Oppgaver i sekvensprogrammering for 3AUA Gand VGS

Oppgave 1 - Garasje dør

En enkel garasje som kan åpnes og lukkes med en knapp

Simuleringsfil til simumatik 3d

System description:

A motor is connected to the door and commanded with a reversing contactor. MotorFwd and MotorRev PLC outputs are connected to the contactor to open and close the door respectively. The door has two sensors connected to “SensorClose” and “SensorOpen” inputs to know when the door is completely closed and open.
There is a pushbutton on the panel connected to “Button” PLC input and a light beacon connected to PLC output “Light”.

Workflow:

When the button is pressed the door should open. Once open the beacon light is on for 5 seconds, then it blinks (T=0,5s) for another 5 extra seconds, and after that the door should close

Oppgave 2 - Roterende transportbånd

Simuleringsfil til simumatik 3d

System description


There are 4 conveyors, 3 of them are regular conveyors (1, 3 and 4), but conveyor 2 is also a turning conveyor. This means that it can rotate on its vertical axis. Each conveyor has a motor commanded with a motor contactor to run it forward. The contactors are connected to outputs “MotorControl1” to “MotorControl4”. Each conveyor has also one sensor (sensors 1 to 4) which will be activated if any box (small or big) goes through the conveyor and crosses the detection line. An additional sensor (sensor 5) is placed on conveyor 2 to detect just the big boxes. The sensors are connected to PLC inputs “Sensor1” to “Sensor5”. Conveyor 2 has an additional motor contactor to make the conveyor turn. Running the turning motor reverse, it aligns conveyor 2 with 1 and 3, running it forward with conveyor 4, TurnControlFwd” and “TurnControlRev” PLC outputs are used for that. Two sensors connected to inputs “Sensor6” and “Sensor7” are placed to know if it is on forward or reverse position respectively.

The system includes a panel with two buttons to drop small or big boxes on conveyor 1.

Workflow:

The sequence starts when a box is dropped in Conveyor 1 (using a button from the panel) which is automatically detected by the sensor. The box should be moved to conveyor 2 directly. Once in conveyor 2, the box should stop at sensor 2 and after 1 second when the dimension is determined, it should be moved to the proper conveyor. A small box should be moved to conveyor 3. A big box should be moved to conveyor 4 turning the conveyor. When the sensor in conveyor 4 is activated the conveyor is turned back. When the box arrives to conveyor 3 or 4 it can be removed manually in order to empty the system and restart the sequence.

Oppgave 3 - Transportbånd og pneumatikk

Simuleringsfil til simumatik 3d

System description


There are 4 conveyors, all of them are regular conveyors, but conveyor 2 has also a pneumatic cylinder. This cylinder makes possible to push a box to conveyor 4. Each conveyor has a motor commanded with a motor contactor to run it forward. The contactors are connected to outputs MotorControl1, MotorControl4. Each conveyor has also one sensor (sensors 1 to 4) which will be activated if any box (small or big) goes through the conveyor and crosses the detection line. An additional sensor (sensor 5) is placed on conveyor 2 to detect just the big boxes. The sensors are connected to PLC inputsSensor1 to Sensor5. The pneumatic cylinder placed on conveyor 2 is a double acting cylinder commanded with 2 valves. Valve 1 makes the cylinder expand and valve 2 compresses the cylinder, both are connected to outputsOpenValve1andOpenValve2respectively. Two sensors connected to inputsSensor6andSensor7are placed on the cylinder to know if it is compressed or expanded respectively.The system includes a panel with one button to drop small or big boxes on conveyor 1.

Workflow:

The sequence starts when a box is dropped in Conveyor 1 (using the button on the panel) which is automatically detected by the sensor. The box should be moved to conveyor 2 directly. Once in conveyor 2, the box should stop at sensor 2 and after 1 second when the dimension is determined, it should be moved to the proper conveyor. A small box should be moved to conveyor 3. A big box should be pushed to conveyor 4 using the cylinder. Then the box is moved until the sensor in conveyor 4 is activated. When the box arrives to conveyor 3 or 4 it can be removed manually in order to empty the system and restart the sequence.

