.
BEGIN
ORG
MOVE.B
MOVE.B
MOVE.B
MOVE.B
$080C00
#$80, $10000D
#$00, $100005
#$80, $10000F
#$FF, $100007
Configure
Configure
Configure
Configure
port
port
port
port
A
A
B
B
ctrl
dir input
ctrl
dir output
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MOVE.B
#$FF, $100011
CLR
BSR
MOVE.L
CMPI
BEQ
ADDI
MOVE.L
BRA
d0
DISPLAY
d0,d1
#$09,d1
DDD
#$01,d1
d1,d0
EEE
Clear 1st digit 7-seg

Branch to display sub
Copy content
Compare max value
DISPLAY
MOVE.L
#$01ff,d5
Store as temp counter
REPEAT
MOVE.B
MOVE.B
BSR
SUBQ.L
BNE
RTS
#$fe,$100011
d0,$100013
DELAY
#$1,d5
REPEAT
Activate LSB digit

Display d0 to port B
MOVE.L
SUBQ.L
BNE
RTS
#$03ff,d6
#1, d6
DEL1
END
BEGIN
DDD
EEE
DELAY
DEL1
Increment counter
Copy content
Decrement counter
Loop if d5<>0

selector list.
9. Observed what happent o the 7-Segment Display
10. FOR PART B: DECIMAL COUNTER FROM 00-99
Modify the codes in Part A to form a decimal counter
from 00-99.
11. FOR PART C: DECIMAL COUNTER FROM 000-999
from 00-99.
12. FOR PART D: DECIMAL COUNTER FROM 0000-9999
from 00-99.
13. FOR PART E: LAST 4 DIGIT MATRIC NUMBER
Page 28 of
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Modify the codes in Part D to form a decimal display of

your last 4 digit matric number.
14. FOR PART F: ROTATING LAST 4 DIGIT MATRIC
NUMBER WITH 5/10 SECOND COUNTER.
Modify the codes in part D above and do the
following:
i. Display the last 4 digit of your matric number
ii. Put a 5 second delay by having a counter to
show on the 7-Segment 0-5
iii. Display the last 4 digit of your next friends
matric number
iv. Put a 10 second delay by having a counter to
show on the 7-segment 0-10
v. Continue steps 1 until all your team members
last 4 digit numbers are displayed.
1.5 RESULTS:
CODES
CODES
CODES
CODES
CODES
CODES
PART
PART
PART
PART
PART
PART
A
B
C
D
E
F

1.6 DISCUSSION:
Page 29 of
Rev 1.0 04/08/11
MICROPROCESSOR
EXPERIMENT 6:
-MOTOR CONTROL-
Page 30 of
Rev 1.0 04/08/11
EXPERIMENT # 6
MOTOR CONTROL
1.1 BACKGROUND
There are many types of application that microprocessor have
been used both in the industry as well as service sectors.
Among others were motors to control movement of certain
parameters within the environment. This experiment will help
to demonstrate the use of microprocessors and its interfacing
with a motor.
1.2 OBJECTIVES
1. To demonstrate microprocessor interfacing and control of a DC
motor.
2. To demonstrate microprocessor interfacing and control of a
stepper motor.
3. To demonstrate HMI control in microprocessor.
1.3 EQUIPMENT:
Personal Computer
Main Trainer Board
Application Board
1.4 PROCEDURE:
your programming.
FOR PART A: DC motor controlled MOTOR CONTROL
1. A DC motor operation is controlled by simply turning it on or
off, whereby it will either stop or run. The DC motor is
controlled by bits 0 & 1 of port B. The motor stops when both
bits are 11 or 00. The motor moves forward (clockwise) when
the bit pattern if 01 (bit 0 = 1; bit 1 = 1). The motor moves
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in reverse direction (anti clockwise) when the bit pattern is 10

