Digital control - KAIE9M11

Goal(s)

The main objective of the TP is to fix by practice, the main notions of modeling and control of modern industrial workshop.
This inevitably entails not only the study and implementation of control / command and supervision programs for driving automated systems, but also the study of geometric, kinematic and dynamic models of manipulator robots as well as generation methods. of trajectories.
The teaching aims to:

• To deepen the industrial control-command knowledge by a situation of the learners on a platform of industrial automatisms.
• Understand the fundamental functions of industrial supervision with a concrete implementation on an automated workshop.
• Understand the impact of supervision on the conduct of production, forecasts and risk expectations.
• Acquire the basics of industrial robotics with a direct implementation of the knowledge acquired on a robotic workshop.

Concepts of generation and treatment of alarms, the avoidance of obstacles or the control of a manipulator arm are treated in order to give free rein to the reflections and initiatives specific to each pair.

Content(s)

I- WORKSHOP COMMAND

• Workshop modeling
• Management of the Modes of Marche and Stop,
• Implementation of a supervisor, processing of production tasks and treatment of the emergency stop
• Grafcet input and contact diagrams on UNITY (Schneider TSX Premium PLC)
• Loading programs, tests, correction and execution.

II- ROBOTIC (6 axis robot, Stäubli TX60)

• Robot control by learning
• Modeling and trajectory generation for 6-axis robots
• Generation of movements with passing of points and avoidance of obstacles
• Creating and testing applications from the emulator
• Creating and learning points
• Writing a program in VAL3 language

III- SUPERVISION:
Using PCVue Supervisory Software and TSX Premium Automaton

• Dialogue with PLCs / equipment locally and remotely,
• Processing, formatting of supervision data
• Event and measurement recordings ("black box" function)
• Local and remote driving station
• Construction of graphic synoptics
• Treatment of alarms and faults
• Construction of control charts and process monitoring

Grafcet - Numeric control