{"id":13390,"date":"2022-08-21T11:04:11","date_gmt":"2022-08-21T08:04:11","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=13390"},"modified":"2022-10-03T15:18:05","modified_gmt":"2022-10-03T12:18:05","slug":"modelyuvannya-roboty-manipulyatora-v-programnomu-seredovyshhi-tia-portal-v-15-1-povidomlennya-1","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=13390","title":{"rendered":"\u041c\u043e\u0434\u0435\u043b\u044e\u0432\u0430\u043d\u043d\u044f \u0440\u043e\u0431\u043e\u0442\u0438 \u043c\u0430\u043d\u0456\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0432 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u043e\u043c\u0443 \u0441\u0435\u0440\u0435\u0434\u043e\u0432\u0438\u0449\u0456 Tia Portal V.15.1 (\u041f\u043e\u0432\u0456\u0434\u043e\u043c\u043b\u0435\u043d\u043d\u044f 1)"},"content":{"rendered":"

<\/p>\n

\u041c\u041e\u0414\u0415\u041b\u042e\u0412\u0410\u041d\u041d\u042f \u0420\u041e\u0411\u041e\u0422\u0418 \u041c\u0410\u041d\u0406\u041f\u0423\u041b\u042f\u0422\u041e\u0420\u0410 \u0412 \u041f\u0420\u041e\u0413\u0420\u0410\u041c\u041d\u041e\u041c\u0423 \u0421\u0415\u0420\u0415\u0414\u041e\u0412\u0418\u0429\u0406 TIA PORTAL V.15.1(\u041f\u041e\u0412\u0406\u0414\u041e\u041c\u041b\u0415\u041d\u041d\u042f 1)<\/p>\n

