The extension of the TwinCAT automation suite by robot kinematics enables the integration of robots and their interaction and synchronisation with the PLC and motion control functions. This results in the seamless integration into the overall control system as well as dispensing with additional robot CPUs. The software ‘TwinCAT Kinematic Transformation’ supports the following kinematics: cartesian portal, shear kinematics, roller kinematics (H-Bot), SCARA, 2D kinematics, 2D parallel kinematics and 3D delta kinematics.
Beckhoff showed in a live demonstration at Automatica an extension of the TwinCAT software by 6D kinematics for cable robots. The advantages of the cable robot for pick-and-place tasks result from its mechanical structure with elaborate carbon rods replaced by economical ropes, while the arrangement of the servo motors is more flexible (eg, also underneath the robot) allowing the work piece gripper to be rotated and tilted.
EtherCAT – top performance on the basis of industrial Ethernet
EtherCAT, the Industrial Ethernet system, has now become the process communication standard in many robots. The use of the fast fieldbus system offers a number of decisive advantages: EtherCAT enables extremely short update times for the process image (50 s); control loops (up to the current controller) can be closed via the bus. Control of the axes can take place centrally in the controller – including the coupled movement function. The EtherCAT system integrates redundancy, hot connect and hot swap options.
Beckhoff offers an extensive range of EtherCAT I/Os for the connection of the entire sensor and actuator systems into the robotics, assembling and handling technology. A complete range is available for all important types of signals in the EtherCAT Terminals in protection class IP20 and the EtherCAT Box modules in IP67. The compact design and small weight of the EtherCAT Box modules facilitates applications in which the I/O interface is moved, eg, on a robot arm. In both I/O systems the EtherCAT protocol is fully retained down to the individual module, making it possible to realise extremely short reaction times.
As new products in the I/O section, Beckhoff presented the HD terminals – a new bus terminal generation with increased packing density that contains 16 connection points in the housing of a 12 mm electronic terminal block. Also new are the EtherCAT box modules which allow wiring costs to be reduced significantly.
TwinSAFE – safe data transmission
The safe transmission of data up to SIL 3 of IEC 61508 is possible with the TwinSAFE protocol. Safe I/O modules are available for the EtherCAT Terminals and the EtherCAT box. Up to 128 safety relevant bus devices can be connected to the EL6900 Safety PLC for the EtherCAT Terminal system. Integrated into the Safety PLC are 256 function blocks that can be configured or programmed according to the application.
Green automation technology
One of the main topics of interest at Automatica was ‘Green Automation’. For Beckhoff, this means contributing to the saving of energy in machines, plants and buildings with intelligent components and intelligent software. The universality of this approach is of particular importance if optimum successes are to be achieved. This means that the various components of an automation system, such as drives, bus systems, I/Os and software, must be precisely matched to one another. Beckhoff presented solutions and products for energy data monitoring, motion control applications with modern servo technology, XFC (eXtreme Fast Control Technology) for fast and precise process reactions that minimise energy losses, as well as industrial PCs with energy-saving CPUs.
For more information contact Kenneth McPherson, Beckhoff Automation, +27 (0)11 795 2898, [email protected] , www.beckhoff.co.za
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