Extending a robot controller's capabilities with FDT

摘要

Most industrial robots have to communicate with programmable logic controllers (PLCs), sensors, and actuators. If customers have specific requirements, such as operation without a PLC or direct sensor-robot-communication, they need a way of adapting the fieldbus configuration originally shipped with a robot to integrate their own components. This paper discusses, how the FDT/DTM technology can be used to integrate peripheral devices into a robot controller. The entire process from the creation of an initial FDT projection during the production of a robot controller to the adaption by robot users to their specific needs is covered. Furthermore, the process of integrating a robot controller into a user-specific fieldbus network is described, regardless of the fieldbus protocol used.