1

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY

School of Mechanical Engineering
***

DESIGN PROJECT II
TOPIC: DESIGING A CONTROL SYSTEM FOR THE CNC AXIS

Instructor : PhD. Lê Minh Quý

Full name : Vũ Thị Hoài Ngọc

Course Code : ME4186

Hanoi, 08/01/2024
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Contents
OVERVIEW OF CNC MILLING MACHINE ....................................................7

Chapter 1. ANALYSIS OF OPERATING PRINCIPLES ...................................9

1.1. Operating principles of control systems .........................................................9

1.1.1. The structure and functions of a CNC control system...........................10

1.1.2. Data input and data processing ..............................................................10

1.1.3. Perform interpolating motion.................................................................11

1.2. Components of control system. ....................................................................12

1.3. Methods for Calculating and Algorithms for Interpolating Functions .........17

1.3.1. Interpolating Functions Method.............................................................17

Chapter 2. PID MOTOR CONTROLLER FOR TABLE X .............................24

2.1. Contruct the transfer function of the system.................................................24

2.2. Finding the transfer function G(s) ................................................................28

2.3. Check the stability of the transfer function G(s): .........................................28

2.3.1. Check the stability of the open system: .................................................28

2.3.2. Check the stability of the closed system: ...............................................28

2.3.3. Check the response of the system ..........................................................30

2.4. PID controller design ....................................................................................32

2.4.1. Basic knowledge of PID controller ........................................................32

2.4.2. The role of ratio, integrals, and differential: ..........................................33

2.4.3. Design PID controller according to experimental method (first Ziegler-

Nichols method) ...............................................................................................36

Chapter 3. PID MOTOR CONTROLLER FOR TABLE Y .............................42

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3.1. Contruct the transfer function of the table Y. ...............................................42

3.2. Finding the transfer function G(s) ................................................................45

3.3. Check the stability of the transfer function G(s): .........................................45

3.3.1. Check the stability of the open system: .................................................45

3.3.2. Check the stability of the closed system: ...............................................46

3.3.3. Check the response of the system ..........................................................48

3.4. PID controller design: ...................................................................................48

Chapter 4. PROGRAMMING PLC CONTROL FOR TWO AXES ...............52

4.1. Selecting control devices ..............................................................................52

4.1.1. Motor and motor control. .......................................................................52

4.1.2. Sensor .....................................................................................................54

4.1.3. PLC ........................................................................................................55

4.2. Building the control circuit diagram. ............................................................57

4.2.1. General connection diagram ..................................................................57

4.2.2. Pneumatic circuit diagram .....................................................................58

4.3. Connect PLC and control pins of the Driver. ...........................................58

4.4. Connection between Driver and PLC ...........................................................66

4.4.1. Wiring diagram between PLC and CN1 of the driver ...........................66

4.4.2. Schematic of Connecting Controller, Driver, Servo, and Sensors. .......66

4.5. System Control Interface Programming .......................................................67

4.5.1. Setting up the screen interface ...............................................................67

4.5.2. Programming Setup ...............................................................................67

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4.6. System Control Programming ......................................................................68

4.6.1. Steps to set up basic parameters and considerations: ............................69

4.6.2. Programming Control ............................................................................69

Chapter 5. Simulation ............................................................................................81

5.1.Simulating Interpolation Using GX-Work2 Software ...................................81

Conclusion...............................................................................................................87

REFERENCES .......................................................................................................88
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Figure 1.CNC machine system ..................................................................................7

Figure 2. Principles of closed-loop control circuit ....................................................9
Figure 3. Linear interpolation and Circular interpolation ........................................12
Figure 4. A closed-loop control system includes position and velocity feedback. .13
Figure 5. Straight Line Interpolation .......................................................................19
Figure 6. Example for Straight Line Interpolation Method .....................................20
Figure 7. Circular Interpolation ...............................................................................21
Figure 8. Model X table of CNC machine ...............................................................24
Figure 9. Modeling the X-table system ...................................................................24
Figure 10. Table of single shaft connection parameter of Daidoseimitu.................26
Figure 11. Nyquist diagram of the system ...............................................................29
Figure 12. Bode diagram of the system ...................................................................30
Figure 13. Response when in put is a ladder shape .................................................31
Figure 14. Closed-loop feedback diagram with PID controller...............................33
Figure 15. . The role of the proportional step in the PID controller ........................34
Figure 16. The role of the integral step in the PID controller..................................34
Figure 17. The role of the differential stage in the PID controller ..........................35
Figure 18. Find L, T, k for PID controller ...............................................................37
Figure 19. PID controller for X table .......................................................................38
Figure 20. Response in the presence of a PID controller ........................................39
Figure 21. PID controller parameter table ...............................................................40
Figure 22. Table of single shaft connection parameter of Daidoseimitu.................43
Figure 23. Nyquist diagram of the system ...............................................................46
Figure 24. Bode diagram of the system ...................................................................47
Figure 25. Transient response of the Y table ...........................................................48
Figure 26. PID controller for Y table .......................................................................48
Figure 27. Response in the presence of a PID controller ........................................49
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Figure 28. PID controller parameter table Y ...........................................................50

Figure 29. Servo Motor HF-KR053 Mitsubishi ......................................................52
Figure 30. Servo Driver Mitsubishi MR-J4-20B .....................................................53
Figure 31. CNC Limit Switch Metrol CSRNBTNB-L1A .......................................54
Figure 32. QD77MS4 Mitsubishi ............................................................................55
Figure 33. Module PLC Mitsubishi .........................................................................56
Figure 34. Systems Diagram ....................................................................................57
Figure 35. Main screen.............................................................................................68
Figure 36. Positioning control screen ......................................................................68
Figure 37. Applying linear interpolation for milling the circle ...............................83
Figure 38. Applying linear interpolation for milling the straight line .....................84
Figure 39. Applying linear interpolation for milling perpendicular line. ...............85
Figure 40. Applying linear interpolation for milling the curve ...............................86
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OVERVIEW OF CNC MILLING MACHINE

A CNC machining system is consists of the following elements: Program, tape
reader, mini-computer, servo system, CNC machine tools.

Figure 1.CNC machine system

- Program: This is entered into the computer through a keyboard. These are the
codes used to control the machine.

The various CNC codes are N Code, G Code, XYZ Code, F code, etc.

- Tape reader: This is used as a storage device where we can store the program for
a particular machining operation.

