1. “Besides black art, there is only automation and mechanization.” Federico Garcia Lorca

2. The Gantry Automation Project Overview The Objectives Our Approach How it was programed The Logic Codes The Final Result Rhys Porter, Joseph Eric Roy, Anthony Moody

3. The Objectives To Solve a Puzzle Using Automation H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

4. The Objectives To Solve a Puzzle Using Automation H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

5. The Objectives To Solve a Puzzle Using Automation H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

6. The Objectives The Puzzle Solved State H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

7. Our Approach Understand the task, then Define the sequences

8. How it’s going to be done H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

9. Stack all the disks together H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

10. H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red Measure the disks

11. Till the puzzle is solved H0 H1 H2 H3 H4 V0 V1 V4 V2 V3 Green Amber Red

12. “Controlling complexity is the essence of computer programming” (Brian Kernigham)

13. S1 : Dormant Lights S100-199 S2 : Starting Lights S200-299 S3 : Recover Actions S300-349 Lights S350-399 S4 : E-Stopped Lights S400-499 S5 : Running Stacking S1000- 1499 Sorting S1500- 1999 Lights S350-399 Hierarchical State Machine Design

14. Resource Allocation NameMain StateSub-StatesState MemoryOther MemoryTimers Primary–S0-9M0.0-3.7M4.0-9.7T0-9 PowerupS0–––– DormantS1S100-199M10.0-13.7M14.0-19.7T10-19 StartingS2S200-299M20.0-23.7M24.0-29.7T20-29 RecoverS3S300-349M30.0-33.7M34.0-34.7T30-34 Recover+Run LightsS3S350-399M35.0-38.7M39.0-39.7T35-39 E-StopS4S400-499M40.0-43.7M44.0-49.7T40-49 Running: StackingS5S1000-1499M100.0-103.7M104.0-149.7T100-149 Running: SortingS5S1500-S1999M150.0-M153.7M140.0-199.7T150-199 Recover+Run LightsS5S350-399M35.0-38.7M39.0-39.7T35-39

15. Interaction of Main States

16. Interaction of Main States (Simplified)

17. Benefits of a Hierarchical State Machine Minimises code duplication Eg “Go Home” memory bit to return to HO,VO Easy to follow debugging Ability to see states the PLC is in at any point Any sub-state bugs are contained Use of function calls and sub-state re-initialisation and clean up Mutated sub-state behaviour based on “Flag” memory bits set Eg Different Lighting behaviours or stacking columns

18. “If you don’t trust them, then program them” Machines (Joseph Eric Roy)

19. Gantry Simulation

23. Physical Constraints Speed Simulation Suction Time Over extension Switch location S7-300 PLC TIA portal software

24. Stacking State

25. Recovery State