OTOMASI SISTEM

PRODUKSI
Pertemuan 3
Sistem Kontrol Industri
Helena Sitorus, ST., MT.

TUJUAN
Mengetahui dan memahami :
Industri proses dan industri
manufaktur diskrit
Kontrol diskrit vs kontinu
Kontrol proses komputer

KONTROL INDUSTRI
Regulasi otomatis dari unit operasi dan peralatan
terkait, demikian juga dengan integrasi dan
kordinasi dari unit operasi untuk menjadi sistem
produksi
Unit operasi :
Biasanya dinyatakan sebagai operasi manufaktur
Dapat juga berupa material handling atau peralatan lainnya
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Industri Proses vs Industri Manufaktur Diskrit

Industri Proses :
Operasi produksi dalam amount
Cairan, gas, dll
Indsutri Manufaktur diskrit
Operasi produksi dalam satuan jumlah
Parts, unit produk

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Defenisi Variabel dan Parameter

Variabel : ouput proses
Parameter : input proses
Continuous Variabel dan Parameter : tidak dapat
diinterupsi (diganggu) pada saat proses. Dapat
mengambil setiap nilai dalam range tetentu.
Variabel dan parameter diskrit : dapat mengambil
hanya nilai tertentu pada range yang ditentukan.

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Variabel dan Parameter Diskrit

Categori :
Binary : Yes atau tidak, 0 atau 1
Lebih dari binary : dapat mengambil lebih
dari dua kemungkinan nilai tetapi tidak
lebih dari nilai tak terbatas
Pulse data : perubahan pulse yang
dapat dihitung
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Tipe Control
1.Continuous
Control

Variabel dan parameter continuous dan analog

Biasanya untuk membuat variabel output pada level yang
diinginkan
Variabel dan parameter continues
Sama dengan feedback control system
Kebanyakn industri proses continues memilikkfeedback loop
Contoh dalam proses continuous
Kontrol output reaksi kimia yang bergantung pada temperature,
tekanan, dll
Kontrol posisi :alat potong (cutting tool) yang berkaitan dengn
CNC

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Tipe Control
1.Continuous
Control Tipe Continuous Control

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Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

Note :

Untuk memelihara
performance proses
pada level tertentu
atau dalam batas
toleransi
level
tersebut
Tepat
saat
performance dilihat
dari ukuran kualitas
Persoalannya
adalah error ada
dulu untukisnisiatif
kontrol
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

10

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

11

Feedward Control
Tujuan : antisipasi efek gangguan proses dengan
mensensor dan mengkompensasikan gangguan
tersebut sebelum mengganggu proses
Model matematik diperoleh untuk menunjukkan efek
dari gangguan proses tersebut
Kompensasi omplit su;it dilakukan karena variasi,
ketidaksempurnaan mosel matematis, dan
ketidaksempurnaan tindakan kontrol

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

12

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

13

Steady State Optimization

Teknik Optimisasi dimana proses menunjukkan krakter
berikut :
Penentuan Index Performance (IP) yang baik
Mengetahui hubungan antara variabel proses dan IP
Nilai parameter yang mengoptimumkan IP dapat
ditentukan
secara
matematisModel
matematik
diperoleh untuk menunjukkan efek dari gangguan
proses tersebut
Open-loop system
Teknik optimisasi meliputi differensial kalkulus, program
matematis, dll
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

14

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

15

Adaptive Control
Karena Steady State Open-loop maka kompensasi
gangguan tidak dapat dilakukan
Adaptive Control adalah koreksi sendiri dari control optimal
yang mencakup feedback control.
Mengukur variabel yang relevan selama masa proses
(feedback control)
Menggunakan algoritma control yang berusaha untuk
mengoptimasi IP (optimal control)

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

16

Adaptive Control Beropersai pada Lingkungan

dan Waktu yang berubah
Perubahan
lingkungan
seiring
waktu
berpotensi
mempengaruahi performance sistem.
Cth, Supersonic Aircraft beroperasi secara berbeda
pada subsonic flight dn supersonic flight
Jika algoritma control sudah fix sistem dapat beropersai
sedikit berbeda pada lingkungan yang berbeda
Adaptive control didesain untuk mengkompensasikan
perubahan lingkungan dengan memberikn beberapa
aspek algoritma control untuk mendapatkan performance
optimal
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

