NSCET LAB MANUAL

NADAR SARASWATHI COLLEGE OF

ENGINEERING & TECHNOLOGY
VADAPUDUPATTI, THENI 625 531

DEPARTMENT OF MECHANICAL ENGINEERING

REGULATION 2013

YEAR & SEMESTER: IV & VII

ME6712 - MECHATRONICS LABORATORY

LABORATORY MANUAL

Prepared by

Mr. J.CHAKRAVARTHY SAMY DURAI

Assistant Professor/Mechanical

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LIST OF EXPERIMENTS:

1. Assembly language programming of 8085 Addition Subtraction Multiplication Division

Sorting Code Conversion.
2. Stepper motor interface.
3. Traffic light interface. 76
4. Speed control of DC motor.
5. Study of various types of transducers.
6. Study of hydraulic, pneumatic and electro-pneumatic circuits.
7. Modelling and analysis of basic hydraulic, pneumatic and electrical circuits using Software.
8. Study of PLC and its applications.
9. Study of image processing technique.

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ACTUATION OF HYDRAULIC CYLINDER AND TO FIND OUT PRESSURE VS FORCE

EXPT NO: 1 DATE:

AIM:
To actuate the hydraulic cylinder and find out the Pressure VS Force.

APPARATUS REQUIRED:

Oil Tank
Single Phase Motor
Gear Pump
Pressure Relief Valve
4/3Double Solenoid Valve
Double Acting Cylinder
Load Cell
Data Actuation Card than Lab View Software.

FORMULA:

P= F/ A
2
A= ( /4)*D
2
P Pressure Kg/cm
F Force Kg
2
A Area cm
D Diameter ofCylinder cm

Cylinder diameter = 50 mm
Cylinder rod diameter = 30mm
Cylinder stroke length = 150mm

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HYDRAULIC CIRCUIT

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Error= Displayed ForceCalculated Force/Displayed Force

%of Error= Error*100

PROCEDURE:

Switch on the electrical power supply with motor.

Switch on the power supply to the control unit.
Open the lab view software in the system.
Interface hydraulic trainer with system using RS-232.
Open the force. Go to operate, click the run. Then power on(below).
Now extend the system by pressing the up button.
Load cell indicate the force value in the monitor.
2
Now adjust the pressure regulator and set the maximum pressure as 25kg/cm .
Retract the cylinder.
Once again forward the cylinder you have adjusted the pressure in pressure regulator.
You have seen the force value in monitoring.
Repeat the force value for different pressure.

GRAPH:

Pressure VS Force

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TABULATION:

Pressure Displayed Force Calculated Force

S.No %of Error
2 Kg K
Kg/cm
g
1)

2)

3)

4)

5)

6)

7)

8)

9)

10)

MODEL CALCULATION:

RESULT:

The actuation of double was carried out and the curve between pressure and
force is been obtained.

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PRESSURE TRANSMITTER

EXPT NO: 2 DATE:

AIM:

To study the characteristics of the Pressure transmitter.

APPARATUS REQUIRED:

Multiprocess Trainer Kit.

PC with Process control software.
Patch chords.
Multi meter.
RS232cable and loop cable.

HANDVALVE SETTINGS:

HV1 Fully
Open.HV2 Fully
Open.HV3 Fully
Close.HV4 Fully
Close.

PRESSURE RANGE:

Input - (0-250) mm W .
Output - (4-20) mA DC.

PROCEDURE:

Ensure the availability of Water.

Interface the Digital controller with process and PC.
Make the connections as per connection diagram.
Ensure the hand valve settings are correct.
Switch ONVMPA- 62AunitandDigitalcontroller with PC.
Heater/pump ON switch be in pump1mode.

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TABULATION:

Pressure Transmitter
S.No Gauge Pressure (mmWc)
Current Output (mA)
1

10

11

12

13

14

15

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MODEL GRAPH:

Invoke the Process control software.

Once, tank pressure reached 250mmWc enters control output of 0%.

