勝てる相撲ロボットの作り方

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2 10 59

3 60

4 cm 2965g 20.8V 1.3m s 3.7kgf 70cm 20 10cm 61

5 mm mm PZ51L MA40S2 ( ) TLP903 AKI V 2200mAh DC TG05C AM 12.5KA SJ122, 2SK START , ,000 4,700 2,200 1,800 FET 400 5,000 6,200 20,000 1,500 65,000 62

6 63 S/W

7 (1) k g (2) 64

8 (1) kgf (2) 1. 6 m s 0. 9 m 0. 9 m s (3) (1) 250g 1000g 500g 500g 200g 200g 75g X 75Xg (2) 2900g 2200 m A h g X 65

9 X 2900 X V V 1. 2 V 1. 3 V 1.3V (3) kgf kgf 0. 9 m s 0. 9 m s cm TG38C 12.5 TG05C 12.5 (4) 10 c m 2 0 c m 20 c m FA 45 66

10 67

11 D C D C 68

12 69

13 (1) mm (2) R Y O B I !? 70

14 (3) 60 (4) (5) (6) L D C D C 71

15 11 D C TG38C D C T G 05 C A M 12. D C 6. 0 m m RD No. 409 m m R D No. 386 m m 72

16 73

17 ( V ) ( rpm ) ( ma ) ( g cm ) ( rpm ) ( ma ) ( g ) TG 05C CCW 75 m m

18 5 0 c m 40cm

(1) E R 20.8 15.4 2.7 A E 20.8V R 15.4 FET 2SK428 2SJ122 15 F E T 0.

19 (1) E R A E 20.8V R 15.4 FET 2SK428 2SJ F E T A W (2) N F E T P F E T F E T 10V T T L I C F E T F E T FET 76

TYPICAL OUTPUT CHARACTERISTICS 10 8 15V 10V Tr = 25 9V Drain Current ID (A) 6 4

20 TYPICAL OUTPUT CHARACTERISTICS V 10V Tr = 25 9V Drain Current ID (A) 6 4 Pch = 50W 8V 7V 2 6V VGS = 5V Drain to Source Voltage VDS (V) 77

21 Item Symbol Rating Unit Drain-Source Voltage VDSS 60 V Gate-Source Voltage VGSS 20 V Drain Current ID 10 A Drain Peak Current ID (peak) 15 A Body-Drain Diode Reverse Drain Current IDR 10 A Channel Dissipation Pch* 50 W Channel Temperature Tch 150 Storage Temperature TstR *Value at Ta = 25 Item Symbol Test Condition min. typ. max. Unit Drain-Source Breakdown Voltage V(BR) DSS ID = 10mA, VGS = 0 60 V Gate-Source Leak Current IGSS VGS = 20V, VDS = 0 1 A Zero Gate Voltage Drain Current IDSS VDS = 50V, VGS = 0 1 ma Gate-Source Cutoff Voltage VGA ID = 1mA, VDS = 10V V Static Drain-Source On State Resistance RDS (on) ID = 5A, VDS = 15V* Drain-Source Saturation Voltage VDS (on) ID = 5A, VDS = 15V* V Forward Transfer Admittance yf ID = 5A, VDS = 10V* S Input Capacitance Cin 900 pf VDS = 10V, VGS = 0 Output Capacitance Cout 700 pf f = 1MHz Reverse Transfer Capacitance Crt 120 pf Turn-on Delay Time tt (on) 15 ns Rise Time tr ID = 2A, VGS = 15V 45 ns Turn-off Delay Time tt (off) Rt = ns Fall Time tf 65 ns Body-Drain Diode Forward Voltage VDF I = 5A, VGS = V Body-Drain Diode I = 5A, VGS = 0 trr 300 ns Reverse Recovery Time diridt = 50A s *Pulse Test 78

22 79

23 (1) M A 40 S V r e f 1. 6 V V c m 60 c m 30 30cm (2) F A P Z 51 L 17 P Z 51 L c m 70 c m O R 80

24 MA40S2R S ( KHz ) 40 ( db ) 74 ( db ) 100 ( deg ) 100 ( pf ) 1600 ( Vrms ) 10 ( ) ( m ) ( mm ) ( mm ) h ( g ) 0.7 0dB=1V bar 30cm 0dB=2x10 bar 81

25 82

26 L PZ 51L m LED mm ms ON ON LED NPN 100mA 40V NPN 50mA 40V DC12 24V 10 P P 10 20mA 25mA IP 67 5,000lx 20,000lx RH 10 55Hz 1.5mm X, Y, Z m 60g 70g 83

