DOCSLIB.ORG

COMMUNICATION, CONFIGURATION, APPLICATION: the Three Layer Concept for Plug-And-Produce

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
COMMUNICATION, CONFIGURATION, APPLICATION: the Three Layer Concept for Plug-And-Produce COMMUNICATION, CONFIGURATION, APPLICATION: The three layer concept for Plug-and-Produce Uwe E. Zimmermann, Rainer Bischoff KUKA Roboter Gmbh, Zugspitzstraße 140 86165 Augsburg, Germany [email protected], [email protected] Gerhard Grunwald, Georg Plank, Detlef Reintsema German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, 88234 Wessling Germany [email protected], [email protected], [email protected] Keywords: Plug&Play, robotics, reduced set-up time, determinism, real-time communication, device description Abstract: The Plug-And-Play is a synonym for the simple use of computer systems in office applications. This appealing idea also emerges in the branches of robotics and automation. But due to their specific technical and application driven requirements i.e. real-time, determinism, safety… a simple taking over of the technology is not sufficient. Plug-and-Produce extends the “easy to use” for applications in robotics and automation. This will lead to a dramatically reduction of set-up times of work-cells. In order to fulfil the various requirements a three layered Plug-and-Produce architecture is presented. The communication layer addresses all topics regarding the bus-system level; the configuration layer is responsible for the control and operation system level; and the application layer addresses the needs of the user and system programmer. A prototypical implementation is also presented. But due to their specific technical and application driven requirements (details see in section 2) a simple taking over of PnP is not possible. Hence the 1. INTRODUCTION EU funded project SMErobot™ (SMErobot, 2005) created the term „Plug and Produce“(PnProduce) to Technically, the integration of components i.e. a express these peculiarities and to delimit from the memory stick, a camera, or a disk drive into a office applications. computer system is a very complex task. Different The potential of PnProduce is very obviously: kind of knowledge is required. This includes The set-up time of robot cells is time-consuming and hardware, communication systems, operating thus an important cost factor. It take days or even systems, programming and application interfaces. weeks just to get all peripheral systems Practically, the user wishes the simple addition of communicating and working with each other, even his new device without requiring reconfiguration or though the system was planed and designed very manual installation of device drivers. “Plug-And- detailed in advance. Costs could be dramatically Play“(PnP) is the synonym for this wish. In the early reduced, if it is possible to reduce the installation 1980s the NuBus (NuBus, 1983) which was time. Especially future robotics systems will require originally developed by MIT and used by Apple much more flexibility due to frequent task and Macintosh and Texas Instruments was one of the equipment changes. It should be possible to connect earliest PnP-busses. Today the Universal Serial Bus a new, even a priori unknown device to the robot (USB) is the widest spread and probably best known controller and to use it immediately without the need PnP-bus (Axelson, 2005). of a long and error prone manual configuration. The Plug-And-Play technology was developed Besides the reduction of costs a further important for the simple use of computer systems in office factor is the “easy to use” feature. In future, more applications. Recently this appealing idea also and more robots will find their way into small and emerged in the branches of robotics and automation. medium enterprises, into the public and the health sector. Also service robots or assistants for via real-time bus systems i.e. EtherCAT, Sercos …. entertainment and at home are emerging. These Also the single components inside a robot should be systems will be in common, that non-robotic experts connected via PnProduce. will have to deal with such complex systems. Adding of new tools, exchanging of faulty devices 2.1.1 Device exchange or upgrading the system has to be manageable without the need of an expert. A robot component i.e. a drive unit has to be By means of scenarios and use cases section 2 exchanged or upgraded. The servicing staff powers motivates the details of PnProduce and specifies the off the robot, exchanges the devices. In case of inherent technical requirements. In section 3 we PnProduce the robot has only to be switched on introduce the three layer concept of PnProduce and. being operational again. The central control unit Some first implementation results are presented in automatically identifies the new device, reads the section 4. actual device status information, configures it and integrates its functionality into the application. 