Koordinirano upravljanje kartezijskim i planarnim manipulatorom pomoću PLC-a Schneider Modicon M238

master's thesis

• Title (english): Coordinated Control of Cartesian and Planar Robot using PLC Schneider Modicon M238
• Author: Mirna Galjer
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Diplomski radom opisano je zatečeno stanje i funkcionalnosti fizičkih komponenata sustava te kartezijski i planarni roboti. Potom je ukratko predstvaljena svaka komponenta sustava zasebno te zamišljena konfiguracija i vrste komunikacija između pojedinih dijelova sustava. Zatim je iz rješenja isključen PAC M340 u svrhu unaprijeđenja čitavog sustava i zasebnog robotskog sustava te je prikazana konfiguracija koja je nadalje uzimana u obzir pri izradi rada. Potom je pojašnjeno konfiguriranje sastavnica sustava u programu SoMachine, kao i inicijalizacija u SoMove programu. Slijedi programiranje ponašanja PLC-a M238 i Motion Controllera LMC058 te razvoj Master-Slave komunikacijskog odnosa među navedenima. Na kraju je prikazano koordinirano point-to-point gibanje robota te je dan kratak prikaz zadataka i opis laboratorijske vježbe.

Abstract (english)

This master thesis describes the current situation and functionality of hardware system
components of Cartesian and Planar robots . The brief description of each system component per se is given and the planned configuration with types of communication between different parts of the system is presented. The decision of excluding the PAC M340 is explained and it has been made in order to improve the whole system and separate robotic system after which the configuration that is further taken into account is described. Configuration of components of the system in the program SoMachine and initialization by SoMove program is explained. Following the programming behavior of PLC M238 and LMC058 Motion Controller and the development of master-slave communication relationship between those two. Eventually, coordinated point-to-point movement of robots is shown and a brief description of laboratory work is presented.

• Keywords: kartezijski robot; planarni robot; Schneider Electric; Telemecanique; PLC Modicon M238; PAC Modicon M340; Lexium 05 servo pretvarač; Lexium 32A servo pretvarač; Modbus RTU i TCP/IP; Ethernet; CAN - CanOpen i CanMotion; konfiguracija; SoMachine; SoMove; Vijeo Designer; Master-Slave komunikacija; Point-To-Point gibanje
• Keywords (english): Cartesian robot; Planar robot; Schneider Electric; Telemecanique; PLC Modicon M238; PAC Modicon M340; Lexium 05 servo converter; Lexium 32A servo converter; Modbus RTU and TCP/IP; Ethernet; CAN - CanOpen and CanMotion; configuration; SoMachine; SoMove; Vijeo Designer; Master-Slave communication; Point-To-Point movement
• Language: croatian
• URN:NBN: urn:nbn:hr:168:412938
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 08:50:47