Werkstätte

1von7

1 von 19

XY - PlotterWerkstättenprojekt 4BHELI

2007/08

Michael Stocker

Bernhard Wintersperger

Werkstätte

2von7

2 von 19

Allgemeines

• XY – Plotter

• Platinenbohrmaschine

• Schrittmotoransteuerung

• µController

Werkstätte

3von7

3 von 19

Schrittmotoransteuerung

• 12V

• Unipolar

• MOSFET

• keine Ansteuerungschips

Werkstätte

4von7

4 von 19

Schrittmotoransteuerung - Unipolar

Werkstätte

5von7

5 von 19

Schaltung

• Atmel ATmega8

• Schalttransistoren

• Zweiseitige Platine

• SMD

Werkstätte

6von7

6 von 19

Schaltplan

VCC

VCC

VB

VCC

M2/0

+

C3

1uF

2

1

R12

100k

R112k

0

0

SW1

1 2

0

Q1BC517

1

2

3Q6BC517

1

2

3

0JDP1

CONN DSUB 9-P

1

6

2

7

3

8

4

9

5

16

27

38

49

5

R21

1k

M1/1

D1

1N4007

12

M2/[0..3]

Q7BC547

1

2

3

0

0

Q5BC517

1

2

3

Schalttransistoren Motor 2

VB

M1/2

M6

IRF840

0

Q8BC517

1

2

3

R17

100k

0

+C2

1uF

2 1

VB

J1

CON6

123456

Kontroll - LED

VB

R24

100k

0

0

Michael Stocker, Bernhard Wintersperger

VB

R1_out

D3

1N4007

12

0

R1_out J2

CON6

123456

0

VCC

R1412k

R23

43k

R16

1k

Servo Connector

0

0

NRES

M1/2

M2/[0..3]

M8

IRF840

R28

130

0

VB

X1

Printbuchse 1mm

1

2

3SIG

GND

SW

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

C6

100n1

2

C7

100n1

2

0

Q2BC517

1

2

3

M1/[0..3]

+

C4

1uF

2

1

R212k

VB

M2/1

R6

100k

R9

1k

VB

VB

T1_in

Notstop

R1_in

SERVO

R2012k

0

VB

VB

SW2

Taster

1 2

3 4

1 2

3 4

R27

10k

+C1

1uF

2 1

VB

R18

100k

VCC

D6

1N4007

12

VB

+

C5

470u2

1

MAX232

M1/0

D2

1N4007

12

VB

C8

100n1

2

VB

M2/3

D7

1N4007

12

D8

1N4007

12

0

0

NRES

U1

MAX232

138

1110

134526

129147

1615

R1INR2INT1INT2IN

C+C1-C2+C2-V+V-

R1OUTR2OUTT1OUTT2OUT

VCC

GND

0

M7

IRF840

5V Spannungsversorgung

T1_out

D4

1N4007

12

J4

CON3

123

T1_o

ut

M2/2

VB

VB

Q9BC517

1

2

3

R15

1k

Kontroll - LED

0

M1

IRF840

Q4BC517

1

2

3

U2LM7805C

1 2

3

IN OUT

GND

VB

R1312k

0

VCC

Notstop

M5

IRF840

VCC

Q3BC517

1

2

3

R712k

R26

130

M4

IRF840

M1/0

D10

LED

1 1.0

XY - Plotter

A4

1 1Friday, March 07, 2008

Title

Size Document Number Rev

Date: Sheet of

M1/[0..3]

R812k

0M2/0

VB

R25

100k

M2

IRF840

RS232 Connector

T1_in

LED

R10

1k

VCC

M1/3

D5

1N4007

12

0

VCC

µControllerAtmel ATmega8

R29

100k

2

1

M2/3

M3

IRF840

Reset Taster

M2/1

R3

1k

0

R1912k

0

VB

R5

100k

Notstop

M1/3

M1/1

M2/2

R4

1k

R1_in

J3

CON2

12

Schalttransistoren Motor 1

SERVO

D9

LED

VB

R22

1k

0

R11

100k

Werkstätte

7von7

7 von 19

VCC

VCC

VB

VCC

M2/0

+

C3

1uF

2

1

R12

100k

R112k

0

0

SW1

1 2

0

Q1BC517

1

2

3

Q6BC517

1

2

3

0JDP1

CONN DSUB 9-P

1

6

2

7

3

8

4

9

5

16

27

38

49

5

R21

1k

M1/1

D1

1N4007

12

M2/[0..3]

