Api I C1

IST / DEEC / API
Industrial Automation
(Automao de Processos Industriais)
http://users.isr.ist.utl.pt/~jag/courses/api1112/api1112.html
Slides 2010/2011 Prof. Paulo Jorge Oliveira Rev. 2011/2012 Prof. Jos Gaspar
Page 1
IST / DEEC / API
A steam engine built to James Watt's patent in 1848 at Freiberg in Germany [wikipedia]
Page 2
IST / DEEC / API
Microcontrollers
Computer + IO
PLC
Many options for controlling real world devices! Why PLCs?

Page 3
Arduino
National Instruments AD/DA
Premium P57
IST / DEEC / API
Page 4
IST / DEEC / API
Objectives:
Analysis of systems for industrial automation. Methodologies for the implementation of solutions in industrial automation. Programming languages of PLCs (Programmable Logic Controllers). CAD/CAM and Computerized Numerical Controlled machines. Discrete Event Systems Modeling. Supervision of Processes in Industrial Automation.
Page 5
IST / DEEC / API
Program at a glance:
1. Introduction to Automation [1 week]
Introduction to components and methodologies.
5. CAD/CAM and CNC Machines [1 week]

Types of Computerized Numerical Controlled machines. Interpolation of trajectories. Flexible fabrication cells.
6. Discrete Event Systems [1 week]

Modeling of discrete event systems (DESs). Automata. Petri networks. State and dynamics of PNs.
2. Introduction to PLCs [2 weeks]

Components of Programmable Logic Controllers (PLCs). Architecture, functional structure, IO.
7. Analysis of DESs [2 weeks]

Properties of DESs. Methodologies for the analysis: reachability graph and matricial equation.
3. PLCs Programming Languages [2w]

Standard languages (IEC-1131-3): Ladder Diagram; Instruction List and Structured Text.
8. DESs and Industrial Automation [1week]

Relations GRAFCET / Petri networks. Analysis of industrial automation solutions as DESs.
4. GRAFCET (Sequential Function Chart) [1 week]

Norm, elements of the language, modelling.
9. Supervision of Industrial Processes [2w]

Methodologies for supervision. SCADA. Synthesis based on invariants. Examples of application.
Page 6
IST / DEEC / API
Assessment and grading:

2 Preliminary laboratory assignments - training purposes (0% of the final grade).
2 Laboratory assignments (20%+20% of the final grade). Groups of 3 students. 1 Seminar (20% of the final grade). Topics to be selected with each group. Exams (40% of the final grade). Two written. Upon student choice, the second exam can be oral. Minimum grade: 9.0/20.0 val. in each component.
Extra 1 (one) valor for students attending more than 50% of recitations.
Page 7
IST / DEEC / API
Schedule (laboratories & exam):

Lab. registration 1st preliminary lab. 2nd preliminary lab. 1st lab. assignment 2nd lab. assignment 3rd lab. assignment Exams First week 1 week 1 week 4 weeks 4 weeks 0.5h seminar 3h Fenix 14/09/2011 26-30/09/2011 03-07/10/2011 10/10-04/11/2011 07/11-02/12/2011 One date >= week 9 9Jan, 30Jan 2012
Page 8
Important: define the students representative
IST / DEEC / API
Schedule (according to IST-GOP):

