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BasicLevelTP .101
Textbook
FE$TCP
E[EAGTIG
Pneumatics
BasicLevelTP 101
Textbook
FestoDidacticKG, D-7300Esslingen1
FESTCI
D[DAGTI]G
Orderno.: 093131
Description: PNEUM.GSLEHRB
Designation: D.LB.TP1O1-GB
4th Edition: 01t92
ComputerLayout: S. Broadbent,
D. Bonner
Author: P. Croser
@Copyright
by FestoDidactic
KG,D-7300Esslingen
1, 1989
All rightsreserved,
including rights. No partof this publication
translation may
be reproducedor transmittedin any form or by any means,electronic,
mechanical, photocopying,
or otheruise,withoutthe priorwrittenpermission of
FestoDidactic KG.
ISBN:3-8127-3131-2
trces on the layoutof the book 4 Contents
Section A: Gourse
Ctr+ter 1 Characterlstlcsand apflications of pneumatics 7
in review
Pneumatics 11
' 2 Pneumatics and controlsystemdeVblopmeht. . . . . : 14
SectionC: Solutions
So luti on s ....199
L i s to f stan d a r dsand
references.. ......217
Index .......221
Notesregarding
the conceptbehindthe textbook
Thebookis dividedintothefollowing
sections:
PartA: Course
PartB: Theory
PartC: Solutionsto the exercises
PartA: Course
The aim of the courseis to providestudentswith the information whichthey
will requirein orderto gaina thoroughunderstanding
of the subjectconcerned.
This is achievedusingbothexamplesand exercises.Thesegraduallyincrease
in complexityand the studentther:efore is advisedto work throughthem in
sequence.Subjectswhichare dealtwith in greaterdepthin the Theorysection
are markedin the text.
PartB: Theory
This sectioncontainsthe basictheoryrelatingto the subjectarea in question.
Topicsare set out in a logicalmanner.The studentcan eitherwork through
this sectionchapterby chapteror use it for referencepurposes.
PartC: Solutions
Thispartcontainsthe solutionsto the exercisesin PartA.
intoan existingtrainingprogramme.
Thistextbookmaybe incorporated
--
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Course
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Chapter1
Characteristicsand
applicationsof pneumatics
:i.i,,i&*ffi
Pneumaticshas for some considerable time been used for carryingout the
simplestmechanical tasks, but in morerecenttimeshas playeda moreimpor-
tant rolein the developmentof pneumatic for automation.
technology
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Pneumaticcomponents
canperformthefoilowing
typesof motion:
. Linear
. Swivel
. Rotary
\
D Someindustrial
applications
employing
pneumatics
are listedberow:
, . Generalmethodsof material
handling:
. Clamping
t . Shifting
. Positioning
a
t
. Orienting
- . Generalapplications:
. Packaging
, . Feeding
. Metering
I
. Dooror chutecontrol
- . Transferof materials
, . Turningand invertingof parts
. Sortingof parts
. Stackingof components
,
. Stamping andembossing of components
-
-
-
-
Pneumatics
is usedin carryingoutmachining
andworkingoperations.
Forexample:
. Drilling
. Turning
. Milling
. Sawing
. Finishing
. Forming
. Qualitycontrol
I
t
Advantages
and distinguishing
characteristics
of compressed
air; 1.1. PneumatlcsIn revlew
Availability: Air is availablepractically
everywhere
in unlimitedquantities.
Transport; Ajr can be easilytransported
in pipelines,evenoverlarge
distances.
Temperature
: Compressed air is relativelyinsensitive
to temperature
fluctuations.This ensuresreliableoperation, evenunder
extremeconditions.
b
fr,
I
11
In orderto accuratelydefinethe areasof applicationof pneumatics,
it ls aisc
necessary to be acquaintedwiththe negativecharacteristics:
Preparation
:
Compressedair requiresgood preparation.Dirt and condens@
shouldnot be present.
Compressible:
It is not alwayspossibleto achieveuniformand constantpiston
speedswithcompressed air.
Forcerequirement:
Compressedair is economicalonly up to a certainforce require-
ment. Underthe normalworkingpressureof 6-7 bar (600to 700
kPa) and dependenton the travel and speed,the outputlimit is
between20 000 and 30 000 Newtons.
Noiselevel:
The exhaustair is loud. This problemhas now, however,been
largelysolveddue to the development material
of soundabsorption
and silencers.
Costs:
Compressedair is a relativelyexpensivemeans of conveying
power. The high energycostsare partiallycompensated
by inex-
pensivecomponents and higherperformance.
't2
L
Choiceof workingmedia: Criteriafor a workingmedium
. Electrics
' Hydraulics
. Pneumatics
. A combination
of the above
Cfdce of controlmedia:
. llechanical
. Electical
. Elecfonic
. Pneumatic, normalpressure
. Pneumatic,low pressure
' l-lydraulic
I
13
I
I
'
1.2. Pneumatics
and control in pneumatics
The productdevelopment in a numberof
can be considered
systemdevelopment areas:
. Actuators
. Sensorsandinputdevices
. Processors
. Controlsystems
. Accessories
14
Chapter2
Componentsof a
pneumatic
system
15
A pneumaticsystemcan be brokendowninto a numberof levelsrepnesentirq
hardwareand signalflow.
The variouslevelsforma
control path for signal Signalflow
flow from the signal
(input)side to the work ACTUATING
DEVICES
(output)side.'
Outputs
PROCESSINGELEMENTS
Processorsignols
INPUTELEMENTS
Input signols
2 .1. Pneumaticsystem
structureand signal flow
Theprimarylevelsin a pneumatic
. Energysupply
. Inputelements
systemare:
J
(sensors)
. Processingelements(processors)
. Actuatingdevices(actuators)
16
t Pneumatic
elements
I
)
ACTUATORS
I
) Pneumaticcylinders
Rotaryactuators
Indicators
)
I
FINALCONTROL ELEMENTS
CONTROL
) ELEMENT
Control
signals
controlvalves
Directional
I
?
)
) PROCESSORS
a Directional
controlvalves
) Logicelements
Pressurecontrolvalves
l
)
t SENSORS
) INP UTE LE M E NT S Directional
controlvalves
Limitswitches
lnputsignals Pushbuttons
t
Proximitysensors
t
ENERGY SUPPLY
ta Compressor
Receiver
Pressureregulator
Air serviceequipment
-
a
,
rhe directionalcontrolvalve(DCV)may havea sensing,a processing or an
a
actuatingcontrolfunction.lf the DCVis usedto controla cylindermotion,then
: is a controlelementfor the actuatorgroup.lf it is used in the functionof
r)
rocessingsignals,then it is definedas a processor element.lf it is usedto
sensemotions,then it is definedas a sensor.The distinguishing featurebe-
a :,veeneachof theserolesis normallythe methodof operating the valveand
*'nerethe valveis situatedin the circuitdiagram.
t.
a Circuitdiagramand pneumatic
elements
D
a
.
a Actuotor
I Finol control
element
a
Signol processor
3 Siqnol input
1
a "1. "^."\
E nerov suool v
rl (soui6e)
r)
a 17
rr
2.2. Air generationand The air supplyfor a particularpnelmaticapplication
shouldbe sutficientand of
distribution adequatequality.
18
t
L-
L:
t_
-
L_
L_
LJ An air receiver should be fitted to reduce pressure fluctuations.In normal
operationthe compressorfills the receiverwhen requiredand the receiveris
LJ availableas a reserveat all times. This reducesthe switchingcycles of the
comDressor.
LJ Air supplysystem
|.J
tJ
LJ
Lj Reservoir
within
a pneumatic
system
lJ Compressor
lj Serviceunit -;;il;;
Intermediate
reservoir
severalconsuming
for
devices
Condensatecollector
tank
L Air serviceunit
t_
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L 19
I
Compressed
air filter The compressedair filter has the job of removingall contaminants from the
compressedair flowingthroughit as well as water which has alregdycon-
densed. The compressed air entersthe filterbowlthroughguideslcits.Liquid
particlesand largerparticlesof dirt are separatedcentrifugally
collectingin the
lowerpart of the filter bowl. The collectedcondensatemust be drainedbefore
the levelexceedsthe maximumcondensatemark,as it will otherwisebe re-
entrainedin the air stream.
Compressed
air regulator The purposeof the regulatoris to keep the operatingpressure(secondary
pressure)virtuallyconstantregardlessof fluctuationsin the line pressure
(primarypressure)andthe air.consumption.
Compressed
air lubricator The purposeof the lubricatoris to delivera meteredquantityof oil mist into a
leg of the air distributionsystemwhen necessaryfor the use by pneumatic
controlandworkingcomponents.
20
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+
=
El
,
. Directionalcontrolvalves
- Signalling
elements
- Processingelements w
w
u - Powerelements
. Non-returnvalves
h
, . Flowcontrolvalves
. Pressurecontrolvalves
h . Combinationalvalves
hi
The directionalcontrolvalvecontrolsthe passageof air signalsby generating, Directional
controlvalves
- or redirecting
cancelling signals.
ftr
,
of the valve is of
In the field of controltechnology,the size and construction
-
less importancethan the signalgenerationand the actuationmethod.Direc-
-h tionalcontrolvalvescan be of the poppetor slidetype,with the poppetutilised
for smallflow ratesand for the generationof inputand processsignals.The
-
slidevalveis ableto carrylargerflow ratesand hencelendsitselfto the power
\ and actuatorcontrolrole.
\
a The way valveis describedby :
fr
. Numberof portsor openings (ways): 2 wa y , 3 wa y ,4 wa y , 5wa y ,e t c .
. Numberof positions: 2 positions, 3 positions, etc.
hr
. Methodsof actuationof the valve: Manual,air pilot,solenoid, etc.
. Methodsof returnactuation: Springreturn,air return,etc.
hrr
. Specialfeaturesof operation: Manualoverrides, etc.
hr
-
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- 21
-
li
312wayrollerlevervalve(without
andwithidlereturn)
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As a processingelementthe directional
controlvalveredirects,generatesor
cancelssignalsdepending The processing
on the signalinputsreceived. ele-
mentcan be supplemented withadditionalelements,suchas the AND-function
andOR-functionvalvesto createthedesiredcontrolconditions.
valve:singlepilotvalve
312wayair actuated
22
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) As a powerelementthe directional controlvalve must deliverthe required
\ quantityof air to matchthe actuatorrequirementsand hencethereis a need
) icr largervolumeflow ratesand thereforelargersizes.This may resultin a
argersupplyportor manifold beingusedto deliverthe airto the actuator.
)
\ 5 2 wayvalvefor cylindercontrol:doublepilotvalve
)
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- r elur n v o tv e De riv oti v e s
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| [b;i I one wcy flow control volve
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a S h uttl e vol ve
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Qui ck exhoust vol ve
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23
Flowcontrolvalves The flow controlvalverestrictsor throttlesthe air in a particular directionto
reducethe flow rate of the air and hencecontrolthe signalflow. lf the flow
controlvalveis leftwideopenthenthe flow shouldbe almostthe sameas if
the restrictoris not fitted.In some casesit is possibleto infinitelyvary the
restrictorfromfullyopento completely closed.lf the flowcontrolvalveis fitted
with a non-return valvethen the functionof flow-control is unidirectional
with
full free flow in one direction.A two way restrictorrestrictsthe air in both
directions of flow and is not fittedwith the non-return valve.The flow control
valveshouldbe fittedas closeto the workingelementas is possibleand must
be adjusted to matchthe requirements of the application.
Flowcontrolvalve
Pressure
controlvalves Pressurecontrolvalvesare utilisedin pneumaticsystems.Thereare three
maingroups:
. Pressure
regulatingvalves
. Pressure
limitingvalves
. Pressure
sequence valves
24
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11
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sequence
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2(^)
1(P ) .(D-
-
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\
-.e combined functions of variouselementscan producea newfunction. The Combinational
valves
^ew component can be constructedby the combination of individual
elernents
- :r manufactured in a combinedconfigurationto reducesizeandcomplexity. An
exampleis the timerwhichis the combination of a one way flowcontrolvalve,
a reservoir
anda3l2 way directional controlvalve.
Timedelayvalve
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25
2.4 Processors:valvesand To supportthe directional
controlvalvesat the processing level,there are
logicelements variouselementswhichcondition
the controlsignalsfor a task.The elements
are:
. Twopressure valve(ANDfunction)
. Shuttlevalve(ORfunction)
Theseelementsderivetheirconstruction fromthe non-return valveand have
logicbasedroles.A specialfeatureis thattheyare fittedat a junctionof three
lines,therefore
theyhavethreeconnections, two in andoneout.
Twopressure
valve(ANDfunction)
, rr/t;' {
ll,If J
--l
J
J
J
J
J
The furtherdevelopmentof processing elementsin pneumatics
aboutthe modularsystems,whichincorporate directional
has brought
controlvalvefunc- J
to performa combinedprocessing
tionsand logicelements
size,costandcomplexityof the system.
task.This reduces
J
processing
Modular unit
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26
R
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\
. a'vingsize and construction.
The actuatorsare complemented by the final elementsand directional
D ::^trol element,whichtransfersthe requiredquantityof air to drivethe ac- controlvalves
\ :-a:cr.Normallythisvalvewillbe directlyconnected
to the mainair supplyand
a ':ed closeto the actuator
to minimiselossesdueto resistance.
t
lriuatorwithfinaicontrolelement
,
,
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,u
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E
r::-a:ors canbe furtherbrokendownintogroups:
- .
ra
- ^earactuators
- Singleactingcylinder
- Dcubleactingcylinder
. ictary actuators
-
- \laneWpe
- A r motors
-
5
r:--r:ators,linearand rotary
t,
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- 27
ri
ta
--
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<
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{
.<
Controlof a singleactingcylinder -r
w -
-!r
W
-
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!r
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-
The 3/2 way controlvalvehas3 ports.The supplyport,the exhaustportand
the outletport.Therelationship
betweentheseportsis determinedby the pas-
sagesthroughthe valve.The numberof variations possibleis determinedby -r
thenumber of positions
drawn.In thiscasetwopositions
arepossible.
28
F-
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-
Initialposition:The initialposition(left-hand circuit)is definedas the 'rest'
\ position All
of the system. connections are made andthereis no manualinter-
ventionby the operator. The air supply is shut off and the cylinderpistonrod
(by
retracted spring return).The cylinder port is connected to the exhaustport
via the body of the valve.The supplypressureis shut off internally by the
valve.
!:
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29
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Controlcircuitforthedouble The Problem
actingcylinder The pistonrod of a doubleactingcylinderis to advancewhena pushbutton is
operatedand to returnto the initialpositionwhenthe pushbutton is released. \
-a
. Doubleactingcylinderwithtwo supplyconnections -
. 4/2 way directional
conlrolvalve:4 portsand two positions,
pushbutton
for
operationandspringfor returnforce -
. Supplyair sourceconnectedlo lhe 412way valve
. Twoairconnections betweenvalveandcylinder -
=
Controlof a doubleactingcylinder
-
-
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:-
!r
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30
lnitial position: In the initialposition(left-handcircuit)all the connections
are
madeand thereis no manualintervention by the operator.In this unactuated
position,air is appliedto the cylinderpistonrod side,whilethe pressureon the
plbtonsideof the cylinderis exhausted.
31
Chapterg
Symbolsand standards
in pneumatics
33
.I
I
A symboldoesnot represent
the followingcharacteristics:
. Sizeor dimensions of the component
. Particular
manufacturer, methodsof constructionor costs
. Orientationof the ports
. Anyphysical detailsof the element
. Anyunionsor connections otherthanjunctions
34
The symbolsfor the energysupplysystemcan be representedas individual Air supplyand generation
elementsor as combinedelements.The choicebetweenusing simplifiedor
detailedsymbolsis dependentupon the purposeof the circuitand its com-
plexity.In generalwhere specifictechnicaldetailsare to be given such as
requirements for non-lubricatedair or micro-filtering,
thenthe completedetailed
symbolshouldbe used. lf a standardand commonair supplyis used for all
components, thenthe simplifiedsymbolscan be used.Fortrouble-shooting the
detailedsymbolsare moresuitable.But the detailshouldnot add to the com-
plexityof the circuitfor reading.
andpreparation
Symbolsusedin energyconversion
Supply
Filter
Woter seporotor
Seporotion ond
filtrotion of porticles
Pressure regulotor
Metered quontities
of oil possed to
the oir streom +
! Relievingtype -
vent hole for
excess upstreom
pressure - odjustoble
Combined symbols
b Pressure source o-
35
\,/alvesymboldescription In generalthe symbolsare similarfor pneumaticsand hydraulics
but each
controlmediumhasspecificcharacteristics
thatare unique.
