04 TP 202 Electropneumatics Advanced Level

Electro-Pneumatics
Workbook Advanced level

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Learning System for Automation and Communications
Order No.: 094007
Description: TEACHW.E-PNEUM.
Designation: D.S202-C-GB
Edition: 12/1993
Layout: 09.05.1994, S. Durz
Graphics: S. Abendschein
Authors: C. Rouff, H. Werner
Copyright by Festo Didactic KG, D-73734 Esslingen, 1994
All rights reserved, including translation rights. No part of this publica-
tion may be reproduced or transmitted in any form or by any means,
electronic, mechanical, photocopying, or otherwise, without the prior
written permission of Festo Didactic KG.
Preface
The Learning System for Automation and Communications has been
formulated to meet various training prerequisites and vocational re-
quirements. It has been divided into the following training packages:
I
Basic packages which convey basic knowledge spanning a wide
range of technologies
I
Technology packages which deal with important subjects of open
and closed-loop control technology
I
Function packages to explain the basic functions of automated sys-
tems
I
Application packages to facilitate practice-orientated vocational and
further training
The technology packages deal with the technologies of pneumatics,
electro-pneumatics, programmable logic controllers, automation via
PC, hydraulics, electro-hydraulics, proportional hydraulics and applica-
tion technology (handling).
The modular design of the Learning System permits applications be-
yond the scope of the individual packages. It is, for instance, possible
to design a PLC controlled system with pneumatic, hydraulic and
electrical actuators.
All training packages are based on an identical structure:
I
Hardware
I
Courseware
I
Software
I
Seminars
3
TP202 Festo Didactic
The hardware consists of industrial components and systems which
have been adapted for didactic purposes.
The courseware has been designed in line with didactic methods and
coordinated for use with the training hardware. The courseware com-
prises:
I
Textbooks (with exercises and examples)
I
Workbooks (with practical exercises, explanatory notes, solutions
and data sheets)
I
Overhead transparencies and videos (to create a stimulating train-
ing environment)
The training and educational media are available in several languages
and have been designed for use in the classroom as well as for
self-tuition.
The software sector serves as a basis for providing computer training
programs and programming software for programmable logic control-
lers.
A comprehensive range of seminars on the subject of the various
technology packages completes our offer for vocational and further
training.
4
Introduction 8 Table of contents
Notes on safety and operation 9
Training contents of basic level (TP201) and
advanced level (TP202) 11
List of training aims 12
Set of equipment for the basic level 13
Symbols of the equipment set 14
Set of equipment for the advanced level 16
Symbols of the equipment set 17
Allocation of components and exercises (table) 19
Methodical structure of the exercises 20
5
Part A Course
Basic exercises
Exercise 1: Bench drill A-3
Exercise 2: Feed unit for sheet metal strip A-5
Exercise 3: Filling device A-7
Exercise 4: Stamping device A-9
Exercise 5: Drilling jig A-11
Exercise 6: Clamping unit for grinding A-15
Exercise 7: Forming press A-19
Consolidating exercises
Exercise 8: Embossing device A-21
Exercise 9: Handling device A-23
Exercise 10: Drilling and reaming machine A-25
Exercise 11: Loading station A-29
Exercise 12: Internal grinding machine A-33
Exercise 13: Assembly unit A-37
Exercise 14: Moulding press A-41
Exercise 15: Pick-and-place unit A-45
Exercise 16: Galvanising process A-49
Exercise 18: Rotary indexing station A-57
Exercise 19: Checking station A-63
Part B Fundamentals
6
Part C Solutions
Solution 1: Bench drill C-3
Solution 2: Feed unit for sheet metal strip C-9
Solution 3: Filling device C-17
Solution 4: Stamping device C-21
Solution 5: Drilling jig C-27
Solution 6: Clamping unit for grinding C-35
Solution 7: Forming press C-41
Solution 8: Embossing device C-45
Solution 9: Handling device C-49
Solution 10: Drilling and reaming machine C-55
Solution 11: Loading station C-59
Solution 12: Internal grinding machine C-63
Solution 13: Assembly unit C-69
Solution 14: Moulding press C-75
Solution 15: Pick-and-place unit C-81
Solution 16: Galvanising process C-87
Solution 18: Rotary indexing station C-101
Solution 19: Checking station C-109
Part D Appendix
Storage tray D-2
Mounting technology D-3
Plastic tubing D-5
Data sheets
7
This workbook forms part of Festo Didactics Learning System for
Automation and Communications. The system provides a solid basis
for practice-orientated vocational and further training. Technology
package TP200 is concerned exclusively with electro-pneumatic con-
trol systems.
Introduction
The basic level TP201 is suitable for basic training in electro-pneu-
matic control technology. It conveys knowledge concerning the physi-
cal fundamentals of electro-pneumatics as well as the function and
use of electro-pneumatic components. The equipment set permits the
construction of simple electro-pneumatic control systems.
The advanced level TP202 is intended for further training in electro-
pneumatic control technology. The equipment set permits the con-
struction of a wide range of combinatorial circuits with logic operation-
s of the input and output signals as well as program controls.
Prerequisites for assembling control circuits are a fixed workstation
and a Festo Didactic profile plate. The profile plate has 14 parallel
T-grooves arranged at intervals of 50 mm. A short-circuit proof power
supply unit provides a constant power supply (Input: 230 V, 50 Hz,
Output: 24 V, max. 5 A). A mobile, silenced compressor may be
used for compressed air supply (230V, maximum 8 bar = 800 kPa).
The working pressure should be a maximum of
p = 6 bar = 600 kPa.
Optimum operational safety is achieved by operating the control sys-
tem with unlubricated air at a pressure of p = 5 bar = 500 kPa.
The training hardware of both equipment sets (TP201 and TP202) will
be required for the practical assembly of the controls documented
here. The theoretical fundamentals required to understand this book
of exercises can be found in the following textbook:
Learning System for Control Technology
I
Introduction to Electro-Pneumatics
Also available are data sheets on the various components (cylinders,
valves, measuring devices, etc.).
8
Notes on safety and operation
In the interests of your own safety, the following advice should be
observed:
I
Pressurised air lines that become detached can cause accidents.
Switch off supply immediately.
I
Lines must be connected up and secured before the compressed
air is switched on.
I
Caution!
Cylinders may advance as soon as the compressed air is switched
on.
I
Do not operate the electrical limit switches manually during fault
finding (use a suitable tool).
I
Observe general safety regulations (DIN 58126 and VDE 100).
I
Distinction is to be made between the two different designs of the
electrical limit switches.
Actuation from the left
Actuation from the right
I
Limit switches should be placed so that they contact only the side
of the trip cam and never the front at high piston speeds.
I
Do not exceed permissible operating pressure (observe data
sheets).
I
Only use extra-low voltage 24 V.
I
Pneumatic circuit design:
Components are to be connected by means of the silver-metallic
plastic tubing with a 4 mm external diameter. Insert the tubing
into the CU push-in fitting up to the stop; no further securing
necessary!
I
Releasing of the CU straight push-in fitting:
The tubing can be released by simply pressing the clamping collet
(black ring). (Cannot be disconnected under pressure!)
I
Switch off the pressure and power supply prior to disconnecting
the circuit.
9
I
The profile plate for the assembly of components is equipped for
mounting variants A to D:
Variant A, Detent system
Light, non load-bearing components (e.g. directional control valves).
Simply clip the components into the groove of the profile plate.
The components can be released by pressing the blue lever.
Variant B, Rotational system
Medium-weight, load-bearing components (e.g. actuators). These
components are clamped onto the profile plate by means of T-
head bolts. The components are clamped or released by means of
the blue triple grip nut.
Variant C, Screw-in system
For heavy, load-bearing components, i.e. components which are
rarely removed from the profile plate (such as start-up valves with
filter regulator). The components are secured by means of cheese
head screws and T-head nuts.
Variant D, Plug-in system
Light, non load-bearing components with locating pins (e.g. signall-
ing device). These components are secured by means of plug-in
adapters.
I
Please observe the data sheets in Part D for information regard-
ing the individual components.
