Automation of three-dimensional moving platform using programmable logic controller and programming language SCL

Tema ovog završnog rada je automatizacija modela robotske ruke s tri stupnja slobode. S obzirom da se u današnje vrijeme za upravljanje industrijskim procesima većinom koriste programirljivi logički kontroleri (PLC), kao upravljački uređaj odabran je Siemensov PLC serije S7-1200, CPU S7-1214C DC/DC/DC. Program za upravljanje manipulatorom napisan je u SCL (Structured Control Language). Kako bi kod bio što jednostavniji i razumljiviji, program je podijeljen u manje cjeline, FB i FC blokove, koji su univerzalni. Upravljački program napravljen je tako da pruža dva načina rada: ručni i automatski. U ručnom načinu rada moguće je upravljati svakim zglobom posebno, dok u automatskom načinu rada manipulator prebacuje predmete s jednog mjesta na drugi. Kako bi se provjerila funkcionalnost programa, napravljeno je HMI grafičko sučelje preko kojega se na jednostavan način može upravljati rukom.The subject of this Bachelor thesis is automation of robot manipulator model with 3 degrees of freedom. Considering that programmable logic controllers (PLCs) are nowadays mostly used for industrial process control, a SIEMENS’s CPU S7-1214C DC/DC/DC PLC is chosen as a control device. Program code for this control task is written in Structured Control Language (SCL). In order to make code as simple as it is possible, program is divided into smaller and generic sections, FCs and FBs. Control program allows two different working modes, manual and automatic. In manual mode user can directly control every single one of joints of the manipulator, while in automatic mode the manipulator transports objects from one to another location. In order to test the functionality of the controlling program an HMI graphical interface has been made