l
5,708,339
9
A
suitable
32-bit
integrated
microcontroller
96
is
the
MC68332
which
is
commercially
available
from
Motorola.
Inc.
of
Schaumburg,
lll.
as
a
product
referred
to as
“MC68332
SIM”
System
Integrated
Module.
A
complete
documentation
package
of
the
MC68332
consists
of
the
(SIM
32UM/AD),
MC68332
System
Integration
Module
User's
Manual,
the
(CPU32RM/AD).
CPU32
Reference
Manual,
and
the
(TPUBZRMIAD),
Time
Processing
Unit
Reference
Manual.
The
MC68332
System
Integration
Mod
ule
User’s
Manual
describes
the
capabilities,
register
and
operation
of
the
MC68332
MCU.
The
CPU
Reference
Manual
describes the
operation,
programming
and
instruc
tion
set
of
the
CPU32
processor
used
in
the
MC68332.
The
Time
Processing
Unit
Reference
Manual
describes
the
autonomous
timer
system
used
in
the
MC68332.
The
MC68332
microcontroller
96
contains
intelligent
peripheral
modules
such
as the
time
processor
unit
CYPU)
which
provides
16
microcoded
channels
for
performing
time-related
activities
for
simple
input
capture
or
output
capture
to
complicated
motor
control
or
pulse
width
modu
lation.
High-speed
serial
communications
are
provided
by
the
queued
serial
module
(QSM)
with
synchronous
and
asynchronous
protocols
available.
Two
kilobytes
of
fully
static
standby
RAM
allow
fast
two-cycle
access
for
system
and
data
stacks
and
variable
storage
with
provision
for
battery
backup.
Twelve
chip
selects
enhance
system
inte
gration for
fast
external
memory
or
peripheral
access.
These
modules
are
connected
on-chip
via
an
intermodule
bus
(MB).
The
Mc68332
microcontroller
96
is
a
132—pin
plastic
quad
?at
pack
that
operates
at
a
frequency
of
16.78
MHz
with
a
5 volt
supply
and
is
software
programmable.
It
has
16
independent
programmable
channels
and
pins.
Any
channel
can
perform
any
time
function
including
input
capture,
output
compare
or
pulse
width
modulation
(PWM).
The
detailed
logical
procedures
or
algorithms
processed
by
the
microcomputer
are
proportional
integral
derivative
(PlD)
type
control
mode
signals.
The
PD
control
mode
combines
the best
action
of
proportional
control, integral
control
and
derivative
control
in
a
closed
loop
control
system.
In
addition
to the
microcontroller
chip
96
on
the
CPU
board,
random-access
memory
(RAM)
integrated
circuits
97
are
used
for
storing
values
in
distinct
locations
which
can
be
recalled
or
altered
for
storing
the
software
which
controls
the
system.
Since
the
values
which
are in
RAM
memory
are
lost
when
the
power
of
the
computer
is
turned
off,
a
battery
backup
is
provided.
The
microcontroller
96
processes
digital
signals,
such
as
the
presence
or
absence
of
voltages,
to
represent
values.
The
CPU
board
is
connected
to
an
auxiliary
board
98
through
a
connector
header
which
carries
data
signals
and
address
signals.
Driver
circuits
C1-C4,
which
generate
pulse
width
modulated
(PWM)
signals,
are
mounted
on
the
aux
iliary
board
along
with
the
decodes
D1-D4.
The
pulse
width
modulated
signals
from
driver
circuits
C1-C4
are
sent
to the
motor
driven
91-94
selectively
delivering
positive
or
nega
tive
DC
power
to
control
the
operation
of
moron
M1-M4.
Closed
Loop
The
circuits
carrying
input
signals
from
the
encoders
Ill-E4
to
decoders
D1-D4;
the
circuit
carrying
pulse
width
modulated
signals
from
driver
circuits
C1-C4
to
motor
driven
91-94;
and
the
circuits
carrying
per
from
the
motor
drivers
91-94
to
motors
M1-M4
form
a
closed
loop
control
system.
The
closed
loop
control
system
depends
upon
the
15
20
2.5
30
35
45
55
65
10
feedback
concept
for
operation
and
the
output
PWM
signals
are
forced
to
a
pre-assigned
function
of
the
reference
input
of
the
microcontroller
of
the
central
processing
unit.