17

Tiga Fungsi Adaptive Control

Identifikasi : nilai IP ditentukan berdasarkan ukuran dri
variabel proses
Decision : memutuskan perubahan apa yang harus dilakukan
untuk
meningkatkan
performace
system.
engaruahi
performance sistem.
Merubah satu atau lebih input parameter
Memberikan alterntif untuk beberapa fungsi inter controller
Modification : mengimplementasikan fungsi decision
Lebih kepada perubahan fisik ( lebih kepada hardware
dibandingkan software)
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

18

On-Line Search Strategies

Klas khusus dari adaptive control dimana fungsi decision tidak

dapat dilakukan secara memuaskan
Hubungan antara input parameter dan IP tidak diketahui atau
kurang diketahui untuk mengimplementasikan bentuk adaptive
control yang sebelumnya.Memberikan alterntif untuk beberapa
fungsi inter controller
Sebagai gantinya, eksperimen dilakukan pad proses
Perubahan kecil sistematis dilakukan pada parameter untuk
mengobservasi efek.
Berdasarkan efek yang diobservasi, perubhan besar dilakukan untuk
mengarahkan sistem memperoleh optimal performance

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

19

Discrete Control System

Parameter dan variabel diskrit dan dirubah pada

moment diskrit dalam waktu
Perubahan lanjutan ditentukan dengan program
instruction
Perubahan dieksekusi berdasarkan 2 alasan yaitu :
Keadaan sistem telah berubah (event-driven
changes yaitu perubahan yang digerakkan kejadian)
Sejumlah waktu tertentu telah berlalu (time driven
changes yaitu perubahan yang digerakkan oleh
waktu)

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

20

Event-Driven Changes
Dieksekusi oleh controller untuk merespon beberapa keadaan yang
telah merubah keadaan sistem
Contoh :
Sebuah robot membebani workpart pada peralatan, dan part
disensor oleh tombol terbatas pada peralatan tersebut.
Pengurangan level plastic pada corong injection molding machine
memicu tombol low level yang membuka valve untuk memulai
aliran lebih banyak lagi ke corong.
Part yang terhitung mengalir pada conveyor melaui optical sensor

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

21

Time-Driven Changes
Dieksekusi oleh controller baik pada titik
waktu spesifik maupun setelah selang waktu
tertentu.
Contoh :
Shop clock pabrik berbunyi pada waktu
spesifik untuk mengindikasikan permulaan
shift, mulai istirahat, mengakhiri shift
Operasi pemanasan harus dilaksanakan
pada jangka waktu tertentu
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

22

2 Tipe Discrete Control

1. Combinational Logic Control control eksekusi eventdriven changes
Juga dikenal sebagai logic control
Output setiap moment bergantung kepada nilai input
Parameter dan vriabel = 0 atau 1 (ON atau OFF)
2. Sequential Control control eksekusi timedriven changes
Menggunakan alat waktu internal untuk menentukan
kapan membuat perubahan pada variabel output

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

23

Proses Kontrol Komputer

Kemampuan Kontrol
Komputer

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24

Polling (Data Sampling)

Data sampling secara periodik untuk mengindikasi status
proses
Issue :
Frekuensi polling : pengulangan interval waktu atar data
sample
Polling order : urutan pengumpulan data
Polling format : prosedur sampling
Semua sensor dipolling setiap siklus
Update hanya data yang merubah siklus
High level dan low level scanning
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

25

Interlock
Mekanisme perlindungan untuk kordinasi dua atau
lebih peralatan untuk mencegah gangguan satu
peralatan terhadap yang lain. roses
1. Input Interlock : signal dari peralatan eksternal dikirimkan
ke controller, kemungkinan fungsinya :
Memproses untuk eksekusi program work cycle
Interupsi eksekus program work cycle
2. Output Interlock : signal dikirim dari controller ke peralatan
ekternal.

