ISE716 Semester Project Final Report final with appendix

Department of Industrial and Systems Engineering
ISE716, Automated Systems Engineering, instructor: Dr. Yuan-Shin Lee
Final Project Phase II Report, May 4 2015
Automated classification of wares using 6-axis dual-arm
collaborative robot and shape recognition
Authors:
Yashom Bhandarkar
Sidharth Chaturvedi
Suketu Davda
Donato Girolamo
Yogesh Kulkarni
Prafulla Kumar Shahi
pg. 1

Contents
1. Introduction ..........................................................................................................................................3
2. Hardware Detailed Design ....................................................................................................................4
2.1. Parts Used.....................................................................................................................................5
2.2. System Assembly ........................................................................................................................10
3. Software Detailed Design....................................................................................................................11
3.1. Robot Software ...........................................................................................................................11
3.2. Virtual Vision Subsystem.............................................................................................................12
3.3. PLC Program................................................................................................................................14
- INPUTS.........................................................................................................................................14
- OUTPUTS.....................................................................................................................................14
- RELEYS.........................................................................................................................................14
- TIMERS........................................................................................................................................14
- COUNTERS...................................................................................................................................15
- OTHER LOGIC ..............................................................................................................................15
4. Conclusions .........................................................................................................................................15
pg. 2

1. Introduction
The current project aims to apply the knowledge acquired during the ISE 716 class, Automated System
Engineering, on industrial automation, robotics and programming for automation. The goal of the project
is to design, build (both hardware and software) and demonstrate an automated sorting system able to
transport, sort and relocate parts having different shapes (round and square). As shown in Figure 1, the
system mainly consists of (1) pneumatic actuator that pushes the unsorted parts on the conveyor belt; (2)
conveyor belt that transports the unsorted parts; (3) two-arms robot (Baxter) that, with the help of a
machine vision subsystem, sorts the cylinders from the cuboids. Other minor components of the system,
needed to achieve a full automation, are (4) five proximity sensors used to detect the position of the parts
during the operations; (5) DC motor that drives the conveyor belt; (6) start and stop push-buttons. A
detailed description of the aforementioned components follows in Section 2.
Figure 1 System Design
The core steps of the automated sorting system are described in the following list, organized in
chronological order:
1) The sorting system is started by a start push-button (Start) while an emergency button (E_Stop)
can be used to stop the operations at each time in case of an emergency.
2) A random shape part (cylinder or cuboid) is manually placed in position 1 and detected by the
proximity sensor 1 (ProxAtPneumatic);
3) ProxAtPneumatic trigs the extension mechanism of the pneumatic actuator that, helped by fixed
guide rails, pushes the part on the conveyor belt in position 2 where it is detected by the proximity
sensor 2 (ProxAtStart);
4) ProxAtStart triggers the DC motor to proceed forward and brings the part to position 3 where it
is detected by the proximity sensor 3 (ProxAtEnd). Each time the part is either in position 1 or
position 3, the DC motor stops to allow the placing and picking operations to and from the
conveyor belt;
pg. 3

5) ProxAtEnd trigs the two-arms robot. The robot is equipped with a vision system able to distinguish
the shape of the parts. Details of the robotic and virtual vision system are contained in Section 3;
6) Once the virtual vision system sorts the part’s shape, one of the two arms is activated. The robot
arms are equipped with electrical parallel grippers that pick parts and place them in the proper
container.
2. Hardware Detailed Design
The following section describes the components used in the physical implementation of the robot assisted
product sorting system. The systemic components and their functions are listed below.
PART NAME DESCRIPTION
PLC – Allen Bradley CompactLogixL23E-QBFC1B System Controller
24V/ 7.5A Power-Supply System Power Supply
Double Acting Cylinder Pneumatic Actuator
5/2 Solenoid Valve Air Supply for 2 position pneumatic actuator
NPN type Capacitive Proximity Sensors (x5) Operating Environment Sensors
Conveyor Belt Part transfer mechanism
Geared DC Motor
Controller governed conveyor belt motion
24V high wattage relay
Machine Vision Assisted Industrial Robot(Baxter) Part Sorting Robot
Schneider XBTGT2330 HMI Human Machine Interface
pg. 4

