Robotics Exp.

1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Table of Contents
1. Introduction
2. Mechanical Design
3. Circuit Design
4. Sensor Control
5. Motor Control
6. Communication
7. Navigation
8. SLAM
9. Multirobots



3.1 Select Microcontroller
3.2 Circuit Design
3.2.1 Useful circuits
3.2.2 Type of Circuit
3.2.3 OrCAD
3.3 Layout

How to build a mobile robot
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
3.2.1 Useful circuits
The purpose of circuit design
Ex : power circuit, motor drive, sensor drive, control circuit, etc.)
Based on the designed circuit, we need to select suitable parts.
2


Back-And-Forth robot schematic.

Example)
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Device types (IC package types)
3
DIP SMD
SOJ
Dual I nline Package.
Surface Mounted Devices
Small Outline J -Bend Package
Package attributes that are taken into consideration when choosing a
package type for a particular semiconductor device include:
size, lead count, power dissipation, field operating conditions, cost.

Examples)
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
a) Regulator
Power Circuit
Power Supply
Battery
Power
Circuit
Motor
MCU
Sensor1
Sensor2
Etc
A voltage regulator
automatically
maintain a constant
voltage level.
A voltage regulator is designed to automatically maintain a constant
voltage level.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
78xx LM1117
The 78xx lines are positive voltage
regulators; For ICs within the family, the xx
is replaced with two digits, indicating the
output voltage. (ex: the 7805 has a 5 volt
output, while the 7812 produces 12 volts).
79xx devices are complementary negative
voltage regulators. (ex: 5V, 6V, 8V, 9V, 10V,
12V, 15V, 18V, 24V )
-A low power positive-voltage regulator designed
to meet 1A output current.
-a good choice for use in battery-powered
applications.
-It features very low quiescent current and very
low dropout voltage of 1V at a full load and
lower as output current decreases.
-Available as an adjustable or fixed 1.2V, 1.5V,
1.8V, 2.5V, 2.85, 3.3V, and 5.0V output voltages.



SMD DIP
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Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
6
Voltage regulator
Typical voltage regulator circuit
In circuit design, datasheet of the electronic parts is used to meet the circuit
requirement.



Constant current source
Variable voltage source
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
7
Example: 7805- voltage regulator design using OrCAD.
LED (+ resistor): To monitor switching (SW 1)
For 12V of input voltage, both of 12 V and 5 V output can be generated
(cf: 5 V output from 7805).
In pin connection, pin allocation of IC can be found in datasheet.
Circuit diagram
voltage regulator
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
b) Level Shift
Level shifting: Changing the logic level at the interface between
two different semiconductor logic systems.
8
The interface between two modules operating at 3.3 V and 5.0 V respectively
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
9
Op amp level shifter
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
10
Level Shifting Between TTL and CMOS
IC's of mixed logic families can require a voltage translation to get
working correctly.
When signaling between a CMOS IC and a TTL IC, there can be a
problem because each logic family defines the valid range of voltage
that make up a valid HIGH and valid LOW and the logic families
don't agree on the range.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
c) Pull up/down resistor
Pull-up and pull-down resistor is a common mechanism used in basic
electronic circuits.
Pull-up means connection of a line or chip, with supply voltage
though a resistor with a value of few kOhms. This kind of
connection results in maintaining high state, when the external
devices are disconnected or do not give signals, and protects against
unknown states.
Pull-down resistors operate in an analogous manner. A pull-up
resistor is a resistor connecting an input to VCC, and on the other
side - a pull-down resistor is used for the connection of an input and
GND.
As it is called, it pulls the signal to high (pull-up resistor) or low
state (pull-down resistor), and of course, it also limits the current.
usually between 10k and 100k to define the input state when no signal
source is connected.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
More on Pull Up and Pull Down Resistors
BASIC Stamp I/O pins defined as inputs have high-impedance. Pins
can be in an unpredictable HIGH or LOW state when charged are
discharged by leakage paths on the printed circuit board.
Many misbehaving CMOS circuits or micro-controller programs can
be traced to unconnected input pins.
All inputs should be properly terminated with a high value resistor to
either VCC (a pull up) or GND (pull down). Termination to VCC
with a pull up resistor is usually the preferred method.
The value a pull resistor depends on your power budget, the max
current/voltage/power the output components can deliver and what
voltage/current the input requires to see a steady state that is opposite
to the "driven" output state.