- Mini-computer: It is also called the machine control unit. It is to read interprets

and converts perceived input, that is part program into the desired movement and
controls the following functions:

• To start and stop the machine spindle.

• Vary the spindle speed accordingly and also it can control the direction of
rotation of the spindle.
• To start and stop the coolant supply.
• To change the required tools as per requirements.
• To change the workpiece.
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• To control the feed rate.

Also, the mini-computer equipped with diagnostic software which can detect any
problem and restore the machine accordingly.

- Servo system: The function of the servo system is to receive the control signal
from the feedback devices and the set output accordingly (To shaft, tools and other
components of CNC machines.

Servo system mainly consists of:

+ Servo Motors

+ Feed-back devices

+ Ball screws

- CNC machine: This is the actual machine where the finished product made. This
is the housing of headstock, tailstock, foot switch, chuck, and tool turret.
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Chapter 1. ANALYSIS OF OPERATING PRINCIPLES

1.1. Operating principles of control systems
On a CNC controller, the control system is used to receive signals from the
program-reading mechanisms, perform necessary transformations to generate
signals compatible with the operating conditions of the executing mechanisms,
and simultaneously monitor their operation through feedback signals from
relevant sensors. This system comprises components such as reading
mechanisms, decoding mechanisms, conversion mechanisms, signal processing
units, interpolation mechanisms, comparison mechanisms, amplification
mechanisms, displacement measurement mechanisms, velocity measurement
mechanisms, memory, and input/output devices.

Figure 2. Principles of closed-loop control circuit

On CNC machine tools, a closed-loop control circuit is applied to control the
positions of the axes.
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1.1.1. The structure and functions of a CNC control system.

The CNC control is responsible for decoding the NC program and further
processing information related to technology and geometric shapes. With the
assistance of the CNC control system, the corresponding components of the
CNC machine are controlled and adjusted to manufacture details as required.
The functions of the CNC control system include data input, data processing,
and data output.

1.1.2. Data input and data processing

The data input in CNC control primarily occurs in the control area, which
includes a keyboard and a screen. Here, NC programs can be created, managed,
and data can be input or program simulations can be initiated. NC programs can
also be stored externally, for example, on tape or previously on punch cards.
Furthermore, it has the capability to connect to external data sources through
interfaces or network connections with a host computer (DNC operation),
allowing the creation and management of NC programs on a computer.

The data processing in a CNC control system is responsible for setting up the
necessary data from the NC program required for the operation of the CNC
machine in manufacturing parts.

The technological data includes tasks such as tool selection, direction of

rotation, adjusting the spindle speed, coolant on/off, and more. These data are
transferred to the corresponding components of the CNC machine through the
adaptive control system.

The geometric shape information from the NC program is interpreted by the

CNC control system and, as needed, takes into account toolpath steps for each
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axis's motion. Once the motion paths are generated, they continue to be
controlled by the closed-loop control circuit to ensure the tool positions are
accurate.

1.1.3. Perform interpolating motion

Starting from the characteristic that all machining contours are organized from
elements (generating and reference lines) such as straight lines, circles,
parabolas, cubic curves, spirals, etc., CNC control systems are equipped with
the capability to interpolate these types of curves.

The interpolation function in CNC control performs the following tasks:

- Calculate Intermediate Step Values: It computes the intermediate step values

required to generate appropriate commands that match the specified
conditions.
- Control Individual Toolpath Movements: It controls individual toolpath
movements that encompass a predefined contour. The coordination of the
incremental steps of toolpath axes determines the direction of motion.

In essence, the interpolation function in CNC control allows the machine to

accurately follow the specified contours by calculating and controlling the
intermediate steps necessary for each motion.

• In the case of linear interpolation, two or three axes move simultaneously,

and their motions are coordinated in a certain proportion.
• Circular interpolation involves the tool moving from a starting point along a
circular path. The tool's motion can be either clockwise or counterclockwise.
To achieve a circular toolpath, the motions of the tool in both axes must be
synchronized and depend on the distance traveled. Each axis follows a
sinusoidal (sin) and cosine (cos) motion profile. The interaction of both axes
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results in a circular path. Circular interpolation is used when a circular shape

is required in machining. It allows the machine to create curved contours by
accurately coordinating the movement of multiple axes.

Figure 3. Linear interpolation and Circular interpolation

1.2. Components of control system.
A control system is the feedback system.
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Figure 4. A closed-loop control system includes position and velocity feedback.

Due to the presence of random noise in the control process, it is possible for the
output signal to be inaccurate. To address this, the continuous feedback of the
output signal is provided to the control system. The control system continuously
computes and adjusts the actual values as needed to control and regulate the
motion of the CNC machine's axes.

- Position and Monitoring Devices (Encoder): Encoders are used to measure

the position and speed of the machine's axes and components. The
information from encoders helps the control system know the current
position and enables more precise control.

- Servo Motors: Servo motors are used to perform precise motions and control
the position of the axes. They have the ability to provide feedback and adjust
automatically to ensure accurate positioning.

- Control Devices (PLC, microcontrollers, etc.): Control devices like PLC

(Programmable Logic Controller) and microcontrollers are often used to
execute additional functions and logic within the CNC machine control.
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- Limit Switches: Limit switches are commonly used to restrict the motion of
the axes or mark fixed positions on the CNC machine.

- Push Buttons: Push buttons are used to perform necessary operations, such
as starting the machine, stopping it, or activating other functions on the CNC
machine.
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- CNC machine: Milling

- Knife: D = 40 mm, z=6

- Standard: JIS

- Material: S45C

- Grade: 4040

- Speed: V = 24 m/ph

- Cutting depth: t = 0.8 mm

- Feed rate: F = 1000 mm/ph

- Maximum mass of part: M = 40 kg

- Shaft table weight: 𝑊𝑥 = 300 𝑁, 𝑊𝑦 = 950 𝑁, 𝑊𝑧 = 500 𝑁

- Maximum running speed without machining: 𝑉1 =18 m/ph

- Maximum running speed when machining with force: 𝑉1 = 12 m/ph

- Maximum operating acceleration of the system: a = 0.4 m/s2

- Operating time: 𝐿𝑡 = 25000 h

- Engine rpm: 𝑁𝑚𝑎𝑥 = 2000 𝑟𝑝𝑚

- No-load position accuracy: ±0.030/1000 𝑚𝑚

- Repeating accuracy: ±0.005 𝑚𝑚

- Drive deflection: ±0.02 𝑚𝑚

- Coefficient of sliding friction: µ = 0,1

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Table 1. Components selection results from Design project I

