ISSN 2319-8885 Vol.03,Issue.24 September-2014, Pages:4737-4743 www.semargroup.org, www.ijsetr.com Design and Construction of Wireless Two Stepper Motors Control System Based PIC Microcontroller using RF Module MIN CHIT KO1, KYAW SOE LWIN2 1 Dept of Electronics Engineering, Mandalay Technological University, Mandalay, Myanmar, E-mail: mimchitko@gamil.com. 2 Dept of Electronics Engineering, Mandalay Technological University, Mandalay, Myanmar, E-mail: kyawsoelwin007@gmail.com. Abstract: A Stepper motor is the most useable tool applied in process control, machine tools and robotics. Especially in robotics and process control, it is necessary to control the stepper motor from a remote place. The radio frequency module is basically a PIC microcontroller based wireless communication system. The control switches are used to control the direction of stepper motors corresponding angle. The resolution of motors is 7.5 degree/step. The status of these switches is transmitted by using RF transmitter and receiver. The RF modules used in this project are KST ( Tx-01) transmitter and KST (Rx-706) receiver. The four switches are interfaced to the RF transmitter through the 16F877A PIC microcontroller. The microcontroller continuously reads the status of the switches, pass data through the RF transmitter displayed on LCD module and the transmitter transmits the data. At the receiving end, the RF receiver receives this data, gives to the microcontroller. The microcontroller reads the data and after processing, performs the corresponding action i.e., to rotate the motors clockwise and anticlockwise. 16x2 Liquid Crystal display (LCD) display is provided at the transmitter side to display the status of the stepper motors.L298N driver is used to drive the stepper motor. This project uses regulated 5V, 500mA power supply, and 12 V for motors driver supply. Keywords: 16F877A PIC Microcontroller, RF Module, Stepper Motor Driver (L298N), Bipolar Stepper Motors. I. INTRODUCTION In the modern world of science and technology most of the industry is dependent on the robotics and computer related devices. One of such methods is performing a full rotation into a number of equal steps. Stepper motors are viewed as the electric motors without commutators. Commutator is a rotary electrical switch in certain types of electric motors or electric generators that periodically reverses the current direction between the rotor and the external circuit. A commutator is a common feature of direct current rotating machines.[3] In a motor all the windings are part of stator. The rotor is a permanent magnet or a tooth block of some magnetically soft material. The motor controller should handle all the commutation extremely. Audio frequencies are used to step most of the stepper motors. In such cases they spin quickly. They can be stopped and started at controlled orientations. Stepper motors are used in simple open loop control systems, suitable for the systems operating at low accelerations with static loads. A stepper over-torqued in an open loop system will result in losing all knowledge of rotor position and a reinitialization of system is required. In this project we have used RF modules in order to control the system wirelessly from a remote area. We have designed hardware with transmitting and receiving capabilities. In order to program this hardware we have used visual basic or PIC Basic Pro language. II. SYSTEM DESIGN Overall block diagram of the present project is shown in Fig.1. From the block diagram it is clear that two PIC microcontrollers (16F877A) have been used, one is with transmitter side and the other is in the receiver side which Fig.1.System block diagram of the wireless two stepper motors control system. Copyright @ 2014 SEMAR GROUPS TECHNICAL SOCIETY. All rights reserved. MIN CHIT KO, KYAW SOE LWIN may be located at 100 meters distance and connected RX Supply Current : 3.5 mA through the RF (radio frequency) module. The system is RX IF Frequency : 1MHz used in four control switches. The two represent for rotation Low Power Consumption of motor A corresponding at clockwise and anticlockwise. Easy For Application The other represent for motor B similar to motor A. The RX Operating Voltage : 5V microcontroller at the transmitter acts to encode the serial TX Frequency Range : 433.92 MHz data and send to the RF transmitter.16x2 line LCD display TX Supply Voltage : 3V ~ 6V is connected to the microcontroller to describe the status of TX Out Put Power : 4 ~ 12 Dbm switches on display. The other at the receiver acts to decode the serial data giving from the RF receiver. Two L298N B. 16F877A PIC Microcontroller motor drivers are interfaced with the microcontroller and The PIC 16F877A is the 14-bit instrction word midtwo stepper motors for motor rotation. range microcontroller from the Microchip Technology. The III. FUNCTIONAL REQUIREMENTS Following are the main components of this project: RF Module 16F877A PIC Microcontrollers Stepper motors L298N motor drivers A. RF Module PICmicrocontroller architecture is based on RISC (ReducedInstruction Set Computer) instruction set. The PIC 16F877A is a 40- pin device and is one of the popular microcontrollers used in complex applications. The device offers 