Directional
controlvalves:symboldevelopment
JO
The directional
controlvalveis representedby the numberof controlledcon- Directional
controlvalves:
nectionsand the numberof positions. Eachpositionis shownas a separate way valves
square.The designationof the portsis important
wheninterpretingthe circuit
symbolsand the valve as fittedto the physicalsystem.To ensurethat the
and valvesare physically
:crrectlines,connections in place,theremustbe a
reiationship
betweenthecircuitandthecomponents used.
controlvalves:portsandpositions
Directional (ways)
Number of p orts
Number of p ositions
Woy directionol
control volve
-7 /a Woy directionol
control volve
Normolly closed
Woy directionol
control volve
Normolly open
'/
z- - Woy directionol
control volve
g '| g -
Woy directionol
control volve
Mid nosition r:losed
I
Examples
of designations
38
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ra
e
a
rl
Methodsof actuation
t
Mechonicol
t
Generol monuol operotion Ff
t
L
Pushbutton (t'
rr-l_
of-
\
-
Lever operoted
+ -l-r-
\ Detent lever operoted Ff
r-f.- __r-
:[-
t
Foot pedol
+--hnnit
Spring return
I
lr '
E lec t r ic ol
S
-"
inc
'Y'-
le s o l e n o i d n n p r n t ia n
VI
----t_
39
t
t
Non-return
valvesandderiva- The non-return
valve(checkvalve)is the basisfor the developmentof many
tives combinedcomponents. Thereare two mainconfigurations for non-return
val-
ves,withandwithoutthe springreturn.
Non-return
valvesandderivatives
Shuttle volve:
,^-,
UK T UN C t I O N
Tw o p re s s u re v o lv e
'AND' f u n c t io n
Quic k e x h o u s t v o lv e
Flowcontrolvalves
One-woy flow
con trol volve
I 40
'h,
valvesare generallyadjustable
Pressureregulating againstspringcompres- Pressure
regulating
valves
sion.Thesymbolsaredistinguished
according to thefollowing
types:
. Pressuresensing:downstream, upstreamor external
. Relieving
or non-relieving pressure
andfluctuating
. Adjustable
or fixedsettings
Pressure
valves
Ad ju stoblepressure reguloting
volve , n on-relieving type fiw
7T-
ArJ ir retnhlo nrpeqr
f^[/,-
/T-
Qa n rra n n a
externot source
r r nlr r o
#lu/^,
-T-
Qcn rro n n a
r-line
r r nlr r a
il,f'
l-
Qonrranna rrnlrra
I
t 41
I
Linearactuators and
The linearactuatorsor cylindersare describedby theirtypeof construction
methodof operation.
Linearactuators
cushioningand notthe directionof cushionedmotion.
42
r-
+
\
t
Rotaryactuatorsare dividedinto continuousmotionand limitedangleof rota- Rotaryactuators
tion.The air motoris normallya highspeeddevicewith eitherfixedor adjus-
tablespeedcontrol.
w
Unitswith limitedangleof rotationare fixedor adjustablein angulardisplace-
ment.. The rotaryactuatormay be cushioneddependingupon the load and
speedof operation
,
Rotarymotion
W
Ai r m otor, rototion in one dire c t io n /9\
h\
fi xed copocity (E
t
Y
,u
\ni
, Air m otor, rototion in one dir e c t io n
\
)'
I
b.-
vor io blecopocity
,1F
Ai r m otor, rototion in both di re c t io n s rd,
vo r io b le copocity
R otor y octuotor
W
--t\_
l i m i te d trovel
r ototi on in both directions -+)-
Thereare a numberof important
symbolsfor accessories
whichare utilisedin
conjunctionwith pneumatics.
Theseincludethe exhaustair symbols,visual
F: indicators
andthe methodsof connection
of components.
Auxiliarysymbols
-
Exho ust port
-F: V
Exho ust port
with threoded connection +V
hr
-
i-
Si l encer -{D
Lin e connection (fixed) _l_
I
L-
-
C r ossinglines
( no t connected) +
(a
I
I
hh P ro q q t tr a n^t t^^
r
i
:r Y
h-
Vi suo l indicotor -a
-F:
!--
43
t\ aa
3.2. Safetyrequirementsfor Thereare a limitednumberof standardsand regulations for pneumatic
sys-
pneumatlcsystems tems. Thereforefor all factorsaffectingsafety,ieferencemust be made to
existinggeneralguidelinesand regulations from a numberof differenten_
gineeringfields.
Safetyrequirements
for consideration
shouldbe given to the followingguidelineswhen operating
pneumaticclamping
devices pneumatic
cylinders
underclampingconditions.
' Manually-operatedswitchingdeviceswithprotectivecovers,or
. Controlinterlocks
. Pressuretransducers,
or
. Pressuresequencevalves
Environmental
pollution Twoformsof environmental
pollution
mayoccurin pneumatic
systems:
. Noise:causedby the escapeof compressed air
' oil mist:causedby lubricantswhichhavebeen introducedat the compres-
sor or via a serviceunit and which are dischargedinto the atmosphere
duringthe exhaustcycles
44
l
Measuresmust be taken against excessiveexhaust noise. This can be Exhaustnoise
) by meansof:
achieved
t . Exhaust
silencers
trSectivecountermeasures
mustbe takento reducethe amountof oil mistthat
:vf€s to the atmosphere.
45
t-At
l4i
Chapter4
Systematic
approach
to pneumatic
solutions
47
gt-uarErE qFwl no rlt]llEEsllElli rtcslrE
4.'l Designof the circuit The layoutof the circuitdiagramshouldcorrespond to the controlchainflow-
diagram chart,i.e.thereshouldbe a signalflowfromthe bottomof the circuitto thetop.
The energysupplyis important and mustbe includedin the circuit.The ele-
mentsrequired for the energysupplyshouldbe drawnat the bottom.Simplified
or full componentsymbolscan be utilised.In largercircuits,the energysupply
section(serviceunit,shut-offvalve,variousdistribution connections etc.)can
be drawnseparately.
J
Controlchainflowchart
J
A CT UA T I NG
DE V I CE S
J
O ut p ut s
F I NA LCO NT RO L
E L E ME NT S
Co n t ro l s ig n o ls J
=
J
J
Lr- J
J
z-
PROCESSINGELEMENTS
Processor signols
J
a J
o
z-
J
E.
ul
I NP UTE L E ME NT S
l nnr r i c i nnnl c
J
z
L!
E NE RG YS UP P L Y
J
S o urc e
J
J
J
48
J
J
)
)a
t
-
t
This layoutmeansthat the circuitdiagrammust be drawnwithoutconsidering
the actualphysicallocationsof each of the elements.lt is recommended
I that
all cylindersand directionalcontrol valves be drawn horizontallywith the
cylindersoperatingfrom left to right,so that the circuitcan be more easily
understood.
Circuitdiagram
1(P)
5
3
Solution
The valve 1.3 is mountedat the full extensionpositionof the cylinder.The
circuildiagramshowsthis elementsituatedat the signalinput leveland does
not direcllyreflectthe orientationof the valve.The mark on the circuitat the
extendedcylinderpositionindicatesthe physicalpositionof the valve 1.3 for
orruil operation.
49
<
4.3 Designation
of individual All elementsshould be Actuatedinitialposition
elements shown in the circuit
diagram in the initial
position:here the valve
is initiallyactuated.This
must be indicated (for
example,by an arrow,or
in the case of a limit
switch by drawing a
cam). The valve is
shown in the oDerated
state with the left hand
positionin line with the
supplyport. The signal
at 2(A) is initiallyactive
due to operationof the
rollerelement.
0. Energysupplyunit
1, 2, 3 etc. Numbering of individualworkinggroupsor controlchains
1.0,2.0etc . Workingelement
.1 Controlelement
.01,.02etc. Elements between the controlelementand workingelement
.2, .4 etc. Elements whichinfluence the advancestrokeof the cylinder
.3, .5 etc. Elements whichinfluence the returnstrokeof the cylinder
Circuitdiagram
50
. Signalflowfrombottomof circuitto the top. Summary
. Energysourcecanbe shownin simplified form.
. Physicalarrangement of the elementsis ignored.
. Drawthe cylindersand directional whereverpos-
controlvalveshorizontally
sible,cylindersextendingfromleftto right.
. Designateall elementsin the completedinstallation the same as in the
circuitdiagram.
. ldentifypositionof the input signalsby a mark (limitvalve).lf signalsare
issuedin one directiononly, showan arrowon the mark.
. Showelementsin the initialpositionof the control.ldentifyactuatedele-
mentsby a cam or arrow.
. Drawpipelinesstraightwithoutcross-overwhereverpossible.Junctionsare
indicatedby a dot.
Pneumatic
systemdevelopment The development of The life cycle of a
solutionsfor pneumatic pneumaticsystem
control systems is de-
pendentuponmethodical
C O N T R OLP R OB L EM planning.
Jt
\/
IMP L EME N T A T IO N
Cons tru c t, i n s to l l , te s t o n d
c om m is s i o n th e p n e u m o ti c s y s te m
s.
J t-
3
E VA L U A T IO N
Chec k th e p e rfo rmo n c e o f th e
pneu m o ti c s y s te m to m e e t
t h e o n o l y s l s o b j e c ti v e
\7
M AIN T EN AN C E
S er v ic e on d m o i n to i n th e p n e u mo ti c
s y s t em t o me e t th e p e rfo rm o n c e o f
t he o n o l y s i s ,re q u i re m e n ts
It
U P G R AD IN G
M odif y o r u p g ro d e th e s y s te m
t o me e t n e w re q u i re m e n ts
51
Analysisof a pneumatic The firststepis the definitionof objectivesfor the projectwith a cleardefinition
controlproblem of the problem(s).Designor development of the solutionis not involvedat the
analysisstage.A flowchartof the totalprojectplancan be developedto define
the step-orientatedprocesses.
Thenextstageof thedesignprocessinvolves
thefollowing:
. Development
. Documentation
of hardwaresystems
development - preliminary
documentation
J
. Definition
of further
. Timeschedules
requirements
for projectimplementation
J
. Productlistsand specifications
. Costingdata
J
J
lmplementation The projectis implementedusing the designspecifications.The hardware
componentsare orderedand then constructed to form a system. A delivery J
datecan be estimated for the systemcompletion
sioningdrawnup. Priorto the systeminstallation,
and a schedulefor commis-
the system'sfunctionsmust J
be fullytested. This is important
The installation
and connection
to ensurethat on-sitework is not delayed.
processinvolvesthe mountingof controls,actuators,sensors
of serviceunits.The installation
mustbe fullycompleted prior
J
to any attemptto operatethe controlsystem. Once installation
is completed,
the commissioning stage is reached. When the functionaltest of all com-
ponentsis completed,the systemas a whole can be functionallychecked.
Finallyto ensurethe sequenceoperatesunderall conditions, the machine
must be cycledunderall of the expectedand specifiedoperatingconditions,
e.g.productfailure,emergency conditions,
manualcycle,autocycle,blockages
J
etc.The machineis not considered commissioned
havebeenpassedthroughthe machineunderproduction
untila quantityof products
conditions.
J
qnd -J
Evaluation Uponcompletion of the commissioning processthe finalresultis evaluated
The benefitsof improvedproduction
comparedto the originalspecification.
reducedcostswillbe apparent
and
if the machineor systemis properlymaintained.
J
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_
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52
-.t
-
Maintenance
is essentialtominimise
the systemdowntimes. Maintenance
s
13
qI
53
ChapterS
55
Thereare two primarymethodsfor constructing
circuitdiagrams:
. The so-calledintuitivemethods,alsofrequentlytermedconventional
or trial-
and-errormethods
. The methodicaldesignof a circuitdiagramin accordancewith prescribed
rulesand instructions
56
-l
Clamping
device
Solution
The controlvalve used for the singleactingcylinderis the 3/2 way valve.ln
this case,sincethe cylinderis of smallcapacity,the air consumption
is low and
the operationcan be directlycontrolledby a pushbutton3/2 way directional
controlvalvewith springreturn.
w
fromthe cylindervia the
exhaust3(R)port.
P
only workingelementor
actuatorin the circuit,it
is designated1.0. The
final controlelementthat
extends the cylinder is
designated 1.1.
57
5.3 ExercisE1: The Problem
Directcontrol of a A,double.acting cyrinderis to extendwhen a pushbutton
doubleacting is operated.Upon
releaseof the pushbutton
the cylinderis to retract.The cylinderis of smallbore
cylinder (25mmdiameter)requiringa smailfrowrateto
operateaithe correctspeed.
Exercise
Drawthe circuitdiagramfor
theproblem.
Designatethe valves and
indicatethe numbering
sys-
tem for the connections
(ports).
Describethe operationof
thecircuit.
P
W
W
Notes:
58
Circuitdiagram Question
What happens to the
cylinder,if the pushbutton
is
pressed for a very short
period,and is then immedi-
atelyreleased?
HJ@-F
Notes:
59
5.4 Indirectcontrol of a For controllingcylindersat high speedor of largediameter,the air flow re-
pneumaticcylinder quireddetermines whethera largersize controlvalveshouldbe used.The
operatingforce to actuatethe valve may be relativelylargeand in this case
indirectcontrolis preferable.
A similarsituationexistswhena cylinderoperates
at highspeed,and requiresa largevalvethat cannotbe directlyoperated.The
controlelementwill havea largeorificesize and flow rateand be operatedby
pilotair to assistopeningagainstthe switchingforce.This is indirectcontrol.
The supplyline can also be short,sincethe controlvalvecan be mounted
closeto the cylinder.Theotheradvantage is thatthe signalelement(i.e.push-
button3/2 valve)can be smallin size,sinceit onlyprovidesa signalto operate
the controlvalveand is not required Thissignal
to operatethe cylinderdirectly.
elementwillbe of smallersizeandhavea shorterswitching time.
Clampingdevice J
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60 J
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-
Solution
- In the initialposition,the singleactingcylinderis retractedand the control
\ valve1.1 is in the unactuated due to the springreturn.The pushbut-
position,
a
ton valveis in the springreturnpositionwith the connectionat 2(A) exhausted
to atmosphere. Therefore the onlyactivelinesare the 1(P)linesof the two 3/2
it way valves.
\-
t
The 312way pushbutton
\ Circuitdiagram
valve (1.2) opens the
t
1(P) air supply to the
hr\ 2(A) port and generates
a signalat the 12(Z)pilot
L\ port of the controlvalve.
t
The controlvalve 1.1 is
I
hr.r actuated against spring
lt
I
forceand the 1(P)lineis
h\ openedto the 2(A) port,
It
I
causingthe singleacting
b-
cylinderto extend.The
signalat the 12(Z) line
remainsas long as the
pushbutton is helddown,
and therefore the
cylinder remains ex-
tendeduntilthe pushbut-
ton is released.This is
an indirect pushbutton
controlof the cylinder.
61
5.6 Exercise2: The Problem
lndirectcontrolof a A doubleactingcylinderis to extendwhen a pushbutton
is operated.Upon
doubleacting releaseof the pushbutton
the cylinderis to retract.
cylinder
Thecylinderis 250mmdiameter
andconsumes
a largevolumeof air.
Positional
sketch
Exercise
Drawthe circuitdiagramtor
theproblem.
Designate thevalvesand in-
dicate the numberingsys- J
temfor the connections.