(bit 0 = 0 and bit 1 = 1)
2. Type in the following instruction into your assembler.
BEGIN
ON
DELAY
DEL1
ORG
MOVE.B
MOVE.B
MOVE.B
MOVE.B
$080C00
#$80, $10000D
#$00, $100005
#$80, $10000F
#$FF, $100007
MOVE.B
BSR
BSR
MOVE.B
BSR
MOVE.B
BSR
BSR
BRA
#$01, $100013
DELAY
DELAY
#$00, $100013
DELAY
#$02, $100013
DELAY
DELAY
ON
Forward
Delay
MOVE.L
SUBQ.L
BNE
RTS
#551800, d6
#1, d6
DEL1
Delay counter
END
BEGIN
Configure
Configure
Configure
Configure
port
port
port
port
A
A
B
B
ctrl
dir input
ctrl
dir output
Stop
Reverse
Repeat

selector list.
8. Observed what happen on the motor movement.
9. FOR PART B: FWD, REV & STOP FOR A WHILE
Modify the codes in Part A to drive the motor forward,
then reverse, and then motor stop for a short period
10. FOR PART C: COUNTING PROGRAM
Modify the codes in Part A, to develop a counting
program to count the number of motor rotation using
the pair of infra-red sensor (detector and transmitter)
located on the board. Output the result to PC screen.
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FOR PART D: DRIVING A STEPPER MOTOR

1. Type in the following instruction into your assembler.
BEGIN
S_ON
DELAY
DEL1
ORG
MOVE.B
MOVE.B
MOVE.B
MOVE.B
$080C00
#$80, $10000D
#$00, $100005
#$80, $10000F
#$FF, $100007
MOVE.B
BSR
MOVE.B
BSR
BRA
#$10, $100013
DELAY
#$40, $100013
DELAY
S_ON
Motor in CW Dir
Delay
Single Step CW Dir
MOVE.L
SUBQ.L
BNE
RTS
#551800, d6
#1, d6
DEL1
Delay counter
END
BEGIN
Configure
Configure
Configure
Configure
port
port
port
port
A
A
B
B
ctrl
dir input
ctrl
dir output
Repeat

selector list.
6. Observed what happen on the motor movement.
7. FOR PART E: CCW
Modify the codes in Part D, and single step the stepper
motor to counter clockwise (CCW)
8. FOR PART F: CW and CCW
Modify the codes in Part D, and drive the stepper motor
step in full circle on clockwise (CW) and then step in full
circle to counter clockwise direction (CCW). Repeat the
cycle 20 times and increase the delay in every cycle.
1.5 RESULTS:
Page 33 of
CODES
CODES
CODES
CODES
CODES
CODES
PART
PART
PART
PART
PART
PART
Rev 1.0 04/08/11
A
B
C
D
E
F

1.6 DISCUSSION:
Page 34 of
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ROBOTICS
EXPERIMENT 7:
-UNDERSTANDING MANUAL
AND AUTOMATIC
OPERATIONS OF
INDUSTRIAL ROBOTS-
Page 35 of
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EXPERIMENT #7
UNDESTANDING MANUAL AND AUTOMATIC
OPERATIONS OF INDUSTRIAL ROBOTS
OBJECTIVES
To be familiar with the robot component.
To manually operate DENSO Robot for certain task using teaching pendant.
To manually operate FANUC Robot for certain task using teaching pendant.
To manually operate YASKAWA MOTOMAN Robot for certain task teaching pendant.
INTRODUCTION
Manual operation refers to direct operation of the robot from operating panel or teaching
pendent. In manual operation mode, there are three types of operation modes available:
a) Joint Mode: used to specify movement of each individual joint of the robots
b) X-Y Mode: the joint of the robot moves simultaneously as to create a motion along the 3
major axis X, Y and Z-axis.
c) Tool Mode: is which specifying movement of the robots hand relative to a frame attached
to the hand
PROCEDURE
The "Manual Operation" and "Valve Operation" was used to transfer three balls from left to
right with DENSO Robot. The operation was done in different modes which are, Joint Mode and X-Y
Mode. Then, the differences in movement are noted in the data sheet.
In the robotics lab, there are nine robots equipped for this course. Students have to practice the
movement of various robot based on different modes. The modes available are Joint mode and X-Y
mode.
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Figure 7.1: Components of robots

