Real-time Control of Industrial Robot Cell with PowerLink
(2018)Department of Automatic Control
- Abstract
- This thesis investigated how one can build a PowerLink network and Control Nodes that act as, e.g., sensor, actuators, etc., together with B&R:s products. Establishing different PowerLink networks was also investigated such as PLC connected to Raspberry Pi2. Configuration and step-by-step introduction of what PowerLink is and how it works is also mentioned in this thesis. In addition to creating PowerLink networks and nodes, this thesis also looked into implementing OpenCV for image processing with a camera on a Raspberry Pi2 connected to a B&R PLC.
PowerLink is a deterministic Ethernet-based protocol. It works by having a Managing Node that acts as the moderator for the network. Then there are the Control Nodes, which are slaves nodes... (More) - This thesis investigated how one can build a PowerLink network and Control Nodes that act as, e.g., sensor, actuators, etc., together with B&R:s products. Establishing different PowerLink networks was also investigated such as PLC connected to Raspberry Pi2. Configuration and step-by-step introduction of what PowerLink is and how it works is also mentioned in this thesis. In addition to creating PowerLink networks and nodes, this thesis also looked into implementing OpenCV for image processing with a camera on a Raspberry Pi2 connected to a B&R PLC.
PowerLink is a deterministic Ethernet-based protocol. It works by having a Managing Node that acts as the moderator for the network. Then there are the Control Nodes, which are slaves nodes in the network. The result showed that it is possible to create control nodes that can be controlled and read through PowerLink on a PC or PLC. The PowerLink camera node that was created was implemented on Raspberry Pi2 with OpenCV. The idea behind
this was to show that it is possible to easily setup a PowerLink node. One of the problems that was experienced was that the PowerLink stack and OpenCV code that was to be implemented was written in C/C++, but this was solved by establishing a Server/Client communication between the two programs. The Raspberry Pi2 limited hardware, which made it not suitable for high performance systems.
This thesis showed that it is possible to create sensors, control and directly test them from a PC or implement them on a industrial PLC. For the users it is greatly beneficial due to the fact that a control node can execute code, e.g., filter measurements, before sending data to the PLC. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8937349
- author
- Tran, Lloyd and Barbulovic, David
- supervisor
- organization
- year
- 2018
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6048
- ISSN
- 0280-5316
- language
- English
- id
- 8937349
- date added to LUP
- 2018-06-29 12:25:30
- date last changed
- 2018-06-29 12:25:30
@misc{8937349,
abstract = {{This thesis investigated how one can build a PowerLink network and Control Nodes that act as, e.g., sensor, actuators, etc., together with B&R:s products. Establishing different PowerLink networks was also investigated such as PLC connected to Raspberry Pi2. Configuration and step-by-step introduction of what PowerLink is and how it works is also mentioned in this thesis. In addition to creating PowerLink networks and nodes, this thesis also looked into implementing OpenCV for image processing with a camera on a Raspberry Pi2 connected to a B&R PLC.
PowerLink is a deterministic Ethernet-based protocol. It works by having a Managing Node that acts as the moderator for the network. Then there are the Control Nodes, which are slaves nodes in the network. The result showed that it is possible to create control nodes that can be controlled and read through PowerLink on a PC or PLC. The PowerLink camera node that was created was implemented on Raspberry Pi2 with OpenCV. The idea behind
this was to show that it is possible to easily setup a PowerLink node. One of the problems that was experienced was that the PowerLink stack and OpenCV code that was to be implemented was written in C/C++, but this was solved by establishing a Server/Client communication between the two programs. The Raspberry Pi2 limited hardware, which made it not suitable for high performance systems.
This thesis showed that it is possible to create sensors, control and directly test them from a PC or implement them on a industrial PLC. For the users it is greatly beneficial due to the fact that a control node can execute code, e.g., filter measurements, before sending data to the PLC.}},
author = {{Tran, Lloyd and Barbulovic, David}},
issn = {{0280-5316}},
language = {{eng}},
note = {{Student Paper}},
title = {{Real-time Control of Industrial Robot Cell with PowerLink}},
year = {{2018}},
}