2. PLUG AND PRODUCE 2.1.2 (Automatic) tool change REQUIREMENTS Especially for versatile robot assistants frequent tool changes are a common requirement. A device PnProduce concepts for industrial applications driven approach is just a subversion of the previous especially robotics can adapt existing PnP concepts use case, where a new tool (e.g. driller) is plugged to from IT. But there are some special issues that have the robot and the associated tool service (e.g. “drill”) to be covered and which are not solved by available is available for the user. solutions. By means of use cases some features of In a service driven approach the user first selects PnProduce are discussed and also the specific the service (e.g. “drill”) and then the tool that could technical requirements. perform the task is automatically selected by the robot system itself. This means that an automatic tool changer system has to be set up. 2.1.3 Start up of a new system/application In general an application can be characterized by the potential functionality of the connected components and devices. When powering on the functionalities of the devices are communicated with the central controller or a programmer. Bus, devices and robot controller are already configured for the immediate use. The application itself can be described by the detailed device configurations needed for running the task. This could be done manually or (semi-)automatic. 2.1.4 Start up of an existing system/application An application as described above may be stored Figure 1: Scenarios for PnProduce in a file. When switching on the system the controller gets all status information from the devices which are connected via the real-time bus. These data can be compared with the stored 2.1 Use Cases description of the planned application. The controller can verify whether all devices are Figure 1 shows a generic setup of a work cell connected and properly configured. If not with multiple, different robots, tools, grippers, appropriate feedback to the user can be given. hands, sensors, and controllers. They are connected 2.2 Deterministic and Real-time by the user. Examples are “gripper open” or “sensor Communication on”. They are typically for actuators and tools that are connected to the robot controller. The philosophy of commands is very similar to the The communication in robotics and automation Service Oriented Architecture (SOA) approaches. must guarantee some features to facilitate a proper Most existing robot languages are command based and safe operation of the system. One of the most and therefore PnProduce concepts could be important features are real-time and determinism. As integrated seamlessly. there are multiple specifications on the term real- Events are used for the asynchronous transfer of time, we will use in the context of PnProduce: “The small data sets to inform the control system or the timing constraints of the system must be guaranteed devices on their actual status. They may also be used to be met. Guaranteeing timing behaviour requires for setting parameters of the attached devices and/or that the communication is predictable”. The term software. deterministic tightens the requirement in real-time The parameters may be classified in static and communication. It is not sufficient to guarantee the dynamic parameters. The latter may be set during data within a time frame. The data have to be system start-up or in case of configuration purposes. delivered at a precise time. But they cannot or should not be changed during run-time. Thus there is no need to include these 2.3 Static and dynamic parameters parameters in the process data sets. In general, static parameters are device specific. Dynamic parameters In the past, the application programmer dynamically lead to more flexible systems. For differentiates cyclic and acyclic communication. example, if a gripper with an adjustable gripping Cyclic data are i.e. the sensor values from a force force is used, the force parameter can be set once torque sensor or the nominal and real value of the (configuration data) before the application starts or robot joints. These data types are also called can be changed depending on what kind of object “process images” (CAN, 2007), that are a complete has to be gripped (process data). or partial local data base. The application or the Commands and events are still called acyclic devices operate only on this local data, whereas the even it is communicated in a cyclic manner on the bus system is responsible to keep the distributed data bus level. The process images as well as the data consistent. The advantage is that communication and exchange between the local data bases has to be application are highly decoupled. Another important configured, which is a complex task and leads to factor is the deterministic exchange of data as the high demands for a PnProduce system. This is bus load is constant and could be analyzed a priori. especially true if the data exchange should be dynamically changed. robot controller (master) Application 2.4 Plug-And-Play Variants (acyclic) read/write There are different grades in the performance of process image Plug-And-Play systems.
