Perancangan dan Realisasi Komunikasi Infrared Pada Prototipe Lengan Robot Tiga Derajat Kebebasan.

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ABSTRAK

Saat ini perkembangan industri komunikasi berkembang dengan pesat, terutama komunikasi tanpa kabel (wireless). Dengan menggunakan komunikasi wirelesss masalah ruang dapat diatasi, misalnya untuk menggerakkan robot. Jika menggunakan kabel, gerakan robot menjadi terbatas. Untuk itu diperlukan pengendali jarak jauh untuk mengendalikan gerak robot.

Pada tugas akhir ini dirancang dan direalisasikan komunikasi data menggunakan infra merah pada mikrokontroler AT89C52 dengan menggunakan komunikasi serial. Untuk komunikasi infra merah ini di bagian pemancar menggunakan dioda infra merah dan di bagian penerima menggunakan IRM (infrared module) 8510. IRM 8510 mempunyai band pass filter, sehingga jika pada sinyal pengirim dimodulasi dengan sinyal carrier sebesar 30 sampai 40 KHz, penerima otomatis dapat membedakan sinyal yang dikirim.

Setelah direalisasikan dari percobaan diperoleh jarak terjauh dalam komunikasi data untuk menggerakkan robot adalah 63 cm. Hal ini terjadi karena banyaknya gangguan (noise). Amplitudo noise yang mengganggu komunikasi adalah amplitudo sebesar 3 volt, karena oleh mikrokontroler, amplitudo sebesar 3 volt dianggap logik 1 (satu). Jika data yang dikirimkan seharusnya logik 0 (nol), tetapi karena adanya noise yang mempunyai amplitudo sebesar 3 volt, maka oleh mikrokontroler penerima dianggap sebagai logik 1 (satu). Hal ini menyebabkan data yang dikirim berbeda dengan data yang diterima.

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Nowdays the growth of communications industry is very quickly, especially in wireless communications. For example to move robot, with cable, robot movement become limitedly. By using wireless communications the problem of can be solved.

In this final project, designed and realized data communications by using infrared using microcontroller AT89C52. For communications data using infrared, in transmitter using dioda infrared and in receiver using IRM ( module infrared) 8510, where IRM 8510 have band pass filter

Communications data of infrared cannot too far, because progressively far its distance, receiver cannot read the signal that send by transmitter. This matter happened because many noise, because many other sources can transmit infrared signal. And from experiment obtained that angle of infrared transmitter is 24º from center.

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DAFTAR ISI

Halaman

ABSTRAK………... i

ABSTRACT……….… ii

KATA PENGANTAR………. iii

DAFTAR ISI……… v

DAFTAR GAMBAR………... viii

DAFTAR TABEL……… ix

BAB I PENDAHULUAN I.1 Latar Belakang……… 1

I.2 Identifikasi Masalah………... 1

I.3 Tujuan……… 1

I.4 Pembatasan Masalah……….. 2

I.5 Spesifikasi Alat……….. 2

I.6 Sistematika Pembahasan……… 2

BAB II TEORI DASAR II.1 Mikrokontroler……….. 4

II.1.1 Spesifikasi AT89C52………... 4

II.1.2 Special Function Register (SFR)……….. 7

II.1.3 Interrupt……… 8

II.1.4 Komunikasi Serial……… 9

II.1.4.1 Komunikasi Sinkron……… 10

II.1.4.2 Komunikasi Asinkron……….. 11

II.1.4.3 Mode Operasi Port Serial………. 11

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II.1.4.3.3 Mode 2 UART 9 Bit Dengan Baud Rate

Permanen………. 13

II.1.4.3.4 Mode 3 UART 9 bit Dengan Baud Rate yang Dapat Diatur……… 13

II.1.4.4 Inisialisasi Dan Akses Register Port Serial……… 13

II.1.4.5 Baud Rate Serial………. 13

II.2 Infra Merah……….. 15

BAB III PERANCANGAN DAN IMPLEMENTASI III.1 Perancangan Dan Realisasi Perangkat Keras………. 19

III.1.1 Rangkaian Infra Merah………...……… 19

III.1.1.1 Bagian Pemancar………... 20

III.1.1.2 Bagian Penerima……… 21

III.1.1.3 Cara Penerimaan dan Pengiriman Data………. 22

III.1.2 Mikrokontroler………. 24

III.2 Perancangan dan Realisasi Perangkat Lunak………. 24

BAB IV DATA PENGAMATAN DAN ANALISA IV.1 Uji Coba………. 27

IV.2 Data Pengamatan……… 27

IV.2.1 Jarak Pancar Infra Merah……… 27

IV.2.2 Sinyal yang Diterima IRM 8510………. 28

IV.3 Hasil Pengamatan Komunikasi Infra Merah……….. 28

IV.4.Data Pengamatan Komunikasi Infra Merah………... 28

IV.5.Data Pengamatan Pada Robot……… 38

IV.5.1. Data Pengamatan Robot (90º ke kanan)……… 38

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IV.4 Analisa……… 49

BAB V KESIMPULAN DAN SARAN

V.1 Kesimpulan……… 51

V.2 Saran……….. 51

DAFTAR PUSTAKA……… 52

LAMPIRAN A - Gambar Rangkaian - Foto Alat

LAMPIRAN B - Perangkat Lunak

LAMPIRAN C - Data Komponen

- Mikrokontroler AT89C52 - IRM 8510

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1. Gambar II.1 Konfigurasi Pin Mikrokontroler AT89C52………. 5 2. Gambar II.2 Komunikasi Sinkron dan Komunikasi Asinkron…………. 10 3. Gambar II.3 Komunikasi Infra Merah……….. 15 4. Gambar II.5 Daerah Frekuensi Gelombang Infra Merah Di Antara

Spektrum Gelombang Elektromagnetik……… 15 5. Gambar II.6 Daerah Panjang Gelombang Infra Merah dan

Pembagiannya………..…………. 16 7. Gambar III.1 Diargam Blok Cara Kerja Sistem……….... 19 8. Gambar III.2 Keadaan Pengirim dan Penerima Pada Saat Data Low.….. 21 9. Gambar III.3 Keadaan Pengirim dan Penerima Pada Saat Data High.…. 21 10.Gambar III.4 Bagian Penerima………. 22 11.Gambar III.5 Keadaan Pengirim Saat Pengiriman Data 55h……… 23 12.Gambar III.6 Keadaan Penerima Saat Pengiriman Data 55h…………... 24 13.Gambar III.7 Diagram Alir Pengiriman dan Penerimaan Data………… 26 14.Gambar IV.1 Sinyal yang Diterima IRM 8510……… 28 15.Gambar IV.2 Keadaan Pengirim dan Penerima (00000001b)…………. 29 16.Gambar IV.3 Keadaan Pengirim dan Penerima (11111010b)………….. 29 17.Gambar IV.4 Keadaan Pengirim dan Penerima (00000000b)…………. 30 18.Gambar IV.5 Keadaan Pengirim dan Penerima Pada Jarak 20 cm

Dengan Gangguan Cahaya Senter.………. 31 19.Gambar IV.6 Keadaan Pengirim dan Penerima Pada Jarak 20 cm

Dengan Gangguan Senter Dengan Jarak 5 cm Dari Penerima..………. 31 20.Gambar IV.7 Keadaan Pengirim dan Penerima Pada Jarak 45 cm

Dengan Gangguan Dilewati Jari ..………. 32 21.Gambar IV.8 Keadaan Pengirim dan Penerima (00000001b)………… 34 22.Gambar IV.9 Keadaan Pengirim dan Penerima(11111010b)………… 34 23.Gambar IV.10 Keadaan Pengirim dan Penerima (00000000)………… 35 24.Gambar IV.11 Keadaan Pengirim dan Penerima Dengan Gangguan

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DAFTAR TABEL

1. Tabel II.1 Fungsi Khusus dari Port 3………. 6

2. Tabel II.2 Interrupt Enable (IE)………. 8

3. Tabel II.3 Interrupt Vector Address………... 9

4. Tabel IV.1 Jarak Pancar Infra Merah……… 27

5. Tabel IV.2 Pengamatan Komunikasi Data pada Jarak 20 cm, 45 cm dan 60 cm………... 28

6. Tabel IV.3 Pengamatan Komunikasi Data pada Jarak 20 cm…..…….. 30

7. Tabel IV.4 Pengamatan Komunikasi Data pada Jarak 45 cm….……... 32

8. Tabel IV.5 Pengamatan Komunikasi Data pada Jarak 60 cm….……... 33

9. Tabel IV.6 Pengamatan Komunikasi Data pada Jarak 63 cm………… 33

10.Tabel IV.7 Pengamatan Komunikasi Data pada Jarak 20 cm, 45 cm dan 60 cm………... 34

