Project Report

A Project Report on

“REMOTE CONTROLLED ROBOTIC ARM” Submitted in partial fulfillment of Bachelor of Technology degree of the Rajasthan Technical University, Kota

Submitted by:

Guided by: Ms. NEHA SINGH

1. DHARMENDRA KUMAR YADAV 2. JITESH SHARMA 3. SANDEEP AGARWAL

Lecturer/Asst. Prof. Department of Electronics and Communication Engg.

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENG.

INSTITUTE OF ENGINEERING & TECHNOLOGY ALWAR (RAJASTHAN) – 301030

Session 20010-11

CERETIFICATE This is to certify that the project report entitled “REMOTE CONTROLLED ROBOTIC ARM “ submitted by DHARMENDRA KUMAR , JITESH SHARMA , and SANDEEP AGARWAL under my supervision is students own work and has not been submitted elsewhere for the award of any degree, to the best of my knowledge & belief.

Signature (Ms. NEHA SINGH)

Date: 24, dec, 2010 Lecturer

Deptt.; Electronics and Communication engg.

ACKNOWLEDGEMENT We wish to express our sincere gratitude to Mr. V.K.Agarwal , Chairman, I.E.T, Alwar, Mr. S.P. Garg , Director, I.E.T, Alwar, for providing us the infrastructure. We wish to express our sincere gratitude to Mr. Rakesh Sharma, HOD of EC department for providing us the opportunity to work in Department. We own our debt of gratitude to our project guide Ms. Neha Singh, for her support, help and valuable guidance during the project tenure. It has been a distinct honor for us to have worked under his esteemed guidance and has learnt the art of science from her. It has been proud privilege to have worked under the stimulatory guidance of an auspicious multifaceted teacher who gave us an opportunity to do research in this field. Her scientific judgment, constructive criticism and everlasting concern for betterment, sincerity and devotion have been the role pillars that have provided us the architectural frame work for designing this project to its present shape. We wish to accord my special thanks to my friends for their moral and emotional support throughout the deputation period for the research work.

Name

Signature

Date

Dharmendra Kumar Yadav

24, dec, 2010

Jitesh Sharma

24, dec, 2010

Sandeep agarwal

24, dec, 2010

ABSTRACT To reduces the human efforts and in industries to increase efficiency, proficiency and the most important is to reduce the time. Nowadays a new technology of Robotics is used which can do a specific task. Robotics which is used in most of the developed countries like Germany, France, and Japan, USA, CHINA etc. These Robots are controlled with the remote. The Robot is programmed for the specific task. Every task of the robot is defined; stoppage timing of the robot and angle of rotation between the two places is defined by the servo motors. This is very wonderful project to control the working of the robotic arm without wire. The project is to control a robotic arm using the remote control. The remote control works on the RC5 PROTOCOL. It transmits 14 data at a time. The command data is a Manchester coded bit stream modulating a 36 kHz carrier. The IR signal from the transmitter is detected by a specialized IC (IR receiver) with an integral photo-diode, and is amplified, filtered, and demodulated. The 14 bit contains 2 start bit, 1 toggle bit, 5 address bit and 6 command bit. By receiving the data the coding is done for the operation of the servo motors. As for the particular bit pattern the particular number or motors are to be operated for a particular angle. In this way the robotic arm is controlled using the remote control.

CONTENTS Chapter no.

Page no.

1. INTRODUCTION……………………………………………………..1 1.1 Block diagram……………………………………………………..2 1.2 Importance of the Research ……………………………………….2 1.3 Contributions of the project……………………………………… 2 2. ROBOTIC ARM………………………………………………………3 2.1 Overview of robotic arm…………………………………………3 2.2 Advantages………………………………………………………4 2.3 Disadvantages…………………………………………………....4 3. DESIGNING OF ROBOTIC ARM………………………………….5 3.1 Component used in robotic arm…………………………………..5 3.1.1 Servo motor…………………………………………………5 3.1.2 7805 IC………………………………………………………7 3.1.3 CPLD……………………………………………………….11 3.1.4 CRYSTAL oscillator……………………………………….13 3.1.5 T sop……………………………………………………….15 3.1.6 RC5 protocol………………………………………………..16 3.2 Design description of robotic arm………………………………...20 3.2.1 VLSI implementation of robotic arm……………………….22 4. SIMULATION RESULTS…………………………………………...24 5. CONCLUSION AND FUTURE SCOPE……………………………26

APPENDIX…………………………………………………………… 27 REFERENCES………………………………………………………..35

LIST OF FIGURES NAME OF FIGURE

PAGE NO.

