內(nèi)容文稿分析kuka培訓(xùn)en

CommunicationspyramidDatavolumeCycletimeMbyteminkBytesByte0.1sBitmsCelllevelFieldlevelManagementlevelOfficebusFactorybusProcess/cellbusS/AbusFieldbusCorporatelevelProductionmanagementlevelProcesscoordination/control(system)level(Basic)Controllevel"Decentralizedperiphery"Sensor/ActuatorlevelInthepast:Withbussystem:PLCKRCWhybussystems?PLCKRCBusvoltageBustopologiesLineTreeRing(active)Ring(physical)LinestructureLinestructure:Profibus,CANbusLinetopologyisthemostwidespreadbusforminindustrialautomation.Themostimportantadvantagesaresimplifiedcablingrequirements,simplecouplingofdevices,expansion,andthefreechoiceoflogicalcommunicationsstructure.Amongthegreatestdisadvantagesofthelinestructureistherequirementforterminatorsatbothbusends.Toenabletheconnectionoffurtherdevicesortoincreasethepermissiblelengthofthecablestheuseofrepeatersisrequired.TreestructureTreestructure:Profibus,CANbus,EthernetThetreestructurerepresentstheexpansionofthelinestructurebyoneormoreconnectionsbetweentwoormorelinesystems.Theadvantagesare,aboveall,goodadaptationtothegeographicalrequirementsandthusminimizedcablingandinstallationrequirements.Theuseofactivebranchelementsinvolvesdisadvantageouscosts.Ringstructure(active)Ringstructure(active):SERCOSTheringstructureistheconnectioninseriesofindividualdevices,inwhichthelastdeviceisconnectedtothefirst.Theadvantagesare,aboveall,goodadaptationtothegeographicalrequirementsandthusminimizedcablingandinstallationrequirements.Theuseofactivebranchelementsinvolvesdisadvantageouscosts.Themostseriousdisadvantageofthisstructureliesintherequirementforalldevicestobefunctioningcorrectly(atleastregardingthebuslogic).Shouldonedevicefailtheentirebusisfaulty.Ringstructure,physicalRingstructure(physical):InterbusStartingwiththebus-master,theinterfacemodule,alldevicesareactivelyconnectedtotheringsystem.Eachbusdevice(slave)hastwoseparatecablesforoutgoingandincomingflowofdata.Inthiswaythereturnlinefromthelastdevicetothefirstdevicerequiredinthesimpleringsystemisavoided.Theoutgoingandincominglinesarecarriedinasinglecable.Fromthecablingpointofview,thisringissimilartothebusorlinestructures,asonlyonebuscableisrequiredfromdevicetodevice.BusaccessproceduresMaster/slave(Profibus)Tokenpassing&master/slave(Profibus)Priority(DeviceNet)Summationframe(Interbus)SlaveSlaveSlaveSlaveMasterMasterSlaveSlaveSlaveMasterMasterMasterSlaveSlaveSlaveSlaveMasterSlaveSlaveSlaveSlaveMasterMasterMasterTokenMaster/slavebusaccessprocedureMaster/slaveprocedure:ProfibusOnthebusthereispreciselyonedevice,themaster,whichregulatesthebusaccess.Thiscentralcontroller,thefieldbusmaster,cyclicallyreadsintheinformationfromthefielddevices,thefieldbusslaves,andwritestheoutputvaluetothem.SlaveSlaveSlaveSlaveMasterSlaveSlaveSlaveSlaveMasterMasterMasterTokenTokenpassing&master/slavebusaccessprocedureTokenpassingprocedure:

Profibus(notwithKRCcontroller)Inthisprocedure,severalmasterscanbepresentonthebusatthesametime.Themasterauthorization(token)ispassedtothenextmasteraftereverytelegramcycle.Abusaccessconflictisavoidedinthatonlythemasterwhichisholdingthetokencanhavewriteaccesstothebus.Aftereachtelegramtransmissionofthemastertheslaveconcernedconfirmsthemessageandsendsananswertelegramtothemaster.Theprocessingofthetelegramstakesplaceinacyclical(continuous)fashion.Prioritybusaccessprocedure(CollisionAvoidance)Priorityprocedure:CANbusTheaccessproceduredesignedtoavoidcollisionsisknownsimplyasCollisionAvoidance.Everydeviceonthebuslistensinandcanaccessthebuswhenitisfree.Withthisprocess,themessagesaredesignedtopreventacollision:everymessagepossessesapriority.Iftwomessagesaresentatthesametime,themessagewiththehigherpriorityiscarriedthroughfirst.Thedevicewiththelowerprioritymessagestopsthetransferandtriestosenditatalatertime.MasterSlaveSlaveSlaveMasterMasterMasterSummationframebusaccessprocedureSummationframeprocedure:InterbusInthesummationframeprocedure,allofthephysicalsystemdevicesareseenasonesinglelogicdevice.Allprocessdatainformationistransferredsimultaneouslyinasummationframetoalldeviceseverycycle.Onthebasisofthetransferpositionofspecificindividualdatainthesummationframe,eachdevicecanreceivethedataintendedforit.SlaveSlaveSlaveSlaveMasterMessage-orientedStart1bitIdentifier11(29)bitsRTR-bit1bitAcknowledge1+1bitsControl6bitsUserdata0-64bitsCRC15+1bitsFrame-End7bitsSilence3bitsCommunicationssystem-telegramstructureDevice-orientedSync33bitsStart11bitsLE11bitsLEr11bitsStart11bitsDA11bitsSA11bitsFC11bitsDATA0-1968bitsFCS11bitsEnd11bitsI/O-orientedLOOP-check16bitsDevice.18bitsDevice.316bitsDevice.232bitsPar.2Par.nnthcycle2ndcycleDevice.n16bitsFCS16bitsCONTROL16bitsCommunicationssystem-telegramstructureDevice-orientedSync33bitsStart11bitsLE11bitsLEr11bitsStart11bitsDA11bitsSA11bitsFC11bitsDATA0-1968bitsFCS11bitsEnd11bitsDevice-oriented:ProfibusDevice-orientedprotocolsHerethesenderencryptsthetargetandsourceaddressinitsdataflow.Thisexclusivelydefinesthemessageforaselecteddevice.Overhead:132bitsMessage-orientedStart1bitIdentifier11(29)bitsRTRbit1bitAcknowledge1+1bitControl6bitsUserdata0-64bitsCRC15+1bitFrame-end7bitsSilence3bitsCommunicationssystem-telegramstructureMessage-oriented:CANbusMessage-orientedprotocolsAnauthorizeddevicesendsitsmessagetoalldevicesconnectedtothebus(broadcasting).Forselectingthemessage,thereceiversareequippedwithafilterdevice.Themessageseachhaveamessagenumber(identifier).Atargetaddressforthemessageisthusnotrequired.Overhead:47bitsCommunicationssystem-telegramstructureI/O-oriented:InterbusI/O-orientedprotocolsAllsensorsandactuatorsareaddressedinatelegram(summationframe).Forthedataofalldevices,theframedataoccuronlyonce.Overhead:48bitsI/O-orientedLOOP-Check16bitsDevice18bitsDevice316bitsDevice232bitsPar.2Par.nnthcycle2ndcycleDevice16bitsFCS16bitsCONTROL16bitsCANbusSDSCANControllerAreaNetwork(Honeywell)DeviceNet(Allen-Bradley)(CiA)CANopenManufacturer-specificKRC2CANvariantsMulti-functioncardII(masterDeviceNet)CANDeviceNetLPDNScanner(masterand/orslaveDevNet)Channel1DeviceNetChannel2DeviceNetThechannels1and2canbeconfiguredasmasterand/orslaveinasoftware-drivenprocedure.Fixingbracket24VsupplyDiagnosticconnectorMFCBuscouplerbranch1Buscouplerbranch2KUKAmulti-powertapMPTInterbusPLCInterbusmaster/slave(fiber-opticcable)IBSPCISC/RI/LKInterbusmaster/slave(Cu)IBSPCISC/RI/I-TCopperwiringorfiber-opticcablesCoppercableFiber-opticcableForuseundercriticalenvironmentalconditions,orinthecaseofelectromagneticinfluences,thes