print barcode in c# .net Typical H-bridge configuration using motor starter solenoid relays in Software

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Typical H-bridge configuration using motor starter solenoid relays
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In Figure 7-6, we assume two low-current, SPDT control switches to drive the relay coils, although smaller relays with Type C (or SPDT) contacts can be used in place of the switches Note that just like the relays described in the previous section, the control switches have NO, NC, and common terminals In the resting state, the NC legs on the forward and reverse switches result in relays A and C being energized and relays B and D being de-energized No battery current can flow through the motor because no path exists from the motor to the negative terminal of the battery, and the motor terminals are shorted to each other through relays A and C The motor is stationary and locked in place To run the motor forward, the forward switch is activated, which causes relay C to de-energize and relay D becomes energized The motor now has one terminal connected to the positive side of the battery through relay A, and the other terminal connected to the negative side of the battery through relay D This makes a complete circuit and causes the motor to run To run the motor in reverse, the reverse switch is activated, causing a current flow from the battery, through relay C into the motor and out through relay B into the other side of the motor
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n o t e If both the forward-going and reverse-going switches are activated, the circuit path will be broken and the motor terminals will be shorted together
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A significant danger of relay control is the possibility of contacts bouncing on severe impact that a combat robot will receive during a battle A severe shock impact in a direction relative to the relay orientation can be sufficient to overcome the force of the return spring holding the contact bar out, thus causing a momentary connection across the relay s contacts Having a weapon motor switch on for a moment might not be a catastrophic event, but it can be dangerous if people are nearby and a weapon starts to move If a momentary short occurs within the motor braking relay while the motor is running, or if one of the nonactive relays in the H-bridge is shorted while the other side of the H-bridge is active, a dead short across the main motor batteries will result In the relay circuit shown Figure 7-6, this can happen even when the motor is not running because half the relays in the circuit are always energized, a momentary contact bounce of any of the non-energized relays will cause a catastrophic short The dead-short battery current will inevitably weld the contacts together, resulting in the entire wiring harness going up in smoke and one dead robot
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In a remote controlled robot, you will need a way to turn switches on and off remotely This can be done either electronically or mechanically The electronic approach will be discussed in the solid-state logic section A mechanical approach will require some form of an actuator to turn the switch on and off physically One of the cheapest and easiest ways to mechanically actuate a switch is to simply use a standard hobby radio-controlled (R/C) servo to throw a switch
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Standard Futaba FP-S148 R/C servo
Radio-Controlled Servos The R/C servo discussed here is the same type of servo that is commonly found in R/C model airplanes Figure 7-7 shows a photograph of one of these servos The servo will respond to the signal from the radio transmitter by rotating its output shaft to various commanded positions A servo arm (commonly called a servo horn) attached to the output shaft can be used to move a switch to an on or off position, which can supply power to the coils of the relays The most reliable way to do this is to use a roller-type lever switch and a round servo horn manually cut into an egg shape By doing this, the servo horn is being converted into a cam Two lever switches positioned on opposite sides of the servo can be used to trigger two different motor circuits, or to drive a single motor in forward or reverse direction The basic R/C servo configuration is shown in Figure 7-8 Microswitches can be used to drive small motors or to switch relays for driving larger motors
FIGURE 7-8
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