11.Tabel IV.8 Pengamatan Komunikasi Data pada Jarak 20 cm….……... 35

12.Tabel IV.9 Pengamatan Komunikasi Data pada Jarak 45 cm………… 36

13.Tabel IV.10 Pengamatan Komunikasi Data pada Jarak 60 cm………. 37

14.Tabel IV.11 Pengamatan Komunikasi Data pada Jarak 63 cm………… 37

15.Tabel IV.12 Pengamatan Gerak Robot pada Jarak 20 cm……… 38

16.Tabel IV.13 Pengamatan Gerak Robot pada Jarak 45 cm……… 38

17.Tabel IV.14 Pengamatan Gerak Robot pada Jarak 60 cm……… 39

18.Tabel IV.15 Pengamatan Gerak Robot pada Jarak 63 cm……… 40

19.Tabel IV.16 Pengamatan Gerak Robot pada Jarak 20 cm dengan Gangguan Cahaya Senter..………... 41

20.Tabel IV.17 Pengamatan Gerak Robot pada Jarak 45 cm dengan Gangguan Dilewati Jari..………... 41

21.Tabel IV.18 Pengamatan Gerak Robot pada Jarak 60 cm dengan Gangguan Cahaya Bohlam………... 42

22.Tabel IV.19 Pengamatan Gerak Robot pada Jarak 20 cm……… 43

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26.Tabel IV.23 Pengamatan Gerak Robot pada Jarak 20 cm dengan

Gangguan Cahaya Senter…..………... 45 27.Tabel IV.24 Pengamatan Gerak Robot pada Jarak 45 cm dengan

Gangguan Dilewati Jari..………... 46 28.Tabel IV.25 Pengamatan Gerak Robot pada Jarak 60 cm dengan

Gangguan Cahaya Senter………... 47

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PQFP/TQFP

2 3 1

I N D E X C O R N E R

3 4 P1.0 VCC

P1.1

P1.2

P1.4 P1.3 NC 4 2 4 3 4 14 0

6 5 4 4 4 3 2 2 6 2 5 2 8 2 7 2 4 1 81 92 02 12 2 P 1 . 7

P 1 . 6 P 1 . 5

N C 7 8 9 1 0 1 1

1 21 31 41 51 61 7

2 9 3 0 3 93 83 73 63 5

3 3 3 2 3 1

N C P S E N

XT AL1 GND XT AL2 _GND P0.0 (AD0)

A L E / P R O G

()

E A / V P P

()

( R X D ) P 3 . 0

P 0 . 7 ( A D 7 )

P 2 . 6 ( A 1 4 ) P 0 . 6 ( A D 6 ) P 0 . 5 ( A D 5 ) P 0 . 4 ( A D 4 )

P0.3 (AD3) P0.2 (AD2) P0.1 (AD1)

(I N T 0) P 3 . 2 ( T X D ) P 3 . 1

( T 1 ) P 3 . 5 (I N T 1) P 3 . 3 ( T 0 ) P 3 . 4

P 2 . 7 ( A 1 5 )

(A11) P2.3 (A12) P2.4 (A10) P2.2 (A 9) P 2 .1 (A 8) P 2 .0

R S T

P 2 . 5 ( A 1 3 )

• Fully Static Operation: 0 Hz to 24 MHz • Three-Level Program Memory Lock • 128 x 8-Bit Internal RAM

• 32 Programmable I/O Lines • Two 16-Bit Timer/Counters • Six Interrupt Sources

• Programmable Serial Channel

• Low Power Idle and Power Down Modes

Description

The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4K bytes of Flash Programmable and Erasable Read Only Memory (PEROM). The device is manufactured using Atmel’s high density nonvolatile memory technology and is compatible with the industry standard MCS-51™ instruction set and pinout. The on-chip Flash allows the program memory to be reprogrammed in-system or by a con-ventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer which provides a highly flexible and cost effective solution to many embedded control appli-cations.

PDIP

P 1 . 0 VC C P 1 . 1 P 0 . 0 ( A D 0 )

P 1 . 2

(I N T 0) P 3 . 2

A L E / P R O G

(R D) P 3 . 7 P 2 . 3 ( A 1 1 ) ( T X D ) P 3 . 1

E A / V P P

(W R) P 3 . 6 P 2 . 4 ( A 1 2 ) ( R X D ) P 3 . 0

P 0 . 7 ( A D 7 )

( T 1 ) P 3 . 5

P 2 . 6 ( A 1 4 ) R S T

P 0 . 6 ( A D 6 )

P 1 . 7

P 0 . 5 ( A D 5 )

P 1 . 6

P 0 . 4 ( A D 4 )

P 1 . 5

P 0 . 3 ( A D 3 )

P 1 . 4

P 0 . 2 ( A D 2 )

P 1 . 3

P 0 . 1 ( A D 1 )

(I N T 1) P 3 . 3

P S E N

X TA L 2 P 2 . 2 ( A 1 0 ) ( T 0 ) P 3 . 4

P 2 . 7 ( A 1 5 )

X TA L 1 P 2 . 1 ( A 9 ) G N D P 2 . 0 ( A 8 ) P 2 . 5 ( A 1 3 )

2 0 1 9 1 8 1 7 1 6 1 5 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 2 1 2 2 2 3 2 4 2 5 2 6 4 0 3 9 3 8 3 7 3 6 3 5 3 4 3 3 3 2 3 1 3 0 2 9 2 8 2 7 0265F-A–12/97 (continued)

8-Bit

Microcontroller

with 4K Bytes

Flash

AT89C51

Pin Configurations

PLCC P1.0 VCC P1.1 P0.0 (AD0) P1.2

A L E / P R O G

() P 3 . 7 RD XT AL1

E A / V P P

() P 3 . 6 WR GND

( R X D ) P 3 . 0

P 0 . 7 ( A D 7 )

P 2 . 6 ( A 1 4 ) P 0 . 6 ( A D 6 ) P 0 . 5 ( A D 5 ) P 0 . 4 ( A D 4 )

P0.3 (AD3) P1.4 P0.2 (AD2) P1.3 P0.1 (AD1)

P S E N

AL2

(I N T 0) P 3 . 2 ( T X D ) P 3 . 1

( T 1 ) P 3 . 5 (I N T 1) P 3 . 3 ( T 0 ) P 3 . 4

P 2 . 7 ( A 1 5 )

(A11) P2.3 (A12) P2.4 (A10) P2.2 (A 9) P 2 .1 (A 8) P 2 .0 NC 2 3 1

R S T P 1 . 7 P 1 . 6 P 1 . 5 I N D E X C O R N E R

N C

P 2 . 5 ( A 1 3 ) 3 4 N C 4 2 4 3 4 14 0 6

543 2 4 4

2 6 2 5

2 8 2 7 1 81 92 02 12 2 2 4 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6

1 7 2 9

3 0 3 9 3 8 3 7 3 6 3 5 3 3 3 2 3 1

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Block Diagram

PORT 2 DRIVERS

PORT 2 LATCH

P2.0 - P2.7

FLASH PORT 0

LATCH RAM

PROGRAM ADDRESS REGISTER

BUFFER

PC INCREMENTER

PROGRAM COUNTER

DPTR RAM ADDR.

INSTRUCTION REGISTER B

INTERRUPT, SERIAL PORT, AND TIMER BLOCKS

STACK POINTER ACC

TMP2 TMP1

ALU

PSW

TIMING AND CONTROL

PORT 3 LATCH

PORT 3 DRIVERS

P3.0 - P3.7 PORT 1

LATCH

PORT 1 DRIVERS

P1.0 - P1.7 OSC

GND

VCC

PSEN

ALE/PROG

EA / VPP

RST

PORT 0 DRIVERS P0.0 - P0.7

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The AT89C51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, two 16-bit timer/counters, a five vector two-level interrupt architecture, a full duplex serial port, on-chip oscillator and clock cir-cuitry. In addition, the AT89C51 is designed with static logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The Power Down Mode saves the RAM contents but freezes the oscillator disabling all other chip functions until the next hardware reset.

Pin Description

V_CC Supply voltage. GND Ground. Port 0

Port 0 is an 8-bit open drain bidirectional I/O port. As an output port each pin can sink eight TTL inputs. When 1s are written to port 0 pins, the pins can be used as high-impedance inputs.

