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KITE MECHATRONICS LABORATORY MANUAL
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KITE MECHATRONICS LABORATORY MANUAL
EXPT NO: 1
DATE:
AIM:
STUDY OF BASICS OF MECHATRONICS SYSTEM
To study about the impota!t "eatues# about Me$hato!i$s system%
INTRODUCTION TO MECHATRONICS SYSTEM:
Me$hato!i$s is o!e o" the !e& a!d e'isti!( "ie)ds o! the e!(i!eei!( )a!ds$ape# subsumi!(
pats o" taditio!a) e!(i!eei!( "ie)ds a!d e*uii!( a boade appoa$h to the desi(! o" system that &e
$a! "oma))y $a)) as Me$hato!i$s system%
Ma!y i!dusties impo+i!( thei &o,s thou(h automatio! &hi$h is based o! the i!te
$o!!e$tio! bet&ee! the e)e$to!i$ $o!to) systems a!d me$ha!i$a) e!(i!eei!(%
Su$h $o!to) systems (e!ea))y use mi$opo$essos as $o!to))es a!d ha+e e)e$ti$a) se!sos
e'ta$ti!( i!"omatio! "om me$ha!i$a) i!puts thou(h e)e$ti$a) a$tuatos to me$ha!i$a) systems%
This $a! be $o!sideed to be app)i$atio! o" $ompute based di(ita) $o!to) te$h!i*ues thou(h
e)e$to!i$ a!d e)e$ti$ i!te"a$es to me$ha!i$a) e!(i!eei!( pob)ems% Su$$ess"u) desi(! o"
Me$hato!i$s $a! )ead to podu$ts that ae e'teme)y atta$ti+e to $ustome i! *ua)ity $ost-
e""e$ti+e!ess%
MECHATRONICS DEFINITION:
Me$hato!i$s may be de"i!ed as a mu)ti-dis$ip)i!ay "ie)d o" study that imp)ies the sy!e(isti$
i!te(atio! o" e)e$to!i$ e!(i!eei!(# e)e$ti$ e!(i!eei!(# $o!to) e!(i!eei!(
$ompute te$h!o)o(y &ith me$ha!i$a) e!(i!eei!( "o the desi(!# ma!u"a$tue# a!a)ysis a!d
mai!te!a!$e o" a &ide a!(e o" e!(i!eei!( podu$ts a!d po$esses%
.Me$hato!i$s bi!(s to(ethe aeas o" te$h!o)o(y i!+o)+i!( se!sos a!d measueme!t
systems# di+e a!d a$tuatio! systems# a!a)ysis o" the beha+io o" systems mi$opo$esso systems/%
The i!te(atio! a$oss the taditio!a) bou!daies o" me$ha!i$a) e!(i!eei!(# e)e$ti$a)e!(i!eei!(# e)e$to!i$s a!d $o!to) e!(i!eei!( has to o$$u at the ea)iest sta(es o" the desi(!
po$ess i" $heape# moe e)iab)e0 moe ")e'ib)e systems ae to be de+e)oped%
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APPLICATIONS OF MECHATRONICS ENGINEERING:
Me$hato!i$s e!(i!eei!( "i!ds app)i$atio! i! the "o))o&i!( "ie)ds%
1. E)e$to!i$ home app)ia!$es
2. E)e$to!i$ e!tetai!me!t podu$ts
3. E!(i!e systems 2$as3
4. La(e s$a)e app)i$atio!
Schematic Lay!t " Hy#$a!%ic Sy&tem
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BASIC COMPONENTS OF A HYDRAULIC SYSTEM:
Re&e$'i$ ($ ai$ ta)*+:
oi)3%
A ese+oi is a! oi) supp)y ta!,% It is po+ided to ho)d the hydau)i$ )i*uid 2usua))y
P!m,:
The pump is used to "o$e the )i*uid i!to the system%
P$ime m'e$:
A 4ime mo+e# usua))y a! e)e$ti$ moto# is used to di+e the pump%
-a%'e&:
5a)+es ae e"itted i! the system to $o!to) )i*uid die$tio!# pessue# a!d ")o& ate%
Act!at$:A! a$tuato is po+ided to $o!+et the )i*uid e!e(y i!to me$ha!i$a) "o$e o to*ue to do
use"u) &o,% The a$tuato is the a$tua) &o,i!( e)eme!t o" the system% The a$tuatos $a! be eithe
$y)i!des 2to po+ide )i!ea motio!3 o hydo motos 2to po+ide otay motio!3%
F%!i#.t$a)&"e$ ,i,i)/:
The hydau)i$ 4ipi!( is po+ided to $ay the $ompessed )i*uid "om o!e p)a$e to
a!othe%
Schematic Lay!t " P)e!matic Sy&tem
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BASIC COMPONENTS OF A PNEUMATIC SYSTEM:
Re&e$'i$ ($ ai$ ta)*+:
A! ai ta!, is po+ided to stoe the $ompessed ai e*uied "o the opeatio!s%
Cm,$e&&$:
ai%
The $ompesso is used to $ompess the atmosphei$ ai so as to i!$ease the pessue o" the
P$ime m'e$:
A 4ime mo+e# usua))y a! e)e$ti$ moto# is used to di+e the $ompesso%
-a%'e&:
5a)+es ae e"itted i! the system to $o!to) ai die$tio!# pessue# a!d ")o& ate%
Act!at$:
