USMAN INSTITUTE OF TECHNOLOGY

Hamdard University

Department of Electrical Engineering

B.E. Electrical (Electronic Engineering)
PROJECT REPORT
Batch-2012

EMBROIDERY TECHNIQUE USING

PROGRAMMABLE LOGIC CONTROLLER

BY

Hassan Fazal (12B-047-EL)

Usman Ali Qasmi (12B-059-EL)
Mirza Maaz Baig (12B-067-EL)
Muhammad Wajahat Ali (12B-073-EL)

Project Advisor
Engr. Mehr-un-Nisa
(Usman Institute of Technology)

ST-13, Block 7, Gulshan-e-Iqbal, Abul Hasan Isphahani Road,Opposite Safari Park,

P.O. Box 75300, Karachi, Pakistan.Phone: 34978274-5; 34994305; 34982476
http://www.uit.edu
 ABSTRACT

The designers urge to design cheap, reliable and less time consuming

prototypes before finalizing any product so that they can evaluate the design by

finding its flaws and to overcome it before going to make product immense.

Our product is a prototype of an Automated Embroidery Machine based on

PLC controller. The basic theme or idea of this product is to promote Pakistani

cultural style of dressing. Research work and report of this product contains the

design and development of machine which is capable of prototyping the embroidery

designs before taking it to large scale so that any flaw or error could be rectified.

The machine will be given the specific embroidery design through Human

Machine Interface (HMI) software as an input and process it in a linear PLC and it

will embroider the design on the attached cloth as an output which can be treated as

the prototype of the design.

Variety of shapes can be designed on the HMI software that will contain the

same hardware which will be used in our project or a different choice of a controller

can be made if the designed shape is complex.

1
 DEDICATION

This project is dedicated to our “Beloved Parents” who supported us morally as

well as financially, our “Respected Teachers” who supported us technically and

helped us in achieving our goal and at last but not the least our “Friends” who

motivated us step by step and encouraged us.

“That man can have nothing but what he strives for; that (the fruit of) his

striving will soon come in sight: Then will he be rewarded with a reward

complete.”

- The Noble Quran

2
 ACKNOWLEDGEMENT

First of all we would like to thank The Almighty ALLAH, Who gave us the

power, patience, strength, ability and determination to compete our project

successfully.

Secondly, we are very much thankful to our Internal Engr. Mehr-un-Nisa who

helped us in our project, fixed the problems we faced while making our project

and also gave her valuable time and guidance.

We would also like to thank our Project coordinator Engr. Atif Fareed for his

kind and consecutive support. Besides we also want to thank, Engr. Ahsan Ahmed

Farooqui, Engr. Sameer Ahmed, Engr. Hammad Munami, and Engr. Asif

Gulraiz for guiding us in our project.

Finally, all those people who involved directly or indirectly to accomplish

this task and in making our efforts fruitful.

We would also like to thank our families who strengthened their undying support

towards us, during the course of this report and managed during our absences.

We would like to thank our friends for their moral support.

3
 PREFACE

We tried to make an Automated Embroidery Machine that has a user friendly

environment which would be easy to operate for everyone.

Automated Embroidery Machine is a time saving project and also very helpful to

embroider the clothes in bulk amount.

Our project is very effective in industry as in industries need this kind of automated

machines that are less time consuming and more product generating.

