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Livrables
In order to create an open structure of the programming and communication environment there is a need to implement all of the official standard interfaces. This enables the user to communicate with almost every device attached to the AMCS or running in the Windows host environment. This result is demanded and requested by the most integrators and end users of the robot and machine control business. But most of the competitors limit their open structure in order to force the user to purchase their components, which is not the idea of this project. The very open and efficient API of the AMCS enables the user to adapt the AMCS to all standardized Windows based visualization software tools.
The idea was to develop an PC based motion controller which benefits from the fast growing consumer PC electronics on one hand and uses industrial standards like Sercos and VxWorks operating system on the other hand. The result is a very versatile and precise multi-axis system granting excellent conditions for integration in very different target markets (listed in 1.1).
The decentralization of Input / Output devices in production applications is now a day�s standard. This is realized be the implementation of fieldbus systems in the PLC circuit of a machine application. Unfortunately, there are several fieldbus systems available on the market (Interbus, CAN bus, Profibus, Devicenet, Mod bus, etc.). A view of them have a regular market share. This circumstance motivated us to implement five of the most important fieldbus systems. So the user could choose the I/O fieldbus system according to the customer needs. The great benefit of this development is the transparent property for the programmer. The software mustn�t be changed or rewritten if the same or similar application is used with different fieldbus hardware. This feature also underlines the open characteristic of the whole AMCS system. The strong demand on soft PLC for cyclic machine control functions forces the SMEs to implement this feature as a standard or optional software module. Also from marketing point of view it is a big advantage or even essential in order to be competitive with the other motion control manufacturers.
The kinematic functions are a standard property of robot controller but not standard of a general-purpose machine controller. The implementation of the standard kinematics like artesian robot-cartesian robot with pitch axis-Several Scara kinematics-Scara with pitch axis-Anthropomorphic 6 axis kinematic-Delta kinematics were a basic part of the AMCS specification. Due to the fact that the target for the AMCS is to acquire different markets and that we have great demands in terms of the robot control capability, it is panned to implement an open kinematic interface. This is almost unique in that business and would contribute the fast distribution of the AMCS especially in the robot area. Due to technical problems this implementation is still not completely developed and will last until one month after project close.
Every standard robot controller has a runtime system for controlling the application software concerning system errors or application errors. It makes the application resumed in case of an error and it takes the responsibility for all safety relevant functions of the robot system. This absolutely essential software �runtime system� is not part of all the general purpose machine controllers. So the end user or system integrator is obliged to develop his own �runtime system� if he wants to integrate a motion controller into a machine application like multi-axis handling systems, CNC machines or other special production tools. This could be a very time consuming and expensive procedure. Therefore we specified an application framework (AF), running on the interpreter level of the AMCS. This AF contains all necessary functions in order to control any machine application. The structure of the AF is open and could be adapted or extended if there is a need for it. The AF is surely one of the most important and effective results of the AMCS project. The exploitation activities will take account on that.
For a general purpose system the problem of finding a compromise in terms of fitting to the needs of many potential users arises in the most cases. In this project we had to take care that the programming environment and the language itself covers most of the state of the art features as they are: - Windows based environment - Project management -
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