A! a$tuato is po+ided to $o!+et the ai e!e(y i!to me$ha!i$a) "o$e o to*ue to do
use"u) &o,%
F%!i#.t$a)&"e$ ,i,i)/:
4ipi!( is po+ided to $ay the $ompessed ai "om o!e p)a$e to a!othe%
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BASIC SYMBOLS USED IN HYDRAULIS AND PNEUMATIC
SYSTEM:
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KITE MECHATRONICS LABORATORY MANUAL
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Symbols Description
DIRECTIONAL CONTROL VALVES
Di$ecti)a% C)t$% -a%'e (0 P$t& 0 P&iti)&+
.N$ma%%y c%&e# #i$ecti)a% c)t$% 'a%'e2ith 0 ,$t& a)# 0 "i)ite ,&iti)&3
.N$ma%%y ,e) #i$ecti)a% c)t$% 'a%'e2ith 0 ,$t& a)# 0 "i)ite ,&iti)&3
Di$ecti)a% C)t$% -a%'e (4 P$t& 0 P&iti)&+
.N$ma%%y c%&e# #i$ecti)a% c)t$% 'a%'e2ith 4 ,$t& a)# 0 "i)ite ,&iti)&3
.N$ma%%y ,e) #i$ecti)a% c)t$% 'a%'e2ith 4 ,$t& a)# 0 "i)ite ,&iti)&3
Di$ecti)a% C)t$% -a%'e (5 P$t& 0 P&iti)&+
.#i$ecti)a% c)t$% 'a%'e 2ith 5 ,$t& a)# 0"i)ite ,&iti)&
Di$ecti)a% C)t$% -a%'e (5 P$t& 4 P&iti)&+
.#i$ecti)a% c)t$% 'a%'e 2ith 5 ,$t& a)# 4"i)ite ,&iti)&6.(ce)te$ ,&iti) ca) ha'e 'a$i!& "%2 ,ath&+
Di$ecti)a% C)t$% -a%'e (7 P$t& 0 P&iti)&+ N$ma%%y A P)e!matic -a%'e
.#i$ecti)a% c)t$% 'a%'e 2ith 7 ,$t& a)# 0
"i)ite ,&iti)&Di$ecti)a% C)t$% -a%'e (7 P$t& 4 P&iti)&+ N$ma%%y A P)e!matic -a%'e
CONTROL METHODS
Ma)!a% C)t$%
Mecha)ica% C)t$%
.#i$ecti)a% c)t$% 'a%'e 2ith 7 ,$t& a)# 4"i)ite ,&iti)&
./e)e$a% &ym8% (2ith!t &h2i)/ the c)t$% ty,e+
.,!&h8!tt)
.%e'e$
."t ,e#a%
.,%!)/e$ $ t$ace$
.&,$i)/
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Symbols Description
.$%%e$
.$%%e$()e #i$ecti) )%y+
E%ect$ica% C)t$%
Pi%t O,e$ati)
.S%e)i# (the )e 2i)#i)/+
.,)e!matic
.hy#$a!%ic
Pi%t O,e$ate# T2.Sta/e -a%'e
.P)e!matic: S% "i$&t &ta/e
.P)e!matic: Ai$ ,i%t &ec)# &ta/e
.Hy#$a!%ic: S% "i$&t &ta/e
.Hy#$a!%ic: Hy# ,i%t &ec)# &ta/e
CHECK VALVES, SHUTTLE VALVES, RAID E!HAUST VALVES
.chec* 'a%'e ."$ee "%2 )e #i$ecti)98%c*e# "%2 i) the$ #i$ecti)
.,i%t ,e$ate# chec* 'a%'e9 ,i%t t c%&e
.,i%t ,e$ate# chec* 'a%'e9 ,i%t t ,e)
Sh!tt%e -a%'e .t i&%ate )e ,a$t " a &y&tem "$m a)a%te$)ate ,a$t " ci$c!it
Ra,i# Eha!&t -a%'eP)e!matic
.i)&ta%%e# c%&e t a) act!at$ "$ $a,i#m'eme)t " the act!at$
RESSURE CONTROL VALVES
P$e&&!$e Re%ie" -a%'e(Sa"ety -a%'e+ N$ma%%y C%&e#
. Li)e ,$e&&!$e i& %imite# t the &etti)/ " the
'a%'e9 &ec)#a$y ,a$t i& #i$ecte# t ta)*
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Symbols Description
P$,$ti)a% P$e&&!$e Re%ie"
Se;!e)ce -a%'e
. %i)e ,$e&&!$e i& %imite# t a)# ,$,$ti)a%t a) e%ect$)ic &i/)a%
P$e&&!$e Re#!ci)/ -a%'e
.
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Symbols Description
"ILTERS, #ATER TRAS, LU%RICATORS AND MISCELLANEOUS
AARATUS
Fi%te$ $ St$ai)e$
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RESULT:
Thus the impota!t "eatue Me$hato!i$s system &as studied%
MA6MARKS
OBTAINE7MARKS
4RE4ARATION
INTEREST 8 IN5OL5EMENT
SKILLS IN COM4LETIN9THE E64ERIMENTS 8RESULTS
5I5A 5OICE
TOTAL
7ATE SI9NATURE
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CIRCUIT DIAGRAM:
SINGLE ACTING CYLINDER
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EXPT3 NO3:0+a+ DESIGN AND TESTING OF SINGLE ACTING CYLINDERS
DATE :
AIM:
USING PRESSURE -AL-ES
To a$tuate si!()e a$ti!( $y)i!des i! a p!eumati$ $i$uit usi!( pessue +a)+es%
APPARATUS RE>UIRED:
1% Si!()e a$ti!( $y)i!de
% :RL u!it
;% ;
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SINGLE ACTING CYLINDER
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KITE MECHATRONICS LABORATORY MANUAL
RESULT:
Thus the $y)i!des ae a$tuated by the ai pessue i! the p!eumati$ $i$uit%
1?
