MECHATRONICS

MICROPROCESSOR

PUSHPARAJ MANI PATHAK

MECHANICAL & INDUSTRIAL ENGINEEING, IIT ROORKEE

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 Mechatronic system components
ACTUATORS SENSORS
▪ Solenoids, voice coils ▪switches
INPUT SIGNAL
▪ DC motors ▪Potentiometer, Thermocouple CONDITIONING AND
▪ Stepper motors ▪Photoelectrics, Accelerometer INTERFACING
▪ Servo motors ▪Digital encoder ▪ Discrete circuits ▪ Filters
▪Hydraulics, Pneumatics ▪Strain gauge, MEMs ▪ Amplifiers ▪ A/D, D/D

OUTPUT SIGNAL
DIGITAL CONTROL ARCHITECTURES
GRAPHICAL CONDITIONING &
DISPLAYS ▪Logic circuits ▪Control algorithms
INTERFACING
▪LEDs, LCD, CRT ▪Microcontroller ▪communication
▪D/A, D/D ▪Power transistors
▪Digital display ▪Sequencing & Timing ▪SBC, PLC
▪Amplifiers ▪Power op amps
▪Logic & Arithmetic ▪A/D, D/D
▪PWM

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Introduction

• Simple control problem, can be solved by an electronic control

system using combinational and sequential logic integrated
circuits.
• However, with complex situation there might be many more
variables to control in a more complex control sequence.
• With combinational and sequential logic IC wired connections
are used to connect.
• For complex situations microprocessor are used and software
is used to make the interconnections.
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Microprocessor System

• Microprocessor system has three parts namely Central

Processing Unit (CPU), Input & Output interfaces and Memory
• CPU recognise and carry out program instructions (this part of
microprocessor system uses the microprocessor)
• I/P & O/P interfaces handle communications between the
microprocessor and the outside world
• Memory hold the program instructions and data
• Microprocessor having memory, input & output arrangements
all on same chip are microcontrollers
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 Address bus

Crystal Output
Address Memory Memory Input/ port
decoder Output
Clock ROM RAM Input
Micro- Chip port
processor enable
(CPU)
Data bus

Control bus

General form of a microcontroller system

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Buses
• Digital signals moves from one section to another along paths
called buses.
• Typically a bus may have 16 or 32 parallel connections so that
each can carry 1 bit
of a data word simultaneously.
• Types of bus available in a microprocessor system are
1. Data bus
2. Address bus
3. Control bus

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Data bus

• It carries data associated with processing function of CPU

• Used to transport a word to or from the CPU and the memory
or the input/output interfaces.
• Each bit being carried by a separate wire in the bus
• More wire means longer word length
• For example: For a word of length 4 bits, the number of values
it can have are 24 = 16.

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Address bus

• It carries signal which indicates where data is to be found.

• A computer with an 8-bit data bus has typically a 16-bit-wide
address bus, i.e. 16 wires.
• This size of address bus enables 216 locations to be
addressed.
• 216 indicates 65536 locations and is usually written as 64K,
where K is equal to 1024.

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Control Bus

• It carries signals related with control actions (e.g. operation of

i/p, o/p devices).
• READ is used for receiving a signal.
• WRITE for sending a signal.
• The control bus is also used to carry the system clock signals
to synchronize all the actions of the microprocessor system.

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 Microprocessor
Address bus Data bus
Address bus

Data bus

Flag Stack General Accum Program Instruction

registers pointer registers -ulator counter decoder &
registers

ALU
Control unit

General internal architecture of Control bus

a microprocessor External control signals
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Constituents parts of the microprocessor

1. Arithmetic and logic unit (ALU)- performs the data

manipulations
2. Registers- are memory locations with in the microprocessor
and used to store information involved in programme
execution.
3. Control unit- determines the timing and sequence of
operations.

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Registers

1. Accumulator register- temporary holding register for data to be

operated on by ALU and after operation holds the results.
2. Status register/flag register-
• carries information concerning the results of the latest
process carried out in ALU.
• It carries individual bits called flags.
• Used to indicate whether the last operation resulted in a
negative result, a zero result, a carry output occurs, an
overflow occurs or the program is allowed to be interrupted.

