Zugl.: Kassel, University, Diss., 2009.

O presente trabalho tem como objetivo o desenvolvimento de uma estratégia de programação para um robô de cinco graus de liberdade com acionamento pneumático. A proposta para tal estratégia de programação utiliza como base a linguagem SFC (Sequential Function Chart) normatizada pela IEC 61131-3. A principal característica deste tipo de linguagem é a simplicidade na integração com diversos elementos presentes em ambiente fabril, juntamente a garantia do sequenciamento das ações e a facilidade de programação. O estudo foi realizado em três etapas: a primeira, destina-se à criação de sub-rotinas em linguagem SFC para movimentação ponto a ponto, pick and place, e paletização. Desta forma, através da definição de alguns dados de entrada, é possível reprogramar o robô de forma gráfica e intuitiva; a segunda etapa do estudo constituiu na criação de um Programa Tradutor em linguagem baseada em scripts de Matlab que, através de um servidor OPC (Ole for Process Control), faz a interpretação do programa em linguagem SFC e o traduz para a linguagem do sistema de controle do robô; já, a última etapa destina-se à realização de testes utilizando um CLP Compact Logix da AllenBradley em conjunto com o software de programação RSLogix 5000, o software Matlab e o sistema de controle do robô pneumático. A partir dos resultados, Conclui-se que a aplicação e utilização este tipo de programação para tarefas de movimentação de robôs é plenamente viável, o que pode vir a simplificar as etapas de programação, e ampliando a integração entre os diversos sistemas fabris, na medida em que os seus elementos poderão trocar facilmente informações necessárias à automação. / The present study has as main goal to present a differentiated form of programming for a prototype of a robot of five degrees of freedom with pneumatic drive. This program is based on the language SFC (Sequential Function Chart) standardized by IEC 61131-3. The main feature of this type of language is simplicity in integration with various elements present in the manufacturing environment, ensuring the sequencing of actions and ease of programming. The system used as a test bench consists of a pneumatic robot which currently control actions are carried out through specific programming routines combined with dedicated control boards, working with Matlab software. The study was conducted in three stages: the first, for creating subroutines in SFC language to linear movement, pick and place movement and palletizing movement, thus, by setting some input data it is possible to reprogram the robot for tasks in a graphical and intuitive way; the second stage of the study consisted in creating a translator program in Matlab language based on scripts that, through an OPC server (Ole for Process Control), interpreters the program in SFC language and translates it into the language of the control system robot; the last step was intended for testing this programming approach by using a PLC Compact Logix from Allen-Bradley in conjunction with RSLogix 5000 programming software, Matlab and the control system of the pneumatic robot. It was concluded that the implementation and use of this type of programming for robot handling tasks are both feasible. It simplifies the programming steps and enhances the integration between the various manufacturing systems, since the elements could directly exchange information, because they are in the same language.