J
J
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J
Notes:
IJ
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62
Question
,
What happens to the
, cylinder,if the pushbutton
is
pressed for a very short
periodand is then immedi-
,
atelyreleased?
t Describethe operationof
thecircuit.
t
Notes:
63
F.esto:,Djdactic
Circuitdiagram
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Solution
The two pressurevalveis connectedto the junctionbetweenthe two 3/2 way
pushbutton valves.Upon operationof one of the pushbuttons, a signalis
generated at the X or Y sideof the two pressure valve. Thissignalis blocked
by the two pressure valve.lf the secondpushbutton is alsooperated,thenthe
two pressure valvewill produce a signalat port A which the
operates control
valve14(Z)pilotsignalagainstthe springreturnandthe cylinderextends.
J
64
J
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t
5
Ir
}
5
5
65
5.9 Exercise3: The Problem
The logicANDfunc-
tion; the two
pressurevalve
Exercise
Drawthe circuitdiagramfor
theproblem.
Designatethevalvesand in-
dicatethe numberingsys-
tem for the connections
(ports).
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Notes:
oo
fr
\.r
1,1
14(Z
a
\r,
ir
rt
r-
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5.10Example 4: The Problem
Thelogic OR function:
the shutile valve l9oybrg Sgting cyrinder
is to extendif one or bothof two pushbuttons
operated'
lf bothpushbuttonsarethenreleased, are
thecylinder
is to retract.
Solution
The shuttrevarveis connectedto the junction
buttonvarves.Uponoperation betweenthe two 3/2 way push_
of on"ditn" pushbuttons, a signaris generated
at the X or y side of the shuttrevatve.
inis signatpassesthioughthe shuttre
valve and is emittedat port A. This
*u"r.", the controrvarvevia pirotport
14(z), andthe cyrinderextends.Tne
conirotvarvecan oe a-itz wayor a 5/2
way valve and can be sized to suit
the.frow ,,"1.i"qrirJo-for the cyrinder
speed'lf bothof the signalsproducedui"
tn" pushbutt-o-|-u"i",are removed,
then the shurilevarvewirrreieasetni tilzl
pir"i .igrJ o"it"tnrough rhe ex_
haustport of one ot the *uy u"iu"r.
.3rz ihe returnspringin the controrvarve
.rrit:T:,tlg. ?/2 yuv-y?r,ve to the init[r ptsition.The ouilet2(B) is
tne outlet4(A)exhausted activewith
to atmosphere,'and the cyrinde'ar"E..
Conclusion
lf the cylinderis to retracton.reaching
its fuily extendedposition,roilerrimit
valvesshourdbe usedto confirmtn"t
il-.,i.positionhas beenreached.In addi_
tion,a memoryvarveshourdue titteJiol'i'n"
.ontrorof the cyrinder.
1.Et',
Circuitdiagram
t
t
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)
1(P ) 1.3
a
)
I
)
a
)
t
)
The rollerlimit switchgeneratesa signalwhichreversesthe controlvalve 1.1
L when the cylinderis fully extended.The rollerlimitswitch1.3 is a 312way
,
valvewith springreturn.This is definedas a stroke-dependent controlwhere
t the positionof the cylinderis confirmedby limitswitch.In this casethe push-
D
buttoncan be operatedfor a shortdurationand the cylinderwill fully extend.
I The 5/2 way memoryvalveretainsthe 14(Z)switchedpositionuntilthe revers-
D ing signalis receivedfrom rollerlimitswitch1.3. A furtherrefinement to the
\ op€rationof this cycleis to ensurethat the cylinderis fully retractedbeforethe
D pushbutton canextendthecylinder. Thisrequiresan additional limitswitch1.6.
a
- j Circuitdiagram
a
-
a
rl
D
b
D
ra
-
The additionof the two pressurevalve 1.10 and the rollerlimit switch1.6
i ensuresthatthe cylinderis fullyretracted
beforethe cylindercan be extended.
.l The conditions requiredto initiateextensionare eitherof the pushbuttonsin
additionto the cylinderin the retractedposition(1.6). Whenthe cylinderis
a extendedat position1.3,the cylinderretractseven if the pushbuttonsare still
ooerated sincethe limit1.6is inactive.
t
.
I 69
,
5.11Exercise4: The Problem
The logic OR func-
tion; the shutflevalve a magazine. lf eithera pushbuttonor a
r is to extend.Oncethe cylinderis fully
sition.A 312wayrollerlevervalveis to
re cylinder.
Exercise
Drawthe circuitdiagramfor
tneproblem.
Designate thevalvesand in_
dicate the numberingsys_
tem for the connections
(ports).
Notes:
70
W
Describethe operationof
thecircuit.
-
F:
-
hi
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5.12 Erample5: The Problem
Memorycircuit and speed The pistonrod of a doubleactingcylinderis to
extendwhena 3/2 way push-
control of a cylinder buttonvalveis actuated.
The cylinderis to remainextendeduntila secondpushbuttonis actuatedand
onlyif the firstpushbutton has beenreleased.
The cylinderis to thenreturnto the initialposition.
The cylinderis to remainin
the initialpositionuntil.a newstartsignalis given.The sfeed of the cylinderis
to be adjustablein bothdirections.
Solution
72
F
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\-
Circuit:412waycontrolvalve
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hr
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\,.
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D
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= 73
=
5.13 Exercise5: The Problem
Memorycircuitand
speedcontrol of a
cylinder
Exercise
Drawthe circuitdiagramfor
theproblem.
Designate thevalvesand in-
dicate the numberingsys-
tem for the connections
(ports).
Notes:
74
lr
:
t
:
\
\ diagram Questions
f
S
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:
ll'lotes:
:
=
{l
=
a
D
-
a
I
a
!
!
a
a
-
t 75
5.14Exercise6: The Problem
Thequlckexhaust The operationof two identicalpushbuttonvalvesadvancesa formingtool on
valve an edge foldingdevice.For rapid forwardtravel,the circuitutilisesa quick
exhaustvalve.
The forwardmovementfoldsthe edgeof a flat sheet.lf eitherof the two push-
buttonsare released,the doubleactingcylinderis to returnslowlyto the initial
position.
Exercise
Positional
sketch
Drawthe circuitdiagramfor
theproblem.
Designate the valvesand in-
dicate the numberingsys-
tem for the connections
(ports).
Notes:
76
Describethe operationof
the circuit
5.15Example7: The Problem
Pressuredependent A plasticcomponentis embossedusing a die drivenby a doubleacting
control;embossingof cylinder.The die is to advanceand embossthe plasticwhena pushbutton is
plasticcomponents operated.The returnof the die is to be effectedwhen a presetpressureis
reached.Theembossing pressure
is to be adjustable.
of plasticcomponents
Embossing
Solution
Ihe 5/2 way memoryvalveas fittedmay not be in the correctposition.lf the
cylinderextendswhenthe air supplyis turnedon, it is incorrectto reversethe
connections on the 512way valve.Instead,the circuitshouldbe placedin the
correctinitialpositionby operating
the manualoverrides on the 5l2wayvalve.
7B
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IJ
IJ
lf the pressuresensing. line from the junctionof the pressuregaugeto the
sequencevalve is too lo.ng,it is possiblethat the sequencevilve-may
not
switchcorrectly. lf the cylinderencounters any resistance to motionourini tne
L thisadditional condition.
L-
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t-.
l.-.
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t:
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79
5.16Exercise7: The Problem
Pressuredependent A plasticcomponentis embossedusing a die poweredby a doubleacting
control;embossing cylinder.The die is to advanceand embossthe plasticwhena pushbutton is
of plasticcom- operated. The returnof the die is to be effected
whenthe cylinderrod hasfully
ponents extendedto the embossingpositionand the presetpressureis reached.A
rollerlimitvalveis to be usedto confirmfull extension.
The cylinderis thento
retract.Thepressure in the pistonchamberis indicated
on a pressurbgauge.
Exercise Positional
sketch
Drawthe circuitdiagramfor
theoroblem.
Designate the valvesand in-
dicate the numberingsys-
tem for the connections
(ports). 1. 0
Notes:
80
Circuitdiagram Describethe operation
thecircuit.
r ruJ.
-
B1
5.17 Example8: The Problem
The time delay valve A doubleactingcylinderis usedto presstogethergluedcomponents. Upon
operation of a pushbutton,
theclamping cylinderextendsandtripsa rollerlever
valve.
Oncethe fullyextended positionis reached,the cylinderis to remainfor a time
of T= 6 secondsandthenimmediately retractto the initialposition.
A newstart
cycleis onlypossibleafterthe cylinderhasfullyretracted. The cylinderexten-
sionis to be slowandthe retractionadjustablebut relativelyfast.
process
Cementing
J
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82
l:-.--
ilh-
\ Solution
-
- lnitiallythe cylindershouldbe at the restpositionbut this is dependent
on the
\ positionof the 5/2 way valve 1.1. This memoryvalve must be positioned
a
manually to ensurethatthe cylinderwillbe retracted
initially.
\r
- Circuitdiagram
)
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-
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,
\,\
,
-
-
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=
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:
-^e startconditionsfor the extensionof the doubleactingcylinder 1.0arethe
-: :c<nowledgement position
of the retracted (rollerlimit1.4)andtheoperation of
:-e startbutton1.2.TheoutputsignalA at thetwo pressure valve1.6pilotsthe
: 2 ',vaymemoryvalve.The signal4(A)extendsthe cylinderwiththe flowcon-
re - ,'alve1.02 (exhaustthrottling)
:'i settingthe speed.The limitswitch1.4 is
::-aciivatedand therefore,evenif the startbuttonis stillheldon, the signalat
' : Z s exhausted by the removalof the limitswitchsignal.
=
="e cylinderreachesthe limitswitch1.3 and produces a pilotsignalfor the
= : -e delay valve 1.5.Thetimedelayvalveis normally closedand onlyopens
::r 2iA) when the presettime, as determined by the adjustable throttle,is
-l -:acred. The air reservoirin the time delay valve fills, and a pressureis
-eacnedthat is sufficient to operatethe valveagainstthe springreturn.A sig-
r-
-3 s produced6 secondsafterthe limitswitch1.3 is operated,and a pilot
s Jral is sentto the 5/2 way valveport 12(Y).The 512way valveswitchesto
-l :-3 nitialpositionwith 2(B) now activeand 4(A) exhausted. The air to the
:-, rcer is suppliedto the returnsideandthe returnspeedis adjustable via the
,a','e1 01.The rollerlimitvalve1.3is de-activated and the pilotsignalto the
:-er is cut-off,therebyremoving the 12(Y)signalfromthe 512way valve.The
-
:r nderretractsto the limitvalve1.4.A new startsignalcan nowoccurwhen
:-; slartbuttonis pressed, sincethe rollervalve1.4is actuated.
-:
rf
\ 83
t
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a
5.18Exercise8: The Problem
Thetime delayvalve A doubleactingcylinderis usedto presstogethergluedcomponents. Upon
operation of a pushbutton,the clamping cylinderextendsandtripsa rollerlever
valve.
Oncethe fullyextended positionis reached, the cylinderis to remainfor a time
of T= 6 secondsand then immediatelyretractto the initialposition. A new
start cycle is only possibleafter the cylinderhas fully retractedand after a
delayof 5 seconds.Duringthis delaythe finishedpart is manuallyremoved
and replacedwith new partsfor gluing.The cylinderextensionis to be slow
andthe retraction adjustable,but relativelyfast.
Exercise
Positional
sketch
Drawthe circuitdiagramfor
theproblem.
Designate thevalvesandin-
dicate the numberingsys-
tem for the connections
(ports).
Notes:
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84
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Circuitdiagram Describethe operationof
thecircuit.
85
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-
Ghapter6
Development of multiple
L
L
actuatorcircuits
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6.1 Controlof multiple In the case of multiplecylindercircuits,a clear definitionof the problemis
actuators important.The representationof the desired motion of all actuatorsis
describedusingthe displacement-step diagram.The specialconditionsfor the
startof the sequencemustalsobe defined.
Anothermethodical
approachtowardsproducinga circuitdiagramis alsocalled
the "Cascade
Method".
Examples
followwhichshouldensurean understanding
of the methodsused.
88
\
Transferof parts
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IJ
Displacement-step
diagram
L
L
89
Circuitdiagram
1.0 l .J
J
J
Solution
The circuitfor thissequential taskis dependent on rolleroperatedlimitvalves.
The startconditions for the controlare that cylinder1.0 is retractedand the
start button is operated.The processcan be brokendown into steps and
shownon the displacement-step diagram.Whenlookingat the placement of
the rollervalves,the currentactionandthenreactionmustbe analysed. These
will determinethe valvepositioning. The sequenceof the actuatorscan be
described by:
. Valves1.2and1.4 1.0extend
+ Cylinder
J
.
.
Yalve2.2
Valve1.3
2.0extend
= Cylinder
=+Cylinder1.0retract J
. Valve2.3 2.0 retract
+ Cylinder
J
J
J
90
When cylinder1.0 extendsa limit switch is operated. This must have the
effectof advancingcylinder2.0, thereforeit is designatedas valve2.2 (even
number2 for forwardmotionon cylinder2) and is connectedto the 14(Z)port
of the 512way valve 2.1. Next,cylinder2.0 extends,and the reactionis the
operationof the forwardlimit valve which causescylinder1.0 to retractand
hencethe valveis designated1.3 (oddnumber3 for returnmotionon cylinder
1) and connectsto the 12(Y)port of valve1.1.The next reactionis that the
limit switch at the retractedpositionof cylinder1.0 operatesand this must
returncylinder2.0. Thereforethis valveis designated2.3 and is connectedto
the 12(Y)portof the 512way valve2.1. The cylinder2.0 retractsand operates
the rear limit switchon cylinder2.0. The end of the cycle is confirmed.To
obtaina new start,valve 1.1 must receivea signalat the 14(Z)port from a
logicalcombination of the startbuttonand the limitvalvedesignated1.4.
s
+
I
It
tt
t
ti
91
6.3 Example10: The Problem
Signaloverlap In co-ordinatedmotioncontrol,the 5/2way memoryvalvecan onlyswitchposi-
tionswhena singlepilotsignalis present.lf two signalsare operatedsimul-
taneously,i.e.bothpilotsignalson the 512wayvalveare active,a signalover-
lapproblemoccurs.
Thereare variousmethodsof solvingthe problem,but firstlythe overlapmust
be identified.
Displacement-step
diagram
1
1.0 {
0
1
--l
2.0
0
-l
J
J
Circuitdiagram:
signaloverlapcircuit
J
1.O2 2.02
J
J
92
F
L
L
Solution
Forthe controldiagram,the signaloverlapcan be identified
by lookingat the
pilotsignals
on boththefinalcontrol
valves1.1and2.1.
Circuitdiagram
L
L
L
L
l_
l-.
l-.
l-.
l-.
l_- 93
IJ
6.4 Signaleliminationby Signalelimination by meansof a reversing valveis a frequently usedsolution.
reversingvalves Usingthis method,savingscan be madein cuttingotf severalsignalsfrom
individualreversingvalves.The methodis relativelyreliablein operation.This
basicidea is to allowthe signalto be activeonly for as long as is requiredto
switchthe memoryvalves.This is achievedby blockingthe signaldownstream
of the signalelementby meansof a reversing valve,i.e.by supplying energy
to the signalelementonly when the signalis required.An impulsevalveis
usedto effectthe reversal.The maindifficultylies in the selectionof the cor-
rectsignalsfor the reversingvalve.
Solution
Referringto the circuitopposite,the reversingvalve0.3 activatesline 51 and
52 consecutively and createsa situationwherethe signalscan neveroverlap
at the memoryvalves1.1and2.1.
Initially
the valve1.4is activesincecylind",t.O is retracted.
Rollervalve1.3is
operatedand initiallyfed with supplyfrom the line (S2),which is still active
from the end of the cycle.Thereforebeforethe manualvalve 1.2 is pressed,
the cylinder1.0 is heldretracteddue to the signalfromline 52 on the 12(Y)
portof thevalve2.1.
