- •1. TABLE OF CONTENTS
- •2. OVERVIEW
- •3. PROCESS CONTROL
- •3.1 INTRODUCTION
- •3.2 CONTROL SYSTEM CHARACTERISTICS
- •3.3 CONTROLLER TYPES
- •3.4 PROCESS DIAGRAMS AND SYMBOLS
- •3.5 PRACTICE QUESTIONS
- •4. DISCRETE CONTROLLER DESIGN
- •4.1 POSITIONING CONTROLLERS
- •4.1.1 Dead Beat Control
- •4.1.2 Programming Examples
- •4.1.2.1 - BASIC
- •4.1.2.3 - Pascal
- •4.1.2.4 - 6811 Assembler
- •4.1.3 First Order Response
- •4.2 TRACKING
- •4.2.1 Minimum Error
- •4.3 DISTURBANCE RESISTANT
- •4.3.1 Disturbance Minimization
- •4.4 MULTI-CONTROLLER SYSTEMS
- •4.4.1 Disturbance Feedforward
- •4.4.2 Command Feedforward
- •4.4.3 Cascade
- •4.5 SAMPLE TIME
- •4.6 SUMMARY
- •4.7 PRACTICE PROBLEMS
- •5. DISCRETE SYSTEMS
- •5.1 DISCRETE SYSTEM MODELLING WITH EQUATIONS
- •5.1.1 Getting a Discrete Equation
- •5.1.2 First Order System Example
- •5.1.3 Second Order System Example
- •5.1.4 Example of Dead (Delay) Time
- •5.2 DISCRETE CONTROLLERS
- •5.2.1 A Proportional Controller
- •5.2.2 Integral Control
- •5.2.3 Differential Control
- •5.2.4 Proportional, Integral, Derivative (PID) Control
- •5.3 BLOCK DIAGRAMS AND TRANSFER FUNCTIONS
- •5.3.1 The Backward-Shift ‘B’ Operator
- •5.3.2 Reducing Block Diagrams
- •5.3.3 Back-Shift Transform Table
- •5.3.3.1 - A Summary of Differential Equation Solutions
- •5.3.4 Stability
- •5.4 SAMPLING FUNCTIONS
- •5.5 SYSTEM RESPONSE
- •5.6 STEADY STATE ERROR
- •5.7 PRACTICE PROBLEMS
- •6. PETRI NETS
- •6.1 INTRODUCTION
- •6.2 IMPLEMENTATION FOR A PLC
- •6.3 PRACTICE PROBLEMS
- •7. CONTINUOUS CONTROL SYSTEMS
- •7.1 CONTROL SYSTEMS
- •7.1.1 PID Control Systems
- •7.1.2 Analysis of PID Controlled Systems With Laplace Transforms
- •7.1.3 Manipulating Block Diagrams
- •7.1.3.1 - Commercial PID Tuners
- •7.1.4 Finding The System Response To An Input
- •7.1.5 System Response
- •7.1.6 A Motor Control System Example
- •7.1.7 System Error
- •7.1.8 Controller Transfer Functions
- •7.2 ROOT-LOCUS PLOTS
- •7.2.1 Approximate Plotting Techniques
- •7.2.2 State Variable Control Systems
- •7.3 DESIGN OF CONTINUOUS CONTROLLERS
- •7.4 PRACTICE PROBLEMS
- •8. FUZZY LOGIC
- •8.1 COMMERCIAL CONTROLLERS
- •8.2 REFERENCES
- •8.3 PRACTICE PROBLEMS
- •9. MECHATRONICS CIRCUITS
- •9.1 POWER SWITCHING
- •9.2 USER INPUT/OUTPUT
- •9.2.1 Multiplexing
- •10. HARDWARE BASED CONTROLLERS
- •10.1 CIRCUITS
- •10.2 FLUIDICS
- •10.3 PNEUMATICS
- •10.4 PRACTICE PROBLEMS
- •11. EMBEDDED CONTROLLERS
- •11.1 TYPES
- •11.1.1 Micro Controllers
- •11.1.2 DSPs
- •11.1.3 CPUs
- •11.2 CONTROLLER DESIGN EXAMPLE
- •11.3 PRACTICE PROBLEMS
- •12. DISCRETE SENSORS
- •12.1 INTRODUCTION
- •12.2 SENSOR WIRING
- •12.2.1 Switches
- •12.2.2 Transistor Transistor Logic (TTL)
- •12.2.3 Sinking/Sourcing
- •12.2.4 Solid State Relays
- •12.3 CONTACT DETECTION
- •12.3.1 Contact Switches
- •12.3.2 Reed Switches
- •12.4 PROXIMITY DETECTION
- •12.4.1 Optical (Photoelectric) Sensors
- •12.4.2 Capacitive Sensors
- •12.4.3 Inductive Sensors
