Intrenet Trilogi PLC Ladder Diagram

The programming of our projrect is in Intrenet Trilogi software we used three digit inputs and one analog input. We used four digital outputs and one digital to analog output. In Intrenet Trilogi software we used ladder programming and the ladder diagram of pneumatic position control robotic arm is given below figure.

Project Description

The objective is to control the position in x-axes , so in the production line specific objects are manufactured in conveyer belt one the proximity sensors senses the object it stops the conveyer belt. The horizontal DAC (Double Acting Cylinder) is controlled by current to pneumatic(I/P) transiducer (4-20ma) or (1-5v). We have done programming in differential custom funtion with the clock of 20 miliseconds.

In the differential custom funtion we have done programming in vbscript. In which we made a counter of 10 bits increment which increases the analog output with 12mv on each clock cycle. The storke of the horizontal DAC (Double Acting Cylinder) is one feet. The time taken by the cyclinder to extract the whole stoke is 8 seconds. When sensor senses the object then register holds th same value and store the same value.

When the limit switch is pressed and proximity sensor senses an object then it energizes relay(R1) then it's NO(Normally Open) contacts become NC(Normally Closed) and NC contacts became NO also the induction motor stops to stop the conveyer belt. This operates vertical DAC(Double Acting Cylinder) downward and digital input is active low which operates the relay(R1) on hardware to convert into active high logic, which further operates the double coil solenoid valve which further operates the horizontal DAC(Double Acting Cylinder) downward.

The timer(t 1) start counting 4 seconds of DAC downward time. After this the timer(t 1)

NO contacts became NC and vice versa. The timer(t 1) sends signal to digital output two, which

provides the active low output which further converted to active high by help of relay(R2) on hardware. The second output operates the single coil solenoid valve , which further operates pneumatic gripper . The pneumatic gripper grips the object. It can lift up to 10 to 15 kg.

The timer(t 2) start counting 3 seconds of DAC upward time. After this the timer(t 2) NO

contacts became NC and vice versa. The timer(t 2) sends signal to digital output two, which

provides the active low output which further converted to active high by help of relay(R1) on hardware. The first digital output de energizes the double coil solenoid valve , which further operates pneumatic vertical DAC to upward position .

When the DAC is up then the timer(t 3) counts 3 seconds then operates the DC 12v motor in forward(CW) direction with having proximity sensor output high. When the motor rotates the robotic arm to 180o in CW direction then the limit switch 2 is pressed which operates the output

figure.().Ladder logic diagram of Position Control Robotic Arm

3 to operate the vertical DAC downward with the timer(t 4) 4 seconds count and the gripper also drops the object by de energizing the single coil solenoid valve the gripper drops the object.

After this relay(R3) is energized which operates the double coil solenoid valve to operate

vertical DAC upward and after 3 seconds of timer(t 5) count it operates the motor in

reverse(CCW) direction rotates the robotic arm to 180o

in CCW direction until the limit switch1 is pressed. The process is repeated again and again in the industry to save the time and enhance the productivity.

POSITION CONTROL VBSCRIPT PROGRAMMING

In the differential custom funtion we have done programming in vbscript. In which we made a counter of 10 bits counter with which increases the analog output with 12mv on each clock cycle. The storke of the horizontal DAC (Double Acting Cylinder) is one feet. The time taken by the cyclinder to extract the whole stoke is 8 seconds. When sensor senses the object then register holds th same value and store the same value.

The counter counter counts upto 816 with zero to five volts with 408 value and five to zero with 408 count after this resets the counter to zero if no object found. The vbscript programming is shown below in screenshot figure().

figure().VBSBCRIPT PROGRAMMING

Uploading Ladder Program

To upload the program firstly, we have to install TLSERVER for PLC communication and done setting and detect (ID=01) as shown in figure().

figure().TLSERVER SETTING

After this go to controller bar and select program transfer to PLC the detect (ID=01) again as shown in below figure().

figure().Login Setting

After this step clear the plc program and transfer a new project to plc successfully.