Control IO Warehouse
Summary
TLDRIn this instructional video, Will demonstrates the setup and control of an automated warehouse using Factory IO software. He guides viewers through the process of organizing and storing pallets on a conveyor system, utilizing sensors and actuators. The video covers the use of edit mode, run mode, and various control signals for the automated system. Will also explains the programming logic using Control IO, including the use of timers, flip flops, and function block diagrams for efficient warehouse automation.
Takeaways
- 🏭 The video is a tutorial on an automated warehouse system using Factor IO, which stores pallets in structured pads.
- 🔢 The warehouse has a capacity of nine pallets per row, with additional rows for more storage, starting with pad one behind the control panel.
- 📹 The video demonstrates the use of edit mode in Factor IO to arrange conveyors and other parts without making changes to the existing setup.
- 📈 The presenter explains the use of run mode to observe the automated processes, including the forced activation of emitter and remover systems.
- 🔴 The importance of signals in controlling the automated system is highlighted, with the use of sensors and actuators to manage the flow of pallets.
- ⏸️ The video shows how to pause, reset, and adjust the speed of the simulation for better control and observation of the system's operation.
- 🛠️ The tutorial includes a step-by-step guide on programming the automated warehouse, emphasizing the use of signals and timing diagrams.
- 🔄 The process involves moving pallets to specific positions using conveyors, sensors, and actuators, with careful control of the forklift mechanism.
- 🔢 The use of a counter to keep track of the loading positions in the warehouse is explained, with incrementation for each new pallet placed.
- 🔧 The video discusses troubleshooting and adjusting the logic in Control IO, including the use of RS flip-flops and timers for signal management.
- 🔄 The final program logic is demonstrated, showing how to control the automated warehouse system using function block diagrams in Control IO.
Q & A
What is the main purpose of the automated warehouse system discussed in the video?
-The automated warehouse system is designed to store pallets in a structured manner, with each pallet placed on designated pads, and it is controlled using the Factory IO software.
How many pads are there per row in the automated warehouse system?
-There are nine pads per row in the automated warehouse system.
What is the significance of the 'run mode' in Factory IO software?
-The 'run mode' in Factory IO software allows the simulation to operate, demonstrating how the automated warehouse functions with the configured settings and components.
What does the 'remover' in the automated warehouse system do?
-The 'remover' in the system is responsible for the removal process of the pallets from the warehouse structure, and it is indicated by a red arrow when active.
How can the simulation speed be adjusted in Factory IO software?
-The simulation speed in Factory IO can be adjusted to normal speed, half speed, or one-tenth speed, allowing for better control and observation as the system approaches sensors or performs actions.
What is the function of the '30-day free trial' mentioned in the video?
-The '30-day free trial' is an offer for users to try out Factory IO software, allowing them to explore and utilize its features without cost for an initial period.
What is the role of the 'timing diagram' in programming the automated warehouse system?
-The 'timing diagram' is used to layout the sequence of signals and the actuators they influence, which helps in visualizing and programming the control logic for the automated warehouse system.
What does the 'AT Load' sensor indicate in the automated warehouse system?
-The 'AT Load' sensor indicates the position where the pallet is to be lifted onto the conveyor system, changing from gold to white to signal the system to initiate the lifting action.
How does the 'forks left' signal function in the automated warehouse system?
-The 'forks left' signal controls the movement of the forklift mechanism to slide under the pallet, preparing it for lifting and transport within the warehouse.
What is the purpose of the 'AT Middle' signal in the automated warehouse system?
-The 'AT Middle' signal ensures that the forklift mechanism is in the correct central position before moving the pallet to the designated storage location within the warehouse structure.
What is the significance of the 'Target Position' in the automated warehouse system?
-The 'Target Position' determines the specific location within the warehouse structure where the pallet is to be moved and placed, with the system incrementing this position as it fills up slots.
How does the 'Next Box' signal function in the control logic of the automated warehouse system?
-The 'Next Box' signal serves as a trigger to increment the position counter, indicating that the system is ready to process the next pallet and move it to the next available storage position.
What is the role of the 'Mode Counter' in the automated warehouse system?