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CIRCUIT DIAGRAM
DOUBLE ACTING CYLINDER
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EXPT3NO3:0+8+ DESIGN AND TESTING OF DOUBLE ACTING
DATE : CYLINDERS USING PILOT -AL-ES
AIM:
To a$tuate doub)e a$ti!( $y)i!des i! a p!eumati$ $i$uit usi!( pi)ot +a)+es%
APPARATUS RE>UIRED:
1% 7oub)e a$ti!( $y)i!de
% ;
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DOUBLE ACTING CYLINDER
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RESULT:
Thus the $y)i!des ae a$tuated by the ai pessue i! the p!eumati$ $i$uit%
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CIRCUIT DIAGRAM.SINGLE ACTING CYLINDER:
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EXPT3NO3:0+c+ DESIGN ? TESTING OF CONTINUOUS
DATE: RECIPROCATINGOF SINGLE ACTING AND DOUBLE
ACTING CYLINDER USING PILOT -AL-ES
AIM:
To a$tuate a si!()e a!d doub)e a$ti!( $y)i!des usi!( pi)ot +a)+es%
APPARATUS RE>UIRED:
1% 7oub)e a$ti!( $y)i!de
% ;% ;
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CIRCUIT DIAGRAM:
DOUBLE ACTING CYLINDER USING 70 PILOT -AL-E
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DOUBLE ACTING:
1% 7a& the $i$uit dia(am
% $o!!e$t $ompesso ai supp)y to :RL u!it
;% Co!!e$t a!y o!e o" the outputs o" :RL u!it to >% Co!!e$t the output o" :RL u!it to the i!put o" t&o ;
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RESULT:
Thus the $o!ti!uous e$ipo$ati!( o" si!()e a!d doub)e a$ti!( $y)i!des aea$tuated by the ai pessue i! the p!eumati$ $i$uit
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CIRCUIT DIAGRAM.SPDT S
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EXPT3NO3:4+a+ DESIGN OF CIRCUITS UENCEDATE: USING ELECTRO PNEUMATIC TRAINER @IT
AIM:
To de+e)op a e)e$to-p!eumati$ $i$uit "o e'te!sio! a!d eta$tio! o" doub)e a$ti!($y)i!de
APPARATUS RE>UIRED:
1% 7oub)e a$ti!( $y)i!de
% ;% Re)ay
?% SM4S
@% 4ushbutto! s&it$h
% Co!!e$ti!( tubes 8 &ies
PROCEDURE:
SPDT S% Che$, a)) the $o!!e$tio!s $ae"u))y%
?% Test the $i$uit% Obse+e the &o,i!( o" the $y)i!de usi!( the ;
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CIRCUIT DIAGRAM.PUSH BUTTON
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PUSHBUTTON S
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CIRCUIT DIAGRAM.ON TIMER
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EXPT3N3: 4+8+ ACTUATION OF SINGLE ACTING CYLINDER USING
DATE: ON AND OFF DELAY TIMER
AIM:
time%To de+e)op a! e)e$to-p!eumati$ $i$uit "o the a$ti+atio! o" si!()e a$ti!( $y)i!de usi!(
APPARATUS RE>UIRED
1% si!()e a$ti!( $y)i!de
% ;% Co!!e$ti!( tubes 8 &ies
PROCEDURE:
ON DELAY TIMER
1% 4o+ide po&e supp)y to e)e$ti$a) $o!to))e by i!te"a$i!( the +e to G+e a!d G
+e to -+e
% 4o+ide po&e supp)y to p!eumati$ tai!e "o e)e$ti$a) $o!to))e by i!te"a$i!(
=+e to +e a!d G+e to G+e%
;% Usi!( the S47T s&it$h e!e(iFe the $oespo!di!( so)e!oid to (et the desied
mo+eme!t o" the $y)i!de
=% A$tua) the time de)ay $i$uit%
>% :om time de)ay# (i+e $o!!e$tio! to si!()e a$ti!( $y)i!de to a$tuate the $y)i!de
a$$odi!( to time set%
?% 7esi(! a!d da& the p!eumati$ $i$uit%
@% Co!!e$t the ai supp)y%
% Test the $i$uit
% Obse+e the &o,i!( o" the $y)i!de%
%
;1
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OFF DELAY TIMER
1% 4o+ide 4o&e supp)y to p!eumati$ tai!e "om e)e$ti$a)Co!to))e by i!te"a$i!( =5 a!d -=5
% 4o+ide =5 po&e supp)y to time
;% A!y o!e o" the outputs o" :RL u!it is die$t)y $o!!e$ted to ;% 9i+e =5 a!d -=5 i! time
?% Output o" Time is $o!!e$ted to so)e!oid $oi)%
@% Che$, the a)) $i$uit
% Obse+e the &o,i!( o" $y)i!de
% Obse+e the &o,i!( $i$uit%
RESULT:
Thus the mo+eme!t o" si!()e a$ti!( $y)i!de &as $aied out usi!( time de)ay
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EXPT3NO:5 STUDY OF 71 MICROCONTROLLER AND STEPPER
DATE :
AIM:
The study the "u!dame!ta)s o" D>1 mi$o$o!to))es a!d steppe moto%
MICROCONTROLLER
A mi$o$o!to))e is a! i!te(atio! o" a mi$opo$esso &ith memoy a!d i!put# outputi!te"a$es a!d othe peiphea)s su$h as times o! a si!()e $hip%
A mi$o$o!to))e may ta,e a! i!put "om the de+i$e it is $o!to))i!( a!d $o!to) thede+i$e by se!di!( si(!a)s to di""ee!t $ompo!e!ts i! the de+i$e%
A mi$o$o!to))e is o"te! sma)) a!d )o& $ost% The $ompo!e!ts may be $hose! tomi!imiFe siFe a!d to be as i!e'peie!$e as possib)e%
A!othe !ame "o a mi$o$o!to))e is embedded $o!to))e% They $a! $o!to) "eatues oa$tio! o" the podu$t%
Re/i&te$ i) mic$c)t$%%e$
A mi$o$o!to))e $o!tai!s a (oup o" e(istes ea$h type o" e(iste ha+i!( a di""ee!t
"u!$tio!s%
Acc!m!%at$:
The a$$umu)ato 2A3 is a! bit e(iste &hee data "o a! i!put to the aithmeti$ a!d
)o(i$ u!it is tempoai)y stoed% So the a$$umu)ato e(iste is a tempoay ha!d)i!( e(iste "o
data to be opeated o! by the aithmeti$ a!d )o(i$ u!it a)so a"te the opeatio! the e(iste "o
ho)di!( the esu)t%
B Re/i&te$:
I! additio! to a$$umu)ato a! bit B-e(iste is a+ai)ab)e as a (e!ea) pupose e(iste&he! it is !ot used "o the had&ae mu)tip)y
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is estoed dui!( 4O4 a!d RET i!stu$tio!% The sta$, poi!te is i!itia)iFed to D@H a"te a eset%
This $auses the sta$, to be(i! at )o$atio! DH%
P$/$am c!)te$
The D>1 has 1? bit po(am $ou!te% It is used to ho)d the addess o" memoy )o$atio!