10
Training content of the
Basic and Advanced
levels
Basic level (TP201)
The following subjects are covered
- Physical fundamentals of electrical engineering and pneumatics
- Function and application of electro-pneumatic components
- Designation and drawing of electro-pneumatic symbols
- Representation of motion sequences and switching status
- Drawing of pneumatic and electrical circuit diagrams
- Designing control systems incorporating relays
- Direct and indirect manually operated control systems
- Direct and indirect stroke-dependent control systems
- Logic AND/OR functions of the input signals
- Electrical self-holding (latching) circuits
- Use of a magnetic proximity sensor
- Use of a pressure switch
- Fault finding in simple electro-pneumatic control systems
Advanced level (TP202)
The following subjects are covered
- Function and use of electro-pneumatic components
- Stroke-dependent control systems with sensors
- Stroke-dependent control systems with preselect counter
- Control systems with marginal conditions
(e.g. Single/continuous cycle, EMERGENCY-STOP)
- Position-scheduled control/process orientated sequence controls
- Timing controls/time orientated sequence controls
- Program control systems with latching and resetting sequence
- Fault finding in extensive electro-pneumatic control systems
11
List of training aims
Exercise Training aim
1 To teach the student the principle of the latching sequence
2 To teach the student the principle of the resetting sequence (with reliable switching reversal)
3 To familiarise the student with the procedure for skipping
program steps and with the use of a timer
4 To teach the student how to realise a stroke-dependent sequence control with resetting sequence
5 To teach the student how to realise multiple movements of a cylinder
and monitor service life using a preselect counter
6 To familiarise the student with the use of a pneumatic/electric converter
To teach the student how to construct a control system using single and double solenoid valves
(resetting sequence with extension)
7 To teach the student how to realise a control system with specified EMERGENCY-STOP conditions
and how to realise a two-hand safety start-up control via a timer with switch-on delay
8 To teach the student how to incorporate step repetitions and manual step mode into a sequence
9 To teach the student how to incorporate EMERGENCY-STOP and marginal conditions in a latching
sequence
10 To teach the student how to realise a control system with an alternative program by means of program
switching
11 To teach the student to program repetition using an additional movement
12 To familiarise the student with step repetition using the preselect counter
13 To teach the student how to set up manual activation of the cylinder with protection against collision
To familiarise the student with automatic setting conditions
14 To teach the student how to construct a two-handed safety start-up with relay
To familiarise the student with restart before the end of the cycle
15 To teach the student how to develop a latching sequence with marginal conditions
16 To teach the student how to realise program branchings
To teach the student how to make multiple use of time relays
To familiarise the student with program section repetitions using the preselect counter
To teach the student how to realise a pressure-dependent control system
17 Consolidating the students knowledge
Program section repetition
18 To familiarise the student with parallel program division
19 To familiarise the student with the use of a timer with delayed switch-on as a delayed starting element
20 Familiarisation with an alternative solution to electro-pneumatics
12
This equipment set is designed for basic training in electro-pneumatic
control technology. It contains all the components required to achieve
the specified training aims and may be extended as required with the
addition of other equipment sets. To construct fully operational con-
trols, it is also necessary to have a profile plate, a power supply unit
and a compressed air supply.
Equipment set for the
Basic level (TP201)
(Order No.: 080243)
* These components can be attached to the profile plate by means of the adapter
set (Order No. 35651).
Designation Order No. Quantity
Relay, 3-off
*
011087 1
Signal input plate, electrical
*
011088 1
Indicator/distributor plate, electrical
*
030311 2
Plastic tubing, 10 m, silver metallic 151496 2
Single-acting cylinder 152887 1
Double-acting cylinder 152888 2
On/off valve with filter regulator 152894 1
Manifold 152896 1
Proximity sensor, with cylinder mounting 152905 2
Limit switch, electrical, actuation from the left 152906 1
Limit switch, electrical, actuation from the right 152915 1
Pneumatic-electric converter 152907 1
3/2-way solenoid valve, normally closed 152908 1
5/2-way solenoid valve 152909 2
5/2-way double solenoid valve 152910 1
13
Symbols of the
equipment set
Relay, 3-off Signal input plate, electrical
Indicator/distributor, electrisch Single-acting cylinder
Double-acting cylinder On/off valve with filter regulator
Manifold Proximity sensor with cylinder mounting
BN
BK
BU
14
* For limit switches with left-hand (PN 152 906) and for limit switches with right-
hand actuation (PN 152 915) the same symbol is used in the circuit diagrams.
Limit switch, electrical,
Actuation from the left*
Actuation from the right*
Pneumatic-electric converter 3/2-way solenoid valve, normally closed
5/2-way solenoid valve 5/2-way double solenoid valve
3(S)
4(A) 2(B)
5(R)
1(P)
1(P)
5(R) 3(S)
4(A) 2(B)
RD
BU
BK
1(P)
3(R)
2(A)
15
This equipment set for the advanced level is designed for further
training in electro-pneumatic control technology. The two equipment
sets (TP201 and TP202) contain all the components required to
achieve the specified training aims and may be extended as required
with the addition of other equipment sets from the Learning System
for Automation and Communications.
Equipment set for the
advanced level (TP202
(Order No.: 080244)
* These components can be attached to profile plate by means of the adapter set
(Order No. 35651).
Designation Order No. Quantity
Relay, 3-off
*
011087 4
Signal input plate, electrical
*
011088 1
Time relay, 2-off
*
011432 1
Preselect counter, electrical, incrementing
*
011435 1
EMERGENCY-STOP button 152901 1
Proximity sensor, inductive 152902 1
Proximity sensor, capacitive 152903 1
Proximity sensor, optical 152904 1
5/2-way double solenoid valve 152910 2
16
Symbols of the
equipment set
Relay, 3-off Signal input plate, electrical
Time relay, 2-off
with switch-on delay with switch-off delay
Preselect counter, electrical, incrementing EMERGENCY-STOP button
17
Proximity sensor, inductive Proximity sensor, capacitive
Proximity sensor, optical 5/2-way double solenoid valve
1(P)
5(R) 3(S)
4(A) 2(B)
18
Component and exercise allocation (table)
* Components which are not available in full quantity in equipment sets 201 and 202.
Designation 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Relay, 3-off
E
x
e
r
c
i
s
e
2 3 3 4 5 5 2 2 5 3 4 5 5 5 6* 6* 6* 6* 6* 6*
Signal input module, electrical 1 1 1 1 2 2 1 2 2 1 1 2 2 1 2 1 1 2 1 2
Time relay, 2-off 1 1 1 1 1 1 1
Preselect counter, electrical,
incrementing
1 1 1 1 1 1
1
Distributor plate,
electrical
1 2 1 1 2 1 1 1 1 1 2 2 2 2 2 1 2 2 2 2
Single-acting cylinder 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Double-acting cylinder 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 3* 3* 3* 3*
On/off valve with filter regulator 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Manifold 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
EMERGENCY-STOP button 1 1 1 1
Proximity sensor, inductive 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Proximity sensor, capacitive 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Proximity sensor, optical 1 1 1 1 1 1 1 1
Proximity sensor with
cylinder mounting
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
Actuation from the left
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2* 2* 2*
Actuation from the right
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Pneumatic-electric converter 1 1 1
3/2-way solenoid valve,
normally closed
1 1 1 1 1 1 1 1 1 1 1 1
5/2-way solenoid valve 2 2 2 2 2 2 2 2 2 2 2 1 2 2 2 2
5/2-way double solenoid valve 2 3 2 3 2 3 1 2
19
All 20 exercises in part A are of the same methodical design. Methodical structure
of the exercises
The two exercise sheets are divided into:
- Subject
- Title
- Training aim
- Exercise
as well as
- Problem description
- Positional sketch
- Displacement-step diagram
The proposed solutions in part C cover a minimum of four pages
and are divided into:
- Circuit diagram, pneumatic
- Circuit diagram, electrical
- Solution description
- Component list
20
Part A Course
Basic exercises
Exercise 1: Bench drill A-3
Exercise 2: Feed unit for sheet metal strip A-5
Exercise 3: Filling device A-7
Exercise 4: Stamping device A-9
Exercise 5: Drilling jig A-11
Exercise 6: Clamping unit for grinding A-15
Exercise 7: Forming press A-19
Consolidating exercises
Exercise 8: Embossing device A-21
Exercise 10: Drilling and reaming machine A-25
Exercise 12: Internal grinding machine A-33
Exercise 13: Assembly unit A-37
Exercise 14: Moulding press A-41
Exercise 15: Pick-and-place unit A-45
Exercise 16: Galvanising process A-49
Exercise 18: Rotary indexing station A-57
Exercise 19: Checking station A-63
A-1
A-2
Electro-pneumatics Subject
Bench drill Title
To teach the student the principle of a latching sequence. Training aim
I
Drawing the pneumatic and electrical circuit diagrams Exercise
I
Construction of the pneumatic and electrical circuits
I
Checking the circuit sequence
A-3
Exercise 1
Workpieces are inserted into the clamping device by hand. Clamping
cylinder A is to extend when the start button is pressed. When the
workpiece is clamped, it is to be drilled via feed unit B and the drill
retracted once again. At the same time, the swarf is to be blown
away by an air jet C. Then, the clamping cylinder A is to release the
workpiece.
Problem description
Fig. 1/1:
Positional sketch
1 2 3 4 5=1
S2
S1
B2
B1
1
0
1
0
B
A
Fig. 1/2:
Displacement-step diagram
A-4
Exercise 1
Electro-Pneumatics Subject
Feed unit for sheet metal strip Title
To teach the student the principle of a resetting sequence
(with reliable switching reversal).
Training aim
I
I
I
A-5
Exercise 2
A sheet metal strip is to be fed from a drum towards the cutting tool.
The feed unit may only start when the punch-tool is in the upper po-
sition (this signal must be simulated by a push button S3). Cylinder A
holds the sheet metal strip and cylinder B retracts. Cylinder A re-
leases the strip and cylinder B returns to the forward end position.
Problem description
The sheet metal strip feed unit must be provided with a main switch
S. When cylinder B has retracted and cylinder A has released the
strip, a signal (optical indicator) is to be passed on to the press for
the next part to be punched out.
