Design Of The Communication Module Between Robot And Welder Based On Devicenet

With the development of industrial automation, industrial robot plays a more and more important role. Composed of welding and robot, welding robot is applied to various production lines, liberating the human from heavy-single labor. However, in the traditional robot control system, the arc welders is controlled by a discrete I/O port directly, so that this control method has the disadvantage of poor anti-interference ability and field wiring difficulties in harsh welding conditions. This project is to design a DeviceNet-CAN protocol transmission module, in making robot work together with the arc welders and overcoming the disadvantages at the same time.The hardware circuit is based on the ARM controller LPC2129and CAN transceiver CTM1050T as the core, extended with RS232serial port, external memory and code dialing switches. On the basis of hardware and DeviceNet slave protocol, CAN data transceiver in robot end, DeviceNet message parsing, communication protocol conversion between ABB robot and arc welder, and CAN data transceiver in welder end is completed in the single controller.In this paper, the origin of the project and background of the application, types and the development status of fieldbus are firstly introduced. Secondly, the whole process of selection of the hardware circuits and software design are introduced. In the part of software design, the basic knowledge of DeviceNet bus and CAN is introduced as well. Finally, the debugging result is elaborated, providing the reference for the development of similar products.The joint debugging of the module with the ABB robot and arc welders and the actual running, verify the correctness and stability of the design. The bidirectional communication between robot and welder is realized in harsh environment, which proved to be more efficient and stable. The gateway has been strictly tested in the bad environment, being able to satisfy the modular, digital and networked requirements. At present, the gateway has been put into use, with a favorable effect.