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Pull-up resistor
used to ensure that a wire is pulled to a high logical level in the
absence of an input signal.
used in electronic logic circuits to ensure that inputs to logic
systems settle at expected logic levels if external devices are
disconnected or high-impedance is introduced.
Pull-up resistor circuit
Example) Optocouplers need pull-up resistors
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Pull-down resistor
It works in the same way but is connected to ground.
It holds the logic signal near zero volts when no other active device
is connected.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
d) Amplifiers
d-1) OP-AMP (Operational amplifier)



15
Pinout
op-amp: a DC-coupled high-gain electronic voltage amplifier with a
differential input and, usually, a single-ended output.
Applications: signal processing circuits, control circuits, and
instrumentation, etc.
Application examples
741 op amp
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
d-2) TR(Transistor) amplifier
16




Amplifier circuit, common-emitter configuration.
Transistor: three terminal devices(solid state) that replaced vacuum tubes.
Amplification
Switching
Detecting Light
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Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
17
The larger collector current I
C
is proportional to the base current I
B
according
to the relationship I
C
=I
B
, or more precisely it is proportional to the base-
emitter voltage V
BE
. The smaller base current controls the larger collector
current, achieving current amplification.
The analogy to a valve:
The smaller current in the base acts as a "valve", controlling the larger
current from collector to emitter.
A "signal" in the form of a variation in the base current is reproduced
as a larger variation in the collector-to-emitter current, achieving an
amplification of that signal.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
e) Active filters
High pass filter
a device that passes high frequencies and attenuates frequencies lower
than its cutoff frequency.
18
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Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Low pass filter
It passes low-frequency signals but attenuates signals with frequencies
higher than the cutoff frequency.
19
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Band pass filter
It passes frequencies within a certain range and rejects (attenuates)
frequencies outside that range.
20
R
2
R
1
v
in
C
1
C
2
R
f1
R
f2
C
4
C
3
R
3
R
4
+V
-V
v
out
R
f3
R
f4
+
-
+
-
+V
-V
Stage 1
Two-pole low-pass
Stage 2
Two-pole high-pass
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Band rejection(Notch) filter
It passes most frequencies unaltered, but attenuates those in a specific
range to very low levels. It is the opposite of a band-pass filter.
21
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
f) Schmitt trigger
Threshold circuits with positive feedback having a loop gain > 1.
The circuit is named "trigger" because the output retains its value until
the input changes sufficiently to trigger a change:
in the non-inverting configuration, when the input is higher than a certain
chosen threshold, the output is high;
when the input is below a different (lower) chosen threshold, the output is
low;
when the input is between the two, the output retains its value.
22
The symbol of Schmitt trigger
Schmitt trigger implemented by
a non-inverting comparator
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
A practical Schmitt trigger
configuration with precise thresholds

23
The effect of using a Schmitt trigger (B)
instead of a comparator (A).
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
g) Motor drive
24
Motor Drive Schematic
Motor drive components
(i) Electric machines - ac or dc
(ii) Power converter - rectifiers,choppers, inverters, and cycloconverters
(iii) Controllers -matching the motor and power converter to meet the load
requirements
(iv) Load
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Motor Drive Schematic
Controllers embody the control laws governing the load and motor
characteristics and their interaction.


Torque/speed/
position commands
Torque/speed/
position feedback
Other sensor
feedback
V
c
, f
c
, start,
shut-out,
signals, etc.
Controller
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
The controllers implement the control strategy governing the
load and motor characteristics.
To match the load and motor, the input to the power converter
is controlled (manipulated) by the controller
Controllers
26
Three types of Motor Load
Motor loads Description Examples
Constant
torque loads
Output power varies but
torque is constant
Conveyors, rotary kilns,
constant-displacement
pumps
Variable torque
loads
Torque varies with square
of operation speed
Centrifugal pumps, fans
Constant
power loads
Torque changes inversely
with speed
Machine tools
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Schematic of the Pololu Dual High Current Motor Driver Carrier
27
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
28
DC Motor-Driver H-Bridge Circuit
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Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
29
Motor driving circuit
Motor control module
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
3.2.3 OR CAD
Circuit design