O presente trabalho tem como objetivo o desenvolvimento de uma estratégia de programação para um robô de cinco graus de liberdade com acionamento pneumático. A proposta para tal estratégia de programação utiliza como base a linguagem SFC (Sequential Function Chart) normatizada pela IEC 61131-3. A principal característica deste tipo de linguagem é a simplicidade na integração com diversos elementos presentes em ambiente fabril, juntamente a garantia do sequenciamento das ações e a facilidade de programação. O estudo foi realizado em três etapas: a primeira, destina-se à criação de sub-rotinas em linguagem SFC para movimentação ponto a ponto, pick and place, e paletização. Desta forma, através da definição de alguns dados de entrada, é possível reprogramar o robô de forma gráfica e intuitiva; a segunda etapa do estudo constituiu na criação de um Programa Tradutor em linguagem baseada em scripts de Matlab que, através de um servidor OPC (Ole for Process Control), faz a interpretação do programa em linguagem SFC e o traduz para a linguagem do sistema de controle do robô; já, a última etapa destina-se à realização de testes utilizando um CLP Compact Logix da AllenBradley em conjunto com o software de programação RSLogix 5000, o software Matlab e o sistema de controle do robô pneumático. A partir dos resultados, Conclui-se que a aplicação e utilização este tipo de programação para tarefas de movimentação de robôs é plenamente viável, o que pode vir a simplificar as etapas de programação, e ampliando a integração entre os diversos sistemas fabris, na medida em que os seus elementos poderão trocar facilmente informações necessárias à automação. / The present study has as main goal to present a differentiated form of programming for a prototype of a robot of five degrees of freedom with pneumatic drive. This program is based on the language SFC (Sequential Function Chart) standardized by IEC 61131-3. The main feature of this type of language is simplicity in integration with various elements present in the manufacturing environment, ensuring the sequencing of actions and ease of programming. The system used as a test bench consists of a pneumatic robot which currently control actions are carried out through specific programming routines combined with dedicated control boards, working with Matlab software. The study was conducted in three stages: the first, for creating subroutines in SFC language to linear movement, pick and place movement and palletizing movement, thus, by setting some input data it is possible to reprogram the robot for tasks in a graphical and intuitive way; the second stage of the study consisted in creating a translator program in Matlab language based on scripts that, through an OPC server (Ole for Process Control), interpreters the program in SFC language and translates it into the language of the control system robot; the last step was intended for testing this programming approach by using a PLC Compact Logix from Allen-Bradley in conjunction with RSLogix 5000 programming software, Matlab and the control system of the pneumatic robot. It was concluded that the implementation and use of this type of programming for robot handling tasks are both feasible. It simplifies the programming steps and enhances the integration between the various manufacturing systems, since the elements could directly exchange information, because they are in the same language.

O presente trabalho tem como objetivo o desenvolvimento de uma estratégia de programação para um robô de cinco graus de liberdade com acionamento pneumático. A proposta para tal estratégia de programação utiliza como base a linguagem SFC (Sequential Function Chart) normatizada pela IEC 61131-3. A principal característica deste tipo de linguagem é a simplicidade na integração com diversos elementos presentes em ambiente fabril, juntamente a garantia do sequenciamento das ações e a facilidade de programação. O estudo foi realizado em três etapas: a primeira, destina-se à criação de sub-rotinas em linguagem SFC para movimentação ponto a ponto, pick and place, e paletização. Desta forma, através da definição de alguns dados de entrada, é possível reprogramar o robô de forma gráfica e intuitiva; a segunda etapa do estudo constituiu na criação de um Programa Tradutor em linguagem baseada em scripts de Matlab que, através de um servidor OPC (Ole for Process Control), faz a interpretação do programa em linguagem SFC e o traduz para a linguagem do sistema de controle do robô; já, a última etapa destina-se à realização de testes utilizando um CLP Compact Logix da AllenBradley em conjunto com o software de programação RSLogix 5000, o software Matlab e o sistema de controle do robô pneumático. A partir dos resultados, Conclui-se que a aplicação e utilização este tipo de programação para tarefas de movimentação de robôs é plenamente viável, o que pode vir a simplificar as etapas de programação, e ampliando a integração entre os diversos sistemas fabris, na medida em que os seus elementos poderão trocar facilmente informações necessárias à automação. / The present study has as main goal to present a differentiated form of programming for a prototype of a robot of five degrees of freedom with pneumatic drive. This program is based on the language SFC (Sequential Function Chart) standardized by IEC 61131-3. The main feature of this type of language is simplicity in integration with various elements present in the manufacturing environment, ensuring the sequencing of actions and ease of programming. The system used as a test bench consists of a pneumatic robot which currently control actions are carried out through specific programming routines combined with dedicated control boards, working with Matlab software. The study was conducted in three stages: the first, for creating subroutines in SFC language to linear movement, pick and place movement and palletizing movement, thus, by setting some input data it is possible to reprogram the robot for tasks in a graphical and intuitive way; the second stage of the study consisted in creating a translator program in Matlab language based on scripts that, through an OPC server (Ole for Process Control), interpreters the program in SFC language and translates it into the language of the control system robot; the last step was intended for testing this programming approach by using a PLC Compact Logix from Allen-Bradley in conjunction with RSLogix 5000 programming software, Matlab and the control system of the pneumatic robot. It was concluded that the implementation and use of this type of programming for robot handling tasks are both feasible. It simplifies the programming steps and enhances the integration between the various manufacturing systems, since the elements could directly exchange information, because they are in the same language.