Upon switching ON the controller, the robot moves to all axes in small amount to confirm
their current positions. Then, the calibration is normally done before using the robot just after the
switch of the robot is turned on.
There are five different robot configurations in general. They are Cartesian, Cylindrical,
Spherical, Articulated and SCARA. In this experiment, we are focusing on SCARA configuration.
SCARA robot has two revolute joints that are parallel and allows the robot to move in a horizontal
plane, plus an additional prismatic joint that moves vertically. SCARA robots are very common
assembly operations. Their specific characteristic is that they are more compliant in the x-y-plane, but
are very stiff along the z-axis, and thus have selective compliance. Another configuration available is
the articulated configuration. Articulated robot's joints are all able to revolute, similar to a human's arm.
They are most common configuration used for industrial robots.
Before proceeding with the lab task, we need to switch ON the machine. To switch ON the
machine, we have to follow steps as mentioned in figure 2 below. After the motor was switched ON,
press the CAL button and then START button for calibration. Calibration is needed in order to
reformat the position to default positioning. This is to prevent inaccuracy in the input coordinate given
before operating the robot.
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Figure 7.2: Sequence to operate machine

Two modes are available for manual operation in the machine. While, the differences are as
stated in the table 1 below;
Joint Mode
The movement is constrained to each joint in a
X-Y Mode
The movement is simultaneously for all joints in
single operation
The motion is not linear (circular or curve)
Interference between two axis will cause damage
single operation
The motion is always on a straight line.
to the motor
Interference are impossible
Table 7.1: Differences between Joint mode and X-Y mode
OPERATION OF FANUC ROBOT

OBJECTIVES
To familiarize different kind of teaching pendant due to different robot given a set manual for
the students to read, in industry this is also called On Job Training. (OJT).
To manually operate Fanuc robot for certain task in Joint or X-Y mode using teaching pendant
and to get familiarize with the robot components.
To move the robot end effectors/gripper from one end in manual mode. (The main reasons
here are to identify similarity/differences between DENSO and Fanuc)
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PROCEDURE
1.
The "Manual Operation" is used to move the robot gripper/welder and effectors from right to
left, and then left to right. First in Joint Axis, and then in Rectangular.
2.
We searched from the "Fanuc Manual" in appendix C on how to identify the coordinate of the
current position that we are in. The position is then written down. The robot was moved again
in about L and inverted L shape and the coordinate of the new position is noted.
RESULTS
Coordinates Identified From Different Positions:Current Position
L Shape
Inverted L Shape
J1 = -57.322
J1 = -55.239
J1 = -55.239
J2 = -2.523
J2 = -3.161
J2 = -2.607
J3 = 93.791
J3 = 176.3
J3 = 0.202
J4 = 178.682
J4 = 178.682
J4 = 178.082
J5 = 1.360
J5 = 1.36
J5 = 1.36
J6 = -0.974
J6 = -0.973
J6 = -0.973
DISCUSSION & CONCLUSION
Figure 7.3 : Robot System

The handling robot (basic stand-alone system) usually consists of a robot control unit, robot
mechanical unit, and hand (tool).
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Figure 7.4 : The Configuration of the Handling Robot System

Each part performs different functions as follows:Parts
Functions
Remote Control Unit
Controls the line. This unit starts the robot control unit by calling a program.
Robot Control Unit
Executes the called program.

This unit moves the robot arm according to a move statement.
This unit opens or closes the hand according to a hand statement.
Robot Mechanical Unit
Moves the torch to a specified position according to a move statement.
Hand
The hand picks up and places objects as commanded.