-The 'Mode Counter' keeps track of the current state or mode of operation in the automated warehouse system, such as loading pallets into the structure or returning to the home position.
What is the purpose of using RS flip-flops in the control logic of the automated warehouse system?
-RS flip-flops are used in the control logic to maintain the state of signals, turning the output high when the set input is high and turning it low when the reset input is high, which helps in managing the on/off states of various components in the system.
Outlines
🤖 Introduction to Automated Warehouse Simulation
Will introduces a video tutorial on an automated warehouse system using Factory IO software. The automated warehouse is composed of a structure that stores pallets on individual pads, with nine pads per row. The video will demonstrate the setup and operation of the warehouse, including the use of conveyors and sensors. Will mentions the software's features like edit mode, run mode, and the ability to control signals for the emitter and remover. He also highlights the software's 30-day free trial and the capability to step through programs for better understanding and control.
🔧 Configuring and Controlling Conveyors and Sensors
The video script explains how to configure and control the automated warehouse's conveyors and sensors. Will demonstrates how to use the simulation's pause and reset features, as well as adjusting the speed of the system. He details the process of moving a pallet using the entry and load conveyors, explaining the significance of sensors and actuators, such as the retro reflector and the emitter. The script also covers the use of the 'at load' sensor to determine when the pallet is in the correct position for loading.
📚 Automated Pallet Handling and Storage
Will continues the tutorial by showing how to handle and store pallets in the automated warehouse. He describes the use of a device similar to a forklift to move pallets to the shelving area. The script explains the process of using sensors to detect the pallet's position and the use of signals to control the movement of the forks. It also covers the importance of the 'at middle' signal for correct positioning before placing the pallet on the structure.
🔄 Incrementing Storage Positions and Returning Home
The script outlines the process of incrementing storage positions as pallets are loaded into the warehouse. It explains the use of a counter to keep track of the positions and the need to return the system to a 'home' position after loading pallets into their slots. The video also discusses the signals for moving the system in the X and Z directions and the logic behind returning the system to the home position.
🛠️ Setting Up the Control Logic for the Automated System
Will presents the logic for controlling the automated warehouse system using Control IO. The script details the use of RS flip-flops and SR flip-flops in creating the start and stop logic for the system. It also covers the use of signals and timers to ensure the correct sequence of operations, such as the emitter signal, the entry conveyor, and the load conveyor.
🔄 Advanced Control Logic and Signal Timing
The script delves into the advanced control logic required for the automated system, including the use of timers and logic gates to manage the movement of the forks and the pallet's position. It explains the use of a counter to keep track of the load position and the logic for moving the system to the correct position in the rack. The video also addresses the challenges of ensuring the correct timing for signals and the use of assigned bits to manage the source position.
🔄 Refining Control Logic for Home Position and Fork Movement
Will refines the control logic for returning the system to the home position and moving the forks to the correct position. The script explains the use of AND gates and the importance of the 'at middle' signal for mode three operations. It also covers the logic for setting the target position and the use of timers to ensure the system has enough time to switch to the load position.
🔄 Finalizing Control Logic and Testing the System
The script finalizes the control logic for the automated system, including the logic for moving the forks to the right position and setting the system down in place. It explains the use of a mode counter to determine the current mode of operation and the logic for the 'next box' signal to control the sequence of loading boxes. The video includes testing the system at normal speed and troubleshooting a mistake with the 'next box' signal.
🔄 Completing the Automated Warehouse Cycle
Will concludes the tutorial by demonstrating the complete cycle of the automated warehouse system. The script shows the system filling up the first row of the rack and preparing to move to the second row. It highlights the importance of incrementing the position counter and the logic for loading boxes in a specific order. The video also discusses the possibility of loading boxes based on their weight or type and the need for additional logic and sensors to manage this.
🛠️ Reflecting on the Automated System's Performance
In the final part of the video script, Will reflects on the performance of the automated system and the challenges faced during the setup. He discusses the use of time delays to ensure the system works correctly and encourages viewers to experiment with the logic to potentially eliminate the need for these delays. The script also invites viewers to consider different loading strategies and the potential use of sensors to identify the type of boxes being loaded.