2.1. Parts Used
• PLC- Allen Bradley
Figure 2: Allen Bradley PLC with 24V/7.5A power supply
The Allen Bradley programmable logic controller (PLC) is the system controller used to govern the
automated functioning of the system.
The controller consists 32 I/O points which is able to take in 15 digital inputs and furnish 24 digital outputs
with a square peak voltage of 24V.
The ladder logic governing the system is encoded in RS Logix5000 and runs on the PLC scanning through
the program with 1 µs scan cycle, the logic addresses I/O ports which are part of the system’s inputs and
outputs.
• Pneumatic Actuator – (Double Acting Cylinder)
Figure 3: Pneumatic Actuator
Pneumatic actuator
pg. 5

Double-acting cylinders use compressed air to extend or retract the actuator piston.
They have two ports to allow air in, one for out-stroke and one for in-stroke. Stroke length for this design
is not limited, however, increasing the stroke length, the piston rod is more vulnerable to buckling and
bending.
Within the system layout, the double acting cylinder is the actuator used to push a part onto the conveyor
belt, based on the sensory feedback from the proximity sensors.
• 5/2 Solenoid Valve
Figure 4: 5/2 solenoid valve
The 5/2 solenoid valve controls the operation of the double acting cylinder. Two separate outputs need
to be controlled: one for extending the piston and one for retracting the piston.
The valve actuates the double acting cylinder based on the digital inputs from the PLC to either extend
(signal high) or retract (signal low) the piston, which either pushes the part onto the conveyor belt or
returns to its original postion for the next part.
• Proximity Sensors
Figure 5: Second Proximity Sensor
Proximity Sensor
Reflector
pg. 6

Five proximity sensors are present in the operating environment of the system providing feedback signals
to the PLC in order to generate the appropriate outputs based on the ladder logic. The sensor is always
used in conjunction with a reflector.
The first sensor governs the action of the double acting piston while the second proximity sensors placed
across the conveyor governs the movement of the conveyor belt. The third sensor is used to control the
timed output of the robot, while the fourth and fifth sensors are used for counting the number of
individual parts sorted by the robot and placed in the final containers.
• DC Motor and Conveyor
Figure 6: DC Motor and Conveyor Belt
The prime mover of the system is a 24 V geared DC motor which moves the conveyor based on the signal
from the PLC via the 24V DC relay.
The DC motor’s output shaft is coupled to a belt driven pulley moving the conveyor belt. The larger pulley
is able to supply an appropriate amount of torque to move the conveyor.
This conveyor has been equipped with proximity sensors placed at its ends. As already mentioned, the
proximity sensors provide the feedback to the system to govern the running of the prime mover.
• Baxter Robot (Machine-Vision Assisted)
Baxter is a 6-axis dual-arm collaborative production robot built by Rethink Robotics and typically used to
perform “pick-and-place” operations in industrial envronments. It is 3 foot tall (without pedestal; 5'10" -
6'3" with pedestal), it weighs 165 lbs without the pedestal and 306 lbs with the pedestal. Both arms of
Baxter are equipped with electric parallel grippers, shown in Figure 8, that provide one degree of freedom
with multiple grasp widths, deliver an actuation time of less than one second and allow Baxter to pick up
from the outside or inside of an object.
pg. 7

Figure 8: Electric Parallel Gripper
• Human Machine Interface
Schneider Electric XBTGT2330 is a touchscreen, graphical, 5.7", TFT LCD industrial HMI. It is very versatile
in interfacing it with a variety of controllers via RS232, Ethernet TCP/IP, USB. The main objective for the
HMI in the scope of the project is to initialize the system, display the current parameters of the system
and stop the system.
The HMI is very powerful. It can parse images, text files and can be scripted in basic Java. The HMI
communicates to the PLC via an internally scripted Ethernet Bridge compatible with the CompactLogix
family. Physical communication is achieved by connecting it to the same subnet as the PLC via TCP/IP.
pg. 9

