Q26UDVCPU plays the role of input signal processor, processing and outputting signal to output, QD75D4 plays the role of Motion CPU to help communicate and control the Servo motor, QY41P
INTRODUCTION
PROBLEM
Warehouse automation solutions are rapidly evolving due to rising concerns over costs and labor availability, particularly driven by the surge in e-commerce and online shopping The pandemic has accelerated this shift, leading consumers to prefer online purchases to reduce contact Consequently, businesses face an influx of small, continuous orders that require automation to enhance manual operations Implementing an automatic sorting system can significantly boost product productivity, expedite order processing, and provide a competitive edge in the marketplace.
A product classification system is a material handling system designed to sort items based on customer-specific criteria, including weight, size, color, barcode information (such as production batch, date, and model), order date, and delivery location.
The automated product sorting system in warehouses efficiently categorizes stocked items based on their characteristics, ensuring that each item is assigned to the correct storage location This intelligent system also facilitates timely data storage, enhancing overall operational efficiency.
The product classification system possesses the following advantages:
Speed up sorting and selecting products
Accurate classification, shorten the time to search for orders
Reduce labor, increase productivity, reduce production costs
Low error rate thereby improving service quality
Compact size allows to optimize warehouse space
Uninterrupted operation as these systems are not limited by the number of shifts and staff capacity
Fewer accidents and health problems, and safer working conditions for warehouse workers and drivers
Accurately track inventory, avoid shortages, excess inventory, and obsolescence
Flexibility in application, depending on each criterion of installation space, workshop area, and requirements of each customer, choosing the right technology
Bring long-term benefits to the business
The product classification and arrangement system is applied in the following industries:
E-commerce, parcels, express orders: sorting by date of order, delivery location, order volume, packing method, express-standard goods
Electronic products, technology: classified by production batch, production date, model
Processed goods, confectionery production, food, nuts: classified by volume, color, size, shape,
Pharmaceutical industry: classified by function, shape, size, quantity, color, etc
Garment industry: classified by product code, design, production batch, production date, etc
For the above reasons, the group decided to choose the topic " PICKING AND SORTING SYSTEM FOR BAR-CODE PRODUCTS"
OBJECTIVES OF THE TOPIC
The product classification system utilizes a barcode reader to identify items, which are then transported to designated positions on an object table by a control arm This system features a 3-axis magnet arm for precise placement and employs barcode technology for product categorization, all managed through Softgot2000 software displayed on a computer screen The setup includes three servo motors, each paired with Mitsubishi Servo Drivers and screws, and is governed by three key modules: the Q26UDVCPU for processing input signals, the QD75D4 for motion control of the servo motors, and the QY41P as the primary controller and mechanism.
RESEARCH METHODS
To carry out this study, the group has researched and implemented the following methods:
- Methods of analysis and synthesis of theories
TOPIC LIMITATIONS
Just stop at the application model reading the code on the product and simple classification.
RESEARCH CONTENTS
• Chapter 1: Overview of the topic
This chapter presents the introduction problem, the reason for choosing the topic, the objective, the research content, the limitations of the thesis and the outline
Presenting the theoretical basis of PLC, general knowledge about Mitsubishi PLC, Servo Motor, SoftGot2000, control methods used in the project
• Chapter 3: System Design and Build
This chapter outlines the process of calculating and arranging devices within a model to meet specific requirements It describes the operational mechanics of the model and the interconnections between the devices Based on these calculations, appropriate devices are selected for the model The team then begins the construction by assembling and connecting the devices, ensuring electrical safety to protect both individuals and equipment.
• Chapter 4: Algorithm and control program
• Chapter 5: Results -Conclusions-Thesis development direction
This chapter will talk about the results achieved Conclusion after completing the model Outline the advantages and disadvantages and give the next development direction for the topic
THEORETICAL BASIS
INTRODUCTION PLC
A Programmable Logic Controller (PLC), also known as a programmable controller, is a versatile device that enables the implementation of logic control algorithms through user-defined programming languages It allows for the execution of a sequence of events triggered by input stimuli or through timed operations like counting PLCs effectively replace traditional relay circuits, functioning by continuously scanning input and output states to ensure that any changes in input result in corresponding output adjustments Common programming languages for PLCs include Ladder Logic and State Logic Leading manufacturers of PLCs include Siemens, Allen-Bradley, Mitsubishi Electric, General Electric, Omron, and Honeywell.
