VxWin RT VxWorks Windows KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 1
Why PC-based control? OMAC: Open, Modular Architecture Controllers White Paper published in 1994 by GM, Ford and Chrysler as general customers of automation products New architecture for all kinds of controllers CNC, (Soft-)PLC, robot controller etc. Disadvantages of conventional technology Closed Systems (without standard interfaces) Not expandable, not scalable, not flexible Dictation of pricing and technology of the big suppliers long-term dependence on that suppliers Long product cycles, slow innovations http://www.arcweb.com/omac KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 2
OMAC: Open, Modular Architecture Controllers Anticipated advantages: low initial and life cycle costs simple maintenance and servicing simple integration of third-party products Easy and efficient re-configuration Requirements of the automation customer Safe, secure and reliable Low costs High Flexibility High Connectivity Service and Maintenance Training KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 3
OMAC Overview KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 4
Advantages using mainstream technologies High quality due to large quantities Low prices due to large quantities High performance Faster innovations and improvements Easier to find experienced personnel Lower learning curves Open, flexible, scalable Functioning competition due to large number of manufacturers High degree of customer acceptance Mainstream technologies are often (de facto) industry standards KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 5
VxWin RT 2.0 VxWorks and MS-Windows running concurrently on same processor Due to a self developed real time extension technology, VxWorks keeps its real-time ability No additional Hardware Communication is done over shared memory Ethernet drivers All TCP/IP services available: Telnet, FTP, NFS, debugging PC Plug in boards can be controlled directly from VxWorks, interrupts are hard real time (i.e. Ethernet, I/O, Fieldbus cards etc.) All development, including changes to the BSP is done by the original Wind River Tornado tool chain Other TCP/IP-based tools also usable (i.e. WindView) All exceptions including arithmetic coprocessor available for VxWorks KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 6
VxWin RT 2.2 Windows XP(E) and VxWorks 5.5/Tornado 2.2 supported VxWorks ticker uses PC Timer with 1 Bit granularity (ca. 6,7 us) Highly compatible to native VxWorks Virtual addresses are equal to physical addresses DMA-drivers can be used without change PCI-Bus card treatment identical to native VxWorks No source code of VxWorks necessary Switch back to Windows is done in an explicit VxWorks task Windows Hibernate support Windows XP Embedded support VxWorks keeps running if Windows has generated a Blue Screen KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 7
Starting VxWin Windows must be up and running A valid VxWorks stand alone image (created by Tornado) must be on HD The Uploader Exe is started as a Windows Application It allocates VxWin address space from Windows through the Interface Driver It loads the VxWorks image to this memory The Shared Memory Network drivers are initialized The Real Time Interrupts for VxWorks are initialized VxWorks and the TCP/IP-Network are running Other Drivers VxWin Adress Space Ancor Other Drivers NDIS-Driver Interface-Driver Windows Kernel Win32 Applications Uploader BIOS, Memory mapped Hardware z.b. Ethernet RAM Shared Memory 4GB 3GB 4MB 1MB 640KB DISK VxWorks Image File KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 8
VxWin State Machine Execution Priority High VxWorks ISR Level higher priority VxWorks IRQ occurred at least one task active VxWorks IRQ occured MS-Windows Level no task active VxWorks Task Level idle task Low all tasks are idle KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 9
VxWin Real Time Performance Measurements made on a 400MHz Celeron 350 Häufigkeit 300 IST ISR 250 200 150 100 50 0 0 10 20 30 40 50 60 70 80 90 us 100 Values Min Max Modal ISR 4,2 us 41,8 us 7,1 us IST 14,0 us 83,9 us 18,4 us KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 10
VxWin RT Uploader KUKA Roboter GmbH Blücherstrasse 144 D-86165 Augsburg Folie 11