I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
,
p
p
.
20
2
~
2
0
8
I
SS
N:
2089
-
4856
202
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
PLC bas
ed Mul
ti
-
Floo
r Elev
a
tor C
o
ntrol Sy
ste
m
K
us
u
m
T
ha
ra
ni,
Sh
re
y
G
up
t
a
,
An
m
o
l P
uri,
Rin
kis
h K
he
ra
,
Arun K
u
m
a
r
De
p
a
rtme
n
t
o
f
El
e
c
tri
c
a
l
&
El
e
c
tro
n
ics
E
n
g
in
e
e
rin
g
,
Bh
a
ra
ti
V
i
d
y
a
p
e
e
th
’s Co
ll
e
g
e
Of
En
g
in
e
e
rin
g
,
P
a
sc
h
im
V
i
h
a
r,
Ne
w
De
lh
i
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
A
p
r
12
,
2
0
1
5
R
ev
i
s
ed
J
u
l
2
6
,
2
0
1
5
A
cc
ep
ted
A
u
g
1
0
,
2
0
1
5
T
h
is
p
a
p
e
r
p
re
se
n
ts
p
ro
g
ra
m
m
a
b
le
lo
g
ic
c
o
n
tro
ll
e
r
b
a
se
d
e
lev
a
to
r
c
o
n
tr
o
l
s
y
ste
m
.
P
rim
a
r
y
f
o
c
u
s
is
o
n
u
sin
g
p
ro
g
ra
m
m
a
b
le
lo
g
ic
c
o
n
tro
l
ler
to
b
u
il
d
t
h
e
e
lev
a
to
r
m
o
d
e
l.
T
o
c
o
n
tr
o
l
t
h
e
m
o
ti
o
n
o
f
th
e
e
lev
a
to
r
th
ro
u
g
h
v
a
rio
u
s
lev
e
ls
DC
g
e
a
re
d
m
o
to
r
is
u
se
d
.
P
u
s
h
b
u
tt
o
n
s
a
re
u
se
d
to
g
iv
e
sig
n
a
l
to
t
h
e
e
lev
a
to
r
to
c
o
m
e
to
th
e
d
e
sire
d
f
lo
o
r
,
tra
v
e
rsin
g
u
p
a
n
d
d
o
w
n
.
M
o
re
o
v
e
r
DC
re
lay
s
a
re
u
se
d
a
s
sw
it
c
h
e
s,
n
o
t
p
r
o
tec
ti
v
e
d
e
v
ice
s,
to
d
riv
e
t
h
e
m
o
to
r
i
n
c
lo
c
k
w
ise
a
n
d
a
n
t
iclo
c
k
w
ise
d
irec
ti
o
n
.
L
a
d
d
e
r
lo
g
ic
is
u
se
d
f
o
r
t
h
e
m
o
d
e
l
im
p
le
m
e
n
tatio
n
.
K
ey
w
o
r
d
:
DC G
e
a
re
d
M
o
to
r
DC Re
la
y
L
a
d
d
e
r
Dia
g
ra
m
P
L
C
-
El
e
v
a
to
r
I
n
terf
a
c
in
g
.
P
r
o
g
ra
m
m
a
b
le L
o
g
ic Co
n
tro
ll
e
r
(P
L
C)
S
w
it
c
h
e
d
M
o
d
e
P
o
w
e
r
S
u
p
p
ly
(S
M
P
S
)
Co
p
y
rig
h
t
©
201
5
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ku
s
u
m
T
h
ar
an
i,
Dep
ar
t
m
en
t o
f
E
lectr
ical
&
E
l
ec
tr
o
n
ics E
n
g
i
n
ee
r
in
g
,
B
h
ar
ati
Vid
y
ap
ee
th
’
s
C
o
lle
g
e
Of
E
n
g
i
n
ee
r
in
g
,
P
asch
i
m
V
ih
ar
,
Ne
w
Del
h
i
.
E
m
ail:
1.
I
NT
RO
D
UCT
I
O
N
Du
e
to
r
ap
id
p
o
p
u
latio
n
g
r
o
w
t
h
in
citie
s
an
d
p
r
esen
ce
o
f
m
u
lti
-
s
to
r
ied
b
u
ild
in
g
s
,
t
h
e
n
ee
d
o
f
elev
ato
r
s
i
s
i
n
cr
ea
s
i
n
g
.
W
it
h
b
etter
s
ta
n
d
ar
d
o
f
l
iv
i
n
g
,
t
h
e
i
n
s
tallatio
n
o
f
e
lev
ato
r
s
h
a
s
b
ec
o
m
e
a
n
in
te
g
r
al
p
ar
t
o
f
th
e
m
o
d
er
n
w
o
r
ld
s
ce
n
ar
i
o
,
f
o
r
th
e
m
o
v
e
m
e
n
t
o
f
g
o
o
d
s
an
d
p
eo
p
le.
C
o
n
tr
o
l
s
y
s
te
m
s
,
w
h
ich
p
r
o
v
id
e
s
m
o
o
th
a
n
d
s
a
f
e
o
p
er
atio
n
o
f
elev
ato
r
a
r
e
in
d
e
m
a
n
d
.
[
1
]
A
P
r
o
g
r
a
m
m
ab
le
L
o
g
ic
C
o
n
tr
o
ller
(
P
L
C
)
is
a
s
p
ec
ial
d
i
g
ital
co
m
p
u
ter
u
s
ed
f
o
r
au
to
m
atio
n
o
f
in
d
u
s
tr
ial
p
r
o
ce
s
s
es.