No Parts Series Brand

1 Guide Way X-
MSA20LA PMI
Axis

2 Guide Way Y-
MSA20LA PMI
Axis

3 Ball Screw X- 1R32-10B2-

Axis FDWC-980- PMI
1259-0.018

4 Ball Screw Y- 1R32-10B2-

Axis FDWC-980- PMI
1259-0.018

5 Ball Bearing
7205 BECPH PMI
X-Axis

6 Ball Bearing
7205 BECPH PMI
Y-Axis

7 Motor X-Axis HG-KR053 MITSUBISI

8 Motor Y-Axis HG-KR053 MITSUBISI

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1.3. Methods for Calculating and Algorithms for Interpolating Functions

1.3.1. Interpolating Functions Method
In computerized numerical control machining, the tool's path relative to the
workpiece is generated through coordinated movements along multiple axes. To
produce a desired shape during machining, there must be a mathematical
relationship (either linear or nonlinear) between the individual coordinate
movements.

The reference points must be closely spaced to ensure the accuracy of the
machined shape, with no points falling outside the allowable tolerance.

The coordinates of intermediate points are determined within a function block of

the numerical control system, known as an interpolation unit.

The interpolation unit's tasks include:

- Determining the positions of intermediate points within the specified

tolerance to create the desired shape.
- Providing intermediate point positions that are suitable for the cutting tool's
feed rate.
- Moving to precise points and completing the program.
- To determine the required values for positions along the individual axes,
various interpolation methods are applied. These methods can be classified
into two groups based on the algorithms used:

+) Group 1: Devices that work based on evaluation principles and numerical

integration methods.

+) Group 2: Devices that work based on numerical integration principles.

Additionally, based on the implementation method, there are two types:

- Using hardware circuits.

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- Using software programs.

From a technical perspective, interpolation can be performed using either digital or

analog devices:

- Analog interpolation is simple but has limited accuracy.

- In practice, digital interpolation is more commonly used.
- The computation of function interpolation in numerical form is done using
three methods:
- Calculating functions directly from mathematical curves of the form f(x, y,
z).
- Calculating real-time curve parameters.
- Converting the system's eigenvalue equations into differential equations to
compute values through a sum of differentials. This method is known as the
Digital Differential Analysis (DDA) method.

1.3.1.1. Straight Line Interpolation Method:

- Concept: The drill bit moves from the start point to the end point in a sequence of
straight line segments.

- Execution: Interpolating straight lines along 2 or 3 axes is very common.

- Required parameters:

+) Starting point coordinates, ending point coordinates.

+) Feed rate for each axis.

- Capability: In theory, straight line interpolation can generate any curved

trajectory, but it requires a large amount of data processing. Using circular,
parabolic, or helical interpolation reduces the amount of programming data
needed.
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Figure 5. Straight Line Interpolation

Example: Interpolating from point A to point E using the "Digital Differential
Analyzer" method

Consider a tool moving from: Starting point to the ending point along a straight
line at a constant tool feed rate u (as shown in the diagram).

In this example, the Digital Differential Analyzer (DDA) method is used to

interpolate the tool's movement from point A to point E along a straight line
segment.
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Figure 6. Example for Straight Line Interpolation Method

Let's denote L as the distance from point A to point E. In the time interval T = L/u,
we need to calculate the intermediate positions for the X and Y coordinates.

The X-coordinate of the intermediate positions can be calculated as a function of

time:

XE − XA
x(t ) = X A +  VX dt = X A +  dt
0 0 T
Y −Y
y(t ) = YA +  Vydt = YA +  E A dt
0 0 T

Divide the time T into sufficiently small intervals and replace the integral
operation with addition:

XB − XA
x(t ) = x(n. t ) = X A + .n
N
Với n =1,2,3.....,n
YB − YA
y(t ) = y (n.t ) = YA + .n
N

For each addition step, the position value increases by a constant value. To ensure
the accuracy of the interpolation, the addition steps must be smaller than the unit
f rate of tool movement.
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XA − XB X − XB
f x , y  max hay max A
N N

1.3.1.2. Circular Interpolation:

- Concept: The tool is moved from the start point to the end point along a circular
path using a simple command block, replacing many straight-line interpolation
commands.

- Execution: Circular interpolation is performed along 2 axes.

- Required parameters:

+) Starting point coordinates, ending point coordinates, center or radius of the

circular path.

+) Feed rate for each axis.

- Capability: Circular interpolation can interpolate a circular arc or a complete

circle.
- Implementation Method: The Digital Differential Analyzer (DDA)
interpolation method is also applied in circular interpolation.

Figure 7. Circular Interpolation

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Starting point: PA

Ending point: PE

From the diagram: To cut along a curve, the intermediate points on the contour
must be determined using an interpolation set in a relationship that depends on the
cutting time.

Following:

x = R cos 
y = R sin 

With  = 2 / T

T is the running time:

x = R cos(2 / T )
y = R sin(2 / T )

Integrating with respect to time, we obtain the individual component velocities for
each axis:

dx 2 R 2 t −2
= cos( )= y(t )
dt T T T
dy 2 R 2 t −2
= cos( )= x(t )
dt T T T

→ d X = −(2 / T ). y (t ) d t
d y = −(2 / T ).x(t ) d t

With sufficient accuracy, the integral operation can be replaced by the addition of
displacement step constants. Therefore:
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2 n
xt = xPA − . y (i.t )
N i =1
2 n
yt = yPA − . y(i.t )
N i =1
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Chapter 2. PID MOTOR CONTROLLER FOR TABLE X

2.1. Contruct the transfer function of the system.
The table is fitted with a lead screw, the lead screw is connected to the motor
through a coupling. When the motor rotates, the lead screw rotates, so that the table
moves forward on the lead screw. So, we control the table is also control the
motor.

