Me6712 Mechatronics Lab Manual.pdf 6xh14

NSCET – LAB MANUAL

NADAR SARASWATHI COLLEGE OF ENGINEERING & TECHNOLOGY VADAPUDUPATTI, THENI – 625 531 DEPARTMENT OF MECHANICAL ENGINEERING REGULATION 2013 YEAR & SEMESTER: IV & VII ME6712 - MECHATRONICS LABORATORY LABORATORY MANUAL

Prepared by Mr. J.CHAKRAVARTHY SAMY DURAI Assistant Professor/Mechanical

DEPARTMENT OF MECHANICAL ENGINEERING

Page 1

NSCET – LAB MANUAL LIST OF EXPERIMENTS: 1. Assembly language programming of 8085 – Addition – Subtraction – Multiplication – Division – Sorting – Code Conversion. 2. Stepper motor interface. 3. Traffic light interface. 76 4. Speed control of DC motor. 5. Study of various types of transducers. 6. Study of hydraulic, pneumatic and electro-pneumatic circuits. 7. Modelling and analysis of basic hydraulic, pneumatic and electrical circuits using Software. 8. Study of PLC and its applications. 9. Study of image processing technique.


Page 2

NSCET – LAB MANUAL ACTUATION OF HYDRAULIC CYLINDER AND TO FIND OUT PRESSURE VS FORCE EXPT NO: 1

DATE:

AIM: To actuate the hydraulic cylinder and find out the Pressure VS Force. APPARATUS REQUIRED:        

Oil Tank Single –Phase Motor Gear Pump Pressure Relief Valve 4/3Double Solenoid Valve Double Acting Cylinder Load Cell Data Actuation Card than Lab View Software.

FORMULA: P= F/ A 2 A= (π /4)*D P F

Pressure Force

A D

Area Diameter ofCylinder

Cylinder diameter Cylinder rod diameter Cylinder stroke length

2 Kg/cm Kg 2 cm cm

= 50 mm = 30mm = 150mm


Page 3

NSCET – LAB MANUAL HYDRAULIC CIRCUIT


Page 4


Error= Displayed Force–Calculated Force/Displayed Force %of Error= Error*100 PROCEDURE:       

Switch on the electrical power supply with motor. Switch on the power supply to the control unit. Open the lab view software in the system. Interface hydraulic trainer with system using RS-232. Open the force. Go to operate, click the run. Then power on(below). Now extend the system by pressing the up button. Load cell indicate the force value in the monitor.

    

2 Now adjust the pressure regulator and set the maximum pressure as 25kg/cm . Retract the cylinder. Once again forward the cylinder you have adjusted the pressure in pressure regulator. You have seen the force value in monitoring. Repeat the force value for different pressure.

GRAPH: Pressure VS Force


Page 5


TABULATION: Pressure

Displayed Force

Calculated Force

2 Kg/cm

Kg

K g

S.No

%of Error

1) 2) 3) 4) 5) 6) 7) 8) 9) 10)

MODEL CALCULATION:

RESULT: The actuation of double was carried out and the curve between pressure and force is been obtained.


Page 6

NSCET – LAB MANUAL PRESSURE TRANSMITTER EXPT NO: 2

DATE:

AIM: To study the characteristics of the Pressure transmitter. APPARATUS REQUIRED:     

Multiprocess Trainer Kit. PC with Process control software. Patch chords. Multi meter. RS232cable and loop cable.

HANDVALVE SETTINGS: HV1 Open.HV2 Open.HV3 Close.HV4 Close.

–Fully –Fully –Fully –Fully

PRESSURE RANGE: Input - (0-250) mm W . Output - (4-20) mA DC. PROCEDURE:      

Ensure the availability of Water. Interface the Digital controller with process and PC. Make the connections as per connection diagram. Ensure the hand valve settings are correct. Switch ONVMPA- 62AunitandDigitalcontroller with PC. Heater/pump ON switch be in pump1mode.


Page 7

NSCET – LAB MANUAL TABULATION: Pressure Transmitter S.No

Gauge Pressure (mmWc)

Current Output (mA)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15


Page 8

NSCET – LAB MANUAL MODEL GRAPH:



Invoke the “Process control” software.