Load more

Recommended publications
  • Sercos System Manual for I/O Devices
    Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service R911333512 sercos System Manual Edition 02 for I/O Devices Application Description Bosch Rexroth AG | Electric Drives sercos | Application Description and Controls Title sercos System Manual for I/O Devices Type of Documentation Application Description Document Typecode: DOK-CONTRL-ILS3*******-AP02-EN-P Internal File Reference 7836_en_01, 120-0403-B309/EN -02 Purpose of Documentation This document describes configuration, parameterization, startup and diagnostics of I/O devices with sercos interface. Record of Revisions Document Designation of Release Remark Previous Editions Date 120-0403-B309/EN -01 03/2011 First edition 120-0403-B309/EN -02 07/2011 Completely revised Copyright © Bosch Rexroth AG, 2011. Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 • 97816 Lohr a. Main, Germany Phone + 49 9352 4-00 • Fax + 49 9352 4-04885 www.boschrexroth.com/ Dept. DC-IA/SPF3 Note This
    [Show full text]
  • SERCOS III Master Devices
    Operating Instruction Manual DTM for SERCOS III Master Devices Configure Hilscher Master Devices Beta Version Language: English (EN) www.hilscher.com SERCOS III Master DTM Table of Contents • 2 Table of Contents 1 INTRODUCTION.........................................................................................................5 1.1 About this Manual .......................................................................................................5 1.1.1 Online Help...........................................................................................................6 1.1.2 List of Revisions ...................................................................................................6 1.1.3 Conventions in this Manual ..................................................................................7 1.2 Legal Notes.................................................................................................................8 1.2.1 Copyright ..............................................................................................................8 1.2.2 Important Notes....................................................................................................8 1.2.3 Exclusion of Liability .............................................................................................9 1.2.4 Warranty ...............................................................................................................9 1.2.5 Export Regulations .............................................................................................10
    [Show full text]
  • Logix Controllers Comparison
    CompactLogix System Logix Controllers Comparison Characteristic ControlLogix CompactLogix CompactLogix CompactLogix CompactLogix 1756-71, 1756-L72, 1769-L30ER, 1769-L24ER-BB1B, 1769-L16ER-BB1B, 1768-L43, 1768-L45 1756-L73, 1756-L73XT, 1769-L30ER-NSE, 1769-L24ER-QBFC1B, 1769-L18ER-BB1B, Compact GuardLogix 1756-L74, 1756-L75 1769-L30ERM, 1769-L33ER, 1769-L27ERM-QBFC1B 1769-L18ERM-BB1B 1768-L43S, 1768-L45S GuardLogix 1769-L33ERM, 1756-L72S, 1756-L73S, 1769-L36ERM 1756-L73SXT Controller tasks: 32; 32; 32; 32; • 1768-L43: 16; •Continuous 100 programs/task 100 programs/task 100 programs/task 100 programs/task 32 programs/task • Periodic • 1768-L45: 30; •Event 32 programs/task Event tasks All event triggers All event triggers All event triggers All event triggers, plus All event triggers embedded inputs User memory • 1756-L71: 2 MB • 1769-L30ER, • 1769-L24ER: 750 KB • 1769-L16ER: 384 KB • 1768-L43: 2 MB • 1756-L72: 4 MB 1769-L30ER-NSE, • 1769-L27ERM: 1 MB • 1769-L18ER, • 1768-L43S: 2 MB + • 1756-L72S: 4 MB + 1769-L30ERM: 1MB 1769-L18ERM: 512 KB 0.5 MB safety 2MB safety • 1769-L33ER, • 1768-L45: 3 MB • 1756-L73, 1756-L73SXT, 1769-L33ERM: 2 MB • 1768-L45S: 3 MB + 1756-L73XT: 8 MB • 1769-L36ERM: 3 MB 1MB safety • 1756-L73S: 8 MB + 4MB safety • 1756-L74: 16 MB • 1756-L75: 32 MB Memory card Secure Digital Secure Digital Secure Digital Secure Digital CompactFlash Built-in ports 1 USB 2 EtherNet/IP 2 EtherNet/IP 2 EtherNet/IP 1 RS-232 1 USB 1USB 1 USB Communication options • EtherNet/IP (standard •Dual-port EtherNet/IP(1) • Dual-port EtherNet/IP(1)
    [Show full text]
  • Sercos III Slave for Am437x — Communication Development Platform
    TI Designs Sercos III Slave For AM437x — Communication Development Platform TI Designs Design Features Industrial Ethernet for Industrial Automation exists in • Sercos III Slave Firmware for PRU-ICSS With more than 20 industrial standards. Some of the well- Sercos MAC-Compliant Register Interface established real-time Ethernet protocols like EtherCAT, • Board Support Package and Industrial Software EtherNet/IP, PROFINET, Sercos III, and PowerLink Development Kit Available From TI and Third-Party require dedicated MAC hardware support in terms of Stack Provider FPGA or ASICs. The Programmable Real-Time Unit inside the Industrial Communication Subsystem (PRU- • Development Platform Includes Schematics, BOM, ICSS), which exists as a hardware block inside the User’s Guide, Application Notes, White Paper, Sitara processors family, replaces FPGA or ASICS Software, Demo, and More with a single chip solution. This TI design describes • PRU-ICSS Supports Other Industrial the Sercos III slave solution firmware for PRU-ICSS. Communication Standards (For Example, EtherCAT, PROFINET, EtherNet/IP, Ethernet Design Resources POWERLINK, Profibus) • PRU-ICSS Firmware is Sercos III Conformance TIDEP0039 Design Folder Tested TMDXIDK437X Tools Folder AM4379 Product Folder Featured Applications TIDEP0001 Tools Folder • Factory Automation and Process Control TIDEP0003 Tools Folder • Motor Drives TIDEP0008 Tools Folder TIDEP0010 Tools Folder • Digital and Analog I/O Modules TIDEP0028 Tools Folder • Industrial Communication Gateways • Sensors, Actuators, and Field Transmitters ASK Our E2E Experts WEBENCH® Calculator Tools Sitara AM437x ARM Cortex-A9 PRU-ICSS processor PHY Sercos III application/profile/ Slave MAC stack PHY An IMPORTANT NOTICE at the end of this TI reference design addresses authorized use, intellectual property matters and other important disclaimers and information.
