Contents
1. INTRODUCTION
1
1.1. Short history of the boating 2 1.2. Boat Building Methods 3 1.2.1. Traditional Constructions 3 1.2.2. Modern Construction 5 1.2.3. Automatized Construction 6
1.3. Systems 7
1.3.1. CNC machines 8 1.3.2. PLC controller & field-bus 9 1.3.3. Industrial robots 10
2. AIMS OF THE STUDY
12
3. METHODS
3.1. Plant characteristics 13
3.2. Robot 15
3.2.1. Description of the robot 15 3.2.2. Technical robot data, KR 90 R3100 extra HA 20 3.2.3. PROFINET communication 23 3.2.4. Robot programming, WorkVisual 25
3.3. PLC 32
3.3.1. Description of the PLC components 32 3.3.2. The Supervisor 37 3.3.2.1. Bus object 40 3.3.2.2. Robot functions 42 3.3.2.3. Devices management functions 46
3.3.2.4. Spindle functions 50 3.3.2.5. Plant functions 53 3.3.2.6. Spindle velocity control 55 3.4. HMI interface 57 3.4.1. Introduction to the operating modes HMI 58 3.4.1.1. Automatic operation 58 3.4.1.2. Manual operation 59 3.4.2. HMI objective 59 3.4.3. Software functionality 60 3.4.3.1. Graphic interface 60 3.5. HMI interface characterist 61 3.5.1. HOME 61 3.5.1.1. Structure 61 3.5.2. MAINTENANCE 66 3.5.3. STORAGE 67 3.5.4. ELECTRO-SPINDLE 68 3.5.4.1. Technical management of electro-spindle 72 3.5.4.2. Aims of the CANopen 73 3.5.4.3. Setting dipswitch for field-bus CANopen 74 3.5.5. CONTROL 76 3.5.5.1. Security connections 78
3.5.6. ALARM 79
3.5.7. STATUS OF THE SYSTEM 81 3.5.8. CAM PROGRAMS 82 3.5.9. KUKA INFO 83
4. RESULTS & DISCUSSIONS
85
4.1. The plant 85 4.2. Preliminary test 86 4.3. Further results 88
