1. OB1 - <offline>
"mechatronic1 project" teacher: Dr farshade barazandeh
Name: plc Family: plc
Author: haj_rah Version: 0.1
Block version: 2
Time stamp Code:
Interface:
01/19/2014 09:07:20 AM
02/15/1996 04:51:12 PM
Lengths (block/logic/data): 01106 00898 00022
Name Data Type Address Comment
TEMP 0.0
OB1_EV_CLASS Byte 0.0 Bits 0-3 = 1 (Coming event), Bits 4-7 = 1 (Event class 1)
OB1_SCAN_1 Byte 1.0 1 (Cold restart scan 1 of OB 1), 3 (Scan 2-n of OB 1)
OB1_PRIORITY Byte 2.0 Priority of OB Execution
OB1_OB_NUMBR Byte 3.0 1 (Organization block 1, OB1)
OB1_RESERVED_1 Byte 4.0 Reserved for system
OB1_RESERVED_2 Byte 5.0 Reserved for system
OB1_PREV_CYCLE Int 6.0 Cycle time of previous OB1 scan (milliseconds)
OB1_MIN_CYCLE Int 8.0 Minimum cycle time of OB1 (milliseconds)
OB1_MAX_CYCLE Int 10.0 Maximum cycle time of OB1 (milliseconds)
OB1_DATE_TIME Date_And_Time 12.0 Date and time OB1 started
Block: OB1 "Main Program Sweep (Cycle)"
this project is written by mojtaba hajimiri & meysam rahimi
for mechatronic1 project
teacher: Dr farshad Barazandeh
Network: 1 convire dc motor
when I0.1 activate our conveyor dc motor starts to work until our conveyor
photo
sensor ( I0.3) activate
I0.1I0.1
"start"
Q0.1Q0.1
"conveyor
dc motor"
M0.3
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
Q0.1Q0.1
"conveyor
dc motor"

2. Network: 2 metal supply cylinder valve
line1 : when I0.1 activate our metal supply valve( Q0.2) change to 1 and his
cylinder supply one metal objects on conveyor
line2 : when our object was metal (sensed by our proxy sensor I0.2) again our
metal supply valve( Q0.2) change to 1 and his cylinder supply one metal objects
on conveyor
I0.1I0.1
"start"
I0.2I0.2
PR30(auton
ics)
"proxy
sensor"
Q0.2Q0.2
"metal
supply
valve"
Network: 3 metal exit cylinder valve
when our object was metal (sensed by our proxy sensor I0.2) then metal exit
valve change to 1 and his cylinder throw the metal object out.
I0.2I0.2
PR30(auton
ics)
"proxy
sensor"
Q0.3Q0.3
"metal
exit
valve"
Network: 4 robot dc motor (in X+ direction)
line1: when our conveyor photo sensor (I0.3) activate then robot starts to
move
in X+(Q2.0 & Q2.1) direction until T1(1s)(in here we set timer time to 10s in
order that can simulate it)force it to stop
Q2.2 : is for we be sure that robots dont work in X+ and X- direction
Simultaneously
line 2: is for robot Second stage X+ movement when robots rotate from plate
refer
to network 32
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
T15
I0.1I0.1
"start"
T1
M0.2 T10 T11
Q2.2Q2.2
"robot dc
motor_3(X-
)"
Q2.0Q2.0
"robot dc
motor_1(
X+)"
Q2.1Q2.1
"robot dc
motor_2
(X+)"

