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Virtual commissioning of multi-axis manipulator
Slavík, Vojtěch ; Radil, Filip (referee) ; Štěpánek, Vojtěch (advisor)
This thesis deals with the design and virtual commissioning of multi-axes manipulator, that will be able to create figures using spherical segments according to a template. In the design, emphasis is placed on the visual appearance and simple operation of the manipulator. The thesis presents the design of the model, methods for inverse kinematics solving, communication of used software and the robot control.
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Design of control system of pneumatic manipulator
Roun, Jiří ; Bradáč, František (referee) ; Vetiška, Jan (advisor)
This bachelor thesis is about the design of the control system for the pneumatic manipulator. Initial research describe the current possibilities of pneumatic products for driving and positioning of pneumatic assemblies. The practical part of this thesis describes the connection of hardware with PLC terminals and the design of software for controlling the manipulator. At the end of the thesis is testing part realized with designed software and measuring software.
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Industrial TwinCAT based diagnostics application
Zigo, Ľubomír ; Ondroušek, Vít (referee) ; Krejsa, Jiří (advisor)
This bachelor´s thesis describes designing of diagnostics application for press controlled by Beckhoff TwinCAT. Application monitors press regularly and informs staff in case of breakdown. Diagnostics application is created in high-level programming language Visual C++ in Microsoft Visual Studio environment. Application communicates with TwinCAT via .NET Framework library TwinCAT::Ads, which is part of TwinCAT. Breakdown texts are read from database via Microsoft OLE DB interface using SQL.
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Digital commissioning of robotic machine tool operator
Tecl, Michal ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
The diploma thesis deals with the issue of digital commissioning of robotic operation of CNC machine tools. In the research part, individual types of industrial robots are analysed, including their advantages and disadvantages for the given application. Furthermore, several software used for digital commissioning are described and the possibilities of communication between machine tools and robots are described. In the practical part, a model task of operating two CNC machines is created. A suitable robot, robot tools, part magazines are selected, and a 3D model of the entire workplace is processed. In the final part, both a program for the robot and a program for the PLC controlling the entire workplace will be created.
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Automated tuning of drive controller
Adamec, Matúš ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with automated tuning of drive controller. To achieve this goal, system identification is needed. Therefore, the issue of identification is described at the beginning of this thesis. Spectral analysis was selected from many described methods. It was implemented in Matlab and also in C# language where was used averaging and Blackman-Tukey method. The C# application is linked to Beckhoff TwinCAT 3 and TwinCAT 2 runtime sytems that enable connections with real drive. Next, the problem of drive regulation is discussed and the results of using spectral analysis on real drives are shown. At the end of the thesis is described the algorithm of setting the speed controller with different types of frequency converters.
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Control of the laboratory model of synchronous drives
Koubík, Martin ; Bílek, Michal (referee) ; Zezulka, František (advisor)
The aim of this theses describes the design of the control program for the synchronous axes model and reconstruction of this model. The first main part is description of synchronous axes model, description of engines and other components of model. Then model modifications are described. Another part is discussing the TwinCAT programming environment and describe all important elements that must be performed for proper functionality of the model. There is also a description of function blocks that are used to program motion sequences. The last part is described of demonstration program and program which would be used for teaching.
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NC control system on Beckhoff platform
Jelínek, Pavel ; Bradáč, František (referee) ; Vetiška, Jan (advisor)
This thesis deals with a creation of a control system of 3-axis milling machine. The beginning of the thesis is dedicated to the general description of the problematic of the numerically controlled machines and the technologies used in this branch. The next chapter describes mechanical and electronical adjustments of the machine. Following chapters are dedicated to the creation of PLC program and HMI using the TwinCAT software. In conclusion, this thesis deals with commissioning of the machine, measuring its geometrical accuracy and testing.
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Design and implementation of the control for the robotic cell
Mbontar, Patrik ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This master´s thesis thesis deals with the design of software for the control of a robotic cell, which consists of two KUKA robots and a belt conveyor. The robots will perform robotic operations similar to those in real industrial practice. At the beginning of the work will be the state of current knowledge. A key part will be the design of software for robotic cell control in the TwinCAT environment from Beckhoff. The robots and the conveyor will be controlled by a superior PLC, which will be commanded from the designed software using the HMI. The goal is to successfully implement the proposed software for robotic cell control and monitoring using a unique visualization, which will be designed specifically for the robotic cell and its associated manipulation operations.
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Modification of 3D milling machine to 3D printer
Halamíček, Lukáš ; Vetiška, Jan (referee) ; Bradáč, František (advisor)
This thesis deals with rebuilding of engraving machine to 3D printer. In the first part it describes possible 3D printing technologies and its utilizations in rebuilding. In the next section suitable parts for reconstruction are chosen and described. Then the controlling of heating bed, hot end and filament feed is realized by using software TwinCAT by company Beckhoff. Functional 3D printer should be result of this thesis.
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