P
L
C
i
s
u
s
ed
i
n
m
an
y
i
n
d
u
s
tr
ies
s
u
c
h
as
f
o
o
d
p
r
o
ce
s
s
in
g
,
r
o
b
o
ts
m
a
n
u
f
ac
t
u
r
in
g
a
n
d
co
n
tr
o
l,
co
n
v
e
y
o
r
s
y
s
te
m
s
a
n
d
s
o
o
n
.
P
r
o
g
r
a
m
s
ar
e
t
y
p
i
ca
ll
y
s
to
r
ed
in
n
o
n
-
v
o
latile
m
e
m
o
r
y
to
co
n
tr
o
l
m
ac
h
in
e
o
p
er
atio
n
s
.
A
P
L
C
i
s
an
ex
a
m
p
le
o
f
a
r
ea
l
t
i
m
e
s
y
s
te
m
,
s
i
n
ce
o
u
tp
u
t
m
u
s
t
b
e
p
r
o
d
u
ce
d
in
r
e
s
p
o
n
s
e
to
in
p
u
t c
o
n
d
itio
n
s
w
it
h
i
n
a
b
o
u
n
d
ed
ti
m
e,
o
th
er
w
is
e
u
n
in
te
n
d
ed
o
p
er
atio
n
w
ill ta
k
e
p
lace
.
Fig
.
1
s
h
o
w
s
t
h
e
b
l
o
ck
d
ia
g
r
am
r
ep
r
esen
tin
g
d
if
f
er
en
t
p
ar
ts
o
f
a
P
L
C
[
2
]
.
C
P
U
r
ea
d
s
t
h
e
in
p
u
t
d
ata
f
r
o
m
v
ar
io
u
s
i
n
p
u
t
d
ev
ices
v
i
a
in
p
u
t
p
r
o
ce
s
s
i
n
g
cir
c
u
it,
ex
ec
u
tes
s
to
r
ed
u
s
er
p
r
o
g
r
am
s
f
r
o
m
m
e
m
o
r
y
,
an
d
s
en
d
s
ap
p
r
o
p
r
iate
o
u
tp
u
t
co
m
m
an
d
s
to
o
u
tp
u
t
d
e
v
ices
v
ia
o
u
tp
u
t
p
r
o
ce
s
s
in
g
cir
c
u
it.
T
h
e
p
r
o
g
r
a
m
m
in
g
d
e
v
ice
is
u
s
ed
to
en
ter
th
e
d
esire
d
p
r
o
g
r
a
m
i
n
to
th
e
m
e
m
o
r
y
o
f
t
h
e
P
L
C
v
ia
co
m
m
u
n
icatio
n
ca
b
le
a
n
d
p
o
r
ts
.
P
L
C
h
as
m
an
y
ad
v
an
tag
e
s
o
v
er
o
th
er
co
n
tr
o
l
s
y
s
te
m
s
li
k
e
m
icr
o
co
n
tr
o
ller
.
I
n
m
icr
o
co
n
tr
o
ller
s
,
s
ep
ar
ate
ti
m
er
s
,
co
u
n
ter
s
h
av
e
to
b
e
p
r
o
v
id
ed
as
h
ar
d
w
ar
e,
w
h
er
ea
s
,
in
P
L
C
,
t
h
ese
d
e
v
ices
ar
e
in
b
u
ilt.
T
h
is
r
esu
lts
in
s
m
al
ler
s
ize
an
d
less
co
m
p
le
x
it
y
.
I
t
s
a
v
es
m
a
ter
ial
co
s
t,
in
s
tal
latio
n
co
s
t
an
d
lab
o
u
r
co
s
t.
I
t
also
p
r
o
v
id
es
r
eliab
ilit
y
,
f
lex
ib
il
it
y
,
s
p
ee
d
a
n
d
d
iag
n
o
s
tics
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
LC
b
a
s
ed
Mu
lti
-
F
lo
o
r
E
leva
to
r
C
o
n
tr
o
l S
ystem
(
K
u
s
u
m
Th
a
r
a
n
i
)
203
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
w
it
h
d
if
f
er
e
n
t p
ar
ts
o
f
P
L
C
2.
DE
S
I
G
N
AND
CO
NS
T
RUC
T
I
O
N
O
F
SO
F
T
W
ARE A
N
D
H
ARDWA
R
E
M
O
DE
L
T
h
e
p
r
o
j
ec
t
in
clu
d
es
th
e
d
esi
g
n
o
f
th
e
lad
d
er
d
iag
r
am
o
n
a
s
o
f
t
w
ar
e
in
s
talled
o
n
th
e
co
m
p
u
ter
.
I
t
is
d
o
w
n
lo
ad
ed
to
th
e
P
L
C
,
an
d
co
n
n
ec
ted
v
ia
co
m
m
u
n
icati
o
n
in
ter
f
ac
e.
I
t
also
in
clu
d
e
s
th
e
in
ter
f
ac
i
n
g
o
f
v
ar
io
u
s
h
ar
d
w
ar
e
d
ev
ice
s
w
h
i
ch
ar
e
d
is
cu
s
s
ed
in
t
h
e
s
ec
tio
n
s
b
elo
w
.
2
.
1
So
f
t
wa
re
M
o
del
T
h
is
s
ec
tio
n
d
i
s
cu
s
s
e
s
ab
o
u
t
t
h
e
d
ev
elo
p
m
e
n
t
o
f
lad
d
er
lo
g
ic
d
iag
r
a
m
.
T
h
e
r
elev
a
n
t
P
L
C
h
as
b
ee
n
in
co
r
p
o
r
ated
b
ased
o
n
th
e
r
eq
u
ir
e
m
e
n
t
s
o
f
t
h
e
lo
g
ic.
Her
e
R
S
L
o
g
i
x
5
0
0
h
as
b
ee
n
i
n
co
r
p
o
r
ated
to
d
ev
elo
p
an
d
d
o
w
n
lo
ad
lad
d
er
lo
g
ic
to
t
h
e
P
L
C
.