PLC is composed of main components such as central processor, input block (Module input, Analog input), output block (Module output, Analog output)
• Processor (CPU: Central Processing Unit)
To fulfill essential operational requirements, a Programmable Logic Controller (PLC) must be equipped with a CPU, akin to a traditional computer The CPU serves as the PLC's brain, playing a crucial role in determining both processing speed and the specialized control capabilities of the system.
The CPU reads input signals from the input block, processes them, and outputs the results to the output block It also includes essential function blocks like counters, timers, math instructions, and data conversion, along with specialized functions.
• Input block (Module Input): There are two types of inputs: DI (Digital Input) and AI analog input (Analog Input)
The DI input connects to devices that produce binary signals such as switches, push buttons, travel switches, optical sensors, proximity sensors, etc
AI input interfaces with devices that produce continuous signals, including temperature, pressure, distance, and humidity sensors It's crucial to ensure compatibility between the sensor output and the AI module's input signal Different AI modules can interpret various analog signals, such as current, voltage, and impedance Additionally, the resolution of AI modules is a key parameter, indicating the accuracy of analog-to-digital conversion (ADC).
• Output block (Module Output): There are 2 types of outputs: DO (Digital Output) and AO (Analog Output)
DO output connects to actuators that control according to On/Off rules such as: indicator lights, bells, electric valves, motor without speed control
AO output connects to actuators that need continuous control signal: inverter, linear valve
• Advantages: in general, PLC has the following advantages compared to traditional contact circuits:
- Flexible program control ability When it is necessary to change the request or control object, the PLC only needs to change the program through programming
- The number of Timer, Counter is very large PLC also supports many function blocks with specialized functions: high-speed pulse generator, high-speed counter, PID controller
- Saving wiring time, the control circuit has now been completely replaced by a PLC program
The modular structure of a PLC enhances flexibility and cost-effectiveness, allowing users to select specific modules based on current control needs This design simplifies and reduces expenses when expanding control systems, eliminating the necessity for a new CPU However, it is crucial to consider the CPU's maximum connection capacity during expansion.
PLCs offer flexible communication capabilities by connecting not only to input and output devices but also to various systems, such as SCADA systems This allows users to export application data recorded by the PLC to monitor multiple connected devices effectively With a range of communication and protocol ports, PLCs ensure seamless integration and communication with other systems.
HMI (Human Machine Interface) simplifies and enhances interaction with PLCs (Programmable Logic Controllers), enabling users to easily review and input information in real time.
- Operation with high reliability, long life, good anti-interference in industrial environment
• Disadvantages: High cost is one of the disadvantages of PLC, the high cost leads to inaccessibility for many simple control systems They require PLC programming knowledge for beginners
PLC systems have demonstrated significant advantages over traditional contact control systems in factories and technology lines, leading to their widespread adoption This transition enhances operational reliability and efficiency, reduces labor costs, and minimizes the potential for operator errors.
MITSUBISHI Q SERIES PLC
The Mitsubishi Q PLC family, an evolution of the AnSH product line, enables users to seamlessly choose the optimal combination of CPU, communication engine, specialized control modules, and I/O on a unified platform This flexibility allows for tailored system configurations to meet specific needs in various deployment scenarios.
PLC CPUs (basic & advanced), Motion CPUs, Process Controllers and even PCs can be combined into a single system with up to 4 different CPUs This gives the user the choice of
21 control direction, programming language – all on a single platform As a result, the timing feature is enhanced, the program cycle scan time is reduced to only 0.5 – 2ms
The Q series stands out as a unified automation platform due to its flexibility and decentralization Users can easily control individual machines or manage all devices seamlessly on the same hardware platform.
- Processing speed up to 34ns/LD
- High-precision A/D-D/A set, temperature control application, position control
- CIP (Chanel Isolated Pulse) input, built-in high-speed pulse counter
- Full support in MELSOFT software applications
- Full range of network applications such as: CC-link, MELSECNET-H,
Programmable steps up to 252K steps
Basic QCPU Model Generic name for Q00JCPU, Q00CPU, and Q01CPU
High Performance QCPU Model Generic name for Q02CPU, Q02HCPU,
Generic name for Q02PHCPU, Q06PHCPU, Q12PHCPU, and Q25PHCPU
Generic name for Q12PRHCPU and Q25PRHCPU
Built-in Ethernet port QCPU
Generic name for Q03UDVCPU, Q03UDECPU,
Q04UDVCPU,Q04UDEHCPU,Q06UD VCPU,Q06UDEHCPU,Q10UDEHCPU, Q13UDVCPU,Q13UDEHCPU,Q20UDE HCPU,Q26UDVCPU,Q26UDEHCPU, and Q50UDEHCPU,
High Speed General Application QCPU
Generic name for Q03UDVCPU, Q04UDVCPU, Q06UDVCPU, Q13UDVCPU, and Q26UDVCPU
Generic name for Mitsubishi Motion instruction CPU:
Q172CPUN,Q173CPUN,Q172HCPU, Q173HCPU, Q172CPUN-T,
Q173CPUN-T,Q172HCPU-T, Q173HCPU-T, Q172DCPU, Q173DCPU,Q172DCPU- S1,QPU1,Q172DS
*1: input specifications for integrated I/O modules
*2: output specifications for integrated I/O modules.