Port 0 may also be configured to be the multiplexed low-order address/data bus during accesses to external pro-gram and data memory. In this mode P0 has internal pul-lups.

Port 0 also receives the code bytes during Flash program-ming, and outputs the code bytes during program tion. External pullups are required during program verifica-tion.

Port 1

Port 1 is an 8-bit bidirectional I/O port with internal pullups. The Port 1 output buffers can sink/source four TTL inputs. When 1s are written to Port 1 pins they are pulled high by the internal pullups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low will source

current (I_IL) because of the internal pullups.

Port 1 also receives the low-order address bytes during Flash programming and verification.

Port 2

Port 2 is an 8-bit bidirectional I/O port with internal pullups. The Port 2 output buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they are pulled high by the internal pullups and can be used as inputs. As inputs, Port 2 pins that are externally being pulled low will source

current (I_IL) because of the internal pullups.

Port 2 emits the high-order address byte during fetches from external program memory and during accesses to external data memory that use 16-bit addresses (MOVX @ DPTR). In this application it uses strong internal pullups

when emitting 1s. During accesses to external data mem-ory that use 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function Register.

Port 2 also receives the high-order address bits and some control signals during Flash programming and verification.

Port 3

Port 3 is an 8-bit bidirectional I/O port with internal pullups. The Port 3 output buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins they are pulled high by the internal pullups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will source

current (I_IL) because of the pullups.

Port 3 also serves the functions of various special features of the AT89C51 as listed below:

Port 3 also receives some control signals for Flash pro-gramming and verification.

RST

Reset input. A high on this pin for two machine cycles while the oscillator is running resets the device.

ALE/PROG

Address Latch Enable output pulse for latching the low byte of the address during accesses to external memory. This pin is also the program pulse input (PROG) during Flash programming.

In normal operation ALE is emitted at a constant rate of 1/6 the oscillator frequency, and may be used for external tim-ing or clocktim-ing purposes. Note, however, that one ALE pulse is skipped during each access to external Data Mem-ory.

If desired, ALE operation can be disabled by setting bit 0 of SFR location 8EH. With the bit set, ALE is active only dur-ing a MOVX or MOVC instruction. Otherwise, the pin is weakly pulled high. Setting the ALE-disable bit has no effect if the microcontroller is in external execution mode.

PSEN

Program Store Enable is the read strobe to external pro-gram memory.

Port Pin Alternate Functions P3.0 RXD (serial input port) P3.1 TXD (serial output port) P3.2 INT0 (external interrupt 0) P3.3 INT1 (external interrupt 1) P3.4 T0 (timer 0 external input) P3.5 T1 (timer 1 external input)

P3.6 WR (external data memory write strobe) P3.7 RD (external data memory read strobe)

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When the AT89C51 is executing code from external pro-gram memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory.

EA/V_PP

External Access Enable. EA must be strapped to GND in order to enable the device to fetch code from external pro-gram memory locations starting at 0000H up to FFFFH. Note, however, that if lock bit 1 is programmed, EA will be internally latched on reset.

EA should be strapped to V_CC for internal program

execu-tions.

This pin also receives the 12-volt programming enable

volt-age (V_PP) during Flash programming, for parts that require

12-volt V_PP.

XTAL1

Input to the inverting oscillator amplifier and input to the internal clock operating circuit.

XTAL2

Output from the inverting oscillator amplifier.

Oscillator Characteristics

XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier which can be configured for use as an on-chip oscillator, as shown in Figure 1. Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven as shown in Figure 2. There are no requirements on the duty cycle of the external clock signal, since the input to the internal clocking circuitry is through a divide-by-two flip-flop, but minimum and maxi-mum voltage high and low time specifications must be observed.

Idle Mode

In idle mode, the CPU puts itself to sleep while all the on-chip peripherals remain active. The mode is invoked by software. The content of the on-chip RAM and all the spe-cial functions registers remain unchanged during this mode. The idle mode can be terminated by any enabled interrupt or by a hardware reset.

It should be noted that when idle is terminated by a hard ware reset, the device normally resumes program execu-tion, from where it left off, up to two machine cycles before the internal reset algorithm takes control. On-chip hardware inhibits access to internal RAM in this event, but access to the port pins is not inhibited. To eliminate the possibility of an unexpected write to a port pin when Idle is terminated by reset, the instruction following the one that invokes Idle should not be one that writes to a port pin or to external memory.

Figure 1. Oscillator Connections

Note: C1, C2 = 30 pF ± 10 pF for Crystals

= 40 pF ± 10 pF for Ceramic Resonators

Figure 2. External Clock Drive Configuration C2

XTAL2

GND XTAL1 C1

Status of External Pins During Idle and Power Down Modes

Mode Program Memory ALE PSEN PORT0 PORT1 PORT2 PORT3

Idle Internal 1 1 Data Data Data Data

Idle External 1 1 Float Data Address Data

Power Down Internal 0 0 Data Data Data Data

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Power Down Mode

In the power down mode the oscillator is stopped, and the instruction that invokes power down is the last instruction executed. The on-chip RAM and Special Function Regis-ters retain their values until the power down mode is termi-nated. The only exit from power down is a hardware reset. Reset redefines the SFRs but does not change the on-chip

RAM. The reset should not be activated before V_CC is

restored to its normal operating level and must be held active long enough to allow the oscillator to restart and sta-bilize.

Program Memory Lock Bits

On the chip are three lock bits which can be left unpro-grammed (U) or can be prounpro-grammed (P) to obtain the addi-tional features listed in the table below:

When lock bit 1 is programmed, the logic level at the EA pin is sampled and latched during reset. If the device is pow-ered up without a reset, the latch initializes to a random value, and holds that value until reset is activated. It is nec-essary that the latched value of EA be in agreement with the current logic level at that pin in order for the device to function properly.

Lock Bit Protection Modes

Program Lock Bits Protection Type

LB1 LB2 LB3

1 U U U No program lock features.

2 P U U MOVC instructions executed from external program memory are disabled from fetching code bytes from internal memory, EA is sampled and latched on reset, and further programming of the Flash is disabled.

3 P P U Same as mode 2, also verify is disabled.

4 P P P Same as mode 3, also external execution is disabled.

Programming the Flash

The AT89C51 is normally shipped with the on-chip Flash memory array in the erased state (that is, contents = FFH) and ready to be programmed. The programming interface accepts either a high-voltage (12-volt) or a low-voltage

(V_CC) program enable signal. The low voltage

program-ming mode provides a convenient way to program the AT89C51 inside the user’s system, while the high-voltage programming mode is compatible with conventional third party Flash or EPROM programmers.

The AT89C51 is shipped with either the high-voltage or low-voltage programming mode enabled. The respective top-side marking and device signature codes are listed in the following table.

The AT89C51 code memory array is programmed

byte-by-byte in either programming mode. To program any

non-blank byte in the on-chip Flash Memory, the entire memory must be erased using the Chip Erase Mode.

Programming Algorithm: Before programming the AT89C51, the address, data and control signals should be set up according to the Flash programming mode table and Figures 3 and 4. To program the AT89C51, take the follow-ing steps.

1. Input the desired memory location on the address

lines.

2. Input the appropriate data byte on the data lines.

3. Activate the correct combination of control signals.

4. Raise EA/V_PP to 12V for the high-voltage programming

mode.

5. Pulse ALE/PROG once to program a byte in the Flash

array or the lock bits. The byte-write cycle is self-timed and typically takes no more than 1.5 ms. Repeat steps 1 through 5, changing the address and data for the entire array or until the end of the object file is reached.

Data Polling: The AT89C51 features Data Polling to indi-cate the end of a write cycle. During a write cycle, an attempted read of the last byte written will result in the com-plement of the written datum on PO.7. Once the write cycle has been completed, true data are valid on all outputs, and the next cycle may begin. Data Polling may begin any time after a write cycle has been initiated.

Ready/Busy: The progress of byte programming can also be monitored by the RDY/BSY output signal. P3.4 is pulled low after ALE goes high during programming to indicate BUSY. P3.4 is pulled high again when programming is done to indicate READY.

VPP = 12V VPP = 5V

Top-Side Mark AT89C51

xxxx yyww AT89C51 xxxx-5 yyww Signature (030H)=1EH (031H)=51H (032H)=FFH (030H)=1EH (031H)=51H (032H)=05H

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Program Verify: If lock bits LB1 and LB2 have not been programmed, the programmed code data can be read back via the address and data lines for verification. The lock bits cannot be verified directly. Verification of the lock bits is achieved by observing that their features are enabled.

