Trang 1 MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT ELECTRONICS AND ELECTRONIC ENGIN
MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT ELECTRONICS AND ELECTRONIC ENGINEERING TECHNOLOGY BUILD AND CONTROL THE AUTOMATIC POLISHING MACHINE ADVISOR : TRAN DUC THIEN, MASTER STUDENTS: TRUONG HOANG TU CHAU ANH QUAN SKL010573 Ho Chi Minh City, December 2022 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT BUILD AND CONTROL THE AUTOMATIC POLISHING MACHINE Student's name: TRUONG HOANG TU Student ID: 18142077 Student's name: CHAU ANH QUAN Student ID: 18142060 Major: Electrical and Electronic Engineering Technology Advisor: Tran Duc Thien, Master Ho Chi Minh City, December 2022 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, December 28th, 2022 GRADUATION PROJECT ASSIGNMENT Student’s name: TRUONG HOANG TU Student ID: 18142077 Student’s name: CHAU ANH QUAN Student ID: 18142060 Major: Electrical and Electronic Engineering Class: 18142CLA Technology Advisor: Tran Duc Thien, Ph.D Phone number: 0794984602_QUAN 0926105494_TU Date of assignment: 28/12/2022 Date of submission: 28/12/2022 Project title: Build and control Automatic Plane Polishing Machine Initial materials provided by the advisor: - Learn the principle and how the servo motor works - Learn about Servo Driver MR-J4-B Content of the project: - Communication between PLC and computer, PLC and driver, driver and motor - Control the Servo Drivers - Learn about related software Final product: - The finished product is an item that has been completely polished on the entire surface - Applied in industrial environment, can be used to beat iron, steel, aluminum, CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) III THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, December 28th, 2022 ADVISOR’S EVALUATION SHEET Student name: TRUONG HOANG TU Student ID:18142077 Student name: CHAU ANH QUAN Student ID:18142060 Major: Electrical and Electronic Engineering Technology Project title: Build and control Automatic Plane Polishing Machine Advisor: Tran Duc Thien, Ph.D EVALUATION Content of the project: …………………………………………………………………………………………… …………………………………………………………………………………………… …………………………………………………………………………………………… ……………………… Strengths: …………………………………………………………………………………………… …………………………………………………………………………………………… …………………………………………………………………………………………… ……………………… Weaknesses: …………………………………………………………………………………………… …………………………………………………………………………………………… ……………… Approval for oral defense? (Approved or denied) …………………………………………………………………………………………… ……… Overall evaluation: (Excellent, Good, Fair, Poor) …………………………………………………………………………………………… Ho Chi Minh City, December 28th, 2022 ADVISOR (Sign with full name) IV THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, December 28th, 2022 PRE-DEFENSE EVALUATION SHEET Student name: TRUONG HOANG TU Student ID: 18142077 Student name: CHAU ANH QUAN Student ID: 18142060 Major: Electrical and Electronic Engineering Technology Project title: Build and Cotrol the Automatic Polishing Machine Name of Reviewer: … EVALUATION Content and workload of the project Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Reviewer’ questions for project valuation Mark: …………… (in words: .) Ho Chi Minh City, December 28th, 2022 REVIEWER (Sign with full name) V DISCLAIMER Suject: “BUILD AND CONTROL AUTOMATIC POLISHING MACHINE” Instructor: PH.D TRAN DUC THIEN Student's first & last name: Chau Anh Quan Student’ID: 18142060 Contact phone number: 0794984602 Email: 18142060@student.hcmute.edu.vn Truong Hoang Tu Student’ID: 18142077 Contact phone number: Email: 181420077@student.hcmute.edu.vn Promises: We hereby pledge that this graduation project is entirely done by the team and is completed based on the knowledge and experience she has accumulated during her