Mindmap
Keywords
💡Automated Warehouse
💡Control Panel
💡Conveyors
💡Sensors
💡Actuators
💡Simulation
💡PLC (Programmable Logic Controller)
💡Signal
💡Retro Reflector
💡Control IO
💡Logic Gates
Highlights
Introduction to the automated warehouse and its structure, which stores pallets in a specific arrangement.
Explanation of how the control panel interacts with different rows and columns in the warehouse.
Description of the initial setup and run mode for the automated warehouse in Factorio.
Details about how the emitter and remover work in the system, including visual indicators.
Steps to control the simulation speed and pause the system to observe signal behavior.
Demonstration of how to reset and manipulate the system using the control panel and sensors.
Explanation of the different conveyors (entry and load conveyors) and their roles in the warehouse.
Illustration of the forklift-like device that moves pallets within the warehouse, including its sensors and positions.
Detailed steps to move the pallet to the shelving using the forks, including lifting and positioning.
Description of how to program the system to handle pallet positions and movements automatically.
Explanation of the RS and SR flip-flops used in the control logic and their differences.
Overview of the start-stop logic and how to set up signals to control the warehouse automation.
Discussion on how to manage the emitter, conveyors, and forks using the control logic.
Insights into using timers and delays to ensure proper signal transitions and movements in the system.
Final demonstration of the complete control logic, highlighting the importance of accurate programming and troubleshooting.
Transcripts
hi this is will and today we're going to
take a little video of
this automated warehouse and the
automated warehouse
is just a regular this is from the
regular scenes from factor io
um this is is it's a
structure that stores pallets in each of
these
little little pads i guess
and the first pad is right here right
behind the control panel then the second
third fourth fifth sixth it goes up to
nine per
uh row and then over here in the second
column
i guess second row up is number ten
and it's a fairly nice
challenging little project now um
we start off when we get into the scenes
in the uh
edit mode and you can see that you have
these palettes for if you wanted to
change things around you can put in
different
parts of conveyors and whatnot we're not
going to do that we're just going to
go with what we have so we're going to
put in the run mode
now you can see as soon as that appears
we see a box
and the reason we see that is factor i o
it always forces the emitter and the
remover
on and you can see the removers on
because it's
kind of lit up red arrow and we can show
that here but
if we dock all the tags
you can see that the emitter is forced
on
and the remover is forced on so if i
release it
and we're looking at the remover here if
i release it by
clicking on what these glasses are but
for the
remover you'll see this turn off
and see how that turns off and
we can do the same thing with the
emitter
so normally i like to do the programs
where i control
all the signals so we don't really need
that
now i'm just going to quickly say here
this is where we can pause the
simulation so we can stop it at certain
points and look at
how the signals are behaving we can
reset it so if i reset it the box will
disappear
or the pallet will disappear and this
last thing is where we can slow down the
speed of the system so this would be
normal speed here
then we can go at half speed and then we
can go at 10th
speed one tenth of the speed and that's
just so you can
get better control as it's approaching
sensors
and you know the thing that i think is
really valuable about factory i o well
the two things are
you get a 30-day free trial if you want
to try it out it's great
you can also step through the program
and you can see
what signals you need to control and
then you can write the program
so you can pretty much and we'll kind of
show this is
you can lay out the timing diagram for
what the signals
happen and what actuators they influence
and then you write the program so
to do this the first thing we're going
to do
well let me show you one thing first
so right here this ad entry
and the ad entry is here now all these
orange circles with the circle inside
the circle those are our sensors
and the fact that it's lit up where some
of these aren't
means that the signal is high and that's
also by the gold here
and if you hover on it it'll say it's a
sensor
now if i hover on the entry conveyor it
tells you it's an actuator
and this one is high so it's receiving a
signal it's because it's a retro
reflector and so the sensor is sending
out a signal which bounces off this
optical mirror and then comes back to
the sensor that's why it's turned on
now the conveyors are turned off so
that's why they're white
now if i put
an emitter in here by forcing it on and
forcing it on
is when we click on the little
actuator symbol that's associated with
the emitter
so i'll just click on that you can see
that the add entry went from
gold to white that's because the sensor
is now blocked
so the first thing we can do
well we can release this because we
don't want boxes coming
after each other you know one after
