Integration of Robotic and Electro-Pneumatic Systems Using Advanced Control and Communication Schemes

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process.The paper demonstrates the integration of components into subsystems which form a flexible and reconfigurable industrial robotic workcell with advanced communication protocols.In the present configuration, the system performs a quality check and machining process to demonstrate the effectiveness of interconnected systems and presents an excellent example of a fully automated work cell.The system consists of three six-axis FANUC robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication as well as utilizing hardwired connections.The interconnected system works together to perform machining of a workpiece using advanced control methods.Programming of the system is done using CAD to robot path generation on FANUC Roboguide software, Add-on-Instructions on Rockwell Programmable Logic Controller (PLC), and designing HMI screens for process control.Standardized programming blocks and HMI interfaces were developed to make the system highly reconfigurable and flexible for any future projects.In this paper, authors provide the details on system configuration, integration approach and the developed advanced communication scheme.