Name: ______________________________________ Date: ____________________________

Faculty: __________________________________ Course Yr. & Sec: _____________________________

ROBOTICS & MECHATRONICS (ECEN 30164)

LABORATORY MANUAL

PREPARED BY:

ENGR. MYRNA A. CABRERA, PECE

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 1

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

ECEN 30164: ROBOTICS & MECHATRONICS

LABORATORY MANUAL

Experimen Title Grade

t Number
1 Simple Pneumatic System Using 3/2
Way Valve
2 Logic Operated Pneumatic System
3 Simple Electro-pneumatic System Using
5/2 Way Valve
4 Electro-pneumatic System with Sensor
5 Raptor Code

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 2

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

SAFETY REMINDERS DURING THE EXPERIMENT

1. Always follow pressure ratings and limitations. Use only the allowed air
pressure for compressor (maximum of 6 bars) and air service unit (3.5 - 4 bars)!

2. Turn off the switch when changing connections!

3. Never point it to yourself or another person! Absolutely NO HORSEPLAY!

4. Never use it to clean clothing or hair!

5. Always check the condition of hoses and lines before use!

6. Always wear proper protective clothing!

7. Never use it to clean workspaces or equipment unless necessary!

8. Do not put your hand or fingers near the cylinder when it is moving.

9. Ensure that the hoses/tubing are locked before you put the compressed air.

10. Proper usage of the equipment must be observed to avoid damage and
accidents.

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 3

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

EXPERIMENT NO. 1
SIMPLE PNEUMATIC SYSTEM USING 3/2 WAY VALVE

Objectives:

After performing this experiment, you will be able to:

1. Understand how to connect a simple pneumatic system using 3/2-way valve.
2. Analyze how pneumatic system using 3/2-way valve works.

Materials Needed:

1 – compressor
1 – air service unit (ASU)
1 – 3/2 – way normally close push button valve
1 – 3/2-way normally open push button valve
1 – single acting cylinder
1 – distributor block
1 – one way flow valve
plastic tubing for compressor and other devices

Diagram:

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 4

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

FluidSim Diagram

Procedure:
1. Put the ASU in the aluminum board. ASU switch must be off.
2. Connect the compressor and ASU by using the plastic tubing.
3. Prepare the compressor and set your output to 6 bars. Use the pressure gauge above
the tank. Make sure that the switch of the compressor and ASU are off.
4. Set the air pressure of the ASU at 3.5 bars and connect the output to the distributor
block. (Note: The diameter of the hose is larger than those used for the other pneumatic
devices.)
5. Construct the diagram on the aluminum board. Pull the plastic tubing to ensure that they
are tightly connected. Follow the block diagram below:

Compressor Air service unit Distributor block Pneumatic Diagram

What is the initial position of the piston? ______________________________________.

6. Set the opening of the one-way flow valve to 100%. Push the switch once and remove
your finger. Observe the movement of the piston.

What happened when you push the button?

____________________________________

7. Do procedure 5 with 50% and 0% settings of the one-way flow valve.

Compare the behavior of the piston. ________________________________________

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 5

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

8. Remove the 3/2 – way normally close push button valve and change it to 3/2 – way
normally open push button valve.

What is the initial position of the piston? ______________________________________.

9. Push the button and observe the reaction of the piston.

What happened when you push the button? ________________________________

Conclusion:

Questions:

1. Take the picture of the actual connection and explain its operation.

2. Give an industrial application that requires the control of the movement of the piston.
Draw the diagram and explain why you think you need it.

