Original scientific paper The given article describes the hardware-software complex aimed to teach students how to control the mechatronic mechanisms remotely by means of standard industrial automation. The purpose of this paper is to consider the following problems: the curved trajectory movement algorithm control, the corresponding software development for the industrial controllers using CoDeSys environment, CoDeSys software package usage for the development of interactive HTML-applications with WEB-interface. Keywords: algorithm control; industrial controller; interactive interface; nonlinear motion; software Daljinsko upravljanje nelinearnim gibanjem za mehatronički stroj pomoću CoDeSys kompatibilnog industrijskog regulatoraIzvorni znanstveni članak Navedeni članak opisuje hardversko-softverski kompleks čiji je cilj naučiti studente kako daljinski upravljati mehatroničkim mehanizmima putem standardne industrijske automatizacije. Svrha ovoga rada je razmotriti sljedeće probleme: upravljački algoritam gibanja zakrivljenom putanjom, odgovarajući razvoj softvera za industrijske regulatore koji koriste CoDeSys okruženje, primjenu CoDeSys programskog paketa za razvoj interaktivnih HTML-aplikacija s web-sučeljem.

The paper describes the gravity acceleration sensor (GAS) design, the technical characteristics of which provide an increase in the static transfer constant of the GAS, the ability to determine the current static transfer constant of the GAS, reducing the level of noise effects in the output signal of GAS. The acceleration vector components from the side of a moving vehicle add a noise to the gravity vector components. These investigations give an answer how to obtain of GAS’s desired metrological features by the developing of new GAS based on pendulous integrating gyroscopic accelerometer. The presented material can be seen as an example of how to explore a gyro system mechanics and how to develop new gyro systems structure. The presented methods and the sequences of expressions can be used in master’s and bachelor’s disciplines in the field of applied mechanics, instrument development and automatic control.