In the industrial world, automation is one of the most important elements for development. It helps to reduce the need for humans and increase efficiency and productivity. Robotic Arm is one of them, which is widely used in industrial proposes. A Robotic Arm can be compared to a human hand. It has a free rotating joint (rotation) and a translational joint (displacement) for the movement of the arm. The main objective of this thesis was to design a control system for the Robotic Arm using a programmable logic controller (PLC) and to construct a gripper which used for pick and place any material as well as to draw any alphabet on the board that draws by user in the paint.it also used for drilling, cutting and painting purpose. The following thinks are involved in this: Designing a layout for the installation of PLC, a Robot and other components together, Wiring Design and wiring installation, Designing the gripper & Programming. The control system design consisted of the installation of the electronic components (the PLC, a stepper motor, an Ethernet network and a bride board circuit). Here, note that the data (alphabet) can be send by the user that can communicate through the Ethernet network. The principles for manual modes of operation and automatic modes of operation were described in detail in the programming part of this thesis. PLCs were programmed in "ladder logic", which strongly resembles a schematic diagram of relay logic. The main difference from other computers is that PLCs are armoured for severe conditions (such as dust, moisture, heat, cold etc) and have the facility for extensive input/output (I/O) arrangements This kind of robotic arm already constructed by the HAMK Electronic Laboratory for the installation of a control system and they used it only for pick and place purpose. PLC applications are typically highly Customized systems so the cost of a packaged PLC is low compared to the cost of a specific custom-built controller design. On the other hand, in case of mass-produced goods, customized control systems are economic due to the lower cost of the components, which can be optimally chosen instead of a "generic" solution, and where the non-recurring engineering charges are spread over thousands or millions of units.This robotic arm useful in large scale industries for pick and place purpose, paint on any car and machine, etc. These robotic arms are designed to be used in industrial purposes for fast and reliable performance, helping for mass productions.
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CHAPTER 1
OBJECTIVE OF PLCs
1.1 OBJECTIVE:-
‘ Study of various kinds of PLC, its Architecture, Programming and Communication with special attention to Allen-Bradley PLC installed in a control panel.
‘ Study of various kinds of arm and gripper mechanism. Study of multiaxes motor control.
‘ Study of Ethernet and communication to plc.
‘ Study of servo motor and its interfacing techniques.
‘ Design and fabrication of robotic arm using servo motors, gripper mechanism etc.
‘ Development of ladder logic to control the robotic arm
‘ Development of interface between Paint software available from Microsoft to the robotic arm by using Ethernet protocol enabling control of arm from any pc available in LAN.
‘ Documentation of each and every activity adding to the knowledge base.
CHAPTER 2
ABOUT PROJECT
2.1 INTRODUCTION
‘ In the industrial world, automation is one of the most important elements for development. It helps to reduce the need for humans and increase efficiency and productivity.
‘ The field of automation occupies large areas, mostly in industrial manufacturing and in addition to this; automation is applied to build a lot of sophisticated equipment which are used daily such as medical equipment (x-ray machines, radiography etc.), refrigerators, automobiles etc. Among all of these outcomes, the 36
‘ Robotic Arm is one of them, which is widely used in industrial proposes.
‘ A Robotic Arm can be compared to a human hand. It has a free rotating joint (rotation) and a translational joint (displacement) for the movement of the arm.
‘ This arm movement is usually driven by an electric driver (motor) or a pneumatic and a hydraulic system (pistons). These actuators are controlled by a microcontroller (CPU), usually programmable and made to perform a set of sequential tasks.
‘ Most of these robotic arms are designed to be used in industrial purposes for fast and reliable performance, helping for mass productions.
‘ The project includes the following objectives:
‘ Comparing the available components from the market which meet the best solution. i.e. (PLCs), Servo Motors, Grippers, etc.
‘ Designing a layout for the installation of PLC, a Robot and other components together.
‘ Wiring Design and wiring installation.
‘ Designing the gripper.
‘ Programming.
‘ Testing
2.2 BACKGROUND OF THE PROJECT:
‘ In this project, the control system refers to the development of a system which controls the automatic movements and accurate positioning of the robotic arm. And this also includes the designing of a gripper as an end effector.
‘ This thesis includes various aspects of Electrical Engineering, Mechanical Engineering; automations (control system), concepts of electronic drives, general engineering subjects, parts design (strength of materials) and mathematics etc.
‘ The result is that this thesis helps to develop the skills of practical knowledge about the subject matter in real life.
