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JM 608

INDUSTRIAL

AUTOMATION

Politeknik Port Dickson, 2013

Industrial Automation: An Engineering Approach

CONTENTS

page

1.1 Definition of industrial automation

1.1.1 Definition of an industrial automation 3

1.1.2 Identify the advantages & disadvantages 4

1.1.3 Identify types of automation 5

1.1.4 Types of Automation 5

1.1.5 Describe the Automation in production system 6

1.1.5.1 Industrial Automation and Robotic 11

1.2 Basic concept of automation terminology

1.2.1 Link and Joint 11

1.2.2 Degree of freedom (dof) 14

1.2.3 Orientation Axes 15

1.2.4 Position Axes 15

1.2.5 Tool Centre Point (TCP) 15

1.2.6 Work envelope/workspace 16

1.2.7 Speed 17

1.2.8 Payload 17

1.2.9 Repeatability 17

1.2.10 Accuracy 17

1.2.11 Settling Time 18

1.2.12 Control Resolution 18

1.2.13 Coordinates 19

1.3 Positioning concept of automation

1.3.1 Accuracy and Repeatability 20

1.3.2 Control resolution 23

1.3.3 Payload 24

End of Chapter 1 28

2.1 Basic component of an automation system 31

2.1.1 Introduction to basic component of an Automation System 31

2.1.2 Basic components of an Automated System 32

2.2 Automation System in an application 38

2.3 Function of an automation systems 47

2.3.1 Specifications of an automation systems 47

2.3.2 Summarized of Functions of Automation Systems 52

2.4 Levels of Automation 53

2.5 Process Industries and Discrete Manufacturing Industries 53

End Of Chapter 2 54

3.1 Elementary Mechanical Concepts 57

3.1.1 Translation or Linear Motion 63

3.1.2 Rotational Motion 68

3.1.3 Mechanical Work and power 70

3.2 Motion Conversion 75

Rotary to Rotary Motion Conversion 79

Rotary to Linear Motion Conversion 81

Linkages 83

Couplers 88

The Concept of Power Transfer 97

3.3 Modeling of Mechanical System 98

Elements, Rules and Nomenclature 105

Translational Example 107

Rotational Example 114

Electrical Analog 116

3.4 Define the End Effectors 123

3.4.1 The Grapping Problem 127

3.4.2 Remote Centered Compliance Devices 134

End Of Chapter 3 139

4.1 Identify Stepper Motors 149

4.1.1 Principles of stepper motor operation 151

4.1.2 Half Step Mode Operation 155

4.1.3 Micro-step Mode 156

4.1.4 Methods of Damping Rotor Oscillations 157

4.1.5 Permanent Magnet Stepper Motors 166

4.1.6 Stepper motor drives 167

4.1.7 Linear stepper motors 173

4.2 Apply control method of actuators 176

4.2.1 Apply control method for Brushless DC Motors 176

4.2.2 Apply control method for Direct Drives Actuator 181

4.2.3 Apply control method for Hydraulic Actuators 188

4.2.4 Apply control method for Pneumatic Actuators 196

End Of Chapter 4

5.1 General Characteristics of sensor 207

5.1.1 Sensor classification 208

a. Classification of sensors (internal, external etc.) 208 b. Sensor generalities (absolute, incremental, etc) 211 c. Sensor characteristics (linearity, resolution, dynamic characteristics etc.) 213

5.2 Angular and Linear Position Sensors 215

5.2.1 Methods of angular position measurement (resistive, capacitive, inductive,

optical) 216

5.2.2 Encoding schemes (incremental, absolute) 224

5.3 Velocity and Acceleration Sensors 228

5.3.1 Tachogenerator, optical incremental encoder, Sagnac interferometer,

micromechanical angular velocity and acceleration sensor 228

5.4 Contact sensor 241

5.4.1 Piezoresistive and capacitive tactile sensors, optical tactile sensors, force

measurement by deformation of contact sensors: principle and applications of strain gage sensors 242

