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1. TABLE OF CONTENTS
- 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
- 4.1 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
- 5.1 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
- 6.1 INTRODUCTION 1.81
- 6.2 IMPLEMENTATION FOR A PLC 1.87
- 6.3 PRACTICE PROBLEMS 1.91
- 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
- 8.1 COMMERCIAL CONTROLLERS 1.130
- 8.2 REFERENCES 1.130
- 8.3 PRACTICE PROBLEMS 1.131
- 9.1 POWER SWITCHING 1.132
- 9.2 USER INPUT/OUTPUT 1.132
- 10.1 CIRCUITS 1.134
- 10.2 FLUIDICS 1.134
- 10.3 PNEUMATICS 1.134
- 10.4 PRACTICE PROBLEMS 1.134
- 11.1 TYPES 1.135
- 11.2 CONTROLLER DESIGN EXAMPLE 1.135
- 11.3 PRACTICE PROBLEMS 1.135
- 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
- 13.1 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
- 14.1 ACTUATOR TYPES 1.189
- 15.1 INTRODUCTION 1.189
- 15.2 TYPES 1.190
- 15.3 PRACTICE PROBLEMS 1.195
- 16.1 ACTUATOR CONTROL 1.196
- 16.2 PRACTICE PROBLEMS 1.202
- 17.1 BASIC PLCs 1.203
- 17.2 A SIMPLE EXAMPLE 1.212
- 17.3 PRACTICE PROBLEMS 1.212
- 18.1 SWITCHED INPUTS AND OUTPUTS 1.215
- 18.2 PRACTICE PROBLEMS 1.226
- 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
- 20.1 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
- 21.1 INTRODUCTION 1.271
- 21.2 DATA VALUES 1.272
- 21.3 DATA CHARACTERIZATION 1.281
- 21.4 PRACTICE PROBLEMS 1.283
- 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
- 23.1 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
- 24.1 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
- 25.1 PROGRAMMING STANDARDS 1.478
- 25.2 PRACTICE PROBLEMS 1.480
- 26.1 INTRODUCTION 1.481
- 26.2 THE LANGUAGE 1.481
- 26.3 PRACTICE PROBLEMS 1.494
- 27.1 INTRODUCTION 1.495
- 27.2 PRACTICE PROBLEMS 1.498
- 28.1 INTRODUCTION 1.500
- 28.2 PRACTICE PROBLEMS 1.501
- 29.1 ANALOG INPUTS 1.503
- 29.2 ANALOG OUTPUTS 1.511
- 29.3 DESIGN CASES 1.514
- 29.4 PRACTICE PROBLEMS 1.515
- 30.1 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
- 31.1 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
- 32.1 INTRODUCTION 1.566
- 32.2 HMI/MMI DESIGN 1.567
- 32.3 DESIGN CASES 1.567
- 32.4 PRACTICE PROBLEMS 1.568
- 33.1 PROGRAMMING 1.569
- 33.2 DOCUMENTATION 1.570
- 33.3 PLC PROGRAM DESIGN FORMS 1.571
- 33.4 PRACTICE PROBLEMS 1.578
- 34.1 ELECTRICAL 1.579
- 34.2 SAFETY 1.591
- 35.1 REFERENCES 1.597
- 35.2 PRACTICE PROBLEMS 1.597
- 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
- 37.1 SUPPLIERS 1.609
- 37.2 PROFESSIONAL INTEREST GROUPS 1.610
- 37.3 PLC/DISCRETE CONTROL REFERENCES 1.610
- 38.1 OVERVIEW 1.614
- 38.2 REFERENCE GUIDE FOR OMRON PLC DEMO SOFTWARE 1.618
- 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
- 40.1 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
- 41.1 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
- 42.1 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
- 43.1 MACHINE AXES 1.781
- 43.2 NUMERICAL CONTROL (NC) 1.781
- 43.3 EXAMPLES OF EQUIPMENT 1.785
- 43.4 PRACTICE PROBLEMS 1.788
- 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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