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• Common flags in status register
Flag Set, i.e. 1 Reset, i.e. 0
Z Result is zero Result is not zero
N Result is negative Result is not negative
C Carry is generated Carry is not ignored
V Overflow occurs Overflow does not occur
I Interrupt is ignored Interrupt is processed normally
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3. Programme counter register-
• It allows the CPU to keep track of its position in the program.
• Contains the address of the memory location that contains
the next program instruction.
• The program counter is incremented each time so that the
CPU executes instructions sequentially until, JUMP or
BRANCH, changes the program counter out of that
sequence.
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4. Memory address register- contains the address of data.
5. Instruction register - stores instructions.
6. General purpose register - temporary storage of data or
addresses, involved in the transfer between registers.
7. Stack pointer register
• Content of this register form an address which defines the
top of stack in RAM.
• Stack is a special area of the memory in which program
counter values can be stored when a subroutine part of
program is being used.
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• The number and form of the registers depends on the
microprocessor.
• For example, the Motorola 6800 microprocessor has two
accumulator registers, a status register, an index register, a
stack pointer register and a program counter register.

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 Address bus A15 to A8 Address bus A7 to A0

Output buffers Output buffers

Clock
Clock Program counter Program counter
RESET
Non − maskable interrupt
HALT
Instruction Stack pointer Stack pointer
decoder
Interrupt request
and
Three − state control
control Index register Index register
Data bus enable
Bus available
Valid memory address
Read/write
Accumulator A

Instruction Accumulator B

Motorola 6800 register

Condition code register
architecture Data buffer
ALU
Data bus D7 to D0

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Memory
• Memory units store binary data.
• Size of memory determined by the number of wires in the
address bus.
• Memory unit consists of large number of storage cells with each
cell capable of storing 0 or 1 bit.
• Storage cells grouped into a location with each location storing a
word.
• In order to access the stored word each location is identified by
a unique word.
• Size of memory specified in terms of no. of memory locations
available. 1 K is 210 =1024 (4K memory has 4096 locations.)
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Forms of memory

1. ROM (Read only memory)-

• permanent storage of data that CPU can read but CPU
cannot write data on ROM.
• ROM does not require a power supply to retain its data so
called non volatile memory.
• programmed with the required contents during the
manufacture of the integrated circuit.

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2. RAM (Random access memory)-
• can be read from or written to at any time provided power is
there.
• Data is considered volatile because it is lost when power goes.
• Static RAM- retains data in flip flop as long as memory is
powered.
• Dynamic RAM-consists of capacitor storage of data that must be
refreshed (rewritten) periodically because of the charge leakage.

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3. EPROM (Erasable programmable ROM)-
• Data stored can be erased with ultraviolet light through a
transparent window at the top of the EPROM IC.
• Then new data can be stored on the EPROM.
• Other type of EPROM is electrically erasable (EEPROM)
• Data in this is electrically erasable and rewritten through its
data line.

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Input/Output

• Communication to and from the microprocessor occurs

through I/O devices connected to the bus.
• External computer peripheral I/O devices are keyboards,
printers, displays, modems, network device.
• For mechatronic applications A/D, D/A and digital I/O(D/D)
provides interfaces to switches, sensors and actuators.
• Since the speed and characteristic of the peripheral devices
differ with microprocessor, microprocessor are connected via
an interface chip.
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• Microprocessor accept valid data from interface chip which is
indicated by the interrupt or polling (status bit set to 1).
• Polling is the process of repeated checking each peripheral
device to see if it is ready to send or accept a new byte of
data.

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Microprocessor Programming

• Instructions executed by CPU are defined on binary code

called machine code.
• Microprocessor can be programmed using assembly language
having mnemonic command corresponding to each
instructions.
• Assembly language converted to machine code using
assembler.
• When set of instructions are small microprocessor is called
RISC (reduced instruction set computer) microprocessor.
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• If written in high level language as BASIC, or C compiler is to
be used to generate machine code.
• These are easy to debug.

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References

• W. Bolton, Mechatronics: Electronic Control Systems in

Mechanical and Electrical Engineering (6th Edition), Pearson,
2015
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould
Bouamama, Intelligent Mechatronic Systems: Modeling,
Control and Diagnosis, ISBN 978-1-4471-4627-8, 2013,
Springer, London
• D.G. Alciatore and Michael B. Histand, Introduction to
Mechatronics, Tata Mc Graw Hill, 2012.
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Thank You

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