3. Network: 5
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
T15
I0.1I0.1
"start"
Q2.0Q2.0
"robot dc
motor_1(
X+)"
T1
T2 S_ODTS
T1
S
S5T#10S TV
R
Q
BI
BCD
Network: 6 robot dc motor (in Z- direction)
line 1: when our conveyor photo sensor (I0.3) activate and T1 finished his
counting then robot starts to move in Z-(Q2.4 & Q2.5) direction until T2(1s)(in
here we set timer time to 10s in order that can simulate it)force it to stop
line 3:is for robot Second stage Z- movement when robots wants to go press
station refer to network 14
line 4: is for robot thired stage Z- movement when robots wants to go plate
station refer to network 27 and 28
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
T15
T1 T2
T4 T5
M0.2 T11 T12
Q2.6Q2.6
"robot dc
motor_3(Z+
)"
Q2.4Q2.4
"robot dc
motor_1(Z-
)"
Q2.5Q2.5
"robot dc
motor_2(Z-
)"
Network: 7
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
Q2.4Q2.4
"robot dc
motor_1(Z-
)" T1
T2
T3 S_ODTS
T2
S
S5T#10S TV
R
Q
BI
BCD
Network: 8 gripper catch
line 1: when robots finished his movement in X+ and Z- direction then robots
gripper catch the object and T21(0.5s)(in here we set timer time to 5s in
order that can simulate it)deactivate gripper valve (in this time gripper is in
his second box and still gripper catch object. our valve is (3*5))

4. Q0.7 : is for we be sure that gripper valves open and close state doesnt works
Simultaneously
line 2: gripper catch the object for secound time when the objects works
finished
in press station refer to network 22 and 23
I0.3I0.3
BJN50-NDT(
autonics)
"conveyor
photo
sensor"
Q2.0Q2.0
"robot dc
motor_1(
X+)"
Q2.4Q2.4
"robot dc
motor_1(Z-
)" T2
T8
Q1.1Q1.1
"press
supply
valve_2" T9
Q0.7Q0.7
"griper
valve_
2(open)"
Q0.6Q0.6
"griper
valve_
1(close)"
Network: 9
Q0.6Q0.6
"griper
valve_
1(close)" S_ODTS
T21
S
S5T#5S TV
R
Q
BI
BCD
Network: 10 Auxiliary Relay for that we know our gripper catch the objects
Auxiliary Relay for that we know our gripper catch the objects
T21
Q0.6Q0.6
"griper
valve_
1(close)"
M0.2
Q0.7Q0.7
"griper
valve_
2(open)" M0.2
Network: 11 robot dc motor (in Z+ direction)
line 1: when our gripper catch the object from conveyor robot starts to move in
Z+(Q2.6 & Q2.7) direction until T3(.5s)(in
here we set timer time to 5s in orher that can simulate it)force it to stop this
is necessary for that our robot and conveyor havent any collision and object
will
be Dissent from conveyor that we can carry it to press station.
Q2.4 : is for we be sure that robots dont work in Z+ and Z- direction
Simultaneously
line 2: when our gripper catch the object for secound time from press station
robot starts to move in Z+(Q2.6 & Q2.7) direction until T22(.5s)(in here we set
timer time to 5s in order that can simulate it)force it to stop this is
necessary for that our robot and press station havent any collision and
object will be Dissent from press station that we can rotate it to late
station.
line 3: when our gripper catch the object for thired time from plate station

5. robot starts to move in Z+(Q2.6 & Q2.7) direction until T14(.5s)(in here we set
timer time to 5s in order that can simulate it)force it to stop this is
necessary for that our robot and object (in plate) havent any collision and
robot can be rotate .
M0.2 T2 T3
M0.2 T9 T22
T13 T14
Q2.4Q2.4
"robot dc
motor_1(Z-
)"
Q2.6Q2.6
"robot dc
motor_3(Z+
)"
Q2.7Q2.7
"robot bc
motor_4(Z+
)"
Network: 12
M0.2
Q2.6Q2.6
"robot dc
motor_3(Z+
)"
T3
T4 S_ODTS
T3
S
S5T#5S TV
R
Q
BI
BCD
Network: 13 robot dc motor (in X- direction)
when gripper catch, auxiliary Relay ( M0.2) activate and robot catch the
object from the conveyor then robot starts to move
in X-(Q2.2 & Q2.3) direction until T4(2s)(in here we set timer time to 20s in
order that can simulate it)force it to stop
Q2.0 : is for we be sure that robots dont work in X+ and X- direction
Simultaneously
M0.2 T3 T4
Q2.0Q2.0
"robot dc
motor_1(
X+)"
Q2.2Q2.2
"robot dc
motor_3(X-
)"
Q2.3Q2.3
"robot dc
motor_4(X-
)"
Network: 14
M0.2
Q2.2Q2.2
"robot dc
motor_3(X-
)" T3
T4
T5 S_ODTS
T4
S
S5T#20S TV
R
Q
BI
BCD