Operating condition
B
A
Fig. 2/1:
Positional sketch
A
B
1
0
1
0
1 2 3 4 5 6=1
B2
B1
S2
S1
Fig. 2/2:
A-6
Exercise 2
Filling device Title
To familiarise the student with the procedure for skipping program
steps and the use of a timer with switch-on delay.
Training aim
I
I
I
A-7
Exercise 3
Bottles are transported along a conveyor belt to a rotary table. Cylin-
der A is to retract only when a bottle has arrived on the conveyor
belt (position 1) and the START signal (continuous/single cycle) has
been given. The table is then to continue indexing (B+), when the
signal "bottle on indexing table" (position 2) has been sent. When a
bottle has reached the filling station (position 3), cylinder C is to
open the filling valve, remain it open for approx. 2 seconds and then
reclose it.
Problem description
If no bottle is reported as present at the filling station (position 3), the
installation must be indexed manually until a bottle is present for fill-
ing. Sensing of the bottles is to be simulated by push button.
Operating condition
Fig. 3/1:
Positional sketch
A-8
Exercise 3
Stamping device Title
To teach the student how to realise a stroke-dependent sequence
control with a resetting sequence.
Training aim
I
Drawing the displacement-step diagram and the pneumatic and
electrical circuit diagram.
Exercise
I
I
A-9
Exercise 4
Cylinder A is to push parts out of the gravity feed magazine and
clamp them. Only then can cylinder B stamp the part and retract
once again. Next, clamping cylinder A is to unclamp. The part is to
be ejected by cylinder C, which then returns to the retracted end po-
sition.
Exercise
A
B
C
Fig. 4/1:
Positional sketch
A
B
C
1
0
1
0
1
0
1 2 3 4 5 6 7=1
S2
S1
B2
B1
B4
B3
Fig. 4/2:
A-10
Exercise 4
Drilling jig Title
To teach the student how to realise multiple movements of a cylinder
and the use of an incrementing preselect counter.
Training aim
I
I
Drawing the pneumatic and electrical circuits
I
A-11
Exercise 5
Rectangular castings are to be drilled in 4 positions. Castings are in-
serted by hand and clamped by an eccentric cam.
Feed unit C with hydraulic cushioning cylinder is aligned vertically (Z-
axis). Positioning cylinders A and B move the table in X- and Y-direc-
tion so that drilling positions (1), (2), (3) and (4) can be approached
consecutively.
The first hole is drilled by means of feed unit C after the START
button has been pressed. Next, double-acting cylinder A retracts and
the second drilling process takes place. After double-acting cylinder B
has retracted, feed unit C carries out the third double stroke. When
cylinder A has once again reached its forward end position, the
fourth hole is drilled. In the 12th step, cylinder B extends once again
and the initial position is obtained.
Problem description
To ensure that the service life of the drill is not exceeded, it is to be
monitored via a counter. This is to emit a signal and interrupt the
cycle once a predetermined number of drilling operations has taken
place. Once the drill has been replaced and the counter has been
reset by hand, the cycle is to continue again.
Operating condition
A-12
Exercise 5
B
C
A
3
4
2
1
Fig. 5/1:
Positional sketch
A
B
C
1
0
1
0
1
0
1 2 3 4 5 6 7 8 9 10 11 12 13=1
B2
B1
B4
B3
S2
S1
Fig. 5/2:
A-13
Exercise 5
A-14
Exercise 5
Clamping unit for grinding Title
To familiarise the student with the use of a pneumatic/electric conver-
ter. To teach the student how to construct a control system using
single and double solenoid valves (Resetting sequence with exten-
sion).
Training aim
I
I
I
A-15
Exercise 6
Semi-finished flanges of workpieces are to be placed manually in a
clamping and grinding unit, pneumatically clamped and ground on the
right and lefthand flanges.
Once single-acting clamping cylinder A has reached its forward end
position and the clamping pressure has built up in the piston cham-
ber, feed unit B performs a double stroke. The righthand flange is
ground. Double-acting cross-feed cylinder C extends prior to feed unit
B carrying out the second double stroke and grinding the lefthand
flange. Clamping cylinder A releases the workpiece when cylinder C
has reached its retracted end position.
Problem description
Clamping cylinder A, single-acting, controlled via a solenoid valve.
Feed cylinders B and cross feed cylinder C are both double-acting
and each controlled via a double solenoid valve.
Monitoring of clamping pressure.
Operating condition
A-16
Exercise 6
A (1)
B (2)
C (3)
Fig. 6/1:
Positional sketch
1 2 3 4 5 6 7 8 9=1
S2
S1
B2
B1
B4
B3
1
0
1
0
1
0
A
B
C
Fig. 6/2:
A-17
Exercise 6
A-18
Exercise 6
Forming press Title
To teach the student how to realise a control system with specified
EMERGENCY-STOP conditions.
To teach the student how to realise a two-hand safety control via a
timer with switch-on delay.
Training aim
I
I
I
A-19
Exercise 7
A metal plate is inserted by hand into the forming press. A profile is
to be stamped into the metal plate by means of a two-handed oper-
ation. When the operation is complete, the formed metal part is to be
ejected by means of ejecting cylinder B.
Problem description
The START signal is obtained through a two-hand safety control with
delayed switch-on timer. When the EMERGENCY-STOP button is
pressed, the two cylinders must return immediately to their initial posi-
tions.
Operating condition
A
B
Fig. 7/1:
Positional sketch
1 2 3 4 5=1
S2
S1
B2
B1
A
B
1
0
1
0
Fig. 7/2:
A-20
Exercise 7
Embossing device Title
To teach the student how to incorporate step repetitions and manual
step mode into a sequence.
Training aim
I
Drawing the pneumatic and electrical circuits Exercise
I
I
A-21
Exercise 8
Workpieces to be embossed are inserted manually into a retainer and
pushed under the embossing stamp by cylinder A. Cylinder B extends
and embosses the workpiece. Then, cylinder B retracts again followed
by cylinder A.
Problem description
It must be possible to carry out the individual movements step by
step via a push button (manual step mode). In addition, steps B+/B-
must be repeatable to enable adjustment of the embossing cylinder.
Cylinder B+ is to be moved in manual step mode, meaning that the
B- movement must be effected via an additional push button. Step
repetition and manual step mode should only be possible when no
START signal is present.
Operating condition
B
A
Fig. 8/1:
Positional sketch
1
0
1
0
1 2 3 4 5=1
B2
B1
S2
S1
A
B
Fig. 8/2:
A-22
Exercise 8
Handling device Title
To teach the student how to incorporate EMERGENCY-STOP
and marginal conditions in a latching sequence.
Training aim
I
I
I
Checking the circuits sequence
A-23
Exercise 9
Round parts are to be fed by a handling device from the outlet chan-
nel of processing station I to the inlet channel of processing station II.
As an additional start condition, the outlet channel is to be interro-
gated for round parts.
Problem description
Separate push buttons for SINGLE/CONTINUOUS CYCLE. EMER-
GENCY-STOP: Linear drive B must be unpressurised. Gripper A must
remain closed or open according to status. When EMERGENCY-
STOP is no longer being actuated, pressing a push button is to bring
the linear drive back into the initial position. A second push button is
then to release the gripper (if this was closed in the EMERGENCY-
STOP status). This push button must also simultaneously latch the
start button (after the EMERGENCY-STOP), so that it is only
possible to restart via the START button after this button has been
pressed.
Operating condition
A
B
Fig. 9/1:
Positional sketch
1
0
1
0
1
2 3 4 5=1
S2
S1
B2
B1
Gripper
Linear drive
open
closed
A
B
Fig. 9/2:
A-24
Exercise 9
Electro-Pneumatic Subject
Drilling and reaming machine Title
To teach the student how to realise a control system with an
alternative program by means of program switching step jump.
Training aim
I
I
I
A-25
Exercise 10
Program 1: Drilling
Parts, which only need to be drilled, are clamped by hand. The part
is drilled when the START button is actuated.
(Cylinder A).
Problem description
Program 2: Drilling and reaming
Parts, which also need to be reamed, are also clamped by hand.
Then, upon actuation of a PROGRAM SELECTOR button and the
START button, cylinder A starts the drilling process. When the drilling
process is completed, positioning cylinder B extends and transfers the
drilled part to the reaming station (cylinder C). When reaming of the
part has taken place, positioning cylinder B retracts and the part can
be removed. The PROGRAM SELECTOR button must be actuated
before the START button in order to start up program 2. If these
buttons remain unactuated, then program 1 is to automatically run.
A-26
Exercise 10
A
C
B
Fig. 10/1:
Positional sketch
1 2 3=1
1
0
1
0
1
0
S2
S1
B2
B1
B4
B3 0
1
0
1
0
1
B3
B4
B1
B2
S1
S2
2 1 3 4 5 6 7=1
A
B
C C
B
A
Program 1 Program 2
Fig. 10/2:
A-27
Exercise 10
A-28
Exercise 10
Loading station Title
To teach the student to program repetition using an additional
movement.
Training aim
I
I
I
A-29
Exercise 11
A plate on a conveyor belt is fitted with two steel parts.
The parts advanced via a rail are centred by a spigot and held by an
electromagnet whilst being transferred.