2.2.1 Pre-existing Robotic Arm
‘ The Robotic Arm shown in figure 1.1 has six axes which are driven by DC Servo motors (24Vdc) and it is made to be controlled manually as well as automatically.
‘ Main advantage is that, here servo motor is used so that the controlling of the motor directly by the PLC (programming).
‘ Fortunately, HAMAK laboratory developed similar robotic arm which just a pick &place type as shown in fig 1.1.
Figure: 2.1 (Robotic-arm of HAMAK Laboratory)
2.2.2 Working Mechanism:
‘ The output voltage for driving the D.C. Servo Motor depends upon the size of the image file which should transmitted from the PC.
‘ In these, system the output voltage should limited by programming & it would make this operation automatically.
‘ In the programming a limiter function is available, so we could directly utilized it rather than utilization of external electronic circuit.
CHAPTER 3
COMPONENT DETAIL
3.1 MAIN COMPONENTS:
‘ The design requirement is set according to the need of this project. In this the main basic required components are:
‘ PLCs(PROGRAMMABLE LOGIC CONTROLLER)
‘ DC stepper motor
‘ Ethernet network
‘ DC stepper motor drive
‘ Requirements which consist of the physical components and their features. On the basis of these features, the selection is made out of these components which meet the required criteria.
‘ For each component, a short introduction is given.
3.1.1 PROGRAMMABLE LOGIC CONTROLLER (PLC):
‘ A programmable logic controller (PLC) is a type of digital computer that has an input and an output interface, controlled by a simulated program designed in a computer and it is used for automation for electromechanical process, typically for industrial use.
‘ In industry, PLCs are made to control the machinery of production lines. A PLC is designed for multiple input and output arrangements and these inputs and outputs are logically programmed in different forms:
‘ a ladder diagram,
‘ a structural text and
‘ a functional block diagram
‘ These, program should be stored in the PLC’s memory.
‘ PLCs are reprogrammable and it can have monitors online to know the status of the operation.
‘ A PLC is an example of a hard real time system since output results must be produced in response to input conditions within a limited time, otherwise an un- intended operation will result.
‘ Different type of PLC manufacture :-
‘ ABB Utility Communications
‘ Adaptive Networks
‘ ADD GRUP
‘ ADD Semiconductor
‘ Alstom
‘ Amperion Inc
‘ Ambient Corporation
‘ Areva T&D
‘ Ascom PLC
‘ Beckhoff
‘ Broadband Horizons
‘ Controls – A fabless powerline communication technology developer.
‘ Corinex
‘ CURRENT Group
‘ Defidev
‘ Delta PLC
‘ DS2
‘ devolo
‘ Dimat
‘ Dimonoff
‘ EBA PLC
‘ Echelon
‘ EkoPLC
‘ Electronic Intelligent Controls
‘ Fiberbridge
‘ GigaFast
‘ Gigle Networks
‘ Hitachi
‘ Horner APG
‘ Icosystel Icosystel Italy
‘ Ilevo Schneider Electric subsidiary
‘ InovaTech Asia PACific
‘ InovaTech EMEA
‘ InovaTech Group InovaTech worldwide
‘ Intellon
‘ Keyence
‘ Main.net
‘ Maxim Integrated Products
‘ Mitsubishi
‘ Motorola
‘ Nettel
‘ Panasonic
‘ Pancom A.S.
‘ Poem Technology
‘ Powerline Publishing
‘ Powerline Technologies Ltd
‘ Powerline World
‘ PowerNet Communications
‘ PowerNet Ltd
‘ Power Plus Communications
‘ RFL Electronics
‘ Rockwell Automation
‘ SiConnect
‘ Siemens
‘ SIPRO Powerline Communication, Energy Management, Metering, Smart Home
‘ SPiDCOM, SPiDCOM a French PLC chipset developer
‘ Sumitomo Electrics
‘ Telkonet
‘ Thomson SA
‘ Unikom-Ug – metering
‘ Unitronics
‘ VIPA art of automation
‘ Watteco developer of the WPC low rate powerline standard
‘ Xeline Ltd
‘ Xsilon
‘ Yamar Electronics Ltd Innovator of DC powerline communication technology for automotive and aviation.
3.1.1.1 PLC Components:
‘ Rock-well Automation PLCs best suit for this application. For this application, Flax logixsPLC is used. The different components are:
‘ CPUs
‘ Signal modules
‘ Function modules
‘ Communication
‘ Power Supply
Figure 3.1 input connection of PLCs back plan
‘ The real construction of the bridge board is done using the wiring principle of above diagram.