- •12.4.4 Ultrasonic
- •12.4.5 Hall Effect
- •12.4.6 Fluid Flow
- •12.4.7 Other Types
- •12.5 PRACTICE PROBLEMS
- •13. CONTINUOUS SENSORS
- •13.1 INPUT ISSUES
- •13.2 SENSOR TYPES
- •13.3 ANGULAR POSITION
- •13.3.1 Potentiometers
- •13.3.2 Encoders
- •13.3.3 Resolvers
- •13.3.4 Practice Problems
- •13.4 LINEAR POSITION
- •13.4.1 Potentiometers
- •13.4.2 Linear Variable Differential Transformers (LVDT)
- •13.4.3 Moire Fringes
- •13.4.4 Interferometers
- •13.5 VELOCITY
- •13.5.1 Velocity Pickups
- •13.5.2 Tachometers
- •13.6 ACCELERATION
- •13.6.1 Accelerometers
- •13.7 FORCE/MOMENT
- •13.7.1 Strain Gages
- •13.7.2 Piezoelectric
- •13.8 FLOW RATE
- •13.8.1 Venturi
- •13.9 TEMPERATURE
- •13.9.1 Resistive Temperature Detectors (RTDs)
- •13.9.2 Thermocouples
- •13.9.3 Thermistors
- •13.10 SOUND
- •13.10.1 Microphones
- •13.11 LIGHT INTENSITY
- •13.11.1 Light Dependant Resistors (LDR)
- •13.12 PRESSURE
- •13.12.1 Bourdon Tubes
- •13.13 PRACTICE PROBLEMS
- •13.14 REFERENCES
- •14. ACTUATORS
- •14.1 ACTUATOR TYPES
- •15. DISCRETE ACTUATORS
- •15.1 INTRODUCTION
- •15.1.1 Interfacing
- •15.1.1.1 - Relays
- •15.1.1.2 - Transistors
- •15.1.1.3 - Triacs
- •15.2 TYPES
- •15.2.1 Solenoids
- •15.2.2 Hydraulic
- •15.2.3 Hydraulics
- •15.2.4 Electric
- •15.2.5 Pneumatic
- •15.2.6 Others
- •15.3 PRACTICE PROBLEMS
- •16. CONTINUOUS ACTUATORS
- •16.1 ACTUATOR CONTROL
- •16.1.1 Block Diagrams
- •16.1.2 Linear Control Systems
- •16.1.3 Motor Controllers
- •16.1.3.1 - DC Motors
- •16.1.3.2 - Stepper Motors
- •16.1.3.3 - Separately Excited DC Motor
- •16.1.3.4 - AC Motors
- •16.1.3.4.1 - Synchronous
- •16.1.4 Hydraulic
- •16.2 PRACTICE PROBLEMS
- •17. PROGRAMMABLE LOGIC CONTROLLERS
- •17.1 BASIC PLCs
- •17.1.1 PLC Connections
- •17.1.2 Ladder Logic
- •17.1.3 Ladder Logic Outputs
- •17.1.4 Ladder Logic Inputs
- •17.2 A SIMPLE EXAMPLE
- •17.3 PRACTICE PROBLEMS
- •18. PLC CONNECTION
- •18.1 SWITCHED INPUTS AND OUTPUTS
- •18.1.1 Input Modules
- •18.1.2 Output Modules
- •18.1.2.1 - Relays
- •18.2 PRACTICE PROBLEMS
- •19. PLC OPERATION
- •19.1 PLC ORGANIZATION
- •19.2 PLC STATUS
- •19.3 MEMORY TYPES
- •19.4 SOFTWARE BASED PLCS
- •19.5 PROGRAMMING STANDARDS
- •19.5.2 The Future of Open Architecture Controllers
- •19.6 PRACTICE PROBLEMS
- •20. SWITCHING LOGIC
- •20.1 BOOLEAN ALGEBRA
- •20.2 DISCRETE LOGIC
- •20.2.1 Boolean Algebra for Circuit and Ladder Logic Design
- •20.2.2 Boolean Forms
- •20.3 SIMPLIFYING BOOLEAN EQUATIONS
- •20.3.1 Karnaugh Maps for Combinatorial Design
- •20.4 ADDITIONAL TOPICS
- •20.4.1 Negative Logic
- •20.4.2 Common Logic Forms
- •20.4.2.1 - NAND/NOR Forms
- •20.4.2.2 - Multiplexers
- •20.4.2.3 - Seal-in Circuits
- •20.5 DESIGN CASES
- •20.5.1 Logic Functions
- •20.5.2 Car Safety System
- •20.5.3 Motor Forward/Reverse
- •20.6 PRACTICE PROBLEMS
- •21. NUMBERING
- •21.1 INTRODUCTION
- •21.2 DATA VALUES
- •21.2.1 Binary
- •21.2.2 Boolean Operations
- •21.2.3 Binary Mathematics
- •21.2.4 BCD (Binary Coded Decimal)
