MFET 243 Lab 8 Fall 09 - MFET 243, Lab #8 page 1 of 13 MFET...

Info iconThis preview shows pages 1–4. Sign up to view the full content.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: MFET 243, Lab #8 page 1 of 13 MFET 243 Laboratory Assignment #8 Fall 09 Controlling a Pneumatic Robot with a PLC Objectives: In this assignment you will learn how to control a pneumatic robot using a ControlLogix PLC. This assignment will introduce you to state machine PLC programming . Preparation: Refer to the power point presentation entitled Programming a Pneumatic Robot with a PLC as needed. Background: The pneumatic robots are located at droplines 2, 4, and 6 on the MFET conveyor system. Figure 1 illustrates the x, y, and z coordinate system associated with each pneumatic robot. Figure 1 - Pneumatic Robot Coordinate System Front View View the pneumatic robot when standing at the end of the conveyor drop line (where the RAM is located). At this position the Y axis extends towards you. Home Position Z Axis Extended (arm moves down towards conveyor) X Axis Extended (arm moves towards PE1) Y Axis Extended (arm moves out from PS4 towards PS3) MFET 243, Lab #8 page 2 of 13 In this lab you will control a 5-axis (including the gripper) pneumatic robot. Table 1 summarizes each of the PLC outputs used to control the pneumatic robot. Table 1 PLC Outputs Output #: Suggested Alias Name: Type of solenoid Valve: Description: 0 O_X_Home Double Acting Move X axis to home position 1 O_X_Extend Double Acting Move X axis to extended position 2 O_Y_Extend Double Acting Move Y axis to extended position 3 O_Y_Home Double Acting Move Y axis to home position 4 O_Z_Extend Single Acting Z axis moves down when on 5 O_Wrist_Rotate Single Acting Wrist rotates 180 degrees when on 6 O_Grip_Close Single Acting Gripper closes when on Table 2 illustrates the applicable inputs. Table 2 PLC Inputs Input Number: Suggested Alias Name: Description: 0 I_START_ROBOT Normally open start pushbutton located on pneumatic robot control panel (see Figure 3) 1 I_STOP_ROBOT Normally closed stop pushbutton located on pneumatic robot control panel (see Figure 3) 2 I_X_Home Senses X home position 3 I_X_Extend Senses when X axis is extended 4 I_Y_Extend Senses when Y axis is extended 5 I_Y_Home Senses Y home position 6 I_Z_Extend Senses when Z axis is extended (down) 7 I_Z_Home Senses when Z axis is in home position (up) Notes: Inputs 0 and 1 are momentary pushbuttons. Inputs 2 7 are inputs from inductive proximity sensors mounted on the pneumatic robot. The gripper and the wrist do NOT have sensors. MFET 243, Lab #8 page 3 of 13 The pneumatic robot I/O is wired to the ControlLogix 5555 controller using remote I/O and Allen- Bradleys Flex I/O system. The pneumatic robot remote I/O is wired as rack #7 ( rack). Figure 2 illustrates the wiring details. Figure 2 Flex I/O System Wired to Remote I/O Note : A Flex I/O system supports up to 8 I/O modules (slots 0 to 7). Our system only uses two I/O modules (slots 0 and 1)....
View Full Document

This note was uploaded on 02/29/2012 for the course MFET 243 taught by Professor T.e.kostek during the Fall '09 term at Purdue University-West Lafayette.

Page1 / 13

MFET 243 Lab 8 Fall 09 - MFET 243, Lab #8 page 1 of 13 MFET...

This preview shows document pages 1 - 4. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online