The motion sequence towards position 1 is to be executed via cylin-
ders A and B.
Position 2 is to be reached by means of the same sequence as that
employed for position 1, with the addition of cylinder C (see displace-
ment-step diagram).
Problem description
Sensing of steel parts is to be realised via a push button S2.
When the conveyor belt has passed on the next plate for loading and
transmitted a signal to the loading unit (simulated by push button S1),
the machine is to proceed automatically.
The functioning of the electromagnet is to be simulated by means of
a lamp H1.
Operating condition
A-30
Exercise 11
Conveyor belt
Plate
Position 2 Position 1
B
A
C
Fig. 11/1:
Positional sketch
A
B
C
1
0
1
0
1
0
1 2 3 4 5 6 7 8 9 10 11 12 13=1
S4
S3
B2
B1
B4
B3
Position 1 Position 2
Fig. 11/2:
A-31
Exercise 11
A-32
Exercise 11
Internal grinding machine Title
To familiarise the student with step repetition using the
preselect counter.
Training aim
I
I
Construction of the pneumatic and electrical circuit diagrams
I
A-33
Exercise 12
Workpieces are fed along a conveyor belt. The forwardmost work-
piece is pushed against the stop by the following one. When a work-
piece is present, it is signalled by a sensor (switch) and the clamping
stop is raised (cylinder A).
Next, cylinder B is to clamp the part and signal when the clamping
pressure has been reached so that the grinding process can com-
mence. Cylinder C is to advance and the grinding wheel switched on
simultaneously (simulation by means of visual indicator). Then cylinder
C is to travel up and down ten times (half strokes) and then return
to the initial start position. Next, cylinders A and B are are to retract
simultaneously.
Cylinder B now is to extend once again and push the part onto the
conveyor belt which is to carry it away (only a minimal section of the
stroke was required for the clamping operation). When cylinder B has
returned once again and another workpiece has reached the stop, the
cycle is to be repeated.
Problem description
START and STOP at the end of each cycle are each controlled by
one push button.
Operating condition
A-34
Exercise 12
C
B
A
Fig. 12/1:
Positional sketch
1
0
1
0
1
0
1 2 3 4 5 6 22 23 24 25 26=1
B2
B1
S2
S1
B5
B4
B3
A
B
C
Fig. 12/2:
A-35
Exercise 12
A-36
Exercise 12
Assembly unit Title
To teach the student how to set up manual activation of a
cylinder including precautions with protection against collision.
To familiarise the student with automatic setting conditions.
Training aim
I
I
I
A-37
Exercise 13
Bushes which are placed ready for assembly in a gravity feed maga-
zine are pressed into metal blocks which are also introduced in a
similar manner.
Cylinder A pushes a metal block from the magazine to a stop and
clamps it. Then, cylinder B extends and presses the first bush into
place. Next, cylinder C is activated, pressing the second bush into
place. Then cylinders A and C retract simultaneously, followed by
cylinder B retracting. The assembled metal block drops onto a con-
veyor belt.
Problem description
The installation is to operate in a continuous cycle.
It must be possible to select between manual and automatic opera-
ting mode.
Manual operation is to be indicated by a lamp H1.
Separate push buttons are to actuate each of the cylinders. This in-
stallation may only be run in manual mode; only one cylinder is to
extend at a time.
Operating conditions
A-38
Exercise 13
A
B
C
A
Fig. 13/1:
Positional sketch
1
0
1
0
1
0
1 2 3 4 5 6=1
S2
S1
B2
B1
B4
B3
A
B
C
Fig. 13/2:
A-39
Exercise 13
A-40
Exercise 13
Moulding press Title
To teach the student how to construct a two-handed safety
start-up control with relay.
To familiarise the student with restart before the end of the cycle.
Training aims
I
I
I
A-41
Exercise 14
Plastic plates are to be formed from duroplastic pellets. The pellets
are inserted manually into the lower part of the mould.
When the START button is pressed (two-handed safety control), the
upper part of the mould is guided into the lower part of the mould.
When the forward end position is reached, pressure must be sus-
tained for approximately ten seconds to guarantee hardening of the
formed part. Then, the plates are removed from the mould tool by the
extractor unit and stacked next to the press.
Problem description
The START signal must continue until cylinder A has assumed its
forward end position.
The press cylinder may extend immediately the extractor unit has
been removed from the working area (half return stroke of cylin-
der B).
The two-handed safety control using a relay.
The function of the vacuum generator V is to be represented by a
lamp.
A-42
Exercise 14
A
C
B
V
Fig. 14/1:
Positional sketch
1
0
1
0
1
0
1 2 3 4 5 6 7=1
B2
B1
B5
B4
B3
S4
S3
A
B
C
Fig. 14/2:
A-43
Exercise 14
A-44
Exercise 14
Pick-and-place unit Title
To teach the student how to develop a latching sequence with
marginal conditions.
Training aim
I
I
I
A-45
Exercise 15
A triple-axis unit is used for insertion of parts from position 2 into
positions 3 and 4 of a gear housing. The vacuum gripper V is to be
simulated by a lamp (gripper suction = lamp on, no gripper suction =
lamp off). The start position is to be position 1, where the gripper is
raised (Z-axis) and there is no suction. When the START button is
pressed, position 2 is to be approached and a part picked up from
the feed hopper and then deposited in position 3. Another part is
then picked up from position 2 and deposited in position 4. The grip-
per then returns to initial position 1.
Problem description
Sensing of the magazine (simulated by a switch and indicated via a
lamp):
When the magazine is empty, the control system is to remain in posi-
tion 1 or position 2 and must only proceed or restart when the
magazine has been filled and the start button pressed.
Sensing of the gear housing:
This is to guarantee that a gear housing which is inserted into a de-
vice is removed after processing (switch and lamp off). The initial
start positions of the double-acting cylinders are: A+, B+, C-.
A-46
Exercise 15
Fig. 15/1: Positional sketch
A
B
C
1
0
1
0
1
0
1 2 3 4 5 6 7 8 9 10 11 12 13 14=1
S2
S1
B2
B1
B4
B3
down
up
Vacuum
generator on
Vacuum
generator off
Vacuum
generator on
Vacuum
generator off
Fig. 15/2:
A-47
Exercise 15
A-48
Exercise 15
Galvanising process Title
To teach the student how to realise program branchings
To teach the student how to make multiple use of time relays
To familiarise the student with program section repetitions
using the preselect counter
To teach the student how to realise a pressure-dependent
control system
Training aims
I
I
I
A-49
Exercise 16
An overhead trolley beam transports the parts to be galvanised from
a work surface across the three baths and back again. A double-
acting cylinder positions the basket on the work surface or else
lowers it into the baths. It remains in the forward end position (bath
2) or swings the basket up and down in the bath (baths 1 and 3).
Partial strokes are sensed by three limit switches.
If the trolley has approached a horizontal position, a control lamp is
illuminated (bath 1 lamp H1, bath 2 lamp H2, bath 3 lamp H3 and
work surface lamp H4).
In the initial position, the basket hangs above the work surface. When
the up/down switch S2 is actuated, the cylinder extends and the bas-
ket is deposited on the work surface for loading. When the initial start
position has once more been reached, the cylinder can be actuated
via start button S. The movements of the trolley (from work surface
to bath 1, from bath 1 to bath 2, from bath 2 to bath 3 and from
bath 3 back to the work surface) are simulated by four identical time
periods t
1
= 2 seconds. Once the basket has been dipped into bath 1
(and bath 3), the piston extends four half strokes in the forward
stroke area. The basket remains in bath 2 in the forward stroke area
t
2
= 3 seconds.
Problem description
When the main power supply has been switched on, the control is to
be activated via the SET button S1 and the time interval t
1
started
simultaneously.
During this time period, the cylinder is to be brought into the initial
position (as it would have moved into the forward end position by
leakage losses when the installation was stopped.)
When the time t
1
has expired, the positioning lamp H4 is illuminated.
The installation can only be started once an pneumatic-electrical con-
verter has signalled the supply of compressed air.
A-50
Exercise 16
Bath 1 Bath 2 Bath 3
A
Fig. 16/1:
Positional sketch
START
Bath 1 Bath 2 Bath 3
Fig. 16/2:
A-51
Exercise 16
A-52
Exercise 16
Loading station Title
Consolidating the students knowledge
Program section repetition
Training aims
I
I
I
A-53
Exercise 17
A loading station is used for loading boxes. Empty boxes which are
supplied via a conveyor belt must be placed onto the transfer unit by
hand. Transfer unit A moves underneath the swivel device D, which
then fills the box with containers row by row. The motion sequence
can be seen in displacement-step diagram 1. Indicate on the diag-
ram the step which has been reached by the installation shown in
the positional sketch.
Problem description
The functioning of the suction cups is to be simulated by lamp. The
motion sequences which recur (see displacement-step diagram 1,
steps 3....21), should be brought together in a subroutine which is to
be repeated itself a number of times (see displacement-step diagram
2).
The loading station shown here is not in the initial position.
