eNotes: Mechatronics and Controls

   
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1. TABLE OF CONTENTS

1. TABLE OF CONTENTS 1.1
2. OVERVIEW 1.8
3. PROCESS CONTROL 1.9
3.1 INTRODUCTION 1.9
3.2 CONTROL SYSTEM CHARACTERISTICS 1.10
3.3 CONTROLLER TYPES 1.11
3.4 PROCESS DIAGRAMS AND SYMBOLS 1.11
3.5 PRACTICE QUESTIONS 1.11
4. DISCRETE CONTROLLER DESIGN 1.12
4.1 POSITIONING CONTROLLERS 1.12
4.2 TRACKING 1.22
4.3 DISTURBANCE RESISTANT 1.25
4.4 MULTI-CONTROLLER SYSTEMS 1.28
4.5 SAMPLE TIME 1.34
4.6 SUMMARY 1.35
4.7 PRACTICE PROBLEMS 1.36
5. DISCRETE SYSTEMS 1.38
5.1 DISCRETE SYSTEM MODELLING WITH EQUATIONS 1.38
5.2 DISCRETE CONTROLLERS 1.48
5.3 BLOCK DIAGRAMS AND TRANSFER FUNCTIONS 1.56
5.4 SAMPLING FUNCTIONS 1.68
5.5 SYSTEM RESPONSE 1.72
5.6 STEADY STATE ERROR 1.76
5.7 PRACTICE PROBLEMS 1.78
6. PETRI NETS 1.81
6.1 INTRODUCTION 1.81
6.2 IMPLEMENTATION FOR A PLC 1.87
6.3 PRACTICE PROBLEMS 1.91
7. CONTINUOUS CONTROL SYSTEMS 1.92
7.1 CONTROL SYSTEMS 1.92
7.2 ROOT-LOCUS PLOTS 1.113
7.3 DESIGN OF CONTINUOUS CONTROLLERS 1.121
7.4 PRACTICE PROBLEMS 1.121
8. FUZZY LOGIC 1.126
8.1 COMMERCIAL CONTROLLERS 1.130
8.2 REFERENCES 1.130
8.3 PRACTICE PROBLEMS 1.131
9. MECHATRONICS CIRCUITS 1.132
9.1 POWER SWITCHING 1.132
9.2 USER INPUT/OUTPUT 1.132
10. HARDWARE BASED CONTROLLERS 1.134
10.1 CIRCUITS 1.134
10.2 FLUIDICS 1.134
10.3 PNEUMATICS 1.134
10.4 PRACTICE PROBLEMS 1.134
11. EMBEDDED CONTROLLERS 1.135
11.1 TYPES 1.135
11.2 CONTROLLER DESIGN EXAMPLE 1.135
11.3 PRACTICE PROBLEMS 1.135
12. DISCRETE SENSORS 1.136
12.1 INTRODUCTION 1.136
12.2 SENSOR WIRING 1.136
12.3 CONTACT DETECTION 1.143
12.4 PROXIMITY DETECTION 1.143
12.5 PRACTICE PROBLEMS 1.156
13. CONTINUOUS SENSORS 1.159
13.1 INPUT ISSUES 1.159
13.2 SENSOR TYPES 1.163
13.3 ANGULAR POSITION 1.166
13.4 LINEAR POSITION 1.170
13.5 VELOCITY 1.173
13.6 ACCELERATION 1.174
13.7 FORCE/MOMENT 1.176
13.8 FLOW RATE 1.181
13.9 TEMPERATURE 1.182
13.10 SOUND 1.185
13.11 LIGHT INTENSITY 1.186
13.12 PRESSURE 1.187
13.13 PRACTICE PROBLEMS 1.187
13.14 REFERENCES 1.188
14. ACTUATORS 1.189
14.1 ACTUATOR TYPES 1.189
15. DISCRETE ACTUATORS 1.189
15.1 INTRODUCTION 1.189
15.2 TYPES 1.190
15.3 PRACTICE PROBLEMS 1.195
16. CONTINUOUS ACTUATORS 1.196
16.1 ACTUATOR CONTROL 1.196
16.2 PRACTICE PROBLEMS 1.202
17. PROGRAMMABLE LOGIC CONTROLLERS 1.203
17.1 BASIC PLCs 1.203