Gradually open the HV4valve every50Wc note down the current readings.

Select Pressure/process control m annual mode and enter a controller output of

o 100%.

Note down the current readings for various pressure readings.

Switch OFF the Pump.

GRAPH:

Pressure VS Output current

RESULT:

Thus the characteristic of the Pressure transmitter was studied.

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FLOW TRANSMITTER

EXPT NO: 3 DATE:

AIM:
To study the characteristics of the Flow transmitter.

APPARATUS REQUIRED:

Multi process Trainer Kit.

PC with Process control software.
Patch chords.
Multi meter.
RS232cable and loop cable.

HANDVALVE SETTINGS:

HV1 Fully Open.

HV2 Fully Open.
HV3 Fully Close.
HV4 Fully Open.

FLOW RANGE:

Input- (50- 500) L P H.

Output- (4-20) m A DC.

PROCEDURE:

Ensure the availability of Water.

Interface the Digital Controller with process and PC.
Make the connections as per connection diagram.
Ensure the hand valve settings are correct.
Switch ONVMPA- 62Aunit and Digital controller with PC.
Heater/Pump ON switch should be in Pump mode.

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TABULATION:

Flow Transmitter
S. No
Flow(LPH) Current Output(m A)
1

10

11

12

13

14

15

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MODEL GRAPH:

Invoke the Process control software

Select Flow/control manual mode.

Gradually increase the flow(say in steps of 50LPH) by varying the controller output

o (0- 100%), and note down the current readings in Ammeter.

Stop the process.

GRAPH:

Flow VS output current

RESULT:

Thus the characteristic of the Flow transmitter was studied.

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OPEN LOOP AND CLOSED LOOP INTER-FACING AND SERVO MOTOR

EXPT NO: 4 DATE

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OPEN LOOP AND CLOSED LOOP INTER-FACING AND SERVO MOTOR

EXPT NO: 4 DATE:

AIM:
To study the DC servo motor speed control using open loop and closed loop interfacing

APPARATUS REQUIRED:

DC Servo Motor
PEC16M7Module
Micro-4011kit
34-pinFRC cable
RS-232cable
15pin connector

PROCEDURE:

Switch ON power supply of the PEC16M7module, Micro-4011andDC Motor.

SwitchONthe12VDC ON/OFF switch.
Switch ON the power ON/OFF switch in the PEC16M7 module.
Press the reset switch in the PEC16M7module andMicro-4011.
LCD in the Micro-4011displays as follows with a delay of few seconds.
Select speed control.
Select open loop.
Set the duty cycle between(50-98) %
Now the motor will start to run corresponding to the duty cycle.
Then press the reset button.
Add the load to the loading area and note down the speed in tabular column.
Press reset button and select the closed loop.
Select PID control
Then set the speed of the motor
Add the load to the loading area and note down the speed in tabular column.

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TABULATION:

S. No Load (Kg) Speed (Rpm)

OPEN LOOP CONTROL SYSTEM

1
2
3
4
5
6
7
8
9
10
CLOSED LOOP CONTROL SYSTEM
1
2
3
4
5
6
7
8
9
10
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GRAPH:

OPEN LOOP CONTROL SYSTEM

Load VS Speed

CLOSED LOOP CONTROL SYSTEM

Load VS Speed

RESULT:

Thus the DC servo motor speed control using open loop and closed loop interfacing was done and
the characteristics curves are obtained.

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OPEN LOOPANDCLOSEDLOOPINTERFACINGINACSERVO MOTOR

EXPT NO: 5 DATE:

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OPEN LOOP AND CLOSED LOOP INTERFACING IN AC SERVO MOTOR

EXPT NO: 5 DATE:

AIM:
To study the AC servo motor speed control using open loop and closed loop interfacing

APPARATUS REQUIRED:

AC Servo Motor
PEC16M7Module
15pinconnector

PROCEDURE:

Switch ON power supply of the PEC16M7module, Micro-4011andAC Motor.

