Comau Robotics

1
HYCON W4d Rome Meeting, 16-17 / 02 /
2006 Application of Wireless technologies in
Automotive Production Systems Franco DEREGIBUS,
Fulvio RUSINÀ, Renzo CALCAGNO (COMAU), Alberto
SANGIOVANNI VINCENTELLI, Alvise BONIVENTO (Univ.
California Berkeley) Rome, 16-17 February 2006
2
Table of Content

• Comau Comau Robotics Introduction
• Why Wireless in Robotic Applications?
• Our Wireless Approach and Developments
• Comau Wireless Teach Pendant (WiTP)
• Next Developments

3
Comau Activities
4
Comau Robotics - Product Solutions

• Robot Dressing
• Application Software
• User Interface
• Specific Devices

Standard Application

SPOT WELDING - Integrated Welding Timer
(SWIM) - Welding box - Media panel
Custom Application
INTERPRESS - Dedicated robot range - Ability to
deliver turn-key systems with de-stacking
station, automatic tool changer, etc.
HANDLING - Management of robot handling devices
grippers, tool changers, etc.
ARC WELDING - Welding sources - Welding
torches - Ability to deliver standard cell with
part positioners
DISPENSING - Pedestal and on-board
dispensers - Interface for different dispensing
sources
Robotics
5
Comau Robotics - Strength Points
New robot arms New Control Unit Programming
Unit New Standard Applications
SMART NH4 Hollow wrist (patented solution)
SMART NX1 The strongest robot in the world (up to
800 kg)
SWIM Spot welding Integrated Timer (unique
solution)
6
Table of Content

• Comau Comau Robotics Introduction
• Why Wireless in Robotic Applications?
• Our Wireless Approach and Developments
• Comau Wireless Teach Pendant (WiTP)
• Next Developments

7
Industrial Scenario Involving Robots
8
Why Wireless Technologies in Robotic Applications?
Some reasons for Wireless technology in
manufacturing plants, key issues

• Cost
• Resiliency and Safety
• Priority
• Security
• Mobility
• Scalability
• Protocol Inter-operability
• Fabric-to-Office Integration
• Dynamic Chain Configuration

9
Table of Content

• Comau Comau Robotics Introduction
• Why Wireless in Robotic Applications?
• Our Wireless Approach and Developments
• Comau Wireless Teach Pendant (WiTP)
• Next Developments

10
Control architecture (Step 2006)
Control architecture (Step 2005)
Plant Ethernet
Plant Ethernet
Line PC with Soft-PLC open web interface data
management
Line central cabinet
Safety PLC
Line PC
Line central cabinet
Line PLC


Safety devices
Cell / station cabinet
Stand-Alone Lifter
Cell / station cabinet
I/O IP65
PLC
Drive and PLC board integrated in the motor
Stand-Alone Modules
Safety I/O
Stand-Alone Cell
Stand-Alone Pallet Conveyor
Motor
Drive with I/O control
Safety devices
ETHERNET
INDUSTRIAL ETHERNET
Fieldbus
Safety Bus
Safety Bus
Motor
Drive and PLC board integrated
Parallel wiring
Parallel wiring
Robot control
11
WIRELESS Technology (2006)

• Main advantages
• Reduction of wiring and connections between
  cabinet and components
• Cabinet volume reduction due to hand-held HMI
• Reduction of assembly time of the station/line
• Opportunity for new functionalities and cost
  reductions
• Key issues
• Analysis of interferences on the final site
• Robust control protocol and algorithm design
• Safety implementation
• Power supply transmission (sensors)

12
Networking (ethernet) and HMI applications
Wireless solutions (Step 2006)
PLANT LAN
Ethernet switch
Ethernet switch
Line ethernet network
PLC
PILZ
Tablet terminal
Welding Timer
SCADA application
Robot control and teach pendant
Line central cabinet
HMI
13
Sensors and actuators
Wireless solutions (Step gt2006)
PLC
PILZ
Line central cabinet
14
Table of Content

• Comau Comau Robotics Introduction
• Why Wireless in Robotic Applications?
• Our Wireless Approach and Developments
• Comau Wireless Teach Pendant (WiTP)
• Next Developments

15
Teach Pendant Wireless
Stop
Stop
Services Power
Enabling
Enabling
Ethernet
Integrated into WiTP
Integrated into C4G controller
16
Comau WiTP
17
Technical features
Each independent communication channel can be
used to send and receive data from different
Wi-Fi sources at the same time.
18
Safe Connection and Data Exchange Patent
Pending
SAFE CONNECTION (Patent Pending) POINT - TO -
POINT WiTP - TO - CONTROLLER
SAFE CONNECTION UNDER DEVELOPMENT (Patent
Pending) POINT - TO - MULTIPOINT WiTP - TO
MANY CONTROLLERS
19
TÜV Certification
Main PHASES
20
Table of Content

• Comau Comau Robotics Introduction
• Why Wireless in Robotic Applications?
• Our Wireless Approach and Developments
• Comau Wireless Teach Pendant (WiTP)
• Future Work

21
Future Work

• Safety communication certification (conclusion)
• RI-MACS European Research Project (COMAU,
  Schneider, DELMIA, PARADES, )
• Survey on new emerging wireless standards and
  platforms
• Analysis of WSN (Real Time Wireless Sensor
  Networks, Slow Pace Wireless Sensor Networks)