4
 TABLE OF CONTENTS

Title Page #

Chapter # 01—Project Introduction ……………. 08

1.1 Introduction 09

1.2 Objective 10

1.3 Features 11

1.4 Aim 11

1.5 Motivation 11

1.6 Learning Outcomes 12

1.7 Block Diagram 13

1.8 Project Cost 13

1.9 Time Frame 14

Chapter # 02—Project Design …………………… 15

2.1 Project Components 16

2.1.1 Fatek PLC (Fbs-20MA) 16

2.1.2 5-Phase Stepper Motors 17

2.1.3 Stepper Motor Drivers 19

2.1.4 Sewing Machine 20

2.1.5 Ball Screws 20

2.1.6 Potentiometer 21

2.1.7 Limit Switches 22

2.1.8 Transformer 23

2.1.9 Relay 24

5
 2.1.10 U-Sensor 25

2.1.11 AC Motor 26

2.2 Mechanical Design 28

2.2.1 Iron Frame 28

2.2.2 Machine Stand 30

Chapter # 03—Implementation ……………. 31

3.1 Working 32

3.2 Programming 33

3.2.1 Programmable Logic Control 33

3.2.2 Human User Interface 33

3.2.3 Limit Switches 34

3.2.4 U-Sensor 34

3.2.5 Motor Drives 34

Chapter # 04—Problems and Troubleshooting ……… 35

4.1 Mechanical Structure 36

4.2 Sensor 37

4.3 Stitching 37

Chapter # 05—Test Analysis …………………… 08

5.1 Stepper Motor RPM Test 39

5.2 AC Motor Speed Test 39

5.3 Final Testing 39

6
Chapter # 06—Future Recommendations ……... 40

6.1 Motion Cards 41

6.2 Number of Thread Heads 41

6.3 Physical HMI 41

Chapter # 07—Final Output …………………… 42

Chapter # 08—Conclusion …………………... 44

Chapter # 09—References …………………… 46

7
 CHAPTER # 01

PROJECT INTRODUCTION

8
 CHAPTER # 01

PROJECT INTRODUCTION

1.1 INTRODUCTION

Every culture has its own traditional dressing and fashionable clothing

designs. Manufacturers bring new trends and styles to make these dressings

more attractive. Pakistani culture varies place to place so as the dressings of

the people of various regions but one thing is common in dressings of these

regions and that is embroidery and mirror work. Most of the embroidery

work is done manually by women folk and men. When this embroidery work

goes outside the Pakistan, it also becomes a reason of attention for people

abroad as it looks very attractive.

This project was planned to create automated embroidery machine using

PLC to reduce human labour. This project is also able to do as much work as

hundreds of men do manually, less time consuming and can embroider the

cloths in bulk amount.

As the world is switching to the automated processing side, industries and

factories also prefer automation. Automation can reduce the human effort

and can consume lesser time in performing the same task which is done

manually.

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 Here we also prefer automation of embroidery that can help us to reduce

human effort as well as help us in promoting Pakistani culture of dressing.

Our aim was to create an automated project that will consume lesser time,

cost and labour. And also try to make it as smaller in size as we can because

then it can be easily movable by one place to another and takes 2 to 3

persons to move. It will also occupy lesser space so it is very beneficial to

place it anywhere i.e. room, shop, store etc.

This automated embroidery machine is a prototype of other industrial based

automated embroidery machines.

1.2 OBJECTIVE

 To embroider the cloth with an automated process.

 To make the step size more précised to embroider with accuracy.

 Use HMI to control the process.

 To limit the frame not to exceed 5 inches limited measurement.

 Use PLC that can work accurately with stepper motors and can

generate desired output by an automated process.

 Use ladder programming to make the process automated.

 To control the speed of stepper motors.

 To control the speed of sewing machine.

 To reduce human effort, time and cost.

 To remove errors cause by breaking of thread.

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1.3 FEATURES

 An automated process using PLC.

 Stepper motors RPM can be controlled by HMI.

 Limit switches limit the frame movement.

 Error detection by U-sensor.

 Drives used to make step more précised.

 Sewing machine speed is controlled by potentiometer.

 This automated procedure takes lesser time and cost as compare to

human labour.

1.4 AIM

Our aim is to embroider the cloth by an automated procedure to reduce

human effort, labour cost and consume lesser time in an effective and

efficient manner that can be applied at industrial level.

1.5 MOTIVATION

We have chosen this project because of its unique working and to promote

Pakistani culture as it was our motivation. The world is moving towards 3D

printing and this embroidery machine is similar to that of 3D printing. We

have a lot of things and components in this project to learn about and that

also motivated us due to learning purpose as well.

We have learned working and using of many components which are used in

this project as well as which are not used in this project because we had to

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 compare between motors and sensors to select the suitable one for our

project.

Learning outcomes of our project are given below briefly:

1.6 LEARNING OUTCOMES

 PLC programming.

 Designing and programming virtual HMI.

 Controlling stepper motors by PLC.

 Using slides and ball screws.

 Mechanical structure design.

 Limiting frame movement by using limit switches.

 Using U-sensor.

 Controlling AC motor.