"om &hi$h the i!stu$tio! to be "et$hed% D>1 is a 1? bit he!$e it $a! be addess up to 1?
bytei%e% ?=, o" memoy% The 4C is the o!)y e(iste that does !ot ha+e a! i!te!a) addess%
I)te$)a% RAM
The D>1 has 1 bytes i!te!a) RAM% It is addessed usi!( RAM addess e(iste
:ist thity t&o bytes "om addess DDH to 1:H o" i!te!a) RAM $o!stitute ;&o,i!( e(istes% They o(a!iFed i!to "ou ba!,s o" ei(ht e(istes ea$h% The"ou e(iste ba!,s ae !umbeed D to ; a!d $o!sist o" ei(ht e(istes !amed RD toR@% Ea$h e(iste $a! be addessed by !ame o by its RAM addess%
O!)y o!e e(iste ba!, is i! use at a time% Bits RsD a!d Rs1 i! the 4S detemi!e&hi$h ba!, o" e(iste is $ue!t)y i! use%
Re(iste ba!,s &he! !ot se)e$ted $a! be used as (e!ea) pupose RAM%
PIN #ia/$am " mic$c)t$%%e$
The D>1 mi$o$o!to))e is a+ai)ab)e i! a =D pi! dua) i!-)i!e 27IL3 pa$,a(eaa!(eme!t% It is impota!t to !ote that ma!y pi!s o" D>1 ae used "o moe tha! o!e "u!$tio!%
The "u!$tio! o" ea$h o" the pi!s is as "o))o&s%
PORT (,i)& 40.4+:4ot D pi!s $a! be used as ImA%
O&ci%%at$ Pi)& XTA0 (,i) 1+ a)# XTA1 (,i) 1+::o (e!eati!( a! i!te!a) $)o$, si(!a) the e'te!a) os$i))ato is $o!!e$ted at these t&o
pi!s%
ALE (a##$e&& %atch e)a8%e+ Pi) 4:
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A7D to A7@ )i!es ae mu)tip)e'ed% To detemi!e these )i!es a!d "o obtai!i!( )o&e ha)"
o" a! addess# a! e'te!a) )at$h a!d ALE o" D>1 is used%
RST (Re&et ,i) +:This pi! is used to eset D>1% :o pope eset opeatio!# eset si(!a) must be he)d hi(h
at )east "o t&o ma$hi!e $y$)es# &hi)e os$i))ato is u!!i!(%
PSEN (P$/$am St$e E)a8%e ,i)0+:It is the a$ti+e )o& output $o!to) si(!a) used to a$ti+ate the e!ab)e si(!a) i" the e'te!a)
ROM
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a!(u)a steps% Steppe moto ha+e step a!()es o" 1% de(ee step e+o)utio! a!d tu!i!( "o$e
may be impo+ed by usi!( a step do&! (ea bo'%The steppi!( $ode se*ue!$e may be obtai!ed "om the moto ma!u"a$tue o distibuto%
The po(am i! this e'amp)e &as a $ommo! "ou step se*ue!$e o" A##>#? that it se!t
$o!ti!uous)y &ou)d $ause the moto sha"t to otate%
RESULT:
Thus the "u!dame!ta)s o" mi$o$o!to))e a!d steppe moto &ee studied%
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PROGRAM:
FULL STEP RE-OLUTION
ADDRESS OP CODE LABEL INSTRUCTION
S7 =1DD OR9 =1DDH
=1DD D => DD START MO5 74TR# =>DDH
=1D; @ D MO5 RD# D=
=1D> ED D MO56 A# 7 4 T R
=1D? 1D ; 4USH 74H
=1D 1D 4USH 74L
=1DA D :: DD MO5 74TR# ::COH
=1D7 @A D= MO5 R# D=H
=1D: @ D: MO5 R1# ::H
=111 @B D: 7LY 1 MO5 R;# ::H
=11; 7B :E 7LY 7NP R;# 7LY
=11> 7 :A 7NP R1# 7LY1
=11@ 7A : 7NP R# 7LY1
=11 :D MO5 74 T R#A
=11A 7D 4O4 74L
=11C 7D ; 4O4 74H
=11E A; INC 74TR
=11: 7 E= 7NC RD #D
=11 D 77 SM4 START
=1; EN7
S7Q=>DD D D> D? DA% TABLE 7B D# D># D?# DA
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9OQ=>DD
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EXPT3NO3:7+a+ STEPPER MOTOR INTERFACING 1 assemb)e
)a!(ua(e
APPARATUS RE>UIRED:
13 Steppe Moto
% I!te"a$e Boad
PROCEDURE:
1% S&it$h ON the mi$o $o!to))e
% I!itia)iFe the stati!( addess
;% E!te the m!emo!i$s $ode i! the mi$o$o!to))e
=% Reset the mi$o$o!to))e
>% E'e$ute the po(am
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PROGRAM 0
HALF STEP RE-OLUTION
R
ES
U
LT:
ADDRESS OP CODE LABEL INSTRUCTION
S7 =1DD OR9 =1DDH
=1DD D => DD START MO5 74TR# =>DDH
=1D; @ D= MO5 RD# D=
=1D> ED D MO56 A# 7 4 T R
=1D? 1D ; 4USH 74H
=1D 1D 4USH 74L
=1DA D :: DD MO5 74TR# ::COH
=1D7 @A D= MO5 R# D=H
=1D: @ D: MO5 R1# ::H
=111 @B D: 7LY 1 MO5 R;# ::H
=11; 7B :E 7LY 7NP R;# 7LY
=11> 7 :A 7NP R1# 7LY1
=11@ 7A : 7NP R# 7LY1
=11 :D MO5 74 T R#A
=11A 7D 4O4 74L
=11C 7D ; 4O4 74H
=11E A; INC 74TR
=11: 7 E= 7NC RD #D
=11 D 77 SM4 START
=1; EN7
S7Q=>DD D D> D? DA% TABLE 7B D# D># D?# DA
9OQ=>DD
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Thus the po(am to u! the steppe moto at di""ee!t speed a!d di""ee!t
