<p>This report describes the development of weight measurement application and transducer positioning for the A Sort prototype that has been developed for automatic grading and sorting of timber. The prototype consists of a transportation system with hydraulic and electrical motors, a measurement system with laser scanners and acoustic measurement equipment and a control program for the automated process with CoDeSys. The objective was to integrate these parts in an automatic system process, controlling a prototype designed for acoustic measurement of logs. The devices were installed and configured to communicate via an existing fieldbus line using CANopen as communication protocol. A control program was made for each task and implemented in the control process for the automatic measurement of logs. Two load cells were installed beneath a moving tilt and the measurement equipment was tested and calibrated using three different logs with known weight. The testing showed that in order to get higher accuracy the construction needs to be modified. Photo cells were installed on the measurement frames and a program was made in order to make the acoustic measurement of the logs work properly.</p>

This report describes the development of weight measurement application and transducer positioning for the A Sort prototype that has been developed for automatic grading and sorting of timber. The prototype consists of a transportation system with hydraulic and electrical motors, a measurement system with laser scanners and acoustic measurement equipment and a control program for the automated process with CoDeSys. The objective was to integrate these parts in an automatic system process, controlling a prototype designed for acoustic measurement of logs. The devices were installed and configured to communicate via an existing fieldbus line using CANopen as communication protocol. A control program was made for each task and implemented in the control process for the automatic measurement of logs. Two load cells were installed beneath a moving tilt and the measurement equipment was tested and calibrated using three different logs with known weight. The testing showed that in order to get higher accuracy the construction needs to be modified. Photo cells were installed on the measurement frames and a program was made in order to make the acoustic measurement of the logs work properly.

Detta examensarbete har utförts vid Lenze AB i Linköping åt kunden Texo Application AB för att utveckla en madrasstestare. Utvecklingen innefattade programmering av PLC med HMI och frekvensomvandlare för att driva systemet. Madrasstestarens är menad att testa madrasser/sängar för att säkerställa att de är godkända för försäljning genom att en press trycker med varierat tryck på madrassen. Slutprodukten blev en CSV-fil som listar moment från noll till 1000 Nm och position på pressen för varannat moment. / This Bachelor thesis has been done for Lenze AB in Linköping for the customer Texo Application AB, the project was to develop a machine to test mattresses. The development affected PLC-programming with built HMI and inverters to control the system. The machine is designed to test mattresses before they are approved for sales by applying pressure with various force on the mattress. The end product will be a CSV-file witch lists a torque from zero to 1000 Nm and the position of the press for every other torque.

This degree thesis is performed at Rolls-Royce at the Control Systems division. The assignment is to compare two different PLC development tools and determine how a transition toa new PLC development tool would be. The programs that will be compared is the current toolAutoCAD with the extension ACG and CoDeSys. A transition from AutoCAD to CoDeSys is realizable but will take considerable time and effort. Theeasiest way to achieve this is to during the transition generate an export file from the existing drawingsin AutoCAD which then can be imported to CoDeSys. By this CoDeSys can be used as a platform fordeveloping. This is fully realizable because ACG which generates the C code can be modified togenerate almost any export file.

The Department of Applied Physics and Electronics at Umeå University offers education and conducts research in the field of automation and robotics. To raise the competence in automation in the CODESYS development environment it’s proposed to build a remote controlled self-balancing robot as a testing platform which is then programmed using CODESYS for Raspberry Pi.   The chassis of the robot consists of laser-cut plexiglass plates, stacked on top of each other and fixed using threaded rods, nuts and washers. On these plates the robots’ electrical components, wheels and motors are attached.   The control system is designed as a feedback loop where the robots’ angle relative to the gravity vector is the controlled variable. A PID-controller is used as the system controller and a Kalman Filter is used to filter the input signals from the IMU board using input from both the accelerometer and the gyro.   The control system is implemented in CODESYS as a Function Block Diagram (FBD) using both pre-made, standard function blocks and customized function blocks. By using the in-built web-visualization tool the robot can be remote controlled via Wi-Fi.   After tuning the Kalman Filter through plot-analysis and the PID-controller through Ziegler-Nichols method the robot can stay balanced on a flat surface.   The robots’ performance is tested through a series of test scenarios of which it only completes one out of four. The project ran out of time before further testing could be done.   For future work one could improve the performance of the PID-controller through more sophisticated tuning methods. One can also add a steering-function or test different type of controllers.