Figure 9: HMI, Human Machine Interface.
2.2. System Assembly
Figure 10: SYSTEM ASSEMBLY
pg. 10

The picture above shows the complete assembly of the physical system which has been fabricated for this
project. The raw stock used for the conveyor support structure is 80/20 T-slotted aluminum 6105-T5. The
glass plate allows on which the double acting cylinder is mounted using L-slots provides a surface with the
appropriate sliding friction to allow the incoming part to be transported from the initial discrete position
(sensor 2) to its second discrete state (sensor 3). The L-slots are fixed in position using standard sized
screws and hexagonal nuts.
3. Software Detailed Design
The automated sorting system contains three main subsystems each requiring a different software to
operate: (1) the robot executes the operations programmed through the software interface Intera; (2) the
sorting system is based on a virtual vision subsystem embedded in the robotic system; (3) finally the whole
assembly is governed by a PLC, Allen Bradley CompacLogic, programmed in ladder logic via RSLogix5000.
3.1. Robot Software
The robot interface software Intera 3.2.1.164 was used to enable simultaneous tasking on both the arms.
Intera provides an easy to use graphical user interface that allows Baxter to be trained by demonstration,
using context instead of coordinates. Each of the two robot arms functions independently by default and
is able to learn its own unique sub-tasks that can be:
• Adding count
• Adding signals
• Changing paths
• Changing the approach and retract distance
• Changing the speed
• Changing the drop height
• Add object weight
• Baxter can be instructed to Pick (or Place) an object when it arrives at a location
Figure 11 shows the Intera software user interface.
Figure 11: Intera software interface.
pg. 11

The main tasks required from the robot in this project are (1) recognize part; (2) move arm to pick position;
(3) pick object; (4) move to drop position; (5) drop object. The virtual vision system is embedded in the
robotic system and described in the next section. The robot was manually trained to complete operations
(2) and (4) while pick and place actions were programmed through Intera, via the interface shown in Figure
12. The signal coming from the proximity sensor at the end of the conveyor belt triggers the robot actions
via the PLC.
Figure 12: Pick and Place operations programming.
3.2. Virtual Vision Subsystem
The virtual vision subsystem is embedded in Baxter. The virtual vision subsystem is fully automated, very
simple to use, and the output is very intuitive. As shown in Figure 13, Baxter is able to recognize the object
if the yellow overlay completely outlines the object. The blue outline identifies Baxter’s understanding of
where the object is. The yellow circle represents Baxter’s view of the center point of the axes of the object.
The red arrow illustrates how Baxter perceives the orientation of the object for gripping.
pg. 12

Figure 13: Virtual vision system program.
It is worth to consider the following when training Baxter to look for an object:
• Baxter works best when its workspace is lit with bright, diffused lighting with minimal shadows.
• Shadows in the work area, including those created by the object, degrade Baxter’s ability to see an
object. So does glare, from the object or the work surface.
• In general, the higher the contrast between the object and the work surface, the better.
• A clutter-free work surface works best.
pg. 13

3.3. PLC Program
The PLC was programmed in ladder logic using RSLogix5000. The system is characterized by the following
elements:
- INPUTS
Start push-button Start 0, no start
1, start
Stop Emergency button E_Stop 0, emergency not pressed
1, emergency pressed
Proximity Sensor 1 ProxAtPneumatic 1, no part detected
0, part detected
Proximity Sensor 2 ProxAtStart 1, no part detected
0, part detected
Proximity Sensor 3 ProxAtEnd 1, no part detected
0, part detected
Proximity Sensor At the Bin of
Cylinders
ProxAtBoxLeft 1, no part detected
0, part detected
Proximity Sensor At the Bin of
Cuboids
ProxAtBoxRight 1, no part detected
0, part detected
Stop button from the HMI
interface (same as E_stop)
HMI_Stop 0, emergency not pressed
1, emergency pressed
- OUTPUTS
Running Led Light Running 0, light OFF
1, light ON
Emergency Stop Light Stop 0, light OFF
1, light ON
Pneumatic Actuator PneumaticActuator 0, retracts
1, extends
DC motor forward DCF 0, rest position
1, motor moves forward
Robot System Robot 0, robot not triggered
1, robot triggered
The final containers are full OUT_Bins_Full 0, not full
1, full
- RELEYS
In the ladder logic program, the following outputs are also used as relays: R1, Stop, PneumaticActuator,
OUT_Bins_Full, Robot.
- TIMERS
Timer to fully extend the
pneumatic actuator
Part_entry Preset 5000ms
pg. 14

