Coordinated Control of Cartesian and Planar Robot using PLC Schneider Modicon M238

Diplomski radom opisano je zatečeno stanje i funkcionalnosti fizičkih komponenata sustava te kartezijski i planarni roboti. Potom je ukratko predstvaljena svaka komponenta sustava zasebno te zamišljena konfiguracija i vrste komunikacija između pojedinih dijelova sustava. Zatim je iz rješenja isključen PAC M340 u svrhu unaprijeđenja čitavog sustava i zasebnog robotskog sustava te je prikazana konfiguracija koja je nadalje uzimana u obzir pri izradi rada. Potom je pojašnjeno konfiguriranje sastavnica sustava u programu SoMachine, kao i inicijalizacija u SoMove programu. Slijedi programiranje ponašanja PLC-a M238 i Motion Controllera LMC058 te razvoj Master-Slave komunikacijskog odnosa među navedenima. Na kraju je prikazano koordinirano point-to-point gibanje robota te je dan kratak prikaz zadataka i opis laboratorijske vježbe.This master thesis describes the current situation and functionality of hardware system components of Cartesian and Planar robots . The brief description of each system component per se is given and the planned configuration with types of communication between different parts of the system is presented. The decision of excluding the PAC M340 is explained and it has been made in order to improve the whole system and separate robotic system after which the configuration that is further taken into account is described. Configuration of components of the system in the program SoMachine and initialization by SoMove program is explained. Following the programming behavior of PLC M238 and LMC058 Motion Controller and the development of master-slave communication relationship between those two. Eventually, coordinated point-to-point movement of robots is shown and a brief description of laboratory work is presented