<p>This degree thesis is performed at Rolls-Royce at the Control Systems division.</p><p>The assignment is to compare two different PLC development tools and determine how a transition toa new PLC development tool would be. The programs that will be compared is the current toolAutoCAD with the extension ACG and CoDeSys.</p><p>A transition from AutoCAD to CoDeSys is realizable but will take considerable time and effort. Theeasiest way to achieve this is to during the transition generate an export file from the existing drawingsin AutoCAD which then can be imported to CoDeSys. By this CoDeSys can be used as a platform fordeveloping. This is fully realizable because ACG which generates the C code can be modified togenerate almost any export file.</p>

Detta examensarbete är en del av en förstudie av en hydrauliskt bromsad vagn avsedd att bogseras för uthållighetstestning av militära fordon. Denna del behandlar konstruktionen av styrsystemet till bromsvagnen. I rapporten beskrivs programmering av ett styrsystem med hänsyn till ett parallellt utvecklat hydrauliksystem, identifiering av tänkbara leverantörer av komponenter, och sammanställandet av en analys över feleffekter. Resultatet blev ett styrsystem programmerat i CODESYS komplett med ett operatörsgränssnitt, ett blockschema över systemet, och en feleffektsanalys. Slutsatsen blev att en prototyp skulle kunna byggas utifrån detta arbete men man bör överväga en modifikation av systemet och också beakta vissa risker. / This degree project is part of a prestudy of a hydraulic brake wagon designed to be towed for endurance testing of military vehicles. This report presents the design of the control system for the brake wagon. It describes the programming of a control system for a hydraulic system developed in parallel, the search of potential component suppliers, and the compilation of a failure analysis. The result was a control system programmed in CODESYS, with an operator interface, a block diagram of the system and a Failure Mode Effect Analysis. The conclusion is that a prototype could be built based on this work but a modification of the system and certain risks should be considered. / Projekt Bromsvagn

The work deals with the design and implementation of control applications for programmable logic controllers. The subjects, that are to be controlled, are technological devices designed for heating several manufacturing buildings in the industrial park. The first part describes the installed thermal systems and their operating principles. Following section is about programmable logic controllers and their related topics. In the practical part, the control system is chosen based on the analysis, and control strategy for heating technologies is designed along with the communication topology. Created control and visualization applications are described in the implementation part.

This diploma thesis deals with the optimization of the process of matching the bearing components. The work contains a description of Codesys programming environment, its structure, usable languages and some examples of usage. The main part of the thesis describes a series of algorithms that provide the necessary actions for one of two processed pairing approaches. These algorithms are subsequently implemented as subprograms in the Codesys environment. The necessary inputs and outputs are part of the proposed algorithms as well as processed subroutines.

Testing is an important activity in software development used to ensure the quality of a product. In industrial practice when developing control software, such as Programmable Logic Controllers (PLCs), software testing is, in some cases, neglected during the development process. There is little support for automated testing on PLC software and the creation of test cases is hence mainly a manual activity that can be both costly and time-consuming. In this thesis, we propose a solution for an integrated tool chain for automating the testing process for IEC 61131-3 PLC software in the integrated development environment (IDE) of CODESYS (Controller Development System), using a combinatorial testing tool (i.e., SEAFOX) for test case generation. Further, we measure the applicability and usefulness of the integrated tool chain in terms of the decision coverage (i.e, Observable Decision Coverage) achieved by the generated test cases. For this purpose, several available tools for testing in CODESYS IDE have been examined as well as solutions on how to integrate the chosen tool (i.e., CfUnit) with SEAFOX. After a solution for the tool chain was implemented and integrated, an experiment was conducted to measure decision coverage for the generated test cases on nine industrial programs using Pairwise, Base choice and Random combinatorial testing techniques. The result of our thesis is a fully integrated tool chain consisting of CODESYS, CfUnit, SEAFOX, and a python script used to combine these, and where the SEAFOX tool was further extended to support additional standard data types. This tool chain can be used to create test cases, generate new input values for these using SEAFOX, automate the additional test case creation and integration with CfUnit in CODESYS IDE, as well as for test execution. The results of the experiment show that test cases generated by this tool chain achieved on average 90% decision coverage or higher regardless of the combinatorial technique used, with the overall average level being 94%. Interestingly enough, Random testing scored higher than both Pairwise and Base choice testing. We present our integrated tool chain as a contribution to the automation of test creation and execution for industrial control software in CODESYS IDE. However, we identified several limitations with testing CODESYS timer blocks and when executing larger test suites that can make it problematic to fully test PLC programs in a real-time simulation environment. These challenges should be investigated further by both researchers and practitioners.