T
h
e
p
r
o
g
r
a
m
is
d
iv
id
ed
in
to
tw
o
p
ar
ts
,
u
p
w
ar
d
tr
av
er
s
al
o
f
th
e
elev
ato
r
an
d
d
o
w
n
w
ar
d
tr
av
er
s
al
o
f
th
e
ele
v
ato
r
.
E
a
ch
p
ar
t
is
d
i
v
id
ed
in
to
th
r
ee
ca
s
es,
o
n
e
f
lo
o
r
tr
av
er
s
al,
t
w
o
f
lo
o
r
tr
av
er
s
al
an
d
t
h
r
ee
f
lo
o
r
tr
av
er
s
al.
A
co
u
n
ter
is
u
s
ed
to
in
d
icate
th
e
f
lo
o
r
o
n
w
h
ic
h
t
h
e
elev
ato
r
is
cu
r
r
en
t
l
y
p
r
ese
n
t.
T
ab
le
1
s
h
o
w
s
t
h
e
i
n
p
u
t a
d
d
r
ess
an
d
co
u
n
ter
v
al
u
e
co
r
r
esp
o
n
d
in
g
to
f
lo
o
r
n
u
m
b
er
.
T
ab
le
1
F
l
o
o
r
n
u
mb
e
r
I
n
p
u
t
A
d
d
r
e
ss
C
o
u
n
t
e
r
v
a
l
u
e
1
I
:
1
/
0
0
2
I
:
1
/
1
1
3
I
:
1
/
2
2
4
I
:
1
/
3
3
T
h
e
lad
d
er
d
iag
r
a
m
i
n
cl
u
d
es
t
h
e
eq
u
a
lit
y
b
lo
ck
,
w
h
ic
h
w
ill
w
o
r
k
o
n
l
y
w
h
e
n
t
h
e
ac
c
u
m
u
l
ato
r
v
alu
e
o
f
th
e
co
u
n
ter
,
h
er
e
r
ep
r
esen
te
d
as C
5
:0
.
A
C
C
,
eq
u
al
s
th
e
u
s
e
r
d
ef
in
ed
in
te
g
er
v
al
u
e.
Six
ti
m
er
s
h
av
e
b
ee
n
u
s
ed
,
th
r
ee
in
u
p
w
ar
d
m
o
tio
n
an
d
th
r
ee
in
d
o
w
n
w
ar
d
m
o
tio
n
o
f
el
ev
ato
r
.
T
h
e
T
im
er
T
im
i
n
g
b
it
(
T
T
b
it)
is
u
s
ed
to
r
u
n
th
e
m
o
to
r
.
Ou
tp
u
t
ad
d
r
e
s
s
O:0
/0
an
d
O:0
/1
ar
e
u
s
ed
f
o
r
th
e
u
p
w
ar
d
an
d
d
o
w
n
w
ar
d
m
o
tio
n
o
f
m
o
to
r
r
esp
ec
tiv
el
y
.
2
.
1
.
1
.
Upw
a
rd
M
o
t
io
n
Fig
.
2
,
f
ig
.
3
a
n
d
f
ig
.
4
d
escr
ib
e
th
e
lo
g
ic
t
h
at
h
a
s
b
ee
n
d
ev
el
o
p
ed
f
o
r
o
n
e
f
lo
o
r
,
t
w
o
f
lo
o
r
an
d
th
r
ee
f
lo
o
r
tr
av
er
s
al
r
esp
ec
tiv
e
l
y
,
a
n
d
tab
le
2
r
e
p
r
esen
ts
th
e
o
p
er
ati
o
n
o
f
th
e
ele
v
ato
r
f
o
r
u
p
w
ar
d
m
o
tio
n
.
3
T
ab
le
2
.
Op
e
r
atio
n
o
f
th
e
ele
v
ato
r
f
o
r
u
p
w
ar
d
m
o
tio
n
I
n
i
t
i
a
l
f
l
o
o
r
n
o
.
C
o
u
n
t
e
r
i
n
i
t
i
a
l
v
a
l
u
e
I
n
p
u
t
P
r
e
sse
d
W
o
r
k
i
n
g
Eq
u
a
l
i
t
y
B
l
o
c
k
B
i
t
L
a
t
c
h
e
d
W
o
r
k
i
n
g
T
i
me
r
W
o
r
k
i
n
g
o
u
t
p
u
t
a
d
d
r
e
ss
C
o
u
n
t
e
r
f
i
n
a
l
v
a
l
u
e
O
p
e
r
a
t
i
o
n
(
f
l
o
o
r
t
r
a
v
e
r
se
d
)
F
i
n
a
l
f
l
o
o
r
n
o
.
1
0
I
:
1
/
0
N
o
n
e
N
o
n
e
N
o
n
e
N
o
n
e
0
N
o
n
e
1
I
:
1
/
1
1
st
t
o
2
nd
B
3
:
0
/
0
T
4
:
0
O
:
0
/
0
1
O
n
e
2
I
:
1
/
2
1
st
t
o
3
rd
B
3
:
0
/
1
T
4
:
2
O
:
0
/
0
2
Tw
o
3
I
:
1
/
3
1
st
t
o
4
th
B
3
:
0
/
2
T
4
:
3
O
:
0
/
0
3
T
h
r
e
e
4
2
1
I
:
1
/
1
N
o
n
e
N
o
n
e
N
o
n
e
N
o
n
e
1
N
o
n
e
2
I
:
1
/
2
2
nd
t
o
3
rd
B
3
:
0
/
0
T
4
:
0
O
:
0
/
0
2
O
n
e
3
I
:
1
/
3
2
nd
t
o
4
th
B
3
:
0
/
1
T
4
:
2
O
:
0
/
0
3
Tw
o
4
3
2
I
:
1
/
2
N
o
n
e
N
o
n
e
N
o
n
e
N
o
n
e
2
N
o
n
e
3
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
:
20
2
–
2
0
8
204
I
:
1
/
3
3
rd
t
o
4
th
B
3
:
0
/
0
T
4
:
0
O
:
0
/
0
3
O
n
e
4
Fig
u
r
e
2
.
