Jack H
19.5.1 Overview
•A workcell has been constructed using one light industrial robot, and one NC milling machine. Some automated fixtures are also used.
•All of the devices in the workcell are controlled from a single Sun computer. This is an engineering workstation with UNIX. Thus, it is capable of multitasking (running more than one program at once).
•Software drivers, interfaces, and applications have been developed, to aid in teaching and demonstration.
•The following pages will describe the interfacing in the workcell, as an example of the connection between process control computers and a plant floor computer. A project in development will be discussed for networking Plant Floor (and higher) computers.
Содержание
- 1.3 PRACTICE PROBLEMS
- 2. AN INTRODUCTION TO LINUX/UNIX
- 2.1 OVERVIEW
- 2.1.1 What is it?
- 2.1.7 Distributions
- 2.1.8 Installing
- 2.2 USING LINUX
- 2.2.1 Some Terminology
- 2.2.4 Processes
- 2.3 NETWORKING
- 2.3.1 Security
- 2.4 INTERMEDIATE CONCEPTS
- 2.4.1 Shells
- 2.4.4 Desktop Tools
- 2.5 LABORATORY - A LINUX SERVER
- 2.8 REFERENCES
- 3.7 ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN)
- 3.9 CASE STUDY - THE BEAMCAD PROGRAM
- 3.9.1 Objectives:
- 3.9.2 Problem Definition:
- 3.9.3 User Interface:
- 3.9.3.1 - Screen Layout (also see figure):
- 3.9.7 Documentation
- 3.9.7.1 - Users Manual:
- 3.9.7.2 - Programmers Manual:
- 3.10 PRACTICE PROBLEMS
- 3.11 LABORATORY - C PROGRAMMING
- 4. NETWORK COMMUNICATION
- 4.1 INTRODUCTION
- 4.2 NETWORKS
- 4.2.1 Topology
- 4.2.3 Networking Hardware
- 4.2.6 SLIP and PPP
- 4.3 INTERNET
- 4.3.2 Computer Ports
- 4.3.3 Security
- 4.4 FORMATS
- 4.4.1 HTML
- 4.4.5 Java
- 4.4.6 Javascript
- 4.6 DESIGN CASES
- 4.9 LABORATORY - NETWORKING
- 5. DATABASES
- 5.2 DATABASE ISSUES
- 6. COMMUNICATIONS
- 6.1 SERIAL COMMUNICATIONS
- 6.2 SERIAL COMMUNICATIONS UNDER LINUX
- 6.3 PARALLEL COMMUNICATIONS
- 7. PROGRAMMABLE LOGIC CONTROLLERS (PLCs)
- 7.12.1 Data Files
- 7.12.1.4 - PLC Status Bits (for PLC-5s)
- 7.12.1.5 - User Function Memory
- 7.13 INSTRUCTION TYPES
- 7.13.1 Program Control Structures
- 7.13.2 Branching and Looping
- 7.13.3 Basic Data Handling
- 7.13.3.1 - Move Functions
- 7.15 LOGICAL FUNCTIONS
- 7.20 DESIGN TECHNIQUES
- 7.20.1 State Diagrams
- 7.23.1 SWITCHED INPUTS AND OUTPUTS
- 7.25 PRACTICE PROBLEMS
- 8.2 PROPRIETARY NETWORKS
- 8.2.0.1 - Data Highway
- 8.4 LABORATORY - DEVICENET
- 8.5 TUTORIAL - SOFTPLC AND DEVICENET
- 9. INDUSTRIAL ROBOTICS
- 9.1 INTRODUCTION
- 9.1.1 Basic Terms
- 9.2.2 Types of Robots
- 9.2.2.1 - Robotic Arms
- 9.3 MECHANISMS
- 9.5.2 Movemaster Programs
- 9.5.2.0.1 - Language Examples
- 9.5.3 Command Summary
- 9.6 PRACTICE PROBLEMS
- 9.7 LABORATORY - MITSUBISHI RV-M1 ROBOT
- 10. OTHER INDUSTRIAL ROBOTS
- 10.1 SEIKO RT 3000 MANIPULATOR
- 10.1.1.2 - Commands Summary
- 10.2 IBM 7535 MANIPULATOR
- 10.2.1 AML Programs
- 10.3 ASEA IRB-1000
- 10.6 LABORATORY - SEIKO RT-3000 ROBOT
- 11. ROBOT APPLICATIONS
- 11.0.1 Overview
- 11.1 END OF ARM TOOLING (EOAT)
- 11.1.1 EOAT Design
- 11.1.2 Gripper Mechanisms
- 11.1.3 Magnetic Grippers
- 11.1.3.1 - Adhesive Grippers
- 11.1.4 Expanding Grippers
- 11.3 INTERFACING
- 12. SPATIAL KINEMATICS
- 12.1 BASICS
- 12.2.1 Denavit-Hartenberg Transformation (D-H)
- 12.3 SPATIAL DYNAMICS
- 12.3.1 Moments of Inertia About Arbitrary Axes
- 12.4 DYNAMICS FOR KINEMATICS CHAINS
- 12.4.1 Euler-Lagrange
- 12.4.2 Newton-Euler
- 13.1.3 Modeling the Robot
- 13.2.2 Computer Control of Robot Paths (Incremental Interpolation)
- 13.4 LABORATORY - AXIS AND MOTION CONTROL
- 14. CNC MACHINES
- 14.1 MACHINE AXES
- 14.2 NUMERICAL CONTROL (NC)
- 14.3 EXAMPLES OF EQUIPMENT
- 14.3.1 EMCO PC Turn 50
- 14.4 PRACTICE PROBLEMS
- 14.5 TUTORIAL - EMCO MAIER PCTURN 50 LATHE (OLD)
- 14.6.1 LABORATORY - CNC MACHINING
- 15.3 PROPRIETARY NC CODES
- 16.5 DISCRETE IO
- 16.6 COUNTERS AND TIMERS
- 16.7 ACCESSING DAQ CARDS FROM LINUX
- 16.8 SUMMARY
- 16.9 PRACTICE PROBLEMS
- 17. VISIONS SYSTEMS
- 17.1 OVERVIEW
- 17.11 PRACTICE PROBLEMS
- 18. INTEGRATION ISSUES
- 18.1 CORPORATE STRUCTURES
- 18.2 CORPORATE COMMUNICATIONS
- 19. MATERIAL HANDLING
- 19.1 INTRODUCTION
- 19.3 PRACTICE QUESTIONS
- 19.4 LABORATORY - MATERIAL HANDLING SYSTEM
- 19.4.1 System Assembly and Simple Controls
- 19.5 AN EXAMPLE OF AN FMS CELL
- 19.5.1 Overview
- 19.6 THE NEED FOR CONCURRENT PROCESSING
- 20. PETRI NETS
- 20.1 INTRODUCTION
- 20.2 A BRIEF OUTLINE OF PETRI NET THEORY
- 20.4.3 An Exclusive OR Transition:
- 20.4.5 RELATIONAL NETS
- 20.7 PRACTICE PROBLEMS
- 21. PRODUCTION PLANNING AND CONTROL
- 21.1 OVERVIEW
- 21.2 SCHEDULING
- 21.3 SHOP FLOOR CONTROL
- 21.3.1 Shop Floor Scheduling - Priority Scheduling
- 22. SIMULATION
- 22.3 DESIGN OF EXPERIMENTS
- 23. PLANNING AND ANALYSIS
- 23.1 FACTORS TO CONSIDER
- 24. REFERENCES
- 25. APPENDIX A - PROJECTS
- 25.1 TOPIC SELECTION
- 25.1.1 Previous Project Topics
- 25.2 CURRENT PROJECT DESCRIPTIONS