The Fischertechnik ACEs (Robo Starter Model kit)

Transcription

1 The Fischertechnik ACEs (Robo Starter Model kit)

2 (01) Traffic Light The set of traffic lights is used to stop traffic so a pedestrian can safely cross the road. It has a master switch which can be used to deactivate the normal light sequence during repair work. Inputs: 1) Pedestrian (I1) 2) Master (I2) 1) Red Light (M1) 2) Amber Light (M2) 3) Green Light (M3) Create a program to operate the traffic lights in the correct sequence. Adapt the program so the lights (usually green) will alter to stop the traffic if a pedestrian presses the push switch. Create a flashing amber light sequence that will operate if the master switch is on. Create a program that operates the pedestrian traffic light sequence unless the master switch is on, when the flashing amber light sequence should take over. Use Reset ACE to set the ACE back to its original start conditions. The pedestrian input (In 1) is a push button switch that is only momentarily On. The master switch (In 2) is operated by a block sliding over a push switch. Click to switch it On, and then again to switch Off. The ACE and the Fischertechnik Traffic Light model: 1. To establish a connection to the interface click on the Connect interface icon. 2. This ACE can synchronise with the real model (the ACE of the model together with the model connected to a control interface). 3. When connecting the model to the control interface check the numbering of the outputs and inputs matches those on the ACE. 4. When the interface is connected, the control of the inputs is taken over by the model, so to activate a switch press the switch on the model not the ACE. 2

3 (02) Hand Dryer A person will arrive at the dryer to dry their hands. The dryer has a light barrier, which can be used to detect when a hand is placed in the dryer. Inputs: 1) Light Switch (I1) 1) Light Beam (M2) Motor: A) Fan (M1) Program the hand dryer so the blower will operate for a set amount of time when a person places their hand in front of the dryer. Program the hand dryer so the blower only operates when a hand is front of the dryer (so it switches off immediately when the hand is removed). Use Reset ACE to set the ACE back to its original start conditions. When the light beam (Out 1) is On it will direct its light to the light sensitive switch (In 1) to form a light barrier, and the switch will be On. When a person places their hand in the light barrier they will interrupt the light beam and the light switch will be Off. The fan is operated by using Motor A. The motor operates at one speed in one direction (clockwise) whether the motor is turned forward (Fwd) or reverse (Rev). To operate the fan on the ACE, locate the motor s hot spot, click once for the motor to turn the propeller and then again to switch it off. The ACE and the Fischertechnik Hand Dryer model: 1. If you are writing a control program that can be used with both the ACE and model check the numbering of the outputs and inputs on the model matches those on the ACE. 2. This ACE is not suitable for working alongside the real model. Click on Disconnect ACE to close the ACE before you click on the Connect interface icon to establish a connection to the interface. 3. To activate the light switch on the model use your hand to interrupt the light beam. Tip: If the light switch on the model doesn t respond try bringing the switch and lamp closer together until it does. 3

4 03) Sliding Door A person will arrive at the door and wait for it to open. The model has a push switch that will be used to request that the door opens. The door has a light barrier, which can be used to prevent the door closing as they are passing through it. Inputs: 1) Door Closed (I1) 2) Door Open (I2) 3) Open Door (I3) 4) Light Switch (I4) 1) Light Beam (M2) Motor: A) Door (M1) Create a program that opens the door when someone arrives and presses the open switch. Let them pass through then close it. Create a program that opens the door when someone arrives and presses the open switch. Add safety features: The door should only close if no one is in front of the door (when the light beam is not interrupted). If the beam is interrupted while the door is closing, it should re-open. Use Reset ACE to set the ACE back to its original start conditions (door closed). When the light beam (Out 1) is On it will direct its light to the light sensitive switch (In 4) to form a light barrier, and the switch will be On. When a person stands in front of the door, they will interrupt the light beam and the light switch will be Off. The door is operated by using Motor A. The motor will close the door when turned forward (Fwd) and open it in reverse (Rev). To make the door move on the ACE, locate the motor s hot spot, click once to move it in one direction and then again to move in the other direction. When the door slides up against a door push switch, it will push the switch On. I.e. As the door opens it switches Door Closed (In 1) and then Door Open (In 2) On. As the door closes it releases the push button switches and Door Open and then Door Closed will be Off. So when the door is fully open both switches are On, when the door is closed both switches are Off. 4