On
e
f
lo
o
r
tr
av
er
s
al
Fig
u
r
e
3
.
T
w
o
f
lo
o
r
tr
av
er
s
al
Fig
u
r
e
4
.
T
h
r
ee
f
lo
o
r
tr
av
er
s
al
T
h
e
n
o
r
m
al
l
y
clo
s
e
(
N
C
)
o
f
th
e
ti
m
er
s
’
b
its
ar
e
u
s
ed
s
o
th
at
n
o
t
m
o
r
e
th
a
n
o
n
e
ti
m
er
r
u
n
s
at
th
e
s
a
m
e
ti
m
e
b
y
p
r
ess
in
g
t
w
o
o
r
m
o
r
e
i
n
p
u
t
s
s
i
m
u
lta
n
eo
u
s
l
y
.
2
.
1
.
2
.
Do
w
n
w
a
rd
M
o
t
io
n
T
h
e
lo
g
ic
f
o
r
th
e
d
o
w
n
w
ar
d
m
o
tio
n
h
as
b
ee
n
d
e
v
elo
p
ed
in
a
s
i
m
i
lar
f
a
s
h
io
n
as
u
p
w
ar
d
m
o
tio
n
.
T
h
e
w
o
r
k
i
n
g
o
u
tp
u
t a
d
d
r
ess
h
er
e
is
O:0
/1
.
2
.
2
.
H
a
rdw
a
re
M
o
del
T
h
e
d
if
f
er
en
t
d
ev
ice
s
u
s
ed
f
o
r
th
e
d
ev
elo
p
m
en
t
o
f
th
i
s
m
o
d
el
co
n
s
is
t
o
f
A
lle
n
B
r
ad
le
y
P
L
C
,
D
C
g
ea
r
ed
m
o
to
r
,
s
w
itc
h
ed
m
o
d
e
p
o
w
er
s
u
p
p
l
y
(
SMP
S),
d
c
r
elay
,
p
u
s
h
b
u
t
to
n
s
a
n
d
co
n
n
ec
ti
n
g
w
ir
es.
T
h
e
d
etails
o
f
ea
ch
o
f
t
h
e
ele
m
en
t
s
m
e
n
ti
o
n
ed
ab
o
v
e
ar
e
g
iv
en
b
elo
w
:
2
.
2
.
1
.
A
llen
B
ra
dley
M
icr
o
lo
g
ix
1
0
0
0
T
h
e
p
r
o
j
ec
t
in
clu
d
e
s
t
h
e
1
6
-
p
o
in
t
d
i
g
ital
I
/
O
(
1
0
in
p
u
ts
an
d
6
o
u
tp
u
t
s
)
P
L
C
v
er
s
io
n
.
I
t
p
r
o
v
id
es
a
co
m
p
ac
t
s
ize
o
f
1
2
0
m
m
x
8
0
m
m
x
4
0
m
m
a
n
d
o
f
f
er
s
f
ast
p
r
o
ce
s
s
in
g
w
it
h
t
y
p
ical
t
h
r
o
u
g
h
p
u
t
ti
m
e
o
f
1
.
5
m
s
f
o
r
a
5
0
0
-
i
n
s
tr
u
ctio
n
p
r
o
g
r
am
.
I
t
a
ls
o
i
n
cl
u
d
es
b
u
ilt
-
i
n
E
E
P
R
OM
m
e
m
o
r
y
an
d
th
u
s
,
t
h
er
e
is
n
o
n
ee
d
f
o
r
b
atter
y
b
ac
k
-
u
p
o
r
s
ep
ar
ate
m
e
m
o
r
y
m
o
d
u
le.
I
t
s
u
p
p
o
r
ts
s
im
p
le
co
n
n
ec
t
iv
i
t
y
t
h
r
o
u
g
h
R
S
-
2
3
2
co
m
m
u
n
icatio
n
ch
an
n
el
to
a
P
C
f
o
r
p
r
o
g
r
a
m
u
p
lo
ad
,
d
o
w
n
lo
ad
an
d
m
o
n
ito
r
i
n
g
.
F
ig
.
5
s
h
o
w
s
t
h
e
p
in
d
iag
r
a
m
o
f
t
h
e
P
L
C
.
[
3
]
1
st
to
4
th
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
LC
b
a
s
ed
Mu
lti
-
F
lo
o
r
E
leva
to
r
C
o
n
tr
o
l S
ystem
(
K
u
s
u
m
Th
a
r
a
n
i
)
205
Fig
u
r
e
5
.
P
in
d
iag
r
a
m
o
f
P
L
C
m
icr
o
lo
g
i
x
1
0
0
0
2
.
2
.
2
.
DC
Rela
y
A
r
ela
y
is
a
n
elec
tr
icall
y
o
p
er
ated
s
w
i
tch
.
A
r
ela
y
ca
n
also
b
e
u
s
ed
a
s
a
p
r
o
tecti
v
e
d
ev
i
ce
,
w
h
ic
h
tr
ig
g
er
s
t
h
e
cir
c
u
it
b
r
ea
k
er
wh
en
cu
r
r
e
n
t
e
x
ce
ed
s
t
h
e
p
ic
k
u
p
v
al
u
e,
b
u
t
in
t
h
is
ca
s
e,
w
e
h
av
e
co
n
s
id
er
ed
its
o
p
er
atio
n
as
a
s
w
i
tch
.
