Implementación de la tecnología Generic Motion Control Y Powerlink sobre un robot industrial de configuración cartesiana para la empresa CAE Solutions Ec.

Abstract

A Cartesian robot of industrial type and cantilever configuration was designed, simulated and constructed for Caesolutionsec, ltd. Company. The axes moved via rails, demarcated of motion in their physical space by means of limit switches which in turn, enabled to set mechanical limit up and, these were taken as a reference to determine the distance at which the robot will move. The robot had and end effector with a suction pad-like and cylinder system, which performed a rack – pinion movement generating a motion at 90° whereas both, the suction pads and the cylinder work with a configuration of ON / OFF system which ends the programming cycle developed into the Automation Studio console. The basic mechanical design was developed in the Catia program while the mechanical system assembly was developed in Solidworks. In addition to these resources, the study of movement was created in Adams; in a co-simulation with Matlab attached to target Simulink Automation Studio, which made possible to monitor the robot behaviour in its workspace, as well as to know part of the dynamic model for the selection of items for its construction. The programming was implemented under the console of Automation Studio B&R with the GMC (Generic Motion Control) library, which is useful for developing the controls in fast and safe way; specially, for those procedures of numerical control by computer, improving the handling processes. An important aspect of the robot is it kept communication with Ethernet Powerlink protocol, which owns robust technologies at industrial level, this; makes possible to design full control systems in real-time, in order to monitor from any other device or remote network. Test protocols were performed to demonstrate the benefits of taking this type of console and topology of industrial communication, which will be compared with Cartesian robots previously analysed at the country lebel.