SwitchONthe12VDC ON/OFF switch.
Switch ON the power ON/OFF switch in the PEC16M7module.
Press the reset switch in the PEC16M7module.
LCD displays as follows with a delay of few seconds.
Select speed control.
Select open loop.
Set the duty cycle between(50-98) %
Now the motor will start to run corresponding to the duty cycle.
Then press the reset button.
Add the load to the loading area and note down the speed in tabular column.
Pressure set button and select the closed loop.
Select PID control
Then set the speed of the motor
Add the load to the loading area and note down the speed in tabular column.

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TABULATION:

S.No Load (Kg) Speed (Rpm)

OPEN LOOP CONTROL SYSTEM
1
2
3
4
5
6
7
8
9
10
CLOSED LOOP CONTROL SYSTEM
1
2
3
4
5
6
7
8
9
10

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GRAPH:

OPENLOOP CONTROL SYSTEM

Load VS Speed

CLOSEDLOOPCONTROL SYSTEM

Load VS Speed

RESULT:

Thus the AC servo motor speed control using open loop and closed loop interfacing was
done and the characteristics curves are obtained.

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STEPPER MOTOR INTERFACING WITH 8051 MICRO CONTROLLER FOR CLOCKWISE

ROTATION

EXPT NO: 6 DATE:

AIM:

To write an assembly language program for driving the stepper motor in clockwise direction.

APPARATUS REQUIRED:

Stepper Motor
8051MicroController Kit

PROGRAM:
MEMORYADDRESS OBJECT CODES MNEMONICS

4100 7C MOVR4. #FF

4101 FF

4102 90 START: MOVDPTR,#LOOKUP

4103 41

4104 14

4105 78 MOVR0, #04

4106 04

4107 E0 JO:MOVXA,@DPTR

4108 C0 PUSHDPH

4109 83

410A C0 PUSHDPL

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MEMORYADDRESS OBJECT CODES MNEMONICS

410B 82
410C 90 MOVDPTR,#FFCOH
410D FF
410E C0
410F F0 MOVX@DPTR,A
4110 DC DJNZR4, CALL
4111 06
4112 80 HLT:SJMP HLT
4113 FE
4114 09 LOOKUP:DB 09H,05H, 06H,0AH
4115 05
4116 06
4117 0A
4118 7A CALL:MOVR2, #03
4119 03
411A 79 DLY2:MOVR1, #FFH
411B FF
411C 7B DLY1:MOVR1, #FFH
411D FF
411E DB DLY:DJNZR3, DLY
411F FE
4120 D9 DJNZR1, DLY1
4121 FA
4122 DA DJNZR2, DLY2
4123 F6
4124 D0 POP DPL
4125 82
4126 D0 POP DPH

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MEMORYADDRESS OBJECT CODES MNEMONICS

4127 83

4128 A3 INC DPTR

4129 D8 DJNZR0, JO

412A DC

412B 80 SJMP START

412C D5

412D END

RESULT:

Thus the stepper motor was driven in clockwise direction.

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STEPPER MOTOR INTERFACING WITH 8051 MICRO CONTROLLER FOR ANTI-CLOCKWISE

ROTATION

EXPT NO: 7 DATE:

AIM:

To write an assembly language program for driving the stepper motor in anti-clockwise direction.

APPARATUS REQUIRED:

Stepper Motor
8051MicroController Kit

PROGRAM:

MEMORYADDRESS OBJECT CODES MNEMONICS

4100 7C MOVR4. #FF

4101 FF

4102 90 START: MOVDPTR,#LOOKUP

4103 41

4104 14

4105 78 MOVR0, #04

4106 04

4107 E0 JO:MOVXA,@DPTR

4108 C0 PUSHDPH

4109 83

410A C0 PUSHDPL

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MEMORYADDRESS OBJECT CODES MNEMONICS