5 The ACE and the Fischertechnik Sliding Door model: 1. If you are writing a control program that can be used with both the ACE and model check the numbering of the outputs and inputs on the model matches those on the ACE. Start with the door closed. 2. This ACE is not suitable for working alongside the real model. Click on Disconnect ACE to close the ACE before you click on the Connect interface icon to establish a connection to the interface. 4. To activate the light switch on the model use your hand to interrupt the light beam. Tip: If the light switch on the model doesn t respond try bringing the switch and lamp closer together until it does. 3. The speed of the motor will be different on the ACE to the model but this will not matter if feedback switches are used to control the motor. 5

6 (04) Temperature Control This is a simulation of temperature control in a home air conditioning and heating system. The temperature of a room is measured using a thermistor based temperature sensor. A lamp can be used to heat the room or a fan to cool the room. The temperature outside the building is controlled by the ACE and will automatically change over a 24 hour period (colder at night, and hotter during the day). Sensor inputs: 1) Temperature (AX) 1) Heater (M2) Motors: A) Fan (M1) Create a program that switches on the heating if the temperature in the room drops below 15 C. Create a program that switches on the fan if temperature in the room rises above 24 C. Create a program that switches on and off the heating and fan as appropriate to ensure that the room temperature is kept as close to 20 C as possible. Use Reset ACE to set the ACE back to its original start conditions. The ACE will start with Show detail open. This insert displays: 1. A clock showing the time of day over a 24 hour period (am and pm) 2. The temperature as recorded by the thermistor bead on the model 3. A thermometer showing the temperature outside the building. 6

7 The outside temperature automatically changes over a 24 hour period i.e. Time (am) Temperature ( C) Time (pm) Temperature ( C) The fan is operated by using Motor A. The motor operates at one speed in one direction (clockwise) whether the motor is turned forward (Fwd) or reverse (Rev). The symbol > means greater than, = equal to, < less than, <> not equal to, >= greater than or equal to, <= less than or equal to. The ACE and the Fischertechnik Temperature Control model: 1. If you are writing a control program that can be used with both the ACE and model check the numbering of the outputs and inputs on the model matches those on the ACE. 2. This ACE is not suitable for working alongside the real model. Click on Disconnect ACE to close the ACE before you click on the Connect interface icon to establish a connection to the interface. 3. On the model the heating effect is produced by the lens tip lamp. Switch on the lamp to discover how effective it is at changing the temperature value. Switch on the fan and observe how the value decreases. Adjust the temperature thresholds in your control program accordingly. 4. The thermistor provided in the Fischertechnik Robo kit is not suitable for use with the FlowGo or SOLO interfaces. Use an unhoused Temperature sensor (No. 6252) and position the thermistor bead above the lamp. Connect the sensor to a sensor input. In Go select Set Interface Sensors from the Settings menu, select Temperature from the dropdown list and OK. 7

8 (05) Car Park Barrier A car will randomly approach the car park barrier. As it arrives the Car arrive push switch will be automatically activated. The car park barrier is fitted with a light barrier, which can be used to detect the car as it passes through the barrier. The car will respond to the light signals red means stop and green means go! Inputs: 1) Down (I1) 2) Up (I2) 3) Car Arrive (I3) 4) Light Switch (I4) 1) Red Light (M2) 2) Green Light (M3) 3) Light Beam (M4) Motors: A) Barrier (M1) Create a program to raise the barrier as a car approaches so the car can pass through, and then lower the barrier. Use Reset ACE to set the ACE back to its original start conditions. The car responds to the light signals not the barrier s position. If the red light isn t on and the barrier is down, the car will crash into the barrier. The barrier arm is controlled by using Motor A. Use forward (Fwd) to raise the barrier and reverse (Rev) to lower the barrier To raise or lower the barrier on the ACE locate the motor hot spot, click once to move it in one direction and then again to move in the other direction. The barrier arm can be controlled efficiently by using the Up or Down inputs as feedback e.g. to switch the motor off when the barrier is in the up or down position (Switch Motor Barrier Fwd until Input Up is On, then switch it Off) or (Switch Motor Barrier Rev until Input Down is On, then switch it Off). When the light beam (Out 3) is On it will direct its light to the light sensitive switch (In 4) to form a light barrier, and the switch will be On. When the car passes through the barrier, it will interrupt the light beam and the light switch will be Off. The barrier should only be able to close again after the car has passed through the light barrier. 8

9 The ACE and the Fischertechnik Car Park Barrier model: 1. If you are writing a control program that can be used with both the ACE and model check the numbering of the outputs and inputs on the model matches those on the ACE. 2. This ACE is not suitable for working alongside the real model. Click on Disconnect ACE to close the ACE before you click on the Connect interface icon to establish a connection to the interface. 3. You will need to press the car arrive switch to simulate a car arriving at the barrier. 4. The speed of the motor will be different on the ACE to the model but this will not matter if the feedback switches are used to control the barrier motor. 9