27 T L P m m 2. 2 K 5. 6 K 84

28 VF IF = 10mA v IR VR = 5V 10 A CT V = 0, f = 1MHz 30 pf ID (ICEO) VCE = 16V, IF = na IC VCE = 2V, IF = 10mA A tr, tf VCC = 5V, IC = 10mA, RL = B B 100Hz 90 mm (2.54) (2.54) (5.0) (3.5) MIN. IC (ma) Ta=25 V CE =2V I C I F ( ) I F (ma) IC I F =10mA V CE =2V Ta= TLP903 d (mm) 85

29 V C P U V CMOS IC 20 V V 1 2 V V 19 86

30 AKI cm Z 84 C 015 Z I O 12 87

31 88

32 TMP Z84C 015 BF 10 CPU Z80CPU 10MHz Central Processing Unit PIO Z80PIO 10MHz 16 CTC Z80CTC 10MHz SIO Z80SIO 10MHz 2000K CGC Z80CGC 10MHz HALT etc MHz RAM ROM I O Z80 256Kbit 100nSEC 64K, 128K, 256Kbit 100nSEC 19.2KHz X'tal= MHz IC, S8054 IC 50mm 70mm 10mm ROM I O I O ch0 #10 CTC ch1 #11 ( ) ch2 #12 SIO ( I O) ch3 #13 cha #18 cha #19 chb #1A chb #1B A #1C PIO A #1D ( I O) B #1E B #1F WDTER, WDTPR, HALTMR #F0 4EH #F1 B1H bit2 bit0 #F4 89

33 (1) PC9801NS NEC ROM ROM RS232C ROM (2) MIFES XA Z VISION REMOTE 2000 (3) ROM ROM I C E R O M 90

34 R O M R O M C P U A K I PA7 IN "L" PA6 1N "L" PA5 IN "L" PA4 IN "L" PA3 PA2 PA1 IN "L" PA0 IN "L" PB7 IN "L" "H" PB6 IN " L " " H PB5 IN PB4 IN PB3 OUT "H" PB2 OUT "H" PB1 OUT "H" PB0 OUT "H" 91

35 17 19 (1) A

36 (2) B

37 (3) C

38 c m (1) (2) 0. 3 (3) 0. 3 (4) 14 (1). 95

39 (2)

40 93 (1) 1992 CQ (2) Z (3) DC GEARED MOTOR 1994 (4)

41 x (m) x x (1) x (m) e R r (m) M (Kg) + i dθ βk E dt M r θ Kg m rad x m K T Nm/A K E V/rad/s R i A e V k N/m/s n β ρ N B E V k n 98

42 (2) dθ e = Ri + βk E dt x = rθ, K E = K T d 2 x dx M = n ρ N B β KT i/r k dt 2 dt (3) θ i K E dθ e βk T d 2 x nρ N B βkt dt dx M = k dt 2 r R dt d 2 x nρ N B β 2 K T 2 dx dx nρ N B βkt M + + k = e dt 2 Rr 2 dt dt Rr d 2 x nρ N B β 2 2 K T k dx nρ N B βkt + + = e dt 2 MRr 2 M dt MRr nρ N B β 2 2 K T k nρ N B βkt nρ N B βkt a = +, b = e = E MRr 2 M MRr MRr e = E d 2 x dx + a = b dt 2 dt (4) dx (0) b s 2 X sx (0) + a sx x (0) = dt s dx (0) x (0) = 0, = v 0 dt b s 2 X v 0 + sax = s b v 0 X = + s 2 (s + a) s (s + a) (5) b v 0 x (t) = (at 1 + ε at ) + (1 ε at ) a 2 a (6) dx (t) b v 0 v (t) = = (a aε at ) + aε at dt a 2 a b = (1 ε at ) + v 0 ε at a dv (t) b α (t) = = aε at av 0 ε dt a at = bε at av 0 ε at 99

43 (7) v max b v max = v (t ) = a [m/s] (8) F max F max = Mα (0) = M (b av 0 ) = Mb v 0 = 0 [N] (9) b V max x (t) = (at 1 + ε at ) + (1 ε at ) a 2 a b v (t) = (1 ε at ) + V max ε at a (10) t t = 0 v (t) = 0 t x (t) x (t) v (t) t x v