AC SERVO MOTOR
AC Servo systems utilize a closed-loop feedback mechanism, where the motor receives data from an encoder to adjust its speed, torque, and position effectively This feedback allows the motor to respond to obstacles or forces that may hinder its movement by recalibrating its torque and speed to accommodate the load Additionally, servomotors maintain their position in the absence of control signals, automatically returning to their original position when external forces attempt to alter their alignment.
The AC Servo system comprises two key components: the Servo Driver (or Servo amplifier) and the Servo Motor, which includes both a motor and an encoder The motor consists of a rotor, stator, feed coil (made of aluminum or copper), magnet, electromagnetic brake, and a drive shaft that operates on the principle of permanent magnets However, the AC Servo requires a controller to send control commands to the Servo amplifier, which then relays these commands to the Servo motor This process enables the Servo motor to generate the necessary driving force, while the encoder detects the current position and transmits this information back to the system.
A servo amplifier utilizes feedback control by comparing the instructed value with the current value read by the encoder It then adjusts the instruction to reduce any discrepancies, ensuring precise performance.
DRIVER SERVO
The Servo Driver is an electronic amplifier that continuously monitors feedback from the Servo mechanism and adjusts any deviations from expected behavior, relaying this information back to the controller for display It receives command signals from a control system, amplifies them, and sends current to the Servo motor to generate motion based on these commands, which may indicate desired velocity, torque, or position A sensor on the Servo motor provides real-time data on the motor's condition to the amplifier, which compares the actual state to the specified state and adjusts the frequency, voltage, or pulse width to correct any discrepancies.
In a servo motor control system, it is essential to maintain motor rotation speed that closely aligns with the speed signal from the controller, while also ensuring the motor rotates in the desired direction as specified by the operator Users must comprehend and adjust key parameters to achieve optimal performance.
The number of pulses per rotation is a crucial setting for precise control in servo motors This value indicates how many pulses are needed for the servo motor to complete a full revolution, which is determined by the pulses encoded on the encoder disk.
The movement amount per rotation defines the range of motion for mechanical mechanisms linked to the motor shaft, including lead screws, linear systems, and turntables This setting can be specified in inches for forward motion, in degrees for rotational systems, or directly in pulses for unique applications.
Pulse output mode: set the command pulse signal transmission method and rotation direction to match the connected servo controller
Table 5: Driver's control pulse generation principle
Pulse/sign - The number of revolutions as well as the rotation speed depends on the pulse signal
- The reverse rotation signal is independent of the command pulse to control the rotation direction
CW/CCW (clock wise/ counter clock wise)
- For servomotors, the reverse rotation is not fixed, but people often convention clockwise
- We can control the direction of rotation of the servo through 2 input pulses When input A receives a pulse, the motor rotates clockwise, and input B receives a pulse in the opposite direction
- Which port rotates in which direction can be set directly in the parameter or transmitted from the controller to the servo driver
Pulse/pulse - The direction of rotation is controlled by the phase difference between the two pulse outputs
- Turn forward when phase B is 90 degrees behind phase A
- Reverse rotation when phase A is 90 degrees behind phase B
Output signal logic (Output logic signal): can choose one of two modes Positive logic - receive High level command or Negative logic - receive low level command
Rotation direction setting: the reverse rotation direction of the servo motor is actually no default Direct direction is specified clockwise or counterclockwise Therefore, we must set
To control the rotation direction of the servo motor, set it to rotate forward when the reported position value is positive, indicating forward movement, while a negative value signifies reverse rotation.
