Remote Control of Industry Robots Using Mobile Devices - New Contributions in Information Systems and Technologies - page 306

several steps. Commends performed by the operator are analyzed and identi-
fied, then processed into digital binary variables and grouped. In a further step
the variables are sent via an OPC server to the controller, which controls the
inputs and outputs of the industrial robot moving in a cycle.
2.1 Hardware
Communication between the PC unit and a tablet computer was provided through
a WAN network card with wireless data transmission in local area network (LAN)
and through a router. Inside the control system of the FMS (flexible manufactur-
ing system) communication protocols (OPC, MPI, Profibus, TCP/IP, WAP) were
combined. Profibus DP (Decentralized Peripherals standardized in IEC 61158 -
Fig. 3) was used to control sensors and actuators through a programmable logic
controller(PLC). Profibusnetwork was preferred to automatically adjust the com-
munication between devices of dissimilar groups and types. The communication
delivers more flexibility and no limitation according to the choice of supplier. In
this approach all necessary devices could be combined each other. The OPC (Ob-
ject linking and embedding for Process Control) protocol was used to convert a
hardware communication protocol to process data. The MPI protocol was used to
communicate the PC unit with the PLC (by PC USB ADAPTER). The concept
and implementation of the online programming, controlling and monitoring of the
industrial robot motion space is based on the integration of elements (hardware
and software) of the flexible manufacturing system in the one laboratory stand
(Fig. 4 shows the laboratory stand).
Fig. 3. Standardized Profibus plugs
To avoid data transmission errors and ensure the appropriate configuration
an active bus termination with 5V supply was used. On PLC side the switch
was set on and on robot side set off. Only at the end of the line termination is
possible and required.