This thesis deals with a creation of a control system of 3-axis milling machine. The beginning of the thesis is dedicated to the general description of the problematic of the numerically controlled machines and the technologies used in this branch. The next chapter describes mechanical and electronical adjustments of the machine. Following chapters are dedicated to the creation of PLC program and HMI using the TwinCAT software. In conclusion, this thesis deals with commissioning of the machine, measuring its geometrical accuracy and testing.

This thesis deals with rebuilding of a laboratory manipulator to 3D engraving machine. First part of the thesis describes the engraving technology and lists the most common types of engraving machines. Next, the initial state of the machine is analysed and modifications of mechanical and electrical equipment are suggested. Design, realisation of a control system and human machine interface are described. The Beckhoff TwinCAT programming environment is used. The last part of the thesis deals with practical realisation and commissioning of the machine. The results of the thesis can be used as an addition for lessons of Automation of Production Machines.

The Smurfit Kappa Piteå is Europe's largest paper mill for Kraftliner. [1] The factory contains of both a sulphate mill and a paper mill including two paper machines. In a sulphate mill, pulp is produced by boiling wood chips with liquor that contains active chemicals such as Na2S and NaOH. There is a cost saving in chemical recycling instead of replacing used chemicals with new ones. In order for boiling pulp and have the process of recycling of chemicals to work optimally, the various liquids must maintain certain values and concentrations. It takes a lot of time and resources when the operators have to do it manually, and therefore the process owner has invested in a process analyzer that is physically connected to the pipes where the chemicals pass to automatically take out samples and analyze them. However, the analyzer has very big problems with crystallization of transportation pipes, valves that get stuck, and the only unit that provides information about the problems is a HMI-display located next to the factory's soda boiler. This place next to the soda boiler is an unpleasant area to stay at. That is one of the reasons that it often takes a long time from the analyzer encounters a problem until someone discovers the problem and contacts the accurate service department to fix the problem. The availability of the analyzer thus needs to be developed. The analyzer had its own PLC with control signals for valves and sensors. Those signals were picked out and sent through a PROFIbus DP to the operators ordinary control system ABB 800Xa. Also, a process image of the analyzer was designed and a number of functions for detecting and reporting problems were implemented. Each valve and sensor received its own faceplate with associated alarms. Now the operators could, with this user-friendly system, more quickly detect problems and address them to the right maintenance department. By interviewing the operators who work with the analyzer, it was made possible to measure the use of creating a new process image as a tool for troubleshooting. Many operators say in the interviews that they feel that the new process image makes them more aware of operational malfunctions of the analyzer that require action. However, some of the mechanical weaknesses in the design that cause these problems still remains, and must be fixed. / Smurfit Kappa Piteå är Europas största pappersbruk för Kraftliner. [1] De har både ett sulfatbruk och ett pappersbruk med två egna pappersmaskiner. I ett sulfatbruk tillverkas pappersmassa genom att koka träflis med vitlut som innehåller aktiva kokkemikalier såsom Na2S och NaOH. Det finns en kostnadsbesparing i kemikalieåtervinning istället för att ersätta förbrukade kokkemikalier. För att kokning av pappersmassa och återvinning av kemikalier ska fungera optimalt måste de olika vätskorna hålla vissa styrkor och koncentrationer. Det kostar tid och resurser när operatörerna gör det manuellt, därför har processägaren investerat i en processanalysator som är fysiskt ansluten till de ledningar där de viktiga kemikalierna transporteras för att automatiskt ta ut prov och analysera dessa. Analysatorn har dock problem med kristallisering av ledningar, ventiler som fastnar samtidigt som den tillhörande HMI-displayen ger knapphändig information om problemen. Därtill är HMI-displayen placerad i anslutning till fabrikens sodalutpanna, och är besvärlig att komma åt. Det tar ofta lång tid från det att analysatorn stöter på problem tills dess att någon upptäckt det, samt adresserat rätt avdelning för att avhjälpa felet. Tillgängligheten för analysatorn behövde förbättras. Analysatorns styrsignaler för dess ventiler och sensorer plockades ut och skickades via en PROFIbus DP till operatörernas ordinarie styrsystem. Därefter designades en processbild som visualiserade hur analysatorn ser ut, och ett antal funktioner för att upptäcka och rapportera problem implementerades. Varje ventil och sensor fick sin egen faceplate med tillhörande larm. Detta för att möjliggöra att operatörerna med ett användarvänligt system, snabbare upptäcka problem och adressera dem till rätt underhållsavdelning. Genom att intervjua operatörer som jobbar på det processavsnitt där analysatorn står placerad kan det konstateras att målet att designa en ny processbild, samt använda den och dess funktioner som ett verktyg för att snabbare upptäcka och adressera problem fungerar. Många operatörer säger i intervjuerna att de upplever att den nya processbilden gör dem mer uppmärksamma på driftstörningar av analysatorn som kräver åtgärder. Däremot så kvarstår en del av de mekaniska svagheter i konstruktionen som orsakar dessa problem.