- •21.2.5 Number Conversions
- •21.2.6 ASCII (American Standard Code for Information Interchange)
- •21.3 DATA CHARACTERIZATION
- •21.3.1 Parity
- •21.3.2 Gray Code
- •21.3.3 Checksums
- •21.4 PRACTICE PROBLEMS
- •22. EVENT BASED LOGIC
- •22.1 INTRODUCTION
- •22.2 TIMERS, COUNTERS, FLIP-FLOPS, LATCHES
- •22.2.1 Latches
- •22.2.2 Flip-Flops
- •22.2.3 Timers
- •22.2.4 Counters
- •22.3 PROGRAM DESIGN METHODS
- •22.3.1 Process Sequence Bits
- •22.3.2 Timing Diagrams
- •22.4 DESIGN CASES
- •22.4.1 Counters And Timers
- •22.4.2 More Timers And Counters
- •22.4.3 Oscillator
- •22.4.4 More Timers
- •22.4.5 Cascaded Timers
- •22.4.6 Deadman Switch
- •22.4.7 Conveyor
- •22.4.8 Accept/Reject Sorting
- •22.4.9 Shear Press
- •22.4.10 Actuator Failure
- •22.4.11 Palm Button Detection
- •22.5 PRACTICE PROBLEMS
- •23. SEQUENTIAL LOGIC DESIGN
- •23.1 SCRIPTS
- •23.2 FLOW CHARTS
- •23.3 STATE BASED MODELLING
- •23.3.1 State Diagrams Example
- •23.3.1.1 - Block Logic Conversion
- •23.3.1.2 - Single State Equations
- •23.3.1.3 - Entry and Exit State Equations
- •23.3.1.4 - State Transition Equations
- •23.4 PARALLEL PROCESS FLOWCHARTS
- •23.4.1 Implementation with Microcontroller
- •23.5 SEQUENTIAL LOGIC CIRCUITS
- •23.5.1 Latches and Seal-in
- •23.5.2 Shift Registers
- •23.6 PRACTICE PROBLEMS
- •24. ADVANCED LADDER LOGIC FUNCTIONS
- •24.1 ADDRESSING
- •24.1.1 Data Files
- •24.1.1.1 - Inputs and Outputs
- •24.1.1.2 - User Bit Memory
- •24.1.1.3 - Timer Counter Memory
- •24.1.1.4 - PLC Status Bits (for PLC-5s and Micrologix)
- •24.1.1.5 - User Function Control Memory
- •24.1.1.6 - Integer Memory
- •24.1.1.7 - Floating Point Memory
- •24.2 INSTRUCTION TYPES
- •24.2.1 Basic Data Handling
- •24.2.1.1 - Move Functions
- •24.2.1.2 - Mathematical Functions
- •24.2.2 Logical Functions
- •24.2.2.1 - Comparison of Values
- •24.2.2.2 - Binary Functions
- •24.2.3 Boolean Operations
- •24.2.4 Binary Mathematics
- •24.2.5 BCD (Binary Coded Decimal)
- •24.2.6 Advanced Data Handling
- •24.2.6.1 - Multiple Data Value Functions
- •24.2.7 Complex Functions
- •24.2.7.1 - Shift Registers
- •24.2.7.2 - Stacks
- •24.2.7.3 - Sequencers
- •24.2.8 Program Control Structures
- •24.2.8.1 - Branching and Looping
- •24.2.8.2 - Immediate I/O Instructions
- •24.2.8.3 - Fault Detection and Interrupts
- •24.2.9 Block Transfer Functions
- •24.3 DESIGN TECHNIQUES
- •24.3.1 State Diagrams
- •24.4 DESIGN CASES
- •24.4.1 If-Then
- •24.4.2 For-Next
- •24.4.3 Conveyor
- •24.5 FUNCTION REFERENCE
- •24.6 PRACTICE PROBLEMS
- •25. PLC PROGRAMMING
- •25.1 PROGRAMMING STANDARDS
- •25.1.2 The Future of Open Architecture Controllers
- •25.2 PRACTICE PROBLEMS
- •26. STRUCTURED TEXT PROGRAMMING
- •26.1 INTRODUCTION
- •26.2 THE LANGUAGE
- •26.3 PRACTICE PROBLEMS
- •27. INSTRUCTION LIST PROGRAMMING
- •27.1 INTRODUCTION
- •27.2 PRACTICE PROBLEMS
- •28. FUNCTION BLOCK PROGRAMMING
- •28.1 INTRODUCTION
- •28.2 PRACTICE PROBLEMS
- •29. ANALOG INPUTS AND OUTPUTS