Timer to fully retract the
pneumatic actuator
Conveyor_retract Preset 2500ms
Timer required to stop the
robot
Robot_Stop Preset 1000ms
Timer to place cylinders in left
bin
Timer_left Preset 6000ms
Timer to place cuboids in right
bin
Timer_right Preset 6000ms
- COUNTERS
Counter to count the number of
parts present on the conveyor
belt (counter UP and counter
DOWN)
Parts_on_conveyor Preset 0
parts present in the cuboids bin
(counter UP)
Counter_right Preset 4
parts present in the cylinders
bin (counter UP)
Counter_left Preset 4
- OTHER LOGIC
“Greater Than” is used to
control the DC motor: when
there are no parts on the
conveyor belt
(Parts_on_conveyor = 0) the
motor doesn’t run
GRT Parts_on_conveyor > 0
Appendix A contains the ladder logic diagram that was programmed using the RSLogix 5000 software.
4. Conclusions
The automated sorting system was successfully designed, built and demonstrated at the NCSU ISE
automation Lab. The system successfully transports, sorts and organizes parts having different shape
(cylinders and cubes).
Room is left for improvements. For instance, (1) instead of being able to sort only two different shapes,
the system can be redesigned to sort more different shapes and relocate them. In order to realize this, it
is necessary to build a better interface between the robot controller and the PLC in order to have multiple
inputs going to the robot controller from the PLC. This was not possible in this project with the available
hardware. (2) If another robot would be available, it could be used upstream instead of the pneumatic
actuator to have a more precise, fast and reliable placing mechanism of the parts on the conveyor belt.
(3) Instead of sorting parts having totally different shapes (cubes from cylinders) the system could be used
pg. 15

in a more attractive industrial application to locate defective parts in a production line that have the same
overall shape but slightly different geometries/defects.
The sorting system designed during the final project of ISE716, finds wide applications in the most
common industrial environments. A very useful application of such a system can be that of sorting and
excluding defective parts in an automated production line or that of organizing random parts arriving on
belts in a factory warehouse.
pg. 16

FinalProj - Tag Listing Page 1
FinalProj (Controller) 5/4/2015 2:36:47 PM
C:UserspshahiDownloadsPhaseII_REVISED.ACD
RSLogix 5000
Name Value Data Type Scope
Conveyor_retract TIMER FinalProj
Constant No
External Access: Read/Write
Conveyor_retract - MainProgram/MainRoutine - *3(TON)
Conveyor_retract.TT 0 BOOL
Conveyor_retract.TT - MainProgram/MainRoutine - 3(XIC)
Conveyor_retract.DN 0 BOOL
Conveyor_retract.DN - MainProgram/MainRoutine - 3(XIO)
Counter_left COUNTER FinalProj
Constant No
Counter_left - MainProgram/MainRoutine - *11(RES), *8(CTU)
Counter_left.DN 0 BOOL
Counter_left.DN - MainProgram/MainRoutine - 10(XIC)
Counter_right COUNTER FinalProj
Constant No
Counter_right - MainProgram/MainRoutine - *11(RES), *9(CTU)
Counter_right.DN 0 BOOL
Counter_right.DN - MainProgram/MainRoutine - 10(XIC)
DCF 0 BOOL FinalProj
AliasFor: Local:2:O.Data.5
Base Tag: Local:2:O.Data.5
Constant No
DCF - MainProgram/MainRoutine - *4(OTE)
E_Stop 0 BOOL FinalProj
AliasFor: Local:1:I.Data.14
Base Tag: Local:1:I.Data.14
Constant No
E_Stop - MainProgram/MainRoutine - 1(XIC)
HMI_Stop 0 BOOL FinalProj
Constant No
HMI_Stop - MainProgram/MainRoutine - 1(XIC)
Local:1:I AB:Embedded_IQ16F:I:0 FinalProj
Local:1:I.Data.0 0 BOOL
ProxAtStart - MainProgram/MainRoutine - 2(XIO), 3(XIO)
ProxAtEnd - MainProgram/MainRoutine - 4(XIO), 5(XIC)
ProxAtboxLeft - MainProgram/MainRoutine - 6(XIO), 8(XIO)
ProxAtPneumatic - MainProgram/MainRoutine - 2(XIO), 3(XIO)
ProxAtboxRight - MainProgram/MainRoutine - 6(XIO), 9(XIO)
Local:2:O AB:Embedded_OB16:O:0 FinalProj
Local:2:O.Data.1 0 BOOL
PneumaticActuator - MainProgram/MainRoutine - *3(OTE), 4(XIO)
Appendix A