Figure 3.2 real back plan wiring
3.1.2 DC STEPPER MOTOR:-
‘ Features :-
‘ Step Angle : 1.8 Degree
‘ Configuration: 4 wire bipolar stepper motor
‘ Holding Torque: 4.2kgcm bipolar mode
‘ Phase current : 1Amp
‘ Resistance/phase: 2.4ohm
‘ Inductance/Phase : 6.5mH
‘ Length (L): 38mm
‘ Shaft Dia : 5mm
‘ Shaft Length : 12mm
‘ Weight: 350 grams
‘ Application of the DC Stepper Motor:-
‘ Robot
‘ Winding machine
‘ Uniaxial actuator
‘ Semiconductor production unit
‘ NC machine tool
‘ High-speed chip mounter
‘ Automatic welding machine
‘ Bonding machine
‘ Press machine
‘ Medical instruments
‘ Electrical discharge machine
‘ Antenna drive
‘ Other
‘ Measuring machine
‘ Technical Detail :-
‘ High Torque Industrial Stepper motor with 4.2KG-cm holding torque. Comes in the standard NEMA17 Frame size. We recommend RMCS-1102 Stepper Motor drive at 1Amp setting for ideal performance.
Figure:-3.3(Construction of stepper motor)
Figure:-3.4(Internal connection of stepper motor)
3.1.3 DC STEPPER MOTOR DRIVE :-
‘ NAME: Micro-Stepping Stepper Motor Driver
‘ Features :
‘ Smooth and quiet operation at all speeds and extremely low motor heating
‘ Industrial grade performance for 2-Phase Bipolar, 4-Phase and Uni-polar Stepper Motors
‘ Input supply voltage from 12VDC to 40VDC
‘ Selectable peak coil current from 0.25A to 3A
‘ Inaudible 20kHz current chopping frequency
‘ Selectable half-current during motor standstill to further reduce motor heating
‘ Selectable micro-steps up to 20000 steps per rotation for a 1.8deg stepper motor and adjustable for bulk orders
‘ Higher motor torque and higher speeds achievable due to advanced PID loop control algorithm
‘ 2.5V, 3.3V and 5V compatible PULSE, DIRECTION and ENABLE inputs with 2-wire opto-isolated interface
‘ Short-circuit protection for the motor outputs, over-voltage and under-voltage protection
‘ LED indication for power and error states
‘ Technical Detail :
‘ RMCS-1104 is Rhino Motion Controls new and improved DSP based micro-stepping drive for 1.8deg Bipolar Stepper Motors. It is designed for smooth and quiet operation without compromising on torque and control at higher speeds. It has short circuit protection for the motor outputs, over-voltage and under-voltage-protection.
‘ The RMCS-1104 achieves micro-stepping using a synchronous PWM output drive and high precision current feedback and this is absolutely silent when the motor is stopped or turning slowly. It virtually eliminates stopped-motor heating regardless of power supply voltage using a DSP based PID current control-loop.
‘ The RMCS-1104’s closed-loop control gains are calibrated on start-up based on motor characteristics and also adjusted dynamically while the motor is in motion. This control algorithm makes it capable of achieving better torque at
higher speeds in comparison to comparable drives in its range.
Figure:-3.5 Stepper Motor Drive
3.1.4 Ethernet Network :-
‘ The Ethernet Network provides plant-wide network systems using open, industry-standard networking technologies. It enables real-time control and information in discrete, continuous process, batch, safety, drive, motion, and high availability applications. The Ethernet network connects devices such as motor starters and sensors to controllers and HMI devices and on into the enterprise. It supports non-industrial and industrial communications on a common network infrastructure.
Figure: 3.6 Ethernet N/W between pc & PLCs
Figure: 3.7 Ethernet N/W between different module & PLCs
CHAPTER 4
MODEL DETAIL
4.1 FUNCTIONAL DESCRIPTION:
‘ A simple method for the movement of a Robotic Arm can be monitored and controlled by using sensor.
‘ As shown in below fig. 3.1, a sensor can senses the movement of shaft of servo motor and continuously provide the signal.
‘ At initially, the position of arm can be detected by output voltage.
‘ In these the image getting from the pc could decide the input voltage that providing to motor.
‘ As said earlier, the output voltage should limited by programming & it would make this operation automatically.
Figure 4.1 Positioning system using sensor
‘ Typically it has about a 0??-280?? rotation angle which is sufficient to move the Robotic Armin all directions.