die$tio! &as dei+ed usi!( D>1 assemb)e )a!(ua(e a!d &as +ei"ied%
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PROGRAM.1 :
CLOC@ :D MO56 7 4 T R#A
EDD? @= D7 START MO5 A#D7H
EDD D D MO5 74TR#D H
EDDB :D MO56 7 4 T R#A
EDDC 1 ED C LCALL 7ELAY
EDD: @= DE MO5 A#DEH
ED11 D D MO5 74TR#D H
ED1= :D MO56 7 4 T R#A
ED1> 1 ED C LCALL 7ELAY
ED1 @= D@ MO5 A#D@H
ED1A D D MO5 74TR#D H
ED17 :D MO56 7 4 T R#A
ED1E 1 ED C LCALL 7ELAY
ED1 @= DB MO5 A#
ED; D D MO5 74TR#D H
ED? :D MO56 7 4 T R#A
ED@ 1 ED C LCALL 7ELAY
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EDA D 7A SM4 START
EDC 7ELAY
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EXPT3NO3:7+8+ STEPPER MOTOR INTERFACING
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EDC @ :@ MO5 RD#:@H
EDE @ :: OLOO4 MO5 R1#::H
ED;D 7 :E ILOO4 7NP R1#ILOO4
ED; 7 :A 7NP RD#OLOO4
ED;= RET
ED;>
ED;> EN7
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PROGRAM.0 :
ANTICLOC@ :D MO56 7 4 T R#A
EDD? START
EDD? @= D7 MO5 A#D7H
EDD D D MO5 74TR#D H
EDDB :D MO56 7 4 T R#A
EDDC 1 ED C LCALL 7ELAY
EDD: @= DB MO5 A#DBH
ED11 D D MO5 74TR#D H
ED1= :D MO56 7 4 T R#A
ED1> 1 ED C LCALL 7ELAY
ED1 @= D@ MO5 A#D@H
ED1A D D MO5 74TR#D H
ED17 :D MO56 7 4 T R#A
ED1E 1 ED C LCALL 7ELAY
ED1 @= DE MO5 A# DEH
ED; D D MO5 74TR#D H
ED? :D MO56 7 4 T R#A
ED@ 1 ED C LCALL 7ELAY
SEDA D 7A SM4 START
EDC 7ELAY
EDC @ :@ MO5 RD#:@H
EDE @ :: OLOO4 MO5 R1#::H
ED;D 7 :E ILOO4 7NP R1#ILOO4
ED; 7 :A 7NP RD#OLOO4
ED;= RET
ED;> EN7
ED;> EN7
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=@
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RESULT:
Thus the po(am to u! the steppe moto i! $)o$,&ise a!d
a!ti$)o$,&ise die$tio! &as dei+ed usi!( D>1 assemb)e )a!(ua(e a!d &as +ei"ied%
=
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CIRCUIT DIAGRAM
=
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EXPT3NO3: PID CONTROLLER INTERFACE REAL TIME
DATE: TEMPERATURE CONTROLLER
AIM
The Obe$ti+e o" the e'peime!t is to $o!to) the tempeatue po$ess%
APPARATUS RE>UIRED:
1% 5RTTC- D1 U!it
% Mi$o$o!to))e < 4C
;% Heate Setup
=% RT7
>% 4C 4o&e $hod 8 $ab)e
PROCEDURE:
1% Heate 4o&e p)u( # B)o&e# RT7 ae $o!!e$ted i! Ba$, pa!e) 25RTC G D13
$o!!e$tes !amed as Heate# B)o&e# Se!so espe$ti+e)y
% S&it$h 1 is po+ided to $o!to) the heate supp)y +o)ta(e eithe by ma!ua))y o by auto
mode%
;% I" s&it$h 1 is se)e$ted as i!t mode pote!tiomete po+ided to $o!to) heate supp)y
+o)ta(e 2D-;D5 AC3 ma!ua))y%
=% I" s&it$h 1 se)e$ted as e't mode# pote!tiomete po+ided to $o!to) the Heate supp)y
5o)ta(e 2D-;D5 AC3 ma!ua))y%
>% I!te"a$i!( shou)d be "o))o&ed as 1st pi! 9!d# !d pi! A7C 2Ne(ati+e3# ;d pi! A7C
24ositi+e3 #7AC output "ed at =th 8>thpi! o" pi! 7 $o!!e$to%
?% S&it$h o! the 5RTTC G D1 U!it%
@% Se)e$t a!y o!e o" the $o!to) a$tio! 2ON
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TABULATION
S3NO TIME(&ec+ TEMPERATURE(C+
1%
%
;%
=%
>%
?%
@%
%
%
1D%
11%
1%
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RESULT: Thus the $o!to))i!( o" ea) time tempeatue is do!e%
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CIRCUIT DIAGRAM:
ON DELAY TIMER
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EXPT3NO:+a+ PLC CONTROL OF SINGLE ACTING CYLINDERS
DATE: USING ON AND OFF DELAY TIMER
AIM:
To desi(! a $i$uit to e'te!d a!d eta$t the si!()e a$ti!( $y)i!de &ith the he)p o"de)ay time $o!to))ed by 4LC%
APPARATUS RE>UIRED:
1% Si!()e a$ti!( $y)i!de
% RS ; $ab)e
;% 5esa po so"t&ae
=% ;% :RL u!it
?% 4LC
@% Co!!e$ti!( &ies a!d tube
PROCEDURE:
ON DELAY TIMER:
1% 7a& the $i$uit dia(am
% 4o+ide =5 a!d G=5 "om 4LC tai!e to pa!e)%
;% Ope! the +esa po so"t&ae i! des,top
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=% I!te"a$e 4LC &ith 4C usi!( RS ; $ab)e%
