Cleaning robot simulation

Description
This SCL function block, FB_CleaningRobot, controls a mobile cleaning robot with automatic driving and cleaning cycles, obstacle detection, battery level, and safety checks. It can be run directly in the Siemens TIA Portal.

Note: All modules are designed exclusively as a learning and optimization basis and are not approved for live operation. System modules, in particular, must be finally tested and commissioned by qualified personnel before productive use.

How it works

1. STOP signal or battery empty → drive & cleaning motor off, warning LED on, set error flag, HMI "STOP / BATTERY EMPTY", RETURN
2. State 0 (Ready) → Waiting for start command
3. State 1 (starting) → drive motor active for 5 s (TON timer)
4. State 2 (Cleaning) → Drive & cleaning motor run until obstacle is detected or cleaning time expires
5. Obstacle → State 3: Motors off, right turn (TON timer), back to state 2
6. State 4 (Completion) → Motors off, cleaning LED off, HMI “READY – TO BASE”, back to state 0

Technical details
• Inputs: Stop, Battery Empty, Start, Obstacle, Reset
• Outputs: Drive motor, cleaning motor, warning LED, cleaning LED, error flag, StatusText_HMI
• Three TON timers for start-up, cleaning and rotation phases
• Execution via INT variable #State in CASE structure; RETURN for safety states

Possible applications
• Mobile cleaning robots in halls and storage areas
• Retrofit in existing cleaning systems
• Training and demonstration projects for PLC-controlled vehicles

compatibility
Siemens S7-1200 & S7-1500, TIA Portal ≥ V13 (recommended V16+ for HMI/PLCSIM)

Scope of delivery
.scl file with input/output declarations, timer instances, state logic, and header comments; download link immediately after purchase

Support
Adjustment of cleaning duration, additional sensors, fallback logic or HMI integration on request via shop message or email.