MECHATRONICS UNIT-I

Unit-I
1.0 Introduction to Mechatronics
The term "mechatronics" was first assigned by Mr. Tetsuro Mori, a senior engineer of the
Japanese company Yaskawa, in 1969. Mechatronics basically refers to mechanicalelectronic
systems

A synergistic combination of mechanical, electrical, electronics, computer and control

systemswhich, when combined, make possible the generation of simple, more economic, and
reliable systems.

Following figure1.1 shows definition and applications area of mechatronics

Figure 1.1 Applications of mechatronics

1.1 Key Elements of Mechatronics

Physically mechatronic system composed of four prime components

• Sensors,
• Actuators,
• Controllers and

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• Mechanical/electrical components
Figure 1.2 shows Key elements of mechatronics system

Figure 1.2 Key elements of mechatronics system

1.1.1 Sensors

A sensor is a device that measures a physical quantity and converts it into an 'electrical signal'
which can be read by an observer or by an instrument.

➢ Temperature sensors
➢ Displacement, position, motion and velocity sensors,
➢ Fluid sensors, liquid flow, liquid level
➢ Light sensors etc.,

1.1.2 Actuator

Actuator is transducer which converts electrical signal into physical quantity

• An actuator is a component of a machine that is responsible for moving or controlling a
mechanism or system.
• Mechanical Actuation systems
– Gear trains Belt
– and chain drives, bearings etc.,

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• Electrical Actuation systems

Mechanical switches - Keyboards, limit switches, switches, Relays
Solid-state switches - Diodes, thyristors, transistors
Solenoids– Push something, Starter solenoid, pneumatic or hydraulic valve
Drive systems - DC, AC, or stepper motors
1.1.3 Microcontroller
Integrated electronic computing device that includes three major components on a single chip
• Microprocessor (MPU)
• Memory
• I/O (Input/Output) ports
Figure 1.3 shows Basic blocks of Microcontroller

Figure 1.3 Basic blocks of Microcontroller

Microprocessor:Integrated electronic computing device that includes Arithmetic Logic Unit
(ALU), Control Unit and Register array or Simply CPU on a single IC. It takes digital data as
input, process the data and gives digital data as output.

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Input Devices: Provide binary information to the MPU

– Switches and Keypads
Output devices: Receive binary information from the MPU
– LEDs and LCDs
Memory:Storage Device
Major Categories
– Read/Write Memory (R/W)
– Read-only-Memory (ROM)
1.2 Difference between Microprocessor and Microcontrollers

1.3 Arduino
Arduino is an open-source electronics platform which integrates hardware and software
easily. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a
Twitter message - and turn it into an output - activating a motor, turning on an LED, publishing
something online. You can tell your board what to do by sending a set of instructions to the
microcontroller on the board.
1.3.1 Arduino Boards
▪ Arduino Uno
▪ Arduino NG, Diecimila, and the Duemilanove (Legacy Versions)
▪ Arduino Mega 2560
▪ Arduino Mega ADK

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▪ ArduinoLilyPad
1.3.2 Arduino Pin map
The figure 1.4 shows Arduino Mega Pin map

Figure 1.4 shows Arduino Mega Pin map

ATmega2560:
• The Arduino Mega 2560 is a microcontroller board based on the ATmega2560.
• The ATmega640/1280/1281/2560/2561 is a low-power CMOS 8-bit microcontroller
based on the AVR enhanced RISC architecture.
• It has 54 digital input/output pins (of which 14 can be used as PWM outputs), 16 analog
inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection,
a power jack, an ICSP header, and a reset button.
• It contains everything needed to support the microcontroller;
• Simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter
or battery to get started.

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• Memory - The ATmega2560 has 256 KB of flash memory for storing code (of which 8
KB is used for the bootloader), 8 KB of SRAM and 4 KB of EEPROM (which can be
read and written with the EEPROM library).
Power pins:
• VIN: Used to turn ON the board using battery.
• 5V. It is used to power external components connected to Arduino which needs 5V.
• 3V3.It is used to power external components connected to Arduino which needs 3.3V.
Maximum current draw is 50 mA.
• GND.Ground
Digital Input/Output(I/O):
Each of the 54 digital pins on the Mega can be used as an input or output, using pinMode(),
digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can provide or
receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of
20-50 kΩ. In addition, some pins have specialized functions
Universal Asynchronous Receiver and Transmitter (UART): Used to receive (RX) serial data
and transmit (TX) serial data.
• UART 0: 0 (RX) and 1 (TX)
• UART 1: 19 (RX) and 18 (TX)
• UART 2: 17 (RX) and 16 (TX)
• UART 3: 15(RX) and 14 (TX).
Pulse Width Modulation (PWM): 0 to 13. Provide 8-bit PWM output with the analog Write()
function. These pins are also called as analog output lines
Serial Peripheral Interface(SPI): 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS).
➢ MISO (Master In Slave Out)
➢ MOSI (Master Out Slave In)
➢ SCK (Serial Clock)
➢ SS(Serial Select)
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the
LED is on, when the pin is LOW, it's off.
Inter integrated circuit (I2C): 20 (SDA) and 21 (SCL).
• SDA : Serial Data, It is the bidirectional data line that is used by I2C.