another after another
but we can see that the actuator is the
entry conveyor
and then we see a load conveyor and
those are the first two
that we're going to do so to try to get
it right i'm also going to slow down the
speed to half speed
and what i want to do is move the pallet
down to about this point here so we've
got
the entry conveyor which are these full
length rollers and then we have the load
conveyor which are these little
pint-sized rollers on either side of the
conveyor
so i want to stop it right about here
then i'm going to turn on the load
conveyor
and let's try to get that and when i
stop it i'm going to stop it with the
pause
so i'm just going to click on this
positive simulation
and so i'm going to force on the entry
conveyor
okay and stopped it a little late but
that's okay
um so now what i'm going to do is i'm
going to turn on the load conveyor
and i'm going to keep it on until i see
this at load now the at load is this is
the sensor this is the retro reflector
and i'm going to um
turn on the load conveyor until i see
this go from
gold to white and then i'm going to
pause it again
so here's my load conveyor now i'm going
to unpause it
when i see this go white i'm going to
reposit
okay so now what we have and
let me try to click on a little
different view of this
this device right here is kind of like a
forklift without the
fork truck and you can see it's got
forks right
and forks left it also has an at right
and you can't see it but there's an at
left uh signal down here
and then there's also an at middle so
right now it's sitting in the middle
and anytime we want to move the pallet
to the shelving over here
it has to be at the middle position
otherwise we're going to hit
the structure either here or here
so and we can release the conveyors we
don't need them anymore
and just to show you the first thing we
need to do is we need to go
fort's left and watch where this
forks go underneath the pallet
and i'll un pause it and you can see
they go right underneath the
pallet and now the at left signal goes
high
now what we can do is we can lift it up
because we need to and let me show this
a little better
we need to lift it off the conveyor
so if we hit the left signal
you can see that it lifted off the
conveyor now that we have it lifted up
we can take the forks left
signal off and we can wait until we get
to the
at middle signal so what we can
what we want to do is we're going to
release this
and we're going to wait until we get the
at middle signal go high
so we release it
at middle signal right here so it's at
the middle
so now we can move it into position now
this part is important
down here is something called target
position and that means where do you
want to move it to
now we said what we're going to do is
we're going to move it to this first
position
so i'm going to change that to a one
and you can see it's forced on now as
soon as i click anywhere
outside of the box here it's going to
move to the position
right here so
okay you can see that now what i need to
do
is i need to move the forks to the right
position
which is towards the structure
okay so now it's in position
so now what i and you can see it's at
right and you have to make sure
that it gets all the way you know if
you're going left
you have to see the at left if you're
going to the middle it's got to be
at middle but now what i can do because
it is at right
i can release the lift signal and it's
going to set it
down on the structure
okay and now that it set it down on the
structure
i can also release the forks right
signal and again i'm looking for it to
go
back to at middle
so when it gets back to add middle
okay now here's the other important
thing so
you know what we're going to do is we're
going to increment all these
positions you know we want to fill one
then two then three
but when you want to go back home you've
got to fill this
with spot 100
okay and again when i click anywhere
outside here it's going to go back to
that position
okay now the other thing you need to
know
is there's these two signals moving x
and moving z and the way we're going to
set it up
is um well first if i do lift
you'll see them well at least the moving
z because it'll just be going straight
up
but that'll turn on and you can see it
right here
you can see it turns on for a little bit
and then it'll turn off
and if i release it it'll do the same
and if i go to a position and i'll just
i don't know i'll pick one that i know
it makes it
go for quite some time
and now you see both x and z go high
until it gets into the position
so they're both high and it's moving
into position
and
so z went off and now x went off
and i'm going to go back home so to go
back home
is again it's always 100 that
is not going to change and you'll see
these go high
and then when it gets back home they'll
again go low
okay they're high and then they went low
now that's going to be how we're going
to
approach this project and
i'm going to pause it here and then turn
on our timing diagram and you can see
the steps
that i have put in here and then you can
put in there and
you know program your plc
doesn't have to be this way and i'm not
saying mine is the best way but
this is an approach you can use
okay so this is the way where our
signals are gonna work here