Fig. 17/1:
Positional sketch
A-54
Exercise 17
A+ C+ D+ D- C- B+ C+ D+ D- B- C- B+ C+ D+ D- B- C- B+ C+ D+ D- C- A- Abbreviated notation
3 x Subroutine
A+ C+ D+ D- B- C- B+ C+ D+ D- C- A-
Main program Main program
Abbreviated notation
Fig. 17/3:
Displacement-step
diagram 1
Fig. 17/2:
Displacement-step
diagram 2
A-55
Exercise 17
A-56
Exercise 17
Rotary indexing station Title
To familiarise the student with parallel program division. Training aims
I
Drawing the pneumatic and electrical circuit diagram Exercise
I
I
A-57
Exercise 18
Workpieces are drilled vertically and horizontally on an eight-station
rotary indexing table. Six feed units are used for the various machin-
ing operations. Two each for drilling, counterboring and counter-
sinking.
Two transferring units load and unload the machine respectively.
Lifting cylinders A and C descend onto the workpieces. These are
picked up by suction (functioning of the vacuum generator is to be
indicated by a lamp) and then lifted.
The stroke of cylinder E then causes the table to index on by one
position. At the same time, transfer cylinders B and D approach the
positions for placing on the indexing table and depositing via the con-
veyor belt 2.
Then, cylinder E latches the rotary indexing table and the two lifting
cylinders A and C deposit the parts.
At the same time as the lifting cylinder retracts, processing via feed
units F to K begins.
When these have reached their forward end positions, the feed units
and the transfer cylinders return to their initial positions.
Problem description
Choice between manual and automatic operating modes.
Separate push buttons for START and STOP (continuous cycle).
The start signal must be maintained until the machine has been sup-
plied with lubricant via a centralised lubrication system (the pump
motor is to be simulated by a lamp). Then, the start signal is to be
stored and indicated by a lamp.
Workpiece sensing on conveyor belt 1 is simulated by a switch.
The air blast for swarf removal is to be simulated using a solenoid
valve.
A-58
Exercise 18
EMERGENCY-STOP
The electrical power to the control must be switched off.
The feed units are to retract.
The transfer units and the cylinder of the indexing table are to com-
plete their movements.
When the vacuum generators are active, they must continue to re-
main active until, after the RESET and a renewed START, the con-
troller gives the command to deposit.
RESET
If, after indexing on, processing can no longer take place because
the EMERGENCY-STOP has been actuated, processing must be car-
ried out in RESET mode via a time control.
All cylinders must be brought into their initial position. In the case of
the transport units, cylinders A and C must retract before cylinder B
and D.
Note regarding solution
For the purpose of simulation, this exercise can be solved using four
cylinders:
The transer units are to be represented by double-acting cylinders.
Cylinders A and B are sufficient for this as the movements of the two
units are synchronised.
Cylinder E for indexing of the table E is also represented by a
double-acting cylinder.
All feed units are to be represented by a single-acting cylinder.
Only the limit switches of the four cylinders are to be drawn in the
electrical circuit diagram.
A-59
Exercise 18
Feeding
Conveyor belt 1
Conveyor belt
Transport 2
Transporting away
B
K
Deburring 2
C
D
J
Deburring 1
I
Counterboring 2
H
Counterboring1
Rotary indexing table
G
Drilling 2
Transport 1
F
Drilling 1
A
Processed workpiece
Fig. 18/1:
Positional sketch
A-60
Exercise 18
Transfer 2
Transfer 1
Drilling 1
Drilling 2
Counterboring 1
Counterboring 2
Deburring 1
Deburring 2
Rotary indexing
table
Fig. 18/2:
A-61
Exercise 18
A-62
Exercise 18
Checking station Title
To familiarise the student with the use of a timer with delayed
switch-on as a delayed starting element
Training aim
I
I
I
A-63
Exercise 19
Transfer cylinder A is to push a container onto the scales. Then,
cylinder B is to release the scales and cylinder A is to return to its
initial position.
After a waiting time of approx. 3 seconds, cylinder B is to block the
scales again. If the container is within the weight tolerance (switch S4
is activated), cylinder C is to push it onto the conveyor belt to move
it on and then to retract once again. However, if the tolerance limit is
not maintained (switch S4 not activated), cylinder D is to transfer the
container to the outlet chute and then to retract again. Then, the
container is to be transferred on by the conveyor belt (simulated by
a lamp H1).
Problem description
The installation is to operate in continuous mode and started by a
push button S and stopped at the end of the cycle by a second push
button S6.
The good parts are to be counted.
As the sensor for the containers is not attached directly to transfer
cylinder A, for technical reasons, the run-time of the conveyor belt
must be controlled as follows:
The conveyor belt continues running until a sensor (push button S5)
outside the transfer area, signals the presence of a container and
uses this to control a timer. When the time has expired, the con-
veyor belt can stop and cylinder A then commences the cycle once
again.
A-64
Exercise 19
A
B
C
D
Fig. 19/1:
Positional sketch
Fig. 19/2:
A-65
Exercise 19
A-66
Exercise 19
Handling device Title
Familiarisation with an alternative solution to electro-pneumatics. Training aim
Electro-Pneumatics Exercise
I
Drawing the pneumatic and electrical circuit diagrams
I
I
A-67
Exercise 20
Cylindrical parts are to be distributed evenly from outlet channel 1
onto the two inlet channels 2 and 3 (see displacement-step diagram)
Problem description
The unit is to be operated in continuous cycle only. "START" and
"STOP AT END OF CYCLE" are each to be effected by one push
button.
Sensing of parts at channel 1 is to be simulated by a switch. If this
switch is not activated, the unit is to stop at the end
of the cycle.
After the swivel movement to inlet channels 2 and 3 has been carried
out, the gripper is not to open until a short delay time has expired.
After actuation of the EMERGENCY-STOP switch, cylinders A, B and
C are to retract and cylinder D switched to an unpressurised condi-
tion.
When the EMERGENCY-STOP has been unlatched, the reset button
is to return cylinder D to the initial position.
It must be possible to limit the number of cycles using a preselect
counter.
2
3
D
C
B
A
1
Fig. 20/1:
Positional sketch
Fig. 20/2:
A-68
Exercise 20
Part B - Fundamentals
The theoretical fundamentals for the training package
Electropneumatics are summarised in the textbook
Learning System for Control Technology -
Introduction to Electro-Pneumatics.
B-1
B-2
Part C Solutions
Solution 1: Bench drill C-3
Solution 2: Feed unit for sheet metal strip C-9
Solution 3: Filling device C-17
Solution 4: Stamping device C-21
Solution 5: Drilling jig C-27
Solution 6: Clamping unit for grinding C-35
Solution 7: Forming press C-41
Solution 8: Embossing device C-45
Solution 10: Drilling and reaming machine C-55
Solution 12: Internal grinding machine C-63
Solution 13: Assembly unit C-69
Solution 14: Moulding press C-75
Solution 15: Pick-and-place unit C-81
Solution 16: Galvanising process C-87
Solution 18: Rotary indexing station C-101
Solution 19: Checking station C-109
C-1
C-2
* For the purposes of this exercise, feed unit B is replaced by a
double-acting cylinder.
** Detailed representation of the on/off valve with filter regulator.
Fig. 1/3:
Circuit diagram, pneumatic
C-3
Solution 1
Fig. 1/4:
Circuit diagram, electrical
C-4
Solution 1
Since in this case the memory function is via a relay, signle solenoid
valves are generally activated using a latching sequence. It should be
remembered that the coil circuit should be interrupted by a second
contact for the return motion, for example, in order to achieve spring
return of the valve to the initial position. (The final step represents
an exception to this since it is possible to dispense with a normally
closed contact as all valves are returned to their initial positions
through interruption of all the circuits). This is why a latching se-
quence is used since in the case of power failure all cylinders will
return to an accurately defined initial position. This is important for
accident prevention, although it is important to watch out for overlap-
ping of movements which may occur on reaching the initial position.
Solution description
When START button S is actuated and normally open contact S1 is
activated via cylinder A, the circuit to relay K1 is closed via the nor-
mally closed contact of K4, which then goes into self-holding (latch-
ing) via the parallel contact of K1.
A further normally open contact of K1 switches the circuit to solenoid
coil Y1. This in turn switches the solenoid valve and cylinder A
travels into the forward end position.
Fig. 1/5:
Step 1, Cylinder A+
C-5
Solution 1
When cylinder A has reached its forward end position, it actuates
limit switch S2. Then, the circuit for relay K2 is closed via S2 and the
setting condition K1, this then goes into self-latching via a parallel
normally open contact.
A second normally open contact of K2 switches the current to so-
lenoid coil Y2 via normally closed contact K3; this switches the valve
and cylinder B extends.
The principle of the latching sequence is to interrogate the preceding
step and its acknowledgement (limit switch) and then to set a new
memory for the next step. Finally, the complete sequence (the self-
latching circuits) is reset by the last step (or cycle) no self-latching
is required for the last step.