Once, tank pressure reached 250mmWc enters control output of 0%.



Gradually open the HV4valve every50Wc note down the current readings.



Select “Pressure/process control m

annual mode” and enter a controller output of

o 100%. 

Note down the current readings for various pressure readings.



Switch OFF the Pump.

GRAPH: Pressure VS Output current RESULT: Thus the characteristic of the Pressure transmitter was studied.


Page 9


FLOW TRANSMITTER EXPT NO: 3

DATE:

AIM: To study the characteristics of the Flow transmitter. APPARATUS REQUIRED:     

Multi process Trainer Kit. PC with Process control software. Patch chords. Multi meter. RS232cable and loop cable.

HANDVALVE SETTINGS: HV1 – Fully Open. HV2 – Fully Open. HV3 – Fully Close. HV4 – Fully Open. FLOW RANGE: Input- (50- 500) L P H. Output- (4-20) m A DC. PROCEDURE:      

Ensure the availability of Water. Interface the Digital Controller with process and PC. Make the connections as per connection diagram. Ensure the hand valve settings are correct. Switch ONVMPA- 62Aunit and Digital controller with PC. Heater/Pump ON switch should be in “Pump” mode.


Page 10

NSCET – LAB MANUAL TABULATION: Flow Transmitter

S. No Flow(LPH)

Current Output(m A)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15


Page 11


MODEL GRAPH:



Invoke the “Process control” software



Select “Flow/control manual mode”.



Gradually increase the flow(say in steps of 50LPH) by varying the controller output o (0- 100%), and note down the current readings in Ammeter.



Stop the process.

GRAPH: Flow VS output current

RESULT: Thus the characteristic of the Flow transmitter was studied.


Page 12


OPEN LOOP AND CLOSED LOOP INTER-FACING AND SERVO MOTOR EXPT NO: 4


DATE

Page 13

NSCET – LAB MANUAL OPEN LOOP AND CLOSED LOOP INTER-FACING AND SERVO MOTOR EXPT NO: 4

DATE:

AIM: To study the DC servo motor speed control using open loop and closed loop interfacing APPARATUS REQUIRED:      

DC Servo Motor PEC16M7Module Micro-4011kit 34-pinFRC cable RS-232cable 15pin connector

PROCEDURE:               

Switch ON power supply of the PEC16M7module, Micro-4011andDC Motor. SwitchONthe12VDC ON/OFF switch. Switch ON the power ON/OFF switch in the PEC16M7 module. Press the reset switch in the PEC16M7module andMicro-4011. LCD in the Micro-4011displays as follows with a delay of few seconds. Select speed control. Select open loop. Set the duty cycle between(50-98) % Now the motor will start to run corresponding to the duty cycle. Then press the reset button. Add the load to the loading area and note down the speed in tabular column. Press reset button and select the closed loop. Select PID control Then set the speed of the motor Add the load to the loading area and note down the speed in tabular column.


Page 14

NSCET – LAB MANUAL TABULATION:

S. No

Load (Kg) OPEN LOOP CONTROL SYSTEM

1 2 3 4 5 6 7 8 9 10 CLOSED LOOP CONTROL SYSTEM 1 2 3 4 5 6 7 8 9 10

Speed (Rpm)


GRAPH: OPEN LOOP CONTROL SYSTEM Load VS Speed CLOSED LOOP CONTROL SYSTEM Load VS Speed

RESULT: Thus the DC servo motor speed control using open loop and closed loop interfacing was done and the characteristics curves are obtained.


Page 16

NSCET – LAB MANUAL OPEN LOOPANDCLOSEDLOOPINTERFACINGINACSERVO MOTOR EXPT NO: 5


DATE:

Page 17


OPEN LOOP AND CLOSED LOOP INTERFACING IN AC SERVO MOTOR EXPT NO: 5

DATE:

AIM: To study the AC servo motor speed control using open loop and closed loop interfacing APPARATUS REQUIRED:   

AC Servo Motor PEC16M7Module 15pinconnector

PROCEDURE:               

Switch ON power supply of the PEC16M7module, Micro-4011andAC Motor. SwitchONthe12VDC ON/OFF switch. Switch ON the power ON/OFF switch in the PEC16M7module. Press the reset switch in the PEC16M7module. LCD displays as follows with a delay of few seconds. Select speed control. Select open loop. Set the duty cycle between(50-98) % Now the motor will start to run corresponding to the duty cycle. Then press the reset button. Add the load to the loading area and note down the speed in tabular column. Pressure set button and select the closed loop. Select PID control Then set the speed of the motor Add the load to the loading area and note down the speed in tabular column.