30
Orcad is a suite of tools from Cadence for the design and layout of printed
circuit boards (PCBs).
Cadence OrCAD PCB Designer with PSpice comprises three main applications.
Capture is used to drawn a circuit on the screen, known formally as
schematic capture. It offers great flexibility compared with a traditional
pencil and paper drawing, as design changes can be incorporated and errors
corrected quickly and easily. (On the other hand, it is much faster to develop
the outline of a circuit using pencil and paper.)
PSpice simulates the captured circuit. You can analyse its behaviour in many
ways and confirm that it performs as specified.
PCB Editor is used to design printed circuit boards. The output is a set of
files that can be sent to a manufacturer or the electronics workshop in the
Rankine Building. I do not cover PCBs in this handout.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
31
The first step in creating PCB's is to lay out our circuit design using
PCB design software or a CAD program. This software is can be
obtained online for free. The circuit layout should include all the traces
and pads needed for your circuit to work.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
32
the completed board
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
OrCAD
1)
2)
3)
4)
Tool bar
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Select : .
Place part : .
Place wire : .
Place net alias : .
Place bus : Multi .
Place junction : .
Place bus entry : wire .
Place power : .
Place ground : .
Place hierarchical block : .
Place [hierarchical] port : .
Place [hierarchical] pin : .
Place off-page connector : .
Place no connect : pin .
Place line : .
Place polyline : .
Place rectangle : .
Place ellipse : .
Place arc : .
Place text : .
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design
35
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design #1
36
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design #2
37
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design
To find datasheet : http://www.alldatasheet.co.kr/
38
C1
10uF
5V
J1
CON2
1
2
U1
LM1117-5.0
3
1
2
VIN
ADJ
VOUT
D1 LED
330 R
C1
10uF
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design Motor Control Circuit #1
39
R1
11K
C5
0.01uF
R2
30K
C4
2
2
0
u
F
Power State LED
C6
10uF
SW2
S/W
Vcc-15
D2
Red
D3
Red
C7
10uF
C8
2
2
0
u
F
C2
10uF
C3
10uF
R3
8.2K
Vcc-15
Vcc-5
Vcc-15
L2
15uH
U2
TPS5430
BOOT
1
NC
2
NC
3
VSENSE
4
