UNIVERSIDAD CARLOS III DE MADRID

Escuela Politécnica Superior

Departamento de Ingeniería de Sistemas y Automática
13th January
INDUSTRIAL AUTOMATION

SURNAME: GIVEN NAME:

NIA: GROUP:

EACH PROBLEM MUST BE DONE ON ITS OWN PIECE OF PAPER

STUDENTS CAN USE ONLY ONE PIECE OF PAPER PER EXERCISE

Problem 1. (3,5 points)

A system consists of 1) a conveyor belt that transports metallic blocks, and 2) a robotic arm that takes
the blocks and piles them up in stacks of five. Fig. 1 shows the system.

The system starts working when PA is pressed and the following initial conditions are fulfilled:
1. The round base is at the origin - 0 degrees angle – (home). When that happens, PO = 1. The
pulse counter must be set to 0 (corresponding to 0º).
2. The robotic arm is at the upper position (home) (LSB = 1).

Once these conditions are fulfilled the conveyor belt is activated (MC) . Blocks move towards the end
of the belt. When they arrive to the proper position (detected by BM) the belt will be stopped.

At that very moment the robotic arm will rotate around the vertical axis 80º (using MHh). Afterwards
the arm will go down for 15 seconds (MVb). After that time the electromagnet EIM will be activated
and it will remain activated until the block is left on the heap.

After activating the electromagnet, the arm will remain 2 seconds idle (in order to get the block). After
those two seconds, it will perform two simultaneous actions: a) The arm goes up (MVs) until LSB is
activated, b) The arm rotates around its vertical axis (MHh) until it reaches 125º.

Afterward the robotic arm is activated for another 15 seconds going down (MVb). After those 15
seconds the electromagnet is deactivated (EIM) (releasing the block).

After deactivating the electromagnet two simultaneous actions will be carried out: a) The arm goes up
(MVs) until LSB is activated, b) The arm rotates around its vertical axis (MHa) until it reaches 80º.
There it waits for another block.

This cycle will be made five times (in order to pile 5 blocks). Once 5 blocks are piled up, the robotic
arm will go back to its original position (homing) performing two simultaneous actions: a) Go up
(MVs) until LSB is activated, b) Rotates around its vertical axis (MHa) until it reaches 0º (PO).

NOTE: For every degree that the robotic arm rotates around the vertical axis (in any rotation sense) a
pulse is triggered (PMH). These pulses can be used to compute the global angular position of the
robotic arm.

MODEL this system using a Functional Diagram. No ladder is required.

 Fig. 1 System Scheme

Variable Meaning
PA Starting Button
LSB Arm has reached top position
BM Metallic Block at the picking position
P0 Robotic Arm Home
PMH Pulses (1 pulse / 1 degree)

Variable Meaning
MHh Arms rotates clockwise.
MHa Arms rotates anticlockwise (counterclockwise).
MVs Raise the arm
MVb Move the arm down
EIM Electromagnet
MC Conveyor belt controller
 UNIVERSIDAD CARLOS III DE MADRID
Escuela Politécnica Superior
Departamento de Ingeniería de Sistemas y Automática
13th January
INDUSTRIAL AUTOMATION

SURNAME: GIVEN NAME:

NIA: GROUP:

EACH PROBLEM MUST BE DONE ON ITS OWN PIECE OF PAPER

STUDENTS CAN USE ONLY ONE PIECE OF PAPER PER EXERCISE

Problem 2. (3 points)
A garage door works as it follows
• When a car approaches it is detected by an ultrasound sensor (SU). At that very moment the
door begins to open (MSub) until the endstop sensor (PAr) detects it is completely open.
• The door remains open during 20 seconds. After 20 seconds the door begins to close if and
only if there is no car in the middle (cars presence is detected by the photoelectric sensor CF).
If there is a car the door remains wide open until there is no car. When there is no car
anymore (CF=0) the door will start closing. When PAb becomes true it means that the door is
completely closed.
• If the door is being closed and another car is detected (either by SU – approaching - or by CF
- passing -) the door wide opens again.
• The system has a life period of 100 cars. When 100 cars have passed it triggers a Rev signal,
meaning the the system needs to be revised.
• When the system has been revised the technician presses button P. Until that moment the
door must remain closed (PAb) and will not open (ever).
• When the door is blocked (waiting for revision) a red light is on (LR). When the door is closed
but not blocked (normal functioning) a green light is on (LV). In all other situations (opening,
closing, or wide open) an orange light is on (LA).

1. Assign to each input and output of the system a variable of the automaton (following the
nomenclature of UnityPro).
2. Model the system using a STATES DIAGRAM.
3. Program the system using LADDER LANGUAGE. (The UnityPro nomenclature and
blocks must be used.)
 UNIVERSIDAD CARLOS III DE MADRID
Escuela Politécnica Superior
Departamento de Ingeniería de Sistemas y Automática
13th January
INDUSTRIAL AUTOMATION

SURNAME: GIVEN NAME:

NIA: GROUP:

QUESTIONS MUST BE ANSWERED IN THE GIVEN SPACE

CONTENT OUT OF THIS SPACE WILL NOT BE READ

Theory Questions (3,5 points)

1. a) Draw the scheme of a swing roller controlled 5/2 valve. (0.5 points)

b) Draw all the possible working positions and draw the flow direction at each
position. (0.5 poins).

2. a) Which sensor would you use to detect that a moving platform has arrived to the end
of its working position. (0.25 points)

b) Write ONE sensor that you could use to know the relative angular position of two
articulated modules of a robot - the articulation consists of an axis. - (0.25 points)

c) For assembling two parts of a machine, a very high pressure is required. Which
kind of actuator would be the most suitable. Justify. (0.25 points)

d) Which external sensor would you use to detect the level of water inside a metallic
tank. Justify. (0.25 points)
3. Which kind of automation technology would you use on an highly inflammable
environment. Justify. (0.5 points)

4. Study the following functional diagram, programmed with UnityPro. How much time
elapses since the P button is pressed until the initial stage (E0) is reached again?
(1 point)

TIME IS: ________________ seconds