Research On Communication Adapter Between Robot And Arc Welding Machine Based On DEVICENET

As industry field circumstances become more and more complex, discrete control system have been unable to meet the demand in some severity location. Fieldbus technology have been widely applied because of its advantages, including economizing the hardware resources, inexpensive to installation and maintain, simple design,easy rebuilt and improve the accuracy and reliability. DeviceNet is one typical represent of fieldbus widespread application. For example, In ABB IRC5 control system, throughout DeviceNet interface control robot and some slave device.Design a dsPIC30F4011 hardware developboart, including CPU unit DAC convert module, optocoupler isolated I/O module, CAN electrical level convert module and UART electrical level convert module. Hardware developboard is prepared for firmware develop. According modbus protocol, self-define application layer communication rule for UART, then accomplishing UART firmware design.Group up a DeviceNet fieldbus net; analysing communication message between master node and slave node; concluding communication steps between master node and slave node. Here, put DN-PCI-5110 DeviceNet master PCI card, DNG-100Eva board and CANalyst-2 canbus analyser into one simply DeviceNet fieldbus net.According DeviceNet protocol rules and communication steps, accomplishing firmware design of DeviceNet predefined group 2 slave node, which inlcuds CAN module drive firmware design, each object module firmware design and so on. By accomplishing firmware code in developboard, implementing communication connection between DeviceNet communication adapter and IRC5 robot control system.For DeviceNet slave node carry on function testing. Throughout experiment proved, slave node could establish connection with master node, the poll connection and bit-strobe connection could exist at the same time, each objects structure propper. By communication adapter message transmit time analyzing proved, the communication delay time between robot and arc machine induced by adding DeviceNet communication adapter is little, which wouldn't interfere the communication. By reliability analyzing proved, the communication adapter wouldn't lose message and could guarantee reliability message transmit. By the testing and analyzing could know, communication is agree with DeviceNet protocol and could meet communication require between robot and arc machine.