Chip Erase: The entire Flash array is erased electrically by using the proper combination of control signals and by holding ALE/PROG low for 10 ms. The code array is written with all “1”s. The chip erase operation must be executed before the code memory can be re-programmed.

Reading the Signature Bytes: The signature bytes are read by the same procedure as a normal verification of locations 030H,

031H, and 032H, except that P3.6 and P3.7 must be pulled to a logic low. The values returned are as follows.

(030H) = 1EH indicates manufactured by Atmel (031H) = 51H indicates 89C51

(032H) = FFH indicates 12V programming (032H) = 05H indicates 5V programming

Programming Interface

Every code byte in the Flash array can be written and the entire array can be erased by using the appropriate combi-nation of control signals. The write operation cycle is self-timed and once initiated, will automatically time itself to completion.

All major programming vendors offer worldwide support for the Atmel microcontroller series. Please contact your local programming vendor for the appropriate software revision.

Flash Programming Modes

Note: 1. Chip Erase requires a 10-ms PROG pulse.

Mode RST PSEN ALE/PROG EA/V_PP P2.6 P2.7 P3.6 P3.7

Write Code Data H L H/12V L H H H

Read Code Data H L H H L L H H

Write Lock Bit - 1 H L H/12V H H H H

Bit - 2 H L H/12V H H L L

Bit - 3 H L H/12V H L H L

Chip Erase H L H/12V H L L L

Read Signature Byte H L H H L L L L

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Figure 3. Programming the Flash Figure 4. Verifying the Flash

P2.6

P3.6 P2.0 - P2.3 A0 - A7

ADDR. OOOOH/OFFFH T SEE FLASH PROGRAMMING MODES ABLE 3-24 MHz

A8 - A11 P0

+5V

P2.7

PGM DATA

PROG

V /VIH PP

VIH ALE P3.7 XTAL2 EA RST PSEN XTAL1 GND VCC AT89C51 P1 P2.6 P3.6 P2.0 - P2.3 A0 - A7

ADDR. OOOOH/0FFFH

3-24 MHz

A8 - A11

P0 +5V P2.7 PGM DATA (USE 10K PULLUPS) V_IH VIH ALE P3.7 XTAL2 EA RST PSEN XTAL1 GND VCC AT89C51 T SEE FLASH PROGRAMMING MODES ABLE

Flash Programming and Verification Characteristics

T_A = 0°C to 70°C, V_CC = 5.0 ± 10%

Note: 1. Only used in 12-volt programming mode.

Symbol Parameter Min Max Units

V_PP(1) Programming Enable Voltage 11.5 12.5 V

I_PP(1) Programming Enable Current 1.0 mA

1/t_CLCL Oscillator Frequency 3 24 MHz

t_AVGL Address Setup to PROG Low 48t_CLCL

t_GHAX Address Hold After PROG 48t_CLCL

t_DVGL Data Setup to PROG Low 48t_CLCL

t_GHDX Data Hold After PROG 48t_CLCL

t_EHSH P2.7 (ENABLE) High to V_PP 48t_CLCL

t_SHGL V_PP Setup to PROG Low 10 µs

t_GHSL(1) V_PP Hold After PROG 10 µs

t_GLGH PROG Width 1 110 µs

t_AVQV Address to Data Valid 48t_CLCL

t_ELQV ENABLE Low to Data Valid 48t_CLCL

t_EHQZ Data Float After ENABLE 0 48tCLCL

tGHBL PROG High to BUSY Low 1.0 µs

(17)

Flash Programming and Verification Waveforms - High Voltage Mode (V

_PP

= 12V)

t_GLGH tGHSL

t_AVGL

t_SHGL

t_DVGL

t_GHAX

t_AVQV

t_GHDX

t_EHSH

t_ELQV

t_WC

BUSY READY

t_GHBL

t_EHQZ P1.0 - P1.7

P2.0 - P2.3

ALE/PROG PORT 0

LOGIC 1 LOGIC 0

EA/V_PP

V_PP

P2.7 (ENABLE)

P3.4 (RDY/BSY)

PROGRAMMING ADDRESS

VERIFICATION ADDRESS

DATA IN DATA OUT

Flash Programming and Verification Waveforms - Low Voltage Mode (V

_PP

= 5V)

t_GLGH t_AVGL

t_SHGL

t_DVGL

t_GHAX

t_AVQV

t_GHDX

t_EHSH

t_ELQV

t_WC

BUSY READY

t_GHBL

t_EHQZ P1.0 - P1.7

P2.0 - P2.3

ALE/PROG PORT 0

LOGIC 1 LOGIC 0

EA/V_PP

P2.7 (ENABLE)

P3.4 (RDY/BSY)

PROGRAMMING ADDRESS

VERIFICATION ADDRESS

(18)

Absolute Maximum Ratings*

DC Characteristics

T_A = -40°C to 85°C, V_CC = 5.0V ± 20% (unless otherwise noted)

Notes: 1. Under steady state (non-transient) conditions, I_OL must be externally limited as follows: Maximum IOL per port pin: 10 mA

Maximum I_OL per 8-bit port: Port 0: 26 mA Ports 1, 2, 3: 15 mA Maximum total IOL for all output pins: 71 mA

If IOL exceeds the test condition, VOL may exceed the related specification. Pins are not guaranteed to sink current greater than the listed test conditions.

2. Minimum VCC for Power Down is 2V.

Operating Temperature ... -55°C to +125°C *NOTICE: Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent dam-age to the device. This is a stress rating only and functional operation of the device at these or any other conditions beyond those indicated in the operational sections of this specification is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability.

Storage Temperature ... -65°C to +150°C

Voltage on Any Pin

with Respect to Ground ...-1.0V to +7.0V

Maximum Operating Voltage... 6.6V

DC Output Current... 15.0 mA

Symbol Parameter Condition Min Max Units

V_IL Input Low Voltage (Except EA) -0.5 0.2 V_CC- 0.1 V

V_IL1 Input Low Voltage (EA) -0.5 0.2 V_CC- 0.3 V

V_IH Input High Voltage (Except XTAL1, RST) 0.2 V_CC+ 0.9 V_CC+ 0.5 V

V_IH1 Input High Voltage (XTAL1, RST) 0.7 V_CC V_CC+ 0.5 V

V_OL Output Low Voltage(1) (Ports 1,2,3) I_OL = 1.6 mA 0.45 V V_OL1 Output Low Voltage(1)

(Port 0, ALE, PSEN)

I_OL = 3.2 mA 0.45 V

V_OH Output High Voltage (Ports 1,2,3, ALE, PSEN)

I_OH = -60 µA, V_CC = 5V ± 10% 2.4 V

I_OH = -25 µA 0.75 V_CC V

I_OH = -10 µA 0.9 V_CC V

V_OH1 Output High Voltage

(Port 0 in External Bus Mode)

I_OH = -800 µA, V_CC = 5V ± 10% 2.4 V

I_OH = -300 µA 0.75 V_CC V

I_OH = -80 µA 0.9 V_CC V

I_IL Logical 0 Input Current (Ports 1,2,3) V_IN = 0.45V -50 µA I_TL Logical 1 to 0 Transition Current

(Ports 1,2,3)

V_IN = 2V, VCC = 5V ± 10% -650 µA

I_LI Input Leakage Current (Port 0, EA) 0.45 < V_IN < V_CC ±10 µA

RRST Reset Pulldown Resistor 50 300 KΩ

C_IO Pin Capacitance Test Freq. = 1 MHz, T_A = 25°C 10 pF

I_CC Power Supply Current Active Mode, 12 MHz 20 mA

Idle Mode, 12 MHz 5 mA

Power Down Mode(2) V_CC = 6V 100 µA

(19)

AC Characteristics

(Under Operating Conditions; Load Capacitance for Port 0, ALE/PROG, and PSEN = 100 pF; Load Capacitance for all other outputs = 80 pF)