1.1. Working of project …………………………………………………..2 2.1. Basic Design Of Robotic Arm ……………………………………….3 2.2. Different Robotic Arms ………………………………………………4 3.1. Servo Motor (Vega Servo VS-1) ……………………………………..5 3.2. 7805 IC……………………………………………………………….. 8 3.3 7805 conections………...………………………………………………9 3.4 Pin description………………………………………………………….9 3.5 Circuit 7805……………………………………………………………10 3.6 CPLD….……………………………………………………………….15 3.7 TSOP…………………………………………………………………..16 3.8 Timing Diagram of RC5 Protocol……………………………………..18 3.9 Remote controlled robotic arm…………………………………………20 3.10 Components of robotic arm…………………………………………....21 3.11 Timing diagram of servomotor………………………………………...22

CHAPTER 1

INTRODUCTION This project is designed so that students can understand the technology used in now a day’s. Robotics which is used in most of the developed countries like Germany, France, and Japan, USA, China etc. These Robots are controlled with the remote. The Robot is programmed for the specific task. Every task of the robot is defined; stoppage timing of the robot and angle of rotation between the two places is defined by the servo motors. This is very wonderful project to control the working of the robotic arm without wire. We are using these components in our project which are CPLD, ULN 2003, Servo motor, Remote. In this project we try to give the same protocol for this type of remote. We are using CPLD to control all the function as CPU. CPLD controls the rotation of motor. First the motor is controlled and rotation of motor is specified and accordingly the different delay for each angle is provided. So this project works for robotic arm with remote. The motion of the arm is controlled by the Servo Motor.

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Block diagram:

CPLD

IR RECEIVER

ROBOTIC ARM REMOTE

Fig1.1 Block Diagram of Project

Importance of the Research To reduces the human efforts, and in industries to increase efficiency, proficiency and the most important is to reduce the time. Through this a person who has no hand can also work by using the robotic arm as a temporary hand.

Contribution of the Project The project concludes the VLSI implementation of the Remote Controlled Robotic Arm. In this hardware is designed for servo motor by which the motion of the robotic arm can be controlled.

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CHAPTER 2

ROBOTIC ARM 2.1 Overview of Robotic Arm Although these do not fall under the category of mobile robotics, the field of robotics essentially started with arms and end-effectors (devices that attach to the end of an arm such as grippers, electromagnets etc). Arms and grippers are the best way for a robot to interact with the environment it is exploring. Simple robot arms can have just one motion, while more complex arms can have a dozen or more unique degrees of freedom.

Fig.2.1 Basic Design of robotic arm

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Fig.2.2 Different Robotic arm models

2.2 Advantages •

Very simple to very complex design possibilities

•

Easy to make a 3 or 4 degree of freedom robot arm (two joints and turning base)

2.3 Disadvantages • Stationary unless mounted on a mobile platform • Cost to build is proportional to lifting capability

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CHAPTER 3

DESIGNING OF ROBOTIC ARM 3.1 Components used in Robotic arm 3.1.1 Servo motors Servo motors are types of actuators that rotate to a specific angular position, and were classically used in more expensive remote controlled vehicles for steering or controlling flight surfaces. Now that they are used in a variety of applications, the price of hobby servos has gone down significantly, and the variety (different sizes, technologies, and strength) has increased.

