6DOF-Tool_PLC-HMI
Purpose of this Repository
This repository is not a complete project, and does not contain all the files needed to run such a project on a PLC.
The purpose of this repository is to showcase some of the work I have completed for programming PLCs using Structured Text.
All the files in this repo I either created, collaborated on, or edited. This repo does not contain: Compiler Info, Libraries, Touchscreen Image Files, or other supporting functions/files to complete a build of this project.
Within the POUs directory there is a "Top_LeveL_Control.TcPOU" file that functions as the "main" program file for this project.
The Project
The project contained two robotic tools: one 6DOF positioning tool and one 9-camera array monitoring tool. The Positioning Tool featured 3 ball-screw jacks configured in a circular pattern sepatated by 120 degrees. These jacks were responsible for translation along the z-axis as well as rotation about the x and y axes. Three additional servo motors controlled x translation, y translation, and z rotation.
The system featured a Touchscreen Human Machine Interface (HMI). The touchscreen consited of multiple screens for user authentication, alarm & warning monitoring and resetting, sensor information, and motion control calibration and settings. Axis motion control was completed using momentary toggle switches on the HMI but outside of the touchscreen interface.
The rest of the HMI consisted of a 6 monitor array for monitoring the video signal from the cammera array on the monitoring tool.