About Linbot

Linbot is an advanced line tracer robot. It has one pair of infrared emitters and
sensors directed forward, as well as three pairs of infrared emitters and sensors
directed downward. Linbot can follow a black line placed on a white floor as well
as a white line on a black floor. When it meets with an obstacle while following
the line, it makes a U-turn, and continues on. It comes in kit form, allowing the
user to acquire hands on experience in robotic principles.

Tools Required

Soldering Iron Solder Cutting Pliers

Needle Nose Pliers Phillips Screwdriver 4 X AA Batteries

CAUTION
The company is not responsible for damage resulting from improper
handling or from failure to read the instructions.
Keep out of the reach of small children. This product has small parts that
present a choking hazard!
Many of the parts are easily broken if improperly handled. Do not force
the motor to move as this may damage the gears.
Soldering iron becomes very hat and will burn the user if not careful.

1
 PCB Assembly
Check List

PCB Resistor Diode

LINBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

LB1630 LB1630

1pc R1 3.3 Ω 1pc

D1 1N4001 1pc
(ORANGE,ORANGE,GOLD,GOLD)
Crystal R2 560K Ω 1pc 28PIN Round IC
( G R E E N , B L U E , Y E L L O W, G O L D )
R3 10 Ω 1pc
(BROWN,BLACK,BLACK,GOLD)
R4 47K Ω 1pc
(YELLOW, VIOLET, ORANGE, GOLD)
Y1 4MHZ 1pc U1 1pc
Ceramic Capacitor
8PIN IC Socket Multi-layer
Ceramic Capacitor
3
10

104

C1,2(22) 22pF 2pcs

C5(104) 0.1㎌ 1pc
U2,3 2 p c s C6,7,8(103) 0.01㎌ 3pcs
Slide Switch
Test Pin Array Resistor

T1 1 p c RP1 4.7KΩ 1pc S1 1pc

LED RP2 1KΩ 1pc Infrared LED
Variable Resistor

D6,7,8,9 RED 3 4pcs R3 5K Ω 1pc D2 CL7L-1L5R 1pc

2
 Electrolytic Capacitor Push Switch Transistor

E
B
C3 100㎌ 1pc C

C4 10㎌ 1pc SW1 1pc Q2 2N5401 1pc

Box Header Jumper Switch 2Pin Connector(small)

JP5 5핀 1pc JP4 1pc JP2,3 MOLEX 5267-02 2pcs

2Pin Connector(large) Buzzer Infrared LED

JP1 MOLEX 5045-02 1pc SP1 (ALP1205S) 1pc D3,4,5 EL-7L 3pcs
Infrared Photo TR Infrared Photo TR DC Motor Driver IC

C
E C
E

Q4,5,6 ST-7L 3pcs Q3 ST-23F 1pc LB1630 2pcs

CPU

16F876 1pc

3
 PCB TOP SIDE
1 Resistor/
다이오드 (1N4148) / D2,
R1 3.3Ω D3, D4
(ORANGE,ORANGE, GOLD, GOLD)
R2 560KΩ(GREEN, BLUE, YELLOW, GOLD)
납땜 방법
R3 10Ω (BROWN, BLACK, BLACK, GOLD)
R4 47KΩ (YELLOW, VIOLET, ORANGE, GOLD)
Soldering

No Polarity PCB mark Schematic symbol

2 Diode (1N4001) / D1
Soldering

A(+ ) C(- )

Polarity PCB mark Schematic symbol

3 Crystal / Y1 4MHZ
Soldering

PCB mark
No Polarity Schematic symbol

4 28PIN Round IC Socket / U1

Soldering

No Polarity PCB mark Match index notch

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

LB1630 LB1630

4
 8Pin IC Socket / U2,3
Soldering

No Polarity PCB mark Match index notch

6 Ceramic Capacitor(22) 22pF / C1, C2

Soldering
22
22

22

No Polarity PCB mark Schematic symbol

7 Multi-Layer Ceramic Capacitor(104 0.1㎌) / C5

Soldering
104
104

104

No Polarity PCB mark Schematic symbol

8 Test Pin / T1
Soldering

No Polarity PCB mark Schematic symbol

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1
J P5 Q2
D7
5 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
H4.0000

J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

LB1630 LB1630

5
9 Array Resistor(4.7KΩ, 1KΩ) / RP1, RP2
Soldering
1 2
A 102J 3
4
5
1 2 3 4 5
1 2 3 4 5
No Polarity PCB mark Schematic symbol