Das Softwarewerkzeug FUP Blockbibliothek wurde für Entwurf, Simulation, Echtzeitkodegenerierung und Dokumentation von ereignisgesteuerten Systemen, speziell in Maschinenbau, Mechatronik und Elektrotechnik entwickelt. Es stellt eine Erweiterung zu MATLAB /Simulink dar und bietet eine umfangreiche Entwurfsunterstützung einschließlich Werkzeugen zur Erkennung von Eingabe- und Strukturfehlern. Die graphische Darstellung (Blockikonen) lehnt sich an die VDI / VDE - Richtlinie 3684 "Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen" an.

Das Softwarewerkzeug FUP Blockbibliothek wurde für Entwurf, Simulation, Echtzeitkodegenerierung und Dokumentation von ereignisgesteuerten Systemen, speziell in Maschinenbau, Mechatronik und Elektrotechnik entwickelt. Es stellt eine Erweiterung zu MATLAB /Simulink dar und bietet eine umfangreiche Entwurfsunterstützung einschließlich Werkzeugen zur Erkennung von Eingabe- und Strukturfehlern. Die graphische Darstellung (Blockikonen) lehnt sich an die VDI / VDE - Richtlinie 3684 "Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen" an.:Einführung S. 3 Wesentliche Eigenschaften S. 4 Anwendungshinweise S. 6 Blockbibliothek S. 11 Beispiele S. 12 Blockbeschreibungen S. 33

Für ereignisgesteuerte Systeme mit mehrdimensionalen Bewegungsabläufen wurde im Fachausschuss 4.12 "Bewegungssteuerungen für Be- und Verarbeitungsmaschinen" der VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik (GMA) die VDI/VDE-Richtlinie 3684 "Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen" als interdisziplinär verständliches und anschauliches Dokumentationsmittel und Entwurfswerkzeug erarbeitet. Mit der Blockbibliothek Funktionsplan auf Grundlage der in der Richtlinie 3684 vorgeschlagenen Systembeschreibung ist ein durchgängiger Entwurfsweg bis zur Überprüfung des Systemverhaltens ereignisgesteuerter Systeme mittels Simulation einschließlich frühzeitiger Erkennung von Fehlern im Entwurfsprozess und Kodegenerierung möglich. Die FUP Blockbibliothek liegt als Erweiterungs-Blockbibliothek für SIMULINK vor und wurde hinsichtlich ihrer wesentlichen Eigenschaften zur Simulation von ereignisgesteuerten Prozessen speziell in mechatronischen Systemen entwickelt. Die Blockikonen gewährleisten schon nach kurzer Einarbeitungszeit einen sicheren Einsatz der Blöcke, damit kann auf Blockkürzel im Sinne der Richtlinie zwecks besserer Übersichtlichkeit verzichtet werden. Zweisprachige Blockhilfen sind in Version 3.1 für alle Blöcke on-line verfügbar. Graphisch programmierte Funktionspläne können mittels Toolbox Funktionsplanprüfung vorzugsweise über GUI, bei Bedarf auch durch MATLAB Skripte, auf Eingabe- und Programmierfehler geprüft werden. Die Prüfung kann wahlweise vollständig oder auf ausgewählte Fehler erfolgen. Ergebnisausgaben sind entweder in gestraffter Form oder ausführlich einschließlich von Hinweisen möglich. Überprüft werden können Parameter (z.B. Zustands- u. FUP-Nummern, Variablen, Fehlerbehandlung), Syntax (vgl. Richtlinie), Sackgassen (erste/alle) und Rückführschleifen (Entkopplung). Hybride Funktionspläne sind in Echtzeitkode für eine Zielhardware übersetzbar. Voraussetzung ist ein Standard ANSI C Compiler. Die Blockbibliothek Funktionsplan ist eine kostengünstige, richtliniennahe Alternative und ermöglicht eine vom Normalablauf separate, graphisch programmierte Fehlerbehandlung ohne Verlust an Übersichtlichkeit. Die Anwendung der Blöcke wird durch 11 Beispiele veranschaulicht. / The department committee 4.12 "Motion control of machine tools and processing machines" of the VDI/VDE Society for Measurement and Automatic Control (GMA) has established a manufacturer-neutral guideline No. 3684 for event-driven systems with multi-dimensional motion sequences. This guide-line is entitled "Description of event-driven