94
Festo Didactic
2.2
I 2.3
I
Dgvglopqrgnt,
qJ,mqltiplq actualor,
J
J
Displacement-step
diagram
96
1.3
I 2.3
I
S1
S2
S3
b
b
:t1
Developmentof multipleactuatorcircuits ,f
98
!
Chapter7
Trouble-shooting
of pneumaticsysterns
99
Faultdiagnosis Fromthe time that energyis suppliedto the controlsystem,faultdiagnosis
becomesan importantpart of the processto reducecommissioning time and
downtimein the operationof a system.
prior to
Faultdiagnosisinvolvesa numberof distinctstagesof identification
solvingthe problem.Faultsgenerallyoccureither:
. Dueto externalfailureof the machinecomponents
or due to stoppages
. failureswithinthe controlsystem.
Internal
Trouble-shooting
: whatcan In the case of systemfailure,actionmust be taken by the end-userof the
we expectto achieve? system.The actionto be takenis dependenton the complexityof the required
repairwork. lf the problemis relativelysimple,the work will be carriedout
immediately. Wheremorecomplexrepairsare required, servicepersonnel will
be calledin.
100
I
b
i-
3
rr
\
F 7.1 Documentatlon
of a pneumaticsystemcomprisesthe following:
The documentation
. Clearsystemlayoutdiagramwith labelledvalvesand lines
. Circuitdiagram
. Listof components
. Component datasheets
. Displacement-stepdiagram
. Operatinginstructions
. lnstallation
and maintenance manuals
. Listof sparepartsfor criticalitems
\
U
\ The documentation shouldbe suppliedwhenthe pneumaticsystemis installed
! or delivered.Whenthe systemis modified,the documentation
and the machine
I
historyshouldbe updatedto reflectany changes.This is to ensurethat the
potentialusersand maintenance engineershaveavailablethe currentstatusof
the machine.
ln general,malfunctions
of a systemfall intothe followingcategories: 7.2 The causes and effects
of malfunctlons
. Wear and tear on componentsand lines which can be acceleratedby
influences:
environmental
. Qualityof compressed air
. Relativemotionof components
. Incorrectloadingof components
. In@rreclmaintenance
. Incorrectmountingand connection(i.e.signallinesare too long)
1n'
Preventive
maintenance Eventhe most intensivemaintenance is of little use when the systemincor-
poratesa designor planningerror or is incorrectlyinstalled.This leads to
damagewhichis characterised in the courseof time by prematurewear and
failureof components.Carefulplanning,evenif this costsa littlemorein some
cases,can considerablyreducethe frequencyof malfunctions and thus failure
and downtime.lmportantpreventive measuresinclude:
. Selectionof the appropriatecomponentsand signal generators.They
shouldbe adjustedto suit the environmental conditionsof
and operational
the system(e.9.switchingfrequency, heavyloads)
. Protectionof components againstcontamination
. Mechanical absorptionof the actuatingforcesthroughadditionalshockab-
sorbers
. Shortlinelengths,fittedwith amplifiers
wherenecessary
102
I
-
I
la
-
t It frequentlyoccursthat sectionsof pneumaticsystemsare extendedwithout Malfunctions causedby
,
enlargingthe necessary air supply.Dependingon the sequence and designof under-sized
air supply
b the plantsection,malfunctions then occurnot continuously but sporadically,
t
withthe resultthatfault-finding
is madeincreasingly
ditficult.
t
Possibleeffects:
t
The pistonrod speedis not alwayscorrect,sincethe actuationof additional
2
components can causesuddenpressuredrops.
The force at the powercylinderdropsfor a short time duringa pressure
drop.
:t
:t
= 133
7.3 Maintenance For pneumaticsystemsthe followingregularmaintenance
routinesare recom-
mended:
routines
Plannedmaintenance Daily:
Draincondensate from the filtersif the air has a highwatercontentand if no
automaticcondensatedrainagehas been provided. With large reservoirs,a
water separatorwith automaticdrain shouldbe fitted as a generalprinciple.
Weekly:
Checksignalgenerators for possibledepositsof dirt or swarf. Checkthe pres-
sure gaugeof the pressureregulators.Checkthat the lubricatoris fundioning
correctly,
Every3 months:
Checkthe sealsof the connectors for leaks. lf necessary,re-tightenthe con-
nectors.Replacelinesconnectedto movingparts. Checkthe exhaustportsof
the valvesfor leaks. Cleanfilterca(ridgeswith soapywater(do not use sol-
vents)and blowthemout with compressed air in the reverseof the normalflow
direction.
Every6 months:
Checkthe rod bearingsin the cylindersfor wear and replaceif necessary.
Alsoreplacethe scraperand sealingrings.
104
Section
Theory
Chapter1
Fundamentals
of pneumatics
1.1 Physicalpropertiesof alr The surfaceof the globeis entirelycoveredby a mantleof air. lt is an abun-
dantgas mixturewiththe followingcomposition:
. Nitrogenapprox.78 vol."/"
. Oxygen approx.21 vol.Y"
It alsocontainstracesof.carbondioxide,argon,hydrogen,neon,helium,kryp-
ton andxenon.
BaseQuantities
DerivedQuantities
The international
andtechnicalsystemsof unitsare linkedby :
108
l-
r-
Sinceeverythingon earth is subjectedto the absoluteatmospheric pressure
(p"t), this pressurecannot be felt. The prevailingatmosphericpressureis
thereforeregardedas the baseand any deviationis termed:
GaugePressure = pg
or
Vacuum =Pv
Thisis illustrated
bythefollowing
diagram
:
Air pressur:e.
relationship
IJ
lj
kPa (bar)
Pat
pl bar
f--
l,-.
109
of pneumatics Festo Didaetic
1.2 Characteristics
of air shape. lts shapechangeswith
In commonwithall gases,air has no particular
resistance,'i.e.
the slightest Air can
it assumesthe shapeof its surroundings.
be compressed andit endeavours to expand.
law:pressure
Boyle- Mariotte's andvolumerelationship
V1 V3
p1 p3
the aboveprinciples.
exampleillustrates
Thefollowing
Example
calculation pressureis compressed
Air at atmospheric by an air compressorto 1i7ththe
volume.Whatis the gaugepressureof the air assuminga constanttempera-
tureprocess:
pr .Vr =pz.Vz
110
rl
F
!!'
I
5
The allocationof a controlsystemto one of the threecontroltypesis depend- 1.3 Gontroltheory
efit on the task involved.ln the caseof the programcontrolsystem,the plan-
ner hasthe choicebetweenthe threesub-groups for programcontrol.
ControlsystemprocessingtYPes
E3 Tlrr: (schedule)control
hr a time (schedule)controlsystem,the commandvaluesare suppliedby a
tinedependentprogramgenerator(DlN 19226\.Characteristics of a timing
cofthd systemare,thus,the existenceof a programgeneratorand a time-de'
pendentprogramsequence.Programgeneratorsmay be :
. Cam shafts
. Gatns
. hrncfied cards
. Punchedtape
. Programsin an electronicmemory
111
Sequencecontrol system
The sequenceprogramis storedin a programgeneratorwhichrunsthrough
the programstep-by-stepaccordingto the statusattainedby the systembeing
Thisprogrammayeitherbe permanently
controlled. installed
or elsereadfrom
punchedcards,magnetic tapesor othersuitablememories .
icationin accordance
Classif Analoguecontrol system
withthe signaltype A controlsystemwhichoperatespredominantly
with analoguesignalswithin
the signalprocessing
section(DlN19237).
Digitalcontrol system
A controlsystemwhichoperateschieflyusingnumerical
digitalsignalswithin
the signalprocessingsection(DlN19237).
Binarycontrol system
A controlsystemwhichoperatespredominantlywith binarysignalswithinthe
signalprocessingsectionand wherethe signalsare not part of numerically
representeddata(DlN 19237).
Controlsystemsignals
----? Tims
Digitalsignal Binarysignal
112
The classificationof control systemsaccordingto the type of data repre- Classificationaccordingto the
sentationis of a moretheoreticalnatureand is independent of the methodof typeof signalprocessing
solution.Moresuitablefor practiceis the classification
accordingto the typeof
signalprocessingsinceit givesinformation aboutthe methodof solutionto be
chosen.
Controlsystemtypes
ne.Cependent
A sequencecontrolsystemwhoseswitchingconditionsare dependentonly on
$qnab fromthe systembeingcontrolled(DlN 19237).
113
Signalflowandthecontrol The controllercan be Controlchain
chain representedas a self-
containedblock, which
can be brokendown fur-
ther. A controlcan al- A CT UA T I NG DE V I CE S
ways be broken down
into the blocksto show
the arrangementof the F in o l c o n t ro l e le me n t s
individual components.
At the same time, this
showsthe signalflow.
P RO CE S S I NG E L E ME NT S
I NP UTE L T ME NT S
S I G NA LF L O W
S I G NA LI NP UT
HA RDWA RE
B RE A K DO W N
114
,.iFitf
iidHffi:€iiidffitfur-rduiiiAti
es' ' 'Fd$t8'oliactic
tEr
l1i-1
I Thefollowingdiagramshowssomeexamples
of the assignment
of devicesand
signalflow:
l
)
I
)
S',vit
ches Switches
r.; shbutton s Pushbutton s
-'rrit switches Limit switches
)-aaram
w9r ur rr aanaralnrc
Ysr r9r u Lvr o
Input elements Progrom generotors
='cximity signcllers Proximity signollers
Sersors Indicotors
Generotor
'
'
'
:
115
Example
Circuitdiagram
Actuator
Finalcontrol
element
Signalprocessor
Signalinput
(sensors)
J
Energy.supply
(source) J
116
=
\
-
- Chapter2
\
a
\
D
\ Air generation
and distribution
-
\
D
\r
-
\rr
-
\i
f
\-D
--D
=u
-
5
\r
-
\
D
-
ra
-
ra
-
rl
rt
ra
\-
\i
For the continuing performance of controlsystemsand workingelementsit is
necessary to guarantee that the air supplyis clean,dry and at the required
pressure.lf these conditionsare not fulfilled,then short to mediumterm
degeneration of the systemwill be accelerated. The effectis downtimeon the
machinery in addition to increased costsfor repairor replacementof parts.The
preparation of the air startsfrom the point of generation and can be con-
taminated by manypotential pointsin the systemrightup to the pointof use.
Thereis no use in preparing goodqualityair and thenallowingincorrect com-
ponentselection to reducethe quality.The_ sqglpment to be Qo,nSi-d-ered
in lhe
generationandpreparation
tu of air include:
. Air comoressor
. Air receiver
. Air filter
. Air dryer
. Air lubricator
. Pressure regulator
. Drainage points
. Oilseparators J
The locationand typeof compressor influencesto a greateror lesserdegree
the amountof particles,oil andwaterthat is takenin or suppliedto a system.
The compressed air shouldthereforebe properlypreparedto preventmal-
functioning
of the consuming deviceswhichareconnected to it.
Pressure
level As a rule, pneumaticconsumingdevicessuch as cylindersand valvesare
designed for a maximumoperating pressureof 8-10bar. Practicalexperience
has shown,however,that approximately 6 bar shouldbe usedfor economic
operation.The purchasepriceof the compressor system,the efficiency
and
wearof the cylinders and valvesand the installationcostsfor the pipesystem
are at theirmostfavourable in this range. Pressurelossesof between0.1 and
0.5 bar mustbe expecteddue to the restrictions, bends,leaksand pipe-runs,
depending on the size of the pipingsystemand the methodof layout. The
compressor's systemshouldprovideat least6.5 to 7 bar for a desiredoperat-
ingpressure levelof 6 bar.
118
rl
-
f-
: l-!Ltn"pis-thedanger andfluctuating
of sudden consumption,
a coffiressed
air
\, receivercan be installedto stabilisethe pressurein the compressed air net-
t work' In normaloperation, this receiveris filledby the compressor,
with the
\ resultthat a reserveis availableat all times. This also makesit possibleto -
a reducethe switchingfrequency of the compressor.
\
a Characteristicvaluesof consumptionshouldbe determined for large-size factor
com- Utilisation
\ pressorsaccording to normal,mediumand peak loads. Practicehas shown
D
that with a varyingair consumption
severalindividualcompressors can be put
rr to use moreeffectivelythan one largecompressor.An approximate valueof
75% shouldbe takenas the utilisation
factorto be aimedfor with mediumload
-
\r operation.ln orderto makethe correctselection,it is vitalto havea list of all
, the consumingdevicesconnectedto the compressed air networktogetherwith
\i their averageand maximumair consumption, duty cycle and frequencyof
, ooeration.
\r
, The atmospheric air takenin by the compressoralwayscontainsa proportion Whydrycompressed
air?
\ of moisturein the form of watervapour. The higherthe air temperature, the
greaterthe quantityof watervapourwhich it can take up, expressedin % of
-
relativehumidity. lf the saturationpoint of 100% is reached,the water is
precipitatedin the form of droplets. The effectsof this processcan be ex-
- plainedby meansol an example:
-r
i0% humidity)compresses
Beforecompression, the
;aturatedcontentfor 20oC
- r takesup 85 g/h of water.
-
\ outletthe air is saturatedand contains51 g/m" of water.
At the compressor
- Aftercompression,
thetemperature risesto 4OoC.
\ D
119
\--
2.1 Air compressor The selectionfrom the varioustypesof compressors availableis dependent
upon quantityof air, pressure,qualityand cleanliness
and how dry the air
shouldbe. Thereare varyinglevelsof thesecriteriadependingon the typeof
compressor.
Compressor
types
Reciprocating
piston Reciprocatingcompressorsare very commonand providea wide range of
compressor pressures and deliveryrates. For higherpressures
multistage
compression
is
usedwith intercooling
betweeneachstageof compression.
up to 1200kPa(12barl174psi) Singlestage
up to 3000kPa(30bar/435psi) Doublestage
up to 22000kPa(220barl3190psi) Trebleor multistage
120
The diaphragmcompressoris used whereoil is to be excludedfrom the air Diaphragm
compressor
supply,for examplein the food,pharmaceuticaland chemicalindustries.
Here
thereis no needfor lubrication
in the compression
area.
Air receiver
Temperature
Pressure gauge
gauge- \
Pressurerelief
valve
zlHF.
('ltlh)
Air
receiver
Waterdrain
121
\
Air receiversize \
Air receiversizechart
\
Switchingcycles/h
\-
-
i,
:
.& 5
@
o
:
o
(,
o
:
1
a
0,6
a
s
rl
al
ta
\
-
al
\-
al
PressuredifferenceA p 102kpa \-
(bar/14.5psi)
Example \-
Delivery
volume V = 20 m3/min
Switchingcyclesper hour z'=20
Pressuredrop A P = 1x lo s p a
Result:
Receiversize V=15m3(referto the chart)
122
-
-
\
- Waterproducesa hardeningof seals,corrosionand the washing-out of the 2.3 Air dryers
hr originallubrication
of cylinders.Oil andwatermaycausesealsanddiaphragms
J
to swell.In paint-spraying plants,waterand dust causecontamination, poor
\ paintadhesionand the formation of blisters.In the food,pharmaceutical
and
t
chemicalindustries,oil, dirt,bacteriaand germsdestroythe storageproperties
\ of oroducts.
t
\ . Lowtemperaturedrying
t . Adsorption
drying
\,r
. Absorption
drying
t
lihe additional
costof installing
air dryingequipment
can be amortised
overa
t
short pay-back perioddue to the reductionin maintenancecosts,_red!'ced
\ oowntime andincreased reliability
oiTneiystem.
C
Lc''vtemperature
drying
-\a A ir o u t le t t
ffi ll
-
- inle t
j =:-'n o ra l inn r r nil
Hani ew nh
'"^nnar
" Y" '
-
-rq
--
Qaf- ina.nnl
rt'
-
-3
-.q
DewPoint:
The dew pointtemperature
is the temperature to whicha gas mustbe cooled
to condense
watervapourcontained in the gas.