Recitation classes Monday Friday 11.00 h 12.30h Ea5 11.00 h 12.30h Ea4
Lab. Classes (once per week) Monday Friday 09.30h 11.00h L1 LSDC4 (room 5.21) 09.30h 11.00h L2 LSDC4 (room 5.21)
Groups registration for the Laboratory By September 25th 2009 with the students representatives.
Page 9
IST / DEEC / API
Bibliography:
Automating Manufacturing Systems with PLCs, Hugh Jack (online version available).
Peterson, James L., "Petri Net Theory and the Modeling of Systems", Prentice-Hall,1981. Modeling and Control of Discrete-event Dynamic Systems with Petri Nets and other Tools, Branislav Hruz and MengChu Zhou, 2007. New reference --- secondary-- Programmable Logic Controllers, Frank D. Petruzella, McGraw-Hill, 1996. Petri Nets and GRAFCET: Tools for Modeling Discrete Event Systems, R. DAVID, H. ALLA, New York : PRENTICE HALL Editions, 1992. Computer Control of Manufacturing Systems, Yoram Koren, McGraw Hill, 1986. Cassandras, Christos G., "Discrete Event Systems - Modeling and Performance Analysis", Aksen Associates, 1993. Moody, J. e Antsaklis, Supervisory Control of Discrete Event Systems, Kluwer Academic Publishers, 1998. Page 10
IST / DEEC / API
(Automao de Processos Industriais)
Introduction to Automation
http://www.isr.ist.utl.pt/~jag/aulas/api1112/api1112.html
Slides 2010/2011, Prof. Paulo Jorge Oliveira Rev. 2011/2012, Prof. Jos Gaspar
Page 11
IST / DEEC / API
Robot
Ctrl Actuator Sensor
+Robot
+ ...
+ Global Controller
= Automated Industrial Process
The subject of this course
Page 12
IST / DEEC / API
Cap. 1 Introduction to Automation [1 week] Introduction to components in industrial automation. Cabled logic versus programmed logic versus networked logic. Introduction to methodologies for problem modeling. Methodologies of work.
Page 13
IST / DEEC / API
Chap. 1 Introduction to Automation
Components used in industrial automation

The production of increasing amounts of goods requires the storage and handling of large quantities of resources. The use of specialized, automatic tools are mandatory. Consistent trend in the last three centuries (since the Industrial Revolution). Automation was also fostered by the invention of computers,
Page 14
IST / DEEC / API
Robotic Manipulators
Page 15
IST / DEEC / API
Riding an ABB IRB 6600 Robot 1 [Youtube] API Note: please understand the power, and do not do this; keep always the safety!
Page 16
IST / DEEC / API
End Effectors
Page 17
IST / DEEC / API
Major characteristics: Number of degrees of freedom Types of joints (prismatic/revolution/...) Programming tools and environments (high level languages, teach pendent, ...) Workspace Accuracy, fiability Payload and robustness
Page 18
IST / DEEC / API
Workspace: Examples
Page 19
IST / DEEC / API
Central problems to adress and solve: Direct / Inverse kinematics Trajectory generation Coordinate frames where tasks are specified Level of abstraction of the programming languages
Page 20
IST / DEEC / API
Use in Flexible Cells of Fabrication: it is required that the manipulators have correct interfaces for the synchonization and inputs for external commands.
Page 21
IST / DEEC / API
Computerized Numerical Controlled Machines

Major characteristics: Number of degrees of freedom Interpolation methods Load/unload automation, and also in tool change Programming (high level languages, teach pendent, ...) Workspace Accuracy, reliability Payload and robustness Interface Synchronization with exterior
MITSUI SEIKI Machining Center
Page 22
Examples: Milling, Lathes, ...
IST / DEEC / API
Computerized Numerical Controlled Machines
Compact CNC plasma cutting machine Effective cutting :1.5 m X 3 m Plasma torch cutting capacity up to 5cm (mild steel), Gas torch as option up to 10cm.
Page 23
IST / DEEC / API
Solutions for Handling materials For transport...