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1.7 BLOCK DIAGRAM

1.8 PROJECT COST

EMBROIDERY TECHNIQUE USING PLC

Components Cost

Stepper Motors with Drives 16000 PKR

Slides with Ball Screws + Hardware Labour 25800 PKR

Transformer 600 PKR

PLC (Fatek FBs-20MA) 13000 PKR

Sewing Machine 3000 PKR

AC Motor 600 PKR

U-Sensor & Relay 800 PKR

Total 60,000/= PKR

13
1.9 TIME FRAME

Duration Task Completed

10 Oct 2015 to 10 Nov 2015 Market Survey & Research Work

11 Nov 2015 to 10 Dec 2015 Purchasing the components

11 Dec 2015 to 10 Jan 2016 Making mechanical structure

11 Jan 2016 to 20 Feb 2016 Programming PLC & HMI

21 Feb 2016 to 30 Mar 2016 Assembling the components

31 Mar 2016 to 2 May 2016 Working on sensor & limit switches

3 May 2016 to 3 June 2016 Testing & troubleshooting

4 June 2016 to 20 June 2016 Finalizing

14
 CHAPTER # 02

PROJECT DESGIN

15
 CHAPTER # 02

PROJECT DESIGN

2.1 PROJECT COMPONENTS

2.1.1 Fatek PLC (FBs-20MA):

The PLC we are using is Fatek PLC

because it is cheaper than other PLCs like

Siemens, Omron etc. We are using FBs-

20MA for these reasons:

 It contains total 20 I/O’s (12 inputs and 8 outputs).

 2 external ports that can be expandable.

FBs-
Specification FBs-20MAR
20MAT/J
High speed (100KHZ) 2 points
Medium speed
4 points
Digital Input 24VDC (20KHZ)
Medium speed
6 points
(Total 5KHZ)
Relay 8 points ─
High speed (100KHZ) ─ 2 points
Digital
Medium speed
output Transistor ─ 6 points
(20KHZ)
Low speed ─ ─
1 port (Port0, USB or
Built-in
RS232)
Communication Port
2 ports (Port1~2, RS485 or
Expandable
RS232 or Ethernet)
Calendar optional
Built-in power supply SPW24-AC/D12/D24
Dimension 7.62mm fixed terminal block

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2.1.2 5 – Phase Stepper Motors:

We are using two 5-phase stepper motors to move the ball screws in

x and y dimensions. And we are also adjusting its speed in order to

our requirement. The specifications of motor are:

S.No Features Sensitivity

1 Rated Current 1.4 Amp

2 Rated Step/degree 0.72 step/degree

3 Shaft diameter 8mm

4 Shaft length 0.89”

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5 Phase Stepper Motor vs 2 Phase Stepper Motor:

There are two key differences between 2-phase and 5-phase motors. The first

is mechanical. A step motor consists of basically two parts, a stator and a

rotor. The rotor in turn is made up of three components; rotor cup 1, rotor

cup 2 and a permanent magnet. In a 2-phase motor the stator is made up of 8

magnetic poles with small teeth, while the 5-phase motor stator is made up of

10 magnetic poles. The poles in the stator are each provided a winding.

The second difference between 2-phase and 5-phase is the number of phases.

A 2-phase motor has two phases, an "A" phase and a "B" phase, while a 5-

phase motor has five phases. Essentially, the number of phases refers to the

different combinations of poles that are energized in sequence to attract the

rotor.

Structurally, the 5-phase motor is not that different from the 2-phase motor.

The rotor in both motors has 50 teeth. The difference is that because the 5-

phase motor has 10 poles, 2 per phase, the rotor only has to move 1/10 of a

tooth pitch to line up with the next phase. In the 2-phase motor, the rotor has

to move 1/4 of a tooth pitch to line up with the next phase (8 poles, 4 per

phase).

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 This results in the 2-phase having 200 steps per rotation, 1.8° per step, while

the 5-phase has 500 steps per rotation, 0.72° per step. The increased

resolution of the 5-phase is inherent to its design. When coupled with a

micro stepping driver, the 5-phase motor can make steps as small as

0.00288°, however, position accuracy and repeatability are still subject to the

motor's mechanical accuracy. The mechanical accuracy of both the 2-phase

and 5-phase motor is ± 3 arc minutes (0.05°).

 2 Phase Motor

 5 Phase Motor

2.1.3 Stepper Motor Drives:

We have used drivers for stepper

motors. Drivers help stepper

motor for micro stepping and

reason for micro stepping is to

make step size more précised and motors can run more smoothly.

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2.1.4 Sewing Machine:

We have used a normal sewing machine for stitching. It is a single

head sewing machine.

2.1.5 Ball Screws:

Ball screws assemblies offer an efficient means of converting rotary motion

to linear motion. A ball screw is an improvement over an acme screw just

as an antifriction ball bearing is an improvement over a plain bushing.

Precision ball screws have a number of bearing balls that transfer the load

between the nut and screw.