ENA
5
GND
6
VIN
7
PH
8
P
w
P
d
9
VSNS1
D4
B
3
4
0
A
VSNS1
Vcc-3.3
R4
11K
L1
15uH
U1
TPS5430
BOOT
1
NC
2
NC
3
VSENSE
4
ENA
5
GND
6
VIN
7
PH
8
P
w
P
d
9
VSNS2
D1
B
3
4
0
A
VSNS2
Vcc-3.3 Vcc-5
R7
330 SW1
S/W
Vcc-24
Connector Regulator
R5
39K
J1
HEADER 2
1
2
R8
220
J2
HEADER 2
1
2
R6
3.9K
C1
0.01uF
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design Motor Control Circuit #2
40
B9_CAP5_QEP4
B10_CAP6_PEQ12
U11
SN74LVC4245A
VCCA
1
DIR
2
A1
3
A2
4
A3
5
A4
6
A5
7
A6
8
A7
9
A8
10
GND
11
GND
12
GND
13
B8
14
B7
15
B6
16
B5
17
B4
18
B3
19
B2
20
B1
21
OE
22
VCCB
23
VCCB
24
Vcc-5 Vcc-3.3
Phase_A_A
Phase_A_I
Phase_A_B
A10_CAP3_QEP11
A9_CAP2_QEP2
A8_CAP1_QEP1
Phase_B_A
RS485_RXD
Phase_B_I
G5_SCIRXDB
Phase_B_B
U9
MC3486
1B
1
1A
2
1Y
3
1,2EN
4
2Y
5
2A
6
2B
7
GND
8
3B
9
3A
10
3Y
11
3,4EN
12
4Y
13
4A
14
4B
15
VCC
16
Vcc-5
Vcc-5
Encoder_A_A
Phase_A_A
Phase_A_I
Encoder_A_/A
Encoder_A_/B
Encoder_A_/I
Encoder_A_I B8_CAP4_QEP3
Phase_A_B
Encoder_A_B
R
1
6
2
K
Motor Driver
Encoder_A_B
Encoder_A_I
E
F
_
1
Encoder_A_/A
J8
HEADER 5X2
2
4
6
8
10
1
3
5
7
9
Encoder_A_/B
Encoder_A_/I
R
1
7
2
K
J6
HEADER 2
1
2
Vcc-5
OUT1_A
OUT2_A
U7
TLE5206-2G
O
U
T
1
1
E
F
2
I
N
1
3
G
N
D
4
I
N
2
5
V
s
6
O
U
T
2
7
G
N
D
8
A
0
_
P
W
M
1
A
1
_
P
W
M
2
Encoder_A_A
Vcc-5
E
F
_
2
E
F
_
1
O
U
T
1
_
A
O
U
T
2
_
A
Vcc-24
Vcc-5
F10_MFSXA F11_MFSRA
F12_MDXA
A0_PWM1
F4_SCITXDA
F13_MDRA
B8_CAP4_QEP3
G4_SCITXDB
A8_CAP1_QEP1
B9_CAP5_QEP4
B10_CAP6_PEQ12
A9_CAP2_QEP2
A3_PWM4 A2_PWM3
F5_SCIRXDA
A1_PWM2
G5_SCIRXDB
A10_CAP3_QEP11
J10
HEADER 40x2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50
52
54
56
58
60
62
64
66
68
70
72
74
76
78
80
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39
41
43
45
47
49
51
53
55
57
59
61
63
65
67
69
71
73
75
77
79
Vcc-3.3
F8_MXLKXA F9_MCLKRA
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design Motor Control Circuit #3
D9
L
E
D
F12_MDXA
F8_MXLKXA
Vcc-3.3
F10_MFSXA
R
1
0
2
2
0
F13_MDRA
U3
74LVC3G14
1A
1
3Y
2
2A
3
GND
4
2Y
5
3A
6
1Y
7
VCC
8
U4
74LVC3G14
1A
1
3Y
2
2A
3
GND
4
2Y
5
3A
6
1Y
7
VCC
8
STATE LED PART
D5
L
E
D
F9_MCLKRA
R
1
1
2
2
0
F11_MFSRA
R
1
2
2
2
0
R
1
3
2
2
0
R
1
4
2
2
0
D6
L
E
D
R
9
2
2
0
D7
L
E
D
D8
L
E
D
D10
L
E
D
RS-232 Driver
F4_SCITXDA
F5_SCIRXDA
J3
HEADER 3
1
2
3
C18 0.1uF
C19
0.1uF
C20
0.1uF
Vcc-5
Vcc-5
C21
0.1uF
C17 0.1uF
U5
MAX3232
GND
15
VCC
16
R1IN
13
R2IN
8
T2IN
10
T1IN
11
C1+
1
C1-
3
C2+
4
C2-
5
R1OUT
12
R2OUT
9
T1OUT
14
T2OUT
7
V+
2
V-
6
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design Power