SIMULATION THE WORKING OF THE MANIPULATOR IN THE SOFTWARE ENVIRONMENT TIA PORTAL V.15.1(NOTIFICATION 1)<\/p>\n

\u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438:\u00a0<\/strong>150<\/strong>–<\/strong>158<\/strong>. \u041d\u043e\u043c\u0435\u0440: \u21164, 2022 (311)\u00a0\u00a0 \"\"<\/a> <\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u041c\u0410\u0419\u0414\u0410\u041d \u041f. \u0421.
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nhttps:\/\/orcid.org\/0000-0003-3319-8730<\/a>
\nmaidanp@khmnu.edu.ua<\/a>
\n\u041c\u0410\u041a\u0410\u0420\u0418\u0428\u041a\u0406\u041d \u0414. \u0410.
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nhttps:\/\/orcid.org\/0000-0003-3447-811X<\/a>
\nmakaryshkin@ukr.net<\/a>
\n\u041c\u0418\u0425\u0410\u0419\u041b\u041e\u0412\u0421\u042c\u041a\u0418\u0419 \u042e. \u0411.
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nhttps:\/\/orcid.org\/0000-0003-2615-7332<\/a>
\nYuriyMikhaylovskiy@gmail.com<\/a>
\n\u0417\u041e\u041b\u041e\u0422\u0415\u041d\u041a\u041e \u0415. \u041e.
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nhttps:\/\/orcid.org\/0000-0001-7616-2784<\/a>
\nellafilipchenko@gmail.com<\/a>
\nPavlo MAIDAN, Denys MAKARYSHKIN, Yuriy MYKHAYLOVSKIY, Ella ZOLOTENKO
\nKhmelnytskyi National University
\nDOI:<\/strong>\u00a0https:\/\/www.doi.org\/10.31891\/2307-5732-2022-311-4-150-158<\/a><\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u0412 \u0440\u043e\u0431\u043e\u0442\u0456 \u043d\u0430\u0432\u0435\u0434\u0435\u043d\u043e \u0440\u0435\u0437\u0443\u043b\u044c\u0442\u0430\u0442\u0438 \u043c\u043e\u0434\u0435\u043b\u044e\u0432\u0430\u043d\u043d\u044f \u0440\u043e\u0431\u043e\u0442\u0438 \u043c\u0430\u043d\u0456\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0456\u0437 \u0448\u0456\u0441\u0442\u044c\u043c\u0430 \u0441\u0442\u0443\u043f\u0435\u043d\u044f\u043c\u0438 \u0432\u0456\u043b\u044c\u043d\u043e\u0441\u0442\u0456, \u0432\u0438\u043a\u043e\u043d\u0430\u043d\u0456 \u0432 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u043e\u043c\u0443 \u0441\u0435\u0440\u0435\u0434\u043e\u0432\u0438\u0449\u0456 TIA PORTAL V.15.1. \u0410 \u0441\u0430\u043c\u0435 \u043f\u0435\u0440\u0448\u0438\u0439 \u0435\u0442\u0430\u043f, \u0441\u0442\u0432\u043e\u0440\u0435\u043d\u043d\u044f \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0456\u0447\u043d\u0438\u0445 \u043e\u0431\u2019\u0454\u043a\u0442\u0456\u0432, \u0449\u043e \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u044e\u0442\u044c\u0441\u044f \u0432 \u044f\u043a\u043e\u0441\u0442\u0456 \u0446\u0438\u0444\u0440\u043e\u0432\u0438\u0445 \u0434\u0432\u0456\u0439\u043d\u0438\u043a\u0456\u0432 \u0434\u043b\u044f \u0437\u0430\u043f\u0443\u0441\u043a\u0443 \u043a\u0440\u043e\u043a\u043e\u0432\u0438\u0445 \u0434\u0432\u0438\u0433\u0443\u043d\u0456\u0432, \u044f\u043a\u0456 \u0432\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u0456 \u0432 \u043a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0446\u0456\u0457 \u043c\u0430\u043d\u0456\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430. \u0421\u0442\u0432\u043e\u0440\u0435\u043d\u043d\u044f \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0456\u0447\u043d\u0438\u0445 \u043e\u0431\u2019\u0454\u043a\u0442\u0456\u0432 \u0434\u043e\u0437\u0432\u043e\u043b\u0438\u0442\u044c \u043f\u0435\u0440\u0435\u0432\u0456\u0440\u0438\u0442\u0438 \u043f\u0440\u0430\u0432\u0438\u043b\u044c\u043d\u0456\u0441\u0442\u044c \u0440\u043e\u0431\u043e\u0442\u0438 \u043c\u0430\u043d\u0456\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0432 \u0442\u0435\u0441\u0442\u043e\u0432\u043e\u043c\u0443 \u0440\u0435\u0436\u0438\u043c\u0456, \u0432\u0438\u0437\u043d\u0430\u0447\u0438\u0442\u0438 \u0442\u0430 \u0437\u0430\u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0443\u0432\u0430\u0442\u0438 \u043d\u0435\u043e\u0431\u0445\u0456\u0434\u043d\u0456 \u0448\u0432\u0438\u0434\u043a\u043e\u0441\u0442\u0456 \u0442\u0430 \u043f\u0440\u0438\u0441\u043a\u043e\u0440\u0435\u043d\u043d\u044f, \u0432\u0456\u0434\u0441\u043b\u0456\u0434\u043a\u0443\u0432\u0430\u0442\u0438 \u0442\u0430 \u0432\u0438\u043a\u043b\u044e\u0447\u0438\u0442\u0438 \u043c\u043e\u0436\u043b\u0438\u0432\u0456 \u043f\u043e\u043c\u0438\u043b\u043a\u0438 \u043f\u0440\u0438 \u0437\u0430\u043f\u0443\u0441\u043a\u0443 \u0432 \u0440\u043e\u0431\u043e\u0442\u0443.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0456\u043a\u0430, \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0437\u0430\u0446\u0456\u044f, \u0434\u0432\u0438\u0433\u0443\u043d, \u043c\u043e\u0434\u0435\u043b\u044e\u0432\u0430\u043d\u043d\u044f, \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0456\u0447\u043d\u0438\u0439 \u043e\u0431\u2019\u0454\u043a\u0442, \u0446\u0438\u0444\u0440\u043e\u0432\u0438\u0439 \u0434\u0432\u0456\u0439\u043d\u0438\u043a, TIA PORTAL V.15.1.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u00a0\u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