Fanuc robot also needs calibration every time it starts operating. As we know, calibration is
done by machine by moving its entire axis in small amount to confirm their current positions. It is
performed right after turning ON the controller before using the robot. The Fanuc robot used is of
Articulated type of configuration coordinate frame because all the joints revolute without any prismatic
motion.
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Figure 7.5 : Robot Workspaces
Upon operating the Fanuc Robot, the sequences of key operations are as follows:Operation
Tasks
1. Turn on the circuit breaker of the control unit.
Power-on Procedure
2. Press the power-on button on the operator's panel. The lamp on the
power-on button goes on.
1. Create a program on the program directory screen. Select "SELECT"
Selecting a Program
from the screen menu, or press the select key to display the program
directory screen.
2. Select a target program, then press the ENTER key.
1. Select a jog mode (which is X-Y Mode). Press the COORD key to
Setting the Jog Mode and

Robot Speed
switch the jog mode.

2. Set the robot speed. Set an appropriate cursor speed override sing the
override keys.
1. Hold the teach pendant, and press the deadman's switch. Set the teach
pendant enable switch ON.
Jogging
2. Start the robot by Jogging. Press a jog key while holding down the
SHIFT key. The robot stops jogging when either the SHIFT key or jog
key is released.
1. Teach a program on the program edit screen. Select EDIT from the
screen menu or press the EDIT key to display the program edit screen.
Teaching Move
Statements
2. Jog the robot to a position to be recorded.

3. Press F1 "POINT" to display the standard move statement list in a
submenu.
4. Select a move statement with the arrow keys, then press the enter key.
In this experiment, we have also seen both Joint-axis and Rectangular mode for Fanuc. The
motions of both configurations are of similar to the Denso robot. The joint axis mode directs the robot
axes (joint axes) by manipulating corresponding keys on the teach pendant. While the rectangular mode
moves the robot rectilinearly along the axes of a Cartesian coordinate system.
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Figure 5.4 : Different Jogging Modes for Fanuc Robot

Safety configurations are installed for the Fanuc robot during the manual mode session. This
is in order to prevent unwanted cases such as injury, etc from happening while operating the robot.
For installation and layout's safety precautions, signals such as warning lamps are used to
indicate that the robot is in operation. Safety fence installed with a safety door which will stop the robot
when it is opened by a worker coming in. Emergency button is also installed in places that allow the
operator to press it immediately.
While for the system design, a safety joint between the robot joints forming a tool so that if an
abnormal external force is applied to the robot, the safety joints breaks and the robot stops. A lock is
also installed so that only authorized workers can turn on the power.
The most important safety precautions to be observed are during the operation. All Fanuc
robot system users should be trained to acquire sufficient knowledge especially on the safety
precautions and robot functions. Before operating, the robot should be checked first whether or not it is
working properly and no dangerous conditions are present. One should also place a partner as a guard
to observe the situation and act quick in case on any accident occurs.
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ROBOTICS
EXPERIMENT 8:
-OFF-LINE AND ON-LINE
PROGRAMMING OF
INDUSTRIAL ROBOT-
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EXPERIMENT #8
OFF-LINE AND ON-LINE PROGRAMMING
OF INDUSTRIAL ROBOT.
OBJECTIVES
To operate the DENSO robot for certain task with on-line programming using teaching
pendant.
To edit a pre-created program in DENSO
To change the end effectors movement coordinates and operations speeds
Edit the written program with off-line programming using computer.
INTRODUCTION
Programming aims to express the operation procedure with language (command). A program
is defined as a chain of flow between beginning of operation and the end of operation. Its possible to
create a maximum of 100 programs and name them PROGRAM 1 to 100. Program is created through
teaching pendent and it is saved in robot controller. There are two types of programming to operate
DENSO robot:
a) Online programming : Using teach pendent
b) Offline programming : Using WINCAPS software
PROCEDURE
As shown in the figure, an online programming is used to program the robot using the unoperational and operational command to move the ball from location A to B:
FOR PICK AND PLACE ROBOT
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Figure 2.1: Location of the ball

