5 movements Manipulator - Schneider Electric · The “5 movements manipulator” teaching...

5 movements Manipulator

Study of an industrial

assembling station

ebau312

Tampon

www.schneider-electric.com/educationalequipments 3/11

5 movements manipulator

1. Presentation of the equipment

The “5 movements manipulator” equipment allows the study of the particularities of a industrial automatic assembling station. It is made up of two parts: the control part and the operative part. A technical and teaching manual is also provided.

1.1 Composition

The control part MD1AE916 is made up of a PLC (TSX Micro) with 32 inputs 24VDC, 24 relay outputs and the equipment software delivered on a CD-ROM. This part is equipped with two flat cables for the connection of the operative part.

The operative part MD1AE914 represents a stamping station. This station consists of a manipulator arm composed of five movements, a stamping jack, pre-actuators, different detectors and a control panel. This part is equipped with two Sub D connectors (25 and 37 pins) for the connection of the control part.

The reference MD1AE915 consists of the operative part with its TSX Micro control part.

Operative part

Control part

4/11 www.schneider-electric.com/educationalequipments


1.2 Data

Mechanical data Dimensions: height: 220mm, width: 400mm, depth: 400mm Weight: 5kg (control part) and 32kg (operative part)

Electrical data Voltage: 230VAC + single-phase earth ± 10 % Power absorbed: 130VA Frequency : 50/60Hz ± 5 % Current: 10/16A, 2P + earth socket connection Conventional short-circuit current: is fixed at 10kA. Rated surge withstand voltage: 2,5kV Electric shock protection class: I The electrical network must be fitted upstream of the equipment with an RCD (Residual

Current Device) with a sensitivity of < 30mA class AC (not supplied).

Technical data of the main components TSX Micro PLC including: Power supply ~ 100/240V; A processor with a RAM memory of 11 K words and a Flash EPROM save memory, 32 inputs 24VDC, 24 relay outputs.

The operative part represents an automatic stamping station and consists of: A control panel. A pneumatic manipulator arm. A stamping jack. A pneumatic power supply "bloc" made up of a pressure regulator and a general

electrovalve. 3 photoelectric detectors to monitor the product presence. 4 bistable electrovalves “4/2” allow the control of the cylinders marked Y, Z, M and R. 2 monostable electrovalves “4/2” allow the control of the cylinders marked X and P. The cylinders are equipped with detectors in order to control their position:

– Magnetic detectors to control the strokes of the X, Y and Z cylinders – Pressure drop detectors to control the strokes of the R and M cylinders – An inductive detector to control the closing of the P tong.

This equipment is supplied in 230VAC 50Hz with a power cord.



1.3 Main functions The “5 movements manipulator” teaching equipment operates according to a machine cycle that includes the following steps: Detection of a part at the load place. Advance of the open and horizontal tong. Closing of the tong and memorisation that the part is in the tong. Retreat of the tong. Transfer of the assembly towards the stamping station: advance of the Y axis and drop of

the Z axis. Advance of the tong towards the stamping station. Opening of the tong and memorisation that a not-stamped product is present at this station. Stamping and memorisation that the part present at this station is stamped. Closing of the tong and memorisation that the part present in the part is stamped. Retreat of the tong. Rotation of the tong. Opening of the tong to discharge in the evacuation position and initialisation of the memory

of the follow up of the operations.

R

Z

X

P

Y

MM cylinder.To stamp the piece.(M+, M-)

R cylinder.For the rotation of thehandle of the arm. (RH ; RV)

P cylinder.To open andclose the tong. (P+)

X cylinder.To advance and retract the arm. (X+)

Z cylinder.To mount and go down thearm. (Z+ ; Z-)

Y cylinder.For thetransfer of thearm. (Y+; Y-)



2. Teaching

2.1 Presentation of the teaching The “five movements manipulator” teaching equipment allows the study of the particularities

of an industrial electro-pneumatic assembling station. The different subjects being able to be treated are: Analyse of the different components and their effects (functional analyse). Study of the electrical drawing. Study of the different operation mode (GEMMA). Study and adjustment of the software parts (from the simplest one to the most

sophisticated). Mechanical setting and adjustment. Maintenance operations on electrical and mechanical parts.

It is intended for the following channels:

Civil Engineering Technical

Equipments

Electrical, engineering, Network and

industrial computing.

Mechanical engineering Maintenance, Production,

Automation and Conception

Industrial technology

Engineering Sciences and

Industrial Techniques

Professional High school University / Engineering school

The exercises consist of a teacher’s document (with answers) and a trainee document.

List of the exercises: Exercise 1: Functional analyse of the machine and the kinematic chain

– To observe then describe which are the different functional entities associated the machine to ensure its exploitation.

– To establish a kinematic chain describing the machine function. Exercise 2: Identification of the different pneumatic technologies of the machine

– To identify various pneumatic technologies of the control of the cylinders. – To understand the principle of operation of the cylinder. – To understand the principles of the control. – To be able to identify different pneumatic organs the Operative Part.

Exercise 3: Use of the PL7 Micro software: “The PLC configuration” – To be able to do a material configuration of the TSX MICRO PLC. – To be able to declare the “Symbolics of the I/O”. – To put the PLC on RUN / STOP. – Control of the Inputs / Outputs.



Exercise 4: Programming in Ladder language, on BIT

– To know the combinatorial logic and be able to program in Ladder language with the PL7 software the movements of the manipulator arm, in manual mode.

– To master the “Work on Bit” notion. Exercise 5: Programming in Ladder language, on WORD

– To know the combinatorial logic and be able to program in Ladder language with the PL7 software.

– To obtain the “Word” notion. – To be able to use the comparison and operation blocks.

Exercise 6: Programming of the standard function blocks: Time delay - Counter - Monostable

– To know the PLC functions and be able to program in Ladder language with the PL7 software.

– To be able to use the standard function blocks: the time delay, the counter, the monostable.

Exercise 7: Structuring a program: the Prel - Chart - Post modules. – To know the PLC functions and be able to interpret the structure of a program

written in Grafcet Language. Exercise 8: Analyse of a program in structured literal language

– To know the automation function and be able to analyse the preliminary module of a program written in literal language.

Exercise 9: The “START and STOP modes”. Application of the Gemma – To know the automation function and to be able to structure a program in

Grafcet language with the START and STOP modes.



2.2 Teaching example



3. Elements supplied with the equipment

3.1 Equipment supplied The reference of the complete equipment “5 movements manipulator” is MD1AE915. It consists of: A control part MD1AE916. An operative part MD1AE914. A set of 6 products to manipulate. A power cord. 1.5m long flat cable 25 points. 1.5m long flat cable 37 points. A technical and teaching manual MD1AD911. A CD Rom containing the software and the manual “.pdf” format.

3.2 Equipment not supplied Programming software of the PLC. PC. Compressor. Any other equipment not listed in the paragraph “equipment supplied”.

3.3 Documentation A technical and teaching manual, reference MD1AD911. A CD-ROM containing the technical and teaching manual “.pdf” format as well as the

software and the computer files used for the teaching.

4. Details

Schneider Electric France Activité Didactique 3F

35 rue Joseph Monier CS 30323 92506 Rueil Malmaison - France

http://www.schneider-electric.com/educationalequipments e-mail: [email protected]

http://www.formation.schneider-electric.com/

mailto:[email protected]

5 movements Manipulator - Schneider Electric · The “5 movements manipulator” teaching...

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