Figure 8. Model X table of CNC machine

From there, we can model the table system as shown in Figure below:

Figure 9. Modeling the X-table system

Where:

- M: Weight of table and workpiece

- k: Stiffness coefficient of lead screw, ball bearing, shaft, guide rail
- B: Damping coefficient
- ∑ 𝐹 = 𝐹𝑑𝑐 + 𝐹𝑚𝑠 : The applied forces include motor and frictional force.
- 𝑥: Movement distance of the table
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Initial specifications:

- Workpiece weight: 𝑊1 =40 kg

- Weight of table X: 𝑊2 =30 kg
- Weight of workpiece and table: M = 40 + 30 = 70 kg
- Friction coefficient: 𝜇 = 0.01
- Lead screw step: l = 10 mm
- Lead screw length: L = 1259 mm

Equation:

M𝑥̈ (t) + B𝑥̇ (t) +Kx =∑ 𝐹

Motor force:

𝑙
𝐹𝑑𝑐 = 𝐾𝑥(𝑡) = 𝐾𝜃(𝑡)
2𝜋
- 𝜃(𝑡): The angle of rotation of the motor required to produce a displacement
x(t)
- 𝑙: Lead screw step

Friction force: 𝐹𝑚𝑠 = 𝜇𝑚𝑔𝑥̇ with 𝜇 = 0.01 is the coefficient of friction

Hardness coefficient:

1 1 1 1 1
= + + +
𝐾 𝑘𝑐 𝑘𝑏 𝑘𝑔 + 𝑘𝑠 𝑘𝑛

Where:

- 𝑘𝑐 : Stiffness of shaft connection

- 𝑘𝑏 : Hardness of the bearing
- 𝑘𝑔 : Guideway stiffness
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- 𝑘𝑠 ∶ Lead screw stiffness

- 𝑘𝑛 : Hardness of the ball in the lead screw

Stiffness of shaft connection: Choose Single Flexing Coupling with an inner

diameter of 25mm. Its hardness is 42.2×104 (Nm/rad).

Figure 10. Table of single shaft connection parameter of Daidoseimitu

3𝐹𝑎𝑜 3𝐹𝑎𝑜 3𝐹𝑎𝑜

Hardness of the bearing: 𝑘𝑏 = = 1 = −1 = 6,17 × 105
𝛿𝑎𝑜 0.44 𝑄2 3 2 3
𝐹𝑎𝑜
( ) 0,44 (𝑍×sin∝)
sin∝ 𝐷𝑊 ( )
sin∝ 𝐷𝑊

Where:
−1
0.44 𝑄2 3
+ 𝛿𝑎𝑜 : Movement along the axis 𝛿𝑎𝑜 = ( ) = 5,4 × 10−3
sin∝ 𝐷𝑊

+ 𝐹𝑎𝑜 : Load applied to the bearing 𝐹𝑎𝑜 = 1112𝑁

+α: Initial contact angle of the bearing 𝛼 = 40°

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+ 𝐷𝑊 : Diameter of the ball in the ball bearing 𝐷𝑊 = 9.97

𝐹𝑜𝑎 1112
+ 𝑄: Load in each ball bearing 𝑄 = = = 144,2
𝑍×𝑠𝑖𝑛𝛼 12×sin 40°

+ 𝑍: Number of balls in each ball bearing 𝑍 = 12

𝜋×322
𝐴.𝐸 .2,1.104 𝑘𝑔𝑓
4
Lead screw stiffness: 𝑘𝑠 = 10−3 = 10−3 =13.41 ( )
𝑥 1259 𝜇𝑚

Where:
𝜋𝐷2
- A: Lead screw cross-sectional area, A=
4

- E: Young's modulus coefficient, E=2,1.104 (kgf/𝑚𝑚2 )

- x: Mounting distance x = L = 1259 mm

Guideway stiffness: Made from Gcr material 𝑘𝑔 = 8. 105

1
𝐹𝑎
Hardness of the ball in the lead screw: 𝑘𝑛 =0,8k.( )3= 54,8 (kgf/µm)
0,3𝐶𝑎

Where k=151, dynamic load 𝐶𝑎 = 4660 kgf, axial force 𝐹𝑎 =130,7 kgf

From there we have the following table:

𝑘𝑐 𝑘𝑏 𝑘𝑔 𝑘𝑠 𝑘𝑛

42,2.104 6,17.105 8.105 13,41.107 54,8. 107

We can calculate: K= 250021 (N/m)

Damping coefficient: B=2𝜉 √𝐾𝑀=2.0,35.√250021.70 = 2928

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2.2. Finding the transfer function G(s)

Finding:
𝑙
M𝑥̈ (t) + B𝑥̇ (t) +Kx = 𝐾𝜃(𝑡) - 𝜇𝑀𝑔𝑥̇ (𝑡)
2𝜋

Using the Laplace operator on both sides of the equation, we get:

𝑙
M𝑠 2 X(s) + BsX(s) + KX(s) = 𝐾𝜃 (𝑠) − 𝜇𝑀𝑔𝑠𝑋(𝑠)
2𝜋

𝑙
=> [ M𝑠 2 + (B+𝜇𝑀𝑔)𝑠 + 𝐾]𝑋(𝑠)= 𝐾𝜃 (𝑠)
2𝜋

𝑙
𝑋(𝑠) 𝐾2π 397,9
=> G(s)= = =
𝜃(𝑠) M𝑠2 +(B+𝜇𝑀𝑔)𝑠+𝐾 70𝑠2 +2998𝑠+250021

2.3. Check the stability of the transfer function G(s):

2.3.1. Check the stability of the open system:
𝐵(𝑠) 397,9
=
𝐴(𝑠) 70𝑠2 + 2998𝑠 + 250021

If all the roots of A(s) lie on the left of the imaginary axis, then A(s) is called a
Routh-Hurwitz polynomial, we use the roots A(s) command to get the following
set of solutions:

𝑋1 = -21,4 + 55.9i

𝑋2 = -21,4 – 55,9i

Therefore, the open system is stable (according to laplace).

2.3.2. Check the stability of the closed system:

Using the Nyquist criterion

Then we get the following graph:

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Figure 11. Nyquist diagram of the system

Based on the graph below, we can see that: The point (-1+j0) marked (+) on the
figure is not bounded by the Nyquist curve, so the closed system is stable.

Bode graph.

Then we get the following graph:

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Figure 12. Bode diagram of the system

From the graph, we see that the phase curve above −180𝑜 so that the closed
system is stable.

2.3.3. Check the response of the system

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Figure 13. Response when in put is a ladder shape

Comment: With overshoot up to 𝛼𝑚𝑎𝑥 =29,9%, 𝑇𝑚𝑎𝑥 =0.0559s

This is unresponsible for a system where the required transients are only in the 2%
range. Furthermore, here we give the excitation system the signal l(t) but the
system does not stick to the input.
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2.4. PID controller design

2.4.1. Basic knowledge of PID controller
The PID is responsible for bringing the error e(t) of the system to zero so that the
transition satisfies the basic requirements for quality.