study and work at the school The results of the graduation project are due to the process of finding documents and researching by the group The team hereby declares that the results of this study have not been used for any other report or graduate course at the same level Ho Chi Minh City, December 28th 2022 Group representative's signature (Signature with full name) VI ACKNOWLEDGEMENTS First of all, we would like to express their sincere thanks to the teachers of the Faculty of Electrical and Electronics Engineering, as well as the teachers of the University of Technology and Education of Ho Chi Minh City Ho Chi Minh has imparted valuable knowledge and skills in research, study and work during the time the student group studied and researched at the university Thereby, we could understand more about their profession and have the background knowledge to carry out this graduation project Also, the team would like to sincerely thank the instructor, Ph.D Tran Duc Thien, who has always been dedicated to accompanying the team during the project, wholeheartedly instructing and imparting knowledge and experience to our team so that the team can complete our project in the best way Finally, we would like to thank our family and friends who have always supported, helped and encouraged us during the process of working on the graduation project In addition, we would like to thank the previous forerunner who enthusiastically guided and answered questions so that we could complete this graduation project Sincerely thank! Ho Chi Minh City, December 28th ,2023 Group representative's signature (Signature with full name) VII TABLE OF CONTENTS DISCLAIMER VI ACKNOWLEDGEMENTS VII TABLE OF CONTENTS VIII LIST OF THE FIGURES X LIST OF THE TABLES XIII ABSTRACT XIV CHAPTER 1: OVERVIEW OF THE PROJECT 1.1 Problem 1.2 Objectives of the topic 1.3 Research Methods 1.4 Project limit 1.5 Research subjects CHAPTER 2: THEORETICAL BASIS 2.1 Overview of polishing machine 2.2 AC servo motor overview 2.3.Introducing PLC MELSEC-Q Mitsubishi 17 2.4 Positioning Module QD77MS4 18 2.5 Theoretical basis of polishing materials and pressing torque 22 2.6 GX Works and GT designer software 28 CHAPTER 3: PROJECT DESIGN AND CONSTRUCTION 31 3.1 Introduction to the project 31 3.2.Device comparison and selection 32 3.3 Electrical design 49 CHAPTER 4: CONTROLLER PROCESS 53 4.1 Control Algorithm 53 4.2 Setting the parameters on the GX-Work2 53 4.3 Desgin the HMI on the GT Desginer3 sofware 59 4.4 Control process 66 CHAPTER 5: RESEARCH RESULTS AND ASSESSMENT 73 5.1 Hardware 73 5.2 Sofware 74 VIII 5.3 Conclusion 75 5.4 Development orientations 75 APPENDICES 77 Main Code: 77 Device comment: 96 REFFERENCES 97 IX LIST OF THE FIGURES Figure 1: Servo and MR-J4-B Figure 1: Polishing machine in industry Figure 2: 3-way vibrating polishing machine Figure 3: Rotary cage polishing machine Figure 4: Centrifugal polishing machine Figure 5: Centrifugal polishing machine Figure 6: The example of servo motor Figure 7: The principle of servo amplifier Figure 8: Encoder image installed behind Servo motor Figure 9: Servo motor closed feedback loop Figure 10: Driver Servo and Servo Motor 10 Figure 11: MR-J4-B controller 11 Figure 12: Rating plate 12 Figure 13: Rating plate placement 12 Figure 14: The image shows the Servo Driver name 13 Figure 15: The image of the internal structure of the amplifier driver MR-J4-B 14 Figure 16: Combinations of cable/connector sets with MR-J4-B Driver Servo 16 Figure 17: SSCNETIII cable connection 16 Figure 18: Q03UDCPU 17 Figure 19: Placement of PLC module 18 Figure 20: : The figure of QD77MS4 18 Figure 21: Communicating signals between QD77MS4 and each module 21 Figure 22: Communicating between QD77MS4 and each module 22 Figure 23: The figure of