The thread form in which the bearing balls ride is an ogival shape formed

from two arcs of the same radius with offset centers. This form is also

referred to as a gothic arch.

20
 We have used two ball screws in our project. Both are attached to the

stepper motors respectively. One stepper motor rotates the ball screw for x

dimension and other motor rotates other one for y dimension.

2.1.6 Potentiometer:

A potentiometer,

informally a pot, is a three-

terminal resistor with a

sliding or rotating contact

that forms an adjustable

voltage divider. If only two

terminals are used, one end

and the wiper, it acts as a

variable resistor or rheostat.

21
 The measuring instrument called a potentiometer is essentially a

voltage divider used for measuring electric potential (voltage); the

component is an implementation of the same principle, hence its

name.

Potentiometers are commonly used to control electrical devices such

as volume controls on audio equipment. Potentiometers operated by a

mechanism can be used as position transducers, for example, in a

joystick. Potentiometers are rarely used to directly control significant

power (more than a watt), since the power dissipated in the

potentiometer would be comparable to the power in the controlled

load.

We have used potentiometer in our project to regulate the speed of

AC motor and AC motor is used to vary and control the speed of

sewing machine.

2.1.7 Limit Switches:

Limit switches are used in a variety of applications and environments

because of their ruggedness, ease of installation, and reliability of

operation. They can determine the presence or absence, passing,

positioning, and end of travel of an object.

We have used 4 limit switches:

 One for x direction

 Second for –x direction

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  Third for y direction

 Fourth for –y direction

We have used to limit the iron frame into 5 inches. So that it cannot

cross the stitching limit of the sewing machine.

2.1.8 Transformer:

Step down

transformers are

designed to

reduce electrical

voltage. Their

primary voltage is

greater than their secondary voltage. This kind of transformer "steps

down" the voltage applied to it. For instance, a step down transformer

is needed to use a 110v product in a country with a 220v supply.

Step down transformers convert electrical voltage from one level or

phase configuration usually down to a lower level. They can include

features for electrical isolation, power distribution, and control and

instrumentation applications. Step down transformers typically rely

on the principle of magnetic induction between coils to convert

voltage and/or current levels.

23
 Step down transformers are made from two or more coils of insulated

wire wound around a core made of iron. When voltage is applied to

one coil

(frequently called

the primary or

input) it

magnetizes the

iron core, which

induces a voltage

in the other coil,

(frequently called

the secondary or

output). The turns

ratio of the two sets of windings determines the amount of voltage

transformation.

We have used step down transformer in our project. The stepper

motors that we are using work at 110 volts. The transformer converts

220 volts into110 volts.

2.1.9 Relay:

A relay is an electromagnetic switch operated by a relatively small

electric current that can turn on or off a much larger electric current.

24
 Electrical Relays however, are

basically electrically operated

switches that come in many shapes,

sizes and power ratings suitable for

all types of applications. Relays can

also have single or multiple contacts

within a single package with the

larger power relays used for mains

voltage or high current switching applications being called

“Contactors”.

We have used relay in our project for AC motor.

2.1.10 U-sensor:

We have used U-sensor

for sensing the thread. If

the thread breaks then

the LED will be OFF and

it will generate a signal

to PLC. PLC will pause

the programming and

stop the stepper and AC motors immediately.

25
2.1.11 AC Motor:

An AC motor is an electric motor driven by an alternating current

(AC). The AC

motor

commonly

consists of

two basic

parts, an

outside

stationary

stator having

coils supplied

with

alternating

current to

produce a

rotating magnetic field, and an inside rotor attached to the output

shaft producing a second rotating magnetic field. The rotor magnetic

field may be produced by permanent magnets, reluctance saliency, or

DC or AC electrical windings.

We have used AC motor with sewing machine, that helps to run the

sewing machine with PLC signal as well as it can vary the speed of

needle stitching of the sewing machine.

26
Specification:

1. 100 W (Watt)

2. 220 V (Voltage)

3. 50 Hz (Frequency)

4. 0.5 A (Current)

5. 6000 RPM

27
2.2 MECHANICAL DESGIN

2.2.1 Iron Frame:

As we have surveyed the industry and observed the working and

structure of the embroidery machine. Most of the machines were

assembled in a manner that they are moving the needle and thread

heads.

So at first we had decided to move the needle but it was very hard for

us because it was difficult to position the stepper motors properly and

also it was difficult to gain precision.

Then we have other option to move a frame where the cloth is

attached so the needle will run continuously while the frame will be

moving in x and y dimensions according to the given pattern.

