Eastern Mediterranean

University
PIR SENSOR for controlling
stepper motor.
by

Falah Al Hassan
Ammar T.Najeeb
Supervisor: Reza Abrishambaf

Presentation Outline
Introduction : PIR sensor and application
and Specifications
Microcontroller 8051 and code .
Power supply circuit
Stepper motor .
Driver and indexer
Project circuit .
Conclusion.

Introduction
Block diagram
PIR SENSOR
UNIT

8051
MICROCONTROLLER

MOTOR
1

MOTOR
2

REGULATED
POWER
SUPPLY

Introduction

PIR sensor and application.

Passive Infrared Sensors
Burglar alarm / Security
Motions activated lighting
Lighting control systems
Environmental control systems

Specifications

Power input: 3.6 0.5 VDC

Current drain: 10 uA
Infrared sensor: Dual element, low noise, high sensitivity
Detection range
Ceiling: 5 m dia. at 2.4 m high, 25C
Wall: 10 m, 90 wide at 25C

Microcontroller 8051 and code

Optimized 8 bit CPU for
control applications and
processing capabilities.
64K Program Memory
address space.
64K Data Memory address
space.
128 bytes of on chip Data
Memory.
32 Bi-directional and
individually addressable I/O
lines.
Two 16 bit timer/counters.
6-source / 5-vector
interrupt.
On chip clock oscillator.

Code language and example

Assembly or C language

MOV A, R3
ADD A, R4
MOV R5, A
MOV A, R1
ADD A, R2

; Move the value of R3 to accumulator

; add the value of R4
; Store the result in R5
; Move the value of R1 to Acc
; add the value of R2 with A

Power supply circuit

5v

Stepper motor
A stepper motor is a brushless, synchronous electric motor that converts digital pulses
into mechanical shaft rotation (movements) which are called steps
Stepper Motor Advantages
1- The rotation angle of the motor is proportional to the input pulse.
2- The motor has full torque at standstill (if the windings are energized).
3- Precise positioning and repeatability of movement since good stepper motors have
an accuracy of 3 to 5% of a step and this error is non-cumulative from one step to
the next.
4- Excellent response to starting/stopping/reversing.
5- Very reliable since there are no contact brushes in the motor. Therefore the life of
the step motor is simply dependant on the life of the bearing.
There are three main types of stepper motors:
1. Permanent Magnet Stepper
2. Variable Reluctance Stepper
3. Hybrid Synchronous Stepper

How they work

Hybrid Synchronous Stepper
Examples :

Driver Technology Overview

Indexer Overview (8051)

The indexer, or controller, provides step and
direction outputs to the driver. Most applications
require that the indexer manage other control
functions as well, including acceleration,
deceleration, steps per second and distance.
The indexer can also interface to and control
many other external signals.
Communication to the indexer is through an RS232 serial port and in some cases an RS485
port. In either case, the indexer is capable of
receiving high-level commands from a host
computer and generating the necessary step

separate stepper
movement for ap
synchronization,
Multi-Axis Control ( multi step-motor
control ) Many motion applications have more than

one stepper motor to control. In such cases

a multi-axis control system is available. A
HUB 444 networking hub, for example, may
have up to four stepper drives connected to
it, with each drive connected to a separate
stepper motor. The networking hub provides
coordinated movement for applications
requiring a high degree of synchronization,
such as circular or linear interpolation.

Stand alone operation

In a stand-alone mode the
indexer can operate
independent of the host
computer. Once
downloaded to the nonvolatile memory, motion
programs can be initiated
from various types of
operator interfaces, such
as a keypad or touch
screen, or from a switch
through the auxiliary I/O
inputs. A stand-alone
stepper motor control
system is often packaged
with a driver and power
supply and optional
encoder feedback for
"closed loop" applications
that require stall detection
and exact motor position
compensation.

The following C source shows how I drive the motor. This is a very simple loop that uses the delay library
to pause for 20 ms between each pulse. The order to pulse the coils is stored in the step array. To cause
the shaft to rotate, the coils must be pulsed as follows:
Step 1
Step 2
Step 3
Step 4
Coil A
ON
ON
OFF
OFF
Coil B
OFF
OFF
ON
ON
Coil C
ON
OFF
OFF
ON
Coil D
OFF
ON
ON
OFF
In this code , I assume that the motor coils are connected to PORT B.
/*
* stepper .c
*
* Drive a stepper motor connected to port B
* RB1: Coil 1
* RB2: Coil 2
* RB3: Coil 3
* RB4: Coil 4
*
* Continually rotates motor
*/
char step[ ] = {5, 9, 10, 6};
void main(void) {
char I ;
set_bit(STATUS, RP0); /* select the register bank 1 */
set_tris_b(0);
/* PORT B is all output */
clear_bit(STATUS, RP0);
i = 0;
while(1) {
output_port_b(step[i]);
delay_ms(20);

i++;
if( i == 4)
i = 0;
}
}
Example 2 - sweep back and forth
Following on from the previous
example, this code will rotate the
motor back and forth 180 degrees
each turn.
/*
* stepper2.c
*
* Drive a stepper motor connected
to port B
*
* RB1: Coil 1
* RB2: Coil 2
* RB3: Coil 3
* RB4: Coil 4
*
* Continually sweeps back and
forth, rotating 180 deg each pass
*
*
*/