The Melservo Mitsuhishi AC servo motor series with a capacity of 0.05-400w is manufactured on Japanese technology, so it fully meets quality standards to operate in many different environments
U, V, W : Power supply for Servo motor
L1, L2 : Power supply pins for Driver
Mode : push button to adjust the operating mode of Servo
Up, Down : change display mode or parameters
Technical information of Driver Servo MR-C :
• Control mode or pulse by communication
• Support jack to read and write programs from computer
• Support screen and key for parameter setting
ENCODER
An encoder serves as a position sensor that provides crucial information about the rotation angle and speed of a connected rotating shaft It operates on the principle of a disc rotating around an axis, featuring grooves that allow optical signals to pass through When light encounters a groove, it can shine through, while solid sections block the light By detecting whether light passes through these grooves, the encoder generates signals that indicate the presence or absence of light This process results in the counting of pulses, which are incremented each time the light is interrupted The light sensor continuously activates and deactivates, producing square pulses that represent the pulse rate and total count These pulse signals are transmitted to a central processor, such as a microprocessor or PLC, enabling the controller to determine the motor's position and speed Typically, encoders output two pulse signals, A and B, which help identify the direction of motor rotation, while the Z-slot signal indicates a full revolution of the motor.
- 1 rotating disc with a hole for mounting on the motor shaft (Code Disk)
- 1 LED used as a light source (Light Source)
- 1 photoelectric receiver is arranged in a straight line (PhotodetetorAsembly)
- Electronic circuit board to help amplify the signal (Electronics Board)
An encoder is designed to accurately manage the angular position of rotating components, such as wheel platters, motor shafts, or any device requiring precise angular measurement.
An encoder is generally classified according to its output medium, consisting of two main types: absolute encoder and relative encoder
Figure 5: Structure of Absolute Encoder
An absolute encoder provides precise position information directly from the encoder without requiring additional processing It utilizes binary or Gray code on the disk to indicate the exact location.
An absolute encoder usually has a structure consisting of the following parts: a light emitter (LED), a light-sensitive light-emitting diode (photosensor), an encoder disk (containing a signal ribbon)
The encoder disk is crafted from a transparent material, ensuring optimal visibility and performance Its surface features a design of equilateral angles and concentric circles, which effectively delineate the angles formed by the area fractions This structured layout enhances the precision of the encoder's functionality.
A band is defined as the area integrals enclosed by two concentric circles The quantity of ribbons produced is influenced by the manufacturing technology, which is also referred to as the product category Each ribbon is associated with an LED and a receiver.
- Advantages: keep the absolute value when the Encoder loses power
- Disadvantages: high cost because of complicated construction, difficult to read signals
A relative encoder, also known as an incremental encoder, generates an incremental or cyclical signal through an array of pulsed ribbons, typically featuring several evenly spaced holes These encoders are often constructed from transparent materials to facilitate light passage They can contain one to three loops of holes, along with an additional locating hole for enhanced functionality.
Figure 6: Structure of Relative Encoder
- Advantages: low cost, simple to manufacture, easy to process returned data
- Disadvantage: easy to get pulse deviation when returned Will accumulate wrong numbers when operating for a long time
Encoders play a crucial role in various applications by providing essential data on speed, direction, and distance Their advanced capabilities enable users to achieve precise control over systems, enhancing overall performance and accuracy.
When a pump is linked to an inverter for liquid transfer into a tank, it is essential to maintain a specific flow rate The encoder associated with the inverter accurately monitors and responds to the actual flow rate of the liquid, ensuring efficient operation.
To efficiently cut long aluminum rolls into sheets of specific sizes, cutting machines utilize encoders installed on the tray These encoders read the material as it passes through, accurately calculating the length of the aluminum plate from insertion to the cutting position The cutting process can be easily adjusted to meet the required sheet size parameters.
The installation of the Encoder in the product tray program is crucial for ensuring that each product bottle is correctly positioned on the tray If a bottle fails to exit the station within the designated time or does not align with the count recorded by the Encoder, it indicates a malfunction in the machine.
The Encoder is a crucial component of CNC machines, designed to measure and pinpoint the precise positions of the machine axes and cutting locations This technology ensures that CNC machining achieves maximum accuracy in operations.
GT SOFTGOT 2000
GT SoftGOT2000 is an HMI software which allows GOT functions to operate on a personal computer or tablet
This software connects to various types of devices, such as Mitsubishi PLCs, and allows device monitoring like the GOT2000 and GOT1000
Figure 7: GT SoftGOT2000 control directly on the computer
The SoftGOT screen is developed using GT Designer3 software, which allows users to integrate functional components like push buttons, indicator lights, and display cells into the screen interface After setting up these elements, memory cells are installed with the PLC To monitor control directly from a computer, the GT SoftGOT2000 Commander software connects to the PLC CPU.