Designing a frame was easy for us but taking it to reality is also bit

harder. We have attached this iron frame to the sewing machine.

28
We have positioned this frame because of several important points:

 It is easier to move frame than to move needle.

 Frame size is very much reasonable, neither very small nor

very large.

 Frame can move and rotate very smoothly as per the pattern.

 It can easily be positioned and connected with stepper motors.

 It also makes easier to position stepper motors properly.

29
2.2.2 Machine Stand:

As we have already decided to make the structure of our project

portable, that can be easily moved or easily carried by two persons.

So it can be helpful as our aim was to make it easy to use.

So, we tried to assemble all the components of our project over one

table or platform. Before it was pretty hard to make every component

inline but after discussing group members and brain storming we

have successfully assembled all the components on a wooden board.

Some of the important points and advantages of the design are:

 Easy to move or handle the machine.

 All components are assembled near to each other so it is easier

to troubleshoot any problem occurs.

 Easy to fix the problems.

30
 CHAPTER # 03

IMPLEMENTATION

31
 CHAPTER # 03

IMPLEMENTATION

3.1 WORKING

This is a PLC based Automated Embroidery Machine. We have used virtual

Human Machine Interface (HMI) to give input to the PLC. PLC is

connected with two stepper motors and in the other hand the stepper motors

are connected with two ball screws and both are connected to the iron

frame. One of the ball screws helps iron frame to move in x dimension and

the other helps to move in y dimension. Stepper motors have their drives;

the purpose of drives is to make micro step of the motors for more précised

and accurate stepping. There are limit switches attached to limit the

movements of the frame. We have used one step down transformer for

stepper motors; its purpose is to convert 110 volts to 220 volts.

An AC motor is attached with sewing machine that helps us to control and

change the speed of sewing machine. A relay is connected with this AC

motor that gives signal to PLC from U-sensor.

U-sensor is used for sensing the thread. If the thread breaks then it will

generate a signal to PLC and the stepper motors will stop immediately.

Embroidery designs are given by HMI and then the PLC processes it and

gives signal to stepper motors. The motors’ shaft moves the ball screws

according to the given embroidery pattern and then the iron frame that s

32
 attached to ball screws moves as well. AC motor starts working as it receives

a signal and then the sewing starts. Stitching will continue until it will

completely embroider the design or if the frame exceeds the limit or if the

thread breaks and u-sensor will give signal to PLC then the stitching will

also stop immediately.

3.2 PROGRAMMING

We have programmed the following components of our project on different

softwares.

3.2.1 Programmable Logic Controller:

We have used Fatek PLC in our project so we programmed PLC

in ladder logic.

We have used software named “WinProladder”, in this software

we have programmed all our PLC programming.

3.2.2 Human User Interface:

We have used virtual Human User Interface in our project so we

have programmed HMI that is helpful to operate the project.

We have used software named “EasyBuilder8000” for the

programming of HMI.

33
3.2.3 Limit Switches:

We have used four limit switches for the dimensions; x axis, -x axis,

y axis and –y axis.

We need limit switches to limit the frame movement that it cannot

exceed the limit of 5 inches as it will move out of the reach of needle

that is stitching.

We have programmed these switches using WinProladder software of

PLC so that if any of the limit switches turns high, it will give signal

to the PLC and then PLC will stop motors.

3.2.4 U-Sensor:

We have used U-sensor for thread, if the thread breaks the LED

which is attached on a circuit will turn OFF. It will generate a

signal to the PLC and PLC will turn off the motors due to an

error occurred.

3.2.5 Motor Drivers:

We are using drivers with stepper motors so they are also

programmed by using PLC on ladder programming software.

34
 CHAPTER # 04

PROBLEMS & TROUBLE SHOOTING

35
 CHAPTER # 04

PROBLEMS & TROUBLE SHOOTING

4.1 MECHANICAL STRUCTURE

First of all the

problems, we

have faced

how would the

mechanical

structure of

our project

look like. We

have thought

at first to move the needle of the sewing machine through automated process

then realized that it was too hard to do with precision. Then we have decided

to attach stepper motors on the iron frame so we can move the iron frame

only in x and y dimensions in accordance of the given embroidery pattern.

We have attached this iron frame with ball screws and on the other hand of

ball screws the stepper motors are attached and when the motor runs, it

moves the frame according to the given patterns.

Ball screws helped us to move the frame smoothly in x and y dimensions, the

sewing machine runs continuously so we attached a AC motor to make

changes in the speed of sewing machine.

