| This paper analyzes the elements of the layout for a robotic flexible welding line and planning for the whole welding line. In order to secure reliability, lower cost, and ease maintenance of hardware, and simplify the hardware system, the field bus technology is employed for the control system, based on industrial distributed I/O, and the safety circuit methodology is exploited for safety system, based on the safety bus. To construct a hierarchical multi-level field-bus control system, software engineering of the control system is engineered by means of modular programming structure, common interfaces and control variables are implemented to build up relatively independent functional modules. The software engineering is conducted by configuring the functional modules and the interfaces. |
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