‘ This system is built to control every joint movement manually as well as automatically.
‘ The axis of the Robotic Arm is driven by DC servo motors and each servo motor has a sensor attached to the gear axis.
‘ The sensor gives a certain valve of voltage as a feedback which is used to detect the position of that particular motor.
‘ The analog input voltage is converted to digital value and is saved as the position of the point.
‘ It is done for each point of the sensor. A set of analog values from all the potentiometers is saved in the PLC as a digital number and this set of digital numbers give the position and direction of the arm.
‘ The saved digital number is now converted to an analog output voltage which is connected to a comparator.
‘ The comparator compares the input voltage from the sensor and the output voltage from the PLC to control the motor and the motor is stopped only when both voltages are the same.
‘ With the help of the comparator, the motor is driven to the position where it should be. Depending upon the task, the Robotic Arm is then programed to move to every position in sequence and preforms the gripping and releasing task
Figure 4.2 simple model of robotic arm
CHAPTER 5
5.1 PROGRAMMING:
‘ Programming for this robotic arm could be done in RSlogix 5000 software that provided by Rockwell Automation.
‘ Programming could be done for both manually and automatic mode.
‘ Programming is heart of this project because of programming is limiting the value of output voltage and provides the required physical movement for the robotic arm.
‘ Here we could done programming in ladder logic pattern.
PLAT 1 (BASE MOTOR F.W. ON)
PLAT 2 (LIMB MOTOR F.W. ON)
PLAT 3 (GRIPPER MOTOR F.W. ON)
PLAT 4 (LIMB MOTOR R.D. ON)
PLAT5 (BASE MOTOR R.D. ON)
PLAT 7 (GRIPPER MOTOR R.D. ON)
PLAT 8 (RESET ALL TIMERS)
CHAPTER 6
DESIGN AND CONSTRUCTION OF GRIPPER
‘ This section includes the design and construction phase of the gripper. All the necessary design process for a complete product is includes in this parts.
‘ As compare to real design process in a real working life, this gripper design also includes all the essentials aspects of a product development.
‘ Gripper Design :
‘ Name:- General Purpose Robotic Gripper.
Figure:-6.1 Gripper
CHAPTER 7
Communication between PLCs & PC
7.1 Types of the hardware connections:-
‘ Basically, without deep analyze of the different connections, we have three basic types of the connections between PC and PLC:
a) Direct connection.
b) Star connection.
c) Parallel connection.
‘ Mentioned types of the connections are explained in the picture 1.
Figure:-7.1 (connection method)
a) Direct connection: one PC to one PLC, no more connections possible.
b) Star connection: two or more PLCs are connected to one PC, PLCs can not communicate between together.
c) Parallel connection: many nodes in a network each node can be connected to each other node.
1) Direct connection means connection between one PC to one PLC, all another connections via this gate is impossible. Typical example of such connection can be straight connection via serial RS232 port.
2) Star connection means connection in network, where two or more slave nodes can be connected to one master node, slave cannot communicate to other slaves, or connection between slaves is limited. Typical example of such connection can be some realization of industrial networks.
3) Parallel connection means connection between PCs and PLCs via some network that each node can communicate to each another in the same network.
7.2 Requirements to the communication:-
1) Access to data
2) Accuracy
3) Transmission speed
4) Easy programmability
7.2.1 Access to data:-
‘ Memory description in PLC program tool is different for different PLC manufacturers. For example
‘ Mitsubishi mark inputs as X and outputs as Y, and Siemens mark inputs as I and outputs as Q.
‘ Register area in Mitsubishi controllers is predefined with constant amount of register.
‘ In Siemens PLC programmer create data blocks with limited amount of the registers.
‘ Standard communication modules as for example DDE/OLE servers or dynamic link library have its own limitations for access to data area. For example PRODAVE-MINI version has access only to data in the data blocks and to some special diagnostic data.
‘ All these things programmer need to take into account in the projecting step:
‘ ‘What data types need to be accessible
‘ ‘What communication module can release access to data
‘ Cost-effectiveness for different communication modules
7.2.2 Accuracy
‘ Accuracy of the communication link usually depend to many factors, some factors we try to list below:
‘ Hardware failures
‘ ‘Bad synchronization in data exchange
‘ ‘Failures in communication between control and PLC-link modules in PC
‘ Hardware failures can affect:
‘ Current peak in supply power source
‘ ‘Some electronic devices as frequency inverters, some transmitters, electric motors
‘ ‘Bad network wiring or connection.
