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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!