44 10 ' 70 ' 20 ' 30 ' 40 ' 50 ' 60 ' 80 ' 90 ' 100 '===== Initialize ===== 110 M=3 ' (Kg) 120 E=20.8 ' (V) 1.3V* KTS=.021 ' (Nm/A) 140 B=12.5 ' 150 EFF=.9 ' 160 GN=3 ' 170 R=15.4 ' ( ) 180 D=.02 ' (m) 190 N=4 ' ( ) N=2,4,6 200 K=4.9 ' (Nsec/m) 0.5Kgf at 1m/s 290 ' 300 '===== MAXPOWER,MAXSPEED Calculate ===== 320 IF N=2 THEN N=N* IF N=4 THEN N=N*.7 ' 340 IF N=6 THEN N=N* ACONST=N*KTS^2*B^2*EFF^GN/R/M/D^2+K/M '"a" 360 BCONST=-N*KTS*B*EFF^GN/R/M/D*E '"b" 370 MAXPOWER=ABS(BCONST*M/9.8) 380 MAXSPEED=ABS(BCONST/ACONST) 390 CLS:PRINT 400 PRINT" "MAXPOWER"(Kgf) " M A X S P E E D " (m/s)":print 490 ' 500 '===== MOTION Calculate ===== 510 FOR T=0 TO.2 STEP PO SITION= BCONST/ ACON ST^ 2*( A C O N S T* T E X P (- ACONST*T))+MAXSPEED/ACONST*(1-EXP( -ACONST*T)) 530 VELOCITY=BCONST/ACONST*(1-EXP(-ACONST*T))+MAXSPEED*(EXP(-ACONST*T)) 540 TIME=T*1000:POSITION=POSITION*100:VELOCITY=VELOCITY* PRINT"TIME= "TIME" (msec) POSITION= "POSITION" (cm) VELOCITY= "VELO CITY" (cm/s)" 560 NEXT T 690 ' 999 END 101

45 (Kgf) (m/s) TIME= 0 (msec) POSITION= 0 (cm) VELOCITY= (cm/s) TIME= 10 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 20 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 30 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 40 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 50 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 60 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 70 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 80 (msec) POSITION= (cm) VELOCITY= TIME= 90 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 100 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 110 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 120 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 130 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 140 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 150 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 160 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 170 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 180 (msec) POSITION= (cm) VELOCITY= (cm/s) TIME= 190 (msec) POSITION= (cm) VELOCITY= (cm/s) 102

46 103

47 104.

48 --- A.port B.port : WLRF 7 : ROTATION SERCH (on"l") 6 : WLLF 6 : LEFT ACCESS (on"l") 5 : WLRB 5 : function 2 4 : WLLB 4 : function 1 3 : 3 : L_FWD 2 : 2 : L_REV 1 : TK_L 1 : R_FWD 0 : TK_R 0 : R_REV FCNT EQU 8101H BLCNT EQU 8102H BRCNT EQU 8103H TCNT EQU 8105H MOTION EQU 8106H DIPSW EQU 8107H FLG EQU 8108H LCNT EQU 8109H RCNT EQU 810AH CNT EQU 810BH APORT EQU 1CH BPORT EQU 1EH ORG 0 JP START FCNT0: DB 140 FCNT1: DB 90 BCNT0: DB 30 BCNT1: DB

49 106 TCNT0: DB 40 TCNT1: DB 24 LCNT0: DB 150 RCNT0: DB 150 ORG 100H START: DI IM 2 LD SP,0 LD A, B (A_PORT) OUT (APORT+1),A LD A, B (A_PORT) OUT (APORT+1),A LD A, B (A_PORT) OUT (APORT+1),A LD A, B (A_PORT) OUT (APORT+1),A LD A, B (B_PORT) OUT (BPORT+1),A LD A, B (B_PORT) OUT (BPORT+1),A LD A, B (B_PORT) OUT (BPORT+1),A LD A, B (B_PORT) OUT (BPORT+1),A EI IN A,(BPORT) AND 0F0H LD (DIPSW),A LD C,A LD A,0 LD (FCNT),A LD (BLCNT),A LD (BRCNT),A LD (TCNT),A LD (FLG),A CALL L_WAIT. LD A,C AND 70H CP 70H JP Z,MODE7 CP 60H JP Z,MODE6 CP 50H JP Z,MODE5 CP 40H JP Z,MODE4