It is known that manipulators with automatic and hand types of control are distinguished by the type of control system. In manipulators with an automatic type of control, the links of the executive mechanism are set in motion by servo drives operating according to a previously developed program. In manipulators with a hand control type, there is an operator who acts on the links of the control mechanism and drives the links of the executive mechanism.
\nThe paper presents the results of simulation the working of the manipulator with six degrees of freedom, performed in the software environment TIA PORTAL V.15.1. Namely, the first stage, creating technological objects used as digital doubles for starting stepper motors, which are installed in the design of the manipulator. The creation of technological objects will make it possible to check the correct operation of the manipulator in the test mode, to determine and program the necessary speeds and accelerations, to monitor and eliminate possible errors during start-up.
\nTo simplify the application of some technological functions that can be used together with the SIMATIC controller, the so-called Technology objects (TO) were used in the software environment TIA Portal. When using TO data, available functions are encapsulated and provided to the application developer for ease of access and convenient use in the application environment. In particular, in the area of \u00abMotion control\u00bb, such TOs are used to facilitate the control and processing of data from axes, additional motion control functions, as well as to support the developer in creating a specialized program with motion control functions.
\nThe first stage of simulation the working of the manipulator in the software environment TIA Portal was completed, namely the creation of technological objects of this manipulator, that is, the creation of digital doubles for three stepper motors of the type 28BYJ-48, which are used as drives for the task of moving the manipulator.
\nKeywords:<\/strong> mechatronics, automation, engine, modeling, technological object, digital double, TIA PORTAL V.15.1.<\/p>\n

\u041b\u0456\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u0430<\/strong><\/p>\n