42
D5
Red
SW2
S/W
SW1
S/W
Motor_P
Vcc-7
Vcc-5 Vcc-3.3
R4
1K
J1
POWER_IN
1
2
R5
1K
D2
Red
D3
Blue
R9
1K
Vcc-7
R1
11K
R2
30K
C4
2
2
0
u
F
C2
10uF
R3
8.2K
C3
10uF
Vcc-3.3
L1
15uH
VSNS2
U1
TPS5430
BOOT
1
NC
2
NC
3
VSENSE
4
ENA
5
GND
6
VIN
7
PH
8
P
w
P
d
9
D1
B
3
4
0
A
VSNS2
C1
0.01uF
R7
39K
R8
3.9K
Vcc-7
C6
10uF
C7
10uF
C8
2
2
0
u
F
Vcc-5
L2
15uH
VSNS1
U2
TPS5430
BOOT
1
NC
2
NC
3
VSENSE
4
ENA
5
GND
6
VIN
7
PH
8
P
w
P
d
9
D4
B
3
4
0
A
VSNS1
R6
11K
C5
0.01uF
Motor_P
J3
Motor-Power
1
2
C9
0.1uF
Vcc-5
Vcc-3.3
C10
0.1uF
C11
0.1uF
J2
CON10A
1 2
3 4
5 6
7 8
9 10
TP1
T POINT A
TP2
T POINT A
TP3
T POINT A
TP4
T POINT A
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Circuit Design Motor
43
SHIFT_G23_LASER_RX_B
SHIFT_G29_MOTOR_RX_A
AVR_TX_1
AVR_TX_2 J3
Motor_Right
1 2
3 4
5 6
PWM1 PWM2
PWM3 PWM4
Vcc-5
SHIFT_CAMERA_RX
Vcc-5
L_encoder_A
J2
Motor_Lef t
1 2
3 4
5 6 L_encoder_B
R_encoder_B R_encoder_A
L_encoder_A
L_encoder_B
R_encoder_B
R_encoder_A
U1
SN74LVC4245A
VCCA
1
DIR
2
A1
3
A2
4
A3
5
A4
6
A5
7
A6
8
A7
9
A8
10
GND
11
GND
12
GND
13
B8
14
B7
15
B6
16
B5
17
B4
18
B3
19
B2
20
B1
21
OE
22
VCCB
23
VCCB
24
Vcc-5 Vcc-3.3
5V -> 3.3V
Laser_TXD
G21_A_EQEP1B
G20_A_EQEP1A
G24_A_EQEP1B
G25_A_EQEP2B R
4
2
2
0
D1
L
E
D
G
1
4
_
A
_
L
E
D
1
G
1
5
_
A
_
L
E
D
2
Vcc-3.3
D2
L
E
D
R
3
2
2
0
G0_A_PWM1 G2_A_PWM3
G1_A_PWM2
C2
0.1uF
U2
L298/SO
G
N
D
1
IN1
7
IN2
9
IN3
13
IN4
15
G
N
D
2
0
OUT1
4
OUT2
5
OUT3
16
OUT4
17
G
N
D
1
0
G
N
D
1
1
VS
6
VSS
12
SENA
2
SENB
19
ENA
8
ENB
14
N
C
3
N
C
1
8
N
C
2
1
C3
0.1uF
G3_A_PWM4
R8
1/1W
PWM1
PWM2
PWM3
R9
1/1W
PWM4
D8
DIODE
Vcc-7
D9
DIODE
D10
DIODE
D11
DIODE
D12
DIODE
D13
DIODE
D14
DIODE
D15
DIODE
Vcc-5
G19_A_ENA_B G18_A_ENA_A
G14_A_LED1 G15_A_LED2
G22_LASER_TX_B
SHIFT_G29_MOTOR_RX_A G28_MOTOR_TX_A
SHIFT_G23_LASER_RX_B
J4
MOTOR_TMS320F2808
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
41 42
43 44
45 46
47 48
49 50
51 52
53 54
55 56
57 58
59 60
G0_A_PWM1
G2_A_PWM3
G18_A_ENA_A
G24_A_EQEP1B
G20_A_EQEP1A
G3_A_PWM4
G1_A_PWM2
G19_A_ENA_B
G21_A_EQEP1B
G25_A_EQEP2B
Vcc-5
TP3
GND
TP1
T POINT A
TP2
T POINT A
J5
CAMERA->MOTOR
1 2
3 4
5 6
7 8
Laser_TXD G22_LASER_TX_B
Vcc-5
Vcc-3.3
CAMERA_TX SHIFT_CAMERA_RX
C7
0.1uF C6
0.1uF
Vcc-3.3 Vcc-3.3
R6
1K
R7
1K
S
H
I
F
T
_
G
2
9
_
M
O
T
O
R
_
R
X
_
A
G
2
8
_
M
O
T
O
R
_
T
X
_
A
D6
Red
D7
Red
J6
MOTOR->SENSOR
1
2
3
4
5
6
7
AVR_TX_1
AVR_TX_2
Vcc-5
G28_MOTOR_TX_A
C4
0.1uF
C5
0.1uF
Vcc-3.3
CAMERA_TX
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design



