Problem Description

Problem Solution

Robotic arm used to perform this screwing action.

Robotic arm used here is of 3-axis arm.

Sequence of the arm is to be controlled.

SQO instruction must be used in order to fulfill the requirements.

Sequence to be followed is as given below.
1- Arm is initially at South-East position
2- Arm lowers and screws.

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3- Raise arm.
4- Move to West-South position
5- Arm lowers and screws.
6- Raise arm.
7- Move to West-North position.
8- Arm lowers and screws.
9- Raise arm.
10- Move to North-East position.
11- Arm lowers and screws.
12- Raise arm.
13- Move to South-East position.
PLC Program
Here is PLC program to Operate Screwing of Parts, along with program explanation and run time test
cases.
List of Inputs and Outputs
I:1/0
= Start PB
(Input)
I:1/1
= Stop PB
(Input)
I:1/2
= Part detector proximity
(Input)
O:2/0
= Master coil
(Output)
O:4/0
= Screwing Motor coil
(Output)
O:4/1
= Down position
(Output)
O:4/2
= Up position
(Output)
O:4/3
= West position
(Output)
O:4/4
= East position
(Output)
O:4/5
= South position
(Output)
O:4/6
= North position
(Output)
N7:0
= File register
(Register)
N7:1 to N7:13
= Sequence storing registers
(Register)
R6:0
= Control Register
(Register)

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Ladder diagram to perform Screwing of parts with robotized arm
Program Description

RUNG000 again here is for Master Start and Stop.

File; #N7:0 and File length is 13, hence output sequence is varied from N7:0 to N7:12 with each input.

Destination is set to O:4 hence with each transition, N7:0 to N7:12 are moved to O:4 with masking.

O:4/0 to O:2/6 are used as the output address to Different positions and Motor coil, mask has value 007Fh
which means data flow of N7:0/0…N7:12/0 to N7:0/5…N7:10/5 is passed and the remaining N7:0/7…N7:12/7 to
N7:0/15…N7:12/15 are blocked.

Control parameters are assigned to register R6:0.

Sequence of robotic arm to be operated are stored in the registers from N7:0 to N7:12 as following.

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PLC Program to Separate Big and Small Parts
This is a PLC Program to Separate Big and Small Parts.