AMAJOR PROJECTREPORTON

FIRE FIGHTING ROBOTREMOTELY OPERATED

Submitted in partial fulfillment of the requirements for the award of degree of

BACHELOR OF TECHNOLOGYINMECHATRONICS ENGINEERING

Submitted by:Mohit Keshav (R880211030)Rohit Khanna (R880211036)Siddique Akbar (R880211048)Vaibhav Tanwar (R880211056)

Supervisor:Mr. Natraj MishraAssistant Professor(Mechanical Department)

UNIVERSITY OF PETROLEUM & ENERGY STUDIESDehradun- 248007

CERTIFICATE

This is to certify that Mr. MOHIT KESHAV, ROHIT KHANNA, SIDDIQUE AKBAR, VAIBHAV TANWAR student of final B.Tech. Mechatronics Engineering, VIII semester, College Of Engineering Studies, has satisfactorily done major project on FIRE FIGHTING ROBOT and submitted for the fulfillment for the award of the degree of Bachelor of Technology of University of Petroleum & Energy Studies, Dehradun.

Date: 27/04/2015

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

Department of Mechanical Engineering, University Of Petroleum & Energy Studies

iDeclaration

PROJECT TITLE

FIRE FIGHTING ROBOT REMOTELY OPERATED

The Project Dissertation is submitted in partial fulfillment of academic requirements for major project. This major project is a result of our own investigation. All sections of the text and results, which has been obtained from other sources, are fully referenced. T understand that cheating and plagiarism constitute a breach of University regulations and will be dealt with accordingly.

Signature:

Mentor:-Mr. Natraj Mishra(Assistant Professor, Mechanical Department)

Name of the students:Mohit Keshav (R880211030)Rohit Khanna (R880211036)Siddique Akbar (R880211048)Vaibhav Tanwar (R880211056)

DATE: 27/04/2015

Acknowledgement

We would like to express our sincere gratitude to our veteran mentor Mr. Natraj Mishra (Assistant Professor, Mechanical Department), for giving us this opportunity to work on the project Fire Fighting Robot Remotely Operated. Thanks are due to our university- University of Petroleum & Energy Studies for introducing the major project in our course curriculum. Also we would like to thank the university for believing in us that we can complete this project successfully. Thanks are due to our Dean- Dr. Kamal Bansal for providing the students this platform to present such reports while pursuing their graduation. We would like to extend our thanks to all the faculty members of the Mechanical Department who have helped us in some or the other way in making our project. Thanks are due to all our classmates, our parents and our colleagues without whom the making of this project was not possible. At last thanks are due for the researchers whose paper gave us the right direction to work.

Abstract

The project is designed to develop a fire fighting robot using RF technology for remote operation. The robotic vehicle is loaded with water tanker and a pump which is controlled over wireless communication to throw water. An 8051 series of microcontroller is used for the desired operation.At the transmitting end using push buttons, commands are sent to the receiver to control the movement of the robot either to move forward, backward and left or right etc. At the receiving end three motors are interfaced to the microcontroller where two of them are used for the movement of the vehicle and the remaining one to position the arm of the robot. The RF transmitter acts as a RF remote control that has the advantage of adequate range (up to 200 meters) with proper antenna, while the receiver decodes before feeding it to another microcontroller to drive DC motors via motor driver IC for necessary work. A water tank along with water pump is mounted on the robot body and its operation is carried out from the microcontroller output through appropriate signal from the transmitting end. The whole operation is controlled by an 8051 series microcontroller. A motor driver IC is interfaced to the microcontroller through which the controller drives the motors. Further the project can be enhanced by interfacing it with a wireless camera so that the person controlling it can view operation of the robot remotely on a screen.

Need of the Project

Cultural property management is entrusted with the responsibility of protecting and preserving an institution's buildings, collections, operations and occupants. Constant attention is required to minimize adverse impact due to climate, pollution, theft, vandalism, insects, mold and fire. Because of the speed and totality of the destructive forces of fire, it constitutes one of the more serious threats. Vandalized or environmentally damaged structures can be repaired and stolen objects recovered. Items destroyed by fire, however, are gone forever. An uncontrolled fire can obliterate an entire room's contents within a few minutes and completely burn out a building in a couple hours. Hence it has become very necessary to control and cease the fire to protect the Life and costlier things. For that purpose we planned to design and fabricate the fire-fighting robot.

Autonomous robots can act on their own, independent of any controller. The basic idea is to program the robot to respond a certain way to outside stimuli. The very simple bump-and-go robot is a good illustration of how this works.