Adsorption
dryers The lowestequivalentdew points(downto -gOoC)can be achievedby means
of adsorptiondrying. In this process,the compressed air is passedthrougha
gel and the wateris depositedon the surface,i.e., it is adsorbed.(Adsorb:
wateris deposited on the surfaceof solids.) The dryingagentis a granular
materialof sharp-edged shapeor in beadform. This dryingagentconsists
almostentirelyof silicondioxide.
Adsorption
drying
Moist oir
I f ., \
Adsorber 1 Adsorber 2
Ho t o ir ' 1
L-_
l
I
L--
I
b--
t
!
outl et
L
-\
Condensote
-
- Condensote
-:
-
- 125
ta
2.4 Air serviceequipment As a rulethe compressed air whichis generated shouldbe dry, i.e..freeof oil.
For somecomponents lubricated air is damaging, for others,it is undesir,able,
but for powercomponents it may in certaincasesbe necessary.Lubrication of
the compressed air shouldthereforealwaysbe limitedto the plantsections
which requirelubrication.For this purpose,mist lubricatorsare fittedto feed
the compressed air withspecially selectedoils. Oilswhichare introduced into
'the air fromthe compressor are not suitablefor the lubrication of controlsys-
iemcomponents.
Theproblems
thatoccurluithexcessive
lubrication
include:
. Malfunctions dueto excessively lubricated
components
. Oil mistpollutionof the environment
. Gumming-up of paftsoccursafterlengthyplantstandstills
. Difficulties
in adjusting the lubricator
correctly.
Despitetheseproblems,lubrication
of the compressed
air by meansof mist
lubricators
maybe necessaryin certaincases:
. Whereextremely rapidoscillating
motionsare required
. Withcylindersof laigediametei,from approximately 125mmupwards.As
far as possiblelubricators
shouldbe installed onlydirectlyupstreamof the
consuming cylinders.
;
I Theselection of the correctsizeof lubricatoris determined
by the air consump-
tion of the cylinders, sinceall lubricatorsrequirea minimumvolumetric flow
beforethey beginto deliveroil (checkthe responsethreshold).This means
that if the lubricator is sizedtoo large,it may undercertaincircumstances be
i- whilejf it is too small,leikageaiiwhichmaybe presentcan cause
11gffective,
the lubricator to dry out duringidle periodF.As a generalprinciplecylinders
with heat-resistant sealsmustnot be suppliedwith lubricated compresiedair,
sincethe specialgreasewhichformsthe originallubrication wouldbe washed
out.
126
Air generationand dislribution F+sio Didactic
t
Viaduct
D ri pc h a m b e r
Valverestriction
-
-
a
ta
Check rralve
t
-
t
,
\r
-t
\a
rrr
Lubricator
= F i l te ru n i t
ra
-l
-t
r-
-
127
-
Removingoil Up to a few yearsago, the generalview was that the oil discharged by the
compressor couldbe usedas a lubricant for the powercomponents.Now it
has beenrecognised that this is not the case. As the levelof heatproducedin
the compressor is very high, the oil is carbonisedand the oil vapourex-
hausted.Thisleadsto an abrasiveactionon cylindersand valves,and service
is considerably
reduced.
pointsshouldbe observed
Thefollowing practice:
in everyday
. As far as possiblecompressor oils shouldbe prevented fromenteringthe
compressed-air network(oilseparators shouldbe fitted)
. For operationfit componentswhich can also operatewith non-lubricated
compressed air
. Oncea systemhas beenoperatedand run-inwith oil, the lubrication must
be continued sincethe originallubrication
of the components will havebeen
flushedawayby the oil.
128
l\
Air generationand distribution Festo Didactic
L-
t--
L-_
ta
I
\
t-
i.
\.r
Pressure
\ Regulator
-
\-
-
-
Lubricator
-
\
F,tte'.
rnit
-
DrainScrew
--:
-
ffi
The compressed air passesthroughthe filter from left to right and is fed
througha baffleplatein the filterbowl. The effectof the baffleplateis that the
air is causedto rotate,and the heavierdust particlesand waterdropletsare
spunby centrifugal forceagainstthe innerwall of the filterbowl. They then
run downthe wall of the housingand collectin the filterbowl, The air which
hasbeenpre-cleaned in thiswaythenpassesthroughthe filterelement, which
filtersoutthe smallerdirtparticles.Thefilterelementin thiscaseconsistsof a
highly-porous sinteredmaterial. The degreeof separation dependson the
poresize of the filterelementused. Insertswith differentporesizesare avail-
able. Theusualporesizesarebetween5 micronsand40 microns.
Compressed
airregulators The compressed air generatedby the compressor will fluctuate.Centrallylo-
cated regulatorsfittedto the compressedair networkensurethat there is a
constantsupplypressure(secondary pressure)irrespective of the pressure
in the mainloop(primary
fluctuations pressure).
130
A constantpressurelevelis ihus a prerequisite for the trouble{reeoperationof
a pneumaticcontrol.[_[ ord9,1to provideconstantp-re9su-fe_cgndltio-ns, the
pressurereduceror pressureregulatoris fitteddownstream of the compressed
air filter and has the task of keepingthe-operating pressureconstant-rggard-_
less of pressurefluctuations in the system.The air pressure
or air consumptign.
shouldbe matchedto individual requirements
upstream of eachplantsection.
!3
!3 t hole
rI
t
The principleof operationis as follows:
T
I
:- 13'
L-
-
Whenair consumption increases,
the operatingpressuredropsand the spring
forceopensthe valve. Regulation of the presetoutputpressureis thusa con-
tinual openingand closingof the valve seat. To preventthe occurrenceof
flutter,air or springclampingis providedabovethe valvedisc. The operation
pressure is indicatedon a gauge.
Pressureregulator
without Pressureregulatingval- Pressure
regulator:
non-relieving
venthole ves withno ventholeare
available commercially.
With these valves it is
not possibleto exhaust
the excessive com-
pressedair producedby
suddenloads,
lf no air is drawnoff on
the secondaryside, the J
pressurerisesand pres-
ses the diaphragm
J
againstthe compression
spring. Thus,the com-
pression spring moves
the plungerdownwards
and the flow of air is
closedoff at the sealing
seat. The compressed
air can continueto flow
only when air is drawn
off on the secondary
side.
132
serviceunit: of operation Air serviceunit
Air serviceunitsymbols
133
Maintenance
of air serviceunits Thefollowing
routineservicemeasures
are necessary
on a regularbasis.
. Compressed air filter: The condensate levelmustbe checkedregularly,as
the heightspecified on the sightglassmustnotbe exceeded.Theaccumu-
lated condensatecould othenruise be drawn into the compressedair
pipelines. The drainscrewon the bowl mustbe openedto drainthe con-
densate.The filtercartridgein the filtermustalsobe cleanedif it is dirty.
. Compressedair regulator: This requires no servicing,providedit is
preceded by a compressed airfilter.
. Compressed air lubricator : lf fittedcheckthe oil levelin the sightglassand
top up, if necessary, to the levelindicated.The plasticfilterand lubricator
bowl mustnot be cleanedwith trichloroethylene. Only mineraloils may be
usedfor the lubricator.
134
ffiiqffi, $
1-2% gradient
Reservoir
within
l a pneumatic
system
rysE i"";',1?iffi"s
! Int6rmediate
reservoir
for !
severalconsuming devices
Condensatecollector
tank
i
I
! r;.ai from correctsizingof the pipingand the qualityof the pipe material,
:,:-ect pipelayoutis the decisivefactorin determining the economic operation
! :' :e compressed-air system.Compressed air is fed intothe systemat inter-
, a s cy the compressor.lt is oftenthe casethat consumption at consuming
l :E.,3esrisesfor onlya shorttime. Thismayleadto unfavourable conditions
in
l
:-+ ccmpressed-air network. lt is thereforerecommended that the com-
) :r:s.sed-airnetworkshouldbe producedin the form of a ring main. A ring
-1 - ensureslargelyconstant pressure conditions.
)
:-:ssure fluctuations
in the networkmakeit necessaryto ensurethatthe pipes
) a-: rounted securelyin orderto avoidleakagesat screwedand brazedcon-
E--Jr t 5.
i
t
I
I
I 135
Air ringmain
Production
plont
P roduct io n
pronr
136
B
:
t
t
r5
h
,D
D
Directionalcontrolvafves
ID
-
\,
U
\"
D
\,
t
tU
\
D
a
b
\
U
a
it
!
!
q
t
q
-
+
J
IJ
a
I
-
aa
Directional controlvalvesare deviceswhichinfluencethe pathtakenby an air
stream.Normallythis involvesone or all of the following:allowingthe passage
of air anddirecting it to particular
air lines,cancelling air signalsas required
by
blockingtheir passage and/orrelievingthe air to atmospherevia an exhaust
port.The directionalcontrolvalveis characterised by its numberof controlled
connections or waysand by the numberof switching positions.Additionalintor-
mationis given to define the methodsof actuationto achievethe various
switchingpositions.The construction of the valveis importantwhen analysing
the flowcharacteristics of the valvesuchas the flow rate,pressurelosses,and
switchingtimesfor a particularapplication. Generallythe symbolis adequateto
representthe operationalcharacteristics of the valve in comparisonto other
elements in the circuil.The samesymbolfor a directional controlvalvemaybe
applicable for manydesigns,construction methodsand characteristics.
Designsare categorised
as follows:
. Poppetvalves:
- Ballseatvalve
- Discseatvalve
. Slidevalves: '
- Longitudinal
slidevalve
- Longitudinalflat
slidevalve
- PlateslidevalvO
3.2 2l?way valve The 212way valvehas two portsand two positionS.lt is rarelyusedexceptas
an on-offvalve,sinceits only functionis to enablesignalflow throughand
oncein the closedposition.
cannotreleasethe air to atmosphere
138
Directionalcontrol valves Festo Didactic
-
-
Tirs J,2 way valve is a srgnalgeneratrng valve,with the charactei-isiic
that a 1l.J J,2 'r,ravralve
\
- sicnai on the outputside of the valve can be generatedand also cancelled
way valve has three portsand t'ryopositronsThe additionof the ex
h\ -ne 3,2
J
^aLsi port 3(R) enablesthe signalgeneratedvia the passagethroughthe 3r2
..jayvalve to be cancelledThe valve connectsthe outputsrgnal2(A; to ex'
-a
, ^.r.st 3(R)and atrnosphei-ein the initialposition.
\
J
3 2 way valve:ballseat
\
a
-
!-
i'-
II
lr-
t-
lh-
139
a singleactingcylinder
3/2 wayvalvecontrolling
\
1
\
1.0 ta
\
140
\
--e valve shown here is constructedon the disc seat principle.The sealingis
s ltole but effective.The responsetime is short and a small movementresults
- a large cross-sectional area being availablefor air flow. Like the ball seat
.a\/es. they are insensitiveto dirt and thus have a long servicelife. The 3/2
'ray valves are used for controls employing single-actingcylinders or for
=:enerating signalssuppliedto processingelementsand finalcontrolelements.
32 wayvalve:discseatnormally
closed,actuated
141
1-
-
=
3 2 way valve:disc seat normallyopen, actuated
\
F5
\=D
\-b
\.=5
\r
-
\'r
D
\r
D
\r
-D
-a
--E
\=U
- C rcuitdiagram
l!
-.t
f
\
-
=
-=
rt
-
it
H
- iris circuitthe 3i2 way valve is normallyopen and at the rest condition
s-cpliesair to the cylinder1,0.Therefore the cylinderis initiallyextended.
= ;ocn opef?tion of the manual312wayvalve1.1, the cylinderretracts dueto
:-e release of airvia 2(A)to 3(R).
-
1AQ
-
--{
!-
t,
t The pneumaticallyactuatedvalve can be used as a final controlelement,with
indirectcontrol.The signalior extensionof the cylinderis initiatedindirectly
a pushbuttonvalve 1.2 which supoliesthe conirol signal to the final control
by
i 312wayvalvesinglepilot,normally
closed,un-actuated
32 wayvalve,singlepilot,normally
closed,actuated
t +3
{
Directionalcontrol valves
Festo Didactic
J
J
J
The single piiot 3/2 way vairrecan be
normallyopen.The pofis nave duarrores
configuredas normallyclosed or as -J
in whichfor the normailyopen func_
tion the 3(R) and 1(p)ports are interchanged.
The head of the varvewith port -J
1212\can be rotated1gOu
-J
3/,y^y vatve,
singlepitot,normafu
offi -J
f
10(z)
-J
-J
1(P)
J
2(A) J
J
=J
J
lf a normallyopen valveis usedat the position
-J
of valve1.1,
initiallyextendedand upon operationoi tne pusnbufton. then the cylinderis
the cyrinderretracts. --.
)
Circuitfor lhe BIZwayvalvenorrnatty
operr,lndirect
I
J
J
-J
J
J
-J
J
Servocontrolled:3i2 way roller To avoid a high actuatingforce. mechanically
levervalve controlleddirectionalvalves can
0e equippedwith an internalpilot valve and
The valve actuatingforce is oftenthe determining
servo assrstanceallowsfor largerbore valves
servo piston to assist opening.
factorin appticationsand the J
ing forces.This increasesthe sensitivityof the
to-be operat*o*itn small actuat_
system. J
J
r+o
J
J
J
I-
L Direetionaleontrol valves Festo Didactic
L-.
L-.
L-. j smatlhole connectsthe pressureconnection1(P) and the pilotvalve lf the
L_ -: er lever is operated.the pilot valve opens Compressedair flows to the
s:rc pistonand actuatesthe main vaivedisc.The firsteffectis the closingof
^: cath 2(A)to 31R)followedby the seconddisc seat openingthe airwayfrom
- r to 2(A1 This type of valvecan be used as eithera normallyclosedvalve
:- -ormally-open valveby changingportsand rotatingthe head.
3 2 way valve,internalpilot,normallyclosed
LJ
LJ
L:
L:
LJ
LJ
3( R)
tj
L-- 3 2',vayvalve,internalpilot,normallyopen
L-. ctl--1
| 2(A )
\ lt hnnr
L-- -
r\ ll rl"'
1(P )' 'r(R )
t-.
L-.
LJ
L--
L-
L
L-.
L-.
L:
tj 1AJ
L-
r.{
tfu*c=e€r#s#.++ Fes-=B+@ J
:J
:J
J
J
2IB\
J
J
1 tEt\ J
J
J
J
A dise=seat
4jZwayualvcis s:imitar.
in r.:anstruqtten af two
te ihe cembinatien )
3fEwayvalves,
encvatvenermelty
r,:tecedandtheethernermalty
epen,
J
J
J
J
J
J
J
J
J
J
J
J
J
148
b
b
b
Thereare otheractuating
Gircuitdiagramr412wayspringretut:nvalve
methods and types of
construction availablefor
the 412way valve includ-
ing pushbutton,singleair
pilot, double air pilot,
roller lever actuated,
spool and sliding plate.
ln the main,the 412way
valveis utilisedin similar
roles as the 512 way
valve.
149
.{
Directionalcontrolvalves Festo Didactie
J
J
i
I
3.5 4/3way valve The 4/3 way valve has four ports and three positions.An exampleof the 4/3
way valve is the plateslide valve with hand or foot actuation. lt is difficultto fit
othermeansof actuationto these valves. By turningtwo discs,channelsare
r
connectedwith one another.
-J
413wayplateslidevalve,midpositionclosed -J
-J
3(R ) 3(R ) 3(R ) :J
-J
4(A )2(B
J
J
J
J
J
-J
-J
-)
413wayplateslidevalve,crosssection
-J
J
-J
--l
-J
._.
__
--
-..