Major characteristics: Load/unload automation Accuracy, reliability Payload and robustness Interface Synchronization with exterior
Page 24
IST / DEEC / API
AGVs (Automatic Guided Vehicles)
Major characteristics: Load/unload automation Accuracy, reliability Payload and robustness Interface Synchronization with exterior
Page 25
IST / DEEC / API
AGVs (Automatic Guided Vehicles)
Example of fleet operating in industry
Page 26
IST / DEEC / API
Actuation Motors
Major charactersticas: Type of start Type of control Accuracy, reliability Payload and robustness Interface with exterior Synchronization
Page 27
IST / DEEC / API
Exemple of AC motor, with driver
Page 28
IST / DEEC / API
Specific Components Factury example: production of aluminium packs
Page 29
IST / DEEC / API
Cabled Logic versus ...
Page 30
IST / DEEC / API
... versus Programmed Logic
Page 31
IST / DEEC / API
... versus Networked Logic
Page 32
IST / DEEC / API
Analysis of the auto-evaluation test
Page 33
IST / DEEC / API
Introduction to methodologies for problem modeling in Industrial Automation
Page 34
IST / DEEC / API
Actuators Solenoide valve Command relay Pneumatic cylinder Electro pneumatic Sensors Pressure switch Temperature sensors Proximity sensors Relay diagram / Ladder diagram
Refs: Programmable Logic Controllers, Frank D. Petruzella, McGraw-Hill, 1996.
Page 35
IST / DEEC / API
Solenoide Valve
Page 36
IST / DEEC / API
Command Relay
Page 37
IST / DEEC / API
Push buttons
Page 38
IST / DEEC / API
Selector with three positions
Page 39
IST / DEEC / API
Cylinders (Pneumatics)
Page 40
IST / DEEC / API
Valves (Electro-pneumatics)
Page 41
IST / DEEC / API
Page 42
IST / DEEC / API
Sensors
Pressure Switch
Page 43
IST / DEEC / API
Temperature Sensors
Page 44
IST / DEEC / API
Thermocouple
Proximity detector
Page 45
IST / DEEC / API
Magnetic detector
Magnetic switch
Page 46
IST / DEEC / API
Symbols associated to all components Standards
Page 47
IST / DEEC / API
Methodologies for the implementation of solutions in industrial automation Device: Relay Contact Diagram or Ladder Diagram
Page 48
IST / DEEC / API
Ladder Diagram Or Contact Diagram
Page 49
IST / DEEC / API
Methodologies for the implementation of solutions in industrial automation
Contacts diagram Example
Page 50
IST / DEEC / API
Example:
Page 51
IST / DEEC / API
Logic Functions
Page 52
IST / DEEC / API
Example:
Page 53
IST / DEEC / API
To exploit the advantages of Programmed Logic
Page 54

Api I C1

Uploaded by

Copyright:

Available Formats

Api I C1

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Api I C1

Uploaded by

Copyright:

Available Formats

IST / DEEC / API

IST / DEEC / API

IST / DEEC / API

Many options for controlling real world devices! Why PLCs?

National Instruments AD/DA

IST / DEEC / API

IST / DEEC / API

IST / DEEC / API

5. CAD/CAM and CNC Machines [1 week]

6. Discrete Event Systems [1 week]

2. Introduction to PLCs [2 weeks]

7. Analysis of DESs [2 weeks]

3. PLCs Programming Languages [2w]

8. DESs and Industrial Automation [1week]

4. GRAFCET (Sequential Function Chart) [1 week]

9. Supervision of Industrial Processes [2w]

IST / DEEC / API

Assessment and grading:

IST / DEEC / API

Schedule (laboratories & exam):

Important: define the students representative

IST / DEEC / API

Schedule (according to IST-GOP):

IST / DEEC / API

IST / DEEC / API

IST / DEEC / API

= Automated Industrial Process

The subject of this course

IST / DEEC / API

IST / DEEC / API

Chap. 1 Introduction to Automation

Components used in industrial automation

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

Chap. 1 Introduction to Automation

IST / DEEC / API

Chap. 1 Introduction to Automation

Computerized Numerical Controlled Machines

Examples: Milling, Lathes, ...

IST / DEEC / API

Chap. 1 Introduction to Automation

Computerized Numerical Controlled Machines

IST / DEEC / API

Chap. 1 Introduction to Automation

Solutions for Handling materials For transport...

IST / DEEC / API

Chap. 1 Introduction to Automation

AGVs (Automatic Guided Vehicles)