#define DELAY 50
#define SWEEP 12
#define NUMSTEPS 4
char step[ ] = {5, 9, 10, 6};
char stepPos = 0;
/* pulse the motor with the current coil setting
* and then wait for delay mS
*/
void pulseMotor(char delay) {
output_port_b(step[stepPos]);
delay_ms(delay);
}
/* Advance the coil settings forward by one step
* stepPos is left pointing to the *next* code to output
to move forward
*/
void stepMotorForw(void) {
stepPos++;
if(stepPos == NUMSTEPS)
stepPos = 0;
}

/* Advance the motor backward by one step

* stepPos is left pointing to the *next* code to
output to move backward
*/
void stepMotorBack(void) {
/* advance stepPos to before where we were */
/* do wrap around */
if(stepPos == 0) {
stepPos = NUMSTEPS-1;
} else {
stepPos--;
}
}
void main(void) {
char i;
set_bit(STATUS, RP0); /* select the register bank
1 */
set_tris_b(0);
/* PORT B is all output */
clear_bit(STATUS, RP0);
while(1) {
for(i=0; i < SWEEP; i++) {
pulseMotor(DELAY);
stepMotorForw();
}

delay_s(3);
for(i=0; i < SWEEP; i++) {
stepMotorBack();
pulseMotor(DELAY);
}
delay_s(3);
}
}

Below is an example of a program that performs half-stepping and can be used to drive a stepper
motor. The code turns the motor a number of steps (100 half-steps) in one direction, and then turns
the motor back the same number of steps in the opposite direction. One of the advantages of the
code below is that it can be easily modified to keep track of a motors position. It also has the
advantage of having the port states stored in sequential order in an array. Simply cycling through the
states sequentially and placing the state values on port pins will cause a stepper motor to move. This
is written in C.
#define NUM_OF_STATES 8 // There are 8 different states in this particular example.
#define DELAY_MAX 2000 //The maximum # of counts used to create a time delay. void main(void)
{
/*******************CREATE VARIABLES*******************/
int i; //Used in a for loop
char state_array[NUM_OF_STATES] = {0x06, 0x02, 0x0A, 0x08, 0x09, 0x01, 0x05, 0x04};
int steps_to_move;
char next_state;
/********************SET UP PORT U********************/

DDRU = 0xFF;
PTU = 0; //Init Port U by writing a value of zero to Port U.
/******************************************************/
steps_to_move = 100; //Set the # of steps to move. An arbitrary positive # can be used.
next_state = 0;
PTU = state_array[next_state];
for(i = 0; i < DELAY_MAX; i++)
{
//Wait here for a while.
}
while (steps_to_move > 0)
{
if (next_state
> (NUM_OF_STATES - 1))
//If next_state is greater than the highest
//available state, 7, then cycle back to 0
{
next_state = 0;
}
PTU = state_array[next_state]; //Place new value in Port U. Rotation may be observed for(i = 0; i <
DELAY_MAX; i++)
{
//Wait here for a while.
}
next_state++;
//Increment next_state. Cycling though the states causes rotation
//in one direction. Decrementing states causes opposite rotation.

steps_to_move--;
}

//Subtract 1 from the total # of steps remaining to be moved.

//The following code rotates the motor back in the opposite direction. steps_to_move = 100;
while (steps_to_move > 0)
{
if (next_state
< 0)
{
next_state = (NUM_OF_STATES - 1);
}
PTU = state_array[next_state];
for(i = 0; i < DELAY_MAX; i++)
{
//Wait here for a while. next_state--; } steps_to_move--;
}
} //End of Main

Project Circuit

CONCLUSION
PIR sensor is used internally to excellent
performance infrared sensor for use in robot.
And it is also used for alarm burglar systems,
visitor presence monitoring, light switches.
These compact, easy to use sensors can be
easily implemented in the design.

REFERENCES
http://www.posey.com/files/M6183.pd
http://www.makingthings.com/teleo/teleo/c
ookbook/nightlight/index.htm
http://www.electronicapt.com/circuitos/en/pics/87-motiondetector.html
http://www.active-robots.com/pirsensor.html
http://www.omega.com

Thank You!
Questions