RSLogix 5000
Local:2:O (Continued)
Robot - MainProgram/MainRoutine - *5(OTL), *7(OTU), 4(XIO)
R1 - MainProgram/MainRoutine - *0(OTE), 0(XIC), 10(XIC), 11(XIC), 2(XIC), 3(XIC), 4(XIC), 5(XIC), 6(XIC), 7(XIC), 8(XIC), 9(XIC)
OUT_Bins_Full 0 BOOL FinalProj
Constant No
OUT_Bins_Full - MainProgram/MainRoutine - *10(OTE), 11(XIC)
Part_entry TIMER FinalProj
Constant No
Part_entry - MainProgram/MainRoutine - *1(RES), *2(TON)
Part_entry.TT 0 BOOL
Part_entry.TT - MainProgram/MainRoutine - 2(XIC)
Part_entry.DN 0 BOOL
Part_entry.DN - MainProgram/MainRoutine - 3(XIC)
Parts_on_conveyor COUNTER FinalProj
Constant No
Parts_on_conveyor - MainProgram/MainRoutine - *11(RES), *3(CTU), *7(CTD)
Parts_on_conveyor.ACC 0 DINT
Parts_on_conveyor.ACC - MainProgram/MainRoutine - 4(GRT)
PneumaticActuator 0 BOOL FinalProj
Constant No
ProxAtboxLeft 0 BOOL FinalProj
Constant No
ProxAtboxRight 0 BOOL FinalProj
Constant No
ProxAtEnd 0 BOOL FinalProj
Constant No
ProxAtPneumatic 0 BOOL FinalProj
Constant No
ProxAtStart 0 BOOL FinalProj

RSLogix 5000
ProxAtStart (Continued)
Constant No
R1 0 BOOL FinalProj
Constant No
Robot 0 BOOL FinalProj
Constant No
Running 0 BOOL FinalProj
Constant No
Running - MainProgram/MainRoutine - *4(OTE)
Start 0 BOOL FinalProj
Constant No
Start - MainProgram/MainRoutine - 0(XIC)
Stop 0 BOOL FinalProj
Constant No
Stop - MainProgram/MainRoutine - *1(OTE), 0(XIO), 10(XIO), 11(XIO), 2(XIO), 3(XIO), 4(XIO), 5(XIO), 6(XIO), 7(XIO), 8(XIO), 9(XIO)
Timer_left TIMER FinalProj
Constant No
Timer_left - MainProgram/MainRoutine - *8(TON)
Timer_left.TT 0 BOOL
Timer_left.TT - MainProgram/MainRoutine - 8(XIC)
Timer_left.DN 0 BOOL
Timer_left.DN - MainProgram/MainRoutine - 8(XIO)
Timer_right TIMER FinalProj
Constant No
Timer_right - MainProgram/MainRoutine - *9(TON)
Timer_right.TT 0 BOOL
Timer_right.TT - MainProgram/MainRoutine - 9(XIC)
Timer_right.DN 0 BOOL
Timer_right.DN - MainProgram/MainRoutine - 9(XIO)