This sort of robot has a bumper sensor to detect obstacles. When you turn the robot on, it zips along in a straight line. When it finally hits an obstacle, the impact pushes in its bumper sensor. The robot's programming tells it to back up, turn to the right and move forward again, in response to every bump. In this way, the robot changes direction any time it encounters an obstacle. Advanced robots use more elaborate versions of this same idea. Roboticists create new programs and sensor systems to make robots smarter and more perceptive. Today, robots can effectively navigate a variety of environments.

Table of Contents

1. Introduction 61.1. Statement of the Project ...71.2. The main objectives of the project ...71.3. The main building blocks of the project ...71.4. Methodology .9

2. Operation of Robot 102.1. Principle Operation ...102.2. Robot Actuators ....122.3. PROJECT SPECIFICATIONS ..12

3. Components of Robot 133.1. RF Transmitter . 133.2. 8051 Microcontroller 173.2.1.1. Pin Configuration ...183.2.1.2. Memory Organization.213.2.1.3. Memory architecture ..233.3. MOTOR DRIVER IC (L293D) 253.4. Brushless DC Pump ..253.5. Battery ...293.6. Sugar Cube Relay (JQC-3FC DC 12V) 30

4. Program and Software 324.1. Keil Software..324.2. Proteus Software ....33 4.3. Solid Works ...34

5. Working of Robot ..35

6. Different Phase of Project ..37

7. Components List and Price 38

8. Future Scope and Conclusion 41

References .42

Chapter 1:Introduction

The project is designed to develop a fire fighting robot using RF technology for remote operation. The robotic vehicle is loaded with water tanker and a pump which is controlled over wireless communication to throw water. An 8051 series of microcontroller is used for the desired operation.At the transmitting end using push buttons, commands are sent to the receiver to control the movement of the robot either to move forward, backward and left or right etc. At the receiving end three motors are interfaced to the microcontroller where two of them are used for the movement of the vehicle and the remaining one to position the arm of the robot. The RF transmitter acts as a RF remote control that has the advantage of adequate range (up to 200 meters) with proper antenna, while the receiver decodes before feeding it to another microcontroller to drive DC motors via motor driver IC for necessary work. A water tank along with water pump is mounted on the robot body and its operation is carried out from the microcontroller output through appropriate signal from the transmitting end. The whole operation is controlled by an 8051 series microcontroller. A motor driver IC is interfaced to the microcontroller through which the controller drives the motors. Further the project can be enhanced by interfacing it with a wireless camera so that the person controlling it can view operation of the robot remotely on a screen.

Statement of the Project:-

The project is designed to develop a fire fighting robot using RF module for remote operation. The robotic vehicle is loaded with water tanker and a pump which is controlled over wireless communication to throw water. At the transmitting end using RF module, commands are sent to the receiver to control the movement. When the robot faces a fire then it extinguishes fire with the help of pump motor connected to a water tank mounted on its body. Remote operation is achieved by Radio Frequency technology. The RF transmitter acts as a remote control that has the advantage of adequate range.

The main objectives of the project Construction of RF based intelligent fire extinguisher vehicle system. Water Flow through wireless RF technology. Movement of the Robot in all directions. The project provides the following learnings: Wireless Radio Frequency module operation. Interfacing of transceiver modules to Microcontroller. DC motors working and need for motor driver. Interfacing RF module to Microcontroller Pump and Water Flow characteristics.

The main building blocks of the project are: Regulated Power Supply. Microcontrollers. Wireless Radio Frequency module. Wireless Transceiver modules. DC motors with driver. Brushless DC Pump. Crystal oscillator. Reset 5V Relay 5V and 12 V batteries. Chassis DC motors Switches Pipes Container or Tank for water Storage Electronic devices such as Resistors, Capacitors, Transistors