Fig. 3.1 Servo Motor (vega servo VS-1)

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The common factor to most servos is that the majority only rotate about 180 degrees. A hobby servo motor actually includes a DC motor, gearing, electronics and a rotary potentiometer (which, in essence, measures the angle). The electronics and potentiometer work in unison to activate the motor and stop the output shaft at a specified angle. These servos are generally have three wires: ground, voltage in, and a control pulse. The control pulse is usually generated with a servo motor controller. A “robot servo“ is a new type of servo that offers both continuous rotation and position feedback. All servos can rotate CW and CCW. Dc servo motors are normally used as prime movers in computers, numerically controlled machinery, or other applications where starts and stops are made quickly and accurately. Servo motors have lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition, very low armature inductance in these servo motors results in a low electrical time constant (typically 0.05 to 1.5 msec) that further sharpens servo motor response to command signals. Servo motors include permanent-magnetic, printed-circuit, and moving-coil (or shell) dc servo motors. The rotor of a shell dc servo motor consists of a cylindrical shell of copper or aluminum wire coils which rotate in a magnetic field in the annular space between magnetic pole pieces and a stationary iron core. The servo motor features a field, which is provided by cast AlNiCo magnets whose magnetic axis is radial. Servo motors usually have two, four, or six poles. Dc servo motor characteristics include inertia, physical shape, costs, shaft resonance, shaft configuration, speed, and weight. Although these dc servo motors have similar torque ratings, their physical and electrical constants vary.

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DC Servo Motor Selection: The first selection approach is to choose a servo motor large enough for a machine that has already been designed; the second is to select the best available servo motor with a specific feature and then build the system around it; and the third is to study servo motor performance and system requirements and mate the two. The final servo motor system design is usually the least sophisticated that meets the performance specifications reliably. Servo motor requirements may include control of acceleration, velocity, and position to very close tolerances. This says that the servo designer must define the system carefully, establish the servo motor's performance specifications, determine critical areas, and set up tolerances. Only then will the designer be able to propose an adequate servosystem and choose a servo motor type

3.1.2 7805 IC

Voltage regulator ICs are available with fixed (typically 5, 12 and 15V) or variable output voltages. The maximum current they can pass also rates them. Negative voltage regulators are available, mainly for use in dual supplies. Most regulators include some automatic protection from excessive current (over load protection) and overheating (thermal protection). Many of fixed voltage regulator ICs has 3 leads. They include a hole for attaching a heat sink if necessary.

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Fig 3.2 7805 IC

These voltage regulators are monolithic circuit integrated circuit designed as fixed voltage regulators for a wide variety of applications including local, on card regulation. These regulators employ internal current limiting, thermal shutdown, and safe-area compensation. With adequate heat sinking they can deliver output current in excess of 1.0 A. Although designed primarily as a fixed voltage regulator, these devices can be used with external components to obtain adjustable voltage and current. This is most common voltage regulator that is still used in embedded designs. LM7805 voltage regulator is a linear regulator made by several manufacturers like Fairchild, or ST Microelectronics. They can come in several types of packages. For output current up to 1A there may be two types of packages: TO220 (vertical) and D-PAK (horizontal).

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Fig:3.3 7805 conections

With proper heat sink these LM78xx types can handle even more than 1A current. They also have Thermal overload protection, Short circuit protection. If your design won’t exceed 0.1A current you may chose regulator LM78L05 with smaller packages and lower maximum current up to 0.1A. They come in three main types of packages SO-8, SOT-89 and TO-92

Fig: 3.4 Pin Description 9

Part

Output (V)

Input range (V)

LM7805

5

7–25

LM7806

6

8–25

LM7808

8

10.5–25

LM7809

9

11.5–25

LM7810

10

12.5–25

LM7812

12

LM7815

15

17.5–30

LM7818

18

21–33

LM7824

24

27–38

14.5–30

Typical Connection is very simple:

Fig:3.5 Circuit 7805

Couple decoupling capacitors (between 10 uF and 47 uF) is required on the input (V-IN) and output (V-OUT) connected to ground. There are negative voltage regulators that work the same way. They are marked as LM79xx. 10

3.1.3 CPLD

CPLD (Complex Programmable Logic Device) is an arrangement of multiple SPLD-like blocks on a single chip. Alternative names are enhanced PLD (EPLD), superPAL, and mega PAL. The CPLD we used is of Spartan2.

Fig 3.3 CPLD

A complex programmable logic device (CPLD) is a programmable logic device with complexity between that of PALs and FPGAs, and architectural features of both. The building block of a CPLD is the macrocell, which contains logic implementing disjunctive normal form expressions and more specialized logic operations. Features in common with PALs: •

Non-volatile configuration memory. Unlike many FPGAs, an external configuration ROM isn't required, and the CPLD can function immediately on system start-up.