- •29.1 ANALOG INPUTS
- •29.1.1 Analog To Digital Conversions
- •29.1.2 Analog Inputs With a PLC
- •29.2 ANALOG OUTPUTS
- •29.2.1 Analog Outputs With A PLC
- •29.3 DESIGN CASES
- •29.3.1 Oven Temperature Control
- •29.3.2 Statistical Process Control (SPC)
- •29.4 PRACTICE PROBLEMS
- •30. CONTINUOUS CONTROL
- •30.1 CONTROLLING CONTINUOUS SYSTEMS
- •30.2 CONTROLLING DISCRETE SYSTEMS
- •30.3 CONTROL SYSTEMS
- •30.3.1 PID Control Systems
- •30.3.1.1 - PID Control With a PLC
- •30.4 DESIGN CASES
- •30.4.1 Temperature Controller
- •30.5 PRACTICE PROBLEMS
- •31. PLC DATA COMMUNICATION
- •31.1 COMPUTER COMMUNICATIONS CATEGORIES
- •31.2 THE HISTORY
- •31.3 WITH PLCs
- •31.4 SERIAL COMMUNICATIONS
- •31.4.1.1 - ASCII Functions
- •31.4.2 ASCII (American Standard Code for Information Interchange)
- •31.5 PARALLEL
- •31.6 NETWORKS
- •31.6.1 Introduction
- •31.6.2 OSI Network Model
- •31.6.2.1 - Physical Layer
- •31.6.2.2 - Data Link Layer
- •31.6.2.3 - Network Layer
- •31.6.2.4 - Transport Layer
- •31.6.2.5 - Session Layer
- •31.6.2.6 - Presentation Layer
- •31.6.2.7 - Application Layer
- •31.6.2.8 - Open Systems
- •31.6.2.9 - Networking Hardware
- •31.7 BUS TYPES
- •31.7.1 Devicenet
- •31.7.2 CANbus
- •31.7.3 Controlnet
- •31.7.4 Profibus
- •31.7.5 Ethernet
- •31.7.6 Proprietary Networks
- •31.7.6.1 - Data Highway
- •31.7.7 Other Network Types
- •31.8 DESIGN CASES
- •31.8.1 PLC Interface To Robots And NC Machines
- •31.9 PRACTICE PROBLEMS
- •32. HUMAN MACHINE INTERFACES (HMI)
- •32.1 INTRODUCTION
- •32.2 HMI/MMI DESIGN
- •32.3 DESIGN CASES
- •32.4 PRACTICE PROBLEMS
- •33. DESIGNING LARGE SYSTEMS
- •33.1 PROGRAMMING
- •33.2 DOCUMENTATION
- •33.3 PLC PROGRAM DESIGN FORMS
- •33.4 PRACTICE PROBLEMS
- •34. IMPLEMENTATION
- •34.1 ELECTRICAL
- •34.1.1 Electrical Wiring Diagrams
- •34.1.1.1 - JIC Wiring Symbols
- •34.1.2 Wiring
- •34.1.3 Shielding and Grounding
- •34.2 SAFETY
- •34.2.1 Troubleshooting
- •34.2.2 Forcing Outputs
- •34.2.3 PLC Environment
- •34.2.3.1 - Enclosures
- •35. PROCESS MODELLING
- •35.1 REFERENCES
- •35.2 PRACTICE PROBLEMS
- •36. SELECTING A PLC
- •36.1 SPECIAL I/O MODULES
- •36.2 PLC PROGRAMMING LANGUAGES
- •36.3 ISSUES
- •36.4 PRACTICE PROBLEMS
- •37. PLC REFERENCES
- •37.1 SUPPLIERS
- •37.2 PROFESSIONAL INTEREST GROUPS
- •37.3 PLC/DISCRETE CONTROL REFERENCES
- •38. USING THE OMRON DEMO PACKAGE
- •38.1 OVERVIEW
- •38.1.1 Installation
- •38.1.2 Basic Use
- •38.1.3 Connecting to the PLC
- •38.2 REFERENCE GUIDE FOR OMRON PLC DEMO SOFTWARE
- •39. INDUSTRIAL ROBOTICS
- •39.1 INTRODUCTION
- •39.1.1 Basic Terms
- •39.1.2 Positioning Concepts
- •39.1.2.1 - Accuracy and Repeatability
- •39.1.2.2 - Control Resolution
- •39.1.2.3 - Payload
- •39.2 ROBOT TYPES
- •39.2.1 Basic Robotic Systems
- •39.2.2 Types of Robots
- •39.2.2.1 - Robotic Arms
- •39.2.2.2 - Autonomous/Mobile Robots
- •39.2.2.2.1 - Automatic Guided Vehicles (AGVs)
- •39.2.3 Commercial Robots
- •39.2.3.1 - Seiko RT 3000 Manipulator