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The system includes a panel with two buttons to drop small or big boxes on conveyor 1.

Oppgave 4 - Turning double conveyor

Simuleringsfil til simumatik 3d

System description


There are 3 conveyors belts, 2 of them are regular conveyors (1 and 3), but conveyor 2 is also a turning conveyor. This means that it can rotate on its vertical axis. Each conveyor has a motor commanded with a motor contactor to run it forward. The contactors are connected to outputs Motor1Fwd to Motor3Fwd. Conveyor 1 has a sensor (SensorDrop) to detect when a box is dropped and another sensor (Sensor1) to detect when a box has reached the end of the conveyor. Conveyor 2 has two sensors (Sensor2 and Sensor3) to position boxes in the middle and end of the conveyor. Conveyor 3 has just a sensor (Sensor6) at the end. Conveyor 2 has an additional motor contactor to make the conveyor turn. Running the turning motor reverse, it aligns conveyor 2 with 1, running it forward with conveyor 3, TurnFwd and TurnRev PLC outputs are used for that. Two sensors connected to inputs Sensor4 and Sensor5 are placed to know if it is on reverse or forward position respectively.

The system includes a panel with one button to drop a box on conveyor 1. When the box reaches the end of conveyor 3 will be automatically removed after 5 seconds.

Workflow:

It is assumed that a box can be dropped just when the conveyor 1 is empty and stopped. The sequence starts when a box is dropped in Conveyor 1 (using a button from the panel) which is automatically detected by the sensor. The box should be moved to conveyor 2 directly. Once in conveyor 2, the box should stop at Sensor2 and wait for 5 seconds. If during this time a new box is dropped in conveyor 1 the second box should also be loaded in conveyor 2, reching Sensor3. In both cases the box or boxes will be delivered to conveyor 3 by turning forward and back the conveyor 2, and finally removed. When the box or boxes are removed from conveyor 3 a new box can be loaded to conveyor 2.

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The system includes a panel with two buttons to drop small or big boxes on conveyor 1.

Oppgave 5 - Transfer conveyor and stopper

Simuleringsfil til simumatik 3d

System description


Conveyors 1 and 2 are roller conveyors and conveyor 3 is a chain conveyors. The chain conveyor is higher than the roller conveyors, so there is a transfer conveyor on conveyor 2 connected to a vertical pneumatic cylinder to allow transfer between rollers and chains. In addition to the transfer conveyor there is another cylinder with a stopper that can be extended to stop a box just in front of conveyor 3, centered with the transfer conveyor.

Each conveyor has a motor commanded with a motor contactor to run it forward, including the transfer conveyor. The contactors are connected to outputs Conv1Fwd Conv3Fwd and TranFwd . Conveyor 1 and 3 have one sensor which will be activated if a box is in position, conveyor 2 has two, one for the transfer and the other for the end position. An additional sensor Conv2Size is placed on conveyor 2 to detect just the big boxes.

The cylinders are single acted and activated by two valves connected to outputs TransUp and StopUp . Two sensors connected to inputs TransUpPos and StopUpPos are placed to know if the cylinders are in the higher positions respectively.

The system includes a panel with two buttons to drop small or big boxes on conveyor 1.

Workflow:

The sequence starts when a box is dropped in Conveyor 1 (using a button from the panel) which is automatically detected by the sensor. The box should be moved to conveyor 2 directly. Big boxes should stop at the transfer conveyor and then moved to conveyor 3. Small boxes should go to the end of conveyor 2. When a box arrives at the end of conveyor 2 or 3 and is removed, the sequence can start again.

Oppgave 6 - Turning conveyor with 3 inputs

Simuleringsfil til simumatik 3d

System description


There are 5 conveyors, one of them (Conveyor 4), is also a turning conveyor. This means that it can rotate on its vertical axis [-90,90] degrees. Each conveyor has a motor commanded with a motor contactor to run it forward. The contactors are connected to outputs MotorControl1 to MotorControl5. Each conveyor has a sensor (Sensor1 to Sensor5) to detect when a box has reached the end of the conveyor.

