1. Industrial Project Report 2
Topic: Implementation Controller
for Dispensing Robot
Made by: Vu, Trung Son
Nguyen, Ngoc An
Supervisor: Huynh, Nguyen Dang Khoa
Vietnamese-German
University
Pepperl + Fuchs

2. Contents
Summary Content of Report 1
Machine Description
G-code commands
Software Techniques
Our Current Situation
Q & A

3. Summary of Report 1
 About Pepperl + Fuchs company
 Situation of the machines
 Planning & Schedule
 Interpolation Algorithm

4. Machine Description
 3 DOFs along to X-Y-Z axes
 Working space: 300x300x100 [mm3]
 Base Length Unit (BLU): 0.05 [mm]
 Speed: 5 – 100 [mm/sec]
 Motion control:
 Linear interpolation in 3D.
 Circular interpolation in XY plane.
 5-phase Stepper Motors with drivers
(24V / 1.4A).
 3 end-position sensors for machine
reference point.
 3 user outputs (1 for PWM / 2 for
digital IO).

5. Machine Description
OLED LCD
MODE
<< >> START STOP
ORG
SET
REF
X+
X-
Y+
Y-
Z+
Z-

6. G-code commands
 Design by MIT in 1960s.
 The most popular CNC programming language.
 Especially in lathe and milling machines.
But, where is G come from?
 G-Command  tell machine where and how to go.
 M-Command  Miscellaneous commands, tell
machine how to act.

7. G-code Commands
 G0  rapid moving
 G1  linear moving
 G2  CW arc
 G3  CCW arc
 G4  dwell time
 G28  searching
machine reference point
 G90  absolute
programming
 G91 incremental
programming
 M3  switch on user
output
 M4  switch off user
output
 M98  start of loop
 M99  end of loop

8. Software Technique – Multithreading
 Synchronous message
 Events
 Messages
 Asynchronous message
 Mailbox
 Semaphore and Mutex

9. Software Technique
 Double buffering (LCD)
 Prevent tearing of objects
 Semi-hosting environment
 Using JTAG SWO wire to dump debug data back to
debug server
 Allow usage of normal C function like printf(),
 This is accomplished by create a virtual stdout and stderr
channel
 In fact, our JLINK semi-hosting capabilities support 32 virtual
channel
 Hardware Abstraction Layer (HAL)
 Allow changing of hardware later

10. Current status of Project
 Complete interpolation with acceleration control.
 Almost complete implementation of G-code (7/12
commands).
 Complete programming the driver for HMI devices
(keypad, screen, and SD card reader.)
 Complete the design of PCBs.

11. Plan for two last weeks
 Connect HMI module and Motion Control module.
 Testing whole system and making demo run.
 Making PCBs and wiring.
 Check & Take over

12. Q&A
 If you have any questions, please tell!