- If the error e(t), through the amplification stage, the signal u(t) is larger.
- If the error e(t) is not zero, then through the integral step, the PID still
generates an adjustment signal.
- If the error change e(t) is larger, through the differential component, the
appropriate response of u(t) will be faster.
- The PID controller is described by the I/O model:
1 1 𝑑𝑒(𝑡)
𝑢(𝑡) = 𝑘𝑝 [𝑒(𝑡) + ∫0 𝑒(𝜏)𝑑𝜏 + 𝑇𝐷 ]
𝑇1 𝑑𝑡

The transfer function of the PID controller:

 33

1
𝑅(𝑠) = 𝑘𝑝 (1 + + 𝑇𝐷 𝑠)
𝑇𝑠

Figure 14. Closed-loop feedback diagram with PID controller

2.4.2. The role of ratio, integrals, and differential:
- Proportional step:

The larger the value, the faster the response speed, so the larger the error, the
larger the proportional compensation. If the magnitude of the proportional is too
high, the system will be unstable. The big-small magnitude is because the output
response is small while the input error is large, and makes the controller less
sensitive, or slow to respond. If the gain of the proportional link is too low, the
control action may be too small in response to system disturbances.
 34

Figure 15. . The role of the proportional step in the PID controller
- Integral step:

Figure 16. The role of the integral step in the PID controller
The distribution of the integral (sometimes called reset) is proportional to
both the amplitude of the error and the duration of the error. Total instantaneous
error over time

(Integrating two numbers) gives the previously corrected compensatory

accumulation. The accumulated error is then multiplied by the integral gain and
added to the controller output signal. The amplitude distribution of the integral
 35

over all adjustment effects is determined by the integral gain, Ki.

The larger the value, the faster the error is eliminated. The return is a larger
overshoot: any negative error that is integrated during the transient response must
be suppressed by the positive error before reaching the steady state.

- Differential step:

The differential step reduces the rate of change of the controller output and
this characteristic is most noticeable to reach the controller setpoint. Since then,
differential control is used to reduce the spurious amplitude generated by the
integral component and improve the stability of the composite controller.
However, the differential of a signal will amplify the noise and thus this link will
be more sensitive to noise in error and can cause the process to become unstable if
the noise and differential gain are large enough.

Figure 17. The role of the differential stage in the PID controller
 36

The effect of increasing and decreasing some independent parameters:

Parameter Rise Time (Overshoot) (Settling Stability Stability

time) error

𝑘𝑝 Decrease Increase Small change Decrease Level

down

𝑘𝑖 Decrease Increase Increase Significant Level

reduction down

𝑘𝑑 Small Small Decrease Theoretically Improve if

decrease decrease no impact 𝑘𝑑 small

2.4.3. Design PID controller according to experimental method (first Ziegler-

Nichols method)
The first Ziegler-Nichols method uses a delayed first-order inertial approximation
model of the control object.
𝐾𝑒 −𝐼𝑠
𝐺(𝑠) = (1)
1+𝑇𝑠

The experimental method is responsible for determining the parameters KP, TI, TD
for the PID controller on the basis of approximating the transfer function G(s) to
the form (1), so that the closed system quickly returns to the deterministic mode.
setting and overshoot does not exceed an allowable limit, about 40% of the

ℎ∞ = 𝑙𝑖𝑚 ℎ(𝑡)
𝑡→∞

The three parameters L(delay time constant), k(gain factor) and T(time of inertia
constant) of the approximation(1) model can be approximated from the transient
function h(t).
 37

L is the time at which the output h(t) does not immediately respond to the stimulus
l(t) at the input.

K is the limit value ℎ∞ = 𝑙𝑖𝑚 ℎ(𝑡) .

𝑡→∞

Let A be the end of the time delay, that is, the point on the horizontal axis of length
L. Then T is the time required after L for the tangent of h(t) at A to reach the value
k.

After calculating the above parameters, the PID controller has the form:
1
𝑅(𝑠) = 𝐾𝑝 (1 + + 𝑇𝐷𝑆 )
𝑇1𝑠

1,2𝑇 𝑘𝑝 𝐿
with 𝐾𝑝 = . 𝑇𝐼 = 2𝐿 or 𝐾𝐼 = , 𝑇𝐷 = or 𝐾𝐷 = 0,5𝑘𝑝 𝐿
𝐾𝐿 2𝐿 2

Figure 18. Find L, T, k for PID controller

 38

Apply the above theory to design the PID controller as follows:

Figure 19. PID controller for X table

Initial parameter Kp=1, KI=1, KD=0:

The use of the numerical simulation tool Matlab has a built-in PID controller
design tool. The results of designing automatic PID sets using Matlab & Simulink
are as follows:

Select the optimal set of PID numbers:

𝑘𝑝 = 1195.6488

𝑘𝑖 = 36777.4355

𝑘𝑑 = 9.628
 39

Figure 20. Response in the presence of a PID controller

 40

Figure 21. PID controller parameter table

 41

Looking at the graph above, the step response of the X table when there is a PID
controller, we can see that the system has a good grasp of the input signal.
 42

Chapter 3. PID MOTOR CONTROLLER FOR TABLE Y

3.1. Contruct the transfer function of the table Y.
Where:

- M: Weight of table and workpiece

- k: Stiffness coefficient of lead screw, ball bearing, shaft, guide rail
- B: Damping coefficient
- ∑ 𝐹 = 𝐹𝑑𝑐 + 𝐹𝑚𝑠 : The applied forces include motor and frictional force.
- 𝑥: Movement distance of the table

Initial specifications:

- Workpiece weight: 𝑊1 =40 kg

- Weight of table X: 𝑊2 =30 kg
- Weight of table Y: 𝑊3 =95 kg
- Weight of workpiece and table: M = 40 + 30 +95= 165 kg
- Friction coefficient: 𝜇 = 0.01
- Lead screw step: l = 10 mm
- Lead screw length: L = 1259 mm

Equation:

M𝑥̈ (t) + B𝑥̇ (t) +Kx =∑ 𝐹

Motor force:

𝑙
𝐹𝑑𝑐 = 𝐾𝑥(𝑡) = 𝐾𝜃(𝑡)
2𝜋
- 𝜃(𝑡): The angle of rotation of the motor required to produce a displacement
x(t)
 43

- 𝑙: Lead screw step

Friction force: 𝐹𝑚𝑠 = 𝜇𝑚𝑔𝑥̇ with 𝜇 = 0.01 is the coefficient of friction

Hardness coefficient:

1 1 1 1 1
= + + +
𝐾 𝑘𝑐 𝑘𝑏 𝑘𝑔 + 𝑘𝑠 𝑘𝑛

Where:

- 𝑘𝑐 : Stiffness of shaft connection

- 𝑘𝑏 : Hardness of the bearing
- 𝑘𝑔 : Guideway stiffness
- 𝑘𝑠 ∶ Lead screw stiffness
- 𝑘𝑛 : Hardness of the ball in the lead screw

Stiffness of shaft connection: Choose Single Flexing Coupling with an inner

diameter of 25mm. Its hardness is 42.2×104 (Nm/rad).