Methodology

The project uses HT12E Encoder which converts 4 bit data to serial output which is then fed to the RF module for transmitting the same to be received by the receiver RF module the output of which is fed to HT12D the serial decoder IC, the output of which is fed to controller. The transmitting end MC is connected to a set of pushbutton. Thus while a particular button is pressed the program executed delivers corresponding 4-bit data which are then transmitted serially at port 1. The data so received at the receiver end of port 1 operates the motor through motor driver IC L293D as required being interfaced from the Microcontroller output port 2. The transmitter is powered by a 6v battery in series with a silicon diode to finally develop required voltage for microcontroller circuit. The receiver is powered by a 12v battery in series with a silicon diode to protect the circuits from accidental reverse battery connection. 5V DC out of the 12V available from regulator IC 7805 is fed to the controller, decoder, the motor driver IC L293D pin 8 for operation of the motor. The receiving unit uses one more motor driver IC L293D for driving one DC Motor for arm operation with a boom mounted on its shaft. At the end of the shaft a nozzle is connected to a water tanks mounted water pump which is powered from NO contacts of a relay that is driven by transistor Q1 from the output of MC pin 15, thus in the event of a fire the robotic vehicle is moved over to the location by operating the left, right, forward & backward button etc. After it reaches the site the nozzle mounted motor takes position through the water on the fire from the water tank mounted DC pump actuated by the relay RL1. Thus the fire can be extinguished.

Chapter2:Operation of Robot

There are also several different ways to describe manipulator motions. The major characteristics of motion description are the coordinate system in which they are expressed, whether they are absolute or relative, and the complexity of the motion description. Principle Operation Co-ordinate system

The two most important systems are joint angles and Cartesian (X, Y, Z) coordinates. Y-axis, Z-axis, X-axis. A few robots support cylindrical coordinates, but these are probable nod as useful as Cartesian because they are manipulator-centered rather than work space centered. The form of a joint angle description is just a list of the joint angles in all manipulator designs, any such list corresponds universally to one position & orientation of the end effectors. This is typical of simple control systems.

If the reference frame in which the Cartesian coordinates are measured in flexed in position in the work space, it is called an inertial reference. A particular inertial frame is usually designated as the default reference frame. It is often called the Base frame, which moves and turns with the object.

It is useful in assembly task to be able to specify positions and motions with respect to a tool, fixture, or work piece. For this purpose, it should be possible to define a new reference frame fixed in an object. These auxiliary reference frames should not have to be aligned with the base frame. A frame fixed in the end effectors and rotating with it is also very useful in assembly task for describing reaching motions. For ex. Animation calls this the Tools Frame. Another useful moving frame moves with a conveyor belt.

The industrial robot is a programmable mechanical manipulator, capable of moving along several Direct sound equipped as its ends with a work device called the end effectors (or tool) and capable of performing factory work ordinarily done by human beings. The term robot is used for a manipulator that has a built in control system and is capable of stand along operation.

Modern robotic systems consist of at two major parts:

1. The manipulator, which is mechanical moving structure. 2. The device to actuate the joints of the manipulator.

In general, the structure of a manipulator is composed of a main frame and a wrist with a fool at its end. The tool can be a welding head, a spray gun, a machining tool, or a gripper containing open shut jaws, depending upon the specific applications of the robots. Each of arms practically consists of a sequence or mechanical links connected by joint to the next link. The function of the joints is to control the motion between the links.

The motion of the end effect or is generated by controlling the position and velocity of the robots axes of motion. An axis of motion in robotics means degree of freedom in which robot can move. Basically the robot needs six axes of motion (or degree of freedom) to reach an arbitrary point with a specific orientation in space. A different orientation might completely change the position of robot arm. For example to place a weld on the top side of beam requires completely different orientation from the required to place a weld at almost the same point but on the beam and consequently the position of the arm is changed. Typically the arm has three degrees of freedom, the linear or rotary motion and the wrist section contents three rotary motion the combination of these six motions will orient the robots end effectors and position it at the required point in space nevertheless, with increase in the number of freedom, the complexity of the machine increased and so also the cost. Most of the industrial operations may be completed with only 3 to 6 degrees of freedom.

Robot Actuators

These include pneumatic cylinders or motors, hydraulic cylinders or motors and electric motors. Pneumatic cylinders are cheap and need little maintenance. These are suited for high speed operation with light pay loads. Hydraulic actuators are more costly & need more maintenance. These are ideally suited for heavy loads. Electric motors have moderate

PROJECT SPECIFICATIONS: The project specifications are given as below:

POWER SUPPLY:7805 is a voltage regulation IC which is used to supply 5V Direct current to the microcontroller.

Controller Used:8051 microcontroller is used in this project. It is the central processing unit of project. There are 40 pins in this controller in 16 pin are used as I/O pin. On these pin motor driver IC and decoder is attached.Motor Driver IC:L293D is a dual H-bridge motor driver integrated circuit (IC). They are use to control they the 4 motor used in project. There are 2 motor driver IC used in the project one to control front motor and other for rear motors.