FOR DRILLING ROBOT
Figure 2.2: Location of the Drill
Manual Mode
1.
The robot controller is turned ON. Manual mode is set. The teaching pendant is then used to
start the motors. The robot is calibrated. The speed is set to 30% and the working mode is
chosen (either Joint mode or X-Y mode).
2.
Any subroutine in the controller memory location 1 and 2 is deleted if there is any.
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3.
Rev 1.0 04/08/11
Subroutine 1 is created for chuck close, Subroutine 2 for chuck open (refer to supplementary
manual), or the available subroutine is used if any.
4.
Any program in the controller memory location 1 is deleted if there is any.
5.
The main Program 1 is then created.
6.
The un-operational and operational command is used to drive the desired motion (refer to
supplementary manual)
7.
The mode is changed to TEACH CHECK mode and the movement of Program 1 is checked.
The speed is set to 20% during this check. All three types of check is then checked; those are
FWD CHECK, BACK CHECK and CYCLE CHECK.
Auto Mode
3.
The Auto mode is set, the motor is started, the robot is calibrated and finally, the desired speed
is determined.
4.
The program which has been created: Program 1 is Re-Called.
5.
The program is run first in step mode, then in cycle mode. A note of the differences between
the two modes is made.
6.
The robot's speed is increased to a safe speed and the pick is repeated and placed for 20 times.
The differences are noticed. The datum for the object to be pick and place are made sure to be
the same for this observation. The observation is written down in the data sheet.
SAMPLE PROGRAM
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The robot repeatability problem can be solved while programming by putting small amount on
the internal speed and make the time for the robot motion become longer. The difference between the
step and the cycle mode are explained in the diagram below.
VS
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EDITING THE PROGRAM

INTRODUCTION
In a manufacturing environment, the manufacturing processing time or cycle time is very important. As
such, the robots sequences operating in the production line can be easily modified to perform any new
assigned process or optimization. This could be done by editing the existing program instead of
rewriting the whole program.
It is only possible to edit commands in a program, which has been already created. A program can not
be edited while we are creating the program. After writing the END command and completing
creating mode, we can edit any command such as inserting, deleting, copying and changing commands.
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Editing Operation:
1. Create a new program
2. Insert: Insert a command to create program [INSERT]
3. Deletion: Delete a command from created program [DEL]
4. Display: Display the command of created program [FWD, BACK]
Display the current coordinate of robot [DISP]
5. Copying: Copying the program to another program [COPY]
6. Changing: Changing the numerical value of a command [CHG]
Change the position of a motion command.
PROCEDURE
7.
The created PROGRAM 1 (from Experiment 2) is selected by using manual mode.
8.
The step is displayed so that the previous command can be edited using forward or backward
check. The given manual given manual is referred.
9.
The point B is changed to point C. The subroutine will not be included because it is a drilling
robot. The needed position is set and the desired location is edited for drilling.
10. The speed is set to 1000rpm before drilling, and then reset to 500rpm.
11. After the command is changed, the movement is checked by using teach mode and auto mode.
12. The speed is set to 500rpm after moving to another location.
13. The entire program is copied into PROGRAM 2. The manual is referred on how this step
could be achieved.
14. The programs 1 and 2 are edited so that it could run in loops.
15. 20 loops of both program 1 and 2 are run. The difference in timing is noted. All results are
recorded in data sheet.
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RESULTS
This experiment shows the significance of understanding on how to edit and change the
program sequence upon different cases according to variety of situations. This is important because
different type of product's design requires different type of motions for the machine to perform their
operation. At the same time, we do not want to waste more money and time to change the machines
when different parts are on the production line after a period of time. Therefore, the program should
always be flexible and easily edited in order to suite the variety of products and increase the efficiency
of the process executed by the program.
Below is the process flow of the edited program:ISP 100 : Set ISP to 100
APR E 50 : Move the chuck above the point A
MV E 50 : Move to point A
DEP P 50 : 50mm up
The changed
location
MV P : Move from above point A to above point C
APR E 50 : Move above the point C

MV E : Move to the point C
ISP 50 : Set ISP to 50
DEP E 50 : 50mm up
ISP 100 : Set ISP to 100

