ORiN: Standard Network Interface for Robot/Factory Automation

Size: px

Start display at page:

Download "ORiN: Standard Network Interface for Robot/Factory Automation"

Stewart Manning
5 years ago
Views:

1 ORiN: Standard Network Interface for /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 Background -in 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

Candidates for Open Interface Programming Production system management PC

translation Motion IF X Trajectory generation Servo IF q Servo controller

Peripherals External sensors Controller 3 the standardization of the

mechanical motor/ encoder IF system servo IF, software motion IF,etc X X

2 Candidates for Open Interface Programming Production system management PC Network IF User IF User (Task) program Program IF language Interpretation/ translation Motion IF X Trajectory generation Servo IF q Servo controller Motor IF i mechanism Motors Internal sensors Teaching/ operation Peripherals External sensors Controller 3 the standardization of the network interface category examples user technical of IF needs problems mechanical motor/ encoder IF system servo IF, software motion IF,etc X X robot programming language language X user operation IF, teaching box IF peripheral network IF ( PC IF) 4

3 communication level b/w computers b/w controllers b/w devices b/w motor drives Classification of communications related to machine controllers usage PCs and machine controllers, controller monitoring, task management data exchange b/w machine controllers, real-time I/O data acquisition data exchange b/w machine controllers and peripheral devices, SWs and displays control to control motor drives releted technology Ethernet (F -net) F -net ControlNet ME-NET DeviceNet, Interbus-S, Profibus-DP SERCOS 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 FA Network and Layers Network Levels Physical Layers System Configuration Network Interfaces Headquarter MIS headquarters factory Sales Accounting Shop floor management Production Line Production Process Units Management Factory management Quality Logistics Facility Stock Management Machining Maintenance Assembly Inspection Backbone LAN WAN Wide Area Network LAN Local Area Network FDDI Fiber Distributed Data Interface LAN(Ethernet) FL-NET ME-NET MiniMAP Devicenet s File Server Ethernet Host Sensors /SWs/IOs PCs PLCs Machine Tools Open MES ORiN 6

common application platform [PC and OS] a a common API a a unified user interface 7

4 Objective of ORiN to provide standard methods for accessing FA/robot system information when developing a multi-vendor FA system a a unified access method a a common application platform [PC and OS] a a common API a a unified user interface 7 ORiN Open Resource Interface for the Network /Open Interface for the Network applications ORiN 8

5 Distributed Object Device Profiling using Web Service ORiN : Features 9 Production line application using ORiN Equipment operation status indication Operation monitor Equipment maintenance/ diagnosis Common interface Framework Process/ assembly data analysis Object model of virtual machine resource Process control Controler1 Controler2 Controler3 Other Controllers OPC PLC 10

6 Virtual robot interface : ORiN Models 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 Key Technologies for Open Model Access Object (RAO) a middleware that provides standard program interface and services to robot controller based on the distributed object model Resource Definition Format(RRD) a data schema that provides standard format for data from/to robot controller based on the extensible Markup Language (XML) Access Protocol(RAP) standard protocol in the Internet using http and XML to allow data-exchange over firewalls 12

7 ORiN System Configuration 13 Engine 1 Workspace 1 Controller Classes of Virtual robot 1 1 Status Task Variable RAO Controller Task Variable 1 1 Controller RAO Engine 1 File 1 1 File RRD RRD File 14

8 RAO Engine Class Class name Resource Description RaoEngine - The upper-most ranked class of RAO, which is the only class that can 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] RaoVariable Variable This handles all variables that are handled by the robot. [Variable class] Rao Class that handles the information dependent upon the robot arm including arm length and link configuration 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 RAO provider Class Class name Resource Description RaoProvController RaoProvVariable Controller Variable Controller class dependent upon each robot vendor corresponding to the RaoController [Controller class] It provides the functions relating to controller resources Variable class dependent upon each robot vendor corresponding to the RaoVariable [Variable class] It provides the functions relating to variable resources. RaoProv RaoProvFile RaoProvTask File Task class dependent upon each robot vendor corresponding to the Rao [ class] It provides the functions relating to robot resources. File class dependent upon each robot vendor corresponding to the RaoFile [File class] It provides the functions relating to file and folder resources. Task class dependent upon each robot vendor corresponding to the RaoTask [Task class] It provides the functions relating to task resources. 16

9 Example: Sequence Chart 17 RRD Data Schema Configuration <RRD> Describes RRD information. <1, *> <Controller> Describes controller information. <0, *> <SystemVariable> Describes a system variable. <0, *> <> Describes robot information. <0, *> <SystemVariable> Describes a system variable. <0, *> <0, *> <0, *> <Variable> <File> <Task> Describes a user variable. Describes file information. 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 2004 right Makoto side MIZUKAWA is at least once, & ORiN and Forum unlimited at most.