Fig. 1/6:
Step 2, Cylinder B+
C-6
Solution 1
Quantity Designation
2 Relay, 3-off
1 Signal input plate, electrical
1 Indicator/distributor plate, electrical
2 Double-acting cylinder
1 On/off valve with filter regulator
1 Manifold
2 Proximity sensor with cylinder mounting
1 Limit switch, electrical, actuation from the left
1 Limit switch, electrical, actuation from the right
1 3/2-way solenoid valve, normally closed
2 5/2-way solenoid valve
Components list
C-7
Solution 1
C-8
Solution 1
Simplified representation of on/off valve with filter regulator
Fig. 2/3:
C-9
Solution 2
Fig. 2/4:
Circuit diagram, electrical (1)
C-10
Solution 2
Fig. 2/5:
C-11
Solution 2
When the SET button is pressed, relay K7 goes into self-latching and
switches relay K8, which represents the start condition.
If appropriate, the SET button should be latched in such a way that
it can only be active at the time when the main current supply is
applied, in order to safeguard the circuit sequence.
Once the feed has been initiated with S and S3, K1 goes into self-
latching and K2 switches, self-latching at K7 is cancelled via a nor-
mally closed contact of K2.
A further possibility is to replace the SET key by a relay (see exer-
cise 13).
When START button S is actuated, the circuit for relay K1 is closed
via the signal from pressing S3, the limit switch S2, the setting sig-
nal for relay K8 and the normally closed contact K4. The relay goes
into self-latching via the parallel normally open K1. At the same time,
a further normally open contact of K1 switches the circuit for the
relay K2.
A normally open contact of K2 switches the circuit in the power sec-
tion to solenoid coil Y1. The valve switches and cylinder A travels
into the retracted end position and there actuates limit switch B1.
Fig. 2/6:
Step 1, Cylinder A-
C-12
Solution 2
Now sensor B1 emits a signal which closes the circuit for relay K3
via the normally open contact K2 and the normally closed contact K6.
This goes into self-latching via the parallel normally open contact K3.
At the same time, relay K4 is switched via a further normally open
contact K3.
Only now, when self-latching of K3 has been established, is the set-
ting condition K1 or K2 reset by normally closed contact K4 and in
the power section, the normally open contact K4 switches the circuit
to solenoid coil Y3, which in turn switches the valve, cylinder B re-
tracts and activates S1 in the end position.
Owing to its additional switching time, relay K4 serves as a delay
between the build-up of self-latching of K3 and the reset of setting
condition K2. This guarantees that K3 is in self-latching before the
setting signal is set.
Then, the next step is activated (K5, K6) by S1 via K4. The principle
of the latching sequence is based on the interrogation of the preced-
ing step and its acknowledgement (limit switch). The next step is acti-
vated on the basis of these conditions; when this happens, the
preceding step is reset.
Fig. 2/7:
Step 2, Cylinder B-
C-13
Solution 2
The reset sequence is particularly suitable for the control of double
solenoid valves, since here the memory behaviour is assumed by the
bi-stable solenoid valve.
This can be very important in the case of power failure, in respect of
accident prevention.
To be able to start up again after power failure or switch off the main
power supply (circuit dead), relays K7 and K8 must be switched. This
happens here via the SET key. The principle of reversal of the
latched sequence which is shown here is completely reliable owing
to the use of an additional relay per step and can be used for every
type of relay. Where there is a late opening or early closing relay, it
may be possible to get by without an additional one. (Normally, only
contactors have this type of switching behaviour). In such a case, the
circuit up to step 2 would look as follows. Compare this simplified
circuit diagram with the electrical circuit diagram.
Fig. 2/8:
Circuit diagram, simplified
C-14
Solution 2
3 Relay, 3-off
1 Manifold
2 5/2-way double solenoid valve
Components list
C-15
Solution 2
C-16
Solution 2
Fig. 3/2:
C-17
Solution 3
Fig. 3/3:
C-18
Solution 3
Fig. 3/4:
C-19
Solution 3
When S3 or S4 and S5 are activated, the control system is started
up. Cylinder A retracts and the bottles move along. If S6 is actuated,
the cylinder extends again. Then, the indexing table (cylinder B) in-
ches round one position. Once a bottle has reached the filling station,
it is filled until the time delay closes the container (cylinder C), and
the control system is brought back into the initial start position. If no
bottle is reported as being present at the filling station, the control
can be returned to the initial start position via S8. Then the indexing
table can be supplied with bottles until a signal is received from S7.
3 Relay, 3-off
1 Time relay, 2-off
1 Single-acting cylinder
1 Manifold
1 Proximity sensor, capacitive
1 Proximity sensor, optical
1 3/2-way double solenoid valve, normally closed
Components list
C-20
Solution 3
Fig. 4/3:
C-21
Solution 4
Fig. 4/4:
C-22
Solution 4
Fig. 4/5:
C-23
Solution 4
Fig. 4/6:
C-24
Solution 4
This solution corresponds to a reset sequence of 6 steps with single
cycle operation. Only when the last step has been set via the SET
button, can another single cycle be started. The signal generators are
directly switched to limit the number of relays.
4 Relay, 3-off
1 Manifold
Components list
C-25
Solution 4
C-26
Solution 4
* For the purposes of this exercise, feed unit C is replaced by a single-acting
cylinder. A 3/2-way solenoid valve may also be used as a final control element.
Fig. 5/3:
Y3
1 3
2
C
S1 S2
Fig. 5/4:
C-27
Solution 5
Fig. 5/5:
C-28
Solution 5
Fig. 5/6:
C-29
Solution 5
Fig. 5/7:
C-30
Solution 5
Fig. 5/8:
C-31
Solution 5
The preselect counter receives pulses from S2. When the preselect
figure or the end of the drill life has been reached, the sequencer is
stopped. It will not continue running until the drill has been changed
(counter reset).
Signal generators S1 and S2 must be switched indirectly to ensure
reliable sensing. Otherwise, self-latching would supply a continuous
signal (see example) when a latching sequence is being used.
K
n+1
can be set without acknowledgement S1 being activated since
current can flow via the self-latching of K3 and K
n
.
Example
Fig. 5/9:
C-32
Solution 5
The signal generators indirectly switched (as in the solution to the
exercise).
As the connection is interrupted here by K4 via K3, K
n+1
may only
be set if K
n
and S1 are activated.
Fig. 5/10:
Alternative circuit (1)
Fig. 5/11:
Alternative circuit (2)
C-33
Solution 5
5 Relay, 3-off
2 Signal input plate, elctrical
1 Preselect counter
1 Manifold
1 Proximity sensor, inductive
Components list
C-34
Solution 5
* For the purposes of this exercise, feed unit B is replaced by a double-acting
cylinder.
Fig. 6/3:
C-35
Solution 6
Fig. 6/4:
C-36
Solution 6
Fig. 6/5:
C-37
Solution 6
Fig. 6/6:
C-38
Solution 6
In this exercise, two problems can be solved with minimal modifi-
cations to the reset sequence:
I
Memorising of the start signal (K1) for the movement A+,
I
Resetting of the final step (K14) via START button S.
The pressure switch does not switch over until the clamping pressure
has been reached; consequently the sequencer stops until the re-
quired pressure has built up.
In this exercise, sensor B1 and B2 can be interrogated directly sev-
eral of times without faulty actuation of the control taking place (com-
pare with exercise 5).
5 Relay, 3-off
2 Signal input module, electrical
1 Manifold
1 Pneumatic-electric converter
Components list
C-39
Solution 6
C-40
Solution 6
Fig. 7/3:
C-41
Solution 7
Fig. 7/4:
C-42
Solution 7
Fig. 7/5:
C-43
Solution 7
If the EMERGENCY-STOP switch ES is not activated, current path
(1) is supplied with current. In order to switch relay K2, the two push
buttons S3 and S4 must be actuated simultaneously (START signal).
If one of the push buttons is pressed before the other, the time relay
with switch-on delay is energised which then switches after 0.5 secs.
(For safety reasons, the switch-on delay must not exceed 0.5
seconds). The result of this is that the normally closed contact K3 in
current path 3 opens and, thus the connection to K2. If two buttons
are actuated simultaneously so that the time relay does not switch
through, relay K2 is switched and cylinder A extends.
When the EMERGENCY-STOP switch is actuated, the current to path
1 is interrupted and the solenoid coils are no longer supplied with
current. The result of this is that the reset springs reverse the so-
lenoid valves and the cylinders return to the initial position.
2 Relay, 3-off
1 Time relay, 2-off
1 Manifold
1 EMERGENCY-STOP button
Components list
C-44
Solution 7
Fig. 8/3:
C-45
Solution 8
Fig. 8/4:
C-46
Solution 8
Fig. 8/5:
C-47
Solution 8
By pressing the START button, the program is started in accordance
with the displacement-step diagram.
By pressing push button S3, it is possible to carry out one movement
per actuation in accordance with the program or control sequence.
Manual step mode
When, after pressing S3, cylinder A has advanced via K3 and cylin-
der B via K4, self-latching at K4 can be reset via K7 by means of
push button S4. As a result of this, K4 is de-energised and cylinder
B retracts. Cylinder B is now able to advance again via S3.
Step repetition
2 Relay, 3-off
1 Manifold
Components list
C-48
Solution 8
* For the purposes of this exercise, linear drive B is replaced by a double-acting
cylinder.