3.3 ORCAD Suite Using Layout
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Motivation
ORCAD is an entire software suite
Schematic
Simulation
Layout
ECO (Engineering Change Order)
Seamless conversion between different
components of software package
Online DRC (Design Rule Checking)
Industry standard software tool

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Must use parts
Drawing boxes/lines/poly/ to create parts will NOT
WORK!!! You must create parts!
Use off--page connectors, ports, hierarchal blocks, and busses to
clean up schematics


Schematics
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Creating Parts
1. Create a new library (A library is a collection of
parts)
File>New-->Library
2. Create a new part
Right click on the library-->Add New Part
Name the part, dont change anything else
3. Draw the part outline using the Place Rectangle tool
4. Add pins using the Place Pin or the Place Pin Array tool
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Migrating to Layout
1. Select the main design in the design window (the .dsn file)
2. Select Tools-->Create Netlist
3. Select the Layout Tab
4.Check Run ECO to Layout
5. Select OK
6. Open ORCAD Layout
7.Select File-->New

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Migrating to Layout
8. Open the default technology (or a custom one)
9. Open the netlist created in ORCAD Capture
10. Select a filename to save the file as
11. Select footprints for parts
If a footprint does not already exist, choose
ANY part that has the same number or more
pins than your part. We will create the footprint
later.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

ORCAD Layout
Layout is based on a set of spreadsheets
Commonly used spreadsheets:
Layers Contains information about all of the
available layers on the board
Nets Contains all of the nets imported from the
netlist
Footprints Contains all of the footprints in the
design
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Glossary
Footprint Outline of a part and collection of pads
Pad An area on the board for a pin to connect to
Padstack A collection of pads for a part or project
Traces Interconnection between different pads (nets)
Via(Blind, buried) Vias interconnect different layers
Ratsnest All of the unrouted wires
Copper Pour Large area of copper material (can be used to
make ground planes and many other things)
Thermal Relief Copper pour on board to help with heat
dissipation
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

DRC Design Rule Check
Silkscreen (Nomenclature) Text printed on board
Solder Mask Chemical treatment on finished board to aid in
manufacturability and ease assembly. Also protects board againstt
minor abrasions and the environment
SMD Surface Mount Devices (vs Through Hole Devices)

Glossary
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Layout Toolbar
Board Outline
1.Select the Obstacle Tool
2.Right click and select new
3.Right click and select properties
4.Change the Obstacle Type to Board Outline
5.Change the Width to 12
6.Change the Obstacle Layer to Global Layer
7.Select OK
8.Left click and draw board, double click when
finished

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Board Outline
NOTE:
Boards can only have one board outline, make sure its on the
global layer!
Some manufactures will not do fancy board outlines or cutouts
in the middle of the board. Check with manufacturer or just
keep it simple!
The pullback width is 1/2 the width of the board outline.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

1.Start the Library Manager
2.Click on Create New Footprint
3.Name the footprint
4.Create the following obstacles:
Place Outline (Top Layer, width 6)
Detail Outline (SST Layer, width 6)
Detail Outline (AST Layer, width 6)
5.Open the padstacks spreadsheet
Creating Footprints
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Creating Footprints
6.Create pads for the pins that you need
This is only required if the pads are not in the default technology file.
Most pads arethis should only be necessary for special surface
mount parts!
7.Select the Pin tool
8.Place all the pins
9.Edit the text on the SST and AST layers
10.Save! Do not forget to save.

NOTE:
All of the information about the package is found in the datasheet, look
it up! Dont try and guess the size of the parts!!