‘ ‘Big resistance of the network cable
‘ ‘Low level of supply power
‘ ‘Bad grounding and many others
7.2.3 Transmission speed:-
‘ How transmission speed can be optimized based on the optimization of communication-data.
‘ Consider to step 2 of the algorithm in fig. 6.2
‘ When program use ‘read’ or ‘write’ function for exchange data between data-block in PLC and data in PC, function execute standard steps:
1) Confirm connection to data-block (data-block exist, size of data-block is correct, set dataaccess semaphore, etc.)
2) Exchange data between PC and PLC.
3) Release connection to data-block (all data is transferred, reset data-access semaphore, etc.)
‘ Now, if data is organized so, that we can transfer group of data as memory buffer with fixed size.
‘ Above-mentioned steps one and three can be used once in time when there are many parameters to be transferred.
‘ This type of the optimization increased transmission speed with a lot effect. For example, if we read twenty 32-bits words from PLC word by word, it happen five time slower than if we read six hundred and forty bits at the same time.
‘ Other types of connections as for example connection via DDE/OLE-servers give support for so called list connection. It has same principle as above-mentioned (read amount of the registers from address) and has better transmission speed.
Figure 7.2(Optimized algorithm of PRODAVE- based communication)
7.2.4 Easy programmability:-
‘ Programmability is dependent from architecture of communication interface. Communication is easy programmable, when it is:
‘ ‘Clear
‘ ‘Same for all data-types
‘ ‘To be set only once
‘ ‘Communication-functions have reasonable number of parameters
‘ ‘Adaptable for different APIs.
7.3 Online PLC-data processing in PC:-
‘ Four methods to process PLC-data in PC-program in real time.
1. Direct data processing.
2. Interrupt-based data processing.
3. Message-based data processing.
4. Mix data processing.
7.3.1 Direct data processing:-
‘ Direct data processing is a method to process data so, that in every program cycle is executed data exchange between PC and PLC.
‘ Usually, such program include only one thread and programmer need not to use some semaphore system for device access to data.
‘ In this case program is easy programmable and controllable, but cycle time for such created program grow with amount of communication-data.
‘ Algorithm of direct data processing method is shown in Fig 6.3.
Figure 7.3 (Direct data processing)
7.3.2 Interrupt-based data processing:-
‘ Interrupt-based data processing is a method when PC read data from PLC only when it is necessary.
‘ Usually, in this case PLC is active partner in communication. Algorithm of interrupt-based data processing is shown in figure 6.4.
‘ This type of data processing work so:
‘ When data in PLC was changed, PLC or communication module sends interrupt-signal to control module.
‘ Control module interrupts execution of data processing, and reads new data from PLC.
‘ When data is read control module continues execution of data processing.
Figure 7.4(Interrupt based data processing)
7.3.3 Message-based data processing:-
‘ Message-based data processing is a method when data processing and data transmission are separated in PC program to different threads.
‘ In this case:
1. Communication thread:
a. Read data from PLC.
b. Compare with data read before.
c. If old and new data are different, send message to data processing thread.
2. Data processing thread:
a. Get messages from message-buffer.
b. Execute data processing procedure for received data.
‘ Algorithm of message-based data processing is shown in figure 6.5.
Figure 7.5 (Message-based data processing)
7.3.4 Mix data processing:-
‘ Mix data processing use some combination of above-mentioned methods. Usually, mix data processing is used to betterment properties of base data processing method.
‘ For example if we have a lot of data with high mutation speed to be processed. We need to use message-based processing method for decreasing cycle time of the program, but high mutation speed increase running time of PC processor.
‘ To solve a problem like this, we can:
‘ Put filter to communication thread so, that communication thread inform about data mutations only when data difference is more than predefined threshold. Sometimes, it can be difficult if we have a lot of data and threshold need to be different for each data.
‘ Combine direct and message based data processing.
Figure 7.6 (Mix data processing)
7.4 Communication methods:-
‘ Two methods to create communication between PC and PLC.
‘ ‘Message-based communication.
‘ Address-based communication.
‘ Both of above-mentioned methods are extensively used in automation.
7.4.1 Message-based communication:-
‘ Message based communication is a method to create communication between PC and PLC so, that in the PC and in the PLC transmission messages are predefined.
‘ Every message has own identification number (ID) and data-area. As PC, as PLC programs have message coding and decoding-functions.
‘ Decoding-function translated message ID and place data from data-area of message into memory-area predefined for this ID.