Conveyor 4 has an additional motor contactor to make the conveyor turn. TurnControlFwd and TurnControlRev PLC outputs are used for rotating the conveyor. When the conveyor is in its home position, it is aligned with Conveyor 1 and 5, and Sensor6 is activated. Running the turning motor forward all the way, Sensor7 is activated and the conveyor aligned with Conveyor 2. Running it reverse all the way, Sensor8 is activated and the conveyor aligned with Conveyor 3.

The system includes a panel with three buttons to drop a box on Conveyor 1, 2 or 3. When the box reaches the end of conveyor 5 will be automatically removed.

Workflow:

It is assumed that a box can be dropped just when the Conveyor 1, 2 and 3 are empty and stopped. The sequence starts when a box is dropped in Conveyor 1, 2 or 3 (using a button from the panel) which is automatically detected by the sensor. The box should be moved to Conveyor 4 rotating it or not, and finally to Conveyor 5. When the box is removed from Conveyor 5 a new box can be loaded to Conveyor 4.


Oppgave 7 - Conveyors and door

A system with two conveyors separated by a door.

Simuleringsfil til simumatik 3d

System description


The conveyors are commanded with motor contactors using output signals Conv1MotorFwd and Conv2MotorFwd. One sensor is placed on the first conveyor so dropped boxes are directly detected and two sensors are placed before and after the door. The sensors are connected to Sensor1, Sensor2 and Sensor3 PLC inputs respectively.

The door in between the conveyors is commanded with a reversing contactor. DoorMotorFwd and DoorMotorRev PLC outputs are connected to the contactor to open and close the door respectively. The door has two sensors connected to SensorClose and SensorOpen inputs to know when the door is completely closed and open. A Light beacon is places on the side of the door connected to output Light.

Workflow:

Once a box is dropped the first conveyor runs forward until a box is detected by the sensor before the door. Then the door should open to avoid collision and the box continues to the end of the second conveyor. Once there, the door is closed and the box can be removed. During the time the door is not closed, the light should be blinking (0.5s On/0.5s Off).

Oppgave 8 - Boxes in order

A system where boxes can be sorted in different order.

Simuleringsfil til simumatik 3d

System description


There are 4 conveyors and 1 pneumatic cylinder in the system. Conveyor 1 to 3 can deliver boxes of different colors to conveyor 4. From conveyor 4 the boxes are dropped into a container. The gate of the container can be closed using the pneumatic cylinder.

Each conveyor has a motor commanded with a motor contactor which is connected to the outputs “MotorControl1” to “MotorControl4”. All conveyors have a sensor at the end and are connected to the inputs “Sensor1” to “Sensor4”. The pneumatic cylinder is a single acting cylinder and it can be extended using the output ValveControl. When extended (gate closed), the input Sensor5 is activated.

Three output signals can be used to drop boxes of different colors: DropBlueDropGreen and DropRed. The system includes a panel with a button connected to the input Start.

Workflow:

The sequence starts when the button is pressed in the panel. Three boxes must be dropped in the conveyors and packed in the container in a specific order: green, blue and finally, red. When all the three boxes are in the proper order in the container, the gate can be opened to release the pack. At this point, the sequence can be restarted using the button.

Oppgave 9 - Scara Robot

Simuleringsfil til simumatik 3d

System description


The system includes a Scara Robot and 4 conveyors. The conveyors are equiped with a motor contactor and two photoelectric sensors, one at the begining and one at the end. The robot is placed in the middle.

The Scara Robot has 4 axis: axis 1, 2 and 4 are rotational and axis 3 is translational. Each servojoint is commanded using PLC Outputs (REAL), the rotationals in degrees and the translational in mm. The robot is equiped with a laser sensor to measure the distance to the boxes, providing the value to the PLC in mm (INT). An additional PLC output (BOOL) is used to control the product locker object to allow the robot to pick boxes.

Workflow:

New boxes are dropped on conveyor 1 and moved forward to the robot. The robot will measure the box and pick it. Depending on the size it will deliver the box to a different conveyor: green boxes to conveyor2, yellow boxes to conveyor 3 and orange boxes to conveyor 4. Once a box is placed at the begining of a conveyor, it is moved forward to the end, to be removed.

Oppgave 11 - Packing boxes

Simuleringsfil til simumatik 3d

System description


There are 2 conveyors and 2 pneumatic cylinders. Each conveyor has a motor commanded with a motor contactor to run it forward, connected to outputs “oSUB01_K1” and “oSUB02_K1”. Conveyor 1 has a sensor in the begining and another at the end (connected to “iSUB01_B1” and “iSUB01_B2”), and conveyor 2 as well (connected to “iSUB02_B1” and “iSUB02_B2”).

The pneumatic cylinders are single acting cylinders commanded with one valve each, connected to outputs “oSUB01_Y1” and “oSUB02_Y1” respectively. The cylinder 1 makes possible to push a box from conveyor 1 to conveyor 2 and cylinder 2 can be used to pack boxes in conveyor 2. Each cylinder has one sensors to know if it is expanded “iSUB01_B3“ and “iSUB02_B3“.

The system includes a panel with a button to drop a box on conveyor 1.

Workflow:

Boxes are dropped in Conveyor 1 using the button on the panel. The boxes should be moved forward and then pushed to the conveyor 2. Once in the conveyor 2 the boxes should be pushed against previous boxes in order to pack them. When the pack of boxes reaches the sensor at the end of conveyor 2, the conveyor 2 should be emptied. New boxes can be placed just if both conveyors are stopped.

Oppgave 12 -Picking U

Simuleringsfil til simumatik 3d

System description

There are 3 conveyors in the system. Conveyors 1 and 3 are chain conveyors and Conveyor 2 is a roller conveyor 5 cm lower than the other two. Each chain conveyor is divided into two parts, a static part, and a movable part called transfer. Transfers move up and down using a double acting cylinder to align them with the chains or place them below the rollers. Conveyor 1 has a sensor called Conv1Sensor1 that detects a new pallet as soon as it is dropped into the system. Conveyor 2 has three sensors, Conv2Sensor1 in the beginning, to detect pallets coming from Conveyor 1, Conv2Sensor2 in the middle, and Conv2Sensor3 at the end, to stop pallets before transferring them to Conveyor 3. Conveyor 2 has a pneumatic stopper in the middle, to ensure an accurate stop in this position, also actuated by a double acting cylinder. Conveyor 3 has a sensor called Conv3Sensor1 at the end.

The conveyor motors are commanded with motor contactors to run them forward, connected to outputs “Conv1Fwd”, “Conv2Fwd” and “Conv3Fwd”. The three double-acting cylinders are commanded using 5/3 way solenoid valves which are connected to outputs CylXUp and CylXDown (where X is the number of the cylinder/conveyor). Cylinders are equipped with two sensors to detect their position, connected to inputs CylXSensorUp and CylXSensorDown.

Workflow:

A new pallet can be dropped in Conveyor 1. The transfer in Conveyor 1 moves up and the pallet travels all the way forward until it reaches Conveyor 2. The transfer goes down placing the pallet on the rollers and the pneumatic stopper in Conveyor 2 up. The pallet travels forward and stops in the middle position against the stopper. The pallet waits 2 seconds there and then the pneumatic stopper goes down to allow the pallet move to the end of Conveyor 2. Finally, the transfer in Conveyor 3 moves up and the pallet travels until it is detected by the sensor in Conveyor 3. Once the pallet is removed from Conveyor 3 a new pallet can be introduced in Conveyor 1.

Påskenøtt

Simuleringsfil til simumatik 3d

Systembeskrivelse


Det er 5 transprtbånd, et av de, Conveyor 4, kan rotere. Det vil si at det kan roteres mot Conveyor 2 (Sensor:AtOrange) og mot Conveyor 3 (Sensor:AtGreen). Signalene TurnControlCW og TurnControlCCW brukes til dette. AtYellow registrer når den står mot Conveyor1

MotorControl1-5 styrer de forskjellige transportbåndene. Conveyor4 har TrunBoxSensor for å registrere at en eske har kommet til enden og Conveyor5 har EndExitSensor for å registrere eske på enden.

Funksjonsbeskrivelse:

Anlegget har som hovedfunksjon å transportere esker fra conv1 til Conv5, men det skal være mulig å hente esker fra sidebåndene ved behov. Ut over dette er oppgaven åpen.