8192x14 fash program, 368 bytes of RAM , 256 bytes of non-volatile EEPROM memory, 33 I/O pins, multiplexed A/D converters with 10-bits resolution, PWM generator, 3 times, anologue capture and comparator circuit, USART, and internal and external interrupt facilities. The pin configuration of the PIC 16F877A is shown in Fig.3 Fig.2(a).RF transmitter ( KST-Tx01). Fig.3.PIC 16F877A. Fig.2(b). RF receiver (KST-Rx 706). Features of RF Module: RF module is as shown in Fig.2(a), (b). Range in open space(Standard Conditions) : 100 Meters RX Receiver Frequency : 433 MHz RX Typical Sensitivity : 105 Dbm C. Stepper Motor Stepper motors operate differently from DC brush motors, which rotate when voltage is applied to their terminals. Stepper motors, on the other hand, effectively have multiple "toothed" electromagnets arranged around a central gear-shaped piece of iron as shown in Fig.4. An external control circuit, such as a microcontroller, energizes the electromagnets. To make the motor shaft turn, first one electromagnet is given power, which makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are thus aligned to the first electromagnet, they are slightly offset from the next electromagnet. So, International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743 Design and Construction of Wireless Two Stepper Motors Control System Based PIC Microcontroller using RF Module when the next electromagnet is turned on and the first is turned off, the gear rotates slightly to align with the next D. Motor Driver (L298n) one, and from there the process is repeated. Each of those It is a high voltage, high current dual full-bridge driver slight rotations is called a "step," with an integer number of designed to accept standard TTL logic levels and drive steps making a full rotation. In that way, the motor can be inductive loads such as relays, solenoids, DC and stepping motors. Two enable inputs are provided to Enable or disable turned by a precise angle. the device independently of the input signals as shown in Fig.5. The emitters of the lower transistors of each bridge are connected together and the corresponding external terminal can be used for the connection of an external sensing resistor. An additional supply input is provided so that the logic works at a lower voltage. Fig.4. Bipolar stepper motor. Degree of rotation = Resolution x Number of pulses Stepper motors are constant power devices. As motor speed increases, torque decreases. The torque curve may be extended by using current limiting drivers and increasing the driving voltage. Steppers exhibit more vibration than other motor types, as the discrete step tends to snap the rotor from one position to another. This vibration can become very bad at some speeds and can cause the motor to lose torque. The effect can be mitigated by accelerating quickly through the problem speeds range, physically damping the system, or using a micro-stepping driver. Motors with a greater number of phases also exhibit smoother operation than those with fewer phases. Fig.5(b). L298N pins layout. Circuit Diagram Of The Transmitter And Receiver: 5V 3 VEE 16*2 LINE LCD MODULE 2 VDD 10k 5V 15 10K 1 1 11 32 MCLR VDD VDD RC0 VSS D4 D5 D6 11 12 13 D7 RS 14 4 E 6 5,16 RD0 19 16 RC1 10K 5V RD1 20 17 RC2 10K 18 RD2 21 RC3 RD3 22 10K 16F877A 27 Microcontroller RD4 RC4 10K RD5 28 22P 5V 13 OSC1 4M HZ RB0 14 22P 34 data TX01 OSC2 VSS VSS 12 31 Fig.6. Circuit diagram of transmitter. Fig.5(a). L298N motor driver. International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743 RF TRANSMITTER 12V 100nF 5V 5V 470uF 8 9 3 RX706 RF RECEIVER 4 2 7 10 12 5V 3 MIN CHIT KO, KYAW SOE LWIN languages. Both PIC Basic and PIC Basic Pro have been developed by Micro Engineering Labs Inc. PIC Basic is a low-cost compiler and aimed at the lower end of the market, mainly for students and programmers. STEPPER MOTOR WINDINGS 13 L298N data C. Flow Chart of the System 14 1 34 MCLR/ VPP 11 32 VDD VDD RB1 RB3 RB4 RB5 16F877A Microcontroller 15 6 1 RB2 5V 11 35 36 37 5V 12V 100nF 470uF 38 RC2 3 RC3 7 10 12 RC4 RC5 8 4 2 3 L298N STEPPER MOTOR WINDINGS 13 RD0 14 RD1 RD2 22P 13 RD3 OSC1 1 RD4 15 6 11 5V RD5 4MHZ 14 OSC2 22P VSS VSS 12 31 1 2 3 VEE 16*2 LINE LCD MODULE VDD VSS D4 11 D5 12 D6 13 D7 14 RS 4 E 6 5,16 Fig.8. Flow Chart for the system. Fig.7. Circuit diagram of the receiver. Circuit diagram of the transmitter and receiver as shown in Figs.6 and 7. IV. SOFTWARE IMPLEMENTATION FOR THE SYSTEM To accomplish the system, the choosing of software is very important. All PIC microcontrollers require a program or software for their operation. This program is developed and tested by the programmer or users. The following software tools are normally required in a PIC microcontroller-based project development cycle: A text editor PIC Basic Pro compilers PIC programmer device software A. Micro Code Studio Micro Code Studio is a powerful, visual Integrated Development Environment (IDE) with In Circuit Debugging (ICD) capability designed specifically for micro Engineering Labs PICBASIC and PICBASIC PRO compilers. This IDE also provides a syntax highlighted to PIC Basic or PIC Pro compilers so that the user and easily and very quickly compile programs. The system can be recognized