    [Show full text]
  • Industrial Ethernet Technologies Page 1 © Ethercat Technology Group, January 2011
    Industrial Ethernet Technologies Page 1 © EtherCAT Technology Group, January 2011 Industrial Ethernet Technologies: Overview Approaches Modbus/TCP Ethernet/IP Powerlink PROFINET SERCOS III EtherCAT Summary © EtherCAT Technology Group Industrial Ethernet Technologies Editorial Preface: This presentation intends to provide an overview over the most important Industrial Ethernet Technologies. Based on published material it shows the technical principles of the various approaches and tries to put these into perspective. The content given represents my best knowledge of the systems introduced. Since the company I work for is member of all relevant fieldbus organizations and supports all important open fieldbus and Ethernet standards, you can assume a certain level of background information, too. The slides were shown on ETG Industrial Ethernet Seminar Series in Europe, Asia and North America as well as on several other occasions, altogether attended by several thousand people. Among those were project engineers and developers that have implemented and/or applied Industrial Ethernet technologies as well as key representatives of some of the supporting vendor organizations. All of them have been encouraged and invited to provide feedback in case they disagree with statements given or have better, newer or more precise information about the systems introduced. All the feedback received so far was included in the slides. You are invited to do the same: provide feedback and – if necessary – correction. Please help to serve the purpose of this slide set: a fair and technology driven comparison of Industrial Ethernet Technologies. Nuremberg, January 2011 Martin Rostan, [email protected] Industrial Ethernet Technologies Page 2 © EtherCAT Technology Group, January 2011 Industrial Ethernet Technologies: Overview Approaches Modbus/TCP Ethernet/IP Powerlink PROFINET SERCOS III EtherCAT Summary © EtherCAT Technology Group Industrial Ethernet Technologies All Industrial Ethernet Technologies introduced in this presentation are supported by user and vendor organizations.
    [Show full text]
  • Digital Drive Controller for Hydraulic Edition 01 Drives with Sercos Interface Type VT-HNC100.-3X
    RE 30159-WA/03.12 Digital Drive Controller for Hydraulic Edition 01 Drives with Sercos Interface Type VT-HNC100.-3X Parameter description The data specified above only serve to describe the product. No statement concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgement and verification. It must be remembered that our products are subject to a natural process of wear and aging. © This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent. The original operating instructions were prepared in German. RE30159-WA Bosch Rexroth AG I/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X Table of Contents Table of Contents Page 1 General Information..................................................................................................... 13 1.1 About this Documentation..................................................................................................................... 13 1.2 Documentation for HNC100-3X............................................................................................................ 13 2 Important Directions for Use ....................................................................................... 15 2.1 Appropriate Use ..................................................................................................................................