Pump:5V Brushless DC Pump is act as a actuator for the constant supply of water from the tank.

Motors:200 Rpm DC Motors are used for the movement of the robot in forward/ backward and left/right.

Batteries:There are five 4V rechargeable batteries are used in the bot. Three batteries are connected in series to the L293D to supply 12V to the motor. Other two batteries are connected in series to the power supply.

RF Module:TX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot and remote control.

Chapter3: Component of Robot

There are number of components are used for the working of the robot. These system make the motion and functioning of system possible. Different component perform different operation like actuation, transmission, control, motion etc. To perform these function following component are used which is explain in subsection.

RF Transmitter 433 MHzTX-RX 02 (433 MHz) is used to transmit and receive signal wirelessly to robot and remote control. They transmit encoded signal of the push button from the remote control of the device.

Features of Tx-Rx 02 RF Module:

Range in open space(Standard Conditions) : 100 Meters RX Receiver Frequency : 433 MHz RX Typical Sensitivity : 105 Dbm RX Supply Current : 3.5 mA RX IF Frequency : 1MHz Low Power Consumption Easy For Application RX Operating Voltage : 5V TX Frequency Range : 433.92 MHz TX Supply Voltage : 3V ~ 6V TX Out Put Power : 4 ~ 12 Dbm

Figure 3.1: Block diagram of the transmitter

Figure 3.2: RF Transmitter 433 MHz

Figure 3.3: RF Receiver of 433 MHz

Applications: Remote Controls Here, in our Project we use this application. Automation System Wireless Security System Sensor Reporting Car Security System Remote Keyless Entry

CIRCUIT DIAGRAMCircuit diagram of the following transmitter and receiver are as follows

Figure 3.4: circuit diagram of Rx-Tx

8051 Microcontroller

8051 microcontroller is used in this project. It is the central processing unit of project. There are 40 pins in this controller in 16 pin are used as I/O pin. On these pin motor driver IC and decoder is attached.

Features of Intel 8051 Microcontroller: It is an 8bit microcontroller. 8bit accumulator, 8bit Register and 8bit ALU. On chip RAM 128 bites (data memory). On chip ROM 4 Kbytes (program memory). Two 16bit counter/ timer. A 16 bit dptr(data pointer) Two levels of interrupt priority. 4 byte bi-directional input/ output port. Power saving mode (on some derivatives). 16bit address bus:-it can access 2^16 memory locations:-64kb (65536) each of RAM and ROM. It is an inclusion of Boolean processing system, have an ability to allow logic operations to be carried out on registers and RAM. 8bit data bus:-it can access 8bit of data in one operation. UART (this serial communication port makes chip to use simply as a serial communication interface). It has four separate Register set. (Each contains 8 Registers (R0 to R7)).

Figure 3.5 Block diagram of controller

Pin Configuration

Pins 1-8:Port1 Each of these pins can be configured as an input or an output.

Pin 9: RS A logic one on this pin disables the microcontroller and clears the contents of most registers. In other words, the positive voltage on this pin resets the microcontroller. By applying logic zero to this pin, the program starts execution from the beginning.

Pins 10-17: Port3 Similar to port 1, each of these pins can serve as general input or output. Besides, all of them have alternative functions:

Pin 10: TXD Serial asynchronous communication input or Serial synchronous communication output.

Pin 11: RXD Serial asynchronous communication output or Serial synchronous communication clock output.

