Question

Objective:

- Develop a Finite State Machine ladder diagram for the Hug Me Robot, outlining the sequence of actions: arms folding, right arm extending, left arm extending, or both arms extending. Ensure the robot returns to the folded position after each movement. Control this sequence using two switches (folded 00, right arm 01, left arm 10, both arms 11). The output will activate two relays responsible for actuating the pneumatic cylinders of the arms.

Equipment:
- Micros10

Background:
- Create a comprehensive state diagram illustrating all states and transitions. Label the transitions based on the input switches (folded 00, right arm 01, left arm 10, both arms 11).

Ladder Diagram Organization:

A. Table of Local Variables:
- Define variables to capture the current state and transitions.

B. States with Latches:
- Set up latches for each state to maintain the current state until a transition occurs.

C. Transitions:
- Detail transitions between states triggered by the input switches.

D. Outputs:
- Specify the outputs that control the relays for the pneumatic cylinders.

Report:
- Summarize the actions of the state machine. Include any additional actions performed and explain them in the summary.

Components:
1. State Diagram
2. Table of Variables Used
3. Ladder Diagram organized into three sections:
a. State Latches
b. Transitions
c. Outputs

Answer 1

To develop a Finite State Machine ladder diagram for the Hug Me Robot, follow the steps of Table of Local Variables, States with Latches, Transitions, and Outputs. This will allow the robot to perform the sequence of actions and return to the folded position after each movement.

Step-by-step explanation:

The Finite State Machine (FSM) ladder diagram for the Hug Me Robot can be developed by following these steps:

1. Table of Local Variables:

Define variables to capture the current state and transitions, such as 'CurrentState' and 'NextState'.

2. States with Latches:

Set up latches for each state to maintain the current state until a transition occurs, using rungs with self-holding contacts. For example, use a latch for the 'Folded' state, labeled 'FoldedLatch'.

3. Transitions:

Detail transitions between states triggered by the input switches. Use contact and coil elements to represent the switches and coils for the transitions. For example, use a rung with a 'FoldedLatch' holding contact as an input and a transition coil labeled 'RightArmExtend' as an output.

4. Outputs:

Specify the outputs that control the relays for the pneumatic cylinders, using coil elements to represent the relays. For example, use a rung with a 'RightArmExtend' coil as an output to control the right arm pneumatic cylinder.

The ladder diagram has three sections: State Latches, Transitions, and Outputs. Each section will have multiple rungs to represent different states and actions. The ladder diagram will allow the Hug Me Robot to perform the sequence of actions: arms folding, right arm extending, left arm extending, or both arms extending, while ensuring the robot returns to the folded position after each movement.