External Program and Data Memory Characteristics

Symbol Parameter 12 MHz Oscillator 16 to 24 MHz Oscillator Units

Min Max Min Max

1/t_CLCL Oscillator Frequency 0 24 MHz

tLHLL ALE Pulse Width 127 2tCLCL-40 ns

tAVLL Address Valid to ALE Low 43 tCLCL-13 ns

tLLAX Address Hold After ALE Low 48 tCLCL-20 ns

tLLIV ALE Low to Valid Instruction In 233 4tCLCL-65 ns

tLLPL ALE Low to PSEN Low 43 tCLCL-13 ns

t_PLPH PSEN Pulse Width 205 3t_CLCL-20 ns

tPLIV PSEN Low to Valid Instruction In 145 3tCLCL-45 ns

tPXIX Input Instruction Hold After PSEN 0 0 ns

tPXIZ Input Instruction Float After PSEN 59 tCLCL-10 ns

t_PXAV PSEN to Address Valid 75 t_CLCL-8 ns

tAVIV Address to Valid Instruction In 312 5tCLCL-55 ns

t_PLAZ PSEN Low to Address Float 10 10 ns

tRLRH RD Pulse Width 400 6tCLCL-100 ns

tWLWH WR Pulse Width 400 6tCLCL-100 ns

tRLDV RD Low to Valid Data In 252 5tCLCL-90 ns

t_RHDX Data Hold After RD 0 0 ns

tRHDZ Data Float After RD 97 2tCLCL-28 ns

t_LLDV ALE Low to Valid Data In 517 8t_CLCL-150 ns

tAVDV Address to Valid Data In 585 9tCLCL-165 ns

tLLWL ALE Low to RD or WR Low 200 300 3tCLCL-50 3tCLCL+50 ns

tAVWL Address to RD or WR Low 203 4tCLCL-75 ns

t_QVWX Data Valid to WR Transition 23 t_CLCL-20 ns

tQVWH Data Valid to WR High 433 7tCLCL-120 ns

t_WHQX Data Hold After WR 33 t_CLCL-20 ns

tRLAZ RD Low to Address Float 0 0 ns

(20)

External Program Memory Read Cycle

External Data Memory Read Cycle

t_LHLL

t_LLIV t_PLIV

t_LLAX tPXIZ

t_PLPH

t_PLAZ tPXAV

t_AVLL

t_LLPL

t_AVIV

t_PXIX ALE

PSEN

PORT 0

PORT 2 A8 - A15

A0 - A7 A0 - A7

A8 - A15 INSTR IN

tLHLL

tLLDV

tLLWL

tLLAX

tWHLH

tAVLL

tRLRH

tAVDV

tAVWL

tRLAZ _t

RHDX

tRLDV tRHDZ

A0 - A7 FROM RI OR DPL ALE

PSEN

PORT 0

PORT 2 P2.0 - P2.7 OR A8 - A15 FROM DPH

A0 - A7 FROM PCL

A8 - A15 FROM PCH

(21)

External Data Memory Write Cycle

External Clock Drive Waveforms

External Clock Drive

Symbol Parameter Min Max Units

1/t_CLCL Oscillator Frequency 0 24 MHz

tCLCL Clock Period 41.6 ns

t_CHCX High Time 15 ns

tCLCX Low Time 15 ns

t_CLCH Rise Time 20 ns

tCHCL Fall Time 20 ns

tLHLL

tLLWL

tLLAX

tWHLH

tAVLL

tWLWH

tAVWL

tQVWX

tQVWH

tWHQX

A0 - A7 FROM RI OR DPL ALE

PSEN

PORT 0

PORT 2 P2.0 - P2.7 OR A8 - A15 FROM DPH

A0 - A7 FROM PCL

A8 - A15 FROM PCH

DATA OUT INSTR IN

t_CHCX tCHCX

t_CLCX

t_CLCL

t_CHCL t_CLCH

V - 0.5V_CC

0.45V

0.2 V_CC- 0.1V 0.7 V_CC

(22)

Serial Port Timing: Shift Register Mode Test Conditions

(V_CC = 5.0 V ± 20%; Load Capacitance = 80 pF)

Shift Register Mode Timing Waveforms

Symbol Parameter 12 MHz Osc Variable Oscillator Units

Min Max Min Max

tXLXL Serial Port Clock Cycle Time 1.0 12tCLCL µs

t_QVXH Output Data Setup to Clock Rising Edge 700 10t_CLCL-133 ns

tXHQX Output Data Hold After Clock Rising Edge 50 2tCLCL-117 ns

t_XHDX Input Data Hold After Clock Rising Edge 0 0 ns

tXHDV Clock Rising Edge to Input Data Valid 700 10tCLCL-133 ns

tXHDV tQVXH tXLXL t_XHDX tXHQX ALE INPUT DATA CLEAR RI OUTPUT DATA

WRITE TO SBUF

INSTRUCTION CLOCK 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 SET TI SET RI 8

VALID VALID VALID VALID VALID VALID VALID VALID

Float Waveforms

(1)

Note: 1. For timing purposes, a port pin is no longer floating when a 100 mV change from load voltage occurs. A port pin begins to float when 100 mV change from the loaded V_OH/V_OLlevel occurs.

V_LOAD+ 0.1V

Timing Reference Points V

LOAD- 0.1V LOAD

V V_OL+ 0.1V

V_OL- 0.1V

AC Testing Input/Output Waveforms

(1)

Note: 1. AC Inputs during testing are driven at VCC - 0.5V for a logic 1 and 0.45V for a logic 0. Timing measure-ments are made at VIH min. for a logic 1 and VIL max. for a logic 0.

0.45V

TEST POINTS V - 0.5V_CC

0.2 V + 0.9V_CC

(23)

Ordering Information

Speed (MHz)

Power

Supply Ordering Code Package Operation Range

12 5V ± 20% AT89C51-12AC 44A Commercial

AT89C51-12JC 44J (0°C to 70°C)

AT89C51-12PC 40P6

AT89C51-12QC 44Q

AT89C51-12AI 44A Industrial

AT89C51-12JI 44J (-40°C to 85°C)

AT89C51-12PI 40P6

AT89C51-12QI 44Q

AT89C51-12AA 44A Automotive

AT89C51-12JA 44J (-40°C to 105°C)

AT89C51-12PA 40P6

AT89C51-12QA 44Q

16 5V ± 20% AT89C51-16AC 44A Commercial

AT89C51-16JC 44J (0°C to 70°C)

AT89C51-16PC 40P6

AT89C51-16QC 44Q

AT89C51-16AI 44A Industrial

AT89C51-16JI 44J (-40°C to 85°C)

AT89C51-16PI 40P6

AT89C51-16QI 44Q

AT89C51-16AA 44A Automotive

AT89C51-16JA 44J (-40°C to 105°C)

AT89C51-16PA 40P6

AT89C51-16QA 44Q

20 5V ± 20% AT89C51-20AC 44A Commercial

AT89C51-20JC 44J (0°C to 70°C)

AT89C51-20PC 40P6

AT89C51-20QC 44Q

AT89C51-20AI 44A Industrial

AT89C51-20JI 44J (-40°C to 85°C)

AT89C51-20PI 40P6

(24)

Ordering Information

Speed (MHz)

Power

Supply Ordering Code Package Operation Range

24 5V ± 20% AT89C51-24AC 44A Commercial

AT89C51-24JC 44J (0°C to 70°C)

AT89C51-24PC 44P6

AT89C51-24QC 44Q

AT89C51-24AI 44A Industrial

AT89C51-24JI 44J (-40°C to 85°C)

AT89C51-24PI 44P6

AT89C51-24QI 44Q

Package Type 44A 44 Lead, Thin Plastic Gull Wing Quad Flatpack (TQFP) 44J 44 Lead, Plastic J-Leaded Chip Carrier (PLCC)

40P6 40 Lead, 0.600” Wide, Plastic Dual Inline Package (PDIP) 44Q 44 Lead, Plastic Gull Wing Quad Flatpack (PQFP)

(25)

EVERLIGHT ELECTRONICS CO., LTD.

Device Number: DMO-851-005 REV:

1.1 MODEL NO:

IRM-8510/N

ECN:

Page: 1/9

■

PACKAGE DIMENSIONS

：

OFFICE: NO 25,Lane 76,Chung Yang Rd, Sec.3 Tucheng, Taipei 236, Taiwan, R.O.C. TEL : 886-2-2267-2000,2266-9936 ( 22 Lines )

(26)

MODEL NO:

IRM-8510/N

ECN:

Page: 2/9

■

NOTES

：

1. This drawing measure is a standard value. All dimensions are in millimeter.

2. In case of designation is tolerance

±

0.3mm.

3. Lead spacing is measured where the lead emerge from the package.

4. Above specification may be changed without notice. EVERLIGHT will reserve authority

on material change for above specification.

5. These specification sheets include materials protected under copyright of EVERLIGHT

corporation. Please don't reproduce or cause anyone to reproduce them without

EVERLIGHT consent.

6. When using this produce, please observe the absolute maximum ratings and the

instructions for use outlined in these specification sheets. EVERLIGHT assumes no

responsibility for any damage resulting from use of the product which does not comply

with the absolute maximum ratings and the instructions included in these specification

sheets.

(27)

EVERLIGHT ELECTRONICS CO., LTD.