END : End the program
Changing the speed in term of cycle time will allow the process to avoid unnecessary time
consumption and waste more money for the waste of time while we know that the quality is not
affected due to the increase of speed. But still, a few things need to be considered under these
circumstances. Because when the speed is higher, it might lead to unwanted movement by the robots
because of the extra momentum which is the result for the increase of speed. The positions of parts
might not be precise at the point indicated inside the programming. Besides, it might lead to hazardous
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situations if it get in contact with any human because of the extra speed differing to low safety risk
when the speed is slower.
This process of editing is very crucial in the industry. For example, in the manufacturing
industry, while performing assembly of parts. Those different parts require different type of motions
path for them to be fastened or inserted to the right position. Therefore, at different times, the machine
needs to be informed by editing the program with a slight different path command in order to handle
the process effectively.
As a conclusion, the experiment went well and we have basically achieved the main
objectives. We have understood on how to do editing on the programming as required and how does
this application come in handy in the industry itself.
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ROBOTICS
EXPERIMENT 9:
-DEVELOPING AN
AUTOMATION SYSTEM AND
TESTING THE SYSTEM-
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EXPERIMENT #9
DEVELOPING AN AUTOMATION SYSTEM
AND TESTING THE SYSTEM
OBJECTIVES
To branch the program run order to optional step depending on the interfaced signal with the
robot controller input slow using branch instruction JUMP.
PROCEDURE
16. The robot has been fixed with a sensor on its gripper. The gripper will be detected by the
sensor whether it is in closed condition or in open condition. Each sensor is used to identify an
individual condition of closed and open.
17. The ports being used by the sensor are input port number 1 and input port number 2. Short
program identifies is used in order to detect whether port 1 or port 2 is for open or close
condition. The codes are written in the data sheet.
18. Upon identification of the ports for open or close. A program is created to move the parts as
follows using online programming to program the robot so that the ball is moved from
location A to B as shown in the figure below:
19. Include a JI / JZ command in the program to make sure that when a gripper is open, an open
gripper sensor status is checked before it is moved to the next sequence and when a gripper is
closed, the close gripper sensor status is checked before it is move to the next sequence.
20. Through the process that has been programmed earlier, typical cross check mechanism is
created. In next sequence, assuming that the gripper is closed, but the close gripper sensor did
not detect. The program is inserted/edited to include in such a way that the robot would in
sequence:
a) open the gripper
b) check the open gripper status
c) move up
d) move down
e) close the gripper
f) check the close gripper status
g) move the part to another position and so forth
21. The program should run in a loop when the sensor is not triggered. This could be observed
using a teach check mode and moving forward through the programs. Checking the looping
issues within the programs.
RESULTS
Program 11
0010 LABL 7
0020 APR E 50
0030 JI 1-10
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0040 SUB 5
0050 LABL 8
0060 MV E JI=5.38
0070 SUB 10
0080 DEP E 50
0090 APR P
0100 MV E JI=19.48
0110 SUB 5
0120 DEP E 50
0130 JMP 5
0140 END
This experiment shows the significance of JUMP command instruction while operating a
robot. For the robot system, the inputs are from the switches, proximity, pressure, photoelectric. While
the output accessories are the solenoids, relays and indicator lamps.
The proximity sensors are the input device used to ensure the availability of the pen. They are
able to detect the presence of nearby objects without any physical contact. A proximity sensor often
emits an electromagnetic or electrostatic field, or a beam of electromagnetic radiation (infrared, for
instance), and find for changes in the field or the return signal. The sensor or input should be identified
by the program because the robot will only operates when there are interactions between hardware and
software, space complexity in terms of the memory limitations of the robot's controller, and time
complexity in terms of the speed of the robot's action decisions. Without all these systems, the robot
cannot operate accurately.
It is observed that the robot in the lab has been equipped with optical proximity sensor. It can
detect the presence of nearby objects without any physical contact. This robot can detect the existence
of the part/product to-be-pick during pick and place programming when its receiver receives the signal
from the transmitter. The receiver and transmitter are usually placed at the hand of the robot arm or at
the end effectors. Input Voltage: 20 to 132 Vac.
The two sensors -one for open and one for close- is rather important to the system, because
when the close sensor detects an object; it will close within the certain time according to programming.
Then, the close sensor will detect the thing that it is holding until the thing being released. That means
close sensor cannot be used to detect other signal. Therefore, one more sensor should be put to detect
the place where to put the thing. When 2 sensors detect an object in the close range it will send the
signal to the close sensor to open the gripper. The process is vice-verse.
MANDATORY QUESTIONS
1.
There are 3 sensor going to be use to construct the line:

a)
Infrared Sensor this sensor react to the intensity of light projected on them by
changing their electrical resistance. The port for this sensor is on the conveyor. When
the infrared sensor detects the pear on the conveyor, the robot will automatically
activated and pick up the pear which is place between the transmitter and receiver.
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b) Tactile Sensor This is a touch sensor device that sends a signal when physical
contact has been made. The sensor will detect the hardness of the pear. This sensor
will be put at the gripper of the robot, the gripper will give a small pressure during
picking process, if the pear does not follow the specification hardness which has been
set it will consider as old or spoil. Then the pear will be put into the reject basket
meanwhile if the pear meets the hardness specification it will go to further inspection.
c)
Camera sensor This sensor will detect the color of the pear. If the color is green it
will be put into the GREEN basket and if the pear is yellow in color, it will be put
into the YELLOW basket. The sensor also being put nearer to the gripper.
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2.
Start
N=24
Cube on
conveyor
Y=0
Upper conveyor
The point of chucking the cube
Close chuck
N=24
Acceptable?
Tactile sensor
Hardness test
Y=0
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N=24
Differentiate
Reject
(Camera)
Y=0
Rev 1.0 04/08/11
BLACK basket
3. Program
0010 LABL 10
End
0020 JZ 24-10 (wait for workpiece-infrared sensor)
0030 APR E50 (upper conveyor)
0040 MV E (moving to chucking point)
0050 SUB 1 (close chuck)
0060 JI 24-11 (Detect OK or NG signal-tactile sensor)
0070 MV E (moving to camera sensor )
0080 JZ 24-12 (detect color yellow or green-camera sensor)
0090 MV E (moving to GREEN basket)
0100 SUB 21 (Discharging)
0110 JMP 13
0120 LABL 11
0130 MV E (moving to REJECT basket)
0150 JMP 13
0160 LABL 12
0170 MV E (moving to YELLOW basket)
0190 LABL 13
0200 END
4. The important of input and output in the robotic system are:
a) Easy for human to communicate with the robot.
b) Input of the robot is sensor and switches. They will collect information about the internal
state of the robot or to communicate with outside environment.
c) Output of the robot is solenoids, relays and indicator lamps. They will do the process that
has been process in the robot system and follow the command from the input.
5. Types of signal from the PLC:

Input signals are typically generated by binary sensors, such as limit switches or photo sensors
that are interfaced with the process.
Output signals are generated by the controller to operate the process in response to the input
signals.
These output signals turn on and off switches, motors, valves, and other binary actuators
related to the process.
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A list of binary sensors and actuators, along with the interpretation of their 0 and 1 values are
shown in Table 8.1.
The purpose of the controller is to coordinate the various actions of the physical system, such
as transferring parts into the workholder, feeding the machining workhead, and so on.
One/Zero
Sensor
Interpretation
Contact/no contact
On/off
Limit switch
Photo-detector
Push-button
Process Control Actuator
One/Zero
Motor
Control relay
Interpretation
On/off
Contact/no contact
switch
Timer
Control relay
On/off
Light
On/off
On/off
Contact/no contact
Valve
Clutch
Circuit breaker
Contact/no contact
Solenoid
Closed/open
Engaged/not engaged
Energized/not
energized
Table 8.1: Binary Sensors and Actuators Used in Discrete Control

Discrete process control can be divided into two categories:
logic control, which is concerned with event-driven changes in the system; and
Sequencing, which is concerned with time-driven changes in the system?
Both are referred to as switching systems.