Figure 22. Table of single shaft connection parameter of Daidoseimitu

 44

3𝐹𝑎𝑜 3𝐹𝑎𝑜 3𝐹𝑎𝑜

Hardness of the bearing: 𝑘𝑏 = = 1 = −1 = 8,5 × 105
𝛿𝑎𝑜 0.44 𝑄2 3 2 3
𝐹𝑎𝑜
( ) 0,44 (𝑍×sin∝)
sin∝ 𝐷𝑊 ( )
sin∝ 𝐷𝑊

Where:
−1
0.44 𝑄2 3
+ 𝛿𝑎𝑜 : Movement along the axis 𝛿𝑎𝑜 = ( ) = 4,7 × 10−3
sin∝ 𝐷𝑊

+ 𝐹𝑎𝑜 : Load applied to the bearing 𝐹𝑎𝑜 = 1337𝑁

+α: Initial contact angle of the bearing 𝛼 = 40°

+ 𝐷𝑊 : Diameter of the ball in the ball bearing 𝐷𝑊 = 9.97

𝐹𝑜𝑎 1337
+ 𝑄: Load in each ball bearing 𝑄 = = = 173,3
𝑍×𝑠𝑖𝑛𝛼 12×sin 40°

+ 𝑍: Number of balls in each ball bearing 𝑍 = 12

𝜋×322
𝐴.𝐸 .2,1.104 𝑘𝑔𝑓
4
Lead screw stiffness: 𝑘𝑠 = 10−3 = 10−3 =13,41 ( )
𝑥 1259 𝜇𝑚

Where:
𝜋𝐷2
- A: Lead screw cross-sectional area, A=
4

- E: Young's modulus coefficient, E=2,1.104 (kgf/𝑚𝑚2 )

- x: Mounting distance x = L = 1259 mm

Guideway stiffness: Made from Gcr material 𝑘𝑔 = 8. 105

1
𝐹𝑎
Hardness of the ball in the lead screw: 𝑘𝑛 =0,8k.( )3= 57,4 (kgf/µm)
0,3𝐶𝑎

Where k=151, dynamic load 𝐶𝑎 = 4660 kgf, axial force 𝐹𝑎 =149,7 kgf
 45

From there we have the following table:

𝑘𝑐 𝑘𝑏 𝑘𝑔 𝑘𝑠 𝑘𝑛

42,2.104 8,5.105 8.105 13,41.107 57,4. 107

We can calculate: K= 281270 (N/m)

Damping coefficient: B=2𝜉 √𝐾𝑀=2.0,35.√28,1. 104 . 165 = 4768

3.2. Finding the transfer function G(s)

Finding:
𝑙
M𝑥̈ (t) + B𝑥̇ (t) +Kx = 𝐾𝜃(𝑡) - 𝜇𝑀𝑔𝑥̇ (𝑡)
2𝜋

Using the Laplace operator on both sides of the equation, we get:

𝑙
M𝑠 2 X(s) + BsX(s) + KX(s) = 𝐾𝜃 (𝑠) − 𝜇𝑀𝑔𝑠𝑋(𝑠)
2𝜋

𝑙
=> [ M𝑠 2 + (B+𝜇𝑀𝑔)𝑠 + 𝐾]𝑋(𝑠)= 𝐾𝜃 (𝑠)
2𝜋

𝑙
𝑋(𝑠) 𝐾2π 397,9
=> G(s)= = =
𝜃(𝑠) M𝑠2 +(B+𝜇𝑀𝑔)𝑠+𝐾 165𝑠2 +4933𝑠+281270

3.3. Check the stability of the transfer function G(s):

3.3.1. Check the stability of the open system:
𝐵(𝑠) 397,9
=
𝐴(𝑠) 165𝑠2 + 4933𝑠 + 281270
 46

If all the roots of A(s) lie on the left of the imaginary axis, then A(s) is called a
Routh-Hurwitz polynomial, we use the roots A(s) command to get the following
set of solutions:

𝑋1 = -14,9 + 38,5i

𝑋2 = -14,9 – 38,5i

Therefore, the open system is stable (according to laplace).

3.3.2. Check the stability of the closed system:

Using the Nyquist criterion

Then we get the following graph:

Figure 23. Nyquist diagram of the system

Based on the graph below, we can see that: The point (-1+j0) marked (+) on the
figure is not bounded by the Nyquist curve, so the closed system is stable.
 47

Bode graph.

We get the following graph:

Figure 24. Bode diagram of the system

From the graph, we see that the phase curve above −180𝑜 so that the closed
system is stable.
 48

3.3.3. Check the response of the system

Figure 25. Transient response of the Y table

Comment: With overshoot up to 𝛼𝑚𝑎𝑥 =29,5%, 𝑇𝑚𝑎𝑥 =0,0832s

This is unresponsible for a system where the required transients are only in the 2%
range. Furthermore, here we give the excitation system the signal l(t) but the
system does not stick to the input.

