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1. Pneumatic circuits
- Low forces
- Discrete, fixed travel distances
- Rotational or reciprocating motion
spring-return
air supply
vent to atmosphere (air discharge
tepping away from this mat, the person has to manually switch the robot back ON
a 3/2 valve
a 5/2 valve
valve actuation
return spring
pneumatic
foot pedal
push button
solenoid (electrical)
roller (mechanical)
Start
A+
A-
VA
Functions of A, B, C ?
How to design pneumatic system?
/ CGRP 3
/ CGRP 1
a1
VA
b1
a2
VB
b2
c1
VC
Start
1
2
c2
PLC Basics:
computer + relays
p
ut
ut
C
A/ 0V
22
inp
0
ut
u
i np
ut
i np
t1
3
ut
i np
inp
4
ut
u
inp
i np
t5
Box with
Computer
(controller)
Power supply wire
6
ut
PLC: example 1
Pressure_Switch is ON Warning_Light ON
PLC: example 1
STEP 1:
Write this logic into a PROGRAM
STEP 2:
Load program into PLC
STEP 3:
Connect the sensor output to External Input terminal.
STEP 4:
Connect the PLC External Output Terminal to Warning Light
STEP 5:
EXECUTE the logic program on the PLC.
PLC: example 1
PLC: example 1
IF
THEN
PLC: example 2
Robot OFF
PLC: example 2
Two actuators: Warning light, Robot master switch
LOGIC for Warning light
External Input 1: outer mat
PLC: example 2
PROBLEM ?
PLC: example 2
LOGIC for Robot
Robot must STAY OFF until manual reset to ON
Solution: LATCH
External Input 2: inner mat
latch
PLC: example 2
LOGIC for Robot
Robot must STAY OFF until manual reset to ON
A xor B:
(A is ON AND B is OFF) OR (A is OFF AND B is ON)
LEGEND:
I:0/1 door-open
I:O/2 card-reader
O:0/1 solenoid
O:0/2 light indicator
Examples:
Pallet loading in factory
After 10 parts arrive on conveyor, worker comes to load pallet
I:0/1
B1
I:0/2
B1
T4: 0
EN
Base:
Preset:
Accum :
0.01
3000
0
B1
T4: 1
EN
Base:
Preset:
Accum :
B1
0.01
6000
0
T4: 2
EN
Base:
Preset:
Accum :
B1
T4:1
T4:0
0.01
7500
0
T4:2
B1
DN
DN
T4:0 T4:1
DN
T4:2
B1
DN
DN
T4:0 T4:1
DN
T4:2
DN
DN
I:0/1 : System On
I:0/2 : Em ergency Stop
I:0/3 : Lim it Switch
O:0/0
O:0/1
O:0/2
O:0/3
:
:
:
:
Soa p Water On
Rinse On
Scrubber On
Ac tivate Scrubber Change
O:0/0
O:0/1
O:0/2
DN
O:0/2
CTU
C5: 0
EN
Preset:
Accum :
C5: 0
DN
I:0/3
50
0
O:0/3
T4:0
RES
I:0/3
T4:1
RES
I:0/3
T4:2
RES
O:0/3
C5:0
RES
Programming a PLC
(2) Computer-interface:
(i) Complete the program on a computer
(ii) Test the program on PC
(iii) Upload the program to the PLC processor memory (persistent)
(iv) Connect external Inputs and Outputs
(v) Run the program on PLC
Phase 1
Phase 3
00
00
01
Program
Memory
02
30
30
03
31
04
32
33
05
Processor
06
34
07
35
08
36
Accumulator
09
10
11
11
input
input
register
37
37
output
register
output