>% ite a )adde dia(am%
?% Output o" 4LC 2*13 is die$t)y $o!!e$ted to i!put o" so)e!oid $oi)%
@% :o))o&i!( the ope!i!( po$edue o" +esa po so"t&ae%
% Che$, the )adde dia(am%
% Co!!e$t the ai supp)y to :RL u!it%1D% Ru! the 4LC% A"te some de)ay the $y)i!de &i)) be a$ti+ated%
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CIRCUIT DIAGRAM:
OFF DELAY TIMER
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PROCEDURE:
OFF DELAY TIMER
1% 7a& the $i$uit dia(am
% 4o+ide =5 a!d G=5 "om 4LC tai!e to pa!e)%
;% Ope! the +esa po so"t&ae i! des,top
=% I!te"a$e 4LC &ith 4C usi!( RS ; $ab)e%
>% ite a )adde dia(am%
?% Output o" 4LC 2*13 is die$t)y $o!!e$ted to i!put o" so)e!oid $oi)%
@% :o))o&i!( the ope!i!( po$edue o" +esa po so"t&ae%
% Che$, the )adde dia(am%
% Co!!e$t the ai supp)y to :RL u!it%
1D% Ru! the 4LC a!d obse+e the &o,i!( o" si!()e a$ti!( $y)i!de%
RESULT:
&as do!e usi!( 4LC%
Thus the a$tuatio! o" si!()e a$ti!( $y)i!de &ith ON a!d O:: de)ay time
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CIRCUIT DIAGRAM
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EXPT3NO3:+8+ CIRCUITS UENCE
DATE: IN ELECTRO PNEUMATIC USING PLC
AIM
4LC%To simu)ate the $i$uits &ith mu)tip)e $y$)i!de se*ue!$e i! e)e$to p!eumati$ usi!(
APPARATUS RE>UIRED
1% 7oub)e a$ti!( $y)i!de
% Compesso
;% 5esa po so"t&ae
=% >% :RL u!it
?% 4LC
@% Co!!e$ti!( &ies a!d tube%
PROCEDURE:
1% 7a& the $i$uit dia(am
% 4o+ide =5 a!d G=5 "om 4LC tai!e to pa!e)%
;% Ope! the +esa po so"t&ae i! des,top
=% I!te"a$e 4LC &ith 4C usi!( Sieme!s $ab)e%
>% ite a )adde dia(am%
?% Both outputs o" 4LC 2*1 a!d *3 ae die$t)y $o!!e$ted to i!puts o" so)e!oid $oi)s%
@% :o))o&i!( the ope!i!( po$edue o" +esa po so"t&ae%
% Che$, the )adde dia(am%
% Co!!e$t the ai supp)y to :RL u!it%
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CIRCUIT DIAGRAM
RESULT:
Thus the )adde dia(am "o the automati$ u!!i!( o" doub)e a$ti!( $y)i!des isdesi(!ed a!d e'e$uted%
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EXPT3NO3:+c+ PLC CONTROL OF SE>UENCING CIRCUIT USING
DATE: PLC LADDER DIAGRAM
AIM
To desi(! a $i$uit "o the se*ue!$e ABA-B usi!( 4LC
APPARATUS RE>UIRED:
1% 7oub)e a$ti!( $y)i!de
% Sieme!s $ab)e
;% Sieme!s so"t&ae
=% >% :RL u!it
?% 4LC
@% Co!!e$ti!( &ies a!d tube
PROCEDURE:
1% 7a& the $i$uit dia(am
% 4o+ide =5 a!d G=5 "om 4LC tai!e to pa!e)%
;% Ope! the +esa po so"t&ae i! des,top
=% I!te"a$e 4LC &ith 4C usi!( Sieme!s $ab)e%
>% ite a )adde dia(am%
?% Outputs o" 4LC 2*1# *# *; a!d *=3 ae die$t)y $o!!e$ted to the i!puts o" so)e!oid $oi)%
@% :o))o&i!( the ope!i!( po$edue o" +esa po so"t&ae%
% Che$, the )adde dia(am%
% Co!!e$t the ai supp)y to :RL u!it%
1D%Ru! the 4LC a!d obse+e the &o,i!( o" doub)e a$ti!( $y)i!de%
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RESULT:
Thus the )adde dia(am "o the automati$ u!!i!( o" doub)e a$ti!( $y)i!des is desi(!ed a!de'e$uted
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EXPT3NO3:+a+ COMPUTERIED DATA LOGGING SYSTEM % I!+o,e )ab+ie&%
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TABULATION 1:
PRESSURE PROCESS PID CONTROLLER
S4 J
K4 J
Ki J
Kd J
S3NOPRESSURE(mm " 2c+ TIME(&ec+
1%
%
;%
=%
>%
?%
@%
%
%
1D%
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?% Heate
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TABULATION 0
PRESSURE PROCESS ONOFF CONTROLLER
S4 J
7i"" (ap J
ON POSITION (mm " 2c+ OFF POSITION (mm " 2c+
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RESULT:
Thus the 4e"oma!$e o" ON
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CIRCUIT DIAGRAM:
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EXPT3NO3: +8+ COMPUTERIED DATA LOGGING SYSTEM % 4at$h $hods
?% Mu)timedia
HAND -ALUE SETTING
H51 G :u))y ope!
H5 G :u))y $)ose
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H5; G :u))y ope!
