Continuous Assessment Cover Sheet

Faculty of Engineering

Module Details
Module Code EC 2481 Module Title INTRODUCTION TO CONTROLS & ROBOTICS
Program: Name:
Stream: (Civil/Electronics/Mechanical)

Assessment details

Title LAB 03-Servo and Stepper Group assignment YES / NO

motor control If yes, Group No.

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Due date Date submitted

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Group Number: Signature

Student ID EN19381664 Full Name Wijerathna W.M.D.U
Student ID Full Name

Student ID Full Name

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Marks: [ All marks are subject to external moderation and approval of board of examinations]
INTRODUCTION

 The objective of this experiment is to control servo and stepper motors using the
microcontroller.

APPARATUS

 Stepper motor
 Servo motor
 ULN2003A
 PicKit 2 Programmer and PC with Micro C Pro
 DC Power Supply
 Demonstration Board

PART 1: STEPPER MOTOR CONTROL

Procedure

 Construct the circuit shown in Figure2 on the bread board.

 Power up the stepper motor using 5 V line from the power supply, and make a common ground
between demo board and power supply.
 Load the generated hex file to microcontroller.
 Observe the output of stepper motor.
 Processor clock Frequency set as 20 MHz
Discussion

 Observe the operation of the stepper motor and write a program code to change the rotational
direction of the motor.

void go_forward();
void go_backward();

unsigned int i;

void main() {
TRISB = 0x00; //Port B as output

go_forward();
go_backward();
}

void go_forward(){
for(i=0;i<10;i++){ //Repeat 10 rounds
PORTB = 0x01;
delay_ms(200); // slow down change pace a little
PORTB = 0x02;
delay_ms(200); // slow down change pace a little
PORTB = 0x04;
delay_ms(200); // slow down change pace a little
PORTB = 0x08;
delay_ms(200); // slow down change pace a little
}
}

void go_backward(){
for(i=0;i<10;i++){ //Repeat 10 rounds
PORTB = 0x08;
delay_ms(200); // slow down change pace a little
PORTB = 0x04;
 delay_ms(200); // slow down change pace a little
PORTB = 0x02;
delay_ms(200); // slow down change pace a little
PORTB = 0x01;
delay_ms(200); // slow down change pace a little
}
}

 Full turn contains with the 4 steps according to below table.

 The above graph indicate the Stepper motor sequence pattern. Reverse this sequence pattern,
then we can change the rotational direction of the motor.
PART 2: SERVO MOTOR CONTROL

Procedure
 Servo Motor Wiring :
 Red – Vcc
 Brown – Ground
 Orange/Yellow – PWM Signal

 Processor clock Frequency set as 0.5 MHz

Discussion

void main() {

TRISC = 0x00; // PORTC as output

PWM1_Init(50); // Frequency= 50Hz

PWM1_Start();
PWM1_Set_Duty(13); // 1ms pulse width for 5% duty cycle
Delay_ms(1500); //slow down change pace
PWM1_stop();

PWM1_Start();
PWM1_Set_Duty(19); //1.5ms pulse width for 7.5% duty cycle
Delay_ms(1500); //slow down change pace
PWM1_stop();
 PWM1_Start();
PWM1_Set_Duty(26); //2ms pulse width for 10% duty cycle
Delay_ms(1500); //slow down change pace
PWM1_stop();

PWM1_Start();
PWM1_Set_Duty(19); // 1ms pulse width for 5% duty cycle
Delay_ms(1500); //slow down change pace
PWM1_stop();

 What is the period and frequency of the pulse train needed to be sent to the servo motor to
control its position?

 Period (T) = 20 ms

 Frequency (f) = 50 Hz

 What are the pulse width (time high) value needed to position the motor at the

𝑡
Duty cycle =
𝑇
 -90 degree position
1ms
× 100 = 5%
20ms

~1ms pulse == 5% duty cycle

5
× 255 ≈ 13
100

 0 degree position
1.5ms
× 100 = 7.5%
20ms

~1.5ms pulse == 7.5% duty cycle

7.5
× 255 ≈ 19
100
 +90 degree position
2ms
× 100 = 10%
20ms

~2ms pulse == 10% duty cycle

10
× 255 ≈ 26
100