DESIGN AND INSTALLATION OF SYSTEM
INTRODUCTION
The "Picking and Softening System for Bar-Code Products" was developed by our team through extensive research on installation, design, and construction methods This model is designed to accurately grasp and classify products while ensuring safety and ease of disassembly The system comprises two main components: a mechanical part and an electrical part To optimize functionality, careful calculations were made regarding the model's volume and size, resulting in a compact design that effectively showcases the complete capabilities of the product picking and classification system.
The model should be distributed with adequate details to maintain its aesthetic appeal while also ensuring that the completion time adheres to the specified deadline.
MECHANICAL PART
The hardware of the experimental model includes: 3 lead screws and a 1 table for objects
The entire system (electrical part and mechanical part) is placed on up to 1000x600x12 (mm)
The grip arm features three axes of movement: the X axis runs parallel to the trays, the Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the tray surface This arm is securely mounted on two parallel posts, and the Z axis is equipped with an electromagnet for effective picking operations.
The system employs barcode scanning, which restricts the ability to read random coordinates of objects on trays To address this limitation, it is essential to minimize the tray size, ensuring that objects maintain a consistent shape and a fixed Y coordinate This approach allows for precise determination of the arm's Y coordinate when retrieving objects from the tray.
Tables for objects: fixed and placed at the end of the tray The table top is made of aluminum
Barcode reading device: is fixed at the top of the table
Figure 8: Mechanical part of the project
HMI Screen: To test, set parameters, mode, control system
Z-axis arm: Move the magnet vertically, up and down to pick and place products
2 Trays: Use to store products
Barcode Reader: Scan product’s code to classification
Y-axis arm: Move the z-axis arm horizontally, left and right
X-axis arm: Move the y-axis horizontally, in and out
ELECTRICAL PART
Figure 9: Electrical part of the project
POWER SUPPLY: includes 220VAC power and 24VDC power supply to the system (Controller, sensors and servo drivers)
CONTROL BLOCK: PLC controller - includes modules: Q61P, Q26UDVCPU, QD75D4, QX42, QY41P - performs signal reception from sensors and barcode readers, controls the operation of servo drivers and electromagnets
SERVO BLOCK: includes the servo driver and AC servo motor, which performs the required control block operations, to perform the picking products
3 Drivers: Each driver controls a corresponding axis x,y,z
HMI BLOCK: the user performs operations on the HMI, then control signals are sent to the control block to be performed on demand
BARCODE READING BLOCK: reads the barcode on the product and sends the signal to the control block for classification
The SENSOR BLOCK utilizes limit sensors to output signals indicating the position of the vitreous axes and detect objects on the tray These signals are then transmitted to the PLC for further processing.
ARM BLOCK: perform object picking by control from the control block
The components included in the CPU station will require: Base CPU, Power Supply
Module, PLC, Intelligent Module, I/O Module
Table 6: Devices in the station
Module Source PLC Intelligent module
Input power: 200 to 240VAC (170 to 264VAC)
Rated output current: 6A/5VDC, 6A/24VDC
Overvoltage, current protection: up to 6.6A, 6V
Number of Inputs/Outputs(Point): 4096
Basic Command Processing Speed (LD Command)(μs): 0.0019
Input/Output control method: Refresh Type
Memory card interface: SD,SDHC
Real number operation (floating point arithmetic) command: Possible PID command: Possible
Control Method: Stored program cyclic operation
Sequence language (dedicated language for sequence control): Relay symbol language (ladder), Logic symbolic language (list), MELSAP3 (SFC), MELSAP-L, Function block, Structured text (ST)
Text string processing command: Possible
No of positioning data items: 600/axis
-214748364.8 to 214748364.7 ( m) -21474.83648 to 21474.83647 (inch) -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (pulse)
0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min)
Max connection distance between servos
When connected with open collector: 2m (6.56ft) When connected with differential driver: 10m (32.79ft)
No of module occupied slots
Number of input points 64 points
Rated input voltage 24VDC (+20/-15%, ripple ratio within 5%)
Rated input current Approx 4mA
Input derating Refer to the derating chart
ON voltage/ON current 19V or higher/3.0mA or higher
OFF voltage/OFF current 11V or lower/1.7mA or lower
64 points (I/O assignment is set as a 64-point input module.)