H5= G 4atia))y ope!
PRESSURE RANGE
ID->DD3 L4H
O% I!+o,e )ab+ie&%
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TABULATION 1:
FLO< PROCESS PID CONTROLLER
S4 J
K4 J
Ki J
Kd J
S3NOFLO< RATE TIME(&ec+
1%
%
;%
=%
>%
?%
@%
%
%
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?% Heate
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TABULATION 0:
FLO< PROCESS ONOFF CONTROLLER
S4 J
K4 J
Ki J
Kd J
ON POSITION (&ec+ OFF POSITION (&ec+
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RESULT:
Thus the 4e"oma!$e o" ON
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CIRCUIT DIAGRAM:
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EXPT3NO3: +c+ COMPUTERIED DATA LOGGING SYSTEM
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PRESSURE RANGE
I% Se)e$t . Tempeatue XX $o!to) XX ON
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TABULATION :
TEMPERATURE PID CONTROLLER
S4 J
K4 J
Ki J
Kd J
S3NOTEMPERATURE(C+ TIME(&ec+
1%
%
;%
=%
>%
?%
@%
%
%
1D%
11%
1%
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RESULT:
Thus the 4e"oma!$e o" ON
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TABULATION:
S3NOPRESSURE(8a$+ FORCE (*/+
1%
%
;
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EXPT3NO3: +a+ DESIGN AND TESTING OF FLUID PO% Ope! the app)i$atio! so"t&ae "o the ")uid po&e $i$uits%
?% I! that ope! the "o$e &i!do&%
@% A"te ope!i!( the "o$e &i!do& $)i$, ON a!d e!te the )oad $e)) $apa$ity as $e))%
% No& (i+e "o&ad a!d a!a)yse that the $y)i!de mo+es "o&ad a!d hits the )oad$e))%
% No& !ote the eadi!( i! the 7isp)ay (au(e%
1D% Simi)a)y ta,e the Readi!( "o +aious pessue%
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CALCULATION
: J 4 6 A
hee#
: G "o$e i! Nm
4 G pessue i! ,(
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RESULT:
Thus the desi(!i!( a!d testi!( o" the ")uid po&e $i$uits by $o!to))i!( the "o$e o"
doub)e a$ti!( $y)i!de &as do!e a!d eadi!(s &ee ta,e!%%
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TABULATION:
S3NO PRESSURE(8a$+ -ELOCITY
(m&ec+
DISTANCE Cm
(c)&ta)t+
1%
%
;%
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EXPT3NO3: +b3 DESIGN AND TESTING OF FLUID POUIRED
1% 7ata A$*uistio! System
% Cy$)i!de setup
;% 4o'imity se!so
=% So)e!oid +a)+e
>% 4at$h $hods
PROCEDURE
1% Co!!e$t the 4at$h $hods to the 7ata a$*uisitio! System as me!tio!ed abo+e%
% Co!!e$t the USB $ab)e to the 7ata A$*uisitio! System%
;% No& s&it$h ON the u!it a!d the hydau)i$ moto%
=% :o))o& the i!stu$tio! as me!tio!ed i! the $hapte by ope!i!( the INSTACALSo"t&ae%
>% Ope! the app)i$atio! so"t&ae "o the ")uid po&e $i$uits%
?% I! that ope! the +e)o$ity &i!do&%
@% A"te ope!i!( the +e)o$ity &i!do& $)i$, ON a!d e!te the dista!$e bet&ee! these!sos%
% No& (i+e "o&ad a!d a!a)yse that the $y)i!de mo+es "o&ad%
% No& !ote the +e)o$ity eadi!( i! the 7isp)ay (au(e%
1D% Simi)a)y ta,e the Readi!( "o +aious pessue%
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CALCULATION
5e)o$ity J 7ista!$e < Time%
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RESULT:
Thus the desi(!i!( a!d testi!( o" the ")uid po&e $i$uits by $o!to))i!( the +e)o$ity o"
doub)e a$ti!( $y)i!de &as do!e a!d eadi!(s &ee ta,e!%%
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EXPT3NO3:+c+ DESIGN AND TESTING OF FLUID POUIRED
1% 7ata A$*uistio! System
% Cy$)i!de setup
;% 4o'imity se!so
=% So)e!oid +a)+e
>% 4at$h $hods
PROCEDURE
1% Co!!e$t the 4at$h $hods to the 7ata a$*uisitio! System as me!tio!ed abo+e%
% Co!!e$t the USB $ab)e to the 7ata A$*uisitio! System%
;% No& s&it$h ON the u!it a!d the hydau)i$ moto%
=% :o))o& the i!stu$tio! as me!tio!ed i! the $hapte by ope!i!( the INSTACALSo"t&ae%
>% Ope! the app)i$atio! so"t&ae "o the ")uid po&e $i$uits%
?% I! that ope! the die$tio! &i!do&%
@% A"te ope!i!( the die$tio! &i!do& $)i$, ON a!d e!te the )oad $e)) $apa$ity as $e))%
% No& (i+e "o&ad a!d a!a)yse that the $y)i!de mo+es "o&ad a!d hits the )oad $e))%
% Simi)a)y ta,e the Readi!( "o +aious pessue%
RESULT:
Thus the desi(!i!( a!d testi!( o" the ")uid po&e $i$uits by $o!to))i!( the die$tio! o" doub)ea$ti!( $y)i!de &as do!e a!d eadi!(s &ee ta,e!