Ma
n
y
r
ela
y
s
u
s
e
an
elec
tr
o
m
ag
n
et
t
o
m
ec
h
a
n
icall
y
o
p
er
ate
a
s
w
i
tch
,
b
u
t,
s
o
lid
-
s
tate
r
ela
y
s
ar
e
al
s
o
u
s
ed
,
i.e
.
r
ela
y
s
i
n
co
r
p
o
r
atin
g
s
o
lid
s
tate
d
e
v
ices
li
k
e
t
h
y
r
i
s
to
r
s
,
d
io
d
es,
tr
a
n
s
i
s
to
r
s
,
f
o
r
f
as
ter
s
w
itc
h
in
g
t
i
m
e
an
d
e
f
f
icie
n
t
o
p
er
atio
n
,
w
it
h
i
m
p
r
o
v
ed
co
n
tr
o
llab
ilit
y
b
y
ap
p
licatio
n
o
f
g
ate
p
u
ls
e
s
o
r
b
y
ch
an
g
i
n
g
t
h
e
f
ir
i
n
g
an
g
le
o
f
t
h
e
th
y
r
is
to
r
s
.
R
ela
y
s
ar
e
u
s
ed
w
h
er
e
it
is
n
ec
e
s
s
ar
y
to
co
n
tr
o
l
a
cir
cu
it
b
y
a
lo
w
-
p
o
w
er
s
i
g
n
al,
2
r
ela
y
s
o
f
co
n
tact
ca
p
ac
it
y
:
A
C
:
1
0
A
2
5
0
V,
DC
:
1
0
A
2
8
V
ar
e
u
s
ed
i
n
t
h
i
s
p
r
o
j
ec
t.
Fig
.
6
s
h
o
w
s
th
e
i
m
a
g
e
o
f
t
h
e
r
ela
y
.
T
h
is
r
ela
y
co
n
s
is
t
s
o
f
an
o
p
er
a
tin
g
co
il,
co
n
n
ec
ted
b
et
w
ee
n
2
an
d
7
ter
m
i
n
als
,
w
h
ic
h
i
s
e
n
er
g
ized
b
y
2
4
v
d
c
s
u
p
p
l
y
.
W
h
e
n
t
h
e
co
il
is
e
n
er
g
ized
,
d
u
e
to
e
lectr
o
m
a
g
n
etic
in
d
u
ctio
n
,
th
e
co
n
tacts,
in
i
tiall
y
at
4
an
d
5
t
er
m
in
a
ls
,
ar
e
attr
ac
ted
to
3
an
d
6
ter
m
i
n
al
s
an
d
if
th
e
m
o
to
r
is
co
n
n
ec
ted
ac
r
o
s
s
th
e
th
e
s
e
t
w
o
ter
m
i
n
al
s
.
I
f
t
h
e
s
u
p
p
l
y
i
s
co
n
n
ec
ted
to
1
an
d
8
ter
m
in
a
ls
,
th
e
n
t
h
e
m
o
to
r
w
ill
s
tar
t r
u
n
n
i
n
g
.
Fig
u
r
e
6
.
R
ela
y
2
.
2
.
3
.
Sw
it
ched
M
o
de
P
o
w
er
Su
pp
ly
A
s
w
itc
h
ed
-
m
o
d
e
p
o
w
er
s
u
p
p
l
y
(
SMP
S)
is
a
n
elec
tr
o
n
ic
p
o
w
er
s
u
p
p
l
y
t
h
at
i
n
co
r
p
o
r
ates
a
s
w
itc
h
in
g
r
eg
u
lato
r
to
co
n
v
er
t
elec
tr
ical
p
o
w
er
ef
f
icie
n
tl
y
.
I
t
co
n
v
er
ts
ac
to
d
c,
b
y
m
ea
n
s
o
f
a
r
ec
ti
f
i
er
,
d
c
is
co
n
v
er
ted
b
ac
k
to
ac
an
d
s
en
t
to
a
h
ig
h
f
r
eq
u
en
c
y
tr
a
n
s
f
o
r
m
er
,
w
h
ich
p
r
o
v
id
es
is
o
latio
n
(
g
al
v
a
n
ic
is
o
latio
n
:
is
o
latio
n
b
y
s
ec
ti
o
n
i
n
g
)
.
T
h
is
ac
is
co
n
v
er
ted
b
ac
k
to
d
c
b
y
a
n
o
th
er
r
ec
tif
ier
.
A
f
ee
d
b
ac
k
co
n
tr
o
l
i
s
a
ls
o
p
r
esen
t,
w
h
ic
h
co
m
p
ar
es
t
h
e
ac
tu
al
o
u
tp
u
t
an
d
th
e
d
esire
d
o
u
tp
u
t,
an
d
ac
co
r
d
in
g
to
th
e
er
r
o
r
s
ig
n
al
g
e
n
er
ated
,
th
e
f
ee
d
b
ac
k
i
m
p
le
m
en
ted
is
p
o
s
iti
v
e
o
r
n
eg
ati
v
e.
T
ab
le
3
s
h
o
w
s
th
e
s
p
e
cif
icatio
n
an
d
f
i
g
.
7
s
h
o
w
s
th
e
p
ictu
r
e
o
f
SMP
S
u
s
ed
in
t
h
e
p
r
o
j
ec
t.
T
h
e
ad
v
an
tag
es o
f
SMP
S a
r
e:
Gr
ea
ter
ef
f
icie
n
c
y
S
m
aller
s
ize
L
i
g
h
ter
w
ei
g
h
t
L
o
w
er
h
ea
t
g
en
er
atio
n
d
u
e
to
h
ig
h
er
ef
f
ic
ien
c
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
:
20
2
–
2
0
8
206
T
ab
le
3
: SMP
S Sp
ec
if
icatio
n
s
Fig
u
r
e
7
.