    \n
  1. \u0412\u0432\u0435\u0434\u0435\u043d\u0438\u0435 \u0432 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0443: \u0443\u0447. \u043f\u043e\u0441\u043e\u0431\u0438\u0435 \/ \u0410.\u0418. \u0413\u0440\u0430\u0431\u0447\u0435\u043d\u043a\u043e, \u0412.\u0411. \u041a\u043b\u0435\u043f\u0438\u043a\u043e\u0432, \u0412.\u041b. \u0414\u043e\u0431\u0440\u043e\u0441\u043a\u043e\u043a \u0438 \u0434\u0440. \u2013 \u0425.: \u041d\u0422\u0423 \u00ab\u0425\u041f\u0418\u00bb, 2014. \u2013 264 \u0441.<\/li>\n
  2. \u0426\u0432\u0456\u0440\u043a\u0443\u043d \u041b. \u0406. \u0420\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0456\u043a\u0430 \u0442\u0430 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0456\u043a\u0430 : \u043d\u0430\u0432\u0447. \u043f\u043e\u0441\u0456\u0431. \/ \u041b. \u0406. \u0426\u0432\u0456\u0440\u043a\u0443\u043d, \u0413. \u0413\u0440\u0443\u043b\u0435\u0440; \u043f\u0456\u0434 \u0437\u0430\u0433. \u0440\u0435\u0434. \u041b.\u0406. \u0426\u0432\u0456\u0440\u043a\u0443\u043d\u0430 ; \u041c-\u0432\u043e \u043e\u0441\u0432\u0456\u0442\u0438 \u0456 \u043d\u0430\u0443\u043a\u0438 \u0423\u043a\u0440\u0430\u0457\u043d\u0438, \u0414\u0435\u0440\u0436. \u0432\u0438\u0449\u0438\u0439 \u043d\u0430\u0432\u0447. \u0437\u0430\u043a\u043b. \u00ab\u041d\u0430\u0446. \u0433\u0456\u0440\u043d. \u0443\u043d-\u0442\u00bb. – 3-\u0442\u0454 \u0432\u0438\u0434., \u043f\u0435\u0440\u0435\u0440\u043e\u0431. \u0456 \u0434\u043e\u043f. – \u0414\u043d\u0456\u043f\u0440\u043e : \u041d\u0413\u0423, 2017. – 224 c.<\/li>\n
  3. \u0421\u0443\u0447\u0430\u0441\u043d\u0456 \u0435\u043b\u0435\u043a\u0442\u0440\u043e\u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u043d\u0456 \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u0438 \u0456 \u0441\u0438\u0441\u0442\u0435\u043c\u0438 : \u043d\u0430\u0432\u0447. \u043f\u043e\u0441\u0456\u0431\u043d\u0438\u043a \/ \u0422. \u041f. \u041f\u0430\u0432\u043b\u0435\u043d\u043a\u043e, \u0412. \u041c. \u0428\u0430\u0432\u043a\u0443\u043d, \u041e. \u0421. \u041a\u043e\u0437\u043b\u043e\u0432\u0430, \u041d. \u041f. \u041b\u0443\u043a\u0430\u0448\u043e\u0432\u0430 ; \u0425\u0430\u0440\u043a\u0456\u0432. \u043d\u0430\u0446. \u0443\u043d-\u0442 \u043c\u0456\u0441\u044c\u043a. \u0433\u043e\u0441\u043f-\u0432\u0430 \u0456\u043c. \u041e. \u041c. \u0411\u0435\u043a\u0435\u0442\u043e\u0432\u0430. \u2013 \u0425\u0430\u0440\u043a\u0456\u0432 : \u0425\u041d\u0423\u041c\u0413 \u0456\u043c. \u041e.\u041c. \u0411\u0435\u043a\u0435\u0442\u043e\u0432\u0430, 2019. \u2013 116 \u0441. ISBN 978-966-695-502-2.<\/li>\n
  4. \u0421\u0438\u043d\u0442\u0435\u0437 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0456\u0447\u043d\u0438\u0445 \u0441\u0438\u0441\u0442\u0435\u043c \u0432 \u043c\u0430\u0448\u0438\u043d\u043e\u0431\u0443\u0434\u0443\u0432\u0430\u043d\u043d\u0456 \/ [\u041b.\u0404.\u041f\u0435\u043b\u0435\u0432\u0456\u043d, \u041a. \u0406. \u041f\u043e\u0447\u043a\u0430, \u041e. \u041c. \u0413\u0430\u0440\u043a\u0430\u0432\u0435\u043d\u043a\u043e \u0442\u0430 \u0456\u043d.]. \u2013 \u041a.: \u0406\u043d\u0442\u0435\u0440\u0441\u0435\u0440\u0432\u0456\u0441, 2016. \u2013 258 \u0441.<\/li>\n
  5. \u0420\u0443\u043a\u043e\u0432\u043e\u0434\u0441\u0442\u0432\u043e \u043f\u043e \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044e S7-1200\/S7-1500. STEP 7 (TIA Portal) \u0438 STEP 7 Safety \u0432 TIA Portal \u2013 Entry-ID: 81318674, V1.4, 11\/2015. \u2013 109 \u0441.<\/li>\n
  6. \u041f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0438\u0440\u0443\u0435\u043c\u044b\u0439 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440 S7-1200. \u0421\u0438\u0441\u0442\u0435\u043c\u043d\u043e\u0435 \u0440\u0443\u043a\u043e\u0432\u043e\u0434\u0441\u0442\u0432\u043e. 11\/2009, \u04105\u041502669003-02.<\/li>\n
  7. \u0410\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0437\u0430\u0446\u0456\u044f \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0456\u0447\u043d\u0438\u0445 \u043f\u0440\u043e\u0446\u0435\u0441\u0456\u0432 : \u043b\u0430\u0431\u043e\u0440\u0430\u0442\u043e\u0440\u043d\u0438\u0439 \u043f\u0440\u0430\u043a\u0442\u0438\u043a\u0443\u043c \u0437 \u0434\u0438\u0441\u0446\u0438\u043f\u043b\u0456\u043d\u0438 \u0434\u043b\u044f \u0437\u0434\u043e\u0431\u0443\u0432\u0430\u0447\u0456\u0432 \u0432\u0438\u0449\u043e\u0457 \u043e\u0441\u0432\u0456\u0442\u0438 \u0441\u043f\u0435\u0446\u0456\u0430\u043b\u044c\u043d\u043e\u0441\u0442\u0435\u0439 133 \u00ab\u0413\u0430\u043b\u0443\u0437\u0435\u0432\u0435 \u043c\u0430\u0448\u0438\u043d\u043e\u0431\u0443\u0434\u0443\u0432\u0430\u043d\u043d\u044f\u00bb; 141 \u00ab\u0415\u043b\u0435\u043a\u0442\u0440\u043e\u0435\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u043a\u0430, \u0435\u043b\u0435\u043a\u0442\u0440\u043e\u0442\u0435\u0445\u043d\u0456\u043a\u0430 \u0442\u0430 \u0435\u043b\u0435\u043a\u0442\u0440\u043e\u043c\u0435\u0445\u0430\u043d\u0456\u043a\u0430\u00bb; 151 \u00ab\u0410\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0437\u0430\u0446\u0456\u044f \u0442\u0430 \u043a\u043e\u043c\u043f\u2019\u044e\u0442\u0435\u0440\u043d\u043e-\u0456\u043d\u0442\u0435\u0433\u0440\u043e\u0432\u0430\u043d\u0456 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0456\u0457\u00bb \/ \u0443\u043a\u043b\u0430\u0434.: \u041f. \u0421. \u041c\u0430\u0439\u0434\u0430\u043d, \u0414. \u0410. \u041c\u0430\u043a\u0430\u0440\u0438\u0448\u043a\u0456\u043d, \u0415. \u041e. \u0417\u043e\u043b\u043e\u0442\u0435\u043d\u043a\u043e, \u0410. \u0412. \u0411\u0443\u0440\u044f\u043a. \u2013 \u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 : \u0425\u041d\u0423, 2021. \u2013 116 \u0441.<\/li>\n
  8. The Technology Objects (TO) of SIMATIC S7-1500(T). TIA Portal V14\/SIMATIC S7-1500\/SIMATIC S7-1500T. \u2013 Entry ID: 109743134, V1.0, 05\/2017 \u2013 60 \u0440.<\/li>\n
  9. Moving PTO positioning axes of an S7-1200 as IO device centrally from an IO controller. SIMATIC S7-1200\/S7-1500. \u2013 Entry-ID: 109768880, V1.0, 10\/2019. \u2013 30 \u0440.<\/li>\n<\/ol>\n