- •39.2.3.2 - DARL Programs
- •39.2.3.2.1 - Language Examples
- •39.2.3.2.2 - Commands Summary
- •39.2.3.3 - Mitsubishi RV-M1 Manipulator
- •39.2.3.4 - Movemaster Programs
- •39.2.3.4.1 - Language Examples
- •39.2.3.4.2 - Command Summary
- •39.2.3.5 - IBM 7535 Manipulator
- •39.2.3.6 - AML Programs
- •39.2.3.7 - ASEA IRB-1000
- •39.2.4 Unimation Puma (360, 550, 560 Series)
- •39.3 ROBOT APPLICATIONS
- •39.3.1 Overview
- •39.3.2 Spray Painting and Finishing
- •39.3.3 Welding
- •39.3.4 Assembly
- •39.3.5 Belt Based Material Transfer
- •39.4 END OF ARM TOOLING (EOAT)
- •39.4.1 EOAT Design
- •39.4.2 Gripper Mechanisms
- •39.4.2.1 - Vacuum grippers
- •39.4.3 Magnetic Grippers
- •39.4.3.1 - Adhesive Grippers
- •39.4.4 Expanding Grippers
- •39.4.5 Other Types Of Grippers
- •39.5 ADVANCED TOPICS
- •39.5.1 Simulation/Off-line Programming
- •39.6 PRACTICE PROBLEMS
- •40. ROBOTIC PATH PLANNING METHODS
- •40.1 INTRODUCTION:
- •40.1.1 ROBOT APPLICATIONS
- •40.1.2 ROBOTIC CONSTRAINTS
- •40.1.3 THE OPTIMIZATION PROBLEM OF PATH PLANNERS
- •40.1.4 EVALUATION OF PATH PLANNERS
- •40.2 GENERAL REQUIREMENTS
- •40.2.1 PROBLEM DIMENSIONALITY
- •40.2.2 2D MOBILITY PROBLEM
- •40.2.2.1 - 2.5D HEIGHT PROBLEM
- •40.2.2.2 - 3D SPACE PROBLEM
- •40.2.3 COLLISION AVOIDANCE
- •40.2.4 MULTILINK
- •40.2.5 ROTATIONS
- •40.2.6 OBSTACLE MOTION PROBLEM
- •40.2.7 ROBOT COORDINATION
- •40.2.8 INTERACTIVE PROGRAMMING
- •40.3 SETUP EVALUATION CRITERIA
- •40.3.1 INFORMATION SOURCE
- •40.3.1.1 - KNOWLEDGE BASED PLANNING (A PRIORI)
- •40.3.1.2 - SENSOR BASED PLANNING (A POSTIERI)
- •40.3.2 WORLD MODELLING
- •40.4 METHOD EVALUATION CRITERIA
- •40.4.1 PATH PLANNING STRATEGIES
- •40.4.1.1 - BASIC PATH PLANNERS (A PRIORI)
- •40.4.1.2 - HYBRID PATH PLANNERS (A PRIORI)
- •40.4.1.3 - TRAJECTORY PATH PLANNING (A POSTIERI)
- •40.4.1.4 - HIERARCHICAL PLANNERS (A PRIORI & A POSTIERI)
- •40.4.1.5 - DYNAMIC PLANNERS (A PRIORI & A POSTIERI)
- •40.4.1.6 - OFF-LINE PROGRAMMING
- •40.4.1.7 - ON-LINE PROGRAMMING
- •40.4.2 PATH PLANNING METHODS
- •40.4.3 OPTIMIZATION TECHNIQUES
- •40.4.3.1 - SPATIAL PLANNING
- •40.4.3.2 - TRANSFORMED SPACE
- •40.4.3.3 - FIELD METHODS
- •40.4.3.4 - NEW AND ADVANCED TOPICS
- •40.4.4 INTERNAL REPRESENTATIONS
- •40.4.5 MINIMIZATION OF PATH COSTS
- •40.4.6 LIMITATIONS IN PATH PLANNING
- •40.4.7 RESULTS FROM PATH PLANNERS
- •40.5 IMPLEMENTATION EVALUATION CRITERIA
- •40.5.1 COMPUTATIONAL TIME
- •40.5.2 TESTING OF PATH PLANNERS
- •40.6 OTHER AREAS OF INTEREST
- •40.6.1 ERRORS
- •40.6.2 RESOLUTION OF ENVIRONMENT REPRESENTAION
- •40.7 COMPARISONS
- •40.8 CONCLUSIONS
- •40.9 APPENDIX A - OPTIMIZATION TECHNIQUES
- •40.9.1 OPTIMIZATION : VELOCITY
- •40.9.2 OPTIMIZATION : GEOMETRICAL
- •40.9.3 OPTIMIZATION : PATH REFINEMENT
- •40.9.4 OPTIMIZATION : MOVING OBSTACLES
- •40.9.5 OPTIMIZATION : SENSOR BASED
- •40.9.6 OPTIMIZATION : ENERGY
- •40.10 APPENDIX B - SPATIAL PLANNING
- •40.10.1 SPATIAL PLANNING : SWEPT VOLUME
- •40.10.2 SPATIAL PLANNING : OPTIMIZATION
- •40.10.3 SPATIAL PLANNING : GENERALIZED CONES
- •40.10.4 SPATIAL PLANNING : FREEWAYS
- •40.10.5 SPATIAL PLANNING : OCT-TREE
- •40.10.6 SPATIAL PLANNING : VORONOI DIAGRAMS
- •40.10.7 SPATIAL PLANNING : GENERAL INTEREST
- •40.10.8 SPATIAL PLANNING - VGRAPHS
- •40.11 APPENDIX C - TRANSFORMED SPACE
- •40.11.1 TRANSFORMED SPACE : CARTESIAN CONFIGURATION SPACE
- •40.11.1.1 - TRANSFORMED SPACE :
- •40.11.2 TRANSFORMED SPACE : JOINT CONFIGURATION SPACE
- •40.11.3 TRANSFORMED SPACE : OCT-TREES
- •40.11.4 TRANSFORMED SPACE : CONSTRAINT SPACE
- •40.11.5 TRANSFORMED SPACE : VISION BASED
- •40.11.6 TRANSFORMED SPACE : GENERAL INTEREST
- •40.12 APPENDIX D - FIELD METHODS
- •40.12.1 SPATIAL PLANNING : STEEPEST DESCENT
- •40.12.2 SPATIAL PLANNING : POTENTIAL FIELD METHOD
- •40.13 APPENDIX E - NEW AND ADVANCED TOPICS
- •40.13.1 ADVANCED TOPICS : DUAL MANIPULATOR COOPERATION
- •40.13.2 ADVANCED TOPICS : A POSTIERI PATH PLANNER
- •40.13.3 NEW TOPICS - SLACK VARIABLES
- •40.14 REFERENCES:
- •41. ROBOTIC MECHANISMS
- •41.1 KINEMATICS
- •41.1.1 Basic Terms
- •41.1.2 Kinematics
- •41.1.2.1 - Geometry Methods for Forward Kinematics
- •41.1.2.2 - Geometry Methods for Inverse Kinematics
- •41.2 MECHANISMS
- •41.3 ACTUATORS
- •41.3.1 Modeling the Robot
- •41.4 PATH PLANNING
- •41.4.1 Slew Motion
- •41.4.1.1 - Joint Interpolated Motion
- •41.4.1.2 - Straight-line motion
- •41.4.2 Computer Control of Robot Paths (Incremental Interpolation)
- •41.5 PRACTICE PROBLEMS
- •42. MOTION PLANNING AND TRAJECTORY CONTROL
- •42.1 TRAJECTORY CONTROL
- •42.1.1 Resolved Rate Motion Control
- •42.1.2 Cartesian Motion System
- •42.1.3 Model Reference Adaptive Control (MRAC)
- •42.1.4 Digital Control System
- •42.2 PATH PLANNING
- •42.2.1 Slew Motion
- •42.2.1.1 - Joint Interpolated Motion
- •42.2.1.2 - Straight-line motion
- •42.3 MOTION CONTROLLERS
- •42.3.1 Computer Control of Robot Paths (Incremental Interpolation)
- •42.4 SPECIAL ISSUES
- •42.4.1 Optimal Motion
- •42.4.2 Singularities
- •42.5 PRACTICE PROBLEMS
- •42.6 MICROBOT OVERVIEW
- •42.7 CRS PLUS ROBOT OVERVIEW
- •42.8 BASIC DEMONSTRATION STEPS
- •43. CNC MACHINES
- •43.1 MACHINE AXES
- •43.2 NUMERICAL CONTROL (NC)
- •43.2.1 NC Tapes
- •43.2.2 Computer Numerical Control (CNC)
- •43.2.3 Direct/Distributed Numerical Control (DNC)
- •43.3 EXAMPLES OF EQUIPMENT
- •43.3.1 EMCO PC Turn 50
- •43.3.2 Light Machines Corp. proLIGHT Mill
- •43.4 PRACTICE PROBLEMS
- •44. CNC PROGRAMMING
- •44.1 G-CODES
- •44.3 PROPRIETARY NC CODES
- •44.4 GRAPHICAL PART PROGRAMMING
- •44.5 NC CUTTER PATHS
- •44.6 NC CONTROLLERS
- •44.7 PRACTICE PROBLEMS
Engineer On a Disk
Overview: This note set is part of a larger collection of materials available at http://claymore.engineer.gvsu.edu. You are welcome to use the material under the license provided at http://claymore.engineer.gvsu.edu/eod/global/copyrght.html. As always any feedback you can provide will be welcomed.
Copyright © 1993-2001, Hugh Jack
email: jackh@gvsu.edu phone: (616) 771-6755 fax: (616) 336-7215
Copyright © 1993-2001, Hugh Jack
page 2 |
|
1. TABLE OF CONTENTS |
|
TABLE OF CONTENTS.......................................................................................................... |
2 |
OVERVIEW ............................................................................................................................. |
8 |
PROCESS CONTROL ............................................................................................................. |
9 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
- 9 |
CONTROL SYSTEM CHARACTERISTICS - - - - - - - - - - - - - - - - - - - - - - - - - |
10 |
CONTROLLER TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
11 |
PROCESS DIAGRAMS AND SYMBOLS - - - - - - - - - - - - - - - - - - - - - - - - - - - |
11 |
PRACTICE QUESTIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
11 |
DISCRETE CONTROLLER DESIGN .................................................................................. |
12 |
POSITIONING CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
12 |
TRACKING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
22 |
DISTURBANCE RESISTANT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
25 |
MULTI-CONTROLLER SYSTEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
28 |
SAMPLE TIME - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
34 |
SUMMARY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
35 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
36 |
DISCRETE SYSTEMS .......................................................................................................... |
38 |
DISCRETE SYSTEM MODELLING WITH EQUATIONS - - - - - - - - - - - - - - - |
38 |
DISCRETE CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
48 |
BLOCK DIAGRAMS AND TRANSFER FUNCTIONS - - - - - - - - - - - - - - - - - - |
56 |
SAMPLING FUNCTIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
68 |
SYSTEM RESPONSE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
72 |
STEADY STATE ERROR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
76 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
78 |
PETRI NETS .......................................................................................................................... |
81 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
81 |
IMPLEMENTATION FOR A PLC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
87 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
91 |
CONTINUOUS CONTROL SYSTEMS................................................................................ |
92 |
CONTROL SYSTEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
92 |
ROOT-LOCUS PLOTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
113 |
DESIGN OF CONTINUOUS CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - |
121 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
121 |
FUZZY LOGIC .................................................................................................................... |
126 |
COMMERCIAL CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
130 |
REFERENCES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
130 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
131 |
MECHATRONICS CIRCUITS............................................................................................ |
132 |
POWER SWITCHING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
132 |
USER INPUT/OUTPUT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
132 |
HARDWARE BASED CONTROLLERS............................................................................ |
134 |
CIRCUITS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
134 |
FLUIDICS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
134 |
PNEUMATICS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
134 |
page 3 |
|
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
134 |
EMBEDDED CONTROLLERS........................................................................................... |
135 |
TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
135 |
CONTROLLER DESIGN EXAMPLE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
135 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
135 |
DISCRETE SENSORS......................................................................................................... |
136 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
136 |
SENSOR WIRING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
136 |
CONTACT DETECTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
143 |
PROXIMITY DETECTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
143 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
156 |
CONTINUOUS SENSORS .................................................................................................. |
159 |
INPUT ISSUES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
159 |
SENSOR TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
163 |
ANGULAR POSITION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
166 |
LINEAR POSITION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
170 |
VELOCITY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
173 |
ACCELERATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
174 |
FORCE/MOMENT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
176 |
FLOW RATE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
181 |
TEMPERATURE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
182 |
SOUND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
185 |
LIGHT INTENSITY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
186 |
PRESSURE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
187 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
187 |
REFERENCES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
188 |
ACTUATORS ...................................................................................................................... |
189 |
ACTUATOR TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
189 |
DISCRETE ACTUATORS .................................................................................................. |
189 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
189 |
TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
190 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
195 |
CONTINUOUS ACTUATORS ........................................................................................... |
196 |
ACTUATOR CONTROL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
196 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
202 |
PROGRAMMABLE LOGIC CONTROLLERS.................................................................. |
203 |
BASIC PLCs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
203 |
A SIMPLE EXAMPLE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
212 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
212 |
PLC CONNECTION ............................................................................................................ |
215 |
SWITCHED INPUTS AND OUTPUTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
215 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
226 |
PLC OPERATION ............................................................................................................... |
232 |
PLC ORGANIZATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
232 |
PLC STATUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
233 |
MEMORY TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
234 |
page 4 |
|
SOFTWARE BASED PLCS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
234 |
PROGRAMMING STANDARDS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
234 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
236 |
SWITCHING LOGIC........................................................................................................... |
238 |
BOOLEAN ALGEBRA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
238 |
DISCRETE LOGIC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
240 |
SIMPLIFYING BOOLEAN EQUATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - |
247 |
ADDITIONAL TOPICS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
250 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
253 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
254 |
NUMBERING ...................................................................................................................... |
271 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
271 |
DATA VALUES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
272 |
DATA CHARACTERIZATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
281 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
283 |
EVENT BASED LOGIC ...................................................................................................... |
286 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
286 |
TIMERS, COUNTERS, FLIP-FLOPS, LATCHES - - - - - - - - - - - - - - - - - - - - - |
286 |
PROGRAM DESIGN METHODS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
303 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
306 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
314 |
SEQUENTIAL LOGIC DESIGN......................................................................................... |
321 |
SCRIPTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
321 |
FLOW CHARTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
325 |
STATE BASED MODELLING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
335 |
PARALLEL PROCESS FLOWCHARTS - - - - - - - - - - - - - - - - - - - - - - - - - - - |
360 |
SEQUENTIAL LOGIC CIRCUITS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
370 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
372 |
ADVANCED LADDER LOGIC FUNCTIONS .................................................................. |
406 |
ADDRESSING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
406 |
INSTRUCTION TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
412 |
DESIGN TECHNIQUES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
440 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
442 |
FUNCTION REFERENCE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
445 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
471 |
PLC PROGRAMMING........................................................................................................ |
478 |
PROGRAMMING STANDARDS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
478 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
480 |
STRUCTURED TEXT PROGRAMMING.......................................................................... |
481 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
481 |
THE LANGUAGE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
481 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
494 |
INSTRUCTION LIST PROGRAMMING ........................................................................... |
495 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
495 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
498 |
FUNCTION BLOCK PROGRAMMING ............................................................................ |
500 |
page 5 |
|
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
500 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
501 |
ANALOG INPUTS AND OUTPUTS .................................................................................. |
503 |
ANALOG INPUTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
503 |
ANALOG OUTPUTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
511 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
514 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
515 |
CONTINUOUS CONTROL................................................................................................. |
521 |
CONTROLLING CONTINUOUS SYSTEMS - - - - - - - - - - - - - - - - - - - - - - - - |
522 |
CONTROLLING DISCRETE SYSTEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - |
523 |
CONTROL SYSTEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
523 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
527 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
527 |
PLC DATA COMMUNICATION ....................................................................................... |
528 |
COMPUTER COMMUNICATIONS CATEGORIES - - - - - - - - - - - - - - - - - - - |
528 |
THE HISTORY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
529 |
WITH PLCs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
529 |
SERIAL COMMUNICATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
530 |
PARALLEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
541 |
NETWORKS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
541 |
BUS TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
554 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
562 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
563 |
HUMAN MACHINE INTERFACES (HMI) ....................................................................... |
566 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
566 |
HMI/MMI DESIGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
567 |
DESIGN CASES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
567 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
568 |
DESIGNING LARGE SYSTEMS ....................................................................................... |
569 |
PROGRAMMING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
569 |
DOCUMENTATION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
570 |
PLC PROGRAM DESIGN FORMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
571 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
578 |
IMPLEMENTATION........................................................................................................... |
579 |
ELECTRICAL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
579 |
SAFETY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
591 |
PROCESS MODELLING .................................................................................................... |
594 |
REFERENCES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
597 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
597 |
SELECTING A PLC ............................................................................................................ |
599 |
SPECIAL I/O MODULES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
603 |
PLC PROGRAMMING LANGUAGES - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
607 |
ISSUES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
607 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
607 |
PLC REFERENCES ............................................................................................................. |
609 |
SUPPLIERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
609 |
page 6 |
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PROFESSIONAL INTEREST GROUPS - - - - - - - - - - - - - - - - - - - - - - - - - - - |
610 |
PLC/DISCRETE CONTROL REFERENCES - - - - - - - - - - - - - - - - - - - - - - - - |
610 |
USING THE OMRON DEMO PACKAGE ......................................................................... |
614 |
OVERVIEW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
614 |
REFERENCE GUIDE FOR OMRON PLC DEMO SOFTWARE - - - - - - - - - - - |
618 |
INDUSTRIAL ROBOTICS.................................................................................................. |
619 |
INTRODUCTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
619 |
ROBOT TYPES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
632 |
ROBOT APPLICATIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
663 |
END OF ARM TOOLING (EOAT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
666 |
ADVANCED TOPICS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
675 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
676 |
ROBOTIC PATH PLANNING METHODS........................................................................ |
690 |
INTRODUCTION: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
690 |
GENERAL REQUIREMENTS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
696 |
SETUP EVALUATION CRITERIA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
704 |
METHOD EVALUATION CRITERIA - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
709 |
IMPLEMENTATION EVALUATION CRITERIA - - - - - - - - - - - - - - - - - - - - |
716 |
OTHER AREAS OF INTEREST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
719 |
COMPARISONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
720 |
CONCLUSIONS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
722 |
APPENDIX A - OPTIMIZATION TECHNIQUES - - - - - - - - - - - - - - - - - - - - |
722 |
APPENDIX B - SPATIAL PLANNING - - - - - - - - - - - - - - - - - - - - - - - - - - - |
725 |
APPENDIX C - TRANSFORMED SPACE - - - - - - - - - - - - - - - - - - - - - - - - - |
731 |
APPENDIX D - FIELD METHODS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
738 |
APPENDIX E - NEW AND ADVANCED TOPICS - - - - - - - - - - - - - - - - - - - |
740 |
REFERENCES: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
741 |
ROBOTIC MECHANISMS ................................................................................................. |
746 |
KINEMATICS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
746 |
MECHANISMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
749 |
ACTUATORS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
750 |
PATH PLANNING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
752 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
758 |
MOTION PLANNING AND TRAJECTORY CONTROL ................................................. |
763 |
TRAJECTORY CONTROL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
763 |
PATH PLANNING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
767 |
MOTION CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
771 |
SPECIAL ISSUES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
774 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
776 |
MICROBOT OVERVIEW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
778 |
CRS PLUS ROBOT OVERVIEW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
778 |
BASIC DEMONSTRATION STEPS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
779 |
CNC MACHINES ................................................................................................................ |
781 |
MACHINE AXES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
781 |
NUMERICAL CONTROL (NC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
781 |
EXAMPLES OF EQUIPMENT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
785 |
page 7 |
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PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
788 |
CNC PROGRAMMING....................................................................................................... |
789 |
G-CODES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
790 |
APT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
798 |
PROPRIETARY NC CODES - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
801 |
GRAPHICAL PART PROGRAMMING - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
802 |
NC CUTTER PATHS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
803 |
NC CONTROLLERS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
805 |
PRACTICE PROBLEMS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - |
805 |