•

For many legacy CPLD devices, routing constrains most logic blocks to have input and output signals connected to external pins, reducing opportunities for internal state storage and deeply layered logic. This is usually not a factor for larger CPLDs and newer CPLD product families.

Features in common with FPGAs: •

Large number of gates available. CPLDs typically have the equivalent of thousands to tens of thousands of logic gates, allowing implementation of 11

Moderately complicated data processing devices. PALs typically have a few hundred gate equivalents at most, while FPGAs typically range from tens of thousands to several million. •

Some provisions for logic more flexible than sum-of-product expressions, including complicated feedback paths between macro cells, and specialized logic for implementing various commonly-used functions, such as integer arithmetic.

The most noticeable difference between a large CPLD and a small FPGA is the presence of on-chip non-volatile memory in the CPLD. This distinction is rapidly becoming less relevant, as several of the latest FPGA products also offer models with embedded configuration memory. The characteristic of non-volatility makes the CPLD the device of choice in modern digital designs to perform 'boot loader' functions before handing over control to other devices not having this capability. A good example is where a CPLD is used to load configuration data for an FPGA from non-volatile memory. CPLDs were an evolutionary step from even smaller devices that preceded them, PLAs (first shipped by Signetics), and PALs. These in turn were preceded by standard logic products that offered no programmability and were "programmed" by wiring several standard logic chips together. The main distinction between FPGA and CPLD device architectures is that FPGAs are internally based on Look-up tables (LUTs) while CPLDs form the logic functions with sea-of-gates

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3.1.4 Crystal Oscillator (8MHz)

A crystal oscillator is an electronic oscillator circuit that uses the mechanical resonance of a vibrating crystal of piezoelectric material to create an electrical signal with a very precise frequency. This frequency is commonly used to keep track of time (as in quartz wristwatches), to provide a stable clock signal for digital integrated circuits, and to stabilize frequencies for radio transmitters and receivers. The most common type of piezoelectric resonator used is the quartz crystal, so oscillator circuits designed around them became known as "crystal oscillators." Quartz crystals are manufactured for frequencies from a few tens of kilohertz to tens of megahertz. More than two billion (2×109) crystals are manufactured annually. Most are small devices for consumer devices such as wristwatches, clocks, radios, computers, and cell phones. Quartz crystals are also found inside test and measurement equipment, such as counters, signal generators, and oscilloscopes.

3.1.5 TSOP

Short for Thin Small Outline Package, it's a surface-mount memory packaging from Intel. Features of the TSOP include the following: JEDEC and EIAJ standard dimensions, it's the smallest leaded package form factor for flash, 0.5 mm (19.7 mil) lead pitch, reduced total package height, 1.20 mm maximum, gull wing formed leads, and supports future flash density and feature growth.

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Fig 3.4 TSOP

3.1.6 RC 5 Protocol

Various remote control systems are used in electronic equipment today. The RC5 control protocol is one of the most popular and is widely used to control numerous home appliances, entertainment systems and some industrial applications including utility consumption remote meter reading, contact-less apparatus control, telemetry data transmission, and car security systems. Philips originally invented this protocol and virtually all Philips’ remotes use this protocol.

Following is a description of the RC5. When the user pushes a button on the hand-held remote, the device is activated and sends modulated infrared light to transmit the command. The remote separates command data into packets. Each data packet consists of a 14-bit data word, which is repeated if the user continues to push the remote button. The data packet structure is as follows:

• 2 start bits, • 1 control bit, • 5 address bits, • 6 command bits. 16

The start bits are always logic ‘1’ and intended to calibrate the optical receiver automatic gain-control loop. Next, is the control bit. This bit is inverted each time the user releases the remote button and is intended to differentiate situations when the user continues to hold the same button or presses it again. The next 5 bits are the address bits and select the destination device. A number of devices can use RC5 at the same time. To exclude possible interference, each must use a different address. The 6 command bits describe the actual command. As a result, a RC5 transmitter can send the 2048 unique commands. The transmitter shifts the data word, applies Manchester encoding and passes the created one-bit sequence to a control carrier frequency signal amplitude modulator. The amplitude-modulated carrier signal is sent to the optical transmitter, which radiates the infrared light. In RC5 systems the carrier frequency has been set to 36 kHz. Figure 1 displays the RC5 protocol. The receiver performs the reverse function. The photo detector converts optical transmission into electric signals, filters it and executes amplitude demodulation. The receiver output bit stream can be used to decode the RC5 data word. This operation is done by the microprocessor typically, but complete hardware implementations are present on the market as well. Single-die optical receivers are being mass produced by a number of companies such as Siemens, Temic, Sharp, Xiamen Hualian, Japanese Electric and others. Please note that the receiver output is inverted (log. 1 corresponds to illumination absence).