    [Show full text]
  • Catalog AUTOMATION 2011
    Automation Components 2011 and Systems AUTOMATION Table of contents AUTOMATION 2 Automation components and systems Control technology 5 – Compact controller system – Easy Automation – Controllers – Network interfaces – Safety – Software Industrial Ethernet – Factoryline 79 – Wired – Security – Wireless I/O systems 133 – For the control cabinet – For field installation Operation and monitoring 293 – HMIs – Industrial PCs – PSD signal towers Technical information 318 Index 320 AUTOMATION | Automation components and systems Control technology Programmable logic module – Nanoline Class 100 compact controllers Class 300 compact controllers Class 400 compact controllers Page 10 Page 18 Page 24 Page 27 Industrial Ethernet – Factoryline Standard switches Lean Managed Switches Smart Managed Switches Gigabit Modular Switches Page 82 Page 94 Page 98 Page 100 I/O systems Axioline Inline Modular Inline Block IO INTERBUS Smart Terminals Page 136 Page 146 Page 147 Page 232 Operation and monitoring Web panels Touch panels Box PCs Panel PCs Page 296 Page 298 Page 300 Page 300 2 PHOENIX CONTACT Class 400 compact controllers with Network interfaces Safety Software visualization Page 34 Page 43 Page 54 Page 30 Security router Wireless IO Wireless Bluetooth Wireless LAN Page 112 Page 118 Page 122 Page 124 Fieldline Stand-Alone Fieldline Modular AS-Interface Rugged Line Page 242 Page 252 Page 270 Page 282 IP65/NEMA panel PCs Tablet PCs PSD signal towers PSD wireless elements Page 304 Page 306 Page 310 Page 314 PHOENIX CONTACT 3 4 PHOENIX CONTACT Control technology Compact controller system – Easy Automation Product range overview Class 100 compact controllers are at the Compact controller system – Easy Automation heart of this solution. Combine these PLCs with components from the Easy Automation Product overview 6 system, which are perfectly designed to Controllers work together.
    [Show full text]
  • Real-Time Ethernet Technology Comparison SERCOS Seminar Atlanta September 16, 2009
    www.infoPLC.net Real-Time Ethernet Technology Comparison SERCOS Seminar Atlanta September 16, 2009 Peter Lutz, Managing Director SERCOS International e.V. www.infoPLC.net Real-Time Ethernet Competition (c) SERCOS International 2009 No. 2 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection) CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP Source: http://www.real-time-ethernet.de/ (c) SERCOS International 2009 No. 3 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection) CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP Source: http://www.real-time-ethernet.de/ (c) SERCOS International 2009 No. 4 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection) CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP Source: http://www.real-time-ethernet.de/ (c) SERCOS International 2009 No. 5 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection) CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet
    [Show full text]
  • Industrial Ethernet
    Industrial Ethernet ... from the Office to the Machine - world wide - Band I Ronald Dietrich Industrial Ethernet ... from the Office to the machine - world wide - HARTING The best connections worldwide – because quality connects. HARTING was founded in 1945 by the family that still retains sole ownership of the company. HARTING presently employs more than 2 000 people including 150 highly qualified engineers and over 100 sales engineers who take care of the daily needs of our customers. Today, HARTING is the leading manufacturer of connectors with 34 subsidiary companies in Europe, America and Asia. As the market leader, HARTING offers the advantage of ‘just in time’ services. It is therefore no wonder that the company maintains close business relationships with all of its important customers active in the world market. HARTING is the market leader in several of its product sectors. HARTING can draw on many years of extensive experience gained in achieving high degrees of protection in industrial environments (IP 65 and higher), all of which has flowed into expanding its product portfolio as well as the development of its family of devices for industrial communication. HARTING products are manufactured utilizing cutting edge and efficient productions methods. CAD systems support research and development as well as tool making activities. We abide by our philosophy of quality, which states that only fully automatic manufacturing processes can achieve a zero error rate. In accordance with DIN EN ISO 9001, the organisation and procedures constituting our quality assurance measures are documented in a quality assurance manual. HARTING employs approximately 60 members of staff in quality assurance.
    [Show full text]
  • LTI Motion Andronic 3060 Datasheet (Pdf)
    Full-service, independent repair center -~ ARTISAN® with experienced engineers and technicians on staff. TECHNOLOGY GROUP ~I We buy your excess, underutilized, and idle equipment along with credit for buybacks and trade-ins. Custom engineering Your definitive source so your equipment works exactly as you specify. for quality pre-owned • Critical and expedited services • Leasing / Rentals/ Demos equipment. • In stock/ Ready-to-ship • !TAR-certified secure asset solutions Expert team I Trust guarantee I 100% satisfaction Artisan Technology Group (217) 352-9330 | [email protected] | artisantg.com All trademarks, brand names, and brands appearing herein are the property o f their respective owners. Find the LTI Motion Andronic 3060S at our website: Click HERE andronic 3060 Next generation high speed CNC control DE EN FR 2 andronic 3060 Machine tools which are continuously advanced by the latest machine and processing technologies require ever increasing performance of CNC control units. Quick data processing, short block cycle times, high computational accuracy and interpolation speed are important prerequisites which must be fulfilled by quick machine tool con- trol systems. For years, LTI Motion has been focusing on the highest performance, and with the andronic series, it offers high-end CNC control systems for demanding applications of all kinds. Along with the fully digital drive control units of the ServoOne series, we offer you an overall package which leaves nothing to be desired. High performance from control to drive and sufficient power reserves to guarantee a constant traverse speed even with vast data volumes. With more than 40 years’ experience, we now develop control systems for high-speed applications for a wide range of machine kinematics.