410B 82
410C 90 MOVDPTR,#FFCOH
410D FF
410E C0
410F F0 MOVX@DPTR,A
4110 DC DJNZR4, CALL
4111 06
4112 80 HLT:SJMP HLT
4113 FE
4114 0A LOOKUP:DB 0AH,06H, 05H, 09H
4115 06
4116 05
4117 09
4118 7A CALL:MOVR2, #03
4119 03
411A 79 DLY2:MOVR1, #FFH
411B FF
411C 7B DLY1:MOVR1, #FFH
411D FF
411E DB DLY:DJNZR3, DLY
411F FE
4120 D9 DJNZR1, DLY1
4121 FA
4122 DA DJNZR2, DLY2
4123 F6
4124 D0 POP DPL
4125 82
4126 D0 POP DPH

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MEMORYADDRESS OBJECT CODES MNEMONICS

4127 83

4128 A3 INC DPTR

4129 D8 DJNZR0, JO

412A DC

412B 80 SJMP START

412C D5

412D END

RESULT:

Thus the stepper motor was driven in anti-clockwise direction.

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CONTROL THE SINGLE ACTING AND DOUBLE ACTING CYLINDERS USING PILOT VALVES

EXPT. No.: 8 Date:

AIM:

To actuate single and double acting cylinders in a pneumatic circuit.

APPARATUSREQUIRED:

1. Single acting cylinder

2. 3/2 push button spring return DCV
3. 3/2singlepilotvalve
4. 5/2single, double pilot DCV
5. Air service unit
6. Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER.

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DOUBLE ACTING CYLINDER WITH 5/2 SINGLE PILOT VALVE

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CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER WITH 5/2 DOUBLE PILOT VALVE

PROCEDURE:

1. The connection is made as shown in figure.

2. The pilot pressure are fed into the 3/2 direction control valve.
3. When the button is pushed the air is sent into single acting cylinder.
4. The cylinder moves in forward position.
5. When the push button is released , it retracts because of the spring.
6. Feed the air through different valves and make the cylinder to actuate

RESULT:

Thus the cylinders are actuated by the air pressure in the pneumatic circuit.

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CONTINUOUS RECIPROCATING OF SINGLE ACTING AND DOUBLE ACTING CYLINDER USING

PILOT VALVES

EXPT. No.: 9 Date:

AIM:

To actuate a single and double acting cylinders using pilot valves

APPARATUSREQUIRED:

1. Double acting cylinder

2. 3/2 single pilot DCV
3. 5/2 single pilot DCV
4. 5/2 double pilot DCV
5. 3/2 roller lever valves
6. FRL unit
7. Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER:

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PROCEDURE:

SINGLEACTINGCYLINDER:

1. The circuit is given as shown in figure.

2. Connect the compressed air supply to FRL unit
3. Check the all circuit
4. Open the hand slide valve
5. Observe the working of continuous running single acting cylinder

CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER-5/2 DOUBLE PILOT VALVE

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DOUBLE ACTING:

1. Draw the circuit diagram

2. Connect compressor air supply to FRL unit
3. Connect any one of the output so FRL unit to 5/2 direction control unit port1
4. Connect port 4 of DCV to blank end of the double acting cylinder
5. Connect the output of FRL unit to the input of two 3/2 roller lever valves to give pilot
pressure for 5/2 double pilot valve
6. The output of the two roller valves are connected to the either side of the 5/2 double
pilot valve properly.
7. When the FRL valve is opened the high pressure air enters the blank end of the
cylinder through DCT and the piston moves forward.
8. At the end of the forward stroke the piston rod pressures the roller valve. The output of
roller valve is sent to double acting cylinder to change the position.
9. Now the high pressure air from FRL unit is sent to rod end of the double acting cylinder
through the second position of the DCV the piston retracts.
10. At the end of return stroke the roller valve is pressed .The output of the roller valve is
sent to dc change the piston. This is repeated until the FRL valve is closed.

RESULT:

Thus the continuous reciprocating of single and double acting cylinders are actuated by the
air pressure in the pneumatic circuit.