3.4. PID controller design:

Figure 26. PID controller for Y table

 49

The use of the numerical simulation tool Matlab has a built-in PID controller
design tool. The results of designing automatic PID sets using Matlab & Simulink
are as follows:

Select the optimal set of PID numbers:

𝑘𝑝 = 1076,22; 𝑘𝑖 = 7848,52; 𝑘𝑑 = 36,7

Figure 27. Response in the presence of a PID controller

 50

Figure 28. PID controller parameter table Y

 51

Looking at the graph above, the step response of the Y table when there is a PID
controller, we can see that the system has a good grasp of the input signal.
 52

Chapter 4. PROGRAMMING PLC CONTROL FOR TWO

AXES
4.1. Selecting control devices
4.1.1. Motor and motor control.
4.1.1.1. Servo Motor

- X and Y axis: HF-KR053

Figure 29. Servo Motor

HF-KR053 Mitsubishi

Specifications:
- Type: AC Servo Motor
- Series: Melservo J3
- Model: HF-KR053
- Brand: Mitsubishi Electric – Japan
- Function: Brushless DC motor
- Design: Straight axis
- Encoder: 18-bit, resolution of 262,144 pulses per revolution.
 53

- Compatible Servo Amplifiers: MR-J4-20A-RJ006, MR-J4-20A1-RJ006,

MR-J4-20B, MR-J4-20B1-RJ006, MR-J4-20T, MR-J4-20T1.
- Features: Low inertia, small power, natural cooling.
- Power Supply Voltage: 200 V/AC
- Rated Current: 1.4 A
- Power: 200 (0.2kW)
- Rotation Speed: 3000 Rpm to 6000 Rpm.
- Torque: 0.64 Nm, max 1.9 Nm
- Protection Rating: IP65
- Operating Temperature: 0°C to 40°C
- Storage: : -15°C to +70°C
*** Dependent on the high-speed pulse generator of the PLC and the resolution
of the encoder

4.1.1.2. Driver of motor

X and Y axis: MR – J4 – 20B

Figure 30. Servo Driver Mitsubishi MR-J4-20B

Specifications:

- Power Supply: 3-phase 200-230 VAC 50/60Hz or 1 phase 200-230 VAC

50/60Hz
- Rated Input Current: 1.5A
- Allowable Frequency Variation: Maximum ±5%
- Output Current: 3-phase 170 VAC
- Power: 200W
 54

- Comatible Motor Types: HF-MP (053/13), HF-KP (053/13)

- Multi-functional Servo Amplifier with Position, Speed, and Torque Control
Functions.
- Control Method: PWM control and current adjustment
- Brand: Mitsubishi – Japan.
4.1.2. Sensor

Figure 31. CNC Limit Switch Metrol CSRNBTNB-L1A

Specifications:

- Current Intensity Tolerance: Up to 10A at 250V voltage

- Lever: Equipped with a roller to reduce friction and jamming during
operation
- Contact Points: 3 contact points - COM, NC, and NO (normally closed and
normally open)
- Contact Point Output: Can be soldered or connected with a quick-connect
socket
- Force Resistance: Maximum lever force resistance up to 1.96N
- Operating Temperature: Up to 80°C
- Mounting Hole Diameter: 3.1mm, easy to use with various machine frames.
 55

4.1.3. PLC

Figure 32. QD77MS4 Mitsubishi

 56

Figure 33. Module PLC Mitsubishi

 57

Figure 34. Systems Diagram

4.2. Building the control circuit diagram.

4.2.1. General connection diagram
 58

4.2.2. Pneumatic circuit diagram

Using an automatic system, power is supplied through an On/Off circuit to control

the MC relay. When the MC has power, it closes and supplies power to terminals
L1 and L2, utilizing a single-phase 220V source. Short-circuit P1 to P2 and P to D.
Connect L1L11 in parallel with L2L21. The motor has three power cables U, V,
W, and one ground wire connected to the PE terminal. The encoder communicates
with the driver through the CN2 port.

4.3. Connect PLC and control pins of the Driver.

 59

4.3.1. Control pins of the Driver.

60
 61

Diagram of 50 pins X8 drive with PLC in PTI mode (Pulse Train Input Position
Control) - controlling the input position of the pulse sequence.
 62

The pins that need to be connected between PLC S7-1200 and the control pins of
 63

the Driver are as follows:

- Supplying 24VDC to the control circuit:

+) Supply 24VDC to the PW24V_D0 pins (28, 29).

+) Supply 0V to the DI_COM (3, 4), NEXT_D0 (49, 50), PTI_A_24P (37), and
PTI_B_24P (39) pins.

- Connection to the input and output pins of the PLC

+) Connect the PTI_A_24P (36) - X-axis pulse (PULSES) pin to the output Q0.0 of
the PLC.

+) Connect the PTI_B_24P (38) - X-axis direction (DIRECTION) pin to the output
Q0.1 of the PLC.

+) Connect the SON (5) - SERVO X ON CMD/SERVO ENABLE CMD pin to the
output Q1.0 of the PLC.

+) Connect the RESET (6) - SERVO X FAULT RESET CMD pin to the output
Q1.1 of the PLC.

+) Connect the EMG (13) - SERVO EMERGENCY CMD pin to the output Q0.4
of the PLC.

+) Connect the PTI_A_24P (36) - Y-axis pulse (PULSES) pin to the output Q0.2 of
the PLC.

+) Connect the PTI_B_24P (38) - Y-axis direction (DIRECTION) pin to the output
Q0.3 of the PLC.

+) Connect the SON (5) - SERVO Y ON CMD/SERVO ENABLE CMD pin to the
output Q0.5 of the PLC.

+) Connect the RESET (6) - SERVO Y FAULT RESET CMD pin to the output
Q0.6 of the PLC.
 64

+) Connect the READY (30) - SERVO X READY FB FROM SERVO DRIVE

(1=READY, 0=NOT READY) pin to the input I0.0 of the PLC.

+) Connect the ALARM (31) - SERVO X FAULT PRESENT pin to the input I0.1
of the PLC.

+) Connect the READY (30) - SERVO Y READY FB FROM SERVO DRIVE

(1=READY, 0=NOT READY) pin to the input I1.2 of the PLC.

4.3.2. Explain the tasks of the signal pins.

Digital Input Pins:

 65

- Pin Signal SON (Servo On):

+) If rising edge of the pulse from 0 to 1 occurs: Supply power to the power circuit
and make the servo drive ready for operation.

+) If falling edge of the pulse from 1 to 0 occurs: Motor deceleration (OFF1) in

PTI, IPos, and S modes; motor descent (OFF2) in T mode.

- Pin Signal RESET: If rising edge occurs, reset the alarm

Digital Output Pins:

 66

Pin Signal RDY (Servo Ready):

1: Drive is ready for operation.

0: Drive is not ready (Alarm occurred or activation signal is missing).

4.4. Connection between Driver and PLC

4.4.1. Wiring diagram between PLC and CN1 of the driver

DICOM 20 Connect to +24VDC

DICOM 21 Connect to +24VDC

DOMCOM 46 Connect to 0VDC

PP 10 Connect to 0VDC

NP 35 Connect to 0VDC

PG 11 Connect to a 2K resistor Q0.0

NP 36 Connect to a 2K resistor Q0.1

Pin 12 OPC Connect to DOCOM

4.4.2. Schematic of Connecting Controller, Driver, Servo, and Sensors.

 67

4.5. System Control Interface Programming

4.5.1. Setting up the screen interface
Before starting the design, it is necessary to determine the requirements and control
purposes to optimize the design. Our control objective is to smoothly operate the
system, move the axes through buttons, set the translation speed, and provide
operational indicators and error warnings for the system.