6.
The robot knows when a jig is at its place, completed its task such as drilling, identifying bad units
or welding by using the sensor which is located at certain check point in the PLC line system.
There are a lot of sensor being used in PLC system such as light and infrared sensor, touch and
tactile sensor, proximity sensor, range finder, sniff sensor, vision system and many more.
Page 58 of
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Appendix A:
FINAL LABORATORY PROJECT REPORT
Reports Title Page
ROBOTICS CONTROL USING

MC68230
GROUP NUMBER : 1A
GROUP MEMBERS:
NO:
1. RAHISHAM ABD RAHMAN,
2. MUHAMMAD FAHMI ISMAIL
3. WAN MUHAMMAD IMRAN
4. FAZRI IDRIS
MATRIC
4080484
4271276
4120678
4090974
DATE OF SUBMISSION
Tuesday, 7th May 2012
Page 59 of
Appendix B:
Data sheet report forms
DATA SHEET FOR EXPERIMENT#:

LIST THE CODES USED:
PART B
PART C
(Note Please add the 'PART' accordingly)
DEMO PART A COMPLETE

DEMO PART B COMPLETE
DEMO PART C COMPLETE
Data approved and verified by :

Signature and date
Rev 1.0 04/08/11
Appendix C:
Certificate of Originality and Authenticity

This is to certify that we are responsible for the work submitted in
this report, that the original work is our own except as specified
in the references and acknowledgement, and that the original work
contained herein have not been untaken or done by unspecified
sources or person.
We hereby certify that this report has not been done by only one
individual and all of us have contributed to the report. The
length of contribution to the reports by each individual is noted
within this certificate.
We also hereby certify that we have read and understand the
content of the total report and no further improvement on the
reports is needed from any of the individuals contributor to the
report.
We therefore, agreed unanimously that this report shall be
submitted for marking and this final printed report have been
verified by us.
Signature:
Name:
Matric Number:
Contribution:
Signature:
Name:
Matric Number:
Contribution:
Signature:
Name:
Matric Number:
Contribution:
Read
Understand
Agree
Introduction and calculation
Read
Understand
Agree
Graphs and procedures
Read
Understand
Agree
Conclusion and discussion part A
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KULLIYYAH OF ENGINEERING

DEPARTMENT OF MECHATRONICS ENGINEERING

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GUIDELINES FOR FINAL REPORT WRITING

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laboratory session requires a certain coding from your side. If the

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The marking scheme for the reports is as follows:

REFERENCE: COMPULSARY READING MATERIAL FOR LAB

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Mechatronics Engineering Lab III Manual

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Digital System Design

Electrical characteristics of logic circuits.

Operation of basic gates.

The concept of a universal gate.

Define tPHL and tPLH.

From the datasheet of the 74LS00:

What is the minimum input voltage for a logic 1?

What is the minimum input voltage for a logic 0?

What is the minimum output voltage for a logic 1?

What is the minimum output voltage for a logic 0?.

Compute the difference (C A), (D-B). Why must this be a positive

Prepare truth tables for each of this experiment's logic diagrams.

Mechatronics Engineering Lab III Manual

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Connect the circuit in Figure 6 and verify that it operates as an inverter.

Connect the circuit in Figure 7 and verify that it operates as an inverter.

Connect the circuit in Figure 8 and verify that it operates as an OR gate.

Assemble each of the circuits in Figure 9 through Figure 11 and

Mechatronics Engineering Lab III Manual

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All combinational logic functions can be represented in sum-of-products

Mechatronics Engineering Lab III Manual

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Is it possible to design the following equation?

III. Results and Discussion

Mechatronics Engineering Lab III Manual

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Mechatronics Engineering Lab III Manual

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Digital System Design

Mechatronics Engineering Lab III Manual

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*A sum-of-products implementation of the 4-to-1 multiplexer appears in figure above. It

Part 2: Design Problem

Mechatronics Engineering Lab III Manual

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III. Results and Discussion

Mechatronics Engineering Lab III Manual

Rev 1.0 04/08/11

Mechatronics Engineering Lab III Manual

Rev 1.0 04/08/11

Digital System Design

Mechatronics Engineering Lab III Manual

Rev 1.0 04/08/11