motion processes by function charts" and constitutes a graphically clear design and documentation tool that is well-suited for interdisciplinary application. The block library Function Chart has been defined based on system descriptions suggested in guideline 3684. This library makes available a uniform design procedure. It covers the documentation, the behaviour test of event-driven systems by means of simulation including the early detection of design process faults, the test of realization variants as well as the code generation. Block library Function Chart is an add-on library for SIMULINK. With regard to its essential features it has been developed for the design, simulation, code generation and the description of event-driven systems especially for mechatronics, mechanical and electrical engineering. The created block icons make it possible to get familiar with add-on library Function Chart within a short period of time whereupon block mnemonics may be hidden in order to get a high graphical clearness and to fulfil the requirements of the guideline. Versions 3.1 bilingual on-line block help is available for all blocks. Graphically programmed function charts may be checked for input and programming errors preferably with help of Toolbox "Function Chart Check" by means of GUI's and if necessary also by MATLAB scripts. The check may be done completely or alternatively for selected errors. Output of result is possible either in detail inclusively eventual hints or in shortened form. A function chart may be checked for parameter errors (e.g. state and FUP numbers, variables, error handling), syntax errors (see guideline), dead ends (first or all) and uncoupled loops (arithmetic loops). Standard ANSI C compiler availability stands for a precondition for real time code generation. The block library Function Chart offers a reasonable alternative and allows separate motion error handling sequences which are separated from normal motion sequences without any loss of a well-ordered graphical arrangement. Currently 11 examples demonstrate the application of the blocks.

Für ereignisgesteuerte Systeme mit mehrdimensionalen Bewegungsabläufen wurde im Fachausschuss 4.12 "Bewegungssteuerungen für Be- und Verarbeitungsmaschinen" der VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik (GMA) die VDI/VDE-Richtlinie 3684 "Beschreibung ereignisgesteuerter Bewegungsabläufe mit Funktionsplänen" als interdisziplinär verständliches und anschauliches Dokumentationsmittel und Entwurfswerkzeug erarbeitet. Mit der Blockbibliothek Funktionsplan auf Grundlage der in der Richtlinie 3684 vorgeschlagenen Systembeschreibung ist ein durchgängiger Entwurfsweg bis zur Überprüfung des Systemverhaltens ereignisgesteuerter Systeme mittels Simulation einschließlich frühzeitiger Erkennung von Fehlern im Entwurfsprozess und Kodegenerierung möglich. Die FUP Blockbibliothek liegt als Erweiterungs-Blockbibliothek für SIMULINK vor und wurde hinsichtlich ihrer wesentlichen Eigenschaften zur Simulation von ereignisgesteuerten Prozessen speziell in mechatronischen Systemen entwickelt. Die Blockikonen gewährleisten schon nach kurzer Einarbeitungszeit einen sicheren Einsatz der Blöcke, damit kann auf Blockkürzel im Sinne der Richtlinie zwecks besserer Übersichtlichkeit verzichtet werden. Zweisprachige Blockhilfen sind in Version 3.1 für alle Blöcke on-line verfügbar. Graphisch programmierte Funktionspläne können mittels Toolbox Funktionsplanprüfung vorzugsweise über GUI, bei Bedarf auch durch MATLAB Skripte, auf Eingabe- und Programmierfehler geprüft werden. Die Prüfung kann wahlweise vollständig oder auf ausgewählte Fehler erfolgen. Ergebnisausgaben sind entweder in gestraffter Form oder ausführlich einschließlich von Hinweisen möglich. Überprüft werden können