50 CP 30H JP Z,MODE3 CP 20H JP Z,MODE2 CP 10H JP Z,MODE1 MODE0: LD A,0 LD (FLG),A BIT 7,C JP Z,MODE01 LD A, B JP MODE02 MODE01: LD A, B MODE02: LD (MOTION),A LOOP: CALL SENSE JP LOOP MODE5: LD A,1 LD (FLG),A LD A, B 53cm ZENSIN (442ms) LD (MOTION),A PUSH BC LD B,221 MODE71: CALL SENSE DJNZ MODE71 LD A,0 LD (FLG),A LD A, B 160deg HIDARI KAITEN (374ms) LD (MOTION),A PUSH BC LD B, MODE72: CALL SENSE DJNZ MODE72 LD A,1 LD (FLG),A LD A, B 40cm ZENSIN (334ms) LD (MOTION),A PUSH BC LD B,167 MODE73: CALL SENSE DJNZ MODE73 LD A,0 LD (FLG),A JP MODE0 MODE7: LD A,1 LD (FLG),A LD A, B 40deg HIDARI KAITEN (68ms) LD (MOTION),A PUSH BC LD B,43 107

51 108 MODE61: CALL SENSE DJNZ MODE61 LD A, B 61cm ZENSIN (508ms) LD (MOTION),A PUSH BC LD B,254 MODE62: CALL SENSE DJNZ MODE62 LD A, B 90deg HIDARI KAITEN (150ms) LD (MOTION),A PUSH BC LD B,94 MODE63: CALL SENSE DJNZ MODE63 LD A,0 LD (FLG),A LD A, B 72deg HIDARI KAITEN (168ms) LD (MOTION),A PUSH BC LD B,85 95 MODE64: CALL SENSE DJNZ MODE64 LD A,1 LD (FLG),A LD A, B 32cm ZENSIN (266ms) LD (MOTION),A PUSH BC LD B,133 MODE65: CALL SENSE DJNZ MODE65 LD A,0 LD (FLG),A JP MODE0 MODE6: LD A,1 LD (FLG),A LD A, B 40deg MIGI KAITEN (68ms) CALL WAIT77 LD A, B 53cm ZENSIN (442ms) LD (MOTION),A PUSH BC LD B,221 MODE51: CALL SENSE DJNZ MODE51 LD A,0 LD (FLG),A

52 LD A, B 160deg HIDARI KAITEN (374ms) LD (MOTION),A PUSH BC LD B, MODE52: CALL SENSE DJNZ MODE52 LD A,1 LD (FLG),A LD A, B 40cm ZENSIN (334ms) LD (MOTION),A PUSH BC LD B,167 MODE53: CALL SENSE DJNZ MODE53 LD A,0 LD (FLG),A JP MODE0 MODE4: JP MODE0 MODE1: LD A,1 LD (FLG),A LD A, B 53cm ZENSIN (442ms) LD (MOTION),A PUSH BC LD B,221 MODE31: CALL SENSE DJNZ MODE31 LD A,0 LD (FLG),A LD A, B 160deg MIGI KAITEN (374ms) LD (MOTION),A PUSH BC LD B, MODE32: CALL SENSE DJNZ MODE32 LD A,1 LD (FLG),A LD A, B 40cm ZENSIN (334ms) LD (MOTION),A PUSH BC LD B,167 MODE33: CALL SENSE DJNZ MODE33 LD A,0 LD (FLG),A JP MODE0 MODE3: LD A,1 109

53 110 LD (FLG),A LD A, B 40deg MIGI KAITEN (68ms) LD (MOTION),A PUSH BC LD B,43 MODE21: CALL SENSE DJNZ MODE21 LD A, B 61cm ZENSIN (508ms) LD (MOTION),A PUSH BC LD B,254 MODE22: CALL SENSE DJNZ MODE22 LD A, B 90deg MIGI KAITEN (150ms) LD (MOTION),A PUSH BC LD B,94 MODE23: CALL SENSE DJNZ MODE23 LD A,0 LD (FLG),A LD A, B 72deg MIGI KAITEN (168ms) LD (MOTION),A PUSH BC LD B,85 95 MODE24: CALL SENSE DJNZ MODE24 LD A,1 LD (FLG),A LD A, B 32cm ZENSIN (266ms) LD (MOTION),A PUSH BC LD B,133 MODE25: CALL SENSE DJNZ MODE25 LD A,0 LD (FLG),A JP MODE0 MODE2: LD A,1 LD (FLG),A LD A, B 40deg HIDARI KAITEN (68ms) CALL WAIT77 LD A, B 53cm ZENSIN (442ms) LD (MOTION),A PUSH BC LD B,221