Pin 12: INT0 Interrupt 0 input.Pin 13: INT1 Interrupt 1 input.Pin 14: T0 Counter 0 clock input.Pin 15: T1 Counter 1 clock input.Pin 16: WR Write to external (additional) RAM.Pin 17: RD Read from external RAM.Pin 18, 19: X2, X1 Internal oscillator input and output. A quartz crystal which specifies operating frequency is usually connected to these pins. Instead of it, miniature ceramics resonators can also be used for frequency stability. Later versions of microcontrollers operate at a frequency of 0 Hz up to over 50 Hz.Pin 20: GND Ground.Pins 21-28: If there is no intention to use external memory then these port pins are configured as general inputs/outputs. In case external memory is used, the higher address byte, i.e. addresses A8-A15 will appear on this port. Even though memory with capacity of 64Kb is not used, which means that not all eight port bits are used for its addressing, the rest of them are not available as inputs/outputs.Pin 29: PSEN If external ROM is used for storing program then a logic zero (0) appears on it every time the microcontroller reads a byte from memory.Pin 30: ALE Prior to reading from external memory, the microcontroller puts the lower address byte (A0-A7) on P0 and activates the ALE output. After receiving signal from the ALE pin, the external register (usually 74HCT373 or 74HCT375 add-on chip) memorizes the state of P0 and uses it as a memory chip address. Immediately after that, the ALU pin is returned its previous logic state and P0 is now used as a Data Bus. As seen, port data multiplexing is performed by means of only one additional (and cheap) integrated circuit. In other words, this port is used for both data and address transmission.Pin 31: EA By applying logic zero to this pin, P2 and P3 are used for data and address transmission with no regard to whether there is internal memory or not. It means that even there is a program written to the microcontroller, it will not be executed. Instead, the program written to external ROM will be executed. By applying logic one to the EA pin, the microcontroller will use both memories, first internal then external (if exists).Pins 32-39: Similar to P2, if external memory is not used, these pins can be used as general inputs/outputs. Otherwise, P0 is configured as address output (A0-A7) when the ALE pin is driven high (1) or as data output (Data Bus) when the ALE pin is driven low (0).Pin 40: VCC +5V power supply.

Figure 3.5: Architecture of controller 8051

Port 1 P1 is a true I/O port, because it doesn't have any alternative functions as is the case with P0, but can be configured as general I/O only. It has a pull-up resistor built-in and is completely compatible with TTL circuits.Port 2 P2 acts similarly to P0 when external memory is used. Pins of this port occupy addresses intended for external memory chip. This time it is about the higher address byte with addresses A8-A15. When no memory is added, this port can be used as a general input/output port showing features similar to P1.Port 3 All port pins can be used as general I/O, but they also have an alternative function. In order to use these alternative functions, a logic one (1) must be applied to appropriate bit of the P3 register. In tems of hardware, this port is similar to P0, with the difference that its pins have a pull-up resistor built-in.

Figure 3.6: Input/ Output Ports

Memory OrganizationThe 8051 has two types of memory and these are Program Memory and Data Memory. Program Memory (ROM) is used to permanently save the program being executed, while Data Memory (RAM) is used for temporarily storing data and intermediate results created and used during the operation of the microcontroller. Depending on the model in use (we are still talking about the 8051 microcontroller family in general) at most a few Kb of ROM and 128 or 256 bytes of RAM is used. HoweverAll 8051 microcontrollers have a 16-bit addressing bus and are capable of addressing 64 kb memory. It is neither a mistake nor a big ambition of engineers who were working on basic core development. It is a matter of smart memory organization which makes these microcontrollers a real programmers goody.

Program MemoryThe first models of the 8051 microcontroller family did not have internal program memory. It was added as an external separate chip. These models are recognizable by their label beginning with 803 (for example 8031 or 8032). All later models have a few Kbyte ROM embedded. Even though such an amount of memory is sufficient for writing most of the programs, there are situations when it is necessary to use additional memory as well. A typical example are so called lookup tables. They are used in cases when equations describing some processes are too complicated or when there is no time for solving them. In such cases all necessary estimates and approximates are executed in advance and the final results are put in the tables (similar to logarithmic tables).Data MemoryAs already mentioned, Data Memory is used for temporarily storing data and intermediate results created and used during the operation of the microcontroller. Besides, RAM memory built in the 8051 family includes many registers such as hardware counters and timers, input/output ports, serial data buffers etc. The previous models had 256 RAM locations, while for the later models this number was incremented by additional 128 registers. However, the first 256 memory locations (addresses 0-FFh) are the heart of memory common to all the models belonging to the 8051 family. Locations available to the user occupy memory space with addresses 0-7Fh, i.e. first 128 registers. This part of RAM is divided in several blocks.The first block consists of 4 banks each including 8 registers denoted by R0-R7. Prior to accessing any of these registers, it is necessary to select the bank containing it. The next memory block (address 20h-2Fh) is bit- addressable, which means that each bit has its own address (0-7Fh). Since there are 16 such registers, this block contains in total of 128 bits with separate addresses (address of bit 0 of the 20h byte is 0, while address of bit 7 of the 2Fh byte is 7Fh). The third group of registers occupy addresses 2Fh-7Fh, i.e. 80 locations, and does not have any special functions or features.Additional RAMIn order to satisfy the programmers constant hunger for Data Memory, the manufacturers decided to embed an additional memory block of 128 locations into the latest versions of the 8051 microcontrollers. However, its not as simple as it seems to be The problem is that electronics performing addressing has 1 byte (8 bits) on disposal and is capable of reaching only the first 256 locations, therefore. In order to keep already existing 8-bit architecture and compatibility with other existing models a small trick was done. It means that additional memory block shares the same addresses with locations intended for the SFRs (80h- FFh). In order to differentiate between these two physically separated memory spaces, different ways of addressing are used. The SFRs memory locations are accessed by direct addressing, while additional RAM memory locations are accessed by indirect addressing.

