Robotic Control Systems 240

Robotics Training

Class Information

ToolingU.com classes are offered at the beginner, intermediate, and advanced levels. The typical class consists of 12 to 25 lessons and typically requires at least two hours of instruction time.

Class Name:	Robotic Control Systems 240
Description:	In this class, you will learn about the basic types control systems. You will also learn about the effects of PID control in closed-loop control systems and how to tune your system in order to achieve the desired performance.
Prerequisites:	none
Difficulty:	Intermediate
Number of Lessons:	13
Language:	English

Below are all the competencies and job programs that contain the class Robotic Control Systems 240. Job programs are our traditional class lists organized according to common job functions. Competencies are our latest job-specific curricula that help tie online learning to practical, hands-on tasks.

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Competencies
Robotics Technician

Class Outline
Objectives Control Systems Line Diagrams Ladder Logic Programming Devices PID PID Motion Control Open-Loop Control Systems Closed-Loop Control Systems Servo Drives Controller Tuning Tuning Applications Summary

Class Objectives
Describe position control systems. Define line diagrams. Define ladder logic. Describe PLC programming devices. Describe PID control systems. Describe PID motion control. Describe open-loop control systems. Describe closed-loop control systems. Describe servo drives and servomotors. Describe controller tuning. Describe tuning maintenance.

Class Vocabulary
amplifier		A device that increases the size or strength of a signal. Servomotors use amplifiers as part of the motor control system.
auto mode		A system that is set for closed-loop control.
automatic feedback		Feedback that is controlled by an electronic or electromechanical mechanism rather than a person.
autotune		A feature in some motor control devices that automatically adjusts the PID control system at start-up.
closed-loop control		A type of control system that automatically changes the output based on the difference between the feedback signal to the input signal. Servomotors can be used on closed-loop control systems.
closed-loop system		A type of control system that automatically changes the output based on the difference between the feedback signal to the input signal.
compliance		The degree to which a robot can tolerate misalignment. PID control helps ensure robots are within the acceptable range.
continuous process		One in which incremental changes take place continuously. PLCs operate using discrete events.
control mechanism		A system or device that operates or manipulates another system or device.
control system		A manual or automatic mechanism used to manage dynamic processes by adjusting or maintaining physical variables such as temperature, speed, or flow rate.
controller		The main device that processes information and carries out instructions in a robot. Also known as the CPU or processor.
controller tuning		A system of adjusting the controller's response to error by adjusting values in the PID algorithm.
error		The difference between the SP and the PV. When errors are detected, the controller sends instructions to the control system to adjust the output to compensate.
feedback signal		The actual value detected by a sensor as a process is taking place. The feedback signal is part of a closed-loop control system.
gain		The ability of the control system to increase the power or amplitude of its signal.
hand-held programmer		A PLC programming device that combines a display screen and keypad all in one unit. Specially assigned keys allow you to enter program instructions and changes, and navigate and troubleshoot the PLC system.
holding torque		The amount of torque required for a motor to remain in a fixed position.
ladder logic		The most common programming language for PLCs. Ladder logic is based on line diagrams.
line diagram		A diagram that shows the logic of an electrical circuit or system using standard symbols. A line diagram is also known as a ladder diagram because the diagram appears as individual lines or "rungs" connected between two vertical lines.
motion profile		The interconnected acceleration, velocity, and position characteristics of a robot control system.
open-loop system		A type of control system that uses only an input signal to actuate an output. There is no automatic feedback to adjust the process, so adjustments must be made manually by the operator.
overshoot		To exceed a set value.
personal computer		PC. A computer designed for an individual user and commercial software. Desktops, laptops, and notebook computers are PCs.
PID		One of the most common types of process control. Proportional, integral, derivative control adjusts system outputs when there is a difference between the setpoint and process variable.
PID algorithm		A mathematical formula used to control and stablize the outputs of closed-loop control systems. The equation for PID is: Output = Gain (Error + l/Integral Time ∫ Error x deadtime + Derivative Time Constant x ΔError/ ΔTime).
position control		A type of control system designed for moving objects or machines to a known position. Servomotors are used for position control.
process variable		The actual value detected by a sensor as a process is taking place. Also known as the feedback signal.
programming device		A device, usually a personal computer, used to enter instructions into the PLC.
proportional, integral, derivative control		One of the most common types of process control. PID adjusts system outputs when there is a difference between the setpoint and process variable.
rung		The horizontal programming lines in ladder logic. Each rung controls one output.
servo drive		A motor control device that outputs electrical signals to a servomotor to induce motion. The servo drive can be built in as part of the motor or it can be a separate device.
servo system		A closed-loop control system that utilizes a servomotor.
servomotor		A type of motor used in applications that require precise positioning. Servomotors provide a high amount of holding torque to maintain their position accurately.
setpoint		A preset value such as a specific speed or position that the control system is supposed to reach. Also known as the target value.
single-phase		AC voltage that has only one sine wave.
soft start		A motor starting method that reduces stress on a motor by allowing it to accelerate gradually for a programmed period of time.
target value		A preset value such as a specific speed or position that the control system is supposed to reach. Also known as the setpoint.
three-phase		AC voltage that has three sine waves.
troubleshooting		The systematic examination of the various parts of a system, circuit, or process to identify a malfunctioning part using process of elimination reasoning.
undershoot		To fall short of a set value.