Q7BC547

1

2

30

0

Q5BC517

1

2

3

Schalttransistoren Motor 2

VB

M1/2

M6

IRF840

0

Q8BC517

1

2

3

R17

100k

0

+C2

1uF

2 1

VB

J1

CON6

123456

Kontroll - LED

VB

R24

100k

0

0

Michael Stocker, Bernhard Wintersperger

VB

R1_out

D3

1N4007

12

0

R1_out J2

CON6

123456

0

VCC

R1412k

R23

43k

R16

1k

Servo Connector

0

0

NRES

M1/2

M2/[0..3]

M8

IRF840

R28

130

0

VB

X1

Printbuchse 1mm

1

2

3SIG

GND

SW

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

C6

100n1

2

C7

100n1

2

0

Q2BC517

1

2

3

M1/[0..3]

+

C4

1uF

2

1

R212k

VB

M2/1

R6

100k

R9

1k

VB

VB

T1_in

Notstop

R1_in

SERVO

R2012k

0

VB

VB

SW2

Taster

1 2

3 4

1 2

3 4

R27

10k

+C1

1uF

2 1

VB

R18

100k

VCC

D6

1N4007

12

VB

+

C5

470u2

1

MAX232

M1/0

D2

1N4007

12

VB

C8

100n1

2

VB

M2/3

D7

1N4007

12

D8

1N4007

12

0

0

NRES

U1

MAX232

138

1110

134526

129147

1615

R1INR2INT1INT2IN

C+C1-C2+C2-V+V-

R1OUTR2OUTT1OUTT2OUT

VCC

GND

0

M7

IRF840

5V Spannungsversorgung

T1_out

D4

1N4007

12

J4

CON3

123

T1_o

ut

M2/2

VB

VB

Q9BC517

1

2

3

R15

1k

Kontroll - LED

0

M1

IRF840

Q4BC517

1

2

3

U2LM7805C

1 2

3

IN OUT

GND

VB

R1312k

0

VCC

Notstop

M5

IRF840

VCC

Q3BC517

1

2

3

R712k

R26

130

M4

IRF840

M1/0

D10

LED

1 1.0

XY - Plotter

A4

1 1Friday, March 07, 2008

Title

Size Document Number Rev

Date: Sheet of

M1/[0..3]

R812k

0M2/0

VB

R25

100k

M2

IRF840

RS232 Connector

T1_in

LED

R10

1k

VCC

M1/3

D5

1N4007

12

0

VCC

µControllerAtmel ATmega8

R29

100k

2

1

M2/3

M3

IRF840

Reset Taster

M2/1

R3

1k

0

R1912k

0

VB

R5

100k

Notstop

M1/3

M1/1

M2/2

R4

1k

R1_in

J3

CON2

12

Schalttransistoren Motor 1

SERVO

D9

LED

VB

R22

1k

0

R11

100k

Werkstätte

8von7

8 von 19

µController

VCC

M1/1M1/2

0

R1_out

M2/[0..3]

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

M2/3

NRES

M2/2

Notstop

M1/0

M1/[0..3]

M2/0

T1_in

µControllerAtmel ATmega8

M2/1

M1/3

SERVO

Werkstätte

9von7

9 von 19

VCC

VCC

VB

VCC

M2/0

+

C3

1uF

2

1

R12

100k

R112k

0

0

SW1

1 2

0

Q1BC517

1

2

3

Q6BC517

1

2

3

0JDP1

CONN DSUB 9-P

1

6

2

7

3

8

4

9

5

16

27

38

49

5

R21

1k

M1/1

D1

1N4007

12

M2/[0..3]