This thesis deals with software creation for delt robot in TwinCAT 3 program. First part describes the general characteristics of a delta robot. Next part deals with hardware and PLC coding in TwinCAT 3 and the final part discusses the creation of an application.

This master´s thesis deals with the modernization of the EMCO milling machine control system. The theoretical part is focused on the basic description of CNC machine and current state of EMCO milling machine control system. The main point of this thesis is new control system design for given milling machine, when the proposed variants are described and compared according to construction and price. The one variant is selected that best suits the specified parameters. Also, in the TwinCAT development interface from Beckhoff the new control system is created and described in the end of this work.

The diploma thesis focuses on the electronics design of a hobby CNC milling machine. There are analysed and described the individual electronic parts and components related to this problematic. Three electronics suggestions are made, these suggestions are compared. Then, one of these variants is selected and implemented. Next, is created a relevant PLC program to control the CNC milling machine with visualization for easy control.

This thesis deals with a proposal modernisation of control and electroinstalation of the milling machine FNG 32. The thesis is divided into several sections: The first section is dedicated to the research of the milling machine and the description of its current condition. The second section deals with possible options of retrofitting and with the components.The third section includes the technical and economical evaluation and the selection of the solution. In the next section, the selected components are described and an electronic documentation of the machine has been created in EPLAN. In the last section, a proposal of control of the milling machine has been created with the help of the TwinCAT development environment provided by Beckhoff company.

This research explores the Automation Interface created by Beckhoff through introducinga compiler solution. Today machine builders have to be able to build machinesor plants in different sizes and provide many variations of the machine orplant types. Automatic code generation can be used in the aspect to reuse code thathas been tested and is configurable to match the desired functionality. Additionally,the use of a pre-existing API could potentially result in less engineering resourceswasted in developing automatic code generation. This thesis aims to evaluate theAutomation Interface (AI) tool created by Beckhoff. This is accomplished throughmeans of incorporating the API functions into a compiler solution. The solution isdesigned to export the information required through an XML-file to generate PLCapplications.The generated PLC-code will be in Structured Text. In order to createa functional PLC-application, the construction of software requirements and testcases are established. The solution is then validated by means of generating a dataloggerto illustrate the usage. The exploratory research revealed both the benefitsand cons of using AI to a compiler solution. The evaluation indicated that the AutomationInterface can reduce engineering effort to produce a compiler solution, butthe learning curve of understanding the underlying components that work with theAPI required a great deal of effort.

The diploma thesis deals with the issue of virtual commissioning of the workplace and the commissioning of communication channels needed for this purpose. The theoretical part describes the benefits of virtual commissioning, robot and PLC programming and effectors for robots. The practical part deals with the design of the final robot effector, virtual commissioning using the programs Process Simulate and TwinCAT 3, communication between programs and creation of programs for the workplace.

This goal of the diploma thesis is to design, to construct and write control program for CNC milling machine designed for machining aluminum, wood and plastic. Entire structure of machine is designed and made of steel. The main table consists of an aluminum plate and aluminum structural profiles. Spindle of milling machine is a high speed motor from ATAS a.s. company. Milling machine is controlled by the program made in TwinCAT environment from Beckhoff Automation GmbH & Co. KG.