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This is a basic motor control project using an arduino code with keypad control and a lcd 16*2 display for visualising the output

Components Details:

1. Arduino Uno

2. Motor with encoder (model: rmcs-5033)

  • Encoder type : Quad Encoder (Usually all encoders are of this type)
  • Lines on Encoder : 41 (might vary in your case, so do check the datahseet before using it for your project)
  • End shaft Counts per rotation : 8545 counts
  • 300 RPM 12V Rhino High Torque Quad Encoder DC Geared Motor with Metal Planetary Motor, Quad Encoder and Metal Gears
  • 18000 RPM base motor
  • Motor rated Torque is 10 kgcm along with gearbox and stall torque is even higher than 40 kgcm.
  • No-load current : 800 mA, Load current : upto 7.5 A(Max)

Reference - https://rhinomc.com/products/dc-servo-encoder-12v-motor/rhino-300rpm-5kgcm-12v-dc-planetary-geared-quad-encoder-servo-motor-rmcs-5033/

3. Motor driver (model: rmcs - 2303)

  • Rhino DC servo driver 10V -30V 50W 5A Compatible with modbus URAT ASCII mainly for encoder DC motors. usually used along with various modes in built with its library arduino library.

Datasheet : https://robokits.co.in/downloads/RMCS-2303%20updated%20datasheet.pdf

4. Keypad (4*4)

  • It is a basic keypad with 16 buttons in total, with 0,9 number keys, A to D keys adn the remaining 2 are * and #.

5. LCD I2C display (16*2)

  • This is a LCD display which is coupled with an I2C for interfacing and simplicity.

7. Power source 12V ( to power the driver and motor)

8. Jumper cable

Circuit diagram

1. Motor - > driver -> Arduino Uno Motor_2_Uno

2. Keypad and Lcd connected to Arduino Uno

- Small change: The image shows the keypad is connected from 9 to 2, but in the code, the keypad is connected from 13 to 6 (Note the change)

Keypad_LCD_2_Uno

Information about the code and keypad function for each mode and their working

It has mainly 4 functions

A. Home position

  • This Function moves the motor to the 0th position.

Working

You can choose to go to home position( 0th degrees) no matter in which mode you are.

B. Angular mode

  • This functions take the angle in degrees from the keypad and then moves to that position. The position is relative to the actual 0 of the motor.

Keypad Functions:

  • Numbers - to enter the Speed and Angle.
  • Asterisk : backspace. used in case of error in entering angle. or it is also works as back button( only at a particular point).
  • Hash : This sends the angle to the driver.
  • B : Increments the angle given.
  • 2 or 8 : To increase or decrease speed value by 5% ( This works after you have submitted the angle value)
  • A : To go back to home position.
  • C : To shift to manual mode.
  • D : Exit out of the current mode.

Working:

  • First, enter the RPM(speed) of your shaft, then press hash to submit your value, and if you make an error in entering u can press asterisk (before pressing hash). (Note : Since my motor has 41 lines per rotation, so approximately 23.74 pulses is rquired for the shaft to give by 1 degree. and 8545 pulses is required to move the shaft 360 degrees. This might vary in your case)
  • then you enter the angle you required the shaft to move, then press hash to submit your value, and if you make an error in entering u can press asterisk (before pressing hash).
  • Now you will be displayed your entered values. On pressing Hash at this stage would start the motor. (If you are willing to change the values, press Asterisk, acts as back button), this would take you at the start position where you restart the process of entering values for speed and angle.)
  • After the motor reaches the angle given, it displays prev ( that is basically the position in which it is) and the speed that was given.
  • At this step, if you press B , it will rotate the same distance again ( incremental).
  • Or if you wish to change the speed value by a small fraction, then you may press 2 or 8 to increase/decrease the speed by 5%.
  • Or if you are willing to change the value completely then you can press Asterisk and repeat the whole process.
  • At any point of time, if you are willing to go at Home position or shift to manual mode then you can press A for home position or C for manual mode.
  • Pressing D would automatically exit the mode.

C. Manual mode

  • This function is used to move the motor to and fro using 2 buttons at a particular speed given by the user.

Keypad Functions:

  • Numbers - to enter the Speed
  • Asterisk : backspace. used in case of error in entering angle. or it is also works as back button( only at a particular point).
  • Hash : This sends the angle to the driver.
  • 4 or 6 : moves the motor in Clockwise direction or Counter-Clockwise direction.
  • 2 or 8 : To increase or decrease speed value by 5% ( This works after you have submitted the speed value)
  • A : To go back to home position.
  • C : To shift to manual mode.
  • D : Exit out of the current mode.

Working

  • First you get the range of RPM i.e 2 -> 300 ( might vary in your case).
  • You may enter the speed you desire. then either press Asterisk to fix the error made in entering value.
  • After entering the desired value. press hash to submmit value.
  • Then you will be prompted the operations that will be helpful.
  • Once MAN is seen on the screen, you can move the motor using 4 or 6 to move it in CW or CCW direction.
  • If you wish to change the speed value, you may press 2 or 8 to increase/decrease the speed by 5%.
  • If you wish to change the speed completely then you may press Asterisk for that purpose and repeat the process
  • At any point of time, if you are willing to go at Home position or shift to Angular mode then you can press A for home position or B for manual mode.
  • Pressing D would automatically exit the mode.

D. Reset

  • This basically resets the whole code, to overcome any malfunctioning

Note: The speed refered here is basically RPM of the Shaft.