easily by seeing the flow chart of the over all system shown in fig.8. At the start of the program, the input/output ports of the microcontroller are configured. The LCD drive mode is also set as 4-bit mode. The PIC microcontroller at transmitter side sends the serial data to the receiver via RF transmitter. The serial data input (or serial receive) is checked. If the serial data input is present, it is converted into parallel data format and received data is displayed on the LCD module. If the serial data input is not present, the program checks whether the switch is pressed or not. If the switch is not pressed, the program skips to the LCD display section. The serial data is then converted into parallel data and displayed on the LCD module. If the .switch is pressed at one time, the motor corresponding rotates one step at 7.5 degree. If the switch is pressing, the motor continuously rotates one step at 7.5 degree until the switch is pressing. The program wait about one second to be conveniently displayed on the LCD module and the program is repeated as long as power is turned on. V. SIMULATION RESULTS OF THE SYSTEM The wireless stepper motor control system built based the PIC 16F877A microcontroller is simulated using Proteus software. Proteus consists of two main parts, ISIS and ARES. ARES is a layout package, which is used to create a PCB when the circuit has been designed. The schematic B. PIC Basic Pro Language diagram of the main components of the wireless motor In this project, PIC Basic and PIC Basic Pro languages control system including the microcontroller circuit is drawn are used to program PIC microcontrollers. BASIC is one of in the ISIS software and then run the simulator program. A the oldest and widely known high-level programming screenshot of the ISIS schematic capture and the motor International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743 Design and Construction of Wireless Two Stepper Motors Control System Based PIC Microcontroller using RF Module control simulation environment is shown in the following Figs.9 to 13. Fig.9. The ISIS simulated screen of the wireless two stepper motor control system. Fig.11. The ISIS simulated screen of the system in data transmit and receive mode sending request “ motor A rotating anticlockwise”. Fig.12. The ISIS simulated screen of the system in data Fig.10. The ISIS simulated screen of the system in data transmit and receive mode sending request “ motor B transmit and receive mode sending request “ motor A rotating clockwise”. rotating clockwise”. International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743 MIN CHIT KO, KYAW SOE LWIN Fig.16. Harding testing result in data transmit and receive mode sending request “motor A rotating anticlockwise”. Fig.13. The ISIS simulated screen of the system in data transmit and receive mode sending request “ motor A rotating anticlockwise. VI. HARDWARE TEST Hardware testing results as shown in bellow figs.14 to 18. Fig.17. Harding testing result in data transmit and receive mode sending request “motor B rotating clockwise”. Fig.14. Hardware tesing result in data transmit and recive mode. Fig.15. Harding testing result in data transmit and receive mode sending request “motor A rotating clockwise”. Fig.18. Harding testing result in data transmit and receive mode sending request “motor B rotating anticlockwise”. International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743 Design and Construction of Wireless Two Stepper Motors Control System Based PIC Microcontroller using RF Module VII. CONCLUSION In this project 16F877A PIC microcontroller and RF wireless technology has been used to position the shaft of the stepper motor at a desired angle which in turn may be used in deferent application areas. As conventional IR wireless system has short distance limitation. IR technology has been required at line of sight. RF technology can pass through many obstacles not required line of sight. That, , RF technology has been used here. It can more advance that and than other applications can be used such as robot technology, remote control systems, remote open door system, etc. Application of such control system of stepper motor in remote surveillance system is the future scope of this work. VIII. REFERENCE [1] Hausila Singh and Sudhansu Sharma, “Some Novel microprocessor based configurations for controlling Remotely Located stepper Motors as Actuators of control valves”, IEEE Transaction on industrial electronics, AUGUST 1991, 38(4), PP 283-287. [2] Joao Neves Moutinho, Fernando David Mesquita, Nuno Martins and Rui Esteves Araaujo. “Progresses On The Design of a Surveillance System to Protect Forests from Fire”, IEEE Conference on Emerging Technologies and Factory Automation, 2, 16-19 Sept.2003, PP 191-194, 10.1109/ETFA.2003.1248696. [3] D. Manojkumar, P. Mathankumar, E. Saranya and S. pavithradevi, “Mobile Controlled Robot using DTMF Technology for Industrial Application”, International Journal of Electronics Engineering Research, 2010, 2( 3), PP. 349-355. [4] Stepping Motors and their Microprocessor controls, Takashi Kenjo, 1994. International Journal of Scientific Engineering and Technology Research Volume.03, IssueNo.24, September-2014, Pages: 4737-4743