5.5 Distance and velocity sensor

5.5.1 Triangle sensor, Time-Of-Flight Sensors, Laser-Range Radar, Laser

interferometric distance meter, Laser-Doppler Velocimeter 253

End Of Chapter 5 263

6.1 Automation Design and process specifications 266

6.1.1 System Specifications 266

6.1.2 Mechanical Description of the automation 268

6.1.3 Motion Sequence 271

6.1.4 Motor and Drive Mechanism Selection 272

271

6.2 Encoder Selection 278

6.3 Control Structure: Programmable Logic Controller used for

Industrial Automation

280

End of Chapter 6 292

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CHAPTER 1

INTRODUCTION AND BASIC CONCEPT

OF INDUSTRIAL AUTOMATION

Upon completion of this course, students should be able to:- Describes the definition and classification of automation in industry Explain the basic concept of automation terminology

Explain the positioning concept of automation

Figure 1.1 Car body assembly. (a) A car assembly usually follows the illustrated steps: Stamping of the metal

sheet into plates, fixing and alignment of the plates on trays, spot welding, painting the car body and finally

assembly of the car body (doors, dashboard, windscreens, power-train seats and tires). Car factories can

host well over 1000 robots working two to three shifts per day. (b) The Mercedes A class assembly in Rastatt

Germany is highly automated. The picture shows spot welding robots along the body in white transfer line.

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Figure 1.2 Conversion process in manufacturing Cell

Figure 1.3 Workstation, work cell and work center

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As the global marketplace demands higher quality goods and lower costs, factory floor automation

has been changing from separate machines with simple hardware-based controls, if any, to an integrated

manufacturing enterprise with linked and sophisticated control and data systems. For many organizations

the transformation has been gradual, starting with the introduction of programmable logic controllers and

personal computers to machines and processes. However, for others the change has been rapid and is still

accelerating. There are two ways to achieve high yields in manufacturing. The simplest, yet most expensive way is

to increase the number of production lines. An alternative and more desirable way is to increase the rate of

production in the existing production lines. It is possible to increase the production rate by reducing the

cycle time needed to produce a single part or product. There are also two ways to reduce cycle time. The

first approach is to improve the manufacturing process. The second approach is to automate the manufacturing process by using re-programmable and automatically controlled equipment. This chapter discusses the type of automation and reason that make up industrial automation. Automation refers to a technology which based on the usage of mechanical, electronic and computer system in handling process and manufacturing process control. The usage of automation technology started when work done by labor / worker was started replace by machine. Technology development process continuous improve until human started introduce the usage of robotic, CAD/CAM, Flexible manufacturing system and others technology to increase human quality of life and increase productivity in the industrial.

1.1.1.1 Industrial

In a general sense the term ͞Industry" is defined as follows. In this course, we shall be concerned with Manufacturing Industries only.

1.1.1.2 Automation

sense of the word, automated systems also achieve significantly superior performance than what is possible with manual systems, in terms of power, precision and speed of operation.

A Definition from Encyclopedia Britannica

The application of machines to tasks once performed by human beings or, increasingly, to tasks that would otherwise be impossible. Although the term mechanization is often used to refer to the simple replacement of human labor by machines, automation generally implies the integration of machines into a self-governing system. Definition: Automation is a set of technologies that results in operation of machines and systems without significant human intervention and achieves performance superior to manual operation Definition: Systematic Economic Activity that could be related to

Manufacture/Service/ Trade.

1.1 Introduction to Industrial Automation

1.1.1 Definition of an Industrial Automation

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Companies undertake projects in manufacturing automation and computer integrated manufacturing for a variety of good reasons. Some of the reasons used to justify automated are the following:

1. Automating a manufacturing operation usually increases production rate

and labor productivity. This means greater output per hour of labor input. Ever-increasing tabor cost has been and continues to be the trend in the world's

industrialized societies. Consequently, higher investment in automation has become economically justifiable

to replace manual operations. Machines are increasingly being substituted for human lahar to reduce unit

product cost.