Page 18


TABULATION:

S.No

Load (Kg)

Speed (Rpm)

OPEN LOOP CONTROL SYSTEM 1 2 3 4 5 6 7 8 9 10 CLOSED LOOP CONTROL SYSTEM 1 2 3 4 5 6 7 8 9 10


Page 19


GRAPH: OPENLOOP CONTROL SYSTEM Load VS Speed CLOSEDLOOPCONTROL SYSTEM Load VS Speed

RESULT: Thus the AC servo motor speed control using open loop and closed loop interfacing was done and the characteristics curves are obtained.


Page 20

NSCET – LAB MANUAL STEPPER MOTOR INTERFACING WITH 8051 MICRO CONTROLLER FOR CLOCKWISE ROTATION EXPT NO: 6

DATE:

AIM: To write an assembly language program for driving the stepper motor in clockwise direction. APPARATUS REQUIRED: Stepper Motor 8051MicroController Kit PROGRAM: MEMORYADDRESS

OBJECT CODES

MNEMONICS

4100

7C

MOVR4. #FF

4101

FF

4102

90

4103

41

4104

14

4105

78

4106

04

4107

E0

JO:MOVXA,@DPTR

4108

C0

PUSHDPH

4109

83

410A

C0


START: MOVDPTR,#LOOKUP

MOVR0, #04

PUSHDPL

Page 21

NSCET – LAB MANUAL MEMORYADDRESS

OBJECT CODES

MNEMONICS

410B

82

410C

90

410D

FF

410E

C0

410F

F0

MOVX@DPTR,A

4110

DC

DJNZR4, CALL

4111

06

4112

80

4113

FE

4114

09

4115

05

4116

06

4117

0A

4118

7A

4119

03

411A

79

411B

FF

411C

7B

411D

FF

411E

DB

411F

FE

4120

D9

4121

FA

4122

DA

4123

F6

4124

D0

4125

82

4126

D0


MOVDPTR,#FFCOH

HLT:SJMP HLT

LOOKUP:DB 09H,05H, 06H,0AH

CALL:MOVR2, #03

DLY2:MOVR1, #FFH

DLY1:MOVR1, #FFH

DLY:DJNZR3, DLY

DJNZR1, DLY1

DJNZR2, DLY2

POP DPL

POP DPH

Page 22


MEMORYADDRESS

OBJECT CODES

MNEMONICS

4127

83

4128

A3

INC DPTR

4129

D8

DJNZR0, JO

412A

DC

412B

80

412C

D5

412D

SJMP START

END

RESULT: Thus the stepper motor was driven in clockwise direction. DEPARTMENT OF MECHANICAL ENGINEERING

Page 23

NSCET – LAB MANUAL STEPPER MOTOR INTERFACING WITH 8051 MICRO CONTROLLER FOR ANTI-CLOCKWISE ROTATION EXPT NO: 7

DATE:

AIM: To write an assembly language program for driving the stepper motor in anti-clockwise direction. APPARATUS REQUIRED: Stepper Motor 8051MicroController Kit PROGRAM: MEMORYADDRESS

