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Control Software for Mechanical Systems: Object-Oriented Design in a Real-Time World by J. R. Ridgely, J. D. Ringgenberg, D. M. Auslander

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Chapter 16The Gluing Cell Exercise In Tranrun4

Flexible manufacturing cells are becoming popular for the fabrication of small quantities of high-value equipment. Although they come in different configurations, most are characterized by the use of mechatronic techniques to provide the ability to modify or reconfigure the operation of the cell by changing only the software. The gluing cell project demonstrates the use of the programming techniques taught in the class through the step-by-step development of a program to control the gluing machinery. The C++ language is used to write the control software, and the TranRun4 package is used to implement the task/state and scheduling structure of the program.

16.1 The Gluing System

The purpose of the ...

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