Q7BC547

1

2

3

0

0

Q5BC517

1

2

3

Schalttransistoren Motor 2

VB

M1/2

M6

IRF840

0

Q8BC517

1

2

3

R17

100k

0

+C2

1uF

2 1

VB

J1

CON6

123456

Kontroll - LED

VB

R24

100k

0

0

Michael Stocker, Bernhard Wintersperger

VB

R1_out

D3

1N4007

12

0

R1_out J2

CON6

123456

0

VCC

R1412k

R23

43k

R16

1k

Servo Connector

0

0

NRES

M1/2

M2/[0..3]

M8

IRF840

R28

130

0

VB

X1

Printbuchse 1mm

1

2

3SIG

GND

SW

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

C6

100n1

2

C7

100n1

2

0

Q2BC517

1

2

3

M1/[0..3]

+

C4

1uF

2

1

R212k

VB

M2/1

R6

100k

R9

1k

VB

VB

T1_in

Notstop

R1_in

SERVO

R2012k

0

VB

VB

SW2

Taster

1 2

3 4

1 2

3 4

R27

10k

+C1

1uF

2 1

VB

R18

100k

VCC

D6

1N4007

12

VB

+

C5

470u2

1

MAX232

M1/0

D2

1N4007

12

VB

C8

100n1

2

VB

M2/3

D7

1N4007

12

D8

1N4007

12

0

0

NRES

U1

MAX232

138

1110

134526

129147

1615

R1INR2INT1INT2IN

C+C1-C2+C2-V+V-

R1OUTR2OUTT1OUTT2OUT

VCC

GND

0

M7

IRF840

5V Spannungsversorgung

T1_out

D4

1N4007

12

J4

CON3

123

T1_o

ut

M2/2

VB

VB

Q9BC517

1

2

3

R15

1k

Kontroll - LED

0

M1

IRF840

Q4BC517

1

2

3

U2LM7805C

1 2

3

IN OUT

GND

VB

R1312k

0

VCC

Notstop

M5

IRF840

VCC

Q3BC517

1

2

3

R712k

R26

130

M4

IRF840

M1/0

D10

LED

1 1.0

XY - Plotter

A4

1 1Friday, March 07, 2008

Title

Size Document Number Rev

Date: Sheet of

M1/[0..3]

R812k

0M2/0

VB

R25

100k

M2

IRF840

RS232 Connector

T1_in

LED

R10

1k

VCC

M1/3

D5

1N4007

12

0

VCC

µControllerAtmel ATmega8

R29

100k

2

1

M2/3

M3

IRF840

Reset Taster

M2/1

R3

1k

0

R1912k

0

VB

R5

100k

Notstop

M1/3

M1/1

M2/2

R4

1k

R1_in

J3

CON2

12

Schalttransistoren Motor 1

SERVO

D9

LED

VB

R22

1k

0

R11

100k

Werkstätte

10von7

10 von 19

VCC

VCC

VB

VCC

M2/0

+

C3

1uF

2

1

R12

100k

R112k

0

0

SW1

1 2

0

Q1BC517

1

2

3

Q6BC517

1

2

3

0JDP1

CONN DSUB 9-P

1

6

2

7

3

8

4

9

5

16

27

38

49

5

R21

1k

M1/1

D1

1N4007

12

M2/[0..3]

Q7BC547

1

2

3

0

0

Q5BC517

1

2

3

Schalttransistoren Motor 2

VB

M1/2

M6

IRF840

0

Q8BC517

1

2

3

R17

100k

0

+C2

1uF

2 1

VB

J1

CON6

123456

Kontroll - LED

VB

R24

100k

0

0

Michael Stocker, Bernhard Wintersperger

VB

R1_out

D3

1N4007

12

0

R1_out J2

CON6

123456

0

VCC

R1412k

R23

43k

R16

1k

Servo Connector

0

0

NRES

M1/2

M2/[0..3]

M8

IRF840

R28

130

0

VB

X1

Printbuchse 1mm

1

2

3SIG

GND

SW

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

C6

100n1

2

C7

100n1

2

0

Q2BC517

1

2

3

M1/[0..3]