17.2 A SIMPLE EXAMPLE 1.212
17.3 PRACTICE PROBLEMS 1.212
18. PLC CONNECTION 1.215
18.1 SWITCHED INPUTS AND OUTPUTS 1.215
18.2 PRACTICE PROBLEMS 1.226
19. PLC OPERATION 1.232
19.1 PLC ORGANIZATION 1.232
19.2 PLC STATUS 1.233
19.3 MEMORY TYPES 1.234
19.4 SOFTWARE BASED PLCS 1.234
19.5 PROGRAMMING STANDARDS 1.234
19.6 PRACTICE PROBLEMS 1.236
20. SWITCHING LOGIC 1.238
20.1 BOOLEAN ALGEBRA 1.238
20.2 DISCRETE LOGIC 1.240
20.3 SIMPLIFYING BOOLEAN EQUATIONS 1.247
20.4 ADDITIONAL TOPICS 1.250
20.5 DESIGN CASES 1.253
20.6 PRACTICE PROBLEMS 1.254
21. NUMBERING 1.271
21.1 INTRODUCTION 1.271
21.2 DATA VALUES 1.272
21.3 DATA CHARACTERIZATION 1.281
21.4 PRACTICE PROBLEMS 1.283
22. EVENT BASED LOGIC 1.286
22.1 INTRODUCTION 1.286
22.2 TIMERS, COUNTERS, FLIP-FLOPS, LATCHES 1.286
22.3 PROGRAM DESIGN METHODS 1.303
22.4 DESIGN CASES 1.306
22.5 PRACTICE PROBLEMS 1.314
23. SEQUENTIAL LOGIC DESIGN 1.321
23.1 SCRIPTS 1.321
23.2 FLOW CHARTS 1.325
23.3 STATE BASED MODELLING 1.335
23.4 PARALLEL PROCESS FLOWCHARTS 1.360
23.5 SEQUENTIAL LOGIC CIRCUITS 1.370
23.6 PRACTICE PROBLEMS 1.372
24. ADVANCED LADDER LOGIC FUNCTIONS 1.406
24.1 ADDRESSING 1.406
24.2 INSTRUCTION TYPES 1.412
24.3 DESIGN TECHNIQUES 1.440
24.4 DESIGN CASES 1.442
24.5 FUNCTION REFERENCE 1.445
24.6 PRACTICE PROBLEMS 1.471
25. PLC PROGRAMMING 1.478
25.1 PROGRAMMING STANDARDS 1.478
25.2 PRACTICE PROBLEMS 1.480
26. STRUCTURED TEXT PROGRAMMING 1.481
26.1 INTRODUCTION 1.481
26.2 THE LANGUAGE 1.481
26.3 PRACTICE PROBLEMS 1.494
27. INSTRUCTION LIST PROGRAMMING 1.495
27.1 INTRODUCTION 1.495
27.2 PRACTICE PROBLEMS 1.498
28. FUNCTION BLOCK PROGRAMMING 1.500
28.1 INTRODUCTION 1.500
28.2 PRACTICE PROBLEMS 1.501
29. ANALOG INPUTS AND OUTPUTS 1.503
29.1 ANALOG INPUTS 1.503
29.2 ANALOG OUTPUTS 1.511
29.3 DESIGN CASES 1.514
29.4 PRACTICE PROBLEMS 1.515
30. CONTINUOUS CONTROL 1.521
30.1 CONTROLLING CONTINUOUS SYSTEMS 1.522
30.2 CONTROLLING DISCRETE SYSTEMS 1.523
30.3 CONTROL SYSTEMS 1.523
30.4 DESIGN CASES 1.527
30.5 PRACTICE PROBLEMS 1.527
31. PLC DATA COMMUNICATION 1.528
31.1 COMPUTER COMMUNICATIONS CATEGORIES 1.528
31.2 THE HISTORY 1.529
31.3 WITH PLCs 1.529
31.4 SERIAL COMMUNICATIONS 1.530
31.5 PARALLEL 1.541
31.6 NETWORKS 1.541
31.7 BUS TYPES 1.554
31.8 DESIGN CASES 1.562
31.9 PRACTICE PROBLEMS 1.563
32. HUMAN MACHINE INTERFACES (HMI) 1.566
32.1 INTRODUCTION 1.566
32.2 HMI/MMI DESIGN 1.567