-J
-J
-J
J
150
J
J
\
Directionalcontrol valves Festo Didactic
--: 5,2 way valvehas five portsand two positions. fhe 512way valveis used 3.6 5/2 way valve
^ . - ^ ,d, t;^^ l
- .;r,,,ry ^^ a,rqr
ar ^ vJ[tttol
^- for
element the control
of cylinders.An exampleof
: ''= 52 way valve,the longitudinal slidevalve,uses a pilot spool as a control
t:-oonent. This connectsor separatesthe corresponding lines by means of
: :-giiudinalmovements.The requiredactuatingforce is lower becausethere
a-: ,rinimalopposing{orcesdue to compressed air or spring.Sealingpresents
: =:'cblem in this type of slide valve The type of fit known in hydraulicsas
-::al to metal,requiresthe spoolto fit preciselyin the bore of the housing. In
:-=rmatic valves,the gap betweenspooland housingbore shouldnot exceed
-:12-0.004 mm, as otherwisethe leakagelosseswill be too great.To save
:-:se expensivefittingcosts,the spool is oftensealedwith 0-ringsor double-
:,: cackingsor the bore of the housingis sealed with 0-rings. To avoid
:=-aging the seals,the connecting portscan be distributedaroundthe circum-
';-:-ce or Ine spoornouslng.
^{
f h^
^^^^l
F
slideprinciple
= 2 way valve:longitudinal
=
rr
-l
12(Y) 5(n)4(A)1(P)2(B)3(S) 14(z)
rrfi
re
r{
12(Y) s(R)4(A)1(P)2(B)3(s) 14(z)
:
t3l
\a
*-
Directionalcontrolvalves FestoDidactic
-
t'-
:-
<<
_..]
Circuit:512way valveand doubleactingcylinder
'l
r.0 '-l
-J
-J
'l
-J
1t
r(s) 1.3
-J
J
-J
-J
Anothermethodof sealingis to use a suspendeddisc seat with relativelysmall -J
switchingmovement.The disc seat seal connectsthe 1(P) port to eitherthe
2(B) port or the 4(A) port.The secondaryseals on the spool pistonsconnect
J
the exhaustpofts to the outletports.There is a manualoverridebuttonat each )
end to manuallyoperatethe valvespool.
-l
discseat,position1
5/2 suspended
J
J
J
4(A) 2 (B ) J
J
J
J
j
14(z) 5( R) 1 (P ) 12 (Y \
J
J
j
J
J
152
J
t-.
L- Directionalcontrol valves Festo Didactic
L-
L:
L-
L_ Tne 512way doubleair pilot valve has the characteristicof memorycontrol.
The last switchedpositronis retaineduntila new switchingpositionis rnitiated
oy a uniquepilot signal from the oppositeside to the last signal This new
cosrtionis memoriseduntilanotheruniouesiqnaloccurs
discseat,position
I 5/2suspended 2
4(A) 2 (B )
L:
= :: rg of rralves:
ioar from a careiulselectionof valves,correctfittingis a furtherprereqursite
':' :eliablesuritchingcharacteristics,
trouble-freeoperationand easy accessfor
-ep.rirand nraintenance work.This appliesboth to valvesin the powersection
L_- and rral,res in the controlsection.
L-
ltrSf,'€ 'i
154
Ghapter4
Valves
155
-s
Valves FestoDidactic J
J
I
J
valves
1.1 Non-return Non-return valvesare deviceswhichpreferentially stopthe flow in one direction
anci permii flow in the oppositedirection. The pressureon the downslream -J
side acts againstthe restrictivecomponent,therebyassistingthe sealingeffect
of the valve.
:J
\l
-<
Oheckvalves Check valves can stop the llow completelyin one direction.In the opposite
directionthe flow is free with a minimalpressuredrop due to the resistanceof
the valve. Blockingof the one directioncan be effectedby cones,balls,plates -J
or diaphragms.
=J
Checkvalve
-J
-J
-J
J
-J
-J
J
)
:J
J
Junctionelements Elementsfittedat a three way junctionwhrchhave non-returncharacteristics
directthe movementof signalair The two valveshere referredto as junction
_J
elementshave logrccharacteristics whrchdeterminethe passageof two input
signals The two pressurevalvetequirestwo srgnals(ANDfunction)to produce -J
an outputand the shuttlevalverequiresat leastone signalinput(OR function)
to producean output.Theseare processing elementswherebytwo signalsare J
processedinternallyand the resultingsrgnalis outputat portA
J
-J
J
J
J
J
J
tco J- l
.-,
I
Valves Fests Didactic
I
:
D Nvopressuresclosesthe
t
valve and the smallerair
, pressureis transferredto
the outlet aS an output
D signal,The two pressure
valve is used mainly for
i- interlocking conirols,
safety controls. check
q
D functions and logic
nnoreti r'nc
t
rl
\t
ra
:
.a
ra
a
-
{
+
f
-::rio pressure to the two inputsignalling
valvecircuitis equivalent devices
t - -i3r'res,
i.e. one afterthe other.The signaloutput is passedall the way
-':-gi onlyif bothsignalelements areoperated.
{
.t
157
r+
-
--t
Valves Festo Didactic
J
J
J
I
seriesANDfunction
Circuit:
I
I
-J
-J
:J
-J
-J
-J
-J
:
rl
:
\
- - tie example shown, a cylinderis to be advancedusing a hand operated
\ ":, r'e eitherlocallyor from a remoteposition.
D
\
D I'cuit: shuttlevalveandthedoubleactingcylinder
\,
D
\Y
\
b
rl
a
t
I 'cult:shuttlevalvesin series
-
a
-
t
-
ll
-
t-
i
+
t
a
\
1
159
\
,
Valves Festo Didactic
I
I
{
-,lit
-|
Quickexhaustvalve Quick-exhaust valvesare usedto increase the pistonspeedof cylinders.This -d
enableslengthyreturntimesto be avoided.particularly with single-acting - |
cy|inders.T h e p rin c ip |e o f o p e ra t io n is t o a ||o wt h e c y |in d e rt o r e t r a c t o r e x t e n
at its nearmaximumspeedby reducingthe resistance to flowof the exhaust-
ingairduringmotionof thecylinder. To reduceresistance, theair is expelled to -J
atmosphere closeto the cylinder via a largeorificeopening. The valvehas a
supplyconnection (P) and an outlet(A). In this direction of flow the air is
passedfreelyvia the openingof the checkvalvecomponent. PortR is blocked -l
by the disc <l
r<
Quickexhaustvalve,flow to the cylinder
-l
--1
-J
{
<
A
-
<
lf air is suppliedto the (A) port, the disc seals the (P) port and the air is
expelledto atmospherethroughthe silencedlarge orifice(R). This increases
the potentialspeed of exhaustcomparedwith the exhaustport of a final control
valve. lt is advantageous to mount the quick-exhaust valve directlyon the
cvlinderor as nearto it as oossible.
t ou
Valves FestoDidactic
-
Quick exhaustvalve,exhaustfrom the cvlinder
\
-
\
t
-a
)>
\
,
-
tD
-
t
\
,
L
,D
\r
-. t
quickexhaust
3ircuits: valve
\r
\
D
i
;D
::
-
t
rl
-b
-
=
r*
-f
:
:!
\
\it
-F
Valves Festo:DidaEtlG .-t
J
J
J
4.2 Flow control valves Flowcontrolvalvesinfluencethe volumetricflow of the comoressedair in both
directions.lf a check valve is fittedto the flow controlvalve,the influenceof r
speedcontrolis in one directiononly.The valvecan be fittedas a valveblock
in the circuitor attacheddirectlyto the cylinderport. I
Throttlevalve,bi-directional Throttlevalves are normallyadjustableand the settingcan be locked in posi- _J
tion. Due to the compressibilityof air, the motioncharacteristics of a cylinder
vary with load and air pressure.Thereforeflow control valves are used for
-J
speed controlof cylinderswithin a range of values. Care must be taken that
the flow controlvalve is not closed fully, cutting off air from the system.The
open flow settingshouldbe lockedin place.
J
-J
Throttlevalve
J
J
J
J
J
J
-l
J
-J
J
J
Characteristics
of flowcontrolvalvesaccording principle:
to construction
J
Throttlevalve:
ln the throttlevalve,the lengthof the throttlingsectionis greaterthan its J
diameter.
J
Diaphragm valve:
In the diaphragmvalve,the lengthof the throttlingsectionis less than its J
diameter.
J
J
J
J
J
J
J
162
J
-t
: The throttlingdeviceshown here is commonlyknownas a one way flow control One way flow control
\ valve.With this type of valve,the air flow is throttledin one directiononly.A VAIVE
checkvalve blocksthe flow of air in the bypassleg and the air can flow only
throughthe regulatedcross-sectionIn the oppositedirection, the air can flow
freely through the opened check valve. These valves are used for speed
regulationof actuatorsand if possible,should be mounteddirectlyon the
cvlinder.
,
One way flow controlvalve
t
-
a
\,
:
\
D
\
,
-
I
r-
. S.:polyair throttling
. =x:raustair throttlinq
lr
f-
IT
ral
rt
II
ra
FestoDidactic
=
Valves : 'FeStb,Didditic;
t-Bt
[-45-l
=
:
\-b
Pressurecontrolvalvesare elementswhichpredominarTtly influencethe pres- 4.3 Pressurevalves
of the pressure.Theyare dividedinto
sureor are controlledby the magnitude
+ thethreegroups:
\ . Pressure
-> regulating
valve
. Pressure
limiting
valve
\ . Sequence
-> valve
\
-iD The pressureregulatingvalve is dealt with underthe section"Air Service
\r
Equipment". The role of this unit is to maintainconstantpressureeven with
fluctuating
supply.The inputpressuremustbe greaterthanthe requiredoutput
Dressure.
\rr-
iD
\=-> Pressureregulating
valve
\\
-L
:!
\I
+
\--D
'!
:!
-
\
:!
---
-
3
ih-e pressurelimitingvalvesare usedmainlyas safetyvalves(pressurerelief Pressurelimitingvalve
= ',ralves).They preventthe maximumpermissible pressurein a systemfrom
ceingexceeded.lf the maximumpressurehasbeenreachedat the valveinlet,
{ ine valve outletis openedand the excessair pressureexhauststo atmos-
er'Iere.The valveremainsopenuntilit is closedby the buih-inspringafter
:t -eaching thepresetsystempressure.
I
.t
I
:'
165
T
valve
Seouence The principle on whichthis valveactsis the sameas for the pressurelimiting
valve. lf the pressureexceedsthatset on the spring,the valveopens.Theair
flowsfrom 1(P)to 2(A). Outlet2(A) is openedonly if a presetpressurehas
builtup in pilotline12(Z).A pilotspoolopensthe passage1(P)to 2(A).
pressure
Adjustable valve
sequence
Sequence in pneumatic
valvesare installed controlswherea specificpressure
is required
for a switching
operation(pressure-dependent
controls).The signal
is transmitted
onlyafterthe required pressure
operating hasbeenreached.
Circuit:sequencevalveoperation
1.1
t oo
E Valves Festo Didactic
:
3omponentsof differentcontrolgroupscan be combinedinto the body of one . 4.4 Combinationalvalves
\
-rit with the features.characteristics
and construction
of a combination
of val-
.:s Theseare referredto as combinational valvesand theirsymbolsrepresent
t
:-e variouscomponentsthat make up the combinedunrt.The followingunits
::r be definedas combinational valves:
rrl
\
-
E
rr
{|
-
{|
rl
ra
2
N
.-l
Valves FestoDidactic
J
J
I
r
Referringto the previousdiagram,the compressedair is suppliedto the valve
at connection1(P). The controlair flows into the valve al 12(Z). lt flows r
througha one way flow controlvalve and dependingon the settingof the
throttlingscrew,a greateror lesseramountof arrflowsper unit of time intothe :J
air reservoir. When the necessarycontrolBressurehas built up In the air
reservoir,the pilot spool of the 3i2 way vaiire is moved downwards. This I
blocksthe passagefrom 2(A) to 3(R). The valvedisc is liftedfrom its seat and
thus air can flow from 1(P)to 2(A). The time requrredfor pressureto buildup
-J
in the air reservoiris equalto the controltime delayof the valve.
c
:J
lf the time delayvalveis to switchto its initialposition.the pilotline'12(Z)must
be exhausted.The air flowsfrom the air reservoirto atmosphere throughthe
bypassof the one way flow controlvalve and then to the-exhaustline. The -J
valvespringreturnsthe pilotspooland the valvedisc seat to their initialposi-
tions.Workingl ine2(A)exhauststo 3(R) and 1(P)is blocked
J
J
Time delayvalve:normallyopen
J
J
J
ro(z)
J
1( P)
J
')
1 0( z) 1o(z)
T
J
J
3( R) 3( R ) -J
-J
2(A) 2 ( A) -J
--l
1( P) 1 ( P) J
J
The normallyopen time delay valve includesa 312way valve which is open
J
Initiallythe output 2(A) is active.When the valve is switchedby 10(Z) the
output2(A) is exhausted.The resultis that the outputsignalis turnedoff afte:
J
a sei time delay. J
J
J
168
J
al
lHffi-Eiitt,',,',,)''"t!,
:,t:,1
; ;,i.riA
;i*.*ffid#
Circuit:timedelayvalves
169
Ghapter5
I
Actuatorsand output
devices
171
Actuatorsand outputdevices Festo Didactic
LT
Ll
J
I
<
An actuatoris an outputdevicefor the conversionof supplyenergyinto useful Ll
work. The outputsignalis controlledby the controlsystem,and the actuator I
I
respondsto the controlsignalsvia the final controlelement.Other types of L
output devices are used to indicatethe status of the control system or ac-
tuators. -l
\_
<
The pneumaticactuatorcan be describedundertwo groups,linearand rotary: \_
. Linearmotion .T
- Singleactingcylinders
<
- Doubleactingcylinders L
. Rotarymotion
_r
- Air motor
- Rotaryactuator
Singteactingcylinder
-
-
-)
-j
-J
-J
-J
-J
J
r
J
J
J
.J
J
J
172
J
J
I
II
IT
:
\,
\
, For singleactingcylinders with built-inspring,the strokeis limitedby the
naturallengthof the spring.Singleactingcylinders arethereforeonlyavailable
t in strokelengthsof up to approximately
80 mm.
D
. Clamping of workpieces
. Cuttingoperations
. Ejectingparts
,
. Pressingoperations
. Feeding andlifting
,
-
\
a
\
Actuatorsand output devices I
\
I
;I
I
\
I
I
With indirectcontrol of a lndirect normally
control, closedvalve \
I
cylinderthe 3/2 way con- I
!t
-
s
)
F
)
:
D
174
t
b
a
-
a
Actuators ard outF*t devie*s ilesto ilidaclic
t
j' i- ic iiilrpl rrri i :i p i eo i .i d o rl i ti e a c ti rg cyl i nc-dii s si n-:i i arr to tnat oi i he
ngi c y lir rc re r, F { o w e v e r. i h e r= i s rro i e turn spri ng. ai rd the fw o pori s
l
r ierrtitrveiv .t1s srrDDiv- :trrri =.riraltist *crts Tre doi;Dle ilctiirg cylinCei
- r ' ii' t ir ir e i i i a i l l -re c ;i i i rc l e r i = .rb i rt te c:rr;-y oui ,ttork i n both di r' ecti cns
i i ul; , i ri s i a l l a ti o nr-ro s s i b i i i ti easre u i l vei sati fhe i t.,r' i ;e transl erre,
:-ir- r,.1.-i s sor:t,l,r'inaiq13aiei io, li-reioi-v,,rtrei siroKe iiran foi the r'etL,ri
: , . iiec i i v + o rs i o rrs i i ri i l c e ;s i ' e c u c e rl :rn i i e ri si oi -t i ' cd si de bv i ne
,:yl i i '-il er i s r-j r
- , ii' ai ar e a o i i h e c i s to n i ,f,r: T re -or
col i rol of i he
- : - l i t.,,-' l i r.ti :S
) -::'.-: -ri
-],)i :O t.
