Remote Control of Industry Robots Using Mobile Devices - New Contributions in Information Systems and Technologies - page 308

The laboratory stand (Fig. 4) consists of:
- R30iA controller equipped with: the Profibus slot, teach pendant, and net-
work card.
- industrial robot FANUC ArcMate 100iC with the robot track.
- extension card PCI Softing Profiboard PB-IF-1MS.
- logic controller PLC Siemens S7-300 CPU 315 2DP,
- Simatic USB Adapter,
- safety light curtains,
- tablet computer with WAN,
- PC unit.
- Wires (robot cables, Profibus cable, MPI to USB, Ethernet, etc.).
2.2 Software
In project's realization the following versions of applications and libraries were
required: Windows 7 Professional, LabVIEW 2013 (LabVIEW 2013 English,
LabVIEW 2013 Control Design and Simulation Module, LabVIEW Datalogging
and Supervisory Control Module, NI Vision Developent Module 2013, LabVIEW
Internet Toolkit 2013, LabVIEW FTP Toolkit), S7/S5 OPC Server Deltalogic
(Configuration: 3.4.2.0, OPC server - application: 4.10.2.9117, OPC server -
service: 4.10.2.9.9117), Siemens Step 7, Hardware drivers (card PB-IF-1MS),
Browsers (e.g. MS IE or Google Chrome).
2.3 Labview Interface
During the integration with other resources in the control system additional
applications such as: Microsoft .NET 4.0 Framework and .NET 4.0 Assemblies
LabVIEW Hotfix were required.
In Fig. 5 the exemplary authors panel for remote robot control is shown. In
the application through the panel it is possible to increase or decrease individual
robot parameters. The parameters are changes by changing the value of appro-
priate group variable (robot system variables) in robot control system. The robot
operator can influence on the selection and value of robot group variables and
can perform complex mathematical operations. By changing individual robot
group variables it is possible to move and control robot axes. In future works
more intuitive interface will be designed and implemented.
The user interface (UI) was developed in LabVIEW applications. The UI
allows the operator to monitor of the whole control system. In Fig. 6 the block
diagram of the designed remote control system for industrial robot in case of
first robot axis control is presented. For the rest six axes the algorithm will look
similar with appropriate address changes and assignments.
All the operations were being performed in Labview environment. Setting
individual bits were done by means of the Labview Index Array function. Thanks
to the function it was possible to isolate individual bits from 16 bit variable.
Individual bits value assignments make it allow to precisely control robot group
variable.