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DESIGNING A PNEUMATIC CIRCUIT FOR THE SEQUENCE A+B-A-B

EXPT. No.: 10 Date:

CIRCUIT DIAGRAM:

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DESIGNING A PNEUMATIC CIRCUIT FOR THE SEQUENCE A+B-A-B

EXPT. No.: 10 Date:

AIM

To design a circuit for the sequence A+BA-B.

APPARATUSREQUIRED

1. Single and Double acting cylinder

2. 3/2 single pilot DCV
3. 5/2 single pilot DCV
4. 5/2 double pilot DCV
5. 3/2 roller lever valves
6. FRL unit
7. Connecting tubes

PROCEDURE:

1. Draw the circuit diagram.

2. Connect the compressor air to FRL unit
3. Air both outputs of FRL unit connected to all components.
4. Test your all circuits.
5. Open the hand slide valve.
6. Observe the working of cylinders.

RESULT:

The circuit diagram for the sequence is drawn and executed.

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ELECTRO-PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USING SPDT AND PUSH

BUTTON SWITCH

EXPT. No.: 11 Date:

AIM:

To develop a electro-pneumatic circuit for extension and retraction of double acting cylinder.

APPARATUS REQUIRED:

1. Double acting cylinder

2. 3/2solenoidvalve
3. 5/2singleanddoublesolenoidvalve
4. FRL unit
5. Relay
6. SPDT Switch
7. Push button switch
8. Connecting tubes &wires
9. Data Card

PROCEDURE: SPDTSWITCH

1. Provide power supply to the pneumatic trainer from control trainer by interfacing
24+vand 24-v.

2. Using the SPDT switch energize the corresponding solenoid valve to get the desired
movement in the cylinder.

3. Supply the Air to FRL unit.

4. Assemble all the components.

5. Check all the connections carefully.

6. Test the circuit. Observe the working of the cylinder using the 3/2 and 5/2 solenoid valve.

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CIRCUIT DIAGRAM-SPDT SWITCH

CIRCUIT DIAGRAM-PUSH BUTTON

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PUSH BUTTON SWITCH:

1. Draw the circuit diagram and connect the air supply to FRL unit.

2. Connect the electrical circuit from 24dcsourcetoON/OFF switch.

3. Solenoids are connected to the push button switch.

4. When the solenoid is given a signal solenoid are cut and the solenoids are de-energized and
the DCV activated to single and double acting cylinder.

5. When off button is pressed the signal solenoid are cut and the solenoids are de-energized
and the DCV comes to the original position.

RESULT:

Thus the movement of double acting cylinder was carried out using switches.

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ACTUATION OF SINGLE ACTING CYLINDER USING ON AND OFF DELAY TIMER

EXPT. No.: 12 Date:

AIM:

To develop an electro-pneumatic circuit for the activation of single acting cylinder using
timer.

APPARATUSREQUIRED

1. Single acting cylinder

2. 3/2 single solenoid valve
3. Slide valve
4. FRL unit
5. Connecting tubes & wires

CIRCUIT DIAGRAM-ON TIMER

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PROCEDURE:

ON DELAY TIMER

1. Provide power supply to electrical controller by interfacing the +ve to ve and ve to-ve.
2. Provide power supply to pneumatic trainer for electrical controller by interfacing 24 +ve to
+ve and ve to ve.
3. Using the SPDT switch energize the corresponding solenoid to get the desired movement of
the cylinder.
4. Actual the time delay circuit.
5. From time delay, give connection to single acting cylinder to actuate the cylinder according
to time set.
6. Design and draw the pneumatic circuit..
7. Connect the air supply.
8. Test the circuit.
9. Observe the working of the cylinder.

CIRCUIT DIAGRAM-OFF TIMER

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OFF DELAY TIMER

1. Provide Power supply to pneumatic trainer from electrical controller by

interfacing+24Vand-24V.
2. Provide 24V power supply to timer.
3. Anyone of the output so FRL unit is directly connected to 3/2 single solenoid valve.