MainRoutine - Ladder Diagram Page 4
FinalProj:MainTask:MainProgram 5/4/2015 2:36:47 PM
Total number of rungs in routine: 12 C:UserspshahiDownloadsPhaseII_REVISED.ACD
RSLogix 5000
0
Start
R1
<Local:2:O.Data.15>
/
Stop
R1
<Local:2:O.Data.15>
1
E_Stop
<Local:1:I.Data.14>
HMI_Stop
RES
Part_entry
Stop
2 /
ProxAtPneumatic
<Local:1:I.Data.3>
/
ProxAtStart
<Local:1:I.Data.0>
Part_entry.TT
R1
<Local:2:O.Data.15>
/
Stop
EN
DN
Timer On Delay
Timer Part_entry
Preset 5000
Accum 0
TON
3 /
ProxAtPneumatic
<Local:1:I.Data.3>
/
ProxAtStart
<Local:1:I.Data.0> Part_entry.DN
Conveyor_retract.TT
R1
<Local:2:O.Data.15>
/
Conveyor_retract.DN
/
Stop
PneumaticActuator
<Local:2:O.Data.1>
CU
DN
Count Up
Counter Parts_on_conveyor
Preset 0
Accum 0
CTU
EN
DN
Timer On Delay
Timer Conveyor_retract
Preset 2500
Accum 0
TON
4 /
ProxAtEnd
<Local:1:I.Data.1>
/
PneumaticActuator
<Local:2:O.Data.1>
R1
<Local:2:O.Data.15>
Greater Than (A>B)
Source A Parts_on_conveyor.ACC
0
Source B 0
GRT
/
Stop
/
Robot
<Local:2:O.Data.6>
DCF
<Local:2:O.Data.5>
Running
5
ProxAtEnd
<Local:1:I.Data.1>
R1
<Local:2:O.Data.15>
/
Stop
L
Robot
<Local:2:O.Data.6>

MainRoutine - Ladder Diagram Page 5
Total number of rungs in routine: 12 C:UserspshahiDownloadsPhaseII_REVISED.ACD
RSLogix 5000
6 /
ProxAtboxLeft
<Local:1:I.Data.2>
/
ProxAtboxRight
<Local:1:I.Data.4>
Robot_Stop.TT
R1
<Local:2:O.Data.15>
/
Stop
EN
DN
Timer On Delay
Timer Robot_Stop
Preset 1000
Accum 0
TON
7
Robot_Stop.DN
R1
<Local:2:O.Data.15>
/
Stop
U
Robot
<Local:2:O.Data.6>
CD
DN
Count Down
Counter Parts_on_conveyor
Preset 0
Accum 0
CTD
8 /
ProxAtboxLeft
<Local:1:I.Data.2>
Timer_left.TT
R1
<Local:2:O.Data.15>
/
Stop
/
Timer_left.DN
CU
DN
Count Up
Counter Counter_left
Preset 4
Accum 0
CTU
EN
DN
Timer On Delay
Timer Timer_left
Preset 6000
Accum 0
TON
9 /
ProxAtboxRight
<Local:1:I.Data.4>
Timer_right.TT
R1
<Local:2:O.Data.15>
/
Stop
/
Timer_right.DN
CU
DN
Count Up
Counter Counter_right
Preset 4
Accum 0
CTU
EN
DN
Timer On Delay
Timer Timer_right
Preset 6000
Accum 0
TON
10
Counter_left.DN Counter_right.DN
R1
<Local:2:O.Data.15>
/
Stop OUT_Bins_Full
11
OUT_Bins_Full
R1
<Local:2:O.Data.15>
/
Stop
RES
Parts_on_conveyor
RES
Counter_left
RES
Counter_right
(End)

