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Laboratory Robot 2 - logic & components

Input/Output definitions

The table below shows major pieces of equipment, the actions each performs, the type of output and how the step is confirmed. It also provides a count of the input and output channels required. (Most motors need 2 channels - forward and reverse.)

DEFINITIONS

ACTION

PERFORM BY

CONFIRM BY

OUT CHAN

IN
CHAN

ARM A

Tracking

LINEAR ACTUATOR 1

PROX LA1.1 to MA1.5

2

5

 

Height

LINEAR ACTUATOR 2

PROX LA2.1 to MA2.3

2

3

 

Carriage

LINEAR ACTUATOR 3

PROX LA3.1, MA3.2

2

2

 

Syringe in position

 

PROX ARM A1

 

1

 

Grip

SERVO 1

not confirmed

1

 

POSITION 1 - FREEZER 1

Door

MOTOR 1

PROX M1.1

2

1

 

Magazine

MOTOR 2

PROX M2.1

1

1

POSITION 2 - FLUID INJECTION

Syringe in position

 

PROX X1.1

 

1

 

Signal start of external cycle

EXTERNAL DEVICE 1

DIGITAL SIGNAL

1

1

 

Liquid in syringe

 

SENSOR S1 [?? TYPE]

 

1

POSITION 3 - PULVERISING

Syringe in position

 

PROX X3.1

 

1

 

Signal start & end

EXTERNAL DEVICE 2

not confirmed

1

 

POSITION 4 - TRANSFER CONTENTS

Magazine

MOTOR 3

PROX M3.1

2

1

 

Piston

LINEAR ACTUATOR 4

PROX LA4.1, LA4.2

2

 

 

Nozzle

LINEAR ACTUATOR 5

PROX LA5.1, LA5.2

2

2

 

Syringe in position

 

PROX X4.1

 

1

 

Syringe neck gripper

SERVO 2

not confirmed

1

 

 

Spigot rotator

MOTOR 4

PROX M4.1, M4.2

1

2

 

Signal start & end of gas injection

EXTERNAL DEVICE 3

not confirmed

1

 

 

Liquid in bottle

 

SENSOR S2 [?? TYPE]

 

1

 

Signal start of external sample cycle

EXTERNAL DEVICE 4

DIGITAL SIGNAL

1

1

POSITION 4 - ARM B

Rotation

MOTOR 5

PROX M5.1 to M5.3

2

3

 

Bottle in gripper

 

PROX ARM B1

 

1

 

Gripper

SERVO 3

not confirmed

1

 

POSITION 5 - SYRINGE RECYCLE

none

none

not confirmed

 

 

 

TOTAL OUTPUT | INPUT CHANNELS =

25

29

 

 

Control Logic

This table attempts to track each step of the process, each action called, and each confirmation received. Most calls would have a timed element - if the proximtiy sensor does not report the completed event within the time stipulated, the controller will halt the process and signal a fault.

LOCATION/ EQUIPMENT

EVENT START

OUTPUT BY

EVENT END

INPUT TYPE

ALL EQUIPMENT

Confirm home positions

ALL OUTPUTS

All home

ALL INPUTS

FAULT INDICATOR

Event time elapses before sensor reports completion, or,
Expected sensor fails to report.

LIGHT, BUZZER, SIREN, MODEM, RADIO

Manual correction

HUMAN

POSITION. 1

 

 

 

 

FREEZER 1

Open Freezer 1 hatch

MOTOR 1

Freezer door fully open

PROX M1.1

 

Magazine forward

MOTOR 2

Syringe in ready position

PROX M2.1

ARM A

Extend carriage with open grip

ACTUATOR 3

Grip at syringe

PROX ARM A1

 

 

 

Carriage at full extension

PROX LA3.1

 

Close jaw

SERVO 1

Continue till canceled

 

 

Retract carriage

ACTUATOR 3

Carriage at full retraction

PROX LA3.2

FREEZER 1

Close Freezer hatch

MOTOR 1

no confirm

 

ARM A

Track to POSITION. 2

ACTUATOR 1

Arrive at POSITION 2

PROX LA1.2

 

Extend carriage

ACTUATOR 3

Carriage at full extension

PROX LA3.1

POSITION 2

 

 

 

 

FLUID INJECTION

Fluid injection routine

EXTERNAL DEVICE 1

Syringe in position

PROX X1.1

 

 

 

Routine complete

DIGITAL SIGNAL

 

 

 

Liquid in syringe

SENSOR [TYPE = ??]