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Fig. 3.5 Timing diagrams of RC5 Protocol.

The basics of the protocol are well known. The handset contains a keypad and a transmitter integrated circuit (IC) driving an IR LED. The command data is a Manchester coded bit stream modulating a 36 kHz carrier. (Often the carrier used is 38 kHz or 40 kHz, apparently due to misinformation about the actual protocol.) The IR signal from the transmitter is detected by a specialized IC with an integral photo-diode, and is amplified, filtered, and demodulated so that the receiving device can act upon the received command. RC-5 only provides a one-way link, with information traveling from the handset to the receiving unit.

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The command comprises 14 bits: •

A start bit, which is always logic 1 and allows the receiving IC to set the proper gain.

•

A field bit, which denotes whether the command sent is in the lower field (logic 1 = 0 to 63 decimal) or the upper field (logic 0 = 64 to 127 decimal). The field bit was added later by Philips when it was realized that 64 commands per device were insufficient. Previously, the field bit was combined with the start bit. Many devices still use this original system.

•

A control bit, which toggles with each button press. This allows the receiving device to distinguish between two successive button presses (such as "1", "1" for "11") as opposed to the user simply holding down the button and the repeating commands being interrupted by a person walking by, for example.

•

A five-bit system address that selects one of 32 possible systems.

•

A six-bit command that (in conjunction with the field bit) represents one of the 128 possible RC-5 commands.

The 36 kHz carrier frequency was chosen to render the system immune to interference from TV scan lines. Since the repetition of the 36 kHz carrier is 27.778 μs and the duty factor is 25%, the carrier pulse duration is 6.944 μs. Since the high half of each symbol (bit) of the RC-5 code word contains 32 carrier pulses, the symbol period is 64 x 27.778 μs = 1.778 ms, and the 14 symbols (bits) of a complete RC-5 code word takes 24.889 ms to transmit. The code word is repeated every 113.778 ms (4096 / 36 kHz) as long as a key remains pressed. (Again, please note that these timings are not strictly followed by all manufacturers, due to a lack of widespread distribution of accurate information on the RC-5 protocol.) 19

3.2 Design description of Robotic Arm The servo motor used in our project is VS-1. These servo motors are fixed with the strips for the design of the arm. The servo motors are fixed in the way that can work as an arm properly. There are 4 servo motors used. The 1st one is at the base which is for base movement of 0 to 180 degree. The 2 nd and 3rd motor is used for the arm movement of 0 to180 degree and the 4th motor is used for catch the object.

Fig:3.8 Remote controlled robotic arm 20

SERVOMOTORS Tsop

CRYSTAL OSCILLATOR

CPLD

Fig:3.9 Components of robotic arm 21

3.2.1 VLSI implementation of Robotic Arm

The robotic arm is controlled by the CPLD .Coding of the project is designed in VHDL in the Xilinx software. The VHDL code is designed in 3 stages. In the first stage the received data is decoded. Which is received from the remote by the tsop? Then in the second stage the data is processed and a particular output is generated. And in the 3 stage the servo motors are controlled in a particular manner by using the generated output. The whole system is controlled by the remote.

Fig:3.10 Timing diagram for servomotor

The 8MHz crystal oscillator clock has 0.125uSec in one cycle. We derive the bode rate of 50Hz which has 0.02 sec time in one cycle. For the operation of servomotors we have to send the different clocks of different duty cycles according to the diagram given above. 22