OBJECT CODES

MNEMONICS

4100

7C

4101

FF

4102

90

4103

41

4104

14

4105

78

4106

04

4107

E0

JO:MOVXA,@DPTR

4108

C0

PUSHDPH

4109

83

410A

C0


MOVR4. #FF

START: MOVDPTR,#LOOKUP

MOVR0, #04

PUSHDPL

Page 24

NSCET – LAB MANUAL MEMORYADDRESS

OBJECT CODES

MNEMONICS

410B

82

410C

90

410D

FF

410E

C0

410F

F0

MOVX@DPTR,A

4110

DC

DJNZR4, CALL

4111

06

4112

80

4113

FE

4114

0A

4115

06

4116

05

4117

09

4118

7A

4119

03

411A

79

411B

FF

411C

7B

411D

FF

411E

DB

411F

FE

4120

D9

4121

FA

4122

DA

4123

F6

4124

D0

4125

82

4126

D0


MOVDPTR,#FFCOH

HLT:SJMP HLT

LOOKUP:DB 0AH,06H, 05H, 09H

CALL:MOVR2, #03

DLY2:MOVR1, #FFH

DLY1:MOVR1, #FFH

DLY:DJNZR3, DLY

DJNZR1, DLY1

DJNZR2, DLY2

POP DPL

POP DPH

Page 25


MEMORYADDRESS

OBJECT CODES

MNEMONICS

4127

83

4128

A3

INC DPTR

4129

D8

DJNZR0, JO

412A

DC

412B

80

412C

D5

412D

SJMP START

END

RESULT: Thus the stepper motor was driven in anti-clockwise direction.


Page 26

NSCET – LAB MANUAL CONTROL THE SINGLE ACTING AND DOUBLE ACTING CYLINDERS USING PILOT VALVES EXPT. No.: 8

Date:

AIM: To actuate single and double acting cylinders in a pneumatic circuit. APPARATUSREQUIRED: 1. 2. 3. 4. 5. 6.

Single acting cylinder 3/2 push button spring return DCV 3/2singlepilotvalve 5/2single, double pilot DCV Air service unit Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER.


Page 27

NSCET – LAB MANUAL DOUBLE ACTING CYLINDER WITH 5/2 SINGLE PILOT VALVE


Page 28


CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER WITH 5/2 DOUBLE PILOT VALVE

PROCEDURE: 1. 2. 3. 4. 5. 6.

The connection is made as shown in figure. The pilot pressure are fed into the 3/2 direction control valve. When the button is pushed the air is sent into single acting cylinder. The cylinder moves in forward position. When the push button is released , it retracts because of the spring. Feed the air through different valves and make the cylinder to actuate

RESULT: Thus the cylinders are actuated by the air pressure in the pneumatic circuit.


Page 29

NSCET – LAB MANUAL CONTINUOUS RECIPROCATING OF SINGLE ACTING AND DOUBLE ACTING CYLINDER USING PILOT VALVES EXPT. No.: 9

Date:

AIM: To actuate a single and double acting cylinders using pilot valves APPARATUSREQUIRED: 1. 2. 3. 4. 5. 6. 7.

Double acting cylinder 3/2 single pilot DCV 5/2 single pilot DCV 5/2 double pilot DCV 3/2 roller lever valves FRL unit Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER:


Page 30


PROCEDURE: SINGLEACTINGCYLINDER: 1. 2. 3. 4. 5.

The circuit is given as shown in figure. Connect the compressed air supply to FRL unit Check the all circuit Open the hand slide valve Observe the working of continuous running single acting cylinder

CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER-5/2 DOUBLE PILOT VALVE


Page 31

NSCET – LAB MANUAL DOUBLE ACTING: 1. 2. 3. 4. 5.

Draw the circuit diagram Connect compressor air supply to FRL unit Connect any one of the output so FRL unit to 5/2 direction control unit port1 Connect port 4 of DCV to blank end of the double acting cylinder Connect the output of FRL unit to the input of two 3/2 roller lever valves to give pilot pressure for 5/2 double pilot valve 6. The output of the two roller valves are connected to the either side of the 5/2 double pilot valve properly. 7. When the FRL valve is opened the high pressure air enters the blank end of the cylinder through DCT and the piston moves forward. 8. At the end of the forward stroke the piston rod pressures the roller valve. The output of roller valve is sent to double acting cylinder to change the position. 9. Now the high pressure air from FRL unit is sent to rod end of the double acting cylinder through the second position of the DCV the piston retracts. 10. At the end of return stroke the roller valve is pressed .The output of the roller valve is sent to dc change the piston. This is repeated until the FRL valve is closed.