54 MODE11: CALL SENSE DJNZ MODE11 LD A,0 LD (FLG),A LD A, B 160deg MIGI KAITEN (374ms) LD (MOTION),A PUSH BC LD B, MODE12: CALL SENSE DJNZ MODE12 LD A,1 LD (FLG),A LD A, B 40cm ZENSIN (334ms) LD (MOTION),A PUSH BC LD B,167 MODE13: CALL SENSE DJNZ MODE13 LD A,1 LD (FLG),A JP MODE0 SENSE: PUSH BC IN A,(APORT) LD B,A LD A,(DIPSW) LD C,A LD A,B AND 0F0H CP 050H JP Z,AWAYD0 CP 0A0H JP Z,AWAYD1 BIT 7,B JP Z,AWAYF0 BIT 6,B JP Z,AWAYF0 BIT 5,B JP Z,AWAYB0 BIT 4,B JP Z,AWAYB1 LD A,(FCNT) CP 0 JP NZ,AWAYF1 LD A,(BRCNT) CP 0 JP NZ,AWAYB2 LD A,(BLCNT) 111

55 112 CP 0 JP NZ,AWAYB3 SKIP: LD A,(TCNT) CP 0 JP NZ,BRK0 LD A,B AND 3 CP 3 JP Z,TEKIE IN A,(BPORT) AND 0FH CP B JP Z,BRK1 CP B JP Z,BRK2 LD A,B AND 3 CP 2 JP Z,TEKI2 CP 1 JP Z,TEKI1 LD A,(CNT) INC A LD (CNT),A CP 5 JP M,TIS LD A,0 LD (CNT),A LD A, B LD A, B TIS: CALL WAIT CALL WAIT LD A,0 LD (RCNT),A LD (LCNT),A TEKI: LD A,0 LD (FCNT),A LD (BLCNT),A LD (BRCNT),A LD (TCNT),A PRET: RET TEKIE: LD A,(LCNT) CP 0 JP NZ,TK10 LD A,(RCNT) CP 0 JP NZ,TK20

56 LD A,0 LD (CNT),A LD A,(FCNT) CP 0 JP NZ,PRET LD A,(BLCNT) CP 0 JP NZ,PRET LD A,(BRCNT) CP 0 JP NZ,PRET LD A, B LD A,(FLG) FLG=1 CP 1 JP Z,TEKIEE CALL WAITN 0.33ms TEKIEE: LD A,(MOTION) CALL WAIT CALL WAIT JP PRET AWAYF0: LD A, B LD A, B LD A,0 LD (BRCNT),A LD (BLCNT),A LD (TCNT),A LD (LCNT),A LD (RCNT),A LD (CNT),A LD A,(FCNT0) LD (FCNT),A AWAYF2: CALL WAIT CALL WAIT LD A,(FCNT) DEC A LD (FCNT),A JP PRET AWAYF1: LD A,(FCNT) LD HL,FCNT1 CP (HL) JP Z,AWAYF3 JP P,AWAYF2 JP AWAY AWAYF3: LD A,(MOTION) 113

57 114 CP B JP NZ,AWAYF4 LD A,0 LD (FCNT),A JP SKIP AWAYF4: LD A, B LD A, B AWAY: CALL WAIT CALL WAIT LD A,(FCNT) DEC A LD (FCNT),A JP SKIP AWAYB0: LD A, B LD A, B LD A,0 LD (FCNT),A LD (BLCNT),A LD (TCNT),A LD (LCNT),A LD (RCNT),A LD (CNT),A LD A,(BCNT0) LD (BRCNT),A AWAYB4: CALL WAIT CALL WAIT LD A,(BRCNT) DEC A LD (BRCNT),A JP SKIP AWAYB1: LD A, B LD A, B LD A,0 LD (FCNT),A LD (BRCNT),A LD (TCNT),A LD (LCNT),A LD (RCNT),A LD (CNT),A LD A,(BCNT0)

58 LD (BLCNT),A AWAYB5: CALL WAIT CALL WAIT LD A,(BLCNT) DEC A LD (BLCNT),A JP SKIP AWAYB2: LD A,(BRCNT) LD HL,BCNT1 CP (HL) JP NZ,AWAYB4 LD A, B LD A, B JP AWAYB4 AWAYB3: LD A,(BLCNT) LD HL,BCNT1 CP (HL) JP NZ,AWAYB5 LD A, B LD A, B JP AWAYB5 AWAYD0: LD A, B LD A, B JP AWAYD2 AWAYD1: LD A, B LD A, B AWAYD2: CALL WAIT CALL WAIT JP PRET TEKI2: LD A,(CNT) INC A LD (CNT),A CP 5 JP M,TIS 115