10 RRD Optional Data Schema Structure Describes RRD option information. Describes log information. Describes error log information. Describes operation log information. Describes variable log information. Describes program execution history information. Describes servo history information. Describes specialized log information for the application. Describes document information. Describes error information. 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 MIZUKAWA right side & at ORiN least Forum 0, and unlimited at most. Implementation Open Resource Interface for the Network / Open Interface for the Network ORiN forum The Japan Association 20

11 Design and Implementation Policy Design policy Vendor acceptable and useful standard (1) Loose standardization allow various types of robot specifications (2) Expandability vender unique option allowed (3) Modularity of network protocols applicable to robots in the market (4) Separation of specifications and implementation OOP technology Implementation policy PC technology of the states of art (1)De-facto standard platforms (2) Distributed object model Network transparency, Language independence (3) Extended markup Language (XML) Standard framework for defining vendor unique specification 21 RAO Engine and Standard Interface for Application DCOM Server Developers Standard Interface for Manufacturers s from various vendors Application Collection Control Control Asynchronous Variable Change Call Notification Client Applications A Co. C Co. A Co. Controller C RAO Data Cache Logging Service proxy Windows controller provider RRD OPC provider PLC (OPC spec. Application Client Applications proxy RAO provides standard access functions based on distributed objects absorbs maker specific functions 22

12 RRD: Resource Definition Application layer Kernel layer layer Application Client Applications Engine A Co. C Co. RRD Parser RRD A Co. B Co. C Co. model model model RRD RRD: Resource Definition Define robot-profiles from vendors using XML. [ profiling data] A Co. Controller C RRD provider: to provide RRD data to applications through RAO 23 ORiN Applications Powered By Operation Monitoring 3D Monitoring Program Maintenance Remote Maintenance The Internet Mobile Browser /Phone Office/HQ LAN s Production Management On-site 24

13 ORiN: Summary Device Independent Interface API Device Interface Application Independent Interface 25 ORiN: Summary Before ROBOT Machine Tool PLC.. Operation Panel Close dependency on Devices/ Networks/ Protocols -> One-off/ Order-made -> Low Reliability -> Poor Maintenance Production Management ROBOT Process Management ORiN platform Machine Tool Operation Monitoring PLC Trouble Shooting Operation Panel.... After Independency on Devices/ Networks/ Protocols -> Standard Products -> High Reliability -> Good Maintenance 26

14 1999 International Exhibition JARA Booth 14 manufacturers (13 : robot 1 : PLC More than 40 PCs PHS Wireless LAN Production system management Wireless monitoring Ethernet Production system management EPSON manufacturer s booths TV camera Tokyo Big-site ISDN Kobe Info. 14 robots are connected Remote connection via ISDN (Tokyo-Kobe) International Exhibition Various Applications Ethernet Tokyo Big Site simulator 6 major robot makers JARA Booth : 5 robots Remote maintenance via the Internet 28

15 Int l Exhibition in Tokyo Merits of RAPI/ORiN End Users Multi-vendor system Cost Effective Mfg. monitor system Operation Remote maintenance unified access method for robot data exchange common application platform and API Independent from robot/fa-controller architectures Manufacturers System Integrators High quality Mfg. System with less-cost Customizing WEB service solutions Service in in FA FA Software Vendors Market for various application software Cost reduction by standard package Packages for for Industries Reduce development cost for comm. Expand interface and testing FA/ FA/ Interoperability Application bw. manufacturers Fields 30

16 ORiN forum Web-site 31 Open Resource Interface for the Network / Open Interface for the Network Japan Association ORiN forum

Automation innovations in material handling. Smart solutions to meet logistics challenges

Automation innovations in material handling Smart solutions to meet logistics challenges Urbanization, connectivity everywhere, e-commerce, and mass personalization are reshaping the landscape in manufacturing