um or at least in my little version of
it
we start off we're going to send out an
emitter signal
and when we get that emitter signal
we're going to get the at entry sensor
the add entry sensor is going to turn on
the load conveyor
now this is a signal that i was playing
around with originally but we're not
going to use anymore
and what we have is
we're then going to turn on
the load conveyor and when it gets to
the at load signal
which is a signal like right at the
lift point we're going to turn off both
conveyors
so when we get to the at load point
what we're going to do is we're going to
take our forks we're going to make them
go left
when they get to the at left signal
um then we're going to lift
and we're going to lift it up
now remember when we finish moving
and this says move z but it's really
move z or move x when it stops moving
what we're going to do is we're going to
have a counter
that counts and i call it mode here
but every time it stops moving we're
going to have it count
so the first time it moves we're just
lifting it up
okay and then
what we're going to do when it gets to
the at middle
is we're going to load it with the
position we need to go to
so the first position is going to be
position one
now as soon as we put a different
position in there it's going to start
moving
by itself to that position okay
so it moves to the first
place where it can store when that gets
finished we're going to
move in a two and the first thing we
we're going to increment the counter and
it'll go to two now the first thing
we're going to do is we're going to
you know set it in position so we've got
to move the forks right
when the forks are right what we do
is we're going to um you know
set it down on the rack
so when we get to the at right point
what we're going to do is we're going to
get rid of that lift point
or pulse so we start the lift when we
you know first have the forks underneath
it
all the way over to here and then when
we get to the forks
are at right is when we turn off
the lift signal and
again when we'll send the lift down will
happen automatically and when the lift
goes all the way down
again what we're waiting for because
we'll get rid of
the at right signal or i mean we'll
turn off the fork's right signal so
again
it'll move towards the middle when it
gets at
the middle that's when we're going to
load in
the position that says go home which is
position 100
so this position will
just be incremented every time we load
it in a different slot
then over here when we're going home
it's always 100.
so i'm just because it's uh
already kind of a long video i'm going
to just make
most of the
logic in control i o and i figure
people who are looking at this video
probably use the control i o
and know how to use it i will show some
of the very last logic because there is
a couple
things that i kind of found found
unusual
and we can take a look at that and then
we can take a look at the full logic and
we can explain that
okay so now this is the logic that we
have um
and right here is start stop logic
and what we mainly use are these
rs flip flops and their set reset
and set turns the output high reset
turns the output low and you can think
of it as on
off now there is this rs
there's also this sr and let me see if i
can
put them in here
so this is an rs
and this is the sr and they look very
similar
now if you zoom in on these guys
the only difference is
the reset set flip flop the rs you can
see it says
reset one and the set reset
flip flop you can see that it says set
one now what that means
is if both of these are one at the same
time
the the reset is the dominant one here
and the set is a dominant one here
so if these are both one at the same
time this will be
a zero because you've reset it if these
are both one at the same time the output
is going to be one it's going to be high
typically you don't want that and you
want to make sure that you're not using
this one you want to make sure that
you're using the one that has the reset
dominant
now you know when you do the logic
correctly they should never be the same
they should never be high at the same
time
so having said that let's take a look at
our logic the start
when we hit the start push button
this output is going to go high and i
always have a signal that i call start
process
and it's also going to turn on the start
light
and it's because this is not it's going
to turn off the stop light
and you can see here and what i like
doing for the
control i o is i like putting the
control i o
right kind of in the middle
of the
the actual factory i o so let me just
minimize this for a second
so these are the sensors for
the factory i o and you can see the ones
that are high
are lit up the ones that are off are not
lit up
these are the outputs or the actuators i
like putting
you know my factory i o in between those
two
so i can look at those and
come out
so i can see like for instance stop is
high
now you can see stop is higher here
because this is also lit up
now we haven't hit start yet so that's
not lit up
the emergency stop which i put in here
is also high and you can see that here
the emergency stop is high
the stop is high so that's just the
start logic
and then i use the start process to say
when that happens
and the start bit occurs
