Report 1

Jun 15, 2016Download as PPTX, PDF0 likes180 views

This document provides an overview of a project to implement a new controller for a dispensing robot. It discusses the current situation where the existing controller is obsolete and not working. It then outlines the proposed solution of developing new motion, user I/O, and human-machine interface control modules. It describes the digital differential analyzer (DDA) interpolation algorithm that will be used to control movement. Finally, it provides an update on progress made so far, including prototyping, sensor board design, and demonstrating jogging mode, with the project currently ahead of schedule.

Industrial Project Report 1
Topic: Implementation Controller
for Dispensing Robot
Made by: Vu Trung Son
Nguyen Ngoc An
Supervisor: Huynh Nguyen Dang Khoa
Vietnamese-German
University
Pepperl + Fuchs

Contents
Pepperl & Fuchs
Situation
Solution & Planning
DDA Interpolation Algorithm
Current situation
Q & A

Pepperl and Fuchs
? One of the largest sensor manufacturer of Germany
? Multinational company
? HQ in Europe: Mannheim, Germany
? HQ in Pacific Asia: Singapore
? HQ in North America: Ohio, the US
? Director in Vietnam: Dr Evert Helms
? Departments:
? Process Engineering
? Product Engineering
? Etc.

Situation of Machine
Mechanical parts:
OK
Motors & Motor
drivers: OK
Controllers:
? Not Working
? Obsolete technology
Power supply module:
OK

Solution & Planning
I
IIIII
I: Motion Control
II: User I/O Control
III: Human-Machine
Interface

Solution & Planning
Structure of a CNC System
G&M-code
Interpreter
Interpolator
Human-Machine
Interface
Position Controller

DDA Interpolator
Types of
Interpolators
Pulse-
Reference
DDA
Stair
Approximation
Direct Search
Word-
Reference
Taylor Tustin Euler …

$DDA Interpolator Pulse in: Q = Q+V; if (Q >= Qmax) { Q = Q - Qmax; pulse_out(); } Pulse + : V = V+1; Pulse - : V = V-1; In case V = const: max out in V f f Q ?$

References
? I&J Fisnar Dispenser User Manual.
? Suk-Hwan Suh, Theory and Design of CNC System,
Springer Series in Advanced Manufacturing.
? Yoram Koren, Interpolator for a Computer Numerical
Control System, IEEE Transactions on Computers,
Vol. c-25, No.1, January 1976.
? Yoram Koren, Reference-pulse Circular Interpolators
for CNC Systems, ASME, Vol. 103, February, 1981.

HMI & Motor board module
? Base on a STM32F103C8T6 board with 64kB of
ROM and 20kB of RAM
? RTOS based
? Estimated price of the system is under 1,000,000
VND

What have been done until now?
? Prototyping and programming
? Designing the sensor board (we are going to have
the board cut today)
? Look at schedule!
? We are ahead of schedule, in fact!
? We have demonstrated the jogging mode.
? Motion control for straight and circular motion are
finished, too.

Q&A
? If you have any questions, please tell!

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Report 1

1. Industrial Project Report 1 Topic: Implementation Controller for Dispensing Robot Made by: Vu Trung Son Nguyen Ngoc An Supervisor: Huynh Nguyen Dang Khoa Vietnamese-German University Pepperl + Fuchs

2. Contents Pepperl & Fuchs Situation Solution & Planning DDA Interpolation Algorithm Current situation Q & A

3. Pepperl and Fuchs ? One of the largest sensor manufacturer of Germany ? Multinational company ? HQ in Europe: Mannheim, Germany ? HQ in Pacific Asia: Singapore ? HQ in North America: Ohio, the US ? Director in Vietnam: Dr Evert Helms ? Departments: ? Process Engineering ? Product Engineering ? Etc.

4. Pepperl and Fuchs ? One of the largest sensor manufacturer of Germany ? Multinational company ? HQ in Europe: Mannheim, Germany ? HQ in Pacific Asia: Singapore ? HQ in North America: Ohio, the US ? Director in Vietnam: Dr Everett Helms ? Departments: ? Process Engineering ? Product Engineering ? Etc. This is where we are!

5. Situation of Machine Mechanical parts: OK Motors & Motor drivers: OK Controllers: ? Not Working ? Obsolete technology Power supply module: OK

6. Solution & Planning I IIIII I: Motion Control II: User I/O Control III: Human-Machine Interface

7. Solution & Planning ALT+TAB

8. Solution & Planning Structure of a CNC System G&M-code Interpreter Interpolator Human-Machine Interface Position Controller

9. DDA Interpolator Types of Interpolators Pulse- Reference DDA Stair Approximation Direct Search Word- Reference Taylor Tustin Euler …

10. DDA Interpolator

11. DDA Interpolator Pulse in: Q = Q+V; if (Q >= Qmax) { Q = Q - Qmax; pulse_out(); } Pulse + : V = V+1; Pulse - : V = V-1; In case V = const: max out in V f f Q ?

12. DDA Interpolator (Linear)

13. DDA Interpolator (Circular)

14. References ? I&J Fisnar Dispenser User Manual. ? Suk-Hwan Suh, Theory and Design of CNC System, Springer Series in Advanced Manufacturing. ? Yoram Koren, Interpolator for a Computer Numerical Control System, IEEE Transactions on Computers, Vol. c-25, No.1, January 1976. ? Yoram Koren, Reference-pulse Circular Interpolators for CNC Systems, ASME, Vol. 103, February, 1981.

15. HMI & Motor board module ? Base on a STM32F103C8T6 board with 64kB of ROM and 20kB of RAM ? RTOS based ? Estimated price of the system is under 1,000,000 VND

16. What have been done until now? ? Prototyping and programming ? Designing the sensor board (we are going to have the board cut today) ? Look at schedule! ? We are ahead of schedule, in fact! ? We have demonstrated the jogging mode. ? Motion control for straight and circular motion are finished, too.

17. Q&A ? If you have any questions, please tell!

Editor's Notes

#10: Pulse-reference: pros: accuracy machining cons: speed limited by speed of processor Word-reference: pros: high-speed machining cons: not accuracy in case rough resolution
#12: What is DDA (Digital Differential Analyzer) ?

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Editor's Notes