EXPERIMENT NO. 1
SIMPLE PNEUMATIC SYSTEM USING 3/2 WAY VALVE

RUBRIC

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 6

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

GRADE

_________________________________
Engr. Myrna A. Cabrera

EXPERIMENT NO. 2

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 7

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

LOGIC OPERATED PNEUMATIC SYSTEM

Objectives:

After performing this experiment, you will be able to:

1. Use valves for logic operations.
2. Explain how logic operation works in pneumatic system.

Materials Needed:

1 – compressor
1 – air service unit (ASU)
1 – 3/2 – way normally close push button valve
1 – 3/2 – way normally close selector switch valve
1 – single acting cylinder
1 – distributor block
1 – two-pressure valve (and valve)
1 – shuttle valve (or valve)
plastic tubing for compressor and other devices

Diagram:

Diagram A Diagram B

FluidSim Diagrams

Procedure:
1. Put the ASU in the aluminum board and set the pressure at 3.5 bars.
2. Connect the compressor and ASU by using the plastic tubing.
3. Prepare the compressor and set your output to 6 bars. Use the pressure gauge above
the tank. Make sure that the switch of the compressor and ASU are off.
4. Construct Diagram A on the aluminum board. Pull the plastic tubing to ensure that they
are tightly connected. Follow the block diagram below:

Compressor Air service unit Distributor block Pneumatic Diagram

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 8
Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

Note: Input A – 3/2-way NC push button and Input B – 3/2-way NC selector switch
 If the valve is off, put 0
 If the valve is on, put 1
 If the piston status is not extended, put 0
 If the piston status is extended, put 1

Complete the table below:

# Input A Input B Status of Piston

5. Construct Diagram B on the aluminum board. Pull the plastic tubing to ensure that they
are tightly connected. Follow the block diagram below:

Compressor Air service unit Distributor block Pneumatic Diagram

Note: Input A – 3/2-way NC push button and Input B – 3/2-way NC selector switch
 If the valve is off, put 0
 If the valve is on, put 1
 If the piston status is not extended, put 0
 If the piston status is extended, put 1

Complete the table below:

# Input A Input B Status of Piston

Conclusion:

Questions:

1. Give a pneumatic industrial application that uses logic operation. Draw the diagram and
explain why you think you need it.

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 9

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

EXPERIMENT NO. 2
LOGIC OPERATED PNEUMATIC SYSTEM

RUBRIC

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 10

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

GRADE

_________________________________
Engr. Myrna A. Cabrera

EXPERIMENT NO. 3
SIMPLE ELECTRO-PNEUMATIC SYSTEM USING 5/2 WAY VALVE
Objectives:

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 11

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

After performing this experiment, you will be able to:

1. Construct basic electric and pneumatic diagrams used in electro-pneumatic control
systems.
2. Describe the operation of the electro-pneumatic control system.

Materials Needed:

1 – compressor
1 – air service unit (ASU)
1 – power supply module
1 – switch module
1 – relay module
1 – double acting cylinder
1 – distributor block
1 – 5/2 way solenoid valve with spring return
plastic tubing for compressor and other devices
electrical connectors

Diagram:

Diagram A Diagram B

FluidSim Diagrams

Procedure:
1. Put the ASU in the aluminum board and set the pressure at 3.5 bars.
2. Connect the compressor and ASU by using the plastic tubing.
3. Prepare the compressor and set your output to 6 bars. Use the pressure gauge above
the tank. Make sure that the switch of the compressor and ASU are off.
4. Construct Diagram A on the aluminum board. Pull the plastic tubing to ensure that they
are tightly connected. Follow the block diagram below:

Compressor
ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 12
Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

Air service unit Distributor block Pneumatic Diagram

What is the initial status of the piston? _____________________________________

5. Push the button and observe the behavior of the cylinder.

What happened when you push the button? ________________________________

6. Construct Diagram B on the aluminum board. Pull the plastic tubing to ensure that they
are tightly connected. Follow the block diagram below:

Compressor Air service unit Distributor block Pneumatic Diagram

What is the initial status of the piston? _____________________________________

7. Push the button and observe the behavior of the cylinder.

What happened when you push the button? ________________________________

Conclusion:

Questions:

1. Give an example of electro-pneumatic control system with relay and explain the
operation.

2. What is the advantage of using relays in electro-pneumatic control systems?

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 13

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

EXPERIMENT NO. 3
SIMPLE ELECTRO-PNEUMATIC SYSTEM USING 5/2 WAY VALVE

RUBRIC

GRADE

_________________________________
Engr. Myrna A. Cabrera

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 14

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

EXPERIMENT NO. 4
ELECTRO-PNEUMATIC SYSTEM WITH LIMIT SWITCH

Objectives:

After performing this experiment, you will be able to:

1. Construct basic electric and pneumatic diagrams used in electro-pneumatic control
systems.
2. Describe the operation of the electro-pneumatic control system.

Materials Needed:

1 – compressor
1 – air service unit (ASU)
1 – power supply module
1 – switch module
1 – relay module
1 – double acting cylinder
1 – distributor block
1 – 5/2-way solenoid valve with spring return
plastic tubing for compressor and other devices
electrical connectors

Diagram:

Electric Ladder Diagram

Pneumatic Diagram
A
FluidSim Diagrams

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 15

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

Procedure:
1. Put the ASU in the aluminum board and set the pressure at 3.5 bars.
2. Connect the compressor and ASU by using the plastic tubing.
3. Prepare the compressor and set your output to 6 bars. Use the pressure gauge above
the tank. Make sure that the switch of the compressor and ASU are off.
4. Construct the pneumatic diagram on the panel, then the electric ladder diagram.

Compressor Air service unit Distributor block Pneumatic Diagram

Electric Ladder
Diagram

Describe the sequence operation of the cylinder? ______________________________

______________________________________________________________________
______________________________________________________________________

5. Remove the label of the switch in the 4th rung.

Describe the operation of the diagram?

______________________________________________________________________
______________________________________________________________________
______________________________________________________________________

Conclusion:

Questions:

1. Give at least 3 things that you have to remember when creating the electro-
pneumatic diagram using the FluidSim.

2. What is the advantage of using sensors in electro-pneumatic systems?

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 16

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

EXPERIMENT NO. 4
ELECTRO-PNEUMATIC SYSTEM WITH LIMIT SWITCH

RUBRIC

GRADE

_________________________________
Engr. Myrna A. Cabrera

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 17

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

SEATWORK NO. 3
RAPTOR CODE
Objectives:

After performing this experiment, you will be able to:

1. Understand the basic knowledge of Raptor programming.
2. Analyze and evaluate Raptor Code.

Materials Needed:

Computer with Raptor software

Diagram:

Figure 1: Raptor Code

Procedure:
1. Create the code given in Figure 1 using Raptor software.
2. Run the simulation. Write the message in the first window.
____________________________________________________________________
3. Enter 1, then write the message of the next window:

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 18

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

____________________________________________________________________
4. Enter P1, then write the next display.
____________________________________________________________________

5. What is the last output display of the program?

____________________________________________________________________

6. If you run again the simulation and you enter 2 and P2, what type of coffee will be
served?
___________________
7. How about you when you enter 3 and P3, what type of coffee will be served?

___________________

8. If you enter 1 and P3, what happened and explain why?

____________________________________________________________________
____________________________________________________________________

Conclusion:

Questions:

1. Modify the code to provide the correct order of the customer. Attach the screenshots
of the simulations of the following conditions. Write “Please enter again your order.”,
when there is some error.
a. 1 and P3

b. 1 and P2

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 19

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

c. 2 and P3

d. 2 and P1

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 20

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

e. 3 and P1

f. 3 and P2

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 21

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

2. Create a raptor code that can be used in industrial applications.

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 22

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

SEATWORK NO. 3
RAPTOR CODE

RUBRIC

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 23

Name: ______________________________________ Date: ____________________________
Faculty: __________________________________ Course Yr. & Sec: _____________________________

GRADE

_________________________________
Engr. Myrna A. Cabrera

ECEN 30164 ROBOTICS & MECHATRONICS LABORATORY MANUAL 24