32.3 DESIGN CASES 1.567
32.4 PRACTICE PROBLEMS 1.568
33. DESIGNING LARGE SYSTEMS 1.569
33.1 PROGRAMMING 1.569
33.2 DOCUMENTATION 1.570
33.3 PLC PROGRAM DESIGN FORMS 1.571
33.4 PRACTICE PROBLEMS 1.578
34. IMPLEMENTATION 1.579
34.1 ELECTRICAL 1.579
34.2 SAFETY 1.591
35. PROCESS MODELLING 1.594
35.1 REFERENCES 1.597
35.2 PRACTICE PROBLEMS 1.597
36. SELECTING A PLC 1.599
36.1 SPECIAL I/O MODULES 1.603
36.2 PLC PROGRAMMING LANGUAGES 1.607
36.3 ISSUES 1.607
36.4 PRACTICE PROBLEMS 1.607
37. PLC REFERENCES 1.609
37.1 SUPPLIERS 1.609
37.2 PROFESSIONAL INTEREST GROUPS 1.610
37.3 PLC/DISCRETE CONTROL REFERENCES 1.610
38. USING THE OMRON DEMO PACKAGE 1.614
38.1 OVERVIEW 1.614
38.2 REFERENCE GUIDE FOR OMRON PLC DEMO SOFTWARE 1.618
39. INDUSTRIAL ROBOTICS 1.619
39.1 INTRODUCTION 1.619
39.2 ROBOT TYPES 1.632
39.3 ROBOT APPLICATIONS 1.663
39.4 END OF ARM TOOLING (EOAT) 1.666
39.5 ADVANCED TOPICS 1.675
39.6 PRACTICE PROBLEMS 1.676
40. ROBOTIC PATH PLANNING METHODS 1.690
40.1 INTRODUCTION: 1.690
40.2 GENERAL REQUIREMENTS 1.696
40.3 SETUP EVALUATION CRITERIA 1.704
40.4 METHOD EVALUATION CRITERIA 1.709
40.5 IMPLEMENTATION EVALUATION CRITERIA 1.716
40.6 OTHER AREAS OF INTEREST 1.719
40.7 COMPARISONS 1.720
40.8 CONCLUSIONS 1.722
40.9 APPENDIX A - OPTIMIZATION TECHNIQUES 1.722
40.10 APPENDIX B - SPATIAL PLANNING 1.725
40.11 APPENDIX C - TRANSFORMED SPACE 1.731
40.12 APPENDIX D - FIELD METHODS 1.738
40.13 APPENDIX E - NEW AND ADVANCED TOPICS 1.740
40.14 REFERENCES: 1.741
41. ROBOTIC MECHANISMS 1.746
41.1 KINEMATICS 1.746
41.2 MECHANISMS 1.749
41.3 ACTUATORS 1.750
41.4 PATH PLANNING 1.752
41.5 PRACTICE PROBLEMS 1.758
42. MOTION PLANNING AND TRAJECTORY CONTROL 1.763
42.1 TRAJECTORY CONTROL 1.763
42.2 PATH PLANNING 1.767
42.3 MOTION CONTROLLERS 1.771
42.4 SPECIAL ISSUES 1.774
42.5 PRACTICE PROBLEMS 1.776
42.6 MICROBOT OVERVIEW 1.778
42.7 CRS PLUS ROBOT OVERVIEW 1.778
42.8 BASIC DEMONSTRATION STEPS 1.779
43. CNC MACHINES 1.781
43.1 MACHINE AXES 1.781
43.2 NUMERICAL CONTROL (NC) 1.781
43.3 EXAMPLES OF EQUIPMENT 1.785
43.4 PRACTICE PROBLEMS 1.788
44. 1.789
45. CNC PROGRAMMING 1.789
45.1 G-CODES 1.791
45.2 APT 1.799
45.3 PROPRIETARY NC CODES 1.802
45.4 GRAPHICAL PART PROGRAMMING 1.803
45.5 NC CUTTER PATHS 1.804
45.6 NC CONTROLLERS 1.806
45.7 PRACTICE PROBLEMS 1.806
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