‘ Coding function fill data-area of message from memory-area predefined for message ID. As case data-area of message can include command.
‘ For example PC can send to PLC command to send back to PC information about registers in the PLC.
Figure 7.7(Message-based communication)
‘ Typical algorithm of message-based communication is shown in figure 6.7.
‘ In this algorithm PLC is passive; it sends data to PC only when PC wants to read it. In some case PLC can be active partner in communication, it means that PLC
7.4.2 Address based communication:-
‘ Address based communication is a method to create communication between PC and PLC so, that control-program in PC has direct access to memory area in PLC. In this case PLC-program does not take care of communication with PC.
‘ Usually, this method of communication is realized by using standard communication modules delivered by PLC-manufacturer.
‘ At present, address based communication is extensively used in automation and most of manufacturers have modules for it.The latest generation of PLCs have an integrated Ethernet port on the controller for two main operations. The first is controlling remote I/O on Ethernet based protocols like EtherNet/IP, Profinet, or Modbus/TCP (UDP) to name a few. The second is to program and/or debug the internal program of the controller. With these features, and utilizing the Ethernet’s other services such as a web and ftp server, remote administration of a control process becomes possible.
‘ The first step in connecting remotely is to setup the controller to handle communication from both the local network as well as, handle messages from a wider network such as the internet. This is accomplished by adding a gateway address to the Ethernet communication settings on the controller. Thereby, allowing the controller to send and receive IP messages that are not established inside the local network.
‘ This gateway address is usually assigned to an Ethernet router. Routers provide a way of directing, or ‘routing,’ IP traffic to the correct Ethernet device inside the
LAN (Local Area Network). Routers come in all shapes and sizes; from a computer (with two NIC cards and routing software) to an off-the-shelf broadband router, both handle the communication traffic pretty much the same way. The most common way of routing network traffic between a LAN and wide area network (WAN) is to use a network address translation (NAT).
‘ NAT provides a way of taking a single IP address, supplied by the Internet service provider (ISP), and allowing multiple devices to share the same Internet connection.
‘ Unfortunately, the NAT does not provide a true end-to-end connection. This means, by default, that a TCP connection established outside the local network may not be able to connect with the destination device – due to the fact the IP address of the destination device is hidden behind the router. In order for this type of communication to occur, the process of port forwarding must be used. Port forwarding occurs when communication from outside the network sends a message to the router’s IP address; the router determines where to send the packet based on the port number. NAT lack of end-to-end connectivity may be considered a problem in some circumstances but it also provides a simple means of network protection.
7.5 Protection:
‘ By attaching a programmable logic controller to a network with Internet access, the device will be exposed to all of the same possible security threats as a computer.
‘ One of the best security measures is to select a controller that utilizes an embedded operating system not popularly used by the consumer public. This helps keep the PLC from being vulnerable to attackers using known exploits to the operating system because the knowledge base is much smaller. ‘Security through Obscurity’ is the phase coined by this type of security measure.
‘ In addition, a properly configured router can provide effective protection for the control network from potential attacks. Utilizing the lack of end-to-end connectivity prevents most unsolicited requests for communication outside the local area network. When setting up a router, be sure to limit the amount of open ports. For example, an open FTP port can lead to a possible exploit by uploading a program to override the operation of the controller. The best rule of thumb is never keep a port open that is not being used regularly.
‘ For increased protection, a virtual private network (VPN) can be setup to increase the security by encrypting the data transmission when traveling over a public network – such as the Internet. Instead of opening all the ports that are needed to handle communication to the control network, one single authenticated network port passes the encrypted communication so the user can have all of the access as if they were inside the local area network.
CONCLUSION
A control system for controlling the Robotic Arm manipulator was accomplished with successful demonstration. A detail studies was made to find the best possible solution for designing and constructing a control system, which includes selection of components like PLC, PLC’s Components, gripper, stepper motor, power supply units etc. Some of the additional components like control pendent, integration circuit board, voltage regulator and support system was designed during the project. The programming was done according to the operating principle which was decided in this thesis i.e. manual operational modes and automatic operational modes. The manual operational modes programmed in the PLC to control the positive and negative movement of all axes was successfully demonstrated in the robotic arm. But, for the automatic modes, the programming done was basic with very few features due to lack of time, but this show the possibility ies for the further programming in future to obtain a complete control system with automatic mode of operation for a robotic arm.
Conclusively,This project teaches much about dealing with problem and finding the solution own self. This project for designing the control system has given a lot about the learning approach and helps to do more about this subject in the future.
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