Operation indicator ON indication (LED), 32 point switch-over using switch External connections 40-pin connector
Applicable wire size 0.088 to 0.3mm2 (For A6CON1 or A6CON4) 2 Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (optional)
Applicable connector/terminal block converter module
90mA (TYP all points ON)
Insulation method: optical insulation between input and PC power Output voltage: 12/24VDC
Leakage current when OFF: 0.1mA
A 24 VDC power supply converts 220VAC to 24VDC, providing essential voltage for electrical equipment This system specifically utilizes 24VDC to power various modules and sensors, ensuring efficient operation of connected devices.
Table 13: Barcode reader specifications DataMan 8050
1-D barcodes: Codabar, Code 39, Code 128, and Code 93, Interleaved 2 of 5,
Pharma, GS1 DataBar, Postal, UPC/EAN/JAN, DataBar
2-D barcodes: Data MatrixTM; QR Code and microQR Code, RSS/CS, PDF 417, MicroPDF 417
USB: bus powered (optionally: external 2.5W max LPS or NEC class 2 power supply +5V - +6V DC)
RS232: external 2.5W max LPS or NEC class 2 power supply +6V 1A DC
ETH: Class 2 PoE supply IEEE 802.3af
Figure 20: Noise Filter WYFS20T1AD
CONTROL CIRCUIT DESIGN
ALTERNATIVE AND CONTROL PROGRAMS
GX Works 2 and GT designer 3 software
GX Works2 is a programming tool for designing, debugging, and maintaining programs
GX Works2 has functionality and operability and easy-to-use features
Figure 22: GX Works 2 software interface
Create a program and execute it in a programmable controller CPU
6 Connecting the programmable controller CPU
7 Writing to the programmable controller
GT Designer3 is software used to create surveillance screens
Figure 23: GX Works 2 software interface
1 Create a project according to the new project wizard
2 [New Project Wizard] is displayed Check the description and click [Next]
3 Set the GOT type information in [GOT System Setting] →Click [Next]
4 Check the settings configured in [Confirmation of GOT System Setting] →Click [Next]
5 Set the controller to be connected in [Setting of Controller] →Click [Next].
6 Set the interface of the GOT to be connected with the controller→Click [Next]
7 Set a communication driver to be used→Click [Next]
8 Check the configured settings in [Confirmation of Communication Setting] →Click [Next]
9 Set a device used to switch the GOT screen in [Screen Switching Device Setting]
Confirmation of system environment settings→Click [Finish]
SYSTEM DESCRIPTION
The automatic product sorting system utilizes a PLC-controlled 3-axis arm to efficiently pick and place classified objects onto the designated positions on the object table Each axis of the arm is driven by a servo motor, ensuring precise movements Additionally, a barcode reader continuously scans and transmits barcode data to the PLC, enabling seamless tracking of items The entire system's controls and operational status are conveniently displayed on the Softgot 2000 screen, providing real-time monitoring and management.
Figure 24: Manual Control HMI Screen
Figure 25: Auto Control HMI Screen
RESULTS - COMMENTS – ASSESSMENTS
RESULTS
After 3 months of research and implementation, our team has completed the model
"PICKING AND SORTING SYSTEM FOR BAR-CODE PRODUCTS" that meets the following requirements:
- The system can erform picking and product sorting
- Has a solid structure to ensure the movement of 3 axes at the same time
- Capable of disassembly for replacement and repair
CONCLUSION
During the implementation of the project, the team has drawn the following advantages and disadvantages of the system:
The Q26UDVCPU module, when paired with the MR-C10A servo driver, enables highly flexible control of a 3-axis arm through position control methods Additionally, the Q26 series module facilitates long-distance, interference-free connections to the MR-C10A driver using SSCNET technology.
The mechanical structure on the tray is not stable In addition, the magnetic gripper is not accurate The above leads to errors when performing object picking
There is no conveyor belt in the system, so the delivery of products to scan the code is manual
The system has an error in position accuracy, namely the position of the object relative to the center of the tray holes Here are the error tables:
TOPIC DEVELOPMENT DEVELOPMENT
After completing the topic, the group found the shortcomings Here are ways to fix and develop directions to improve the topic that the group proposes:
- Change the tray to the right width or redesign the hopper so that the moving object is more stable on the tray
- Replace barcode reading device with image processing camera Through that, in addition to classifying objects, the system can accurately recognize the position of objects on the tray
To enhance system performance, it is advisable to install additional GOT1000 screens The current use of SoftGOT2000 software, combined with the barcode reader's limited compatibility, results in slower code reading speeds By increasing the number of screens, the overall efficiency of the system can be significantly improved.
- Develop SCADA system to store and monitor data of object classification information
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