IEEM110 Spring 2005 LAB7

IEEM 110 Computing in Industrial Applications

Lab 7 PLC with Stepper Motor
Lab Sheet
Introduction
Stepper Motor

Electric Actuator Stepper Driver

In this lab, you will experience programming controlled motion of an actuator, using stepper motors.
We will use a single stepper motor, which is driving a linear motion stage by the use of a lead-screw.
The rotation of the motor turns the lead-screw; the nut going through the screw is attached to the linear
stage. Since the pitch of the lead-screw is constant (pitch = the linear distance moved by a screw-thread
in one rotation), linear motion is directly proportional to the rotation angle of the motor. The motor is
driven by a stepper motor driver unit (see figures above).
(Please handle with care as they are very expensive!!)

Useful information:
1 Step = 6m = 0.006 mm
Movement of Actuator = (Frequency x 0.006) mm / sec.

Control Relay
NO +24V

1 1 1 COM Port
2 2 2
3 3 Relay 3
4 4 4

NC 0V Control Relay
COM
4-ports control relay with 24V power supply.
When the COM port is not activated, the 24V will be +24V NO
connected to the NC output port. When the COM port is NC
activated, the control relay is activated. The coil inside the relay
0V
will switch the control from the NC output port to the NO output port.

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 IEEM110 Spring 2005 LAB7

Circuit diagram for system

PLC Program for the Stepper Motor

Operand Types:
S (source): Data which is to be processed or data which sets the processing method
D (destination): Location where result of processing is stored
n (number): Numeric data which is to be processed or which sets the processing method.

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 IEEM110 Spring 2005 LAB7

Absolute Forward

Control Code

Frequency of Motor

Origin Return

Sample Program for Jog Right and Jog Left

The above PLC program shows how to make the actuator move. When X1 is triggered, the code of Jog
Right activated. The actuator will move forward with the frequency 800Hz until the X1 is OFF. When
X2 is triggered, the code of Jog Left activated. The actuator will move backward with the frequency
200Hz until the X1 is OFF.

Lab Exercise: Two-stage, automatic testing station

STAGE I: Start Step motor moves the linear stage 60mm Piston 1 is turned ON; after this, when
the operator (you) switch a limit-switch-1 ON Piston 1 is turned OFF.
STAGE II: (after completion of stage I): The step motor moves the linear stage another 30mm
Piston 2 is turned ON; limit-switch-2 is used (by operator) to turn Piston 2 OFF The step motor
returns the linear stage to the home position at a rapid speed, and stops at origin.
Please write the PLC program for the simulation above. The connection of the stepper motor, the driver
and the relay will be done for you.

Equipment allowed
1 x Power Supply Unit, 1 x Multimeter, 2 x Limit Switch, 2 x Double acting pneumatic cylinders, 1 x
Electrical Connecting Box, wires, air tubes, 2 x 3/2 directional control valves, 2 x 5/2 directional
control valves, 1 x PLC, 1 x Stepper Motor Set with relay

When you finish the tasks, please notice the TA and show your set-up and results
You are expected to answer some questions from TA about the lab.
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