    [Show full text]
  • AX2523-B200 BECKHOFF MANUAL DATASHEET.Pdf
    BECKHOFF New Automation Technology Product Overview 2007 Industrial PC Industrial PC TwinCAT IPC Embedded PC Fieldbus Box PC Fieldbus Cards, Switches Automation Bus Terminal EtherCAT Drive Technology I/O Motion Lightbus Beckhoff Product Overview 2007 | The product overview is a condensed summary of the components and system solutions for Industrial PCs, Fieldbus Components, Drive Technology and automation software. The main “New Automation Technology” catalog and the web pages at www.beckhoff.com contain detailed descriptions, technical data and information about accessories. IPC 8 Beckhoff Industrial PC | PC Control for all applications 22 Beckhoff Embedded PC | The modular Industrial PC for mid-range control 26 Beckhoff Fieldbus Components | I/Os for all common fi eldbus systems I/O 32 Beckhoff Bus Terminal | The modular fi eldbus system for automation 42 Beckhoff EtherCAT | Ultra high-speed I/O 52 Beckhoff Fieldbus Box | The compact IP 67 modules 58 Beckhoff Lightbus | The fast fi bre optic fi eldbus 62 Beckhoff PC Fieldbus Cards, Switches | The intelligent interface generation 66 Beckhoff Drive Technology | The drive system for high dynamic positioning tasks Motion 78 Beckhoff TwinCAT | PLC and Motion Control on the PC 2 Automation BECKHOFF New Automation Technology Beckhoff New Automation Technology Beckhoff implements open automation systems based on PC Control technology. The product range covers Industrial PCs, I/O and Fieldbus Components, Drive Technology and automation software. Products that can be used as separate components or integrated into a complete and seamless control system are available for all industries. The Beckhoff “New Automation Technology” philosophy stands for universal and open control and automation solutions that are used worldwide in a wide variety of different applications, ranging from CNC-controlled machine tools to intelligent building automation.
    [Show full text]
  • Ethercat Communication
    EtherCAT Technology Group EtherCAT Communication Communication Principles 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 1 Agenda EtherCAT Basics Slave Structure • EtherCAT Basics Physical Layer • Slave Structure Device Model (ISO/OSI) Data Link Layer • Physical Layer Frame Structure • Device Model Addressing Commands • Data Link Layer Memory/Registers – Frame Structure SyncManager FMMU – Addressing, Commands Diagnosis – Memory, SyncManager, FMMUs Application Layer State Machine – Diagnosis Mailbox • Application Layer Mailbox Interface EoE Ethernet – State Machine CoE CANopen – Mailbox (Mailbox Protocols) FoE File Access SoE Servo Drive – Slave Information Interface (EEPROM) Slave Information /IF • Device Profiles Device Profiles Modular Devices • Distributed Clocks Drives • Device Description Distributed Clocks Device Description • Tools (Configuration Tool, Monitor, …) Configuration Tool • EtherCAT Master EtherCAT Master Standards&Implementation • Standard & References 30.05.2007 EtherCAT Communication © Copyright by Beckhoff, 2007 2 Topology EtherCAT Basics • Flexible Topology Slave Structure Physical Layer • Any number of physical layer changes possible Device Model (ISO/OSI) • Standard Ethernet 100m cable distance between 2 devices Data Link Layer Frame Structure • Up to 65.535 devices possible Addressing Commands Memory/Registers EtherCAT Segment (Slaves) SyncManager FMMU Diagnosis Application Layer State Machine Mailbox Mailbox Interface Master EoE Ethernet CoE CANopen FoE File Access SoE Servo Drive Slave Information
    [Show full text]