Device Number: DMO-851-005 REV:

1.1 MODEL NO:

IRM-8510/N

ECN:

Page: 3/9

■

Description

：

1. The module is a small type infrared remote control system receiver which has been

developed and designed by utilizing the latest hybrid technology.

2. This single unit type module incorporates a photo diode and a receiving preamplifier IC.

3. The demodulated output signal can directly be decoded by a microprocessor.

■

Feature

：

1. High protection ability to EMI and metal case can be customized.

2. Mold type and metal case type to meet the design of front panel.

3. Elliptic lens to improve the characteristic against

4. Line-up for various center carrier frequencies.

5. Low voltage and low power consumption.

6. High immunity against ambient light.

7. Photodiode with integrated circuit.

8. TTL and CMOS compatibility.

9. Long reception distance.

10. High sensitivity.

■

Application

：

1. Optical switch

2. Light detecting portion of remote control

• AV instruments such as Audio, TV, VCR, CD, MD, etc.

• Home appliances such as Air-conditioner, Fan , etc.

• The other equipments with wireless remote control.

• CATV set top boxes

(28)

MODEL NO:

IRM-8510/N

ECN:

Page: 4/9

■

Absolute maximum ratings

：

(Ta=25

℃

)

Parameter

Symbol

Ratings

Unit

Notice

Supply Voltage

Vcc

4.3~5.7

V

Operating Temperature

Topr

-10

〜

+60

℃

Storage Temperature

Tstg

-20

〜

+70

℃

Soldering Temperature

Tsol

260 ℃

4mm from mold body

less than 5 seconds

■

Electro Optical Characteristics

：

(Ta=25

℃

)

Parameter

Symbol

MIN

TYP

MAX

Unit

Condition

Supply Voltage

Vcc

4.7

5

5.3 V

DC voltage

Supply Current

Icc

-

3 mA

No signal input

B.P.F Center

Frequency

fo

-

37.9 -

KHz

Peak Wavelength

λ

p

-

940 -

nm

L

5 -

-Transmission

Distance

_L

₄₅

_2.5

_-

m

At the ray axis

*1

Half Angle

θ

-

45 -

deg

High Level Pulse

Width

T

400 -

800 µ

s

Low Level Pulse

Width

T

400 -

800 µ

s

At the ray axis

*2

High Level Output

Voltage

V

4.5 -

V

Low Level Output

Voltage

V

0.5 V

*1:The ray receiving surface at a vertex and relation to the ray axis in the

range of

φ

= 0

°

and

φ

=45

°

.

(29)

EVERLIGHT ELECTRONICS CO., LTD.

Device Number: DMO-851-005 REV:

1.1 MODEL NO:

IRM-8510/N

ECN:

Page: 5/9

■

TEST METHOD

：

The specified electro-optical characteristics is satisfied under the following

Conditions at the controllable distance.

c

Measurement place

A place that is nothing of extreme light reflected in the room.

d

External light

Project the light of ordinary white fluorescent lamps which are not high

Frequency lamps and must be less then 10 Lux at the module surface.

(Ee

≦

10Lux)

e

Standard transmitter

A transmitter whose output is so adjusted as to

Vo=400mVp-p and the output

Wave form shown in Fig.-1.According to the measurement method shown in

Fig.-2 the standard transmitter is specified. However, the infrared photodiode

to be used for the transmitter should be

λ

p=940nm,

∆λ

=50nm. Also, photo

diode is used of PD438B (V

=5V).

(Standard light / Light source temperature 2856

°

K).

f

Measuring system

(30)

Carrier frequency is adjusted to center frequency of each product.

IR TANSMITTER OUTPUT WAVE FORM

OUTPUT PULSE OF DEVICE

D.U.T

L: Transmission Distance

Standard Transmitter

GND Vcc OUT

Vout

θ: Angle Of Horizontal & Vertical Direction

Standard Transmitter

Oscilloscope Vout 10uF

+5.0± 0.1V 10k 20cm 10 0k 8 ABLC AMP B.P.F. + TRAP 4 DEMODURATION WAVE FORM ARRANGEMENT 3 22K OHM 47 OHM 5 7 6 2 1 130K OHM 47uF + -Vcc LIMITER IN + -IN C1 GND CD C2 10nF OUT fo R2 _Vcc OUT GND PD438B Pre-AMP

MODEL NO:

IRM-8510/N

ECN:

Page: 6/9

■

Module schematic & circuit

：

Fig.-1 Transmitter Wave Form

D.U.T Output Pulse

Fig.-2 Measuring Method

Fig.-3 Measuring System

(31)

EVERLIGHT ELECTRONICS CO., LTD.

Device Number: DMO-851-005 REV:

1.1 MODEL NO:

IRM-8510/N

ECN:

Page: 7/9

■

TYPICAL ELECTRICAL/OPTICAL/CHARACTERISTICS CURVES

Fig.-4 Relative Spectral Sensitivity vs. Wavelength Fig.-5 Relative Transmission Distance vs. Direction

Fig.-6 Output Pulse Length vs. Arrival Distance Fig.-7 Arrival Distance vs. Supply Voltage

Fig.-8 Relative Transmission Distance

vs. Center Carrier Frequency

Fig.-9 Arrival Distance

(32)

MODEL NO:

IRM-8510/N

ECN:

Page: 8/9

■

Reliability test item and condition

：

The reliability of products shall be satisfied with items listed below.

Confidence level: 90%

LTPD: 10%

Samples(n)

Test Items

Test Conditions

Failure Judgement

Criteria

Defective(c)

Operation life

Vcc=5V,Ta:25

℃

1000hrs

n=22,c=0

Temperature

cycle

1 cycle -20

℃

+25

℃

+70

℃

(30min) 5min (30min)

50 cycle test

n=22,c=0

Thermal shock

-10

℃

to +70

℃

(5min) (10sec) (5min)

50 cycle test

L

≦

L

×

0.8 L

₄₅

≦

L

×

0.8 n=22,c=0

High temperature

storage

Temp: +70

℃

1000hrs

n=22,c=0

Low temperature

storage

Temp: -20

℃

1000hrs

n=22,c=0

High temperature

High humidity

Ta: 85

℃

RH:85% 1000hrs

n=22,c=0

Solder heat

Temp: 260

±

5 ℃

5sec

4mm Form the bottom of the

package.

L: Lower

specification limit

n=22,c=0

Solderability

Temp: 230

±

5 ℃

5sec

4mm Form the bottom of the

package.

More than 90% of

Lead to be covered

by soldering

(33)

R L

Label

UNIT：cm

E V E

2.Box

15 3.Carton

2.0

21 1.Plastic Case

22

I G H T

Label

Opto-electronic,Compoments

EVERLIGHT

9

14.5

33

24

48

EVERLIGHT ELECTRONICS CO., LTD.

Device Number: DMO-851-005 REV:

1.1 MODEL NO:

IRM-8510/N

ECN:

Page: 9/9

■

Packing Specifications

CPN

:

Customer’s Production Number

P/N

:

Production Number

QTY

:

Packing Quantity

CAT

:

Ranks

HUE

:

Peak Wavelength

REF :Reference

LOT NO : Lot Number

MADE IN TAIWAN

:

Production place

Packing Quantity Specification

1. 40 Pcs/1Plastic Case

，

4Plastic Cases/1Box

2. 10 Boxes/1Carton

(34)

mov a,#00h

mov r0,#8

mov r1,#0

mov p1,#00h

mov tmod,#21h

start:

jb p2.1,$

acall delay2

acall delay

mulai:

jb p2.1,tambah

ljmp tetep

two:

jb p2.1,tambah1

ljmp tetep1

three:

jb p2.1,tambah2

ljmp tetep2

four:

jb p2.1,tambah3

ljmp tetep3

five:

jb p2.1,tambah4

ljmp tetep4

tambah:

inc r1

nop nop nop

ljmp two

tetep:

nop nop nop

ljmp two

tambah1:

inc r1

nop nop nop

ljmp three

(35)

nop nop nop

ljmp three

tambah2:

inc r1

nop nop nop

ljmp four

tetep2:

nop nop nop

ljmp four

tambah3:

inc r1

nop nop nop

ljmp five

tetep3:

nop nop nop

ljmp five

tambah4:

inc r1

nop nop nop

ljmp poiu

tetep4:

nop nop nop

ljmp poiu

poiu:

cjne r1,#05,satu

sjmp nol

satu:

setb acc.0

rr A

djnz r0,mulai

(36)

djnz r0,mulai aaa:

mov p0,a

cjne a,#01h,cex

ljmp awal1

cex:

cjne a,#02h,cex1

ljmp awal1

cex1:

cjne a,#02h,kirim_ulang

ljmp awal1

kirim_ulang:

mov r2,#20

ool:

setb p1.0

nop nop nop nop nop nop nop nop nop nop nop

clr p1.0

nop nop nop nop nop nop nop nop nop nop nop

djnz r1,ool

ljmp start

(37)

mov a,#00h

mov r0,#8

mov r1,#0

mov p1,#00h

mov tmod,#21h

start1:

jb p2.1,$

acall delay2

acall delay

mulai1:

jb p2.1,tambah0

ljmp tetep0

two1:

jb p2.1,tambah11

ljmp tetep11

three1:

jb p2.1,tambah21

ljmp tetep21

four1:

jb p2.1,tambah31

ljmp tetep31

five1:

jb p2.1,tambah41

ljmp tetep41

tambah0:

inc r1

nop nop nop

ljmp two1

tetep0:

nop nop nop

ljmp two1

tambah11:

inc r1

nop nop nop

ljmp three1

tetep11:

nop nop nop

(38)

nop nop

ljmp four1

tetep21:

nop nop nop

ljmp four1

tambah31:

inc r1

nop nop nop

ljmp five1

tetep31:

nop nop nop

ljmp five1

tambah41:

inc r1

nop nop nop

ljmp poiu1

tetep41:

nop nop nop

ljmp poiu1

poiu1:

cjne r1,#05,satu1

sjmp nol1

satu1:

setb acc.0

rr A

djnz r0,mulai1

sjmp aaa1

nol1:

clr acc.0

rr A

djnz r0,mulai1

(39)

mov p0,a

cjne a,#0fah,kirim_ulang1

ljmp awal1

kirim_ulang1:

mov r2,#20

ool1:

setb p1.0

nop nop nop nop nop nop nop nop nop nop nop

clr p1.0

nop nop nop nop nop nop nop nop nop nop nop

djnz r1,ool1

ljmp start1

awal00:

mov a,#00h

mov r0,#8

mov r1,#0

mov p1,#00h

mov tmod,#21h

start00:

jb p2.1,$

acall delay2

acall delay

mulai00:

(40)

ljmp tetep100 three00:

jb p2.1,tambah200

ljmp tetep200

four00:

jb p2.1,tambah300

ljmp tetep300

five00:

jb p2.1,tambah400

ljmp tetep400

tambah00:

inc r1

nop nop nop

ljmp two00

tetep00:

nop nop nop

ljmp two00

tambah100:

inc r1

nop nop nop

ljmp three00

tetep100:

nop nop nop

ljmp three00

tambah200:

inc r1

nop nop nop

ljmp four00

tetep200:

nop nop nop

(41)

tambah300:

inc r1

nop nop nop

ljmp five00

tetep300:

nop nop nop

ljmp five00

tambah400:

inc r1

nop nop nop

ljmp poiu00

tetep400:

nop nop nop

ljmp poiu00

poiu00:

cjne r1,#05,satu00

sjmp nol00

satu00:

setb acc.0

rr A

djnz r0,mulai00

sjmp aaa00

nol00:

clr acc.0

rr A

djnz r0,mulai00

aaa00:

mov p0,a

cjne a,#00h,kirim_ulang00

ljmp awal00

kirim_ulang00:

mov r2,#20

ool00:

setb p1.0

nop nop nop nop

(42)

nop nop nop nop

clr p1.0

nop nop nop nop nop nop nop nop nop nop nop

djnz r1,ool00

ljmp start00

kirim_serial:

mov th1,#0f3h

mov tl1,#0f3h

setb tr1

mov r1,#01h

mov r2,#55h

mov r3,#00h

mov a,r1

mov sbuf,a

jnb ti,$

clr ti

mov a,r2

mov sbuf,a

jnb ti,$

clr ti

mov a,r3

mov sbuf,a

jnb ti,$

clr ti

sjmp selesai

delay:

(43)

mov tl0,#0ffh

setb tr0

jnb tf0,$

clr tr0

clr tf0

ret delay2:

mov th0,#00h

mov tl0,#00h

setb tr0

jnb tf0,$

clr tr0

clr tf0

ret selesai:

(44)

ljmp start

org 000bh

cpl p1.0

reti start:

mov a,#00000001b

setb p1.0

acall delay

mov R0,#9

setb et0

mov tmod,#12h

mov th0,#0f0h

mov tl0,#0f0h

setb ea

haha:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

clr tf1

rl A

banding:

djnz r0,jalan

sjmp start

jalan:

rr A

jb Acc.0,satu

sjmp nol

nol:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

(45)

sjmp banding satu:

clr p1.0

mov th1,#00h

mov tl1,#00h

setb tr1

jnb tf1,$

clr tr1

clr tf1

sjmp banding

cek_bit:

mov th1,#00h

mov tl1,#00h

setb tr1

cek:

jb p2.1,kk

clr tf1

clr tr1

sjmp start

kk:

jnb tf1,cek

clr tf1

clr tr1

start1:

mov a,#11111010b

setb p1.0

acall delay

mov R0,#9

setb et0

mov tmod,#12h

mov th0,#0f0h

mov tl0,#0f0h

setb ea

haha1:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

clr tf1

(46)

jalan1:

rr A

jb Acc.0,satu1

sjmp nol1

nol1:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

clr tf1

sjmp banding1

satu1:

clr p1.0

mov th1,#00h

mov tl1,#00h

setb tr1

jnb tf1,$

clr tr1

clr tf1

sjmp banding1

cek_bit1:

mov th1,#00h

mov tl1,#00h

setb tr1

cek1:

jb p2.1,kk1

clr tf1

clr tr1

sjmp start1

kk1:

jnb tf1,cek1

clr tf1

clr tr1

start2:

mov a,#00000000b

setb p1.0

acall delay

(47)

setb et0

mov tmod,#12h

mov th0,#0f0h

mov tl0,#0f0h

setb ea

haha2:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

clr tf1

rl A

banding2:

djnz r0,jalan2

sjmp start2

jalan2:

rr A

jb Acc.0,satu2

sjmp nol2

nol2:

mov th1,#00h

mov tl1,#00h

setb tr1

setb tr0

jnb tf1,$

clr tr0

clr tr1

clr tf1

sjmp banding2

satu2:

clr p1.0

mov th1,#00h

mov tl1,#00h

setb tr1

jnb tf1,$

clr tr1

clr tf1

sjmp banding2

cek_bit2:

mov th1,#00h

(48)

clr tf1

clr tr1

sjmp start2

kk2:

jnb tf1,cek2

clr tf1

clr tr1

sjmp selesai

delay:

mov r7,#8

loop:

mov r6,#250

loop2:

mov r5,#250

loop3:

djnz r5,$

djnz r6,loop2

djnz r7,loop

ret selesai:

(49)

BAB I

PENDAHULUAN

Pada bab ini akan diuraikan mengenai latar belakang masalah, identifikasi masalah, tujuan, pembatasan masalah, spesifikasi alat, dan sistematika pembahasan.

I.1 Latar Belakang

Teknik pengendalian terus berkembang mengikuti laju perkembangan teknologi yang saat ini menuntut adanya efisiensi, kecepatan yang semakin tinggi dan tidak terbatas ruang.

Sekarang ini perkembangan robotika dalam industri sangat pesat terutama robot-robot yang diimplemantasikan untuk membantu proses produksi dan manufaktur, seperti pada pembuatan mobil, misalnya pada tahap pengecetan. Untuk itu diperlukan pengendali jarak jauh untuk menggerakkan robot tersebut.

I.2 Identifikasi Masalah

Bagaimana merancang dan merealisasikan komunikasi timbal balik antara lengan robot dengan menggunakan infra merah?

I.3 Tujuan

Tujuan tugas akhir ini untuk merancang dan merealisasikan komunikasi timbal balik antara lengan robot dengan pengendali dengan menggunakan infra merah.

(50)

I.4 Pembatasan Masalah

Adapun pembatasan masalahnya sebagai berikut:

1. Kekurangan yang ada pada gerakan robot yang disebabkan oleh design perangkat kerasnya tidak dibahas.

2. Sistem komunikasi yang digunakan untuk menghubungkan pengendali (komputer) dan mikroprosesor (untuk menggerakkan lengan robot) adalah menggunakan komunikasi serial menggunakan infra merah.