59 116 LD A,0 LD (CNT),A LD (LCNT),A LD A,(RCNT0) LD (RCNT),A TK20: LD A, B LD A, B CALL WAIT LD A, B CALL WAIT LD A,(RCNT) DEC A LD (RCNT),A LD A,(MOTION) CP B JP NZ,TK21 LD A, B LD (MOTION),A TK21: JP TEKI TEKI1: LD A,(CNT) INC A LD (CNT),A CP 5 JP M,TIS LD A,0 LD (CNT),A LD (RCNT),A LD A,(LCNT0) LD (LCNT),A TK10: LD A, B LD A, B CALL WAIT LD A, B CALL WAIT LD A,(LCNT) DEC A LD (LCNT),A LD A,(MOTION) CP B JP NZ,TK11 LD A, B

60 LD (MOTION),A TK11: JP TEKI BRK1: LD A, B LD A, B JP BRK3 BRK2: LD A, B LD A, B BRK3: LD A,0 LD (FCNT),A LD (BLCNT),A LD (BRCNT),A LD (LCNT),A LD (RCNT),A LD A,(TCNT0) LD (TCNT),A BRK0: CALL WAIT CALL WAIT LD A,(TCNT) DEC A LD (TCNT),A LD HL,TCNT1 CP (HL) JP NZ,BRK4 LD A, B LD A, B LD A,(TCNT) BRK4: CP 0 JP NZ,PRET LD A, B JP PRET L_WAIT: PUSH BC. LD B,90 L_WT: CALL WAIT50 DJNZ L_WT RET 117

61 118 WAIT18: PUSH BC LD B,180 WT180: CALL WAIT DJNZ WT180 RET WAIT15: PUSH BC LD B,150 WT150: CALL WAIT DJNZ WT150 RET WAIT12: PUSH BC LD B,120 WT120: CALL WAIT DJNZ WT120 RET WAIT10: PUSH BC LD B,100 WT100: CALL WAIT DJNZ WT100 RET WAIT77: PUSH BC LD B,77 WT77: CALL WAIT DJNZ WT77 RET WAIT60: PUSH BC LD B,60 WT60: CALL WAIT DJNZ WT60 RET WAIT50: PUSH BC LD B,50 WT50: CALL WAIT DJNZ WT50 RET WAIT: PUSH BC. LD B,0 WT1: NOP (4+11*2+13)/ *256=1.0msec DEC (HL) INC (HL)

62 DJNZ WT1 RET WAITL: PUSH BC LD B,0 WL1: DEC (HL) (11*4+13)/ *256=1.5msec INC (HL) DEC (HL) INC (HL) DJNZ WL1 RET WAITLS: PUSH BC LD B,222 WLS1: DEC (HL) 1.3ms INC (HL) DEC (HL) INC (HL) DJNZ WLS1 RET WAITLL: CALL WAIT 1.7ms PUSH BC LD B,120 WLL1: DEC (HL) INC (HL) DEC (HL) INC (HL) DJNZ WLL1 RET WAITN: PUSH BC 0.33ms LD B,84 WN1: NOP DEC (HL) INC (HL) DJNZ WN1 RET WAITS: PUSH BC LD B,128 WS1: NOP (4+11*2+13)/ *128=0.5msec DEC (HL) INC (HL) DJNZ WS1 RET MINI: PUSH BC 119

63 LD B,5 MN1: CALL SMALL DJNZ MN1 RET SMALL: PUSH BC. LD B,75 SM1: DJNZ SM1 13/ *75=0.1msec RET END 120

Microsoft Word - sp8m4-j.doc

Microsoft Word - sp8m4-j.doc 4V 駆動タイプ Nch+Pch MOS FET 構造シリコン N チャネル / P チャネル MOS 型電界効果トランジスタ外形寸法図 (Unit : mm) SOP8 5..4.75 (8) (5) 特長 ) 新ライン採用により従来品よりオン抵抗大幅低減 2) ゲート保護ダイオード内蔵 3) 小型面実装パッケージ (SOP8) で省スペース pin mark () (4).27 3.9 6..2.4Min.