Fig. 9/3:
Y3
5 1 3
2 4
Y2
1 3
2
B
B1 B2
Fig. 9/4:
C-49
Solution 9
Fig. 9/5:
C-50
Solution 9
Fig. 9/6:
C-51
Solution 9
Fig. 9/7:
C-52
Solution 9
Line 1 is supplied with current via relay K4 (provided the EMER-
GENCY-STOP button has not been pressed). The cycle is started via
S3 or S4. A latching sequence is then constructed for this motion
sequence through current paths 9 to 18.
When the EMERGENCY-STOP switch has been actuated, the gripper
is to remain in its current position, whether open or closed. The sig-
nal "close gripper" is acquired via relay K6. This signal must be
stored after actuation of EMERGENCY-STOP to keep the gripper in a
closed position (see current paths 21 and 22). However, this memory
must be erased if, at the time of the EMERGENCY-STOP actuation,
the control had opened the gripper. In this case, the "open" signal
K8 MUST BE STORED (SEE CURRENT PATHS 23 AND 24). Relay
K13 is required to ensure that the reset button for gripper S7 is only
active when the EMERGENCY-STOP key has already been switched
off and the controller has been stopped. This is only released when
no start signal or EMERGENCY-STOP signal is present and push
button S7 has been actuated.
Coil Y2 is actuated by signal K7 and the linear drive proceeds. Self-
latching of relay K10 is required to switch the linear drive to unpress-
urised on actuation of the EMERGENCY-STOP and to memorise this
status. This is then reset by RESET button S6 and the unit is re-
turned once again to the initial start position.
A new start signal is not memorised until the gripper has actuated
limit switch S2 (K5).
The cycle only starts if parts are present in the outlet channel (sen-
sor B3) and the initial position of the linear drive (sensor B1) is being
signalled.
Owing to multiple sensing, limit switch S2 must be switched indirectly
via relay K5.
C-53
Solution 9

5 Relay, 3-off
1 Manifold
Components list
C-54
Solution 9
* In order to assemble this control system on the profile plate, feed unit A is re-
placed by a double-acting cylinder and feed unit C by a single-acting cylinder.
Fig. 10/3:
C-55
Solution 10
Fig. 10/4:
C-56
Solution 10
Fig. 10/5:
C-57
Solution 10
Relay K1 is switched via the PROGRAM SELECTOR BUTTON PS.
This is only possible prior to actuation of the START button.
If program 2 (drilling and reaming) is selected, the latched sequence
runs through as usual.
However, if program 1 (drilling) is required, it is simply necessary to
press the start button. If S2 and contact K2 switch the relay K4, the
sequencer is reset by K4 and cylinder A retracts.
3 Relay, 3-off
1 Manifold
Components list
C-58
Solution 10
* For the purposes of this exercise, cylinder A is replaced by a single-acting
cylinder.
Fig. 11/3:
C-59
Solution 11
Fig. 11/4:
C-60
Solution 11
Fig. 11/5:
C-61
Solution 11
The cycles of the control are counted to enable cylinder C to extend.
Where there is a preselected figure 2, cylinder C is extended together
with cylinder B on the second cycle of the control system in order to
bring the part past position 2.
If cylinder C has extended, start condition K1 is reset via B 4 (K 10)
and the counter is reset to zero.
4 Relay, 3-off
1 Preselect counter
1 Manifold
Components list
C-62
Solution 11
* For the purposes of this exercise, cylinder A is replaced by a single-acting cylin-
der and feed unit C by a double-acting cylinder. The inductive proximity sensor
B4 is switched to mid-position by the trip cam.
Fig. 12/3:
C-63
Solution 12
Fig. 12/4:
C-64
Solution 12
Fig. 12/5:
C-65
Solution 12
Fig. 12/6:
C-66
Solution 12
When the installation is started up and the initial position of cylinder
B (S1) and a workpiece (S3) are signalled, cylinder A extends. Then
cylinder B extends and clamps the part. When the clamping pressure
has been reached, cylinder C is extended via K5. Sensor B5 is acti-
vated in the forward end position. This in turn activates relay K6.
Then feed cylinder C retracts again. In addition, K6 passes on a
counting pulse to the preselect counter.
Sensor B4 is activated when the cylinder has retracted by a half.
This then reverses the valve via further contacts (K6, K7, K9) and
cylinder C extends again. This sequence is carried out until the
preselected figure has been reached. If B4 is activated on the return
stroke, the valve may not switch since counter contact K9 interrupts
the circuit. The sequence is switched on via a second counter con-
tact.
5 Relay, 3-off
1 Preselect counter
1 Manifold
Components list
C-67
Solution 12
der.
Fig. 13/3:
C-69
Solution 13
Fig. 13/4:
C-70
Solution 13
Fig. 13/5:
C-71
Solution 13
Fig. 13/6:
C-72
Solution 13
Fig. 13/7:
C-73
Solution 13
When the "MAN/AUT" switch S6 or relay K1 is not actuated, voltage
is applied at line 1 (MANUAL mode). The cylinder can be extended
individually via push buttons S3, S4 and S5.
Cylinder A extends and remains in the extended position for as long
as push button S3 is actuated or an additional push button is
pressed. Movement is prevented if two or three push buttons are
pressed simultaneously.
To ensure that there is no interference with AUTOMATIC mode, the
lines to the normally closed contacts of relays K13, K14 and K15
are each interrupted by a normally closed contact of K1.
As soon as line 2 (AUTOMATIC mode) is supplied with current, self-
latching is set via the normally closed contact K12 in current path
12. At the same time, when K10 goes into self-latching, relay K12 is
switched via a normally open contact K10. This also goes into self-
latching and the normally closed contact K12 in current path 21
opens. Thus, the last step which is normally required as a start
condition can be activated without the use of a SET button.
5 Relay, 3-off
1 Manifold
Components list
C-74
Solution 13
* For the purposes of this exercise, the double-acting cylinder is replaced by a
single-acting cylinder.
Fig. 14/3:
C-75
Solution 14
Fig. 14/4:
C-76
Solution 14
Fig. 14/5:
C-77
Solution 14
Fig. 14/6:
C-78
Solution 14
The two-hand safety control is realised in current paths 1 to 4. Relay
K2 serves here as a delaying element. The maximum time duration
allowable between the actuation of S1 and S2 is dependent on the
switching time of this relay.
If the two push buttons S1 and S2 are activated simultaneously,
cylinder A extends. These buttons must remain depressed until the
cylinder has reached its forward end position.
The start condition is decided by the connections in current paths 24
- 26. It has been established that the signal from signal generator B5
only becomes effective when the extractor unit leaves the working
area, i.e. on the return stroke of cylinder B.
Relay K15 starts the operation of the vaccum generator which must
be specially stored as the sequence is set before the retraced end
position of cylinder B is reached.
5 Relay, 3-off
1 Time relay, 2-off
1 Manifold
Components list
C-79
Solution 14
C-80
Solution 14
* For the purposes of carrying out this exercise on the profile plate, cylinder C is
replaced by a single-acting cylinder.
Fig. 15/3:
C-81
Solution 15
Fig. 15/4:
C-82
Solution 15
Fig. 15/5:
C-83
Solution 15
Fig. 15/6:
C-84
Solution 15
Fig. 15/7:
C-85
Solution 15
If one of the magazines is empty, then the installation remains sta-
tionary at position 1 or 2 by resetting the START signal, and waits
there until the magazine has been filled and a new START signal is
issued (see current paths 1, 4, 22.).
In order to fulfil the gear sensing, it is necessary to establish
whether a gear housing is available (starting precondition). When the
assembly has been completed, the gear housing must be removed.
Without this, it will no longer be possible to start the installation (see
current path 1, 4, 34).

6 Relay, 3-off
1 Manifold
Components list
C-86
Solution 15
Fig. 16/3:
C-87
Solution 16
Fig. 16/4:
C-88
Solution 16
Fig. 16/5:
C-89
Solution 16
Fig. 16/6:
C-90
Solution 16
Fig. 16/7:
C-91
Solution 16
Initial position: Cylinder A is retracted and is located above the work
surface and lamp H4 is illuminated. Cylinder A can be extended via
the up/down switch (current path 41). Once the initial start position
has been regained, the cycle is started with the start button. Then
lamp H4 is switched off and the time t
1
expires. This switches lamp
H1 (bath 1 reached) and allows cylinder A to extend via relay K2.
Counting pulses are passed on to the counter via B3 (current paths
31-34). Additionally, B3 reverses the valve so that cylinder A retracts
as far as B2. As a result, cylinder A is switched back to "Extend"
(current paths 37-40). This oscillating movement of cylinder A is re-
peated until the counter switches and interrupts the signal of sensor
B2.
When the cylinder has retracted, time delay t
1
is activated once again
by relay K5, which switches relay K6 when it has completed its cycle.
Lamp H2 is illuminated and cylinder A extends. Next, the delay
period t
2
of the basket in bath 2 is switched via K7. Then, relay K8
switches, cylinder A retracts once again and the time t
1
is repeated.
When the time relay has switched, the cylinder enters bath 3 and
the motion sequence carried out for bath 1 is repeated. Time period
t
1
is then activated a final time and signals the initial start position via
lamp H4.
Note
The time t
1
must be longer than the time which the cylinder requires
for its return stroke.