RESULT: Thus the continuous reciprocating of single and double acting cylinders are actuated by the air pressure in the pneumatic circuit.


Page 32


DEG A PNEUMATIC CIRCUIT FOR THE SEQUENCE A+B-A-B EXPT. No.: 10

Date:

CIRCUIT DIAGRAM:


Page 33


DEG A PNEUMATIC CIRCUIT FOR THE SEQUENCE A+B-A-B EXPT. No.: 10

Date:

AIM To design a circuit for the sequence A+B–A-B. APPARATUSREQUIRED 1. 2. 3. 4. 5. 6. 7.

Single and Double acting cylinder 3/2 single pilot DCV 5/2 single pilot DCV 5/2 double pilot DCV 3/2 roller lever valves FRL unit Connecting tubes

PROCEDURE: 1. 2. 3. 4. 5. 6.

Draw the circuit diagram. Connect the compressor air to FRL unit Air both outputs of FRL unit connected to all components. Test your all circuits. Open the hand slide valve. Observe the working of cylinders.

RESULT: The circuit diagram for the sequence is drawn and executed.


Page 34


ELECTRO-PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USING SPDT AND PUSH BUTTON SWITCH EXPT. No.: 11

Date:

AIM: To develop a electro-pneumatic circuit for extension and retraction of double acting cylinder. APPARATUS REQUIRED: 1. Double acting cylinder 2. 3/2solenoidvalve 3. 5/2singleanddoublesolenoidvalve 4. FRL unit 5. Relay 6. SPDT Switch 7. Push button switch 8. Connecting tubes &wires 9. Data Card PROCEDURE: SPDTSWITCH 1. Provide power supply to the pneumatic trainer from control trainer by interfacing 24+vand 24-v. 2. Using the SPDT switch energize the corresponding solenoid valve to get the desired movement in the cylinder. 3. Supply the Air to FRL unit. 4. Assemble all the components. 5. Check all the connections carefully. 6. Test the circuit. Observe the working of the cylinder using the 3/2 and 5/2 solenoid valve.


Page 35


CIRCUIT DIAGRAM-SPDT SWITCH

CIRCUIT DIAGRAM-PUSH BUTTON


Page 36


PUSH BUTTON SWITCH: 1. Draw the circuit diagram and connect the air supply to FRL unit. 2. Connect the electrical circuit from 24dcsourcetoON/OFF switch. 3. Solenoids are connected to the push button switch. 4. When the solenoid is given a signal solenoid are cut and the solenoids are de-energized and the DCV activated to single and double acting cylinder. 5. When off button is pressed the signal solenoid are cut and the solenoids are de-energized and the DCV comes to the original position.

RESULT: Thus the movement of double acting cylinder was carried out using switches. DEPARTMENT OF MECHANICAL ENGINEERING

Page 37

NSCET – LAB MANUAL ACTUATION OF SINGLE ACTING CYLINDER USING ON AND OFF DELAY TIMER EXPT. No.: 12

Date:

AIM: To develop an electro-pneumatic circuit for the activation of single acting cylinder using timer. APPARATUSREQUIRED 1. 2. 3. 4. 5.

Single acting cylinder 3/2 single solenoid valve Slide valve FRL unit Connecting tubes & wires

CIRCUIT DIAGRAM-ON TIMER


Page 38


PROCEDURE: ON DELAY TIMER 1. Provide power supply to electrical controller by interfacing the +ve to –ve and –ve to-ve. 2. Provide power supply to pneumatic trainer for electrical controller by interfacing 24 +ve to +ve and –ve to –ve. 3. Using the SPDT switch energize the corresponding solenoid to get the desired movement of the cylinder. 4. Actual the time delay circuit. 5. From time delay, give connection to single acting cylinder to actuate the cylinder according to time set. 6. Design and draw the pneumatic circuit.. 7. Connect the air supply. 8. Test the circuit. 9. Observe the working of the cylinder. CIRCUIT DIAGRAM-OFF TIMER


Page 39


OFF DELAY TIMER 1. 2. 3.

Provide Power supply to pneumatic trainer from electrical controller interfacing+24Vand-24V. Provide 24V power supply to timer. Anyone of the output so FRL unit is directly connected to 3/2 single solenoid valve.

by

RESULT: Thus the movement of single acting cylinder was carried out using time delay.