you know we're going to get our first
emitter
and then i also have this as emitter bit
and we're going to set it with either
when we press the start and the start
process is high
or we have this signal next box so we're
going to automatically keep
the machine moving and we're going to do
it with this next box signal
now the signal that turns this off
is this reset signal and
that's when it gets to you know we have
it at the add
entry now because the ad entry is
normally high we have to
you know knot it uh to get the low
signal
so when it goes low this will go high
and that will turn
off the emitter signal
and we have the entry conveyor
which that also turns on the entry
conveyor and what turns it off is when
it's at the at load
and we have the load conveyor which
we're going to turn on
again when we're at add entry and we
have
an emitter and then we're going to turn
it off again when we get to the at load
now when we get to that load we're also
going to start the forks going
left and we're going to use that
this is the falling trigger and that
means
when the signal as soon as it falls
we're going to send out
a pulse that's one scan wide that will
be high for one scan
and that will trigger this to turn it
off and it'll trigger the force to turn
on
now
again we're going to reset this with the
move complete
so when the move is complete
um you know this signal will turn
off the force left and
again the first time we move it is the
lift signal
so this is really when the first
lift signal
you know we've lifted it up and now
after
we've completed that move is when the
forks left
will be turned off and
here's the lift signal so when we're at
left
we lift it up and then when we're at
right
is when we set it down on the structure
and over here yep
now here's where we have our counter
now this is our mode counter so this is
mode
this is counter up when we get the mode
complete is when we count
when we get our next box is when
we reset it and we've just set the
preset to 4.
now here
is where we just have our load position
and this is the position
in the rack in the structure that we are
going to
keep incrementing every time we fill up
you know we fill up position one
then we fill up position two we fill up
position three
um and so on and this is just a counter
that we're
going to count the positions and i've
just put the terminal count at
54. and i think that's
about right
and so this is the load position that
we're going to aim
for now this
is part of
the uh logic that i got a little problem
with
but um so when we when we're in mode one
or mode two
and these are just uh equals
let me try to zoom in a little bit so
these are equals so
when it when mode is one or modis two
and this is an or gate what we're going
to do and
first we have this assigned you know the
one odd thing with
this control i o is you don't have a way
to move
um like you normally would i wanted to
move like a number
six into a certain spot because over
here
is what we're going to have the source
position
so the source position you know when
we're at home
is position 0 and when we're moving
to the load position where we want to
load it
we have to put that into our source
position or what i call
source position now the way you move it
is
there's this assigned bit and
let me show you what this has if you go
in the documentation for factory i o
they have pretty good documentation for
the control i o
and this assign which actually appears
in the extra function
what happens is if this signal
on the input is high you'll be looking
at what
is coming into pt2
if it's off you'll be looking at what's
coming in pt1
okay so
the way i have it set up is
that when the counter
is zero or one which means
you're moving to the position or you're
at the position
that'll be a logic high which means
you're going to be selecting
this load position
otherwise you know presumably you'll be
at home
or going to home will you be at home so
you want to put in
a zero and so this is the logic
that you'd accomplishes that
now the thing that's and i'm not quite
sure
i know the increases i think because
when you switch from this to this
there's a delay
so what i had to do is when the signal
goes high
to give it enough time to switch to the
load position
i had to put a timer in there to
effectively put a delay in there now
this would be a delay of two seconds
so it just gives it a little delay so
there's enough time for the load
position
to get into this source position
if that makes any sense now um
what we're going to do now is we're
going to put in the same type of circuit
um so what i can do is
i can sort of copy this whole thing
and
hopefully we can and you can use control
c
control v and we're going to paste it
down here now everything's still
highlighted so i can move it
now here
what we're going to do
is instead of this well we can get rid
of this guy
because now what we're going to do is
we're only going to be interested in
when we're at mode 3 and mode 3 again
is we are trying to get back home
so we don't really have an or gate here
what we're going to do is we're going to
have what we really need is we need an
and gate so we're going to delete that
we're going to put in a 2 in and
drag it in here
and i don't think we need this timer in
here either
and the other signal that we're going to