The
microcontroller
96
sends
control
PWM
signals
determined
by
the
programmed
movements
stored
in
RAM
memory
in
a
pre-assigned
order
as
a
function
of
time
aftm'
switch
arm
88
returns
to
its
home
position
illustrated
in
FIG.
3.
The
control
PWM
signals
are
delivered
to
the
control
circuit.
Each
encoder
E1-E4,
connected
to
the
shaft
of
motors
M1-M4,
send
quadrature
signals
to
the
decoders
Dl-D4
that indicate
the
position
of
the
shaft
of
each
motor.
The
control
PWM
signals
delivered
to
each
control
circuit
C1-C4
are
delivered
to
motor
drivers
91-94.
The
quadrature
signals
from
decoders
Dl-D4
are
read
to
adjust
the
control
PWM
signals.
Drivers
92,
93
and
94.
which
control
the
delivery
of
power
to
motors
M2,
M3
and
M4,
respectively,
for
control
ling
the
needle
assembly
40.
twister
hook
assembly
50
and
holder-shear
mechanism
60
are
substantially
identical.
One
side
of
the
winding
of
each
of
the
motors
M2.
M3
and
M4
is
connected
to
ground.
Drivers
92,
93
and
94
deliver
either
positive or
negative
power
to
the
other
side
of
the
motor
winding
for
driving
motors
M2,
M3
and
M4
in
opposite
directions.
For
example,
when
positive
34
volt
direct
current
is
delivered
to
the
winding
of
motor
M2.
its
shaft
is
driven
in
a
clockwise
direction.
If
negative
34
volt direct
current
is
delivered
to
the
winding
of
motor
M2,
its
shaft
will
be
driven
in
a
counter-clockwise
direction.
The
driver
91
for
motor
M1
connected
to
the
bag
gath
ering
assembly
20,
is
similar
to
drivers
92,
93
and
94
except
that
drier
91
is
not
provided
with
the
capability
of
delivering
negative
direct
current
because
it
is
not
necessary
for
motor
M1
to
be
driven
in
reverse.
Software
is
stored
in
FEEPROM
memory
on
the
CPU
board
for
controlling
the
acceleration,
speed
and
position
of
the
shaft
of
each
motor
Nil-M4.
FIG.
11
is
a graphic
representation
of
the
sequence
of
operation
of
the
needle.
hook
and
shear
assemblies
during
a
complete
cycle
of
operation.
The
microcontroller
96
is
initially
programmed
by
a
computer
through
a
serial
port
RS
for
storing
a
program
which
will
initiate
movement
of
needle
42
from
its
home
position
illustrated
in
FIG.
3
and
the
speed
of
movement
toward
the
dashed
outline
position
illustrated
in
FIG.
3
controlled
by
signals
delivered
through
control
circuit
C2
to
motor
M2.
While
needle
42
is
moving
from
the
position
illustrated
in
full
outline
toward
the
position
illustrated
in
dashed
outline,
the
program
causes a
signal
to
be
sent
?'om
control
circuit
C3
to
motor
M3
to
begin
rotating
twister
hook
54
and
continue
rotation
of
twister
54
a
predetermined
number
of
revolutions
controlled
by
the
motion
profile
in
RAM
memory.
Similarly,
when
needle
42
and
twister
hook
54
are
in
predetermined
positions,
a
signal
will
be
sent
from
driver
circuit
C4
which
will
energize
motor
M4
for
rotating
cam
70
to
move
the
gripper
?ngu‘
64
to
release
the
free
end
of
the
ribbon
and
shear
a
segment
from
the
end
of
the
strand
of
ribbon.
At
a
time
controlled
by
the
software,
a
signal
will
be
delivered
to
motor
M2
for
moving
needle
42
from
the
position
shown
in
dashed
outline
in
FIG.
3
back
to
its
home
position.
A
signal
will
be
delivered
to
motor
M3
for
rotating
twister
hook
54 two
revolutions
in
the
reverse
direction
for
slinging the
tie,
which
has
been
twisted
around
the
neck
of
a
bag,
out
of
the
twister
hook
54
for
completing
a
tying
cycle.
It
should
be
readily
apparent
that
when
the
neck
of
a
bag
moves
between
gathering
belts
22 and
32,
switch
arm
88
will
be
moved
downwardly
from
the
position
illustrated
in
FIG.
3
which
will
energize
electric
brake
82
so
that
belts
22