Automatic Reconfiguration of Ethernet POWERLINK Networks
G. Reinhart, S. Krug, S. Hüttner, Z. Mari, F. Riedelbauch, M. Schlögel
Institute for Machine Tools and Industrial Management, TU München (Munich, DE)
Abstract - Current developments in globalized markets lead to an increasing need for flexible and reconfigurable production systems. By means of automatic reconfiguration of real-time capable communication networks, the effort to perform changes in production systems can be tremendously reduced. This paper proposes new approaches for automatic reconfiguration for robot cells and their equipment on the one hand, controls and Manufacturing Execution Systems (MES) on the other hand. Therefore a five-step-model for reconfiguration is introduced.
Based on the Industrial Ethernet standard POWERLINK, different realistic setups were built. On the basis of these setups the approaches were tested and evaluated.
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Trajectory prediction in motion control with fast servo drives
Pavel Mezera, Pavel Jaroš, Tomáš Kohout, Josef Necid, Lubomír Prudek, Pavel Burget
Department of Control Engineering, Czech Technical University in Prague (Prague, CZ)
Abstract - This contribution is a continuation of the lastyear contribution of the European Industrial Ethernet Award and is focused on innovating the Juggler machinery. It deals with solving the drawbacks of the previous solution such as overheating of the motors, continuous operation, and fast and reliable trajectory prediction. The juggler is supposed to be used in distant education but the principles and methods described here can be easily adapted in industrial applications. Such adaptation is also discussed in the paper.
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Efficient Large-Scale Oriented Real-Time Network - White Rabbit based POWERLINK
Natasa Simanic, Patrick Loschmidt, Georg Gaderer, Javier Serrano, Nikolaus Kerö
Institute for Integrated Sensor Systems, Austrian Academy of Sciences (Wiener Neustadt, AT)
Abstract - Efficient designing of a distributed sensor/actuator network for control and monitoring of large-scale structures still remains a challenge. For distributing accurate timing, the White Rabbit (WR) project proposes an infrastructure to deploy a sub-nanosecond accuracy over large distances (up to 10 km). As an upper layer communication protocol, Powerlink has been suggested due to its openness and independence
of the physical layer. Despite the fact that Powerlink on its own works well, its performance in extreme conditions - a high number and large spatial distribution of nodes - deteriorates. This paper presents a proposal how Powerlink can benefit from the properties of White Rabbit and also suggests measures to be taken to efficiently operate several thousands of nodes with reasonable cycle times. While the
former does not require any modifications, the latter calls for a slight adaptation of the Powerlink cycle handling.
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