Prenos datotek med robotskim in programirljivim logičnim krmilnikom

KAPLAN, ROK (author), Petkovšek, Marko (mentor)

V diplomskem delu je predstavljen postopek za prenos datotek med programirljivim logičnim krmilnikom in robotskim krmilnikom s pomočjo High-speed Ethernet Server funkcije (HSES funkcije). V začetnem delu diplomske naloge je opisan princip izmenjave datotek med robotskim in programirljivim logičnim krmilnikom ter glavne uporabljene komponente. Namen uporabe HSES funkcije je prejemanje in pošiljanje datotek, ki vsebujejo začetne podatke osi robotskih manipulatorjev. Prenos izhodiščnih vrednosti robotskega manipulatorja je eden izmed ciljev pri avtomatizaciji proizvodnje robotskih manipulatorjev v novi tovarni, ki jo gradi podjetje Yaskawa v Kočevju. V osrednjem delu diplomske naloge predstavljam delovanje programa za prenos datotek in obdelavo prejetih podatkov. V programu je prikazan princip izmenjave podatkovnih paketov med robotskim krmilnikom in programirljivim logičnim krmilnikom ter prikazovanje želenih podatkov. Diplomsko delo se zaključi z opisom testiranja in zagona funkcije za prenos datotek ter odpravljanja napak, ki so predstavljale glavne probleme pri realizaciji funkcije.

• Language: Slovenian
• Keywords: Programirljiv logični krmilnik, robotski krmilnik, avtomatizacija, robotski manipulator, izhodiščne vrednosti, TIA portal, HSES
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2018
• PID: 20.500.12556/RUL-102450
• Publication date in RUL: 30.08.2018

Secondary language

• Language: English
• Title: Transfer of files between a robot controller and a programmable logic controller

Abstract

The diploma presents the process for transfer of files between a programable logical controller and a robotic controller with the use of High-speed Ethernet function. Beginning of the thesis presents the basic principle of the function for the transfer of data and all the major components needed. The function will be used for transfer of files that contain HOME position data of robots. Transfer of robot HOME positions data is one of the key functions for the automatization of the new factory for construction of robots that Yaskawa is building in Kočevje. The middle chapters of the diploma present how the program for transfer and process of data files works. The program shows the principle of data packet exchange between the robot controller and the PLC. It also shows how the data is processed and then displayed. The diploma concludes with the presentation of the testing stages and all the problems I had to eliminate for the realization of the working function for data transfer.

• Keywords: Programable logical controller, robot controller, automatization, robot, HOME position, TIA portal, HSES