; : : ia s ii' c i (el e n g th o i l h e i y i i rrc e r i s u ni i i i ri i erl ..rl t!roL:gtr
bL.i ci ' .l tnq.rrtd
- ' - ' r e : x t e i rc l e L 1p rs i o r; rc c l b e al l ow ed i or A s w rth i he si ngi e
, _- : . . , s e a i i n g i s ' c y me a r-:s -i rti
o fs tp i s l cns fi tterj w i tl t seal i nE ri ngs oi '
- i' i: i: - r,r!a a v r),J e v --i o D e iei rl i i te i c i !ow i nqdi reci i oi -r= !srE n -l evel oomLl nf
iic
doubleactingcylinder
Cushioned
:J
-J
J
J
J
J
ii iarge 1e-.'=s ai'+ moved by a eytinder,cushioirrngis used rn the erc posi- J
ii=ns to s'rer,r-=udden danraginginr+acts.Beforereachingthe end pos;iion :
:ushioir,,g pislci-:ii:terruptsthe dlieet flow path of th+ air to the cutsiee. n- J
stead a very sn-alland often adjusiableexhaustapertureis open. F6i:hc. l;151
=ai'i of the siicke the cylinderspeeciis progressivelyreduced.lf the pass?Qc
adjustmentis toc small,the cylindermay not reachthe end positiondue to rhe
J
biockageof air.
-J
';l";henlhe pistcn ieverses,air ficws wiihout resisianceihroughthe r;tui:. valve
-J
ini,r the cylindersoace. With very large forces and high accelerationsextra
measuresmusi be taken such as externalshock absorbersto assist the load :J
deceleration. When cushioningadjustmentis being carried out, it is recom-
n":endedthat in order to avoid damage, the reguiatlngscrew should first be
;eiewed ;, fuii,vafid then back+i off in order to allow the adjustmentto b -
J
inilreaqcd to the Opt,nUm+aiuc
Slc,,,lri
176
L
L-.
L.
L-
The cylinderconsistsof a cylinderbarrel,bearingand end cap, pistonwith seal Construction
(double-cuppacking),pistonrod, bearingbush,scraperring,connectingoarts
and seals.
The end cap and the bearingcap are, for the most part, made of cast material
(aluminiumor malleablecast iron). The two caps can be fastenedto the
cylinderbanel by tie rods,threadsor flanges.
L-
L
_!
t-
i{
\
<
<
3
O-ring Shapedring
\
-
Cup packing
-
-
Double-cup
packing Supportedgrooveringswith slide ring
L
.: -
L-ring
-!
-,
174
Actuatorsand oulPut devices Festo Didactic
TandemdoubleactingcYlinder
andemdoubleactingcYlinder
t
)
I
li/ounting
for cylinders
'.lclntingarrangements
)
) Thread
I
Rearflange
Swivelflangefront Swivelflangecentre
l
:
I
r)
Sulivelflangerear
)
179
,
\
,4,"cgf+i +it*,ri - i
c- I
I
<
\
<
I
\
<
The type of mountingis determinedby the mannerin whichthe cylinderis to \
be fitted to a machineor fixture. The cylindercan be designedwith a per-
manenttype of mountingif it does not haveto be alteredat any time. Alterna- <
\
tively,the cylindercan utiliseadjustabletypes of mountingwhich can be al-
tered at a laterdale by usingsuitableaccessorieson the modularconstruction <
\
principle.This resultsin,considerable
simplification
in storage,especiallywhere
<
a large numberof pneumaticcylindersare used as only the basiccylinderand \
optionalmountingpafts needto be stored.
<
The cylindermountingand the pistonrod couplingmust be matchedcarefully
to the relevantapplicationsince cylindersmust be loaded only in the axial
direction. -
-
\
-
180
-
\
\
Circuit:controlof a doubleactingcylinder The 412way valve or the Control
of a doubleactino
512 way valve can be cylinder 412wayvalve
used to control the
doubleactingcylinder.In
both casesthe air is ini-
tially suppliedfrom 1(P)
to 2(B) and the 4(A) port
is exhausted. The
cylinder is initiallyheld
under pressure in the
retractedposition.When
the manual valve is
operatedthe 4(A) port is
active and the 2(B) port
is exhausted. The
cylinderis extended,and
remains extended until
the valve is released.ln
the 412 way valve a
singleexhaustport 3(R)
is used.
2 ( B)
3(s)
181
ig
.!
a
ia
b
4
To regulatethe speedof the cylinder,the flow controlvalves1.01and 1.02arc b
fitted to the exhaust side of the cylinder. In this control circuit a 5/2 way .1
memoryvalve is used. The signallingelements1-2 and 1.3 need only operate !
for a shortdurationto achieveswitching.
't a
Exhaustair lhrottlingof a doubleactingcylinder a
:
tj
-l
b
!r
!-
a
-
s
I
t-a
i
>
-a
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-!
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F
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C
182
C
C
I
Rodlesscylinder 5.3 Rodlesscylinder
t
)
I
)
I
)
t
)
t
)
t
,
- This doubleactingpneumaticlinearactuator(cylinderwithoutpistonrod)con-
! sists of a cylindricalbarreland rodlesspiston.The pistonin the cylinderis
freelymovableaccordingto pneumaticactuation, but thereis no positiveexter-
nal connection. The pistonis fittedwith a set of annularpermanentmagnets.
! Thus,a magneticcouplingis producedbetweenslideand the piston.As soon
I as the pistonis movedby compressed air the slidemovessynchronously with
- it. The machinecomponentto be moved is mountedon the carriage.This
i designof cylinderis specificallyusedfor extremestrokelengthsof up to 10m.
, An additionalfeatureof the rodlessdesignis the flat bed mountingavailableon
the carriageas opposedto the threadedpistonrod type of construction.
a
!
+
t2
t
t
183
,
f
l-
Ftn = A.p a=
Ftn = TheoreticalpistonForce(N)
A = UsefulpistonArea(m2)
-
p = OperatingPressure(Pa)
-
Strokelength The strokelengthsof pneumaticcylindersshouldnot be greaterthan 2m and
for rodlesscylinders10m.
ratio =
The compression
-
-
\,
-
184
-
(
\
i-
:- -.+--:-lr:f:ai.'+
F-=4ai,ii---='.
rl
I-
1-
I
i
.
Airmotor Deviceswhichtransform 5.5
pneumaticenergy into
Motors
\
mechanical rotaryrnove-
t mentwith the possibility
\ of continuousmotionare
Known as pneumatic
motors. The pneumatic
a motor with unlimited
angleof rotationhas be-
t come one of the most
widelyusedworkingele-
D mentsoperating on com-
pressedair. Pneumatic
t Axialpiston motorSare categorised
accordingto design:
)
. Pistonmotors
D . Sliding-vane
motors
. Gearmotors
t
. Turbines(highflow)
\
-
: Pistonmotors
\
J,
3ecauseof theirsimpleconstruction
and the lowweight,slidingvane.motors Slidingvane motors
- :'e usedfor handtools.Theprinciple
of operation
is similar
to theslidinq-vane
r-
I0 r'l'rpressor.
t-
Ar eccentricrotoris contained
in bearings
in a cylindrical
chamber.Slotsare
-tt arrangedin the rotor.Thevanesareguidedin the slotsof the rotorandforced
lutwardsagainstthe innerwallof the cylinderby centrifugal
force. Thisen_
a s"resthattheindividualchambers aresealed.
3 Tre rotorspeedis between3000and g500rpm. Heretoo,clockwise or anti-
{ :lockwiseunitsareavailable units. powerranqe0.1- 17
as wellas reversible
-
{W (0.1- 2a hfi.
:
i
r Il
I
I 185
Actuators alid o,ulpu!:devices Feqto Didaclic
Gearmotors
$Jli:,';iiil H::il:J"3:1ilf,:?1,"JH:ii'flHJ*1""3[ ff3s'J,*",:"iJ:-
motor shaft. These gear motorsare used in applications
with a very high
power rating (44 kW60 hp). The directionof rotationis also reversiblewhen
spuror helicalgearingis used.
Characteristics
of oneumatic
motorsare:
Designfeaturesof pneumaticrotaryactuators:
. Smalland robust
. Precisionmachinedand henceveryefficient
. Availablewithcontactlesssensing
. Adjustablefor angulardisplacement
. Constructed fromlightweightmaterial
. Easyto install
186
f,
--::--1.r[
-1---.:::-
187
Chapter6
Systems
t
!
Systems :1li$:ti$j
-
-
-
<
6.1 Selection and mustbe givento the following:
To selectthe controlmediaconsideration \
comparisonof media
. The workor outputrequirements
. \-l
The preferredcontrolmethods
. The resourcesand expertiseavailableto suppoftthe project <
. \
The systemscurrentlyinstalledwhich are to be integratedwith the new
project .=
\
The total projectmay requiremixturesof mediumboth on the controlside and :-
the work side. Therefore,the interfaceor conversiondevicewill be an impor-
tant elementof the processto ensurecontinuityand uniformityof signalsand
data. -\
\-
\-
\-
-
{
\
-
\
-
\-
fL
fL
190
F-
_h
F
*r
Festo Didactic
sketchexamole
Positional
191
I
b:l
el
cl I
#
Circuitdiagram The circuitdiagramshows signalflow, relationshipbetweencomponentsand
the air connections.There is no mechanicallayoutrepresentation
cuitdiagram.
with the cir- si
<
t
Circuitdiagram I
T
f
e.
el
F
!!r
sr
-
F
The circuitis drawnwith the energyflow from the bottomto the top. The !
variouslevelsof a circuitincludethe energysource,signalinputs,signal -
processing, final controlelementand the actuator.The positionof the limit t
valvesare markedat the actuator.components and linesare identified
by the -
component numbering systemandthe port(way)connection numbers. These
allowcrossreference to the componentson the actualmachineand makethe
circuitreadable.
" F-
c-
F
_e.
€!r
F
'
\-!
s!
F
F
192 F
Thedisplacement-step diagramis usedfor motionsequences in the pneumatic Displacement-step
diagram
and hydraulicfields,The dlagramrepresents the operatingsequenceof the
actuators;the displacementis recordedin relationto the sequencestep. lf a
controlsystemincorporatesa numberof actuators, theyareshownin the same
way and are drawnone belowthe other.Theirinterrelation can be seenby
comparing the steps.
Displacement-step
diagram
193
Systerns Festo,Didaptic
Functionchart:rivetingprocess t
Stort
position -
-
Clompin
-
Rivetin
Rivetin
\rr
Unclompin
6.3 Field systems (actoric) An importantcomponentin the transferof powerfrom the processorto the
linearor rotaryactuatoris the directionalcontrolvalve (DCV). The selectionof
the size and type of valve determinesmany of the operatingcharacteristics of
the actuator.The development in directional
controlvalves is towards:
194
t
-
:
3
Feslo.Didabtic
-
I
-
h
-
\ Manifoldmountingof valves The manifold mounted
D
valves utilisea common
supply port (centre)and
t
exhaust ports (outside).
\ The exhausts can be
tubed away separatelyor
- locally silenced as re-
\
iD quired. The compact
\ and rigid mounting is
iD suitable for a control
\ cabinetconstruction.
D
\
-
\
D
\ In pneumatics,
specialunit is a term used to describea combinationof ac-
- 6.4 Specialunits and
assemblies
a
:
\
- Rotaryindexingtable In many manufacturing Rotaryindexingtable
I processes,it is neces-
.
sary to performfeed mo-
tions in a circularpath.
3 Rotary indexing tables
are used for this pur-
: pose. The powering
device in a rotary index-
i
: ing table is a pneumatic
cylinder in conjunction
a with an air controlblock
whichcontrolsthe move-
] mentcycles.
-
I
2
t
t
t
t
\ 195
,
Systems Festo Didactic
Rotaryindexingtableapplication
Pneumatic
feedunit
196
L
Systems
Stripfeederunitin synchronous
operation
Hydro-pneumatic
feedunit
Theseunits,likethosepreviously
mentioned,
are mainlyusedwherea uniform
workingspeedis required.
-c-
.\
-
{
\
rL
-
When compressed air is appliedto the pneumaticcylinder,the pistonin the <a
ll
hydrauliccheck cylinderis carriedalong with it. This pistondisplacesthe oil
througha throttlereliefvalve to the otherside of the piston. The throttlevalve <
can be adjusted,therebyregulatingthe feed speed. Heretoo, the oil prevents \
the feedfrombeingunevenwhenthe workingresistance changes. {
\
On the returnstroke,the oil can pass quicklyto the otherside of the piston
\-
throughthe returnvalve and thus the returnstrokecan also be made in rapid
traverse.
-
An adjustablestop on the piston rod of the hydrauliccheck cylinder also
enablesthe forward stroke to be divided into rapid traverse and working feed. -
The piston is carriedforwardonly when the cross-tiehas moved againstthe
stop. The speedof the workingstrokecan be regulateci beiweenapproximate- \
ly 30 and 6000mm/min.
\
Specialunits are availablewhich also performa workingstrokeon the return
movement. A second throttlerelief valve providesthe brakingeffect on the \
returnmovement.
-
-
-
.1
\
\r
-r
-\
-\
\
198
-
SectionC
Solutions
s
Festo Didactic R
<l
\
Exercise1: A double acting cylinderis to extendwhen a pushbuttonis operated. Upon <
L
Directcontrol of a double releaseof the pushbuttonthe cylinderis to retract.The cylinderis of smallbore
actingcyllnder (25mmdiameter)requiringa smallflow rateto operateat the correctspeed. <
--
-
-
:.
200
-
-
i
Sincethe cylinderis the onlyworkingelementor actuatorin the circuit,it is
J"sign"t"Oi.O. fne finalcohtrolelementthat extendsthe cylinderis desig-
nated1.1.
n1
.\r
C-
\,
\
Exercise2: \-
Indirect control of a l,lgl9l".acting cy.tinder
is to extendwhena pushbutton rs operated.Upon
reteaseof the pushbutton the cylinderis to retract.The cylinderis 250mm
doubleacting cylinder diameter
<
andconsumes a largeuotur" oi"ii. L
Problemdefinition
<
\
i=
-\
-
:.
Knowledge -
- .r
AJ
II
*J
)
The valve 1.2 when operatedsuppliesa pilot signal to'the 14(Z) port of the Solution
controlvalve 1.1. This generatesa signal at the outlet 4(A) and the cylinder
extends until the pushbuttonis released.lf the pushbuttonis releasedthe
returnsignal is suppliedfrom the 2(B) port of valve 1.1 and the air is vented
fromthe unpressurised sideof the cylindervia the valve1.1exhaustport5(R).
Circuitdiagram
g
Cr
1.1
i
sr
-
F
E
a
b
-
:
-
{
E
!
-
-
gr
!
-
I
-
s.
F
tr!
204 c
_
--+ -: -. '-._ , _ .
)
tr
tl
)
I
I
205
q
c
c
J I
e!
;t
\
3r
!r
t.o
s
-
3( R ) 1( P)
3
F
t
t
F
F
F
t
-
i
-
F
q
t
F
g!
F!
b
n7
t
t ce
I
6
FI
>
Exercise 5: A doubleactingcylinderis to extendfully when a pushbuttonis operated.The
Memoryclrcuit and cylinderis not to retractuntil full extensionis reached.Extensionis confirmed
speed control of a by a rollerlevervalve.The cylinderis to continueforwardeven if the pushbut- l\
cylinder ton is releasedbeforefull extensionis reached.The speedof the cylinderis to
be adjustablein bothdirectionsof motion.
Problemdefinition
| -"--" -'-s'-"' I
II
:
-
-
t-
'=
3.
:r
-3r
F
S
l}
-
F
G
e!
i
d -
d
I
:
:
t
t
D
Solutions
=
rar
r-
\
tl l
;is,sttsipn'b.i;'*#*i
B \-:
I
s
b-
)
Circuitdiagram
;\ A
'-
i\
t-l
-l
--
-:
-t
II
-
,rr
:
'r J
t
i
b
'- -
I
b
-
t
-
F
=
g
s
C
C
C
210
e
I
I I
\
J
Initial posltlon: ln the initialstate,the cylinderassumesthe retractedposition. Solution
ff both ot the 3/2 way valvesare actuated,a signalis presentat the outputport
A of the two pressurevalve 1.6. This reversesthe 5/2 way controlvalve.The
cylinderextendswith air beingsuppliedvia an unrestricted passagethrough
the one way flow controlvalve 1.03.The actuatortravelsrapidlyto its forward
end positionsince the pressurespace on the piston rod side is rapidly ex-
haustedthroughthe quick exhaustvalve. lf both 3/2 way valves remain ac-
tuated,the cylinderremainsin the forwardend position.