have so we're going to have when we're
at
mode 3. now the other signal that we
need and
if we go into our tags we need the at
middle signal
so again when we're in mode three we
have to wait until we're at the middle
signal
and then we can
put this into the assignment now here
what we're going to have is instead of
this being
position zero
delete that is we're going to make that
the source position
and we're going to move that down here
and we can just wire that there and now
this instead of this being the load
position
we can delete that
and we can copy this
put this down here and we can make this
because here we're going home so this is
always going to be
position 100
so let me
100 and now instead of this being this
source position what we're going to have
is this is going to be our target
position
and you don't want to click on this one
over here i made that
mistake what you want to do is you want
to make sure you're picking everything
from
the control i o signals so we want the
target position from here
so what we have is we have a choice
you know this is the final thing that's
going to determine the move
so
when we're in mode one and two
the source position is just incrementing
from spot to spot to spot
when we're in mode three then we're
going to
go to 100. so only in mode 3 is the
signal going to be true
so it's you know if it's not in mode 3
it's going to be looking at the source
position
if it is in mode 3 it's going to be
looking for going home
which again is position 100.
now what we don't have on here
is we've got to put in
the logics for going
moving our forks to the right position
so again and you know the easiest thing
is if you
have the logic and if you can fully
copy it
yeah come on
okay control c control v
so here we're going to
and you know again for forks right
the um when forks right goes high
we're still at um mode
one it's the very end of mode one
and we need two in and
and you know work these there's actually
two sliders there's one to move up and
down for the tags
and then there's one to move up and down
for the full thing
um so we're going to put in two in and
connect that up and the other signal we
want here
is we want our move complete signal
so you know all these purple things here
are just
memories that we've picked so if we go
back up here
to memories and
these here are integers and
what we really need is we need the bool
so now this is picking
the next unused bool but what we really
want
and if you click in here it'll give you
the addresses
what we want for this one is we want to
move complete signal
so that's the one that we want so when
the move is complete and the two in and
we're going to go into
the reset set flip-flop and this will be
controlling
the fort's right signal
so the fort's right is an out there
it's an input over here
so fort's right we can drag it in over
here
and again what
resets that signal is
when we get to mode two
so what we can do is
we can pretty much well and we even need
nand gate too
so we can copy all this with control c
and
ctrl v and
try to move it into the spot now
so the output here is going to reset it
and
let me try to zoom in a little bit so i
can make the connections easier
and this one we're going to
when this gets to a two
is when we're going to reset it and
again we're going to use the
move complete signal as you know the
signal that resets it
so when we lift it down is when we go
from step
or mode two to mode three so when it's
at mode two
the very end of mode two is when we're
going to
set this down in place
and then
our final thing that we need to do we've
got it right now we just have to
put in the signal for the next
box
and again grab them all
so you know we're we're using you know
we're using the mode counter to say what
mode we're in
and um then we're just using
you know these comparisons
we're going to the next box
when we actually count from three to
four
which really wasn't on the timing
diagram but all we're going to do
with the when we count to four which we
actually do count to four when we move
home we're moving home
on count three when it gets to the home
position it goes to count
four um now
again what i had to do
to kind of make it work was go in here
and put in timer that gave it a little
delay here
and
so when we temporarily get that count
four
and i had that set up for
a short period of time
so when you're putting these in these
are the modes so they're just integers
when you're looking at the timers these
are in milliseconds
so right now this is 800 milliseconds
the other timer that was in there was
like 2000 which is two seconds
so this will count out and it'll put in
a delay of
you know 800 milliseconds and what we're
going to do
is um we're just going to create
a bool memory
and we're going to put that on the q
output
so when it times out this signal goes
high
now this signal and again if you click
on the box
it's going to say what do you want to
name that and we're going to name that
next box
and so what does the next box do it does
two things
first off um
the next box is where we have our
counter
[Music]
not that counter that's the position
counter
this is the mode counter so we have the
mode counter we put the next box into
the reset
so as soon as that signal goes high this
will go back to zero