    References<\/strong><\/p>\n

      \n
    1. Vvedenie v mehatroniku: uch. posobie \/ A.I. Grabchenko, V.B. Klepikov, V.L. Dobroskok i dr. \u2013 H.: NTU \u00abHPI\u00bb, 2014. \u2013 264 p.<\/li>\n
    2. Tsvirkun L. I. Robototekhnika ta mekhatronika : navch. posib. \/ L. I. Tsvirkun, H. Hruler; pid zah. red. L. I. Tsvirkuna ; M-vo osvity i nauky Ukrainy, Derzh. vyshchyi navch. zakl. \u00abNats. hirn. un-t\u00bb. – 3-tie vyd., pererob. i dop. – Dnipro : NHU, 2017. – 224 p.<\/li>\n
    3. Suchasni elektromekhatronni kompleksy i systemy : navch. posibnyk \/ T. P. Pavlenko, V. M. Shavkun, O. S. Kozlova, N. P. Lukashova ; Kharkiv. nats. un-t misk. hosp-va im. O. M. Beketova. \u2013 Kharkiv : KhNUMH im. O. M. Beketova, 2019. \u2013 116 p. ISBN 978-966-695-502-2.<\/li>\n
    4. Syntez robototekhnichnykh system v mashynobuduvanni \/ [L.Ie.Pelevin, K. I. Pochka, O. M. Harkavenko ta in.]. \u2013 K.: Interservis, 2016. \u2013 258 p.<\/li>\n
    5. Rukovodstvo po programmirovaniyu S7-1200\/S7-1500. STEP 7 (TIA Portal) i STEP 7 Safety v TIA Portal \u2013 Entry-ID: 81318674, V1.4, 11\/2015. \u2013 109 p.<\/li>\n
    6. Programmiruemyj kontroller S7-1200. Sistemnoe rukovodstvo. 11\/2009, A5E02669003-02.<\/li>\n
    7. Avtomatyzatsiia tekhnolohichnykh protsesiv : laboratornyi praktykum z dystsypliny dlia zdobuvachiv vyshchoi osvity spetsialnostei 133 \u00abHaluzeve mashynobuduvannia\u00bb; 141 \u00abElektroenerhetyka, elektrotekhnika ta elektromekhanika\u00bb; 151 \u00abAvtomatyzatsiia ta kompiuterno-intehrovani tekhnolohii\u00bb \/ uklad.: P. S. Maidan, D. A. Makaryshkin, E. O. Zolotenko, A. V. Buriak. \u2013 Khmelnytskyi : KhNU, 2021. \u2013 116 p.<\/li>\n
    8. The Technology Objects (TO) of SIMATIC S7-1500(T). TIA Portal V14\/SIMATIC S7-1500\/SIMATIC S7-1500T. \u2013 Entry ID: 109743134, V1.0, 05\/2017 \u2013 60 \u0440.<\/li>\n
    9. Moving PTO positioning axes of an S7-1200 as IO device centrally from an IO controller. SIMATIC S7-1200\/S7-1500. \u2013 Entry-ID: 109768880, V1.0, 10\/2019. \u2013 30 \u0440.<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":3,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[67],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/13390"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=13390"}],"version-history":[{"count":4,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/13390\/revisions"}],"predecessor-version":[{"id":14162,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/13390\/revisions\/14162"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=13390"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=13390"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=13390"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}