1. Programmable Logic Controller and Robotics

3. A small PLC (Allen Bradley MicroLogix 1000) (Courtesy of Allen-Bradley).

5. Structures

10. A Relay

11. A counter

12. Counter timing diagram (the count value is 5)

13. A timer

14. Timer timing diagram (the timing value is 5)

17. Logic network diagram and ladder diagram

20. The Ladder Diagram

22. PLC scan

23. Example 2

24. Identified I/Os

25. Program

26. Wiring diagram

28. Identify I/Os

29. Ladder Diagram

32. Ladder Diagram

33. Design methods for ladder diagram

34. Truth table

35. Ladder diagram for Example 10.2

36. State diagram

37. Rules of State Diagram

38. State diagram for Example 10.4

49. Robot Working Envelope

51. Forward and backward kinematics analysis

52. Forward and backward kinematics analysis

53. Forward and backward kinematics analysis

56. Typical applications Deburs

57. Assembly headlamp

59. Example

60. A single machine robotic cell application

61. Cycle time calculation example

62. Another example: double grip robot

63. Example