36
 Finally, we have overcome this issue of mechanical structure and designed

structure seemed practically well so we have decided to assemble it and give

it a physical look.

4.2 SENSOR

To limit the frame movement that it cannot be able

to go beyond the measurements of 5 inches we have

already set up limit switches but for thread we were

confused between two sensors i.e. a thread sensor

and U-sensor. Then we decided to use U-sensors as we have surveyed the

market and found it less expensive than thread sensors and also less

complicated to set up. We have used this sensor for thread, incase if the

thread breaks during the process so it will give signal to PLC and the

stepper motors will be stopped.

4.3 STITCHING

We have faced the last problem in stitching the cloth, as the stepper motors

have different speed and the needle moves at different speed. Then we have

decided to attach a potentiometer with AC motor, this AC motor is attached

to the sewing machine and hence, we were able to control the speed and

make them corresponding to each other.

37
CHAPTER # 05

TEST ANALYSIS

38
 CHAPTER # 05

TEST ANALYSIS

5.1 STEPPER MOTOR RPM TEST

We have tested RPM of both the stepper motors and observed that their

RPM must be equivalent to the speed of sewing machine to embroider a

proper assigned design on the cloth.

5.2 AC MOTOR SPEED TEST

We have tested AC motor speed by changing its speed by potentiometer. A

regulator is attached to make change in speed of motor to make its speed

corresponding to the rpm of stepper motors.

5.3 FINAL TESTING

Once we have done all the testing, we have assembled our machine

completely and at the end tested its final working. Our machine performed

all the desire operations and achieved the goal successfully.

39
 CHAPTER # 06

FUTURE RECOMMENDATIONS

40
 CHAPTER # 06

FUTURE RECOMMENDATIONS

6.1 MOTION CARDS

We can also use motion cards for complex embroidery designs that can help

motors to rotate the plate in manner that can create circular patterns.

6.2 NUMBER OF THREADS

We have used only one thread head while in the future it can have several

thread heads for different colours of thread that can make embroidery more

attractive.

6.3 PHYSICAL HMI

We have used virtual HMI in our project which needs a laptop or a

computer, while taking it to a physical HMI is easier to handle and operate

this project in future.

41
CHAPTER # 07

FINAL OUTPUT

42
 CHAPTER # 07

FINAL OUTPUT

We are thankful to Allah for getting the desired output successfully. We have

successfully completed our project covering all its pre planned points and

designed mechanism.

 The stepper motors have been successfully operated according to the

assigned designs of the embroidery.

 The speed of stepper motors is successfully controlled and the motors have

been synchronized.

 The process of embroidery is controlled via PLC.

 The HMI software is used to give the pre assigned embroidery designs. 

Throughout the project we have learned about many things, technical as well as

ethical. Some of them are controlling and synchronizing motors, our confidence

have been developed by tackling the problems that we have faced in making of

project. Our skills to communicate were enhanced because of continuous

interactions with Team Members, Project Internal, Faculty Members etc.

43
CHAPTER # 08

CONCLUSION

44
 CHAPTER # 08

CONCLUSION

A flexible automated controlling process by using Programmable Logic Control

approach provides a stable platform for industrial automation and by the help of

Human Machine Interface software it becomes easy for any individual to understand

and perform the task without difficulty. We are able to control and make the project

completely automated.

With all hard work and consistency we have completed the project Al hamdolillah

(All praises be to Allah).

45
CHAPTER # 09

REFRENCES

46
 CHAPTER # 09

REFRENCES

 http://www3.panasonic.biz/ac/ae/fasys/sensor/micro/pm-53/

 http://www.fatek.com/en/prod.php?act=view&no=3

 http://www.orientalmotor.com/technology/articles/2phase-v-5phase.html

 https://www.autonics.com/products/products_detail.php?catecode=03/02/01&db

_uid=121

 https://en.wikipedia.org/wiki/Potentiometer

 http://www.thomsonlinear.com/website/com/eng/products/ball_screws_and_lead

_screws/ball_screws.php

 http://www.nookindustries.com/Product/ProductLine/Ball-Screw-Products

 http://www.hiwin.com/ballscrews.html

 https://en.wikipedia.org/wiki/Transformer

 http://www.explainthatstuff.com/howrelayswork.html

 http://www.electronics-tutorials.ws/io/io_5.html

 http://ab.rockwellautomation.com/Sensors-Switches/Limit-Switches

 https://en.wikipedia.org/wiki/Limit_switch

 https://en.wikipedia.org/wiki/AC_motor

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