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CIRCUIT DIAGRAM:
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EXPT3NO3:1+a+ SPEED CONTROL OF AC MOTOR USING PI
DATE: CONTROLLER
AIM
To $o!to) the speed o" AC moto usi!( 4I7 $o!to))e%
APPARATUS RE>UIRED
1% AC moto
% AC $o!to))e u!it
;% 4I7 $o!to))e u!it
=% 4at$h $hods
>% 4o&e $hods
PRECAUTION
1% 7o!t e'$eed the speed )imit o" the moto beyo!d 1>DD pm%
% 7o!t ho)d the moto teeth &ith the ha!d &hi)e the moto i! u!!i!(%
PROCEDURE
1% Co!!e$tio!s ae (i+e! as pe the $i$uits dia(am%
% S&it$h ON the 4I7 u!it a!d AC $o!to))e u!it a!d (i+e supp)y ;D 5 to the moto%
;% 9i+e the set poi!t as >DD pm by $o!to))i!( the 4I7 s&it$h u!it%
=% No& pess e!te the moto &as sett)ed at >DD pm%
>% A(ai! "o))o& the same po$edue to +ay the moto speed as me!tio!ed abo+e%
%
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TABULATION:
K4 J
Ki J
Kd J
S3NO SPEED($,m+ PROCESS
-ARIABLE($,m+
CONTROL
-ARIABLE
ERROR
1%
%
;%
=%
>%
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RESULT:
Thus the AC moto speed &as $o!to))ed usi!( 4I7 "o the $)osed )oop $o!ditio! a!d thepaametes &ee !oted%
%
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CIRCIUT 7IA9RAM
MODEL GRAPH
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EXPT3NO3:1+8+ SPEED CONTROL OF DC MOTOR USING PID
DATE: CONTROLLER
AIM
To $o!to) the speed o" 7C moto usi!( 4I7 $o!to))e%
APPARATUS RE>UIRED
1% 7C moto
% 7C $o!to))e u!it
;% 4I7 $o!to))e u!it
=% 4at$h $hods
>% 4o&e $hods
PRECAUTION
1% 7o!t e'$eed the speed )imit o" the moto beyo!d 1>DD pm%
% 7o!t ho)d the moto teeth &ith the ha!d &hi)e the moto i! u!!i!(%
PROCEDURE
1% Co!!e$tio!s ae (i+e! as pe the $i$uits dia(am%
% S&it$h ON the 4I7 u!it a!d 7C $o!to))e u!it a!d (i+e supp)y ;D 5 to the moto%
;% 9i+e the set poi!t as >DD pm by $o!to))i!( the 4I7 s&it$h u!it%
=% No& pess e!te the moto &as sett)ed at >DD pm%
>% A(ai! "o))o& the same po$edue to +ay the moto speed as me!tio!ed abo+e%
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TABULATION:
K4 J
Ki J
Kd J
S3NO SPEED($,m+ PROCESS-ARIABLE($,m+
CONTROL-ARIABLE
ERROR
1%
%
;%
=%
>%
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RESULT:
Thus the 7C moto speed &as $o!to))ed usi!( 4I7 "o the $)osed )oop $o!ditio! a!d thepaametes &ee !oted%
%
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TABULATION
S3NO SET
SPEED
($,m+
ACTUAL
SPEED
($,m+
-OLTAGE ERROR
(m-+
CONTROLLER
(m-+
FEED
BAC@
(m-+SP-(m-+ P' (m-+
1%
%
;%
=%
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>%
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EXPT3NO3:11+a+ SER-O CONTROLLER INTERFACING FOR
DATE: OPEN LOOP
AIM
To $o!to) the speed a!d study the pe"oma!$e o" the 7C se+o moto i! ope! )oop%
APPARATUS RE>UIRED
1% 7C se+o moto
% Co!to))e mode
;% Spe$ia) se!si!( u!it G 7i(ita) mu)timete%
PROCEDURE
1% Be"oe s&it$h ON the u!it%
i3 I!te"a$e the moto supp)y se!so%
1% I!itia))y pu)se ON
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Nte
1% I! ope! )oop system# the system is $o!to))ed a$ti+ated by a si(!a) at i!put%
% The system is $ase i! the pema!e!t 7C moto%
;% The 7C moto is $hoose! at the system be$ause it $a! be mode))ed as a simp)e "istode )i!e system%
=% :o a 7C moto the to*ue is die$t)y popotio!a) to the amatue%
>% E+e! )oad the moto ta,es $etai! amou!t o" $ue!t to podu$e to*ue to otate theamatue a(ai!st its o&! i!teia%
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RESULT:
Thus the se*ue!tia) $i$uit is pe"omed%
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TABULATION
S3NO SET
SPEED
($,m+
ACTUAL
SPEED
($,m+
-OLTAGE ERROR
(m-+
CONTROLLER
(m-+
FEED
BAC@
(m-+SP-(m-+ P' (m-+
1%
%
;%
=%
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>%
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EXPT3NO3:11+ 8+ SER-O CONTROLLER INTERFACING FOR
DATE: CLOSED LOOP
AIM
mode%To $o!to) the speed a!d study the pe"oma!$e o" the 7C se+o moto i! $)osed )oop
APPARATUS RE>UIRED
1% 7C se+o moto
% Co!to))e modu)e
;% Spe$ia) se!si!( u!it G 7i(ita) mu)timete%
PROCEDURE
1% Be"oe s&it$h ON the u!it%
ii3 E6T
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FORMULA USED
Ca)$u)ate steady state eo
ss J 5e"
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RESULT:
Thus the (i+e! se*ue!tia) $i$uit is pe"omed%
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CIRCUIT DIAGRAM
SINGLE ACTING CYCLINDER
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EXPT3NO3: 10+a+ DESIGN OF PNEUMATIC CIRCUIT USING
DATE: AUTOMATION STUDIO SOFT% The! se)e$t# $opy# paste the ;
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CIRCUIT DIAGRAM
DOUBLE ACTING DIAGRAM
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RESULT:
Thus the 4!eumati$ $i$uit "o si!()e a$ti!(# doub)e a$ti!( $y)i!de &as simu)ated
usi!( AUTOMATION STU7IO so"t&ae%
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EXPT3NO3: 10+8+ DESIGN OF HYDRAULIC CIRCUIT USING
DATE: AUTOMATION STUDIO SOFT% The! se)e$t# $opy# paste the ;
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KITE MECHATRONICS LABORATORY MANUAL