ARM A

Retract carriage

ACTUATOR 3

Carriage at full retraction

PROX LA3.2

 

Track to POSITION. 3

ACTUATOR 1

Arrive at POSITION 3

PROX LA1.3

 

Extend carriage

ACTUATOR 3

Carriage at full extension

PROX LA3.1

 

Raise head to top

ACTUATOR 2

Head at top position

PROX LA2.3

POSITION 3

 

 

 

 

PULVERISING

Probe on

EXTERNAL DEVICE 2

no confirm

 

ARM A

[REPEAT FOLLOWING AS NECESSARY]

 

 

 

Lower head to medium position

ACTUATOR 2

Head at medium position

PROX LA2.2

 

Raise head to top position

ACTUATOR 2

Head at top position

PROX LA2.3

 

[END REPEAT]

 

 

 

PULVERISING

Probe off

EXTERNAL DEVICE 2

no confirm

 

ARM A

Lower head to lowest position

ACTUATOR 2

Head at lowest position

PROX LA2.1

 

Retract carriage

ACTUATOR 3

Carriage at full retraction

PROX LA3.2

 

Track to POSITION 4

ACTUATOR 1

Arrive at POSITION 4

PROX LA1.4

 

Extend carriage

ACTUATOR 3

Carriage at full extension

PROX LA3.1

POSITION 4

 

 

 

 

NITROGEN INJECTION

Magazine forward

MOTOR 3

Bottle in position

PROX M3.1

 

Syringe neck gripper

SERVO 2

Continue till canceled

 

 

Piston up

ACTUATOR 4

Piston in up position

PROX LA4.2

ARM B

Close jaw

SERVO 3

Bottle in position

PROX ARM B1

POSITION 4

Lower n2 nozzle

ACTUATOR 5

Nozzle at lowest position

PROX LA5.2

 

Spigot rotator

MOTOR 4

Turn 90°

PROX M4.2

 

Gas on

EXTERNAL DEVICE 3

no confirm

 

 

Gas off

EXTERNAL DEVICE 3

no confirm

 

 

Raise n2 nozzle

ACTUATOR 5

Nozzle at highest position

PROX LA5.1

 

Syringe neck gripper open

SERVO 2

no confirm

 

ARM A

Retract carriage

ACTUATOR 3

Carriage at full retraction

PROX LA3.2

 

Track to POSITION 5

ACTUATOR 1

Arrive at POSITION 5

PROX LA1.5

POSITION 4

Piston down

ACTUATOR 4

Piston in down position

PROX LA4.1

ARM B

Rotate to external sample device

MOTOR 5

Arm in position

PROX M5.2

 

 

 

Liquid in bottle

SENSOR [TYPE = ??]

 

Chromatograph on

EXTERNAL DEVICE 4

Routine complete

DIGITAL SIGNAL

 

Rotate to Freezer2

MOTOR 5

Arm in position

PROX M5.3

 

Open jaws

SERVO 3

no confirm

 

 

Rotate to original position

MOTOR 5

Arm in position

PROX M5.1

POSITION 5

 

 

 

 

ARM A

Extend carriage

ACTUATOR 3

Carriage at full extension

PROX LA3.1

 

Open jaws

SERVO 1

no confirm

 

 

Retract carriage

ACTUATOR 3

Carriage at full retraction

PROX LA3.2

 

Track to POSITION 1

ACTUATOR 1

Arrive at POSITION 1

PROX LA1.1



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