10 Slide Switch / S1
Soldering

No Polarity PCB mark Schematic symbol

11 LED(red) / D6, D7, D8, D9

Soldering

Polarity PCB mark Schematic symbol

12 Variable Resistor (5KΩ) / R5

Soldering
2 2

1 3 1
1 3
2 3
No Polarity PCB mark Schematic symbol

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
H4.0000

J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

L B1630
L B1630 L B1630
LL B1630
B1630

6
13 Infrared LED (CL-1L5R) / D2
Soldering

3mm

Polarity PCB mark Schematic symbol

14 Electrolytic Capacitor(100㎌, 10㎌) / C3, C4

Soldering

Polarity PCB mark Schematic symbol

15 PUSH Switch / SW1

Soldering

No Polarity PCB mark Schematic symbol

16 Transistor(2N5401) / Q2
Soldering

E
C B E C
EB
C
No Polarity PCB mark Schematic symbol

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
H4.0000

J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

L B1630
L B1630 L B1630
LL B1630
B1630

7
17 5Pin Box Header / JP5
Soldering
5
4
3
2
1

No Polarity PCB mark Schematic symbol

18 Jumper Switch / JP4

Soldering

1 2

No Polarity PCB mark Schematic symbol

19 2Pin Connector(small) / JP2, JP3

Soldering

2
1

No Polarity PCB mark Schematic symbol

20 2Pin Connector(large) / JP1

Soldering

2
1

No Polarity Schematic symbol

21 Buzzer(ALP1205S) / SP1
Soldering

Polarity PCB mark Schematic symbol

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
H4.0000

J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

L B1630
L B1630 L B1630
LL B1630
B1630

8
 PCB Bottom Side Assembly
22 Infrared Transistor (ST-23F) / Q3
Soldering

Collector C E

C E
Emitter
No Polarity PCB mark Schematic symbol

23 Infrared Transistor (ST-7L) / Q4, Q5, Q6

Soldering

Collector C E C
C E
E

Emitter
No Polarity Top view PCB mark Schematic symbol

24 Ceramic Capacitor / (103) 0.01uF C6, C7, C8

103 Soldering
3
10

103

No Polarity PCB mark Schematic symbol

25 Infrared LED (EL-7L) / D3, D4, D5

Soldering

Polarity Top view PCB mark Schematic symbol

Be careful to insert the infrared emitters and sensors properly.

front rear
infrared emitter infrared sensor
(EL-7L) (ST-7L)

This prevents light from the infrared LED

interfering with the sensors. bottom view

9
 D5 D4

0043
C8 C7

1
D3 C6
Q6 Q5

IC Insertion

26 IC Insertion

PUSH PUSH

CPU(PIC16F876) DC Motor Driver IC (LB1630)

PIC16F876
CPU
LB1630
DE
SI
P
TO

Match index notch.

10
 A ssembl ed PCB

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1

H4.0000
J P1

C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

L B1630 L B1630

Assembled PCB

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1 D7
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
H4.0000 D1
J P1
PIC16F876 C5
R4

C4 SP1 U1 C2
S1

J P4 J P2 J P3

U2 U3

LB1630
L B1630 LB1630
L B1630

After IC Insertion

D3
D4
0043

D5
C8 C7
1

D3 C6
Q6 Q5

Bottom View

11
 Body Assembly

Check List

Frame Gear Box Battery Cover

1pc 1pc 2pcs

Wheel Tire Supporter

2pcs 2pcs 2pcs

2P Connector(large) 2P Connector(small) Tapping Screw 3×16mm

1pc 2pcs 4pcs

Screw 3×5mm Screw(black) 3×5mm

4pcs 2pcs

12
 BODY ASSEMBLY
1 Plug the terminals of the motor assembly's wires into the 2P
Connectors (Small).
* Insert the terminals as shown until there is a 'click'.

White
Wire

Red Wire

2P Connectors
(Small)

2 Plug the terminals of the Power Lines into the 2P Connector (Large).
Attach the Gear Box and the soldered PCB to the Body.

* Insert the terminals as shown until there is a 'click'.

3X16mm
Tapping Screw
Red
Wire

BLACK
RED
Black
Wire Support

Support

JP1
2P Connector(Large)

3 X 5mm Screw

13
3 Assemble Wheels, Tires and PCB.

3X5mm Screw

RED
BLACK

DE
SI
P
TO

Tire and Wheel

4 Connect the 2P Connectors.

Wires which Short Wire Long Wire

are connected
to the battery
box
E
SID
P
TO

Top View

14
5 Insert the batteries. Attach the battery cover and fasten.