Memory architectureThe MCS-51 has four distinct types of memory internal RAM, special function registers, program memory, and external data memory.Internal RAM(IRAM) is located from address 0 to address 0xFF. IRAM from 0x00 to 0x7F can be accessed directly. IRAM from 0x80 to 0xFF must be accessed indirectly, using the @R0 or @R1 syntax, with the address to access loaded in R0 or R1. The 128 bits at IRAM locations 0x200x2F are bit-addressable.Special function registers (SFR) are located in the same address space as IRAM, at addresses 0x80 to 0xFF, and are accessed directly using the same instructions as for the lower half of IRAM. They cannotbe accessed indirectly via @R0 or @R1. 16 of the SFRs are also bit-addressable.Program memory (PMEM, though less common in usage than IRAM and XRAM) is up to 64KB of read-only memory, starting at address 0 in a separate address space. It may be on- or off-chip, depending on the particular model of chip being used. Program memory is read-only, though some variants of the 8051 use on-chip flash memory and provide a method of re-programming the memory in-system or in-application. In addition to code, it is possible to store read-only data in program memory, accessed by the MOVC A, @DPTR instruction. Data is fetched from the address specified in the 16-bit special function register DPTR.External data memory (XRAM) is a third address space, also starting at address 0. It can also be on- or off-chip; what makes it "external" is that it must be accessed using the MOVX (Move Xternal) instruction. Many variants of the 8051 include the standard 256bytes of IRAM plus a few KB of XRAM on the chip.The 8051 is designed as a strictHarvard Architecture. The 8051 can only execute code fetched from program memory. The 8051 does not have any instruction to write to program memory. Most 8051 systems respect this distinction, and so are unable to download and directly execute new programs. The strict Harvard architecture has the advantage of making such systems immune to most forms ofmalware. Some 8051 systems have (or can be modified to have) some "dual-mapped" RAM, making them act somewhat more likePrinceton Architecture. This (partial) Princeton architecture has the advantage of making it possible for aForth Boot Loaderrunning on the 8051 to write new native code to RAM and then execute it, leading to faster incremental andinteractive Programmingcycles than strict Harvard systems.

MOTOR DRIVER IC (L293D)

L293D is a dual H-bridge motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors.

L293D contains two inbuilt H-bridge driver circuits. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.

Figure 3.7: Motor driver IC L293D

Enable pins 1 and 9 (corresponding to the two motors) must be high for motors to start operating. When an enable input is high, the associated driver gets enabled. As a result, the outputs become active and work in phase with their inputs. Similarly, when the enable input is low, that driver is disabled, and their outputs are off and in the high-impedance state.

Figure 3.8: Pin Diagram of L293D

Brushless DC Pump

Specifications: Operates on 12V supply Head of 10m Total Power generated 28W

Technical ConceptBrushless DC Pumpuses the principle of permanent magnet brushless DC motor, coupled with the impeller in the rotor, the housing structure designed to form the chamber for operating fluid flow, characterized by security, because there is no brush friction, so there is no spark; high efficiency, low power consumption (energy-efficient, effective power of 70%) than brush motors and long life (up to 10,000 hours or more), low noise (below 40 dB in one meter). Product Specification1. Brushless DC pumpseries have 4.5V,5V, 6V, 9V, 12V, 13.8V, 24V.2. All series can be based on customers specifications, pressure / flow and matched with the required electrical design plus required In / out water pipe.3. General application can refer to standard parts.

Figure 3.9: Brushless DC Pump

Product performance1. Liquids should be no residual, so as not to block the rotor to run, but the capacity to exclude particles is stronger than the piston pump.2. Working environment: ambient temperature -40 to 125 degrees Celsius.3. High temperature of working environment: according to customer requirements, the water pump can be operated under 80-100 degrees; these pumps need to change the material level, to enhance resistance to temperature.4. Flow stability: The Speed Control circuit technology is able to stabilize the voltage changes and load changes, water flow is very stable. In particular, it is suitable for users who have the demand for a steady flow, the flow tolerance was