+

C4

1uF

2

1

R212k

VB

M2/1

R6

100k

R9

1k

VB

VB

T1_in

Notstop

R1_in

SERVO

R2012k

0

VB

VB

SW2

Taster

1 2

3 4

1 2

3 4

R27

10k

+C1

1uF

2 1

VB

R18

100k

VCC

D6

1N4007

12

VB

+

C5

470u2

1

MAX232

M1/0

D2

1N4007

12

VB

C8

100n1

2

VB

M2/3

D7

1N4007

12

D8

1N4007

12

0

0

NRES

U1

MAX232

138

1110

134526

129147

1615

R1INR2INT1INT2IN

C+C1-C2+C2-V+V-

R1OUTR2OUTT1OUTT2OUT

VCC

GND

0

M7

IRF840

5V Spannungsversorgung

T1_out

D4

1N4007

12

J4

CON3

123

T1_o

ut

M2/2

VB

VB

Q9BC517

1

2

3

R15

1k

Kontroll - LED

0

M1

IRF840

Q4BC517

1

2

3

U2LM7805C

1 2

3

IN OUT

GND

VB

R1312k

0

VCC

Notstop

M5

IRF840

VCC

Q3BC517

1

2

3

R712k

R26

130

M4

IRF840

M1/0

D10

LED

1 1.0

XY - Plotter

A4

1 1Friday, March 07, 2008

Title

Size Document Number Rev

Date: Sheet of

M1/[0..3]

R812k

0M2/0

VB

R25

100k

M2

IRF840

RS232 Connector

T1_in

LED

R10

1k

VCC

M1/3

D5

1N4007

12

0

VCC

µControllerAtmel ATmega8

R29

100k

2

1

M2/3

M3

IRF840

Reset Taster

M2/1

R3

1k

0

R1912k

0

VB

R5

100k

Notstop

M1/3

M1/1

M2/2

R4

1k

R1_in

J3

CON2

12

Schalttransistoren Motor 1

SERVO

D9

LED

VB

R22

1k

0

R11

100k

Werkstätte

11von7

11 von 19

VCC

VCC

VB

VCC

M2/0

+

C3

1uF

2

1

R12

100k

R112k

0

0

SW1

1 2

0

Q1BC517

1

2

3

Q6BC517

1

2

3

0JDP1

CONN DSUB 9-P

1

6

2

7

3

8

4

9

5

16

27

38

49

5

R21

1k

M1/1

D1

1N4007

12

M2/[0..3]

Q7BC547

1

2

3

0

0

Q5BC517

1

2

3

Schalttransistoren Motor 2

VB

M1/2

M6

IRF840

0

Q8BC517

1

2

3

R17

100k

0

+C2

1uF

2 1

VB

J1

CON6

123456

Kontroll - LED

VB

R24

100k

0

0

Michael Stocker, Bernhard Wintersperger

VB

R1_out

D3

1N4007

12

0

R1_out J2

CON6

123456

0

VCC

R1412k

R23

43k

R16

1k

Servo Connector

0

0

NRES

M1/2

M2/[0..3]

M8

IRF840

R28

130

0

VB

X1

Printbuchse 1mm

1

2

3SIG

GND

SW

IC1

ATmega8-DIL28small

123456789

1011121314 15

16171819202122232425262728

PC6PD0PD1PD2PD3PD4VCCGNDPB6PB7PD5PD6PD7PB0 PB1

PB2PB3PB4PB5

AVCCAREF

AGNDPC0PC1PC2PC3PC4PC5

LED

C6

100n1

2

C7

100n1

2

0

Q2BC517

1

2

3

M1/[0..3]