3. migrate the effects of labor shortages. There is a general shortage of labor in many advanced nations

and this has stimulated the development of automated operations as a substitute tor labor.

An argument can be put forth that there is social

value in automating operations that are routine, boring, fatiguing, and possibly irksome. Automating such

tasks serves a purpose of improving the general level of working conditions. By automating a given operation and transferring the worker from active

participation in the process to a supervisory role, the work is made safer. The safety and physical well-being

of the worker has become a national objective with the' enactment of the Occupational Safety and Health

Act (OSHA) in 1970. This has provided an impetus for automation. Automation not only results in higher production rates than manual

operations; it also performs the manufacturing process with greater uniform and conformity to quality

specifications. Reduction attraction defect rate is one of the chief benefits of automation. Automation helps to reduce the elapsed time between customer

order and product delivery, providing a competitive advantage 10 the manufacturer for future orders. By

reducing manufacturing lead time, the manufacturer also reduces work-in-process inventory. sh processes that cannot be done manually. Certain operations cannot be accomplished without the aid of a machine. These processes have requirements for precision, miniaturization or complexity of geometry that cannot be achieved manually.

Examples include certain integrated circuit fabrication operations, rapid prototyping processes based on

computer graphics (CAD) models, and the machining of complex, mathematically defined surfaces using computer numerical control. These processes can only be realized by computer controlled systems. There is a significant competitive advantage gained in automating a manufacturing plant. The advantage cannot easily be demonstrated on a company's project

authorization form. The benefits of automation often show up in unexpected and intangible ways, such as in

improved quality, higher sales, better labor relations, and better company image. Companies that do not

automate are likely to find themselves at a competitive disadvantage with their customers, their employees,

and the general public

1.1.2 Advantages for Automation

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Aside from these advantages, it is also important for us to discuss about the disadvantages of using and implementing automation in the industrial. Higher Start-up cost and the cost of operation. Automated equipment includes the high capital

expenditure required to invest in automation. An automated system can cost millions of dollars to design,

fabricate, and install.

2. Maintenance. A higher level of maintenance needed than with a manually operated

machine. These include buying electromechanical devices such as electromechanically valve, sensory

devices, and smart devices. Cost of spare parts for automation system may consider higher compare to the

manual operate.

3.Obsolescence/Depreciation Cost. Obsolescence and depreciation is a gradual reduction in the value

of physical assets. This phenomenon is characteristic of all physical assets in the form of equipment and

machinery. It was something that was inevitable due to technology development. Obsolescence or depreciation can be classified into two parts, namely: -

i. Physical Depreciation - occurred as a result of physical damage of equipment or robots. It describes

a form that can be seen clearly as damage, wear and corrosion. ii. Depreciation of the functions - it existed from changes in demand for services may be provided. Depreciation caused by changes in the need for an equipment service discovery of new equipment or a robot system inability to meet demand

4. A disadvantage often associated with automation, is worker displacement. Due to

the fact that manual laborers are being replaced by robots or other automated machineries, this results to

mass lay-off. A lot of people are losing their jobs especially those who work in the manufacturing industry

such as a car factory.

5. Not economically justifiable for small scale production.

Automated manufacturing systems can be classified into three basic types: i. Fixed automation. ii. Programmable automation, and iii. Flexible automation. is a system in which the sequence of processing (or assembly) operations is fixed

by the equipment configuration. Each of the operations is the sequence is usually simple, involving perhaps

a plain linear or rotational motion or an uncomplicated combination of the two; for example, the feeding of

a rotating spindle. It is the integration and coordination of many such operations into one piece of equipment that makes the system complex. Typical features of fixed automation are: i. high initial investment for custom-engineered equipment ii. high production rates iii. relatively inflexible in accommodating product variety

1.1.3 Disadvantages of Automation

1.1.4 Types of Automation System

1.1.4.1 Fixed Automation

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The economic justification for fixed automation is found in products are produced in very large

quantities and at high production rates. The high initial cost of the equipment can be spread over a very

large number of units, thus making the unit cost attractive compared with alternative methods of

production. Examples of fixed automation include machining transfer lines, automated assembly machines,

distillation process, conveyors and paint shops. In the production equipment is designed with the capability to change the sequence of operations to accommodate different product configuration. The operation sequence is controlled by a which is a set of instructions coded so that they can be read and interpreted by the system. New programs can be prepared and entered into the equipment to produce new products. Some of the features that characterize programmable automation include: i. high investment in general purpose equipment ii. lower production rates than fixed automation iii. flexibility to deal with variations and changes in product configuration iv. most suitable for batch production Programmable automated production systems are used in low- and medium-volume production.