6. Network: 15 press supply cylinder valve_2(open)
line 1: when gripper catch, auxiliary Relay ( M0.2) activate and robots wants
to
com to press station then press supply cylinder will be open
line 2: when press finished his work (Q1.2) then press supply cylinder will be
open refer to network 20 and 21
M0.2 T3
T7
Q1.2Q1.2
"press
valve_
1(open)" T9
Q1.0Q1.0
"press
supply
valve_1"
Q1.1Q1.1
"press
supply
valve_2"
Network: 16
M0.2 T4
T5
T6 S_ODTS
T5
S
S5T#10S TV
R
Q
BI
BCD
Network: 17 gripper hang off
line 1 : when our robot where in press station the gripper will hang off the
objects this hang off will take about 0.5s
line 2: when our robot where in plate station the gripper will hang off the
objects this hang off will take about 0.5s refer to network 28 and 29
T5 T6
T12 T13
Q0.6Q0.6
"griper
valve_
1(close)"
Q0.7Q0.7
"griper
valve_
2(open)"
Network: 18
Q0.7Q0.7
"griper
valve_
2(open)"
T6
T7 S_ODTS
T6
S
S5T#5S TV
R
Q
BI
BCD

7. Network: 19 press supply cylinder valve_1(close)
when robot hang off the object in press station then press supply cylinder load
the object to press. refer to network 16
T5 T7
Q1.2Q1.2
"press
valve_
1(open)"
Q1.0Q1.0
"press
supply
valve_1"
Network: 20 press cylinder open
when press supply cylinder load the object to press the press Scribe
production information on object refer to network 18
T6
Q1.0Q1.0
"press
supply
valve_1"
Q1.2Q1.2
"press
valve_
1(open)"
T7
Q1.2Q1.2
"press
valve_
1(open)"
Network: 21 press cylinder close
after Scribe then press return to his place(this scribe will take 3s(in
here we set timer time to 20s in order that can simulate it)) refer to network
20
Q1.2Q1.2
"press
valve_
1(open)"
T7
T8 S_ODTS
T7
S
S5T#30S TV
R
Q
BI
BCD
T10
Q1.3Q1.3
"press
valve_
2(close)"
Network: 22
T8
T7
T9 S_ODTS
T8
S
S5T#10S TV
R
Q
BI
BCD

8. Network: 23
T8
T9
T10 S_ODTS
T9
S
S5T#10S TV
R
Q
BI
BCD
Network: 24
T9
T22
T10 S_ODTS
T22
S
S5T#5S TV
R
Q
BI
BCD
Network: 25 robot rotate to plate station
when robot catch the object from press station and comes up (a little)then
robot
rotates toward the plate station refer to network 24
T22 M0.2 T10
Q0.5Q0.5
"rotate
valve_2"
Q0.4Q0.4
"rotate
valve_1"
Network: 26
Q0.4Q0.4
"rotate
valve_1"
T10
T11 S_ODTS
T10
S
S5T#10S TV
R
Q
BI
BCD
Network: 27
T10
T11
T12 S_ODTS
T11
S
S5T#20S TV
R
Q
BI
BCD

9. Network: 28
T11
T12
T13 S_ODTS
T12
S
S5T#10S TV
R
Q
BI
BCD
Network: 29
T12
T13
T14 S_ODTS
T13
S
S5T#10S TV
R
Q
BI
BCD
Network: 30
T13
T14
T16 S_ODTS
T14
S
S5T#5S TV
R
Q
BI
BCD
Network: 31 robot rotate to conveyor station
when robot hang off the object in plate station and comes up(a little) then
rotate towards the conveyor state.
T14 T15
Q0.4Q0.4
"rotate
valve_1"
Q0.5Q0.5
"rotate
valve_2"
Network: 32
T14
T15
S_ODTS
T15
S
S5T#10S TV
R
Q
BI
BCD