so it counts up one two three a quick
four and then right back to zero
and then the other place that we have
next
box is right here which is
the next box which is the second
and every subsequent emitter
so the first meter is when we press the
start push button
all the other ones are virtue of the
next box
so that is our program for control i o
and let's see we can minimize
that and the control i o
if you go into the drivers well let me
show you here
if you go into file you go into drivers
to set up the control i o
you know you can set it up for all these
different allen bradley stuff
there's some modbus and then there's
siemens
but here's the control i o
so if we go back here we should be
we want to make sure that all our forces
are released
when we start this and again you can see
um when we're in this spot right here
that's the target position of zero
so let's take a look
and i'm going to speed it up
to normal speed
the forks go left they lift it up
go to position one and you can see
target position is position one
okay go and set it down and you can see
every time every time it moves
you're going to see sometimes when it's
just lifting
um oh my next box isn't working
okay i'm going to pause it for a second
and see what's
going okay well i have a next box that i
put as a
bit 4 here and i'm going to have to
pause this
but up here let's see
um
i actually have
the next box
as three
so and let's see what it is at this
counter
this next box
is also three so i've got that wrong
so make that three now sometimes just to
make sure
everything is good we'll have to reset
everything
reset here
and take it off pause
now when we take it off pause it goes
off pause here too so let's
see if that was our mistake
and this should be pretty quick to
confirm
so again that's going into spot one
now you can see when we go back um
to our position it goes to one hundred
and here's the second box so i think
that was our
little um mistake my fault
happens a lot when you're doing this
kind of live
should pay better attention to this
stuff but you know you can see it'll
just keep going
back and forth position 100 to go back
home
i'm going to get another emitter box
and then you'll see this go to spot 3
which it should
that's three you load it in place
and again you know the this stuff is
you know you can walk through what
position what you need to control
um and then you write the logic to do it
and you know control i o is all this
what they call
function block diagrams um it's not
ladder logic
but if you wanted to write this in
lighter logic then you're going to need
some poc software
to do that in lighter logic but this is
good
way to learn how to do it
a function block diagram is used
it you know not as much as ladder logic
ladder logic is used primarily because
it's all visual and you can see what's
turned on what's turned off
but function block diagram is probably
the second
most used type of logic that there is
there are other types but
for the other types you certainly are
going to need the plc software to
be able to use it and so i think what
we're going to do here is we're just
going to wait until it
fills up the first row and then we'll
just see it go into the second row
and again it's it it's going to be the
same thing because we're just
incrementing each spot so let's see
wrap one two three four five six
so two one two three four five
six seven okay seven eight
nine and then that'll be ten um once we
start on the second row i think we'll
kind of leave it at that because this is
a
long video right now
i can't imagine how long it would have
been if i would have shown all this
all the software or i mean making all
the connections for the
control i o but
you know you can take a look at it um
you know see if you can
uh put together all the
logic that you need see if
you know i'm still not convinced that i
needed all those
time delays in there but uh
you know it seemed like uh that was the
only way i could get it to work
maybe you can do better and get it to
work without those delays
so give it a shot and see what it looks
like
um and you don't really have to uh
load it in order you know for instance
there could be something that says
you know maybe you want um
you know like maybe you want all these
heavy boxes on the first row
and then maybe because you know you get
the packages
you know right now it's eight to one
ratio so maybe
you say well i'll load these steel
things
down in the first row and then um
you know the regular boxes starting up
in like
i don't know row three four five and six
but then you'll need extra logic to
control
uh you know what position you're loading
into
and you'd also need some type of sensor
to say oh
this is a metal box and they do have uh
you know what you'd use well now we're
getting all metal boxes so maybe i'm
wrong
but uh they do have inductive sensors
where you can
just look for metal objects
now at some point you'd have to put a
sensor
where before you started lifting it up
you could identify it to be metal or not
metal
but uh you know you might want to give
it a try
so anyway uh now it's all metal boxes
anyway um you know take a look at it is
kind of challenging
um it's a good test of your
programmabilities good luck
thank you
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