Page 40


PLC CONTROL OF SINGLE ACTING CYLINDERS ON AND OFF DELAY TIMER EXPT. No.: 13

Date:

AIM: To design a circuit to extend and retract the single acting cylinder with the help of delay Timer controlled by PLC. APPARATUS REQUIRED: 1. 2. 3. 4. 5. 6. 7.

Single acting cylinder RS232cable Versa pro-software 3/2singlesolenoidvalve FRL unit PLC Connecting wires and tube

PROCEDURE: ON DELAY TIMER: 1. Draw the circuit diagram 2. Provide+24Vand–24VfromPLCtrainerto. 3. Open the versa pro-software in desktop 4. Interface PLC with PC using RS 232cable. 5. Write a ladder diagram. 6. Output of PLC (q1) is directly connected to input of solenoid coil. 7. Following the opening procedure of versa pro-software. 8. Check the ladder diagram. 9. Connect the air supply to FRL unit. 10. Run the PLC. After some delay the cylinder will be activated.


Page 41

NSCET – LAB MANUAL CIRCUIT DIAGRAM:-ON DELAY TIMER

CIRCUIT DIAGRAM-OFFDELAY TIMER


Page 42

NSCET – LAB MANUAL OFF DELAY TIMER 1. Draw the circuit diagram 2. Provide+24Vand–24V from PLC trainer to . 3. Open the versa pro-software in desktop 4. Interface PLC with PC using RS 232cable. 5. Write a ladder diagram. 6. Output of PLC (q1)is directly connected to input of solenoid coil. 7. Following the opening procedure of versa pro software. 8. Check the ladder diagram. 9. Connect the air supply to FRL unit. 10.Run the PLC and observe the working of single acting cylinder.

RESULT: Thus the actuation of single acting cylinder with ON and OFF delay timer was done using PLC.


Page 43


PLC CONTROL OF SEQUENCING CIRCUIT USING PLC LADDER DIAGRAM EXPT. No.: 14

Date:

AIM To design a circuit for the sequence A+B+A-B-using PLC. APPARATUS REQUIRED: 1. 2. 3. 4. 5. 6. 7.

Single and Double acting cylinder RS232cable Versa pro-software 3/2singlesolenoidvalve,5/2doublesolenoidvalve FRL unit PLC Connecting wires and tube

PROCEDURE: 1. Draw the circuit diagram 2. Provide+24Vand–24VfromPLCtrainerto. 3. Open the versa pro-software in desktop 4. Interface PLC with PC using RS 232cable. 5. Write a ladder diagram. 6. Outputs of PLC (q1,q2,q3andq4)are directly connected to the inputs of solenoid coil. 7. Following the opening procedure of versa pro-software. 8. Check the ladder diagram. 9. Connect the air supply to FRL unit. 10. Run the PLC and observe the working of double acting cylinder.


Page 44

NSCET – LAB MANUAL PLC CONTROL OF SEQUENCING CIRCUIT USING PLC LADDER DIAGRAM EXPT. No.: 14

Date:

AIM To design a circuit for the sequence A+B+A-B-using PLC. APPARATUS REQUIRED: 1. 2. 3. 4. 5. 6. 7.

Single and Double acting cylinder RS232cable Versa pro-software 3/2singlesolenoidvalve,5/2doublesolenoidvalve FRL unit PLC Connecting wires and tube

PROCEDURE: 1. Draw the circuit diagram 2. Provide+24Vand–24VfromPLCtrainerto. 3. Open the versa pro-software in desktop 4. Interface PLC with PC using RS 232cable. 5. Write a ladder diagram. 6. Outputs of PLC (q1,q2,q3andq4)are directly connected to the inputs of solenoid coil. 7. Following the opening procedure of versa pro-software. 8. Check the ladder diagram. 9. Connect the air supply to FRL unit. 10. Run the PLC and observe the working of double acting cylinder.

CIRCUIT DIAGRAM:


Page 45


RESULT: Thus the ladder diagram for the automatic running of double acting cylinders is designed and executed.


Page 46

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