21i1
t
Solutions F
v
Exercise7: A plasticcomponentis embossedusing a die poweredby a doubleacting
Pressuredependent cylinder.The die is to advanceand embossthe plasticwhen a pushbuttonis \
control;embossingof operated.The returnof the die is to be effectedwhen the cylinderrod has fully
plasticcomponents extendedto the embossingpositionand the preset pressureis reached.A .\
rollerlimitvalve is to be used to confirmfull extension.The pressurein the
Problemdefinition pisionchamberis indicatedon the pressuregauge. \
Circuitdiagram --
\
-
fI -
l-
Ir
.-f
l'
I
\
\
-
Knowledge The power circuitmust firstlybe initialisedby operatingthe 5/2 way memory
-t
valvemanually(viathe manualoverrides) with the air off. The air can then be
turnedon.
-
-
i
t-
t
-
212
A
-
t
\
*
I^
b
T-
I
b
t-
: The cylinderextendsif the 5/2 way directionalcontrolvalve 1.1 is switchedvia Solution
the 14(Z) port by the operationof the pushbuttonvalve 1.2. The plasticcom-
ponentis embossedunderpressureby the die untilthe presetpressureset on
the sequencevalve is achieved.The pressureon the advancingside of the
5 cylinderis fed from a junctionto the limitvalve 1.3 and then in seriesto the
sequencevalve.The signalport 12(Z)al the sequencevalve acts againstthe
\r
presetcompression of the adjustablespring.lf the limitvalve 1.3 is operated
due to full extensionof the cylinderand the presetvalueis reached,then the
\rr sequencevalveopensfrom 1(P)to 2(A) and sendsa pilotsignalto port 12(Y)
of the controlvalve 1.1. lf there is no signalal14(Z), then the memoryvalve
switchesand air is suppliedfrom the 2(B) port to retractthe cylinder.At the
: same time the air in the 4(A) port is exhaustedand the pilot signalat the
sequencevalveis thereforerelievedthroughthe exhaustportof the limitvalve.
: Thereforethe sequencevalvecancelsthe outputsignal2(A) and thus the pilot
signal 12(Y).The cylinderretractsto the initialposition.The pilot signalsat
14(Z) and 12(Y)need only to be very short pulsesto effectthe positionof the
512way controlvalve.
-t
lf the pressureat the sequencevalve pilot line does not reachthe presetlimit
= of the springadjustment,then the cylinderwill remainextended.lf the cylinder
encountersan obstacleor obstructionto the die movementduringextensionto
: the forwardposition,the cylinderwill not retractsince the sequencevalve is
dependentuponthe operationof the limitvalve1.3.
\
-
\
-
:
5
=
!r
ZJ
I
I
\ I
1
a
{
Exercise8: A doubleactingcylinderis used to presstogethergrued
The time delay valve com'ponents. Upon
operationof a pushbutton, the.clampingcylind6rexterids trip. u rollerlever
valve.once the fullyextendedposiiion-is'reached, "rJ
Problerndefinitlon the cylinderisto remaintor I
a time of r = 6 secondsand then immediatery retractto ttre initiatposition.A n<
new startcycleis only.possible afterthe cylinderhas fullyretracteJand aftera
delay of 5 seconds.The cylinderextensionis to be
slow and the retraclion
adjustable,but relativelvfast. :
i .0 t.t
l
_
_l
:
_:-
I
L
_
214 i
-r
hl
I
I
\ I
I
=<
I
t
a
l
,
t
t
The startconditions for the extensionof the doubleactingcylinder1.0 are the Solution
: acknowledgement of the retractedposition(rollerlimitvalve'1.4)a delayof five
, secondsafterthe end of cycledue to timer 1.6 and the operationof the staft
buttonvalve 1.2. The outputsignalA at the two pressurevalve 1.8 pilotsthe
) 512way memoryvalve at 1aQ). The signal4(A) extendsthe cylinderat a
preset speed via the flow controlvalve 1.02 (exhaustthrottling).The limit
, switch 1.4 is deactivatedand thereforeqven if the start button is still held
down,the signalat 14(Z)is exhaustedby the removalof the limitswitchsignal,
t
t whichresetsthe timer1.6untilthe cylinderhas retracted again.
\
t The cylinderreachesthe limitvalve1.3and producesa pilotsignalfor the time
delayvalve 1.5. The time delayvalveis normallyclosedand only opensport
\ 2(A) if the presettime, as determinedby the adjustablethrottle,is reached.
)
The air reservoirin the time delayvalvefills,and a pressureis reachedthat is
\ sufficientto operatethe timer againstthe spring return.A pilot signal is
t
produced6 secondsafterthe limitvalve1.3 is operatedand that signalis then
a sentto the 5/2 way valveport 12(Y).The 512way valveswitchesto the initial
- positionwith 2(B)activeand 4(A)exhausted. The air to the cylinderis supplied
I
to the returnside and the speedcontrolledby the valve 1.01. The rollerlimit
1.3 is deactivatedand the pilotsignalto the timer'1.5is cut-off,therebyremov-
ing the 12(Y)signalfrom the 5l2way valve.The cylinderretractsto the limit
r] valve 1.4.A new startsignalcan only occurif the rollerof valve1.4 is aciive.
The timer 1.6 activatesafter 5 secondsand the start buttonmust be pressed
\. for a new cycleto commence.
|l
t
3
:
l
a
-
I
t
.
l
)
!
!
)
t
i
)
)
2',4
List of standards
and references
217
ls' r so 1219 Fluidpowersystemsandcomponents;
graphicsymbols
D IN19237 concepts
Controltechnology,
o"#!
t"* -
H"T.
F
Mt-
t"terl
-
lf
-
ts
s!
s!
218
N. andMeixner,
Bissinger, H.: SimpleConlroland LogicCircuits, References
FestoDidactic,Esslingen,
1978
B.:
Bocksnick, Fundamentalsof ControlTechnology,
FestoDidactic,Esslingen1988
W. andStoll,K.:
Deppert, 'Pneumatics
Applications,
VogelVerlag,
1983
W. andStoll,K.:
Deppert, Pneumatics
in Packaging,
VogelVerlag,
1983
W. andStoll,K.:
Deppert, Pneumatics
in Woodworking,
VogelVerlag,
1979
FestoKG.: TechnicalInformation.
Pneumatics
and KoblerR.:
Hasebrink Fundamentalsof PneumaticControl
Engineering,
FestoDidactic,
Esslingen,
1979
H. and KoblerR.:
Meixner, Serviceand Maintenance
of Pneumatic
Systems,Esslingen,
1984
219
lndex
\
Subject Chapter
-
2l2wayvalve .....;....83.2 <
3/2wayvalve ....83.3 \
4l2wayvalve ....83.4 <
4/3wayvalve ....83.5 \
S /2wayvalve ....83.6
A bsorptiondrying .B2.3 \
A dsorptiondryers ,B2.3
A ctoric ....86.3
A ctuatingdevice ..81.3
A ctuators ..A2.5 \
Advantageouscharacteristics of pneumatics .... A 1.1
Aircompressor .. .8 2.1
A irdistribution... ..A2.2.82.5
A irdryeis ..82.3 -
A irfilter . . . .A 2.2.82.4 -
A irlubricator .... ..A2.2.B 2.4
Airmotor . . .A 3.1.B 5.5
A irreceiver ......82.2 -
Airservice equipment . . . .8 2.4
A irsupply ....A2.2,82 -
A mplifier ... B 1.3 -
A naloguecontrol ..81.3
A nalysis of problem ...... A4.4 -
A pplications .,......A 1
A synchronouscon t ro l .... B 1.3 -
A uxiliaryenerE y ... B 1.3
B inarycontrol ....81.3
Cascade ..A6.1
Cylinderperforma n c e c h a ra c t e. .ris
. t ic s .85.4 rL
Characteristics of air .....81.2 !
^r
222 fr
F
fri
-
!
=
-:
\
rt
Subject Chapter
\
t D i ap hragmvalve. ...... ..84.2
\ Digitalcontrol ....:. . . . . . . B 1.3
D i r ectcontrolofapneumaticcyli n d e r ..... A5.1
\ D i r ectionalcontrolvalves .... A2.3,4 3.1,83.1
rD D i scseat ...83.3
-.r
Displacement stepdiagram A 6.2,B 6.2
D D i stinguishingfeatures ,... A 1.1
\ D ocu mentation... ...47.1,86.2
D Do u b feacting cylinder . . . 8 4 . 1, 4 . 2 , 8 4 . 3 ,B 4 . 4 , 8 5 . 2
D ou b lepistonrod ..85.2
- .t
D Drycompressed air . . .B 2
\ Dr ye r s .,...82.3
D Em e r gencystop.. ..A3.2
\ En d p ositioncushioning ....:. ....85.2
En vir onmentalpollution .... A3.2
- Energy . A 3.1,B 2
-a
ID
Exa m ple 1:Directcontrol of asinglea c t in g c y lin d e r ..... A5.2
Example2: Indirect controlof a singleactingcylinder . . . . A 5.5
Example3: The logicANDfunction, the two pressure valve . . . . . A 5.8
Example4: The logicOB function, the shuttlevalve . . . . A 5.10
-r
rir Exa m ple 5: Memorycircuitandsp e e d c oonftarocly lin d e r. . . . . A5.12
Example7: Pressure dependent control;embossing of components. . . A 5.15
<l Example8: Thetimedelayvalve . A 5J7
Exe r cise 1: Directcontrolof adoub lea c t in gc y lin d e r ..... A5.3
\i Exercise 2: lndirectcontrolof a doubleactingcylinder . . . A 5.6
t
Exercise 3: The logicANDfunction; the twopressure valve . . . . . A 5.9
ht Exercise 4: The logicOR function; the shuttlevalve . . ,.. A 5.11
f
Exercise 5: Memofu circuitandspeedcontrol of a cylinder ...'.. A s.tg
IT
Exe r cise 6: Thequickexhaustva lv e ..... A5.14
Exercise 7: Pressure dependent control;embossing of components . . . . A 5.16
Exercise8: Thetimedelayvalve . A 5.18
E
Exh a ustsilencers ... A3.2
Evalu ation ..44.4
- Fa ilu reof control ... A3.2
Fa u ltfinding ...47
h,
Filter s ......82.4
- Fittingof valves . . . .8 3.7
II
Ffowcompressors . .8 2.1
Flo wcontrol elements ...... A3.1
- Flowcontrolvalves . .A 2.3, B 4.2
- Flo wr esistances. ..82.5
r-
t
Ge a r motors..:. ...85.6
ld ler ollerlevervalve ......83.3
il l m ple mentation ....44.4
Ind icators ...85.7
Indirect control A 5.4,B 3.3
- Ind ir ectcontrolof acylinder.... ..A5.4
r- Inp u telement... ...81.3
tso5 5 99 ....A3.1
rl Ju n ctionelements ..84.1
t
Le tte ringsystem ,.. A3.1
rl L in e a ractuators .... A3.1
- L in e a rmotion ....,,..B5
a L o o iccontrol.... ..81.3
-
t
J
\
Subject Chapter
Longitudinalslidevalv e ...83.6 \
Lubrication ...82.4.87 <
Maintenanc€..; ..A7.3,82.4 \ \
Malfunctions ......A 7.1,47.2
Manifoldmounting of valves
Memorycontrolsystem
Methodsof actuation ..... A3.1
Modularsystems ..86.3
Motors ....85.5 \
Mounting of rollervalves . . B 3.7
Mountingof cylinders .... B 5.2
Multipleactuators . A 6.1
Noisepollution... .A3,2 -
Non-returnelements ..... A3.1
Non-returnvalves .. A2.3,A 3.1,B 4.1 -
Oil mist ... Ag.2
Oil removal .....82.4 -
Operationalsafety . A3.2
Opticalindicators ..85.7 -
Optimumpressures ...... B2.1
Over-lubrication.. .82.4 -
P ilotcontrolsystem ..:... ......81.3
P ipematerial .... .82.5
Pipelayout .8 2.5 -
P istonforce. .....85.4 :
P istonmotors ....85.5
P lasticpipes .....82.5
P neumatics andcontrolsy s t edme v e lo p me n. .t. . ..... A'1.2 \
P neumaticelements . ... .42.1
P neumatics in review .... A 1.1 !
P oppetvalves ....83.1'
P ositionalsketch ...... ........86.2
P owervalves ...... .....83.7
P ressurecontrolvalves . . . . . A 2 . 3 ,A 3 . 1 ,B 2 . 4 , 8 4 . 3 -
P ressurelevel . .....82
Pressure regulator .42.2
Pressureregulatorwith/without venthole . B 2.4
P ressuresequencevalv e . ......A2.3 -
P rinciplesofair. ..81.1
P rocessors:V alvesandlog ice le me n t s ...:.. ..42.4 -
P roductdevelopment. . . . ......A1.2
Pushbutton .A 2.6,A 3.1
Quickexhaustvalve. ....84.1
Reciprocatingcompres s o r. . . . ..'.......82.1 -
Reliableoperation of valve s .....83.7
Reservoirs i. . . . . .82.2
-
Resfiictors ....:. .84.2
Ringmain .8 2.5
..86.2 -
Rivetingprocess
Rodlesscylinder ..85.3
Rollerlevervalve
Rotaryactuators . . .A 3.1,B 5.6
Rotaryindexingtable ,..:.. ....B6.4
Rotarymotion .,....B5
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t Sublect Chapter
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t Rotarypistoncompressor . B 2.1
- Safetyrequirements for pneumatic
clampingdevices . . . . A 3.2
ID Se a ls. 82.4.85.2
Se r vo -controlled. ... g3.g
\ Se le ction medium
criteriaforworking ..... A 1.1
] mediumsandcompa ris o n . .
Se le ctionof ..86.1
\ - Sele ction
criteriaforsystems ..... A 1.1
D
t
D
3:1 ffiffi :::: :::::
:;:ll
Se q u e ntialcontrolcircuit
:::
'::'::::::
:::::::::::
::::::::
: 3i :3
...86.3'
\ Settingpressure rdgulator . .8 2.4
D Sh iftr egister..... ..86.3
\ valves
Sh u t- off .....82.5
D Sh u ttleORvalve ...84.1
\ Sig n a lconverter .... B 1.3
D Sig n a lflow. .81.3
Sig n a loverlap .......AG
\ Singleactingcylinder .A 2.6,B 5.,1
D
Sizin g pipe. .82.5
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Slid e valves .83.1
Slid in g-vanemotors...:.. .85.5
t Sp e cialdesignsandassemblies . . .86.4
Stan d ards .....A3
t Stati coutputdevices
Str i pfeeder
........8 5
.86.4
Structure
- Supplyair throttling . B 4.2
t Syn ch ronouscontrol ....... B 1,3
t
Sym b ols anddescriptions
of compon e n t s ........ A3.1
t System forworking
characteristics medium ...... A 1.1
- Systemupgrade .i.... ....A4.4
t Systerns:Controlcircuits ...A2.6 i
Systems:Hardware .86.3
a Tandemdoubleacting,cylinder ...
Thr o ttfevalve,..:.... .....84,2
Timedelayvalvd .
t Ti m e- dependentsequence... i. . . . . ....81.3
- Timers
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Trouble-shooting in pneumaticsystems
Tu r b in emotors .....85.5
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, Two p r essurevalve:A NDfunctio ,. . . .n. . ; . . ...84.1
U tilisationfactor. .....82
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) Ve n tho le . . .8 2.4
Wayvalve.s .A3.1
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