By
Nico Adi Harianto 11111090
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
August 2015
Revision after the Thesis Defense on August 6th, 2015
Nico Adi Harianto STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Nico Adi Harianto
_____________________________________________
Student Date
Revision after the Thesis Defense on August 6th, 2015
Approved by:
Cepi Mohamad Hanafi, S.S.T., M.T.
_____________________________________________
Thesis Advisor Date
Dr. Ir. Gembong Baskoro, M.Sc.
_____________________________________________
Dean Date
Nico Adi Harianto ABSTRACT
DESIGNING AND CONSTRUCTING AN AUTOMATED GUIDED VEHICLE USING PROGRAMMABLE LOGIC CONTROL
By
Nico Adi Harianto
Cepi Mohamad Hanafi, S.S.T., M.T.
SWISS GERMAN UNIVERSITY
Automatic Guided Vehicle (AGV) is a mobile robot that is widely used for moving objects in the warehouse or manufacturing industry. The objective is to configure AGV system for Industrial purposed which is controlled by PLC. OMRON PLC CP1L- EM40DT-D is used for controlling the line following AGV using magnetic coin.
Combining the driving, steering and safety system using the ladder diagram programming to make the AGV works. In this thesis, the driving system is made to maintain at the speed of 0.1 m/s, 0.2 m/s, 0.3 m/s, 0.4 m/s and 0.5 m/s maximum when it is loaded or unloaded with maximum load of 200 kg, and also able to turn based on the magnetic path for 8 working hours.
Keywords: AGV, Automatic Guided Vehicle, PLC, Line follower
Nico Adi Harianto
© Copyright 2015 by Nico Adi Harianto
All rights reserved
Nico Adi Harianto DEDICATION
I dedicate this works to my Savior, my Lord and my all in all, Jesus Christ.
Nico Adi Harianto ACKNOWLEDGEMENTS
First of all I would like to say thank you to my Heavenly Father Jesus Christ, my best friend and my inspiration that has given this thesis to me and accompany me until this thesis work is done.
I would like to express my sincere thanks to my thesis advisor, Mr. Cepi Mohamad Hanafi, S.S.T., M.T. and Mr. Leonard Rusli, Ph.D. as the project leader for the guidance, counseling, encouragement and support during the thesis.
I would like to thanks to my parents, Rian Harianto and Herliana Widyastanti, my brother, Kevin Ardhi Harianto, my sister Stephanie Ardina Harianto and my beloved girlfriend, Anastasia Ria Putri, who always give support, challenge and mention my name in their prayer.
I would like to thanks to all the AGV project member: Kevin Inar, Alvin, Steven, Christian, Ryendra, and Kevin Tantra for the hardwork and the help during the project.
I would like to thanks to my friends: Bayu, Daniel, Enzo, Felix, Putra, Sebastian, Aditya, Rheza, Richard, Michael, Brilly, my college friends in MTA and MTB batch 2011 for the togetherness.
Nico Adi Harianto TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 10
LIST OF TABLES ... 12
CHAPTER 1 - INTRODUCTION ... 13
Background ... 13
Thesis purpose ... 14
Thesis problem ... 14
Thesis scope and limitation ... 14
Chapter overview ... 15
CHAPTER 2 - LITERATURE REVIEW ... 16
Automated Guided Vehicle... 16
Previous AGV in SGU ... 17
2.2.1 First type AGV [2] [3] [4] ... 18
2.2.2 Second type AGV [5] [6] ... 19
Driving and steering system... 19
AGV’s modules ... 21
Programmable Logic Control ... 22
2.5.1 OMRON PLC ... 23
2.5.2 Ladder diagram ... 24
2.5.2.1 TIM/TIMX ... 24
2.5.2.2 PWM ... 25
Nico Adi Harianto
2.5.2.3 PRV2 ... 26
Motor... 27
Battery ... 27
Sensors ... 28
2.8.1 Magnetic Sensor... 28
2.8.2 Proximity Sensor ... 29
CHAPTER 3 - METHODOLOGY ... 30
PLC selection ... 30
Electrical circuit diagram ... 33
Programming part ... 35
3.3.1 PLC programmer setting ... 35
3.3.2 Operation steps... 37
3.3.2.1 Manual operation ... 37
3.3.2.2 Automatic operation... 37
3.3.3 Input and output classification ... 38
3.3.4 General flowchart... 39
3.3.5 Driving and steering flowchart ... 40
3.3.6 System on ... 42
3.3.7 Forward system ... 43
CHAPTER 4 - RESULT AND DISCUSSION ... 50
PLC Selection result ... 50
4.1.1 Problem faces ... 50
4.1.2 PWM testing ... 50
Wiring Result ... 53
Program result ... 56
Nico Adi Harianto
4.3.1 System on ... 56
4.3.2 Driving and steering ... 57
4.3.2.1 Setting the duty ratio ... 57
4.3.2.2 Counter target... 59
CHAPTER 5 - CONCLUSIONS AND RECCOMENDATIONS... 60
Conclusion ... 60
Recommendation ... 60
GLOSSARY ... 61
REFERENCES ... 62
APPENDICIES ... 63
CURRICULUM VITAE ... 86