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

26

Interrupt System
Kontrol komputer yang menunda program yang
berlangsung untuk mengeksekusi program lain
dalam merespon sinyal yang masuk berkaitan
dengan kejadian yang memerlukan prioritas.
1. Internal Interrupt: ditimbulkan oleh komputer itu sendiri.
Timer untuk kejadian, polling syste, dan interupsi
programeksekus program work cycle
2. External Interrupt : ditimbulkan dari eksternal.
Interupsi proses, input operator
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

27

Interrupt System

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Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

28

Exception Handling
Exception (pengecualian) : kejadian di luar normal
atau operasi yang diinginkan dalam sistem proses
control. Contoh :
Problem kualitas produk
Variabel proses di luar range batas normal operasi
Kekurangan bahan baku
Keadan bahaya, mis. Api
Malfungsi controller
Exception handling adalah suatu bentuk deteksi error dan
pemulihannya
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

29

Bentuk-Bentuk Kontrol Proses Komputer

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30

Computer Process Monitoring

Komputer mengobservasi proses dan peralatan
terkait, mengumpulkan dan merecord data operasi
Komputer tidak langsung mengontrol proses
Tipe data yang dikumpulkan
Data proses : input parameter dan output variabe;l
Data peralatan : utilisasi mesin, jadwal pergantian tool,
diagnose malfungsi
Data produk : untuk memenuhi permintaan pemerintah.
Cth. Farmasi dan pengobatan
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

31

Computer Process Monitoring

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

32

Direct Digital Control (DDC)

Proses control komputer dimana komponen analogsystem
control analog konvensional diganti dengan digital komputer
Circa : 1960 an menggunakan mainframe
Aplikasi : industry proses
Dilengkapi dengan waktu yang berbagi, lebih kepada
basis
data
sampel
daripada
komponen
yang
didedikasikan secara berkesinambungan.
Komponen yang tetap di DDC : sensor dan actuator
Komponen yang digantikan di DDC : analog controller,
instrument yang terecord atau yang ditampilkan, se
point dials

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

33

Direct Digital Control (DDC)

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

34

Direct Digital Control (DDC)

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

35

Numerical Control and Robotics

Computer Numerical Control (CNC) :
komputer
mengarahkan
tool
mesinmelalui urutan langkah-langkah
proses yag ditentukan oleh program
instruksi
Industrial robotic : manipulator joint
dikontrol
untuk
bergerak
dan
mengarahkan end of arm melalui urutan
posisi pada work cycle.
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

36

Programable Logic Controller (PLC)

Kontrol
berbasi
microprocessor
yamg
mengeksekusi
program
instruksi
untuk
menimplementasikan
logic,
urutan,
perhitungan, dan fungsi aritmetika untuk
mengontrol mesin industry dan proses.
Diperkenalkan
tahun
1970
untuk
menggantikan
controller
elektromekanikal
relay pada manufaktur produk diskrit
PLC sekarang berlaku untuk control industry
diskrit dan continuous.
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

37

Supervisory Control
Kontrol sistem untuk mengatur aktivitas
integrasi unit operasi untuk mencapai tujuan
ekonomis tertentu. iperkenalkan tahun 1970
untuk
menggantikan
controller
elektromekanikal relay pada manufaktur
produk diskrit
Pada manufaktur diskrit supervisory control
adalah sistem kontrol yang mengarahkan dan
mengkordinasikan aktivitas beberapa interaksi
peralatan pada sistem manufaktur.
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

38

Supervisory Control

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

39

Distributed Control System (DCS)

Multiple microcomputer dihubungkan bersama untuk
berbagi dan mendistribusi proses control bebean kerja.
Fitur :
Multiple process control station untuk mengontrol
tersendiri loop dan pdevice (peralatn)
Central Control room (ruangan control pusat) dimana
supervisory control dilakukan
Local operator station ( stasiun operator lokal)
untukrtumpangtindih
Communication network ( aliran data)
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

40

Distributed Control System (DCS)

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

41

PC pada Proses Kontrol

2 kategori personal computer dalam proses control :
1. Operator interface : PC di-interface kepad satu atau
lebih PLC atau device yang langsung mengontrol
proses
PC melakukan fungsi monitor dan supervisory tetapi
tidak langsung mengontol proses.
2. Direct control (Kontrol langsung) : PC langsung
interface dengan proses dan mengontrol operasinya
lrral time
Dalam pemikiran tradisional hal ini beresiko
2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

42

2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently exist.
No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher. For the exclusive use of adopters of the book
Automation, Production Systems, and Computer-Integrated Manufacturing, Third Edition, by Mikell P. Groover.

43

THANK YOU
Helena

Sitorus, ST., MT.