Lector dr. ing.

Mircea MURAR
mircea.murar@muri.utcluj.ro
Lector dr. ing. Mircea MURAR
mircea.murar@muri.utcluj.ro
Exemple de aplicatii
 Manipulare de componente usor deformabile sau casabile.
 Manipulare in pozitii dificile.
Control viteza, pozitie si forta prindere.
 Arhitectura control si
configurare axa liniara
 Alegerea si comanda unui echipament se face prin intermediul unui
cod de produs.

 Codul de produs este format prin selectarea dintr-o varietate limitata

de optiuni puse la dispozitie de producatorul echipamentului.

 Codul echipamentului rezulta in functie de caracteristicile pe care le

dorim sa le aiba echipamentul.

 Conform arhitecturii de control a sistemului dedicat griperului electric

aven nevoie de minim de 2 echipamente.
Axa electro-mecanica
 Cod partial axa electrica:

1. Optiuni gabarit:
 8
 16
 25

Gabaritul axei liniare este o caracteristica tehnica care

implica constrangeri asupra elementelor constructive si
de actionare care se reflecta in amplitudinea fortei si a
vitezei de deplasare.
 Cod partial axa electrica:

2. Pozitie motor:
 R = Basic
 L = Simetric
 D = In linie
 Cod partial axa electrica:

3. Tip motor 5. Cursa axa:

 Nil = Stepper motor  50 mm
 A = Servo motor  100 mm
 150 mm
4. Lead [mm]:
 J = 16
 K=8
 Cod partial axa electrica:

6. Optiuni motor: 7. Optiuni carcasa:

 Nil = fara frana/blocaj  Nil = fara protectie la praf
 B = cu frana/blocaj  S = cu protective la praf
 Cod partial axa electrica:

8. Optiuni montare 10. Lungime cablu

 Nil = fara optiune prindere laterala
 Nil = Without cable
 H = prindere laterala  1 = 1.5 m
 3=3m
9. Tip cablu axa  5=5m
 8*= 8 m
 Nil = Without cable  A* = 10 m
 S = Standard  B* = 15 m
 C* = 20
 R = Robotic * Only for robotic cable
 Cod partial axa electrica:

11. Unitate de control griper 12. Lungime cablu axa

 Nil = Without controller  Nil = Without cable
 6N = LECP6 NPN  1 = 1.5 m
 6P = LECP6 PNP  3=3m
 1N = LECP1 NPN  5=5m
 1P = LECP1 PNP
 AN = LECPA NPN
 AP = LECPA PNP
 Cod partial axa electrica:

13. Modalitate montaj unitate de control

 Nil = Screw
 D = DIN Rail
 Cod final axa electrica:
Unitati de control
axa electrica
  SMC pune la dispozitie 3 unitati de control:

Activare pozitie Fara configurare

Control in pulsuri
si programare

64 pozitii 14 pozitii Control pozitie si

nivele de forta si 3 nivele de forta viteza in functie
viteza configurabile 16 nivele viteza de trenul de
pulsuri primit
 Detalii specifice unitatilor de control:
Unitatea de control
LECP6
Configurare unitate de
control LECP6
1. Instalare software: LEC-W2
2. Instalarea pachet upgrade.
3. Instalare driver USB
 Hands On
 Protocol de comunicatie
 Upload in controler
 Modificare setari
 Definire pozitii
▪ Pozitie, viteza, forta.
 Hands On
 Testare functionalitate jog
 Definire pozitii pentru prindere obiect
Interfatare cu system
integrat FRDM-K64F
 FRDM
Dezvoltare echipamente
inteligente
 Performance Cost

Competitiveness

Time Quality
Traditional
manufacturing

Industry 4.0
Smart factories
Cloud manufacturing
Problem statement
+ Usability
+ Predictability
+ Solid knowledge

Traditional
manufacturing
systems

- Lack of Know-how
- Unpredictability Advanced
- Complexity manufacturing
- Costs systems
 How we can adapt and enhance traditional

manufacturing resource into a smart resource in

order to be cost-effective for SMEs?

Challenge
 Implement the key features of advanced manufacturing
systems into traditional manufacturing resources:

1. Cyber-physical system: Smartness enabler.

Ability to obtain desired functionality

2. Reconfigurability:
with a minimum effort.
Connectivity and business model
3. Internet Of Things:
enabler.
Build products but, sell or rent
4. Servitization:
functionality or services.
Goals
Hardware: Interface proprietary SMC Enhance traditional
controller to an embedded system resource with additional
functionalities.

+ Smart
= Equipment
+

Software: Interface SMC controller

State Machine to gain control and
monitoring features
Smart Equipment
 1. SMC axis controller is preconfigured using ACT
Controller software (required only once)

2. SMC axis controller IO port electric

signals are optically interfaced and
connected to FRDM K64F

3. On top of uTasker RTOS software algorithms are

built to interface the SMC axis controller state
machine to gain control of electro-mechanical axis.
 4. Build virtual mode of SMC controller state
machine and develop and load CPS with the
control and monitor algorithm of SMC axis.

5. Develop the web interface to be hosted

by CPS operating system web server.
HTML
CSS
JavaScript
6. Download RTOS and application software, the
web interface, connect CPS to a router. ENJOY !
Experimental
test bench