| Abstract | Ovaj završni rad je zapravo modernizacija 25 godina starog pneumatskog manipulatora koji je izrađen u tvrtki FESTO u edukacijske svrhe. Upravljanje je bilo izvedeno pomoću programabilnog logičkog kontrolera (PLC) proizvođača FESTO. S obzirom da navedeni PLC više nije u upotrebljivom stanju, potrebno ga je zamijeniti novim. Međutim, s vremenom je došlo do razvoja novih upravljačkih uređaja pomoću kojih bi se moglo izvesti samo upravljanje manipulatorom. Glavni razlog zašto bismo to radili jest cijena, a i s obzirom da se koristi na fakultetu, može služiti kao eksperiment koliko je to isplativo. PLC se u industriji zbog svoje kompaktosti i praktičnosti koristi gotovo neizbježno, ali također ima i neke svoje zahtjeve. Stoga uz samu praktičnu izradu rad će se fokusirati i na usporedbu PLC-a i jednostavnijeg mikrokontrolera, a to će u ovom projektu biti Arduino Mega. Uz PLC analiza će se također baviti i ostalim komponentama koje su potrebne za upravljanje manipulatorom. Zbog starosti cijelog postava potrebno je ispitati svu elektroniku, te pneumatske uređaje poput ventila, prigušnica, vodova. S obzirom da novi mikrokontroler ne zadovoljava sve ono što PLC može, a to je u glavnom slučaju nemogućnost slanja i primanja 24-voltog signala, potrebno je i izraditi nove dijelove kućišta u svrhu kompaktosti i urednosti cijelog postava.Ovaj završni rad je zapravo modernizacija 25 godina starog pneumatskog manipulatora koji je izrađen u tvrtki FESTO u edukacijske svrhe. Upravljanje je bilo izvedeno pomoću programabilnog logičkog kontrolera (PLC) proizvođača FESTO. S obzirom da navedeni PLC više nije u upotrebljivom stanju, potrebno ga je zamijeniti novim. Međutim, s vremenom je došlo do razvoja novih upravljačkih uređaja pomoću kojih bi se moglo izvesti samo upravljanje manipulatorom. Glavni razlog zašto bismo to radili jest cijena, a i s obzirom da se koristi na fakultetu, može služiti kao eksperiment koliko je to isplativo. PLC se u industriji zbog svoje kompaktosti i praktičnosti koristi gotovo neizbježno, ali također ima i neke svoje zahtjeve. Stoga uz samu praktičnu izradu rad će se fokusirati i na usporedbu PLC-a i jednostavnijeg mikrokontrolera, a to će u ovom projektu biti Arduino Mega. Uz PLC analiza će se također baviti i ostalim komponentama koje su potrebne za upravljanje manipulatorom. Zbog starosti cijelog postava potrebno je ispitati svu elektroniku, te pneumatske uređaje poput ventila, prigušnica, vodova. S obzirom da novi mikrokontroler ne zadovoljava sve ono što PLC može, a to je u glavnom slučaju nemogućnost slanja i primanja 24-voltog signala, potrebno je i izraditi nove dijelove kućišta u svrhu kompaktosti i urednosti cijelog postava. |
| Abstract (english) | This final paper is actually a modernization of a 25-year-old pneumatic manipulator that was made in FESTO company for educational purposes. The control was performed using the FESTO programmable logic controller (PLC). Since the specified PLC is no longer in serviceable condition, it must be replaced with a new one. However, over time, new control devices were developed that could only be used to manipulate the manipulator. The main reason why we do this is because of the cost, and given that it is used in college, it can serve as an experiment for how cost-effective it is. PLC is used almost inevitably in the industry because of its compactness and convenience, but it is also looking for some of its requirements. Therefore, with the practical development itself, this work will also focus on comparing PLCs and simpler microcontrollers, which in this project will be the Arduino Mega. In addition to the PLC, the analysis will also address the other components that are required to operate the manipulator. Due to the age of the entire setup, it is necessary to test all electronics and pneumatic devices such as valves, throttles, lines. Since the new microcontroller does not meet all that the PLC can do, and in the main case is the inability to send and receive a 24-volt signal, it is also necessary to create new housing components for the reason of compactness and tidiness of the entire setup.This final paper is actually a modernization of a 25-year-old pneumatic manipulator that was made in FESTO company for educational purposes. The control was performed using the FESTO programmable logic controller (PLC). Since the specified PLC is no longer in serviceable condition, it must be replaced with a new one. However, over time, new control devices were developed that could only be used to manipulate the manipulator. The main reason why we do this is because of the cost, and given that it is used in college, it can serve as an experiment for how cost-effective it is. PLC is used almost inevitably in the industry because of its compactness and convenience, but it is also looking for some of its requirements. Therefore, with the practical development itself, this work will also focus on comparing PLCs and simpler microcontrollers, which in this project will be the Arduino Mega. In addition to the PLC, the analysis will also address the other components that are required to operate the manipulator. Due to the age of the entire setup, it is necessary to test all electronics and pneumatic devices such as valves, throttles, lines. Since the new microcontroller does not meet all that the PLC can do, and in the main case is the inability to send and receive a 24-volt signal, it is also necessary to create new housing components for the reason of compactness and tidiness of the entire setup. |