10 (06) Welding Robot The robot is used to attach a cover to a metal housing with a spot weld at 3 different positions. The welding electrode is simulated by the lens tip lamp at the end of the welding arm, and the three positions on the metal housing by yellow blocks. Inputs: 1) Home (I1) 2) Counter (I2) 3) Reset (I8) 1) Welding Tip (M2) Motors: A) Robot Arm (M1) Create a program to accurately move the robot arm to the three different positions (one after the other) and weld at each point. It should then return to the start position and repeat the process. Use Reset ACE to set the ACE back to its original start conditions. The welding arm is controlled by using Motor A. Use forward (Fwd) to turn the arm in a clockwise motion and reverse (Rev) to turn anticlockwise. To move the arm on the ACE locate the motor hot spot, click once to move it in one direction and then again to move in the other direction. Is best to run the motor from the same start position each time using the Home input as feedback e.g. to switch the robot arm motor on until the Home switch is on (Switch Motor Robot Arm Rev until Input Home is On, then switch it Off). As the ACE robot arm rotates from its start position it will switch the counter input on and off approximately 54 times before it crashes. A variable can be used to count the number of times the counter switched on and off before it reached each welding point e.g. from the start position to the first welding point it switches on and off 13 times. This value can be used to stop the motor at each point to do the welding. (Make x = 0, Is Input Counter On then Is Input Counter Off then Make x = x + 1, Switch Motor Arm Fwd until Variable x = 13 then Switch Motor Arm Off). 10

11 The ACE and the Fischertechnik Welding Robot model: 1. To establish a connection to the interface click on the Connect interface icon. 2. This ACE can synchronise with the real model (the ACE of the model together with the model connected to a control interface). When connecting the model to the control interface check the numbering of the outputs and inputs matches those on the ACE. When the interface is connected the control of an input is taken over by the inputs on the model. 3. If your control program has been written to work with the ACE it will need to be modified to work with the model. The speed of the motor is different on the ACE to that on the model so you will need to alter the variable value e.g. on a FlowGo unit the counter switches on and off about 30 times from the start position to the first welding point. 4. If you intend to download your program remember to use only variables x and y names are not suitable. 5. The Reset switch could be used to trigger a restart from the beginning when the program has been downloaded to the control interface. 11

12 (07) Stamping Press This is an industrial stamping press, used to shape metal pieces. Inputs: 1) Home (I1) 2) Light Switch (I2) 3) Safety A (I3) 4) Safety B (I4) 1) Light Beam (M2) Motors: A) Stamp (M1) Create a program to press a part with four strokes in one work cycle. For safety reasons the machine must not start: Until the operator has pressed both safety switches If the light barrier is interrupted (see Notes re Show detail). If the light barrier is interrupted any time while the machine is operating it should stop immediately. Use Reset ACE to set the ACE back to its original start conditions. The Stamp is controlled by using Motor A. Both forward (Fwd) and reverse (Rev) will operate it in the same direction. To make the stamp move on the ACE locate the motor hot spot, click once to move the motor forward, click again to stop. The ACE will open with Show detail selected. This window shows the safety switch and light barrier input controls. 1. Click on the red arrow to replicate the operator switching both A and B safety switches On at the same time. 2. Click on the arm image to replicate the operator interrupting the light barrier. When the light beam (Out 1) is On it will direct its light to the light sensitive switch (In 2) to form a light barrier, and the switch will be On. This light barrier can be used to check that the area in front of the press is clear i.e. when the operator s arm interrupts the light beam the light switch will be Off. 12

13 Is best to run the motor from the same start position i.e. when the Home input (tappet switch) is on. This Home input is On when the stamp s hammer is at its highest position. It can be used to count the number of strokes. The Stopall command can be used to stop all procedures and flowcharts running. This command does not alter the state of outputs and inputs, so if creating an emergency stop remember to switch off the stamp motor prior to using the Stopall command. The ACE and the Fischertechnik Stamping Press model: 1. To establish a connection to the interface click on the Connect interface icon. 2. This ACE can synchronise with the real model (the ACE of the model together with the model connected to a control interface). When connecting the model to the control interface check the numbering of the outputs and inputs matches those on the ACE. When the interface is connected the control of an input is taken over by the inputs on the model. 3. The speed of the motor will probably be different on the ACE to the model but this will not matter if the feedback switches are used to control the motor. 4. If you intend to download your program remember to use only variables x and y names are not suitable. 13