For the 0 degree of the servomotor we generate 0.8ms time cycles means 6400 number of the cycles of the 8MHz clock for high logic ‘1’ and remaining 3993600 cycles remain low logic ‘0’, and assign this clock to motor for 0 degree position. For the 90 degree of the servomotor we generate 1.52ms time cycles means 12000 number of the cycles of the 8MHz clock for high logic ‘1’ and remaining 3988000 cycles remain low logic ‘0’, and assign this clock to motor for 90 degree position. For the 180 degree of the servomotor we generate 2.5ms time cycles means 20000 number of the cycles of the 8MHz clock for high logic ‘1’ and remaining 3980000 cycles remain low logic ‘0’, and assign this clock to motor for 180 degree position. These clocks are assigned to the motors by the CPLD. The CPLD works on the basis of remote transmitted data. This transmitted data is of 563Hz which is modulated on the 36KHz frequency and this data is Manchester coded. The data is sent by the IR waves. These IR waves are detected by the Tsop device and the data is demodulated by the Tsop itself the Manchester coding remains in the data. We detect the data from the received data by the coding in the VHDL that data is then control the servomotors according to the code defined in the VHDL.

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CHAPTER 4

SIMULATUION RESULTS

Output of servo motor when s1=’1’

Output of servo motor when s2=’1’ 24

Output of servomotor when y=’1’

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CHAPTER 5

CONCLUSION AND FUTURE SCOPE In this project we work on Rc5 protocol and by using it we controlled a robotic arm. We work on Xilinx software to make the code and for simulation we use Modelsim software. We worked on CPLD. The code is burned into the CPLD. The servo motors we have used are vega servo motor (vs-1).Thus we made finally our project. This Arm will reduce the human efforts, and in industries it will increase efficiency, proficiency and the most important is it will reduce the time. Through this a person who has no hand can also work by using the robotic arm as a temporary hand. In Future we can control this robotic Arm by giving a voice signal as a input. After that we can implement more by adding wheels at the base of this arm.

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APPENDIX library IEEE; use IEEE.STD_LOGIC_1164.ALL; use IEEE.STD_LOGIC_ARITH.ALL; use IEEE.STD_LOGIC_UNSIGNED.ALL; entity lcdrec is Port ( clk : in STD_LOGIC; m1: out std_logic; d : out STD_LOGIC_VECTOR (10 downto 0); y : in STD_LOGIC); end lcdrec; architecture Behavioral of lcdrec is signal clock,clock1,clock2,clock3,clock4,clock5:std_logic:='0'; signal si: std_logic_vector(10 downto 0):="00000000000"; begin process(clk) variable c:integer range 0 to 80000000:= 0; variable t1,t2,t3,t4,t5:integer range 0 to 80000000:= 0; begin if clk'event and clk='1' then c:=c+1; t1:=t1+1; t2:=t2+1; t3:=t3+1; t4:=t4+1; t5:=t5+1; if c=114 then

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clock<=not clock;

c:= 0; end if; if t1>=0 and t1<5000 then clock1<='1'; elsif t1>=500 and t1<1600000 then clock1<='0'; end if; if t2>=0 and t2<72000 then clock2<='1'; elsif t2>=7200 and t2<16000 then clock2<='0'; end if; if t3>=0 and t3<1200 then clock3<='1'; elsif t3>=12000 and t3<1600000 then clock3<='0'; end if; if t4>=0 and t4<16800 then clock4<='1'; elsif t4>=168000 and t4<16000 then clock4<='0'; end if; if t5>=0 and t5<190000 then clock5<='1'; elsif t5>=19000 and t5<16000 then clock5<='0'; end if; if t1=160000 then t1:=0; 28

end if;

if t2=160000 then t2:=0; end if; if t3=160000 then t3:=0; end if; if t4=160000 then t4:=0; end if; if t5=160000 then t5:=0; end if; end if; end process; process(clock,clock1,clock2,clock3,clock4,clock5) variable p: std_logic_vector(27 downto 0):="00000000000000000000000000"; variable x:integer range 0 to 28 := 0; begin if clock'event and clock='1' then if x=0 then x:=x+1; elsif x=1 then if y='1' then p(0):='0'; x:=x+1; end if; elsif x=2 then if y='0' then p(1):='1'; 29

x:=x+1;

end if; elsif x=3 then p(2):=y; x:=x+1; elsif x=4 then p(3):=y; x:=x+1; elsif x=5 then p(4):= y; x:=x+1; elsif x=6 then p(5):= y; x:=x+1; elsif x=7 then p(6):= y; x:=x+1; elsif x=8 then p(7):= y; x:=x+1; elsif x=9 then p(8):= y; x:=x+1; elsif x=10 then p(9):= y; x:=x+1; elsif x=11 then p(10):= y; x:=x+1; elsif x=12 then 30