MainRoutine - Routine Tag Listing Page 6
RSLogix 5000
Name Value Data Type Scope
Conveyor_retract TIMER FinalProj
Constant No
Conveyor_retract - MainProgram/MainRoutine - *3(TON)
Conveyor_retract.TT 0 BOOL
Conveyor_retract.TT - MainProgram/MainRoutine - 3(XIC)
Conveyor_retract.DN 0 BOOL
Conveyor_retract.DN - MainProgram/MainRoutine - 3(XIO)
Counter_left COUNTER FinalProj
Constant No
Counter_left - MainProgram/MainRoutine - *11(RES), *8(CTU)
Counter_left.DN 0 BOOL
Counter_left.DN - MainProgram/MainRoutine - 10(XIC)
Counter_right COUNTER FinalProj
Constant No
Counter_right - MainProgram/MainRoutine - *11(RES), *9(CTU)
Counter_right.DN 0 BOOL
Counter_right.DN - MainProgram/MainRoutine - 10(XIC)
DCF 0 BOOL FinalProj
Constant No
E_Stop 0 BOOL FinalProj
Constant No
HMI_Stop 0 BOOL FinalProj
Constant No
HMI_Stop - MainProgram/MainRoutine - 1(XIC)
OUT_Bins_Full 0 BOOL FinalProj
Constant No
OUT_Bins_Full - MainProgram/MainRoutine - *10(OTE), 11(XIC)
Part_entry TIMER FinalProj
Constant No
Part_entry - MainProgram/MainRoutine - *1(RES), *2(TON)
Part_entry.TT 0 BOOL
Part_entry.TT - MainProgram/MainRoutine - 2(XIC)
Part_entry.DN 0 BOOL
Part_entry.DN - MainProgram/MainRoutine - 3(XIC)
Parts_on_conveyor COUNTER FinalProj
Constant No
Parts_on_conveyor - MainProgram/MainRoutine - *11(RES), *3(CTU), *7(CTD)
Parts_on_conveyor.ACC 0 DINT
Parts_on_conveyor.ACC - MainProgram/MainRoutine - 4(GRT)

RSLogix 5000
PneumaticActuator 0 BOOL FinalProj
Constant No
ProxAtboxLeft 0 BOOL FinalProj
Constant No
ProxAtboxRight 0 BOOL FinalProj
Constant No
ProxAtEnd 0 BOOL FinalProj
Constant No
ProxAtPneumatic 0 BOOL FinalProj
Constant No
ProxAtStart 0 BOOL FinalProj
Constant No
R1 0 BOOL FinalProj
Constant No
Robot 0 BOOL FinalProj
Constant No
Robot_Stop TIMER MainProgram
Constant No
Robot_Stop - MainProgram/MainRoutine - *6(TON)
Robot_Stop.TT 0 BOOL
Robot_Stop.TT - MainProgram/MainRoutine - 6(XIC)
Robot_Stop.DN 0 BOOL
Robot_Stop.DN - MainProgram/MainRoutine - 7(XIC)

RSLogix 5000
Running 0 BOOL FinalProj
Constant No
Running - MainProgram/MainRoutine - *4(OTE)
Start 0 BOOL FinalProj
Constant No
Start - MainProgram/MainRoutine - 0(XIC)
Stop 0 BOOL FinalProj
Constant No
Stop - MainProgram/MainRoutine - *1(OTE), 0(XIO), 10(XIO), 11(XIO), 2(XIO), 3(XIO), 4(XIO), 5(XIO), 6(XIO), 7(XIO), 8(XIO), 9(XIO)
Timer_left TIMER FinalProj
Constant No
Timer_left - MainProgram/MainRoutine - *8(TON)
Timer_left.TT 0 BOOL
Timer_left.TT - MainProgram/MainRoutine - 8(XIC)
Timer_left.DN 0 BOOL
Timer_left.DN - MainProgram/MainRoutine - 8(XIO)
Timer_right TIMER FinalProj
Constant No
Timer_right - MainProgram/MainRoutine - *9(TON)
Timer_right.TT 0 BOOL
Timer_right.TT - MainProgram/MainRoutine - 9(XIC)
Timer_right.DN 0 BOOL
Timer_right.DN - MainProgram/MainRoutine - 9(XIO)

ISE716 Semester Project Final Report final with appendix

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ISE716 Semester Project Final Report final with appendix