SMP
S
2
.
2
.
4
.
DC
G
ea
re
d M
o
t
o
r
A
g
ea
r
ed
DC
Mo
to
r
w
o
r
k
s
o
n
th
e
p
r
in
cip
le
o
f
co
n
s
er
v
atio
n
o
f
an
g
u
lar
m
o
m
e
n
t
u
m
.
T
h
e
lar
g
er
th
e
d
ia
m
eter
o
f
t
h
e
g
ea
r
,
le
s
s
er
will
b
e
t
h
e
s
p
ee
d
,
an
d
m
o
r
e
w
il
l
b
e
t
h
e
to
r
q
u
e.
T
h
e
s
m
aller
t
h
e
d
ia
m
eter
o
f
t
h
e
g
ea
r
,
m
o
r
e
w
i
ll
b
e
t
h
e
s
p
ee
d
,
an
d
les
s
er
w
ill
b
e
th
e
t
o
r
q
u
e.
Gea
r
r
atio
is
g
i
v
en
b
y
t
h
e
r
ati
o
o
f
th
e
o
u
tp
u
t
teet
h
o
f
th
e
g
ea
r
to
th
e
i
n
p
u
t
teeth
o
f
t
h
e
g
ea
r
.
A
g
ea
r
ed
m
o
to
r
d
o
es
n
o
t
m
o
v
e
u
n
t
il
an
d
u
n
less
t
h
e
g
ea
r
i
s
ch
a
n
g
ed
.
T
ab
le
4
an
d
f
ig
.
8
s
h
o
w
s
t
h
e
s
p
ec
if
icatio
n
a
n
d
p
ictu
r
e
o
f
m
o
to
r
u
s
ed
in
th
e
p
r
o
j
ec
t.
T
h
e
ad
v
an
tag
e
s
o
f
u
s
i
n
g
th
is
m
o
to
r
ar
e
th
at
it
i
m
m
ed
iatel
y
s
talls
a
s
th
e
s
u
p
p
l
y
is
r
e
m
o
v
ed
an
d
its
s
h
a
f
t d
o
es n
o
t
m
o
v
e
w
it
h
o
u
t c
o
n
n
ec
ti
n
g
it to
s
u
p
p
l
y
.
T
ab
le
4
.
Mo
t
o
r
Sp
ec
if
icatio
n
s
Fig
u
r
e
8
.
DC
Gea
r
ed
Mo
to
r
2.2.5.
P
us
h B
utt
o
ns
T
h
e
p
r
o
j
ec
t
in
clu
d
es
4
p
u
s
h
b
u
tto
n
s
,
all
n
o
r
m
all
y
o
p
en
(
NO
)
t
y
p
e.
Fi
g
.
9
(
a)
s
h
o
w
s
t
h
e
p
h
o
to
g
r
ap
h
i
c
v
ie
w
o
f
p
u
s
h
b
u
tto
n
.
NO
p
u
s
h
b
u
t
to
n
s
d
o
n
’
t
m
a
k
e
elec
tr
ic
al
co
n
tact
w
i
th
th
e
cir
cu
it
w
h
en
n
o
t
p
r
ess
ed
d
o
w
n
(
Fig
.
9
(
b
)
)
.
On
ce
p
r
ess
ed
d
o
w
n
,
NO
p
u
s
h
b
u
tto
n
s
n
o
w
m
a
k
e
co
n
tact
(
Fig
.
9
(
c)
)
an
d
th
e
cir
cu
it
is
n
o
w
clo
s
ed
an
d
p
o
w
er
s
o
r
tu
r
n
s
o
n
th
e
r
es
p
ec
tiv
e
p
ar
t th
e
b
u
tto
n
w
as
m
a
d
e
f
o
r
.
D
e
scri
p
t
i
o
n
S
p
e
c
i
f
i
c
a
t
i
o
n
O
u
t
p
u
t
P
o
w
e
r
1
-
5
0
W
a
t
t
s
O
u
t
p
u
t
V
o
l
t
a
g
e
2
4
V
o
l
t
s
O
u
t
p
u
t
C
u
r
r
e
n
t
2
A
mp
e
r
e
I
n
p
u
t
V
o
l
t
a
g
e
1
0
0
-
2
4
0
V
o
l
t
s
D
e
scri
p
t
i
o
n
S
p
e
c
i
f
i
c
a
t
i
o
n
R
a
t
e
d
V
o
l
t
a
g
e
2
4
V
o
l
t
s
N
o
l
o
a
d
C
u
r
r
e
n
t
1
5
mi
l
l
i
a
m
p
e
r
e
O
p
e
r
a
t
i
n
g
S
p
e
e
d
5
0
R
P
M
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
LC
b
a
s
ed
Mu
lti
-
F
lo
o
r
E
leva
to
r
C
o
n
tr
o
l S
ystem
(
K
u
s
u
m
Th
a
r
a
n
i
)
207
2.
I
NT
E
RF
AC
I
N
G
P
L
C
W
I
T
H
E
L
E
VATOR
Fig
.
1
0
s
h
o
w
s
t
h
e
b
lo
ck
d
i
ag
r
a
m
o
f
i
n
ter
f
ac
in
g
o
f
d
if
f
er
en
t
d
e
v
ices
d
i
s
cu
s
s
ed
ab
o
v
e,
af
ter
d
o
w
n
lo
ad
i
n
g
t
h
e
lad
d
er
d
iag
r
am
in
to
P
L
C
f
r
o
m
P
C
v
ia
R
S2
3
2
co
m
m
u
n
icat
io
n
ca
b
le.