RESULT:

Thus the movement of single acting cylinder was carried out using time delay.

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PLC CONTROL OF SINGLE ACTING CYLINDERS ON AND OFF DELAY TIMER

EXPT. No.: 13 Date:

AIM:

To design a circuit to extend and retract the single acting cylinder with the help of delay Timer
controlled by PLC.

APPARATUS REQUIRED:

1. Single acting cylinder

2. RS232cable
3. Versa pro-software
4. 3/2singlesolenoidvalve
5. FRL unit
6. PLC
7. Connecting wires and tube

PROCEDURE:

ON DELAY TIMER:

1. Draw the circuit diagram

2. Provide+24Vand24VfromPLCtrainertopanel.

3. Open the versa pro-software in desktop

4. Interface PLC with PC using RS 232cable.

5. Write a ladder diagram.

6. Output of PLC (q1) is directly connected to input of solenoid coil.

7. Following the opening procedure of versa pro-software.

8. Check the ladder diagram.

9. Connect the air supply to FRL unit.

10. Run the PLC. After some delay the cylinder will be activated.

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CIRCUIT DIAGRAM:-ON DELAY TIMER

CIRCUIT DIAGRAM-OFFDELAY TIMER

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OFF DELAY TIMER

1. Draw the circuit diagram

2. Provide+24Vand24V from PLC trainer to panel.

3. Open the versa pro-software in desktop

4. Interface PLC with PC using RS 232cable.

5. Write a ladder diagram.

6. Output of PLC (q1)is directly connected to input of solenoid coil.

7. Following the opening procedure of versa pro software.

8. Check the ladder diagram.

9. Connect the air supply to FRL unit.

10.Run the PLC and observe the working of single acting cylinder.

RESULT:

Thus the actuation of single acting cylinder with ON and OFF delay timer was done using
PLC.

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PLC CONTROL OF SEQUENCING CIRCUIT USING PLC LADDER DIAGRAM

EXPT. No.: 14 Date:

AIM

To design a circuit for the sequence A+B+A-B-using PLC.

APPARATUS REQUIRED:

1. Single and Double acting cylinder

2. RS232cable
3. Versa pro-software
4. 3/2singlesolenoidvalve,5/2doublesolenoidvalve
5. FRL unit
6. PLC
7. Connecting wires and tube

PROCEDURE:

1. Draw the circuit diagram

2. Provide+24Vand24VfromPLCtrainertopanel.

3. Open the versa pro-software in desktop

4. Interface PLC with PC using RS 232cable.

5. Write a ladder diagram.

6. Outputs of PLC (q1,q2,q3andq4)are directly connected to the inputs of solenoid coil.

7. Following the opening procedure of versa pro-software.

8. Check the ladder diagram.

9. Connect the air supply to FRL unit.

10. Run the PLC and observe the working of double acting cylinder.

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PLC CONTROL OF SEQUENCING CIRCUIT USING PLC LADDER DIAGRAM

EXPT. No.: 14 Date:

AIM

To design a circuit for the sequence A+B+A-B-using PLC.

APPARATUS REQUIRED:

1. Single and Double acting cylinder

2. RS232cable
3. Versa pro-software
4. 3/2singlesolenoidvalve,5/2doublesolenoidvalve
5. FRL unit
6. PLC
7. Connecting wires and tube

PROCEDURE:

1. Draw the circuit diagram

2. Provide+24Vand24VfromPLCtrainertopanel.

3. Open the versa pro-software in desktop

4. Interface PLC with PC using RS 232cable.

5. Write a ladder diagram.

6. Outputs of PLC (q1,q2,q3andq4)are directly connected to the inputs of solenoid coil.

7. Following the opening procedure of versa pro-software.

8. Check the ladder diagram.

9. Connect the air supply to FRL unit.

10. Run the PLC and observe the working of double acting cylinder.

CIRCUIT DIAGRAM:

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RESULT:

Thus the ladder diagram for the automatic running of double acting cylinders is designed and
executed.

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