RBT-225 Lab #2 Basic Stamp Relays August 14, 2016

Transcription

1 RBT-225 Lab #2 Basic Stamp Relays August 14, 2016 Required Parts: 1. CA18CLN12PA Proximity Sensor with data sheet. 2. E3F2-R2C4 Photoelectric Sensor with data sheet. 3. BTA1-2C 12V coil relay with data sheet. 4. Socket for the relay. 5. Basic Stamp Board of Education microcontroller module with data sheet. 6. Misc wire, LEDs, resisters, 9V battery Volt power supply 8. Serial cable for connection between a PC and the Basic Stamp Learning Outcomes: 1. The student will use the Basic Stamp microcontroller to detect the sensor output. Experiment #1 1. This lab should be completed in teams of two. 2. Recreate the circuit from last week using either one of the two sensors. 3. See Figure #2 below. Using the circuit from the previous lab, connect the N.O. relay to the Basic Stamp P8 input on connector X1 so that +5V is applied to input P8 when the relay is energized and 0V is applied to input P8 when the relay is not energized. Note that Vss is ground, Vdd is +5 Volts and Vin is +9 volts on the BasicStamp board. Consult with the instructor before moving the BasicStamp power switch to position 1 or Connect a nine-volt battery to the BasicStamp board and then connect the serial port cable between the desktop PC and the Basic Stamp. Move the BasicStamp power switch to position Start up the Basic Stamp Editor: Start All Programs Parallax Inc BASIC Stamp Editor 6. Enter the following program into the Basic Stamp and then run the program. ' {$STAMP BS2} Begin: IF (IN8 = 0) THEN Off DEBUG "It's On Now", CR Off: DEBUG "It's Off Now", CR RBT-225, Dan Wolf Page 1

2 Experiment #2: 1. Calculate the total setup cost and the setup cost per piece assuming the following: a. A burden rate of $235 per hour b. A lot size of 50 pieces c. Machine setup time is 2.3 hours. 2. Calculate the number of parts assembled per hour, the production cost of a single part, and the total finished cost per part assuming the following: a. A burden rate of $235 per hour b. A profit markup of 20% c. The single piece setup cost is $1.25 d. The work cell can produce five parts every 15 minutes. 3. Calculate the time required to move an empty robot arm 150 inches if it has a maximum velocity of 2 feet per second. 4. Calculate the maximum velocity of the arm in the previous problem, assuming that it is moving a two-pound object which requires a 15% speed reduction. 5. Calculate the total cycle time to move an arm given the following: a. Maximum velocity for the empty gripper is 50 /second. b. Maximum velocity for the loaded gripper is 40 /second. c. The empty gripper must move 120 inches and the loaded gripper must move 100 inches. d. There are 12 programmed points which each require 0.12 seconds. e. The gripper will open and then close once and each requires 0.2 seconds. f. A two second delay for the part to arrive at the pickup position. RBT-225, Dan Wolf Page 2

3 Optional Assignments: 1. Modify the program so that it blinks the LED every second whenever the sensor is engaged. The LED should go out when the sensor is not engaged. 2. Connect a voltmeter to P1 on the Basic Stamp. This program will allow the Basic Stamp to drive the P1 Output Pin high when an object is detected. a. Load the following program into the BasicStamp and test: ' {$STAMP BS2} Begin: IF (IN8 = 0) THEN Off HIGH 1 DEBUG "It's On Now", CR Off: LOW 1 DEBUG "It's Off Now", CR b. If you still have time, connect a relay to the Basic Stamp as in Figure 1. This will allow the Basic Stamp Output Pin 1 to control the relay. Connect one of the relay outputs to drive an LED. 3. Modify the circuit so that a +5 Volt signal from the other unused N.C. relay contact is connected to P9 on the Basic Stamp. Modify the software so that it is looking at both P8 and P9. 4. Any other options that you can think of. 5. Ask your instructor to setup the ScorBot robot arm with a suitable program and connect your sensor and relay to one of the ScorBot inputs so that it will cause the gripper to move when the sensor is engaged. RBT-225, Dan Wolf Page 3

4 Evaluation: 1. Create an individual design report summarizing your work. Include the following: a. 5 Points: Title page with Course number, Lab#, Lab Title, your name, and the date. b. 30 Points: Wiring schematic, parts list, and connection details. c. 15 Points: Program listing. d. 25 Points: Calculations and results for each of the Experiment #2 problems. e. 10 Points: A quick description of any optional work/assignments. f. 10 Points: Put in enough detail that allows you to reproduce this hardware setup in the future. Neatness and clarity counts! g. Five points: A quick summary/description of your work. +12V BTA1-2C 12V coil relay 120VAC N2222 Hfe = Basic Stamp Output Pin K ohm Figure 1 RBT-225, Dan Wolf Page 4

5 PARTS SCHEMATICS / PINOUTS Refer to the data sheets for more details. 1.BRN 2.WHI 4.BLK 3.BLU Main Circuit 1.BRN 2.PINK 4.BLK 3.BLU BTA1-2C 12V coil relay 120VAC CA18CLN12PA Proximity Sensor E3F2-R2C4 Photoelectric Sensor V, 100mA Max 3 6 Relay LED and Resister 8 wires connected Power Supply Basic Stamp microcontroller Serial Cable Desktop PC Figure 2 RBT-225, Dan Wolf Page 5

6 This is the Basic Stamp Microcontroller: Item #9 is the X1 header that allows access to: I/O pins, P0 to P15 Vss = Ground Vdd = +5V Item #11 is the power switch with the following positions: 0 = off 1 = power on but power is not applied to the X1 connector 2 = power is on, including the X1 connector. (Note that X3 is always powered) Do not connect more than three LEDs to the board at any one time and use 1K ohm or greater limit resisters whenever possible. RBT-225, Dan Wolf Page 6