3. Tidak membuat lengan robot karena sudah tersedia.

I.5 Spesifikasi Alat

Alat-alat yang digunakan antara lain: 1. Mikrokontroler Atmel AT89C52

2. Infra merah transmitter (dioda infra merah) 3. Infra merah receiver IR 8510

I.6 Sistematika Pembahasan

Sistematika penulisan dalam Tugas Akhir ini adalah sebagai berikut:

Bab I Pendahuluan

Pada bab ini akan dibahas mengenai latar belakang masalah, tujuan, pembatasan masalah, spesifikasi alat, serta sistematika pembahasan.

Bab II Teori Dasar

Pada bab ini akan dibahas teori-teori dasar tentang infra merah, komunikasi infra merah, mikrokontroler Atmel 89C52.

Bab III Perancangan dan Realisasi Alat

Pada bab ini akan dibahas tentang perancangan dan realisasi perangkat keras (hardware) maupun perangkat lunak (software).

Bab IV Pengujian Alat

Pada bab ini akan dibahas tentang pengujian alat dan hasil-hasil yang diperoleh.

(51)

Bab V Kesimpulan dan Saran

Pada bab ini akan dibahas tentang kesimpulan yang diperoleh dan saran-saran untuk pengembangan lebih lanjut.

(52)

BAB V

KESIMPULAN DAN SARAN

Pada bab ini akan diuraikan mengenai kesimpulan dan saran.

V.1 Kesimpulan

1. Data yang dikirim dapat diterima dengan baik jika tidak ada halangan. Persentase keberhasilan pangiriman data pada jarak 20 cm, 45 cm dan 60 cm adalah 100%.

2. Persentase keberhasilan komunikasi antar mikrokontroler untuk menggerakkan lengan robot menggunakan lebar bit 510 µs adalah 78,57% dan untuk lebar bit 65 ms adalah 50%.

3. Amplitudo noise yang mengganggu komunikasi adalah amplitudo sebesar 3 volt. Dan lebar noise yang mempengaruhi data adalah 15 µs.

4. Semakin kecil periode setiap bit, kesalahan yang ditimbulkan dalam komunikasi semakin kecil. Dari percobaan didapat bahwa jika digunakan lebar per bit 510 µs, data yang diterima lebih baik daripada lebar bit 65 ms.

V.2 Saran

1. Untuk menghindari kealahan data oleh noise dapat dilakukan dengan memperbaiki dahulu data yang diterima.

2. Komunikasi infra merah dapat dilakukan dengan komunikasi serial menggunakan kaki Tx dan Rx. Untuk komunikasi serial menggunakan kaki Tx dan Rx baud rate yang aman digunakan untuk infra merah adalah 600 bps.

3. Komunikasi yang dilakukan dibuat timbal balik. Setelah dikirim ke robot, robot mengirimkan sinyal balikan berupa besarnya sudut yang dihasilkan.

(53)

DAFTAR PUSTAKA

1. Andi Nalwan, Paulus, Teknik Antarmuka dan Pemograman Mikrokontroler AT89C51, PT Elex Media Komputindo, Jakarta, 2003. 2. Ayala, Kenneth J., The 8051 Microcontroller, Second Edition:

Architecture, Programming, and Applications, West Publishing Company, 1997.

3. Eko Putra, Agfianto, Belajar Mkrokontroler AT89C51/52/55 (Teori dan Aplikasi), Edisi kedua, Gava Media, Yogyakarta, 2004.

4. Kahn, Joseph M., High Speed Wireless Infrared Communication, Final Report 1996-97 for MICRO Project 96-001.

5. Predko, Myke, Programming And Customizing The 8051 Microcontroller, McGraw-Hill Companies, 1999.

6. Yeralan, Sencer dan Ahluwalia, Ashutosh, Programming And Interfacing The 8051 Microcontroller, Addison-Wesley Publishing Company, 1993. 7. www.irda.org

(1)

clr tf1

clr tr1

sjmp start2

kk2:

jnb tf1,cek2

clr tf1

clr tr1

sjmp selesai

delay:

mov r7,#8

loop:

mov r6,#250

loop2:

mov r5,#250

loop3:

djnz r5,$

djnz r6,loop2 djnz r7,loop ret

selesai:

(2)

BAB I

PENDAHULUAN

Pada bab ini akan diuraikan mengenai latar belakang masalah, identifikasi masalah, tujuan, pembatasan masalah, spesifikasi alat, dan sistematika pembahasan.

I.1 Latar Belakang

Teknik pengendalian terus berkembang mengikuti laju perkembangan teknologi yang saat ini menuntut adanya efisiensi, kecepatan yang semakin tinggi dan tidak terbatas ruang.

I.2 Identifikasi Masalah

Bagaimana merancang dan merealisasikan komunikasi timbal balik antara lengan robot dengan menggunakan infra merah?

I.3 Tujuan

Tujuan tugas akhir ini untuk merancang dan merealisasikan komunikasi timbal balik antara lengan robot dengan pengendali dengan menggunakan infra merah.

(3)

I.4 Pembatasan Masalah

Adapun pembatasan masalahnya sebagai berikut:

1. Kekurangan yang ada pada gerakan robot yang disebabkan oleh design perangkat kerasnya tidak dibahas.

2. Sistem komunikasi yang digunakan untuk menghubungkan pengendali (komputer) dan mikroprosesor (untuk menggerakkan lengan robot) adalah menggunakan komunikasi serial menggunakan infra merah.

3. Tidak membuat lengan robot karena sudah tersedia.

I.5 Spesifikasi Alat

Alat-alat yang digunakan antara lain: 1. Mikrokontroler Atmel AT89C52

2. Infra merah transmitter (dioda infra merah) 3. Infra merah receiver IR 8510

I.6 Sistematika Pembahasan

Sistematika penulisan dalam Tugas Akhir ini adalah sebagai berikut: Bab I Pendahuluan

Pada bab ini akan dibahas mengenai latar belakang masalah, tujuan, pembatasan masalah, spesifikasi alat, serta sistematika pembahasan.

Bab II Teori Dasar

Pada bab ini akan dibahas teori-teori dasar tentang infra merah, komunikasi infra merah, mikrokontroler Atmel 89C52.

Bab III Perancangan dan Realisasi Alat

Pada bab ini akan dibahas tentang perancangan dan realisasi perangkat keras (hardware) maupun perangkat lunak (software). Bab IV Pengujian Alat

Pada bab ini akan dibahas tentang pengujian alat dan hasil-hasil yang diperoleh.

(4)

Bab V Kesimpulan dan Saran

Pada bab ini akan dibahas tentang kesimpulan yang diperoleh dan saran-saran untuk pengembangan lebih lanjut.

(5)

BAB V

KESIMPULAN DAN SARAN

Pada bab ini akan diuraikan mengenai kesimpulan dan saran.

V.1 Kesimpulan

1. Data yang dikirim dapat diterima dengan baik jika tidak ada halangan. Persentase keberhasilan pangiriman data pada jarak 20 cm, 45 cm dan 60 cm adalah 100%.

2. Persentase keberhasilan komunikasi antar mikrokontroler untuk menggerakkan lengan robot menggunakan lebar bit 510 µs adalah 78,57% dan untuk lebar bit 65 ms adalah 50%.

3. Amplitudo noise yang mengganggu komunikasi adalah amplitudo sebesar 3 volt. Dan lebar noise yang mempengaruhi data adalah 15 µs.

V.2 Saran

1. Untuk menghindari kealahan data oleh noise dapat dilakukan dengan memperbaiki dahulu data yang diterima.

3. Komunikasi yang dilakukan dibuat timbal balik. Setelah dikirim ke robot, robot mengirimkan sinyal balikan berupa besarnya sudut yang dihasilkan.

(6)

1. Andi Nalwan, Paulus, Teknik Antarmuka dan Pemograman Mikrokontroler AT89C51, PT Elex Media Komputindo, Jakarta, 2003. 2. Ayala, Kenneth J., The 8051 Microcontroller, Second Edition:

Architecture, Programming, and Applications, West Publishing Company, 1997.

3. Eko Putra, Agfianto, Belajar Mkrokontroler AT89C51/52/55 (Teori dan Aplikasi), Edisi kedua, Gava Media, Yogyakarta, 2004.

4. Kahn, Joseph M., High Speed Wireless Infrared Communication, Final Report 1996-97 for MICRO Project 96-001.

5. Predko, Myke, Programming And Customizing The 8051 Microcontroller, McGraw-Hill Companies, 1999.

6. Yeralan, Sencer dan Ahluwalia, Ashutosh, Programming And Interfacing The 8051 Microcontroller, Addison-Wesley Publishing Company, 1993.

7. www.irda.org

8. www.delta-electronic.com