Lembaran amali 6_dis10

8/2/2019 Lembaran amali 6_dis10

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Lab6/ACS/E5123/_______

LAB NO. ; 6

TITLE : ROBOTIC ARM PROGRAMMING

OBJECTIVE : i. To introduce the basic programming of robotic arm.

ii. To familiarize the students with the basic program which produce servo motor

rotation for each axis.

iii. To familiarize the students with the program code downloading to MCU

procedures.

EQUIPMENTS: Laptop, robotic arm ABLELOGIC RBT-500A and PIC-PRG2 USB PIC programmer.

THEORY :

SERVO MOTOR:

A servo motor is an electromechanical device in which an electrical input determines the position of

the armature of a motor. A normal servo is applied to control an angular motion of between 0 and 180 degrees

for each axis. Servo is controlled by sending a pulse of variable width or PWM. The control wire is used to send

this pulse which is usually yellow in color while the black wire will be GND and the red color will be VCC. The

servo motor expects to see a pulse every 20 ms. The width of the pulse will determine the turning angle of theservo motor.

20 ms

20 ms

20 ms

1 ms

1.5 ms

2 ms

0 degree

neutral

180 degree

Neutral is defined to be the position where the servo has exactly the same amount of potential

rotation in the clockwise direction as it does in the counter clockwise direction. It is important to note that

different servos will have different constraints on their rotation but they all have a neutral position and that

position is always around 1.5 ms.

PROGRAM THE ROBOTIC ARM:

The operation of all the robotic arm servos are all controlled by a microcontroller board which is

located and mounted inside the main base unit(not visible to user). A PIC16F877A MCU is used to run programs

that control the operation of the motors. In order to program this robotic arm to run users own written

program, PIC-PRG2 USB PIC programmer will be used to download users program to the MCU via the ICSP

interface port.

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BASIC STEPS IN USING THE PIC-PROG2 USB PROGRAMMER:

1. Please ensure to push the ICSP switch to the PROGRAM position.2. Plug in the USB cable to the PC.

3. Open the WinPic800 software.

4. The software language can be chose at the language tab.

5. Then, click the Setting tab follow by hardware as shown in the figure below.

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Lab6/ACS/E5123/_______

6. Make sure the hardware setting is as below. Then, click Apply edits.

7. Please ensure 16f877a is shown in PIC family selection.

8. Then, click the File tab follow by Open to select desired hex file.9. Click Program icon to program the IC.

10. Finally, push the ICSP switch to the RUN position and observe the resulting movement.

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PROCEDURE :

1. Open the MicroCode Studio software.

2. Then, click the File tab follow by New.3. Write down the given program in the untitled window.

4. Then, click the Project tab follow by Compile.5. Download the hex file into PIC16F877a.6. Show the resulting movement to your labs instructor to get their endorsement for each experiment.

EXPERIMENT 1:

Base VAR BYTE

TRISB=0

PORTB=0

Base = 80

loop:

PULSOUT PORTB.1,Base

PAUSE 20

goto loop

Lecturer signature: Date:

EXPERIMENT 2:

Base VAR BYTE

TRISB=0

PORTB=0

Base = 210

loop:


PAUSE 18

goto loop


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EXPERIMENT 3:

temp VAR BYTE

Base VAR BYTE

TRISB=0

PORTB=0

loop:

FOR temp = 0 TO 150

Base = 80


PAUSE 20

NEXT

FOR temp = 0 TO 150

Base = 200PULSOUT PORTB.1,Base

PAUSE 18

NEXT

goto loop


EXPERIMENT 4:

temp VAR BYTEShoulder VAR BYTE

TRISB=0

PORTB=0

loop:

FOR temp = 0 TO 150

Shoulder = 170

PULSOUT PORTB.2,Shoulder

PAUSE 20

NEXT

FOR temp = 0 TO 150

Shoulder = 230

PULSOUT PORTB.2,Shoulder

PAUSE 18

NEXT

goto loop

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EXPERIMENT 5:

temp VAR BYTE

Elbow VAR BYTE

Supporter VAR BYTE

TRISB=0

PORTB=0

loop:

FOR temp = 0 TO 150

Elbow = 100

Supporter = 210

PULSOUT PORTB.3,Elbow

PULSOUT PORTB.2,SupporterPAUSE 20

NEXT

FOR temp = 0 TO 150

Elbow = 210

Supporter = 210

PULSOUT PORTB.3,Elbow

PULSOUT PORTB.2,Supporter

PAUSE 18

NEXT

goto loop


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DISCUSSIONS :

1. Discuss the movement of robotic arm for each experiment above.

CONCLUSION :

1. Write the conclusion for this experiment with your own words.

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