Lab 4 - Robot Integration - Spr 10

Lab 4 - Robot Integration - Spr 10 - MFET 248 Laboratory...

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MFET 248, Lab 4 page 1 of 10 MFET 248 Laboratory Assignment #4 Spring 2010 Robot Integration Objectives: This lab assignment is an extension of laboratory assignments 2 and 3. In lab #2 you programmed the Adept robot to rebuild the disk pack based on the failed disk number which was entered into the keyboard attached to the robot controller. The purpose of lab #3 was to understand, wire, and test the Di/Do wiring between the Adept robot and the Allen-Bradley PLC. In this lab assignment we will write robot and PLC programs to implement the Di/Do wiring scheme. The failed disk number will now be entered into the PLC’s pushbutton RediPANEL and the PLC must “tell” the robot which disk has failed. Background: It is assumed you have completed the following laboratory assignments: Lab #2 - Programming The Adept Robot Lab #3 - Wiring and Testing Di/Do The Adept program used in this assignment will be similar to the program developed in lab #2. The only difference is that now the PLC will tell the robot which disk has failed via Di/Do – you will NOT enter the failed disk using the keyboard connected to the Adept controller. In this assignment you will start with PLC program used in lab #2. The PLC program used in lab #2 will be extended as follows: 1) Under normal conditions (when there are no errors), the shot pins will no longer be lowered by pressing the RPB0 pushbutton located on the pushbutton RediPANEL. The shot pins will be lowered when the Adept robot “tells” the PLC to lower them. 2) The failed disk number will be entered into the Allen-Bradley pushbutton RediPANEL as described below. Reference material on the keypad RediPANEL is posted on the MFET 248 web site. 3) The PLC program will implement the Di/Do wiring scheme illustrated in Figure 1. The Di/Do scheme is described in detail below.
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MFET 248, Lab 4 page 2 of 10 Figure 1 – Di/Do Scheme PLC Robot New Data D0 D1 Adept Ack Adept Done Done Ack Adept Error Error Line 1 Error Line 2 Error Ack Entering the failed disk number into the pushbutton RediPANEL : You will enter the failed disk number (1, 2, or 3) into the PLC’s pushbutton RediPANEL as follows: 1) Press RPB1 if disk 1 has failed, press RPB2 if disk 2 has failed, and press RPB3 if disk 3 has failed. Recall that RPB0 is the left most green pushbutton on the pushbutton RediPANEL. 2) The PLC program must only pay attention to the RPB1, RPB2, and RPB3 pushbuttons when the shot pins are UP . When the shot pins are down the PLC program must ignore any input from the pushbutton RediPANEL.
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MFET 248, Lab 4 page 3 of 10 3) Recall that each pushbutton also has a built-in pilot light. The built-in lights can also be enabled to flash on and off. When the PLC program is first placed in the run mode, turn on the lights which are built into RPB1, RPB2, and RPB3 (they will NOT flash on and off until one of them is pushed – see below). When the operator pushes
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This note was uploaded on 02/29/2012 for the course MFET 248 taught by Professor T.e.kostek during the Spring '10 term at Purdue University-West Lafayette.

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Lab 4 - Robot Integration - Spr 10 - MFET 248 Laboratory...

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