The parts or products are typically made in batches. To produce each new batch of a different product, the

system must be reprogrammed with the set of machine instructions that correspond to the new product.

The physical setup of the machine must also be changed. Tools must be loaded, fixtures must be attached to

the machine table and the required machine setting must be entered. This changeover procedure takes

time. Consequently, the typical cycle for a given product includes a period during which the setup and

reprogramming takes place, followed by a period in which the batch is produced. Examples of programmable automation include numerically controlled (NC) machine tools, industrial robots, programmable logic controller, steel rolling Mills and paper mills. is an extension of programmable automation. A flexible automated system is

capable of producing a variety of parts (or products) with virtually no time lost for changeovers from one

part style to the next. There is no lost production time while reprogramming the system and altering the

physical setup (tooling, fixtures, machine settings). Consequently, the system can produce various

combinations and schedules of parts or products instead of requiring that they be made in batches. What

makes flexible automation possible is that the differences between parts processed by the system are not

significant. It is a case of soft variety.so that the amount of changeover required between styles is minimal.

The features of flexible automation can be summarized as follows: i. high investment for a custom-engineered system ii. continuous production of variable mixtures of products iii. medium production rate iv. flexibility to deal with product design variations Examples of flexible automation are the flexible manufacturing systems for performing machining

operations that date back to the late 1960s. The relative positions of the three types of automation for

different production volumes and product varieties are depicted in Figure 1.4. For low production quantities

and new product introduction manual production is competitive with programmable automation, as we indicate in the figure.

1.1.4.2 Programmable Automation

1.1.4.3 Flexible Automation

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Figure 1.4: Three types of automation relative to production quantity and product variety. A production system is a collection of people, equipment, and procedures organized to perform the

manufacturing operations of an organization. A production system consists of facilities and manufacturing

support systems (Figure 1.5): around the shop floor. technical and logistics problems met in manufacturing processes. These systems include product design, planning and control, logistics and other business functions. Figure 1.5: Production System consists of facilities and manufacturing support systems A manufacturing system is a logical grouping of equipment in the factory and the workers who

operate it. Examples include worker-machine systems, production lines, and machine cells. A production

system is a larger system that includes a collection of manufacturing systems and the support systems used

to manage them. A manufacturing system is a subset of the production system. Portions of production systems tend to be automated and/or computerized, while other parts may be operated by manual labor

(see Figure 1.6). The overall operation of the production system is controlled by people, including direct

labor staff for facility operation, and professional staff with responsibilities over the manufacturing support

systems. Facilities include the factory, production machines and tooling, material handling equipment,

inspection equipment, and computer systems that control the manufacturing operations. Facilities can also

organized into logical groupings called manufacturing systems.

Programmable

Automation

Flexible

Automation

Fixed

Automation

Variety

Quantity

1.1.5 Describe the Automation in Production System

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Figure 1.6: View of manufacturing cells within a production system Manufacturing systems consist of groups of machines and associated workers. Typically, the

manufacturing system comes in direct physical contact with the product or parts to be made. Three types

may be identified, as outlined in Table 1.1. Table 1.1: Three categories of manufacturing systems

Category Description

Manual Work

System

One (or more) workers performing one (or more) tasks without powered tools. Typical example is the material handling task. In production tasks the use of hand tools is pre-dominant, sometimes with optional work-holder. Examples include: filing milled parts; checking quality of parts with micrometer; moving cartons using a dolly; and, assembling machinery using hand tools.