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Placing Components
1.Turn on reconnect mode (this hides the ratsnest and makes it easier
2.Turn off the DRC
3.Select the component tool
4.Click on a component and move it to a new location (it must be
Inside of the board outline)
To rotate a part, press R while the part is selected
To place a part on the other side of the board, press 1 (for top
layer)or 2 (for bottom layer) while the part is selected
5.Repeat step 4 until all components have been placed
6.Turn on the DRC
7.Turn off reconnect mode



Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Placing Components
8.Check for placement errors by clicking on Design Rule Check
9.To view errors, select the Errors spreadsheet
10.Fix all placement errors



Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Routing
1.Open the layers spreadsheet

2.Setup the layers by changing layer type between
{Unused, Routing, and Plane}
Single sided board Bottom (Routing), all others (Unused)
Double sided board Top & Bottom (Routing), all outers
(unused)
Multilayer board Top, Bottom, inner layers (Routing or Plane),
all others (unused)




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Autorouting vs Manual
Autorouting
Traces are routed by the tool Unfortunately, the autorouter that comes
with the free version of ORCAD is not very good..
There are 3rd party tools that are VERY good, but also very expensive

Manual Routing
Time consuming
Ultimate control




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Manual Routing
Select either the Edit Segment or the Add/Edit Route tool
The different tools work slightly differently, use
which ever you are more comfortable with
2. Click on an unrouted net and route the net
To insert a via (connection between traces on different layers or
traces and planes), press V or click the mouse to end a segment
and press the layer number (1 top, 2 bottom, 3 ground, 4
power, )
If you have a plane layer, a connection is made to the plane
layer by simply inserting a via (for through hole components, the
connection is already made)





Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Autorouting
Select Auto-->Autoroute-->Board from the menu
Depending on the complexity of the board,this may take a very
long time.
Do not think that this is the one step solution!You will need to go
back and manual fix up the design.


Cleanup the design




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Routing Tips
Always route power and ground traces first
Always route high frequency traces next
Avoid square corners, 45 and 135 are better
Avoid exiting pads at odd angles
Make traces sufficiently large for current
Capacity
Minimize the number of vias
Avoid loops in ground traces, a plane or star
configuration are the best



Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Mounting Holes
1. Select the component tool
2. Right click and create a new component
3. Name the component
4. Change the footprint toMTHOLE1
5. Place the component on the board
If you want to connect the hole to a net (say GND),
use the connection tool to draw a net to ground
If you want smaller/larger mounting holes change
the size of the footprint for MTHOLE1




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Nomenclature
1. Select the text tool
2. Move around the text on the SST or SSB layers (do not worry about
AST/ASB)
3.Right click and select new to add new text
Check with your manufacturer on the minimum line
width.
Do not place nomenclature over vias, pads, or holes. It can go
over traces but may not look quite as you expect it to.




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design

Post Processing
1. Verify that there are no errors in the design (Auto-->Design Rule
Check)
2. Cleanup any errors before continuing
3.Run the post processor (Auto-->Run Post Processor)
This will generate the Gerber files that the manufacturer will
need to create the PCB. Download a free Gerber view and
check your files before you send them off.




Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
PCB tips
Main idea is to join the component pins that need to be joined, but
there are some tips:
Ground and power conductors should be large, as straight and direct
as possible.
All conductors should be as short and direct as possible (avoid sharp
turns which increase inductance).
For two-sided boards, it often helps to prefer horizontal runs on one
side, vertical on the other.
Keep large signals away from small ones.
Place bypass capacitors physically close to the pins being bypassed.
Use sockets for expensive components, or components that may
need to be replaced.

Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
the pull-down resistor pulls the voltage down to zero.
If the pull-up switch is pressed, it pulls the voltage up to whatever the + supply is.
the pull-up resistor pulls the voltage up to whatever the + supply is.
If the pull-down switch is pressed, it pulls the voltage down to zero

68
Solved problems
Problem 3.2.1 Explain the operation of the following circuit.
Sol)
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Review questions
Question 3.2.1 Explain the following terms.
a) Active filter,
Question 3.2.2 What is the primary difference between the NPN and PNP
amplifiers?
Question 3.2.3 Explain the Voltage Regulator Circuit Diagram shown below.
69
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
Question 3.2.4 Explain the following interfacing of four different modules
using conventional level shifters.
Question 3.2.5 Draw voltage regulator with LM2575 using OrCAD.
Robotics Exp. 1
Dept. of Robot Engineering
Yeungnam Univ.
3. Circuit Design
71
1. http://www.avrmall.com/ishop/goods_detail.php?goodsIdx=4205
References