Handheld Device Applications for Remote Control of Industrial Robots - New Contributions in Information Systems and Technologies - page 325

2.1 Hardware Configuration
Communication between the PC unit and a tablet computer was provided
through a WAN (Wide Area Network) network card with wireless data trans-
mission in local area network (LAN) and through a router. Inside the control
system of the FMS (Flexible Manufacturing System) communication protocols:
OPC (Object Linking and Embedding for Process Control), MPI (Multipoint
Interface) , Profibus, TCP/IP (Transmission Control Protocol/Internet Proto-
col), WAP - (Wireless Application Protocol) were combined. Profibus DP (De-
centralized Peripherals standardized in IEC 61158) was used to control sensors
and actuators through a programmable logic controller (PLC). Profibus net-
work was preferred to automatically adjust the communication 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 (Object 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
(Personal Computer) unit with the PLC (by PC USB - Universal Serial Bus
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. In Fig. 2 the laboratory stand is presented. 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. The laboratory stand (Fig. 2) 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
During work's realization the following versions of applications and libraries
were required: Windows 7 Professional, Android 4.0, LabVIEW 2013 (LabVIEW
2013 English, LabVIEW 2013 Control Design and Simulation Module, LabVIEW
Datalogging and Supervisory Control Module, NI Vision Development Module
2013, LabVIEW Internet Toolkit 2013, LabVIEW FTP Toolkit), S7/S5 OPC