10. Network: 33 step motor A port
when robot hang off the object to the plate and our plate photo sensor(I0.4)
sense it then plate step motor starts to rotate . the step motor work method
explain completely in our report.
T14
I0.4I0.4
BJN50-NDT(
autonics)
"plate
photo
sensor"
Q3.0Q3.0
"plate
step
motor_
1(A)"
T20
T16 M0.3
Q3.0Q3.0
"plate
step
motor_
1(A)"
Network: 34
Q3.0Q3.0
"plate
step
motor_
1(A)" S_ODTS
T16
S
S5T#1S TV
T18 R
Q
BI
BCD
Network: 35 step motor B port
T16
Q3.1Q3.1
"plate
step
motor_
2(B)"
T18
Q3.1Q3.1
"plate
step
motor_
2(B)"

11. Network: 36
Q3.1Q3.1
"plate
step
motor_
2(B)" S_ODTS
T18
S
S5T#1S TV
T19 R
Q
BI
BCD
Network: 37 step motor C port
T18
Q3.2Q3.2
"plate
step
motor_
3(C)"
T19
Q3.2Q3.2
"plate
step
motor_
3(C)"
Network: 38
Q3.2Q3.2
"plate
step
motor_
3(C)" S_ODTS
T19
S
S5T#1S TV
T20 R
Q
BI
BCD
Network: 39 step motor D port
T19
Q3.3Q3.3
"plate
step
motor_
4(D)"
T20
Q3.3Q3.3
"plate
step
motor_
4(D)"

12. Network: 40
Q3.3Q3.3
"plate
step
motor_
4(D)" S_ODTS
T20
S
S5T#1S TV
T16 R
Q
BI
BCD
Network: 41 counter
cu( counter up): this port is for increment the counter value
s (set):this is for activate the counter
R(reset): this port is counter reset port
pv( primitive value):we assigned one register (word) to this port to say
counter
whats his primitive value (default is zero)that counter starts his counting
from
hear
cv(current value):we assigned one register (word) to this port that shows
counter current value
Q3.3Q3.3
"plate
step
motor_
4(D)" M0.3 S_CU
C1
CU
I0.4I0.4
BJN50-NDT(
autonics)
"plate
photo
sensor" S
MW20 PV
Q0.1Q0.1
"conveyor
dc motor" R
Q
CV MW24
CV_BCD
Network: 42 comparator
this box compare counter current value with 20 and if they were equal activate
the M0.5
CMP ==I
MW24 IN1
20 IN2
M0.5

13. Network: 43 green objects valve
if counter counters 20 and plate color sensor (I0.5) activate then green object
cylinder throw out the green object .
M0.5
I0.5I0.5
QC50A3N6XD
WQ(BANNER)
"plate
color
sensor"
Q1.5Q1.5
"green
object
valve_2"
Q1.4Q1.4
"green
object
valve_1"
Network: 44 comparator
this box compare counter current value with 60 and if they were equal activate
the M0.7
CMP ==I
MW24 IN1
60 IN2
M0.7
Network: 45 other object( non green )
if counter, counters 60 then non green object cylinder throw out the object .
M0.7
Q1.7Q1.7
"other
object
valve-2"
Q1.6Q1.6
"other
object
valve_1"
Network: 46 start new cycle
after we finished our work then M0.3 will activate and we can use it to start
new cycle.
M0.5
I0.5I0.5
QC50A3N6XD
WQ(BANNER)
"plate
color
sensor"
M0.7
M0.3

14. Network: 47 returns plate cylinders to his place
M0.3
Q1.3Q1.3
"press
valve_
2(close)"
Q1.5Q1.5
"green
object
valve_2"
Q1.5Q1.5
"green
object
valve_2"
Q1.7Q1.7
"other
object
valve-2"