ORiN: Standard Network Interface for Robot/Factory Automation Prof. Makoto Mizukawa, Ph. D Co-Chair, ORiN Forum Graduate School of Engineering Management/ Faculty of Engineering, Dept. Electrical Eng. Shibaura Institute of Technology Copyright 2004 Makoto MIZUKAWA & ORiN Forum BackgroundBackground -in-in Factory-Factory- ◆Various consumer needs →From mass to customized production ◆Serious competition (speed & cost) →No loss, No stock, Short TAT ◆IT into Factory (Networking & PC) →Vertical integration (SCM/ERP) Continuous monitoring and improvement Quick start-up / No Loss Operation 2 Copyright 2004 Makoto MIZUKAWA & ORiN Forum CandidatesCandidates forfor OpenOpen InterfaceInterface Programming Production system management Network PC IF Motor IF Servo IF Motion IF Program IF Program Trajectory Servo Robot execution User generation controller mechanism User IF (Task) program Robot q Motors language X i Interpretation/ Internal translation sensors External sensors Teaching/ operation Peripherals Robot Controller 3 Copyright 2004 Makoto MIZUKAWA & ORiN Forum the standardization of the network interface category examples user technical of IF needs problems mechanical motor/ △ encoder IF △ system servo IF, X software motion IF,etc X robot programming X language language ◎ user operation IF, △ teaching box IF ○ peripheral network IF ( PC IF) ◎ ○ 4 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Classification of communications related to machine controllers communication releted usage level technology PCs and machine controllers, controller Ethernet b/w computers monitoring, task management (FＬ-net) FＬ-net data exchange b/w machine controllers, b/w controllers ControlNet real-time I/O data acquisition ME-NET data exchange b/w machine controllers DeviceNet, b/w devices and peripheral devices, SWs and Interbus-S, displays control Profibus-DP b/w motor to control motor drives SERCOS drives •Open interface (API) for PCs •to provide standard robot-data-access method to shop-floor controllers •to ensure that shop-floor systems have high cost-performance and easy maintainability. 5 Copyright 2004 Makoto MIZUKAWA & ORiN Forum FAFA NetworkNetwork and and LayersLayers Physical System Network Network Levels Layers Configuration Interfaces Headquarter MIS ＷＡＮ ＷＡＮ headquarters Management Backbone LAN Sales Host Accounting Open factory Factory management LAN(Ethernet) File Server Ethernet MES Shop floor management Production FL-NET ME-NET Quality Logistics PCs Line Production Facility Stock MiniMAP Management ORiN Process Machining Maintenance Devicenet Units Assembly Inspection WAN：Wide Area Network Robots Sensors PLCs LAN：Local Area Network /SWs/IOs Machine Tools FDDI：Fiber Distributed Data Interface 6 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Objective of ORiN to provide standard methods for accessing FA/robot system information when developing a multi-vendor FA system ••aa unifiedunified accessaccess methodmethod ••aa commoncommon applicationapplication platformplatform [PC[PC andand OS]OS] ••aa commoncommon APIAPI ••aa unifiedunified useruser interfaceinterface 7 Copyright 2004 Makoto MIZUKAWA & ORiN Forum ORiNORiN OOpenpen RResourceesource IInterfacenterface forfor thethe NNetworketwork //OOpenpen RRobotobot IInterfacenterface forfor thethe NNetworketwork applications ORiN Provider FA devices/Robot controllers 8 Copyright 2004 Makoto MIZUKAWA & ORiN Forum ORiNORiN :: FeaturesFeatures •Distributed Object •Device Profiling using •Web Service 9 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Production line application using ORiN Equipment operation status Equipment Process/ Process indication Operation maintenance/ assembly control monitor diagnosis data analysis Common interface Framework Object model of virtual machine resource Provider Robot Robot OPC Controler1 Robot Controler3 Controler2 Other PLC Controllers 10 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Models Virtual robot interface : ORiN RAO RAO engine middleware with RAO Interface, which provides common functions to RAO providers as well as client applications RAO provider software module with portions dependent on respective manufacturers RRD RRD schema the data schema that defines names and data types to robot resources of various robot makers according to the XSD (XML data schema) specified by the XML schema RRD data file actual data is described based on the RRD schema and its schema structure 11 Copyright 2004 Makoto MIZUKAWA & ORiN Forum KeyKey TechnologiesTechnologies forfor OpenOpen RobotRobot ModelModel •Robot Access Object (RAO) a middleware that provides standard program interface and services to robot controller based on the distributed object model •Robot Resource Definition Format(RRD) a data schema that provides standard format for data from/to robot controller based on the eXtensible Markup Language (XML) •Robot Access Protocol(RAP) standard protocol in the Internet using http and XML to allow data-exchange over firewalls 12 Copyright 2004 Makoto MIZUKAWA & ORiN Forum ORiNORiN SystemSystem ConfigurationConfiguration 13 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Classes of Virtual robot Engine RAO Provider 11 Status Controller 1 1 1 0..