Remote control of nonlinear motion for mechatronic machine by means of CoDeSys compatible industrial controller

Korobiichuk, Igor; Dobrzhansky, Oleksandr; Kachniarz, Maciej

doi:10.17559/tv-20151110164217

Cited by 7 publications

(4 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…After the execution of periodic modules, the scheduler checks whether any events for sporadic modules have occurred. The modules corresponding to such events are listed in order of priority using EDF (earliest deadline first) method [6][7][8][9]. As shown in Figures 2 and 6, the scheduler checks periodically by calling or invoking the condition() function in Figures 10 and 11.…”

Section: Program Structures For Thread-type and Process-type Modulesmentioning

confidence: 99%

“…Hence, the controller of industrial robot systems used in lines manages the motion control SW for manipulation and the PLC function for conveyors and grippers. Some current PLC products can simultaneously manage both conveyors and industrial robots but not all types of industrial robots [6,7]. Industrial robots and PLCs can control both motion SW for manipulation and PLC functions.…”

Section: Introductionmentioning

confidence: 99%

“…It is however difficult to integrate the rapidly developing IT with conventional robot systems and PLCs. Consequently, middleware technology has been studied for automation devices such as robots and PLCs [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. The middleware used in automation devices manages the processes/threads related to manipulations, vision recognition, PLC functions, transmission of various types of data, safety, and security.…”

Section: Introductionmentioning

confidence: 99%

“…There are some middleware that can be used for automation devices [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21]. Well-known examples are the CORBA [20], OPC-UA [21], the ones used in CoDeSys [6,7] and TwinCAT [8], ROS [9,10], OPRoS [11,12], openRTM [13, 14], and OROCOS [15,16]. Among these examples, the OPC-UA and ROS are a type of communication middleware.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Real-Time Scheduling Method for Middleware of Industrial Automation Devices

Park¹

2020

Scheduling Problems - New Applications and Trends

View full text Add to dashboard Cite

In this study, a real-time scheduling algorithm, which supports periodic and sporadic executions with event handling, is proposed for the middleware of industrial automation devices or controllers, such as industrial robots and programmable logic controllers. When sensors and embedded controllers are included in control loops having different control periods, they should transmit their data periodically to the controllers and actuators; otherwise, fatal failure of the system including the devices could occur. The proposed scheduling algorithm manages modules, namely, the thread type (or .so type) and process type (or .exe type), for periodic execution, sporadic execution, and non-real-time execution. The program structures for the thread-type and process-type modules that can make the proposed algorithm manage the modules efficiently are suggested; then, they are applied in periodic and sporadic executions. For sporadic executions, the occurrences of events are first examined to invoke the execution modules corresponding to the events. The proposed scheduling algorithm is implemented using the Xenomai real-time operating system (OS) and Linux, and it is validated through several examples.

show abstract

Section: Program Structures For Thread-type and Process-type Modulesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%