steel polishing 23 Figure 24: The figure of fleece seal 23 Figure 25: The figure of round sandpaper 24 Figure 26: The figure of roll sandpaper 24 Figure 27: The figure of sheet sandpaper 25 Figure 28: The figure of force acting on the aluminum 25 Figure 29: The example of testing Force 26 Figure 30: GX Works software interface 29 Figure 31: GX Works software interface 30 Figure 1: Model of polishing machine 31 Figure 2: Q03UDCPU 32 Figure 3: Components in Q03UDCPU 32 Figure 4: MR-J4-20B 35 Figure 5: Servo HR-KR053 36 X 85 86 87 88 89 90 91 92 93 94 95 Device comment: Device M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M25 M28 M31 M33 M40 M41 M45 M48 M51 M54 M57 M64 M65 M66 M67 M87 M88 M92 M100 M101 M102 M103 M104 M105 M110 M111 M112 M113 M114 M115 Comment Device SERVO ON SERVO OFF JOG X+ JOG XJOG Y+ JOG YJOG Z+ JOG ZSET HOME X Y HOME HOME Z ERROR RESET ABS X BUTTON ABS Y BUTTON INC Z BUTTON GO A STOP A POSION MODE SPEED MODE TORQUE MODE STT SPEED MODE STT TORQUE MODE INC X BUTTON INC Y BUTTON HOME X HOME Y HOME Z ALLARM LIGHT MANUAL BUTTON MANUAL MODE M_ABS X M_ABS Y M_INC Z M_Go A M_INC X M_INC Y M POSION MODE M SPEED MODE M TORQUE MODE M TIMMER M TIMMER M_Linear Linear Button Linear STT M CODE M CODE STT LIGHT LIGHT AUTO SET TIMER AUTO MODE X CMD MOVE STEP STEP M116 M117 M118 M120 M122 M124 SM400 SM401 SM402 SM403 Y0 Y4 Y5 Y7 Y8 Y9 Y0A Y0B Y0C Y0D Y21 D0 D4 D8 D11 D12 D13 D14 D16 D18 D20 D23 D25 D26 D28 D29 D31 D33 D35 D37 D40 D43 D45 D46 D48 D49 D51 D52 D54 D55 D57 D60 D62 D64 Comment STEP STEP LOOP RUN AUTO Sand paper Cotton Allways ON Allways OFF ON ONE TIME OFF one times PLC READY Stop X Stop Y STOP A JOG X+ JOG XJOG Y+ JOG YJOG Z+ JOG ZBRAKE Feed value X JOG SPEED INPUT MOVE SPEED Error X Error Y Error Z Error A SPEED A INPUT D SPEED A Feed value Y SET HOME X SET HOME X SET HOME Y SET HOME Y SET HOME Z SET HOME Z DISTANCE X DISTANCE Y DISTANCE Z Feed value Z D_ABS X D_ABS X D_ABS Y D_ABS Y D_INC Z D_INC Z D_Go A D_Go A D_INC X D_INC X Feed value A D_INC Y D_INC Y Device D74 D76 D84 D86 D88 D90 D92 D94 D96 D100 D102 D104 D106 D108 D110 D112 D114 D200 T0 T1 T2 T4 T5 T6 T7 T9 T10 C0 U0\G1502 U0\G1504 U0\G1518 U0\G1602 U0\G1604 U0\G1618 U0\G1702 U0\G1704 U0\G1718 U0\G1775 U0\G1802 U0\G2004 U0\G2006 U0\G2014 U0\G2016 U0\G8004 U0\G8006 U0\G8014 U0\G8016 U0\G14006 U0\G14014 U0\G14016 Comment Torque CMD Z Speed Limit Motor current Effect load ratio Ins Torque D_Linear D_linear Motor current A Ins Torque A CHIEU RONG CHIEU DAI LENGTH STEP DY STEP D1 D2 DX M CODE VALUE TIMER STOP A TIMER TIMMER LOOP DELAY 0.5 S STOP X STOP Y == Delay 0.5s CONTER LOOP OUTPUT RST X M CODE X JOG SPEED X RST Y M CODE Y JOG SPEED Y RST Z M CODE Z JOG SPEED Z MODE value RST A SPEED ABS X DISTANCE ABS X SPEED INC X DISTANCE INC X SPEED ABS Y DISTANCE ABS Y SPEED INC Y DISTANCE INC Y DISTANCE ABS Z SPEED INC Z DISTANCE INC Z 96 REFFERENCES [1] MISUBISHI ELECTRIC CORPORATION (2021) “I/O Module Type Building Block User's Manual,” [2] MISUBISHI ELECTRIC CORPORATION (2005) “Servo amplifiers and motors Instruction Manual,” [3] Mitsubishi Electric, GT Designer Screen Design Manual [4] Mitsubishi Electric, Mitsubishi Programmable Logic Controller Training Manual [5] Mitsubishi Electric, Mitsubishi Programmable Controller Training Manual Q series basic course (for GX Works2) [6] Screws in TOHNICHI TORQUE HANDBOOK VOL.9 [7] Mitsubishi Electric, MELEC-Q QD77MS Simple Motion Module User Manual (Common) [8] Electronicscoach “AC Servo motor.” Electronicscoach.com [9] MR-J4-B INSTRUCTION MANUAL [10] MELSEC-L SSCNET III/H Head Module User's Manual [11] QCPU User's Manual(Hardware Design, Maintenance and Inspection) [12] GXL SERIES Micro-size Inductive Proximity Sensor Manual 97 98 S K 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