Screw (black)
3×5mm

battery
covers
1.5V "AA"
batteries 4pcs

6 Jumper Switch Control

Linbot has two operational modes. When the jumper switch JP4 is up, it is in MODE
1. When is down, it is in MODE 2.

MODE 1: Simple line tracer mode.

MODE 2: Line- tracer with obstacle avoidance. U- turn function.

Note: The robot must be turned off and then back on before a mode change takes
affect.

OFF ON

Jumper Switch
MODE 1 MODE 2

15
7 Variable Resistor Adjustment
The variable resistor must be adjusted after assembly. To do this, turn on the
power. Place the robot over the black line on the mini-track. To prevent the
robot from moving, slightly raise the back end. Adjust the resistors using a
Phillips screwdriver. This bottom sensors setting should be done in MODE
1(Jumper Switch(JP4) up).

Center Sensor

Left Sensor LED LED Right Sensor LED

L I NBOT TOP S DE T1
R3 D6
D2 G
R2
R1

Variable Resistor(R5)
D7

on
J P5 Q2 D8
R5 RP1
D9 SW1 C3
RP2 Y1 C1
D1
J P1
1 PIC16F876
6F876
C5
R4

H4.
C4 SP1 U1 C2
S1

J P4 J P2 TOP SIDE J P3
off
U2 U3

LB1630
L B1630 LB1630
L B1630

black line
sensors LED
off on off Screwdriver
(small)

on on off

off on on

off off off

variable resistor

16
8 Infrared sensor detects
Linbot has a front infrared sensor. When it meets with an obstacle while following the line,
LED D6 lights up, the robot makes a U-turn, and continues on.

When it meets an obstacle.

LED D6 lights up. Robot makes a U-turn.

Infrared sensor
detects an obstacle.

9 Run the robot on the mini track.

black
black
electric tape
masking tape
If desired, make your own track using black masking tape, electric
tape, wide marker or some other medium.
17
 Setting and Operation

1 MODE 1
1. After assembly is complete, set the robot to MODE 1(Jumper switch up.) and turn the
power switch on. LED D7, D8, D9 light up sequentially after a "beep" sound is heard.
Both wheels start to turn.

2. Adjust the variable resistor R5 to control the bottom sensors. Use the provided paper
track and refer to 'Variable Resistor Adjustment' above.

3. Put the robot on the track. If the robot spins or backs up, check the motor wires. If
the robot swerves a lot, carefully adjust the variable resistor.

4. LED 6 turns on and off when an object is brought towards the front of the robot and
then pulled away. This front sensor is not used in MODE 1, but LED6 nonetheless
indicates the presence of an obstacle.

5. The robot's speed is changed using the speed setting mode. To achieve this, set the
robot to MODE 1, and then turn on the robot while pressing the SW1 push switch.
Remove your finger from the push switch after hearing a 'beep'. One of the four LED's
then lights up, indicating the current speed.

D6
Speed 4

D7 D8 D9
Speed 1 Speed 2 Speed 3

Speed 1: Very slow.

Speed 2: Slow.
Speed 3: Normal.
Speed 4: Fast. (Used only when batteries are weak.)

To select a different speed, press and release the push switch. When the desired speed
is attained, press down on the push switch and hold. The desired speed is saved in the
CPU and a double beep sounds. This setting remains in the CPU until the user changes
it. The speed works in both MODE 1 and MODE 2.

18
 2 MODE 2
1. The front sensor should be set before the robot operates in MODE 2. Turn off the
robot. Set the robot to MODE 2(jumper switch down). Turn on the power switch while
pressing the SW1 push switch.

2. After a 'beep' sound, remove your finger from the push switch. The LED's remain
dark.

3. Put the robot on the floor. Place your hand about 10cm in front of the robot. Turn the
variable resistor R5 until the forward LED lights up. (It may be necessary to move it in
either direction.) Move your hand back and forth in front of the robot. If LED D6 lights
up only when your hand is near the robot, the setting is correct.

4. To save the R5 resistor value, press the push switch. The CPU saves the value and a
double 'beep' is heard. This stored value only affects operation in MODE 2. After about
1.5 seconds, the robot starts to operate, but not properly. This is because the variable
resistor was adjusted to set the front sensor. (It is still referenced by the bottom
sensors.)

5. Set the robot to MODE 1. Turn the power on and once again adjust the variable
resistor.

6. After the adjustment is done, turn the power off. Set the robot to MODE 2 again and
turn on the power. Put the robot on the track.

