Skip to content

system_overview.md

Latest commit

 

History

History
37 lines (22 loc) · 1.53 KB

system_overview.md

File metadata and controls

37 lines (22 loc) · 1.53 KB
Raw

System Overview

This section provides a general overview as well as a detailed IO-Link overview for the complete AIP application.

General overview

Below, you will find a general overview for AIP:

system_overview

The most important components are the following:

  • Peripheral sensors and actuators are mostly wired to the IO Link slaves.

  • Slaves are wired to the IO-Link master.

  • The master device is connected to the KUKA KR10 robot control.

  • A configuration of the IO-Link system is done with the KUKA software WorkVisual.

  • All network participants are connected to the same switch.

  • A Beckhoff PLC is used to provide most of the safety-related aspects of the system, besides the emergency stop of the KUKA SmartPad.

  • A Sick lidar scanner, an external emergency stop and a signal tower are wired to the PLC.

  • The PLC is communicating with the robot control and provides the safety approval.

The robot can be controlled via the KUKA SmartPad, by commands from the terminal or by starting a behavior tree on the computer. Alternatively RViz or pyhton can be used to move the robot to a specific pose.

Detailed IO-Link wiring

Below, you will find a detailed view of the IO-Link wiring:

system_overview

Applications of AIP - Interfaces

Below, you will find a diagram of the interfaces of the applications.

system_overview