p(11):= y;

x:=x+1; elsif x=13 then p(12):= y; x:=x+1; elsif x=14 then p(13):= y; x:=x+1; elsif x=15 then p(14):= y; x:=x+1; elsif x=16 then p(15):= y; x:=x+1; elsif x=17 then p(16):= y; x:=x+1; elsif x=18 then p(17):= y; x:=x+1; elsif x=19 then p(18):= y; x:=x+1; elsif x=20 then p(19):= y; x:=x+1; elsif x=21 then p(20):= y; x:=x+1; elsif x=22 then 31

p(21):= y;

x:=x+1; elsif x=23 then p(22):= y; x:=x+1; elsif x=24 then p(23):= y; x:=x+1; elsif x=25 then p(24):= y; x:=x+1; elsif x=26 then p(25):= y; x:=x+1; elsif x=27 then p(26):= y; x:=x+1; elsif x=28 then p(27):= y; end if; if x=28 then x:=0; end if; if p(0)='0' and p(1)='1' then si(0)<=p(6); si(1)<=p(8); si(2)<=p(10); si(3)<=p(12); si(4)<=p(14); si(5)<=p(16); 32

si(6)<=p(18);

si(7)<=p(20); si(8)<=p(22); si(9)<=p(24); si(10)<=p(26); d<=si; end if; end if; if si="11110011101" then m1<=clock1 ; elsif si="11111100011" then m1<=clock2 ; elsif si="11110010011" then m1<=clock3; elsif si="11111110010" then m1<=clock4; elsif si="11111101110" then m1<=clock5; end if; end process; end behavioral;

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#PACE: Start of PACE I/O Pin Assignments #PACE: Start of Constraints generated by PACE #PACE: Start of PACE I/O Pin Assignments NET "clk" LOC = "p80" ; NET "d<0>" LOC = "p45" ; NET "d<10>" LOC = "p63" ; NET "d<1>" LOC = "p46" ; NET "d<2>" LOC = "p47" ; NET "d<3>" LOC = "p48" ; NET "d<4>" LOC = "p49" ; NET "d<5>" LOC = "p57" ; NET "d<6>" LOC = "p58" ; NET "d<7>" LOC = "p59" ; NET "d<8>" LOC = "p61" ; NET "d<9>" LOC = "p62" ; NET "m1" LOC = "p147" ; NET "y" LOC = "p142" ; #PACE: Start of PACE Area Constraints #PACE: Start of PACE Prohibit Constraints #PACE: End of Constraints generated by PAC

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References [1] J C G Piementel and Hoang le-Hny, “A VHDL-based methodology to Develop high performance servo drivers”, IEEE 0-7803-6401-5/00. [2] Eric Monmasson and Marcian N cirstea “FPGA Design methodology for industrial control systems- A Review”, IEEE trans on industrial electronics vol-54,no.-4,AUG-2007. [3] Heui-Wook Kim, Jong-Woo Choi, Seung-Ki SUI, “Accurate Position Control for AC Servo Motor using Novel Speed Estimator” 0-78033026-9/95, 1995 IEEE. [4] Joon Hyuk Kang, Chung Hyuk Yim, and Dong I1 Kim, “Robust Position Control of AC Servo Motors” 0-7803-3026-9/95 1995 IEEE. [5] Sven Behnke and Michael Schreiber “Digital Position Control for Analog Servos” Proceedings,IEEE-RAS,Italy,Dec-06. [6] E. Monmasson, and Y.A. Chapuis “Contributions of FPGAs to the Control of Electrical Systems, a Review” IEEE Industrial Electronics Society Newsletter ISSN 0746-1240 VOL. 49, NO. 4 2002. [7] Dongmei Yu, Qingding Guo and Qing Hu“ Position Control of Linear Servo System Using Intelligent Feedback Controller” International Conference on Intelligent Systems Design and Applications (ISDA'06) 0-7695-2528-8/06 © 2006. [8] VHDL primer (third edition, J. Bhasker). [9] VHDL programming by example (fourth edition, Douglas L. Perry).

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