1. Working with the RAPID-CIM Software Dr. Richard A. Wysk Industrial and Manufacturing Engineering PSU

2. Outline Overview of software architecture Control software development process MPSG controller development –MPSG graph->MPSG input file->code MPSG Builder Specifications Shop Control software customization –extra message info Equip. Control software customization –machine interfacing logic, RS-232, digital I/O DEMO !

3. Software Architecture Real Time Simulation Controller Database : Process Plans Part Orders Shop Controller Kardex ABB Robot VF-OSL-20 Distributes messages to appropriate equipment, coordinates synchronous picks and puts based on shop level state graph. Executes process plan sequence, allocates resources to production of part, sends messages to shop controller. Issues hardware commands based on shop level instructions. Follows equipment level state graph. Ethernet message router Ethernet socket connection Hardware RS-232, Digital I/O

4. Software Architecture Real Time Simulation Controller Database : Process Plans Part Orders Shop Controller Kardex ABB Robot VF-OSL-20 Distributes messages to appropriate equipment, coordinates synchronous picks and puts based on shop level state graph. Executes process plan sequence, allocates resources to production of part, sends messages