W
h
en
an
AC
s
u
p
p
l
y
o
f
2
2
0
V
is
g
i
v
e
n
to
SMP
S,
it
co
n
v
er
ts
t
h
e
s
a
m
e
to
2
4
V
DC
.
AC
v
o
lta
g
e
is
u
s
ed
to
tu
r
n
o
n
th
e
P
L
C
w
h
ile
2
4
V
d
c
g
iv
e
n
to
P
L
C
is
co
u
p
led
w
i
th
o
u
tp
u
t
ter
m
i
n
al
O0
an
d
O1
.
T
h
e
o
u
tp
u
t
O0
an
d
O1
ar
e
u
s
ed
f
o
r
clo
ck
w
is
e
an
d
an
ti
-
clo
ck
w
i
s
e
r
o
tatio
n
o
f
th
e
m
o
to
r
.
Fo
u
r
p
u
s
h
b
u
tto
n
s
ar
e
th
e
i
n
p
u
ts
to
th
e
P
L
C
.
T
h
e
o
u
tp
u
t
ter
m
i
n
al
s
O0
an
d
O1
a
r
e
co
n
n
ec
ted
to
m
o
to
r
in
s
u
ch
a
w
a
y
t
h
at
if
O0
is
tu
r
n
ed
o
n
th
en
r
ela
y
-
1
w
il
l
d
r
iv
e
t
h
e
m
o
to
r
in
clo
ck
w
is
e
d
ir
ec
tio
n
a
n
d
if
O1
is
tu
r
n
ed
o
n
th
e
n
r
ela
y
-
2
w
il
l
d
r
iv
e
th
e
m
o
to
r
in
an
ti
-
clo
ck
w
i
s
e
d
ir
ec
tio
n
.
Her
e,
clo
ck
w
is
e
d
ir
ec
tio
n
o
f
r
o
t
atio
n
an
d
a
n
ti
-
clo
c
k
w
is
e
r
o
tatio
n
o
f
m
o
to
r
ar
e
co
n
s
id
er
ed
as u
p
w
ar
d
an
d
d
o
w
n
w
ar
d
m
o
tio
n
o
f
th
e
ele
v
ato
r
.
Fig
u
r
e
1
0
.
I
n
ter
f
ac
in
g
P
L
C
w
i
th
E
lev
a
to
r
3.
RE
SU
L
T
S
Af
ter
in
ter
f
ac
i
n
g
t
h
e
P
L
C
w
it
h
t
h
e
e
lev
ato
r
,
f
o
llo
w
ed
b
y
t
h
o
r
o
u
g
h
ch
ec
k
i
n
g
o
f
er
r
o
r
s
,
th
e
tr
ials
o
f
th
e
s
et
u
p
w
er
e
d
o
n
e
an
d
t
h
e
s
etu
p
u
n
d
er
co
n
s
id
er
atio
n
s
u
cc
ess
f
u
l
l
y
w
o
r
k
ed
.
Fi
g
.
1
1
s
h
o
ws
th
e
f
lo
w
ch
ar
t
o
f
w
h
o
le
o
p
er
atio
n
o
f
P
L
C
b
ased
elev
ato
r
.
T
h
e
o
p
er
atio
n
s
tar
ted
w
it
h
t
u
r
n
in
g
o
n
o
f
t
h
e
s
u
p
p
l
y
.
W
h
e
n
t
h
e
p
u
s
h
b
u
tto
n
f
o
r
t
h
e
d
esire
d
f
lo
o
r
w
as
p
r
ess
ed
an
d
t
h
e
ele
v
ato
r
w
as
o
n
t
h
e
s
a
m
e
f
lo
o
r
,
th
e
m
o
to
r
d
id
n
o
t r
u
n
.
W
h
e
n
th
e
elev
a
to
r
w
as
b
elo
w
th
e
d
esire
d
f
lo
o
r
,
th
e
m
o
to
r
r
an
i
n
c
lo
ck
w
i
s
e
d
i
r
ec
tio
n
.
T
h
u
s
,
th
e
elev
ato
r
m
o
v
ed
in
t
h
e
u
p
w
ar
d
d
ir
ec
ti
o
n
.
W
h
en
i
t
w
a
s
ab
o
v
e
th
e
d
esire
d
f
lo
o
r
,
th
e
m
o
to
r
r
an
in
a
n
ti
-
clo
ck
w
is
e
d
ir
ec
tio
n
.
T
h
u
s
,
elev
ato
r
m
o
v
ed
in
t
h
e
d
o
w
n
w
ar
d
d
ir
ec
tio
n
.
Si
m
i
lar
l
y
,
w
h
e
n
p
u
s
h
b
u
tto
n
w
a
s
p
r
ess
ed
ag
a
in
,
t
h
e
n
t
h
e
m
o
to
r
r
an
eith
er
i
n
t
h
e
f
o
r
w
ar
d
o
r
r
ev
er
s
e
d
ir
ec
tio
n
ac
co
r
d
in
g
to
it
s
p
o
s
itio
n
,
till
th
e
ele
v
ato
r
r
ea
ch
ed
its
r
eq
u
ir
ed
p
o
s
itio
n
an
d
s
u
b
s
eq
u
en
tl
y
,
it
w
o
r
k
ed
s
u
cc
e
s
s
f
u
ll
y
f
o
r
all
p
o
s
s
ib
le
co
m
b
in
at
io
n
s
.
F
ig
u
r
e
9
(
a)
.
P
u
s
h
B
u
t
to
n
Fig
u
r
e
9
(
b
)
.
Fig
u
r
e
9
(
c)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
3
,
Sep
tem
b
er
201
5
:
20
2
–
2
0
8
208
Fig
u
r
e
1
1
.