* Workspace 0..* 110..* Task Task 1 0..* 0..* 110..* Controller Variable Variable 1 11 0..* 0..* 0..* 1 Robot Robot Controller 1 0..* 110..* File File RAO Engine 0..* RRD Provider RRDRRD FileFile 14 Copyright 2004 Makoto MIZUKAWA & ORiN Forum RAORAO EngineEngine ClassClass Class name Resource Description The upper-most ranked class of RAO, which is the only class that can - RaoEngine directly create instance externally. [Root class, from which respective classes are generated] RaoWorkspace - Class that manages robot controllers and users Note: User class is not supported at present. [Work class] RaoController Controller Class that manages the entire resources of robot controller [Controller class] This handles all variables that are handled by the robot. RaoVariable Variable [Variable class] RaoRobot Robot Class that handles the information dependent upon the robot arm including arm length and link configuration Robot class RaoFile File This includes the user program file that operates file-related information within the robot controller. [File class] RaoTask Task This handles the status and information relating to the execution type user program within the robot controller. [Task class] RaoStatus - Class for debugging, which handles the information relating to the RAO class. [Status class of RAO (for RAO engine supervision) ] 15 Copyright 2004 Makoto MIZUKAWA & ORiN Forum RAORAO providerprovider ClassClass Class name Resource Description Controller class dependent upon each robot vendor RaoProvController Controller corresponding to the RaoController [Controller class] It provides the functions relating to controller resources Variable class dependent upon each robot vendor RaoProvVariable Variable corresponding to the RaoVariable [Variable class] It provides the functions relating to variable resources. Robot class dependent upon each robot vendor RaoProvRobot Robot corresponding to the RaoRobot [Robot class] It provides the functions relating to robot resources. File class dependent upon each robot vendor corresponding RaoProvFile File to the RaoFile [File class] It provides the functions relating to file and folder resources. Task class dependent upon each robot vendor corresponding RaoProvTask Task to the RaoTask [Task class] It provides the functions relating to task resources. 16 Copyright 2004 Makoto MIZUKAWA & ORiN Forum Example:Example: SequenceSequence ChartChart 17 Copyright 2004 Makoto MIZUKAWA & ORiN Forum RRDRRD DataData SchemaSchema ConfigurationConfiguration <RRD> Describes RRD information. <1, *> <Controller> Describes controller information. <0, *> Describes a system variable. <SystemVariable> <0, *> <Robot> Describes robot information. <0, *> Describes a system variable. <SystemVariable> <0, *> <Variable> Describes a user variable. <0, *> <File> Describes file information. <0, *> <Task> Describes task information. <0, *> <SystemVariable> Describes a． system variable. Note 1) <0, *> in the figure means that the allowable description frequency of the classification name on its right side is at least 0, and unlimited at most. Note 2) <1, *> in the figure means that the allowable description frequency of the classification name on its 18 Copyright 2004right Makoto side MIZUKAWA is at least once& ORiN, and Forum unlimited at most. RRDRRD OptionalOptional DataData SchemaSchema StructureStructure Describes RRD option <RRDOption> information. <0, *> <Log> Describes log information. <0, 1> <Error> Describes error log information. <0, 1> Describes operation log <Operation> information. <0, 1> Describes variable log <VariableLog> information. <0, 1> Describes program execution <History> history information. <0, 1> Describes servo history <Control> information. <0, 1> Describes specialized log <Application> information for the application. <0, *> <Document> Describes document information. <0, 1> <Error> Describes error information. <0, 1> <Operation> Describes operation information. Note 1) <0, *> in the figure means that the allowable description frequency of the classification name on its right side is at least 0, and unlimited at most. Note 2) <1, *> in the figure means that the allowable description frequency of the classification name on its19 Copyright 2004 Makoto MIZUKAWAright side &at ORiN least Forum 0, and unlimited at most. ImplementationImplementation Open Resource Interface for the Network / Open Robot Interface