6 Relay, 3-off
1 Time relay, 2-off
1 Preselect counter
1 Manifold
Components list
C-92
Solution 16
* For the purposes of this exercise, the rotary actuator (D) is replaced by a single-
acting cylinder, and the rodless cylinder (A) by a double-acting cylinder.
Fig. 17/4:
C-93
Solution 17
Fig. 17/5:
C-94
Solution 17
Fig. 17/6:
C-95
Solution 17
Fig. 17/7:
C-96
Solution 17
Fig. 17/8:
C-97
Solution 17
The loading station is located in step 21 of the subroutine. Solution description
When the START button has been pressed, K1 causes cylinder A to
extend. Then cylinder C is extended via K2 and cylinder A is
switched to the unpressurised condition.
Next, the jump from K3 to K12 into the subroutine takes place.
When the subroutine has run through, the return jump through K18
and K19 to K4 in the main program takes place. Cylinder D ad-
vances and is retracted by K5. The, cylinder C is retracted by K6
and cylinder A by K7.
Main program
Movements D+, D-, B- (with every B- movement, cylinder A which
has been switched unpressurised, is pushed back by a partial stroke),
C-, B+, C+ are executed in the subroutine and repeated three times
via a counter. When the counter has reached the preselected figure,
the return jump to the main program is carried out.
Subroutine
In the case of this motion sequence, costs make it necessary to re-
alise this by means of a repetition of a program section (subroutine).
Increased expenditure on planning is justified here by a considerable
saving on relays and very much simpler circuitry, so that in this case,
the solution shown is more economical than a solution with the full
sequence which requires less planning.
Comment
C-98
Solution 17

6 Relay, 3-off
1 Preselect counter
1 Manifold
Components list
C-99
Solution 17
C-100
Solution 17
Note
For the purposes of this exercise, cylinders C and D are not con-
structed. Feed units F to K are represented in the construction by a
single-acting cylinder. The on/off valve with filter regulator and man-
ifold are not represented.
Fig. 18/3:
C-101
Solution 18
Fig. 18/4:
C-102
Solution 18
Fig. 18/5:
C-103
Solution 18
Fig. 18/6:
C-104
Solution 18
Fig. 18/7:
C-105
Solution 18
Current paths 1 to 3 fulfill the following functions: START and STOP
via push buttons, display of the start signal and simulation of the cen-
tral lubrication system.
Power to the installation is switched off with the EMERGENCY-STOP
in order to add a memory and secure the movement B-. Otherwise,
cylinder B would retract as a result of the automatic setting condition
if cylinder A is already located in its initial start position.
The status of the vacuum generator is stored by current paths 33
and 34. After EMERGENCY-STOP, the unit is reset and a restart
can be made. If the fact that the vacuum generator is active has
now been stored, steps 1 and 2 (A+, A-) are now skipped because
a workpiece has already been collected.
In manual mode, the initial start position of the machining station can
be achieved via the RESET button, cylinder B only being able to
retract when cylinder A is in its initial position. In addition, processing
is started via the RESET key if memory K18 reports that no process-
ing has yet been carried out. Memory K21 (EMERGENCY-STOP ac-
tuated) is reset.
Note
In order to limit the cost incurred through additional equipment, relay
K21 can be replaced by the counter (preselected figure 1).
C-106
Solution 18
Fig. 18/8:
C-107
Solution 18
6 Relay, 3-off
1 Time relay, 2-off
1 Manifold
3 5/2-way double-solenoid valve
Components list
C-108
Solution 18
* For the purposes of this exercise, cylinder D is to be replaced by a single-acting
cylinder.
Fig. 19/3:
C-109
Solution 19
Fig. 19/4:
C-110
Solution 19
Fig. 19/5:
C-111
Solution 19
Fig. 19/6:
C-112
Solution 19
Fig. 19/7:
C-113
Solution 19
In this solution, end position sensing is indirectly interconnected. The
START and STOP conditions for continuous cycle using one push
button each, are both realised by means of relay K1.
Selection between tolerance conditions Good/Reject is made with the
switch S4 (K12), with the result that either cylinder C or D extends.
Parts are counted by B5 (position C+) indirectly via K14.
The conveyor belt is started by the final step (K17) and does not
stop until the timer which resets the sequence has run through. The
time delay is not started until the control is in the final step and a
container (S5) has been signalled as being present.
The time element with switch-on delay is activated immediately after
power supply has been switched on, meaning that interruption of this
causes delayed start-up behaviour. That is, the time element switches
to its normal position when the time has expired. However, for this
purpose it is necessary to store the interruption signal (see K18).
6 Relay, 3-off
1 Time relay, 2-off
1 Preselect counter, electrical, incrementing
1 Manifold
Components list
C-114
Solution 19
der. Rotary actuator D is replaced by a double-acting cylinder.
Fig. 20/3:
C-115
Solution 20
Fig. 20/4:
C-116
Solution 20
Fig. 20/5:
C-117
Solution 20
Fig. 20/6:
C-118
Solution 20
The continuous cycle is introduced via the START button. The hand-
ling device then runs until a STOP is actuated at the end of the
cycle or until the counter has reached the preselected figure or no
parts are reported as being present.
At this point, lamp H1 indicates whether the start signal is still
stored.
Memories K5 and K14 cause cylinder C to move every second cycle.
Lamp H2 indicates that the installation is operating in AUTOMATIC
mode. H3 lights up when MANUAL mode is operating (RESET).
6 Relay, 3-off
1 Time relay, 2-off
1 Preselect counter, electrical, incrementing
1 Manifold
2 5/2-double solenoid valve
Components list
C-119
Solution 20
C-120
Solution 20
Part D Appendix
Storage tray D-2
Mounting technology D-3
Plastic tubing D-5
Data sheets
Relay, 3-off 011087
Signal input plate, electrical 011088
Time relay, 2-off 011432
Preselect counter, electrical, incrementing 011435
EMERGENCY-STOP button 152901
Proximity sensor, inductive 152902
Proximity sensor, capacitive 152903
Proximity sensor, optical 152904
5/2-way double solenoid valve 152910
D-1
Storage tray
All the components of the equipment set for the technology package
TP202 are stored in a storage tray.
This storage tray serves both as a means of packaging for despatch
purposes and as a drawer insert for the Didactic furniture.
Equipment set TP202
in storage tray
D-2
Mounting technology
The components of the equipment set are mounted on the Festo
Didactic profile plate. The profile plate has 14 parallel T-groves
equally spaced 50 mm apart.
There are four alternatives for mounting the components on the
profile plate:
Alternative A: Detent system, without additional facilities.
Clamping mechanism with lever and spring
components can be moved in the direction of
the groove. Designed for light, non load-bearing
components
Alternative B: Rotational system, without additional facilities.
Triple grip nut with locking disc and T-head
bolt for vertical or horizontal alignment. Designed
for medium-weight, load-bearing components
Alternative C: Screw-in system, with auxiliary facilities.
Cheese head screw with T-head nut, vertical and
horizontal alignment, for heavy, load-bearing
components or components which are rarely
removed from the profile plate
Alternative D: Adaptor, for components designed
with locating pins for the plug-in assembly
boards and movable in the direction of the groove.
Designed for light, non load-bearing components
The signal input module, time relay, preselect counter and relay plate
may also be mounted in a cabinet frame for ER units.
D-3
With alternative A, a slide engages in the T-groove of the profile
plate. This locking part of the slide is pre-tensioned by a spring. By
pressing the blue lever, the locking part of the slide is retracted and
the component can either be removed or attached to the profile plate.
The components are aligned with the groove and can be moved in
the direction of the groove.
With alternative B, the component is secured to the profile plate by
means of a T-head bolt and a blue triple grip nut. A locking disc is
used for positional attachment, which can be secured in four positims
90 apart. In this way, the components can be secured on the
profile plate either parallel or across the groove.
When the locking disc has been adjusted to the required setting, the
component is positioned on the profile plate. By turning the triple
grip nut clockwise, the T-head nut is rotated by 90
o
in the T-groove
by means of thread friction. Further turning of the triple grip nut
clamps the component against the profile plate.
Alternative C is used for heavy components or components which
are screwed to the profile plate only once or seldom removed. Such
components are secured by means of cheese head screws with hex-
agon socket and T-head nuts.
With alternative D, the tried and tested ER units with locating pins
for the plug-in assembly boards can be attached to the 50 mm grid
by means of adapters. One black, plastic adapter is required for each
locating pin. The adapters are inserted in the T-groove, positioned at
intervals of 50 mm and secured by a rotation of 90. The locating
pins of the ER-unit are inserted in the adapter holes.
D-4
Plastic tubing
The polyurethane tubing is particularly flexible and fracture-resistant.
Colour silver metallic
External diameter 4 mm
Internal diameter 2.5 mm
Minimum bending radius within
temperature range of -35 to +60
o
C 17 mm
Maximum operating pressure within
o
C
temperature range of +30 to +40
o
C
o
C
10 bar (1 000 kPA)
9 bar (900 kPA)
7 bar (700 kPA)
Subject to alteration
Technical data
D-5
D-6

04 TP 202 Electropneumatics Advanced Level

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04 TP 202 Electropneumatics Advanced Level

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Electro-Pneumatics

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