Worker-Machine

Systems

A human worker operates powered equipment, in various combinations of one (or more) workers, and one (or more) pieces of equipment. Relative strengths of humans and machines are combined. Examples include: machinist operating engine lathe; a fitter working with an industrial robot; a crew of workers operating a rolling mill; and personnel performing work on a mechanized conveyor.

Automated Systems

Process is performed by machine without the direct participation of a human worker. Automation uses a programmed of instructions and a control system for implementation; there are two sub-categories: semi-automated, and fully automated. Semi-automation implies only part of the work cycle is completely automated, with other work done by a human worker. A fully automated machine, on the other hand, has the capacity to operate for extended periods of time (longer than one work cycle) with no human interaction. However, although fully automated, human monitoring may still be used. Examples include: injection moulding machines; and automated processes in oil refineries and nuclear power plants. POLITEKNIK PORT DICKSON JM 608 INDUSTRIAL AUTOMATION

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Manufacturing Support Systems are used by a company to manage its production operations. Most

support systems do not directly contact the product, but they plan and control its progress through the

factory. Manufacturing Support Systems use a four-function information-processing cycle that is explained

in Table 1.2. This list of functions is actiǀated by customers' orders, which propels the system into action,

and operates by deploying the facilities detailed above. Table 1.2: Information-processing cycle for Manufacturing Support Systems

Function Description

Business

Function

First and last phase. The principle means of communicating with the customer, includes sales and marketing, sales forecasting, order entry, cost accounting, and customer billing. Product originates from customer order, and after sales and marketing, proceeds to become a production order. Production order is in the form of one of the following: a manufacturing order against customer specifications; a customer order to buy one or more of manufacturer's proprietary products; or, an internal company order based on future-demand

Forecasts.

Product Design

Second phase. If product is manufactured by customer design, then design supplied by customer. If there are customer specifications, then manufacturer's design department may be contracted to create a design on this basis, as well as to manufacture the product also. For a proprietary product, the manufacturing firm is responsible for its development and design.

Manufacturing

Planning

Third phase. Upon completion of product design, the associated information is given to the manufacturing planning function. Process planning, master scheduling, requirements planning, and capacity planning are performed here. Process planning determines the process and assembly steps, and the order of the steps, needed to produce the product. The master production schedule lists products to be made, when they are to be made, and the quantities of each to be produced. Based upon individual components, sub-assemblies, raw materials etc. required are purchased, created, and scheduled to be available when needed. Capacity planning is concerned with planning the manpower and machine resources to carry out the manufacturing function.

Manufacturing

Control

Fourth phase. Concerned with managing and controlling the physical operations in the factory to implement the manufacturing plans. Shop floor control, inventory control, and quality control are performed here. Shop floor control monitors the product as it moves about the shop floor; as the product is a work-in-process inventory as it proceeds across the shop floor, shop-floor control is related to inventory control also. Inventory control tries to maintain the correct amount of inventory in the manufacturing system, and avoid overloading or starving the system. Quality control tries to ensure correct product and component quality, as per the specified design. It uses inspection activities on the shop-floor, and at the point of entry of outsourced components, to do this. Automated manufacturing systems operate in the factory on the physical product. They perform

operations such as processing, assembly, inspection, or material handling, in some cases accomplishing

more than one of these operations in the same system. They are called automated because they perform their operations with a reduced level of human participation compared with the corresponding manual POLITEKNIK PORT DICKSON JM 608 INDUSTRIAL AUTOMATION

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process. In some highly automated systems, there is virtually no human participation. Examples of automated manufacturing systems include: i. Automated machine tools that process parts ii. Transfer lines that perform a series of machining operations iii. Automated assembly systems iv. Manufacturing systems that use industrial robots to perform processing or assembly operations v. Industrial Robots vi. Automatic material handling and storage systems to integrate manufacturing operations vii. Automatic inspection systems for quality control Generally, there are two types of production system automation: automation of the manufacturing

systems (Figure 1.7), and computerization of the manufacturing support systems. Since automation of the

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