PLAT: An Automated Fault and Behavioural Anomaly Detection Tool for PLC Controlled Manufacturing Systems

Table 3

Description of signals: objectives of the control signals.

	Signal name	Type	Description
DCLAMP	OpSen1	Sensor input	Identifies if left and right clamps are opened
	OpSen2	Sensor input
	CLOSE	Output	Notifies clamp closing operation
	ClsSen1	Sensor input	Identifies if left and right clamps are closed
	ClsSen2	Sensor input
	OPEN	Output	Notifies clamp opening operation
RBT1	HOME_POS	Sensor input	Identifies if robot is in its home position
	READY	Output	Notifies robot is ready to start its work
	PRT_PICK	Output	Notifies robot is picking up the part from the Part Loader
	RUNNING	Sensor input	Identifies if robot is in running mode
	1ST_WORK_COMP	Sensor input	Identifies if robot picked up the part from the Part Loader (work completion signal)
	PRT_MOVE	Output	Robot is moving the part of Daecha
	2ND_WORK_COMP	Sensor input	Identifies if robot placed the part on Daecha (work completion signal)
	RET_HOME	Output	Notifies robot is returning to its home position (will be ON until part from Daecha is removed)
Group	RBT1-HOME_POS	Starting signal of Robot 1	Sensor signal that identifies if robot RBT1 is in its home position
	PrtLDR-RET	Starting signal of Part Loader	Sensor signal that identifies if Part Loader PrtLDR is in its home position
	RBT2-HOME_POS	Starting signal of Robot 2	Sensor signal that identifies if robot RBT2 is in its home position
	DCLAMP-OpSen1	Starting signal of Daecha Clamp	Sensor signal that identifies if left clamp of Deacha Clamp DCLAMP is opened
	DCHA-RET	Starting signal of Daecha	Sensor signal that identifies if Daecha DCHA is in its home position