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• SCL : Serial Clock, It is used to indicate that data is ready on bidirectional data line that
is used by I2C.
Analog Inputs: The Arduino Mega2560 has 16 analog inputs, each of which provide 10 bits of
resolution (i.e. 1024 different values).
There are a couple of other pins on the board.
AREF. Reference voltage for the analog inputs. Used with analogReference().
Reset. It Resets the Arduino board if pressed

1.4 Arduino Programming

Structure: A basic Arduinosketch(Progrm) consists of two functions called setup() and loop().
Where setup() is the preparation, loop() is the execution. Both functions are required for
program to work. The setup() should follow the declaration of any variables at every beginning
of the program. It is the first function to ruin in the program, is only run once, and used to set
pinMode or initialize serial communication
The loop() follows next and includes the code to be executed continuously- reading
inputs , triggering outputs etc., this function is core of all arduino programs does bulk of work.
The setup() Function
The setup() called once when program starts. Use it to initialize pin modes, or begin
serial communication. It must be included in program even if there are no statements run.
The loop() Function
After calling the setup() function, the loop() function does precisely what its name
suggests, and loops consecutively, allowing the program to change, respond and control the
arduino board.
Example 1.1
// File: blink.pde
// Turns on an LED on for one second,
// then off for one second, repeatedly. Header: • Overview comments • Global variables
intLED_pin = 11;
void setup() //• Execute only once • Tasks for start-up
{
pinMode(LED_pin, OUTPUT);

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}
void loop() //• Execute repeatedly • Primary tasks for the sketch
{
digitalWrite(LED_pin, HIGH);
delay(1000);
digitalWrite(LED_pin, LOW);
delay(1000);
}

1.5 Arduino Basic functions

1.5.1 Digital I/O:Arduino mega 2560 have 54 digital I/O pins(0-53)
pinMode(pin, mode): Configures the specified pin to behave either as an input or an output.
pin is the pin number(0 - 53). Mode specifies INPUT/OUTPUT.
Ex: pinMode(7, OUTPUT); // sets the “pin 7” as output
pinMode(1, INPUT); // sets the “pin 1” as input
digitalWrite(pin, value): Write a HIGH or a LOW value to a digital pin.
Ex: digitalWrite(14, HIGH); // write logic 1(5V) on to “pin 14”
digitalWrite(52, LOW); // write logic 0(0V) on to “pin 52”
digitalRead(pin): Reads the value from a specified digital pin(0-53). The result will be either
HIGH or LOW
Ex: value= digitalRead(10); // reads logic level(0/1) on pin 10 and assigns to value
1.5.2 Analog I/O:Arduino mega 2560 have 16analog I/O pins(0- 15)
analogRead(pin): Reads the value from the specified analog pin with a 10-bit resolution. This
function works on analog input pins(0 - 15). The resulting integer values from 0 to 1023 to
represent 0 to 5V. It takes about 0.0001 seconds to read an analog pin.
Ex: value=analogRead(0); // reads analog pin 0, converts 10-bit digital number assigns to
value//
Note: Analog pins unlike digital ones do not need to declare as INPUT/OUTPUT.
analogWrite(pin,value):Arduino mega 2560 have 14PWMs (0- 13)
Writes analog value using hardware enabled pulse width modulation (PWM) to an output
marked PWM. The value can be specified as a variable or constant with a value from 0-255.
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Ex: analogWrite(0,value); // write value to “PWM0”

A value of 0 generates a steady state 0V output at the specified pin; a value of 255 generates
5Voutput at the specified pin. For values in between 0 and 255 the pin rapidly alternate between
0 and 5V. As value increases duty cycle of the pulse is increased.
analogReference(type): The default reference voltage is 5V. This can be changed to a different
type and different resolution using this function.
1.5.3 Serial I/O: Typically used for communication between an Arduino board and a computer
via the USB port. Use the serial monitor to communicate with the board.
Serial.begin(9600): Used to begin serial communications, typically at a 9600 baud rate (bits per
second)
Serial.print(val,format): Prints data to the serial port as human-readable ASCII text.
Examples: Serial.print(78) gives "78"
Serial.print(1.23456) gives "1.23"
Serial.println(1.23456, 4) gives "1.2346"
Serial.print("Hello world.") gives "Hello world."
Serial.println(val): Prints val followed by carriage return
delay():Pauses the program for the amount of time (in milliseconds) specified as parameter.
Syntax: delay(ms)
Parameters:
ms: The number of milliseconds to pause
Returns: Nothing
delayMicroseconds():Pauses the program for the amount of time (in microseconds) specified as
parameter.
Syntax: delayMicroseconds(µs)
Parameters:
µs: The number of microseconds to pause
Returns: Nothing

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