PURPOSE:  The purpose of this laboratory exercise is to control a pneumatic pick-and-place robot using ladder logic.
                             Automation Studio will be used to simulate the pneumatic system, and the AB-PLC simulator will be
                             used to develop control logic.

        OBJECTIVE:  After completing this laboratory exercise, you should be able to do the following:

                1.  Write a control sequence matrix describing the conditions and restriction of operations;
                2.   Simulate the circuit in Automation Studio and document the step-by-step operation;
                3.   Write an Allen-Bradley Simulated PLC program
                4.   Label all electrical inputs and outputs by name and function;
                5.   Write a detailed operational procedure for the system.

        REQUIRED CIRCUIT  OPERATION:

                Three pneumatic actuators provide motion control for a pick-and-place assembly robot.  A vertical cylinder provides up and down
                motion while a horizontal cylinder provides left to right motion.  Grip and release control is provided by a third pneumatic actuator.
                The robot waits for a start signal, then executes the operations as shown below.  At the end of the assembly cycle, a finish signal is
                 transmitted.
 
                     1.    Wait for start signal; Upon start continue (gripper open)
                     2.    Extend vertical cylinder
                     3.    Grip part
                     4.    Retract vertical cylinder
                     5.    Extend horizontal cylinder
                     6.    Extend vertical cylinder
                     7.    Release part
                     8.    Retract vertical cylinder
                     9.    Retract horizontal cylinder
                     10.  Send end of cycle (finish) output signal
                     11.  Count the total number of cycles.

                 Pick-and-Place Robot                                                   Diagram showing required sequential moves
 

 
       Pneumatic System:

          PROCEDURE:

                1.  Develop a control matrix for the system shown;
                2.  Create the pneumatic circuit in Automation Studio;
                3.  Draw the electrical control circuit AB PLC simulator and create appropriate tags (sample chart shown below);
                4.  Simulate the circuit to verify the operation of the clamp and work sequence;
                5.  Simulate the circuit in Step-By-Step mode and note the change of states of electrical components;
                6.  Write a heading for each rung, indicating the control function of each;
                7.  Label each electrical component in the ladder diagram;
                8.  Describe the function within each rung;
                9.  Write a detailed operational sequence for the system.  Provide a detailed, step by step description
                      of the electrical control circuit, rung by rung.
                10. Submit a formal written report.