Flo
w
ch
ar
t o
f
w
h
o
l
e
o
p
er
atio
n
o
f
P
L
C
b
ased
elev
ato
r
4.
CO
NCLU
SI
O
N
T
h
u
s
,
th
i
s
p
ap
er
d
escr
ib
es
th
e
d
esig
n
a
n
d
d
ev
elo
p
m
e
n
t
o
f
P
L
C
b
ased
ele
v
ato
r
.
T
h
e
lad
d
e
r
lo
g
ic
h
a
s
b
ee
n
i
m
p
le
m
e
n
ted
b
y
u
s
i
n
g
R
S
L
o
g
i
x
5
0
0
an
d
t
h
e
P
L
C
A
ll
en
B
r
ad
le
y
m
icr
o
lo
g
i
x
1
0
0
0
h
as
b
ee
n
in
ter
f
ac
ed
w
it
h
t
h
e
elev
a
to
r
u
s
i
n
g
R
S
-
2
3
2
ca
b
le.
I
t c
an
b
e
c
o
n
clu
d
ed
th
at
P
L
C
s
ca
n
b
e
u
s
ed
f
o
r
d
es
i
g
n
i
n
g
o
f
t
h
e
co
n
tr
o
l s
y
s
te
m
f
o
r
th
e
elev
ato
r
.
T
h
e
tr
ad
itio
n
all
y
u
s
ed
r
ela
y
s
an
d
I
C
b
o
ar
d
s
ca
n
b
e
r
ep
lace
d
b
y
P
L
C
f
o
r
ea
s
y
a
n
d
ch
ea
p
co
n
tr
o
l
o
f
elev
ato
r
s
.
T
h
e
d
esire
d
p
o
s
itio
n
o
f
th
e
ele
v
ato
r
ca
n
b
e
f
o
r
ec
asted
b
y
u
s
i
n
g
P
L
C
b
ased
co
n
tr
o
l s
y
s
te
m
.
B
y
u
s
in
g
P
L
C
b
ased
ele
v
ato
r
co
n
tr
o
l
s
y
s
te
m
,
t
h
e
s
ize
o
f
t
h
e
o
v
er
all
in
f
r
astr
u
ct
u
r
e
ca
n
b
e
r
ed
u
ce
d
,
w
h
ic
h
in
cl
u
d
es
m
ater
ial
co
s
t,
i
n
s
tal
latio
n
co
s
t a
n
d
lab
o
u
r
co
s
t.
RE
F
E
R
E
NC
E
S
[
1
]
A
p
p
lica
tio
n
o
f
P
LC
fo
r
E
le
va
to
r
C
o
n
tr
o
l
S
ystem
,
I
n
ter
n
atio
n
al
S
y
m
p
o
s
i
u
m
o
n
De
v
ices
ME
MS,
I
n
telli
g
en
t
S
y
s
te
m
s
&
C
o
m
m
u
n
icat
io
n
(
I
SDMI
S
C
)
2
0
1
1
P
r
o
ce
e
d
in
g
s
p
u
b
lis
h
ed
b
y
I
n
ter
n
atio
n
al
J
o
u
r
n
al
o
f
C
o
m
p
u
ter
A
p
p
licati
o
n
s
® (
I
J
C
A
)
,
n
u
m
b
er
9
,
I
SDM
1
9
2
.
[
2
]
I
n
tr
o
d
u
ct
io
n
to
P
r
o
g
r
a
mma
b
l
e
Lo
g
ic
C
o
n
tr
o
ller
s
(
P
LC
)
,
s
t
u
d
y
p
lc.
b
lo
g
s
p
o
t.in
[
3
]
Micr
o
Lo
g
ix
1
0
0
0
P
r
o
g
r
a
mma
b
le
Lo
g
ic
C
o
n
tr
o
ller
S
ystems
,
ab
.
r
o
ck
w
ella
u
to
m
a
tio
n
.
co
m
[
4
]
h
ttp
://e
n
.
w
i
k
ip
ed
ia.
o
r
g
/
w
ik
i
/R
ela
y
[
5
]
h
ttp
://e
n
.
w
i
k
ip
ed
ia.
o
r
g
/
w
ik
i
/S
w
itc
h
ed
-
m
o
d
e_
p
o
w
er
_
s
u
p
p
l
y
[
6
]
I
n
s
ig
h
t
-
Ho
w
Ge
a
r
ed
DC
Mo
to
r
w
o
r
ks
,
www
.
e
n
g
in
ee
r
s
g
ar
a
g
e.
co
m
[
7
]
S.
B
.
R
.
C
ar
ter
,
an
d
A
.
Sel
v
ar
aj
,
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
P
LC
b
a
s
ed
elev
a
to
r
,
First
I
n
ter
n
a
tio
n
al
j
o
u
r
n
al
o
f
co
m
p
u
ter
ap
p
licatio
n
s
,
v
o
l.
6
8
,
n
o
.
7
,
p
p
.
8
8
-
9
2
,
2
0
1
3
.
[
8
]
I
mp
leme
n
ta
tio
n
o
f
P
LC
B
a
s
ed
E
leva
to
r
C
o
n
tr
o
l
S
ystem
,
Dep
ar
tm
e
n
t
o
f
E
lectr
o
n
ics
E
n
g
i
n
ee
r
in
g
,
Ma
n
d
ala
y
T
ec
h
n
o
lo
g
ical
Un
iv
er
s
it
y
(
MT
U)
,
My
a
n
m
ar
,
I
SS
N
2
2
7
7
-
1
9
5
6
/V3
N2
-
91
-
100.
Evaluation Warning : The document was created with Spire.PDF for Python.