7. Put your hand or an obstacle in the robot's way. When the robot meets the obstacle,
it makes a U- turn and continues on.

3 Common Setting in MODE 1 and MODE 2

Linbot follows a black line on a white floor. However, it can also follow a white line on
a black floor using the following setting.

1. Turn on the power. (MODE 1 or MODE 2.)

2. Hold the push switch down after the robot starts.

3. After about 3 seconds, LED's D7, D8, and D9 light up sequentially after a "beep" is
heard. This signal means the robot can now follow a white line.

4. To revert to the black line- tracing mode, just turn off and on the robot.

19
4 Trouble shooting
1. The robot does not work at all.
- > Check the PCB soldering. Most malfunctions are due to faulty soldering.
- > Check the batteries and their polarities.
- > Check the IC insertion state.
- > Check the diode D1's direction.
- > Check all other parts that have polarity.

2. The robot spins or backs up.

- > Check motor wires.
- > Check the sensor setting.

3. Too much swerving.

- > Adjust variable resistor again in MODE 1.
- > Decrease the speed.

4. The robot hits the obstacle in MODE 2.

- > Reset the front sensor to a further distance.
- > Decrease the speed.

5 Program

1. The program source code and HEX files are available on the following web site. The
data sheets for parts such as 16F876, LB1630 are available on the same web site.

www.microrobot.com
www.microrobotna.co

2. The developing tool(MPLAB) can be downloaded at the CPU(16F876)

manufacturing company's web site.
www.microchip.com

20
 Schematic

Motor Driving Section

U2 Program Downloading Section
JP2
LM_IN1 1 8
LM_IN2 4 IN1 OUT1 5 1 JP5 VCC
IN2 OUT2 3 2 PGD
VCONT
HEADER2 5 PGC
4
L B 1630 3
GND
U3 2 VPP
JP3 1
RM_IN1 1 8
RM_IN2 4 IN1 OUT1 5 2 HEADER 5
IN2 OUT2 3 1
VCONT HEADER2

L B 1630
LED Section
VCC
RP2
1 2
3
4
5
1K
D7 D8 D6 D9
LED LED LED LED

L E F T _ LED C E N T E R _LED F R O N T _ L ED R I G H T _ LED

VCC Infrared Sensor Section

Q3 Q4 Q5 Q6
ST-23F ST-7L ST-7L ST-7L
C6 Labels are placed on
F R O N T _AD
103 L E F T _ AD
the lines for simplicity.
R2
560K
C E N T E R _ AD
R I G H T _ AD If two lines have the
same label, they are
2
3
4
5

GND
RP1
4.7K
connected.
1

GND

VCC VCC
Infrared LED Section
R3
R1 10
3.3

D2
CL-1L5R
D3 D4 D5
EL-7L EL-7L EL-7L

F R O N T _ IR Q2 R I G H T _ IR
2N5401 L E F T _ IR C E N T E R _IR

GND

21
 Power Input Section
VCC
S1 D1 T1
TEST
JP1
SW
2 1N4001
C3 C4 C5
1 10uF 104
100uF
HEADER 2

Infrared Blocking Capacitors

C6 C7 C8
103 103 103

VCC
Sound Section

SP1 R4
B U Z Z ER 47K
U1
R5 VPP 1 28 PGD
L E F T _ AD 2 MCLR/VPP/THV RB7/PGD 27 PGC
5K RA0/AN0 RB6/PGC
C E N T E R _ AD 3 26 L E F T _ IR
R I G H T _ AD RA1/AN1 RB5 C E N T E R _ IR
4 25
F R O N T _ AD 5 RA2/AN2/VREF- RB4 24 R I G H T _ IR
6 RA3/AN3/VREF+ RB3/PGM 23 FRONT_IR
C1 7 RA4/T0CKI RB2 22
RA5/AN4/SS PB1 21
RB0/INT
9
22P Y1 OSC1/CLKIN

2
C2 4 M Hz 10 SW1
OSC2/CLKOUT 18 L E F T _ LED PUSH JP4
RM_IN2 11 RC7/RX/DT C E N T E R _ LED
RC0/T1OSO/T1CKI RC6/TX/CK
17 JUMPER
22P RM_IN1 12 16 R I G H T _ LED
RC1/T1OSI/CCP2 RC5/SDO SW
GND LM_IN1 13 15 FRONT_LED
LM_IN2 14 RC2/CCP1 RC4/SDI/SDA
1

RC3/SCK/SCL

GND

PIC16F876

Labels are placed on

the lines for simplicity.
If two lines have the
same label, they are
connected.