4.5.2. Programming Setup

Step 1: Open GT designer 3 → new project → GOT 2000 → GT125 WX
(1280x800) → Hori → Next → Enthernet → Next → Check ID → Next finishi.
 68

Figure 35. Main screen

Figure 36. Positioning control screen

4.6. System Control Programming
Based on the control interface, we design a program to control the motor axes in
 69

two modes: manual and auto, simultaneously but without interference.

4.6.1. Steps to set up basic parameters and considerations:

Step1: Open GX Works2 → New project → Parameter Setting → Read PLC Data
→ Check → End. (Determine the actual positions of the devices within the
module)

Step 2: Intelligent Function Module → New module → Simple Motion module →

QD77MS4 → 6 → 0080 → ok.

Step 3: Simple Motion Module → New → System Configuration → Module

setting → Negative Logic → Voltage out/open → 4 Multiply → Invalid.

Step 4: Axis #1 d01 → ME-J4(W)-B → Stand → Servo parameter setting →

Common → Basic → CCW dir → Disabled → Phase 90 by CCW → 4000 →
Servo adjustments → PID control is always enabled → Close. (Perform the same
procedure with the remaining two motors).

Step 5: Parameter → Pr.1 Unit setting → Compute basic parameters → Ball screw,
Horizontal → o: mm →10000um → 1/1 → 4194304 → compute basic parameters
1 → oke → Pr.12,Pr.13 chooses 1 → Pr.18 →1:After mode → Pr.80 → Use
External Input signal of servo amplifier → Pr.43 HPR method → 7:Scale home
Position Signal Delection Method → Pr.44 HPR direction → 1:Reverse Direction
→ Help → Memory add list.

Step 6: POU → Program → Main.

4.6.2. Programming Control

- Power on/off, start the system.
 70

- Speed control program and Jog operation

- Control the reverse and forward movement for each axis.

 71

- Monitor errors and run the program again (error reset).

72
 73

- Utilize pre-integrated support commands to set up the program to return to the

origin in two modes: normal operation and fast return to origin.

- Returning to the origin requires a storage system and determining the origin.
74
 75

- Enable coordinated motion of the Z-axis with the XY axes

 76

- After loading a new program into the PLC, it is necessary to verify the execution
of the interpolation command.
 77

- In case of incidents such as workpiece damage or tool breakage, an emergency

stop is required.
78
 79

- Use sensor signals in control, create a temporary memory area M

80
 81

Chapter 5. Simulation
5.1.Simulating Interpolation Using GX-Work2 Software
Setup Steps:

S1: Open GX-Work2 -> Select the programmed file.

S2: Select Simple Motion Module -> Open File: Servo BK.

S3: Choose Positioning Data -> Enter values from the Excel table into the
corresponding Axis tables.

Setting up values in the table:

Operation pattern -> 1:End / 2:Cont / 3: Location.

Control method -> ABS Line2 / ABS ArcMp 2

Axis to be interpolated -> Axis 2

Positioning Address -> input data (um)

Command speed -> 1000.0 mm/s

M-code -> 1 (lower tool) / 2 (lift tool) / 3 (return to home). After entering all the
 82

values into the data table -> choose Offline Simulation.

 83

Figure 37. Applying linear interpolation for milling the circle

- Enter the coordinates of 2 points to form a straight line:
 84

Figure 38. Applying linear interpolation for milling the straight line
- Enter the coordinates of 3 points.
 85

Figure 39. Applying linear interpolation for milling perpendicular line.

- Enter the coordinates of 3 points to form a curve.
 86

Figure 40. Applying linear interpolation for milling the curve

 87

Conclusion
In conclusion, I would like to express my sincere gratitude for the enthusiastic
guidance of Professor Dr. Le Minh Quy. Through completing the project on
designing an electro-mechanical system - an automated device with the topic of
designing a control system for a CNC table, I have achieved several positive
outcomes:

- Applying knowledge from the automatic control theory course in designing

the control system.
- Learning and using software such as Matlab, Solidworks – Simulink in the
control system design process.
- Understanding and utilizing PLC programming tools like TIA PORTAL and
GX WORK2 for servo motor control programming.
- Using AI tools combined with Python to design Lisp programs with
AutoCAD.
However, there are still some areas for improvement:

- Not fully harnessing the capabilities of GX Work2 and Mitsubishi's Q series

control module.
- Not incorporating Gcode for program control.
- Not optimizing the Lisp code for AutoCAD.
I have made efforts to refine my project to the best of my ability. Nevertheless,
given the extensive workload, there may be some shortcomings in the design
process and the practicality of the project. I sincerely hope for contributions from
professors and teachers to further enhance my work. Once again, I want to express
my thanks to Professor Dr. Le Minh Quy and all the teachers who have
accompanied and guided me in completing the project on designing a CNC table
control system.
 88

REFERENCES

- Nguyen Doan Phuoc (2007), Linear Control Theory, Science and

Technology Publishing House.
- Nguyen Thi Phuong Ha (2007), Modern Control Theory, National
University Publishing House Ho Chi Minh City.
- Evaluating the Quality of Control Systems, Chapter 4, Chapter 5. Website:
http://www.khotrithucso.com.
- Lectures on Automatic Control Theory. Website: http://www.tailieu.tv.
- Catalog Rolling-bearings-SKF.
- PMI balls-screws catalog, Precision Motion Industries, INC.
- Ha Thi Kim Duyen, Pham Xuan Khanh (2008), Textbook on Automatic
Control Theory, Education Publishing House.
- F Isdaryani et al 2020 “Comparison of Ziegler-Nichols and Cohen Coon
tuning method for magnetic levitation control system” Journal of Physics:
Conference Series.
- Catalog Driver MR -J4 Mitsubishi
- Catalog Module QD77MS Mitsubishi
- Catalog Servo HG – KR053 Mitsubishi
- Catalog MR -J4 Mitsubishi
- Programmable Controllers MELSESC-Q series.
- Le Thanh Son (2023), Lectures on XY Two-Axis Interpolation Control
Drawing Basic Shapes.