Parameter (z.B. Zustands- u. FUP-Nummern, Variablen, Fehlerbehandlung), Syntax (vgl. Richtlinie), Sackgassen (erste/alle) und Rückführschleifen (Entkopplung). Hybride Funktionspläne sind in Echtzeitkode für eine Zielhardware übersetzbar. Voraussetzung ist ein Standard ANSI C Compiler. Die Blockbibliothek Funktionsplan ist eine kostengünstige, richtliniennahe Alternative und ermöglicht eine vom Normalablauf separate, graphisch programmierte Fehlerbehandlung ohne Verlust an Übersichtlichkeit. Die Anwendung der Blöcke wird durch 11 Beispiele veranschaulicht.:1. Einleitung 2. Ausgangspunkt Arbeitsdiagramm 3. Hybrider Funktionsplan 3.1 Begriffsbestimmung 3.2 Anwendungsbeispiel 3.3 Vom Arbeitsdiagramm zum Hybriden Funktionsplan 4. Steuerungstechnische Umsetzung 4.1 Auswahl einer Basissoftware 4.2 Maschinenkodeerzeugung mit der Basissoftware 5. Projektierung mit FUP 5.1 Eigenschaften der SIMULINK Blockbibliothek FUP 5.2 Projektierungsschritte 6. Ausblick / The department committee 4.12 "Motion control of machine tools and processing machines" of the VDI/VDE Society for Measurement and Automatic Control (GMA) has established a manufacturer-neutral guideline No. 3684 for event-driven systems with multi-dimensional motion sequences. This guide-line is entitled "Description of event-driven motion processes by function charts" and constitutes a graphically clear design and documentation tool that is well-suited for interdisciplinary application. The block library Function Chart has been defined based on system descriptions suggested in guideline 3684. This library makes available a uniform design procedure. It covers the documentation, the behaviour test of event-driven systems by means of simulation including the early detection of design process faults, the test of realization variants as well as the code generation. Block library Function Chart is an add-on library for SIMULINK. With regard to its essential features it has been developed for the design, simulation, code generation and the description of event-driven systems especially for mechatronics, mechanical and electrical engineering. The created block icons make it possible to get familiar with add-on library Function Chart within a short period of time whereupon block mnemonics may be hidden in order to get a high graphical clearness and to fulfil the requirements of the guideline. Versions 3.1 bilingual on-line block help is available for all blocks. Graphically programmed function charts may be checked for input and programming errors preferably with help of Toolbox "Function Chart Check" by means of GUI's and if necessary also by MATLAB scripts. The check may be done completely or alternatively for selected errors. Output of result is possible either in detail inclusively eventual hints or in shortened form. A function chart may be checked for parameter errors (e.g. state and FUP numbers, variables, error handling), syntax errors (see guideline), dead ends (first or all) and uncoupled loops (arithmetic loops). Standard ANSI C compiler availability stands for a precondition for real time code generation. The block library Function Chart offers a reasonable alternative and allows separate motion error handling sequences which are separated from normal motion sequences without any loss of a well-ordered graphical arrangement. Currently 11 examples demonstrate the application of the blocks.:1. Einleitung 2. Ausgangspunkt Arbeitsdiagramm 3. Hybrider Funktionsplan 3.1 Begriffsbestimmung 3.2 Anwendungsbeispiel 3.3 Vom Arbeitsdiagramm zum Hybriden Funktionsplan 4. Steuerungstechnische Umsetzung 4.1 Auswahl einer Basissoftware 4.2 Maschinenkodeerzeugung mit der Basissoftware 5. Projektierung mit FUP 5.1 Eigenschaften der SIMULINK Blockbibliothek FUP 5.2 Projektierungsschritte 6. Ausblick