+

C4

1uF

2

1

R212k

VB

M2/1

R6

100k

R9

1k

VB

VB

T1_in

Notstop

R1_in

SERVO

R2012k

0

VB

VB

SW2

Taster

1 2

3 4

1 2

3 4

R27

10k

+C1

1uF

2 1

VB

R18

100k

VCC

D6

1N4007

12

VB

+

C5

470u2

1

MAX232

M1/0

D2

1N4007

12

VB

C8

100n1

2

VB

M2/3

D7

1N4007

12

D8

1N4007

12

0

0

NRES

U1

MAX232

138

1110

134526

129147

1615

R1INR2INT1INT2IN

C+C1-C2+C2-V+V-

R1OUTR2OUTT1OUTT2OUT

VCC

GND

0

M7

IRF840

5V Spannungsversorgung

T1_out

D4

1N4007

12

J4

CON3

123

T1_o

ut

M2/2

VB

VB

Q9BC517

1

2

3

R15

1k

Kontroll - LED

0

M1

IRF840

Q4BC517

1

2

3

U2LM7805C

1 2

3

IN OUT

GND

VB

R1312k

0

VCC

Notstop

M5

IRF840

VCC

Q3BC517

1

2

3

R712k

R26

130

M4

IRF840

M1/0

D10

LED

1 1.0

XY - Plotter

A4

1 1Friday, March 07, 2008

Title

Size Document Number Rev

Date: Sheet of

M1/[0..3]

R812k

0M2/0

VB

R25

100k

M2

IRF840

RS232 Connector

T1_in

LED

R10

1k

VCC

M1/3

D5

1N4007

12

0

VCC

µControllerAtmel ATmega8

R29

100k

2

1

M2/3

M3

IRF840

Reset Taster

M2/1

R3

1k

0

R1912k

0

VB

R5

100k

Notstop

M1/3

M1/1

M2/2

R4

1k

R1_in

J3

CON2

12

Schalttransistoren Motor 1

SERVO

D9

LED

VB

R22

1k

0

R11

100k

Werkstätte

12von7

12 von 19

Schalttransistoren

R112k

0

0

0

Q1BC517

1

2

3

R21

1k

D1

1N4007

12

Q5BC517

1

2

3

VB

Q8BC517

12

3

R17

100k

VB

J1

CON6

123456

VB

R24

100k

VB

D3

1N4007

12

0

0

0

M1/2

VB

M1/[0..3]

VB

R9

1k

0

VB

M1/0

VB

VB

D7

1N4007

12M7

IRF840

R15

1k

M1

IRF840

VB

R1312k

M5

IRF840

Q3BC517

1

2

3

R712k

M1/3

D5

1N4007

12

0

M3

IRF840

R3

1k

R1912k

R5

100k

M1/1

R11

100k

0

R21

1k

Q8BC517

1

2

3

R24

100k

VB

0

M1/0

M7

IRF840

R1912k

Werkstätte

13von7

13 von 19

Layout

Werkstätte

14von7

14 von 19

µController Software

Anforderungen– RS232 Kommunikation– Ansteuerung der Schrittmotoren

Einteilung– RX Interrupt– Timer Interrupt– Hauptprogramm

Werkstätte

15von7

15 von 19

RX Interrupt Anforderungen

– Empfang der Positionsdaten

– Speicherung der Positionsdaten

– Setzen des Timers– Not-Aus

Interrupt rx Data

Schreibe in Buffer

NotAus (Stoppe Timer)

Empfange DatenJa/Nein

Setze Modus

Setze Timer aus empfangenen Daten

Setze Ausführungs-Bit

Wenn Modus Empfange Daten

Ende der Interrupt-routine

Werkstätte

16von7

16 von 19

Timer Interrupt

Anforderungen– Setzen des Timer-Bits

Timer Interrupt

Setze Timer-Bit

Ende der Interrupt-routine

Werkstätte

17von7

17 von 19

Hauptprogramm

Aufgaben– Auslesen der Positionsdaten– Ansteuerung der Motoren

Main

Ausführungs-Bit

Nein

Ja

Timer-BitNein

Ja

Mache Schritt

Weitere Schritt

Ja

Lösche Timer-Bit

Lese Anzahl der Schritte aus Buffer

Lösche Ausführungs-

Bit

Werkstätte

18von7

18 von 19

PC Software• C#

• RS232 Klasse– Write()– Open()– writePosition()

Werkstätte

19von7

19 von 19

Vielen Dank für ihre Aufmerksamkeit!