22
 Operation of Linbot

1 A cti on
Linbot changes direction by controlling its two wheels. If Linbot supplies the same power to
both wheels, it will go straight forward. If the left wheel turns slower than right wheel, it will
turn left and vice versa. The radius of the turn is proportional to the difference between
both wheels' velocities. That is, if there is big difference in the velocities, the Linbot will turn
with a small radius; if there is a small difference in the velocities, it will turn with a large
radius. Linbot has eight driving modes listed below.

Left & Right Motor

at Same Speed.

Left Motor Slow, Left Motor Fast,

Right Motor Fast.
GO Right Motor Slow.
MODE

LEFT_SMALL RIGHT_SMALL
MODE MODE
Turn Quickly
to Lost Track.

FIND
MODE Left Motor Fast,
Left Motor Stop, Right Motor Stop.
Right Motor Fast.
장애물이 있을 경우

RIGHT
LEFT MODE
MODE Left Motor Back.
Right Motor Go. Left & Right Motor
Stop.

U-TURN STOP
MODE MODE

The sensors are the eyes of the linetracer. A linetracer can operate with only one or two
sensors. Linbot has four sensors, thus enabling it to operate in the above listed modes and
allowing it to trace the line at speeds reaching 60 cm/s.
23
Linbot uses a PWM(Pulse Width Modulation) method to control its two motors.
Generally, the turning speed of the DC motor is determined by the amount of
power supplied. To control the amount of power, one must vary the voltage. To
vary the voltage without loss requires a complex circuit. Thus, PWM is used to
control a DC motor instead of using a hardware solution. PWM is a software
control method. PWM method turns the motor on and off quickly, with a fixed
amount of voltage supplied.

Voltage Voltage

ON

Time Time

Voltage Voltage

ON ON ON
2.5V

OFF OFF OFF

Time Time

Voltage Voltage

ON ON ON ON

1.25V
OFF OFF OFF
Time Time

Generally, motors can not respond quickly to fast on/off signal. Thus, if the amount of
voltage supplied is varied rapidly, the motor accepts it as the average voltage. You can
vary brightness of a lamp easily using the PWM method.

24
 Par ts List

1 2 C1, C2 CERAMIC CAPACITOR 22pF

2 1 C3 ELECTROLYTIC CAPACITOR 100uF
3 1 C4 ELECTROLYTIC CAPACITOR 10uF
4 1 C5 MULTI-LAYER CERAMIC 104
5 3 C6, C7, C8 CERAMIC CAPACITOR 103
6 1 D1 DIODE 1N4001
7 1 D2 CL-1L5R(INFRARED LED)
8 3 D3, D4, D5 ST-7L(INFRARED SENSOR)
9 4 D6, D7, D8, D9 LED(RED 3 )
10 1 JP1 Molex 5045-2P
11 3 JP2,JP3 Molex 5267-2P
12 1 JP4 JUMPER S/W 2P
13 1 JP5 BOX HEADER 1 X 5
14 1 Q2 2N5401(TRANSISTOR)
15 1 Q3 ST23F(INFRARED SENSOR)
16 3 Q4, Q5, Q6 EL-7L(INFRARED EMITTER)
17 1 RP1 ARRAY REGISTOR 4.7K 5PIN
18 1 RP2 ARRAY REGISTOR 1K 5PIN
19 1 R1 3.3 Ohm (1/4W)
20 1 R2 560K Ohm (1/4W)
21 1 R3 10 Ohm (1/4W)
22 1 R4 47K Ohm (1/4W)
23 1 R5 VR 5K (GF06)
24 1 SP1 BUZZER (ALP1205S)
25 1 SW1 TACK S/W 4P(3.5mm)
26 1 S1 SLIDE S/W(ANGLE)
27 1 U1 PIC16F876-04/SP
28 2 U2, U3 LB1630
29 1 Y1 X-TAL 4MHZ(ATS Type)
30 1 T1 TEST PIN
31 2 PLASTIC SUPORTER(10mm)
32 1 28PIN(300mil) ROUND IC SOCKET
33 2 8PIN(300mil) IC SOCKET
34 1 Molex 5051-2P(POWER,LARGE)
35 2 Molex 5264-2P(MOTOR,SMALL)
36 4 3 x 5mm SCREW(FOR SUPPORTER
37 2 3 x 5mm SCREW(BLACK)
38 4 3 x 16mm TAPPING SCREW
39 1 GEAR BOX, FRAME
40 2 WHEEL,TIRE,BATTERY COVER
41 1 MANUAL

25