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Pneumatic circuits
- Low forces - Discrete, fixed travel distances - Rotational or reciprocating motion
spri ng-return
tepping away from this mat, the person has to manually switch the robot back ON
a 3/2 valve
valve actuation
a 5/2 valve
return spring
pneumatic
foot pedal
push button
A-
A+ VA
Start
/ CGRP 1
- Draw the cylinders - For each cylinder, draw the limit valve (3/2 way) - For each cylinder, draw the control valve - Draw manifold lines - Limit valve connections: a2, b2 and c1 get their air supply from manifold 1 a1, b1 and c2 get their air supply from manifold 2 - Group valve connections: air supply: initially to GRP 1 (manifold 1), when pilot line 1 is active. line 1: activated by c2 (transition from GRP 2 GRP 1) line 2: activated by b2 - Connect air supply of each cylinders valve, and supply + and ports of each cylinder - Connect the logic lines according to sequence: START A+ B+ B- A- C+ C-
VA
VB
VC
Start 1
1 2
- For more complex logic, difficult to debug - Less versatile than electronic control (e.g. no counters, poor timer control)
p ut
ut
s ut i np 1 ut i np
in
t3 pu
inp
t4
u inp
i np t5
6 ut
C A/ 0V 22
u inp
t0
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
Outer mat ON warning light ON Inner mat ON warning light ON AND 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 Internal (logical) relay
PLC: example 2
LOGIC for Robot Robot must STAY OFF until manual reset to ON
Lecture notes (Rockwell Automation PLC): External inputs: I:0/1, I:0/2, , I:1/1, I:1/2, I:n/m External outputs: O:0/1, O:0/2, , O:1/1, O:1/2, O:n/m Internal Relays: B0, B1, etc.
Lab (SMC PLC): External inputs: X0, X1, External outputs: Y0, Y1, , Internal Relays: R0, R1, etc.
Solenoid actuated when: (i) ON signal from number-pad outside door (ii) ON signal from door-open switch inside door Solenoid ON for 5 sec, then OFF
Solenoid actuated when: (i) ON signal from number-pad outside door (ii) ON signal from door-open switch inside door Solenoid ON for 5 sec, then OFF
Examples: Pallet loading in factory After 10 parts arrive on conveyor, worker comes to load pallet
Pneumatic press hammer Hit the part 20 times, then wait for part to be unloaded Rice cooker alarm Beep 5 times when rice is cooked
I:0/1
I:0/2
B1
B1 T4: 0 EN Base: Preset: Accum : B1 T4: 1 EN Base: Preset: Accum : 0.01 6000 0 T4: 2 EN Base: Preset: Accum : B1 T4:0 T4:1 0.01 7500 0 T4:2 DN T4:2 DN T4:2 DN C5: 0 EN Preset: Accum : C5: 0 DN I:0/3 50 0 O:0/3 O:0/0 0.01 3000 0
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
B1
Notice how B1 and the time r outputs are used to c ontrol the logic according to the required timing.
B1
O:0/1
B1
O:0/2
O:0/2 CTU
Car arrives limit switch ON Limit switch ON Washer ON Washer ON: (i) Soapy water SPRAY ON (30 secs) (ii) Rinse: clean water SPRAY ON (30 secs) (iii) Automatic scrubber brushes car (15 secs) (iv) After washing 50 cars, the scrubber brush Auto-change
T4:0 RES
I:0/3
T4:1 RES
I:0/3
O:0/3
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
00 01 02 03 04 05 06 07 08
00 Program Memory
30
30 31 32 33