ET 494: Restoration of a Pneumatically Controlled

End-Of-Arm-Tooling (EOAT) for Classroom Teaching

Trent Lott and Chase Keller

Senior Design Final Summary

Advisor: Dr. Mohammad Saadeh

Spring 2014

Abstract:This project aims at restoring the functionality of a donated piece of

equipment by Intralox. It is a pneumatic driven EOAT that is controlled through a programmable logic controller (PLC). Main components of the system include air compressor, pneumatic cylinders, a vacuum pump, suction cups, proximity sensors, PLC board, and a frame to mount all the components on. Once completed, this project can serve as a teaching tool for future classes of automation or control elements.

Purpose:Hands-on-experience is a key element in the Engineering Technology

(ET) program at Southeastern. Students in ET program have access to some resources that are available in the electronics lab such as PLC, actuators, sensors, software, and microcontrollers. However, there is a need for automated systems that integrate all these individual components under one control unit. Once completed, this project will provide our ET program with an extra resource to better prepare our graduates for real work scenarios. The EOAT is shown in Figure 1.

Figure 1. EOAT and Wooden Frame

Materials:Most of our materials were donated by Intralox. However, we built a

wooden frame to support the EOAT. Also, various mounting components were ordered from other suppliers. Click Programming PLC was used to program and interface the EOAT. The Click Programming PLC came with its own development environment for programming. A USB to RJ11 converter was used to connect the PLC to the computer. To interface the system components to the I/O of the PLC, we used zip link wires and connectors. Tubing and regulators that were ordered have been connected and mounted

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to the system. Regulators were used to provide adequate pressure to the actuators on the system. On the EOAT system, there were various components such as actuators, lasers, magnetic sensors, and valves.

Components:- (End-Of-Arm-Tooling) EOAT

- Click Programming PLC

- Software: Click Programming IDE- Vacuum (VP80M-200MP)

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- Air Compressor

- Wooden Frame

Process:The EOAT was designed to be hung while it was in use at Intralox.

Since we cannot hang it, we designed and built a wooden frame that allows it to move on all designed axes. Original programming and testing was done with an Allen Bradley Micrologix 1200 and its development environment, RSLinx and RSlogix. Near the end of the project, it had been realized that the output modules needed to provide outputs to the system were not compatible with the wiring that had been designed for the inputs. It was determined that a different PLC system could be ordered in time to finish the project. Therefore, the Click Programming PLC was used to complete the restoration of the system. Original test work laid down the foundation of controlling the system. Testing included wiring various I/O and components.

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Such components included switches and LEDs to understand functionality. Although different controllers were used, the overall idea and logic remained the same. This allowed for easy programming when the new PLC had been installed.

The vacuum that was donated with the EOAT could not be used because it required three-phase power. An alternative vacuum was used to complete the suction functionality on the EOAT. The vacuum chosen was the VP80M-200MP. On this piece, there is one input port (80 PSI) and four outputs.

Testing each component of the system was necessary to understand the operations of the parts. For example, to understand the lasers, originally they were connected to the input on the PLC and programmed to read state of the sensors. Further testing like this was done to all the other parts of the EOAT system. In the end, the PLC had been interfaced with the various components of the system and separate programs were written to show the full functionality of the EOAT system.

Throughout the process, much research was done to understand every component on the system. The datasheets and wiring connection diagrams were compiled in a folder to serve as a manual for future students to program and operate the EOAT system. All components and wirings were coded and labeled to easily identify them, and allow future upgrading or expansion. Default and demonstration ladder logic codes were also included. An example of a ladder logic diagram that is used for demonstration is shown in Figure 3.

Figure 3. Click Programming PLC Logic

Acknowledgment

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Most of the parts and components used throughout the process of restoring the pneumatically controlled EOAT were provided by Intralox. Their donation will provide a means of learning for future students within the Engineering Technology Department. This generous gift was extremely appreciated.

References

Air Cylinder. Retrieved May 7, 2014, from http://content2.smcetech.com/pdf/NCA1.pdf

Compact Guide Cylinder. Retrieved May 7, 2014, from http://www.smcpneumatics.ie/binary/1/2/22/171/173/attachment/MGQ.pdf

LV-21AP. -Amplifier Unit, Main Unit, PNP. Retrieved May 7, 2014, from http://www.keyence.com/products/sensor/laser/lv/models/lv-21ap/index.jsp

LV-52P. -Amplifier Unit, Expansion Unit, PNP. Retrieved May 7, 2014, from http://www.keyence.com/products/sensor/laser/lv/models/lv-52p/index.jsp

LV-H62. - Regression-reflective Sensor Head, Spot Type, Standard. Retrieved May 7, 2014, from http://www.keyence.com/products/sensor/laser/lv/models/lv-h62/index.jsp

LV-H300. - Transmissive Sensor Head, Area Type, 30-mm Wide. Retrieved May 7, 2014, from http://www.keyence.com/products/sensor/laser/lv/models/lv-h300/index.jsp

PDN 1000. Retrieved May 7, 2014, from http://www.parker.com/literature/Literature%20Files/pneumatic/Literature/PDN1000US_Sections/PDN1000-3US_Air-Preparation-Products.pdf

Reed Switches. Retrieved May 7, 2014, from http://www.alliedelec.com/images/products/datasheets/bm/SMC_CORPORATION/70070570.pdf DA 54(6-16-18) DZ 73(6-16-23)

Value Datasheet (VQ 4000). Retrieved May 7, 2014, from http://www.smc.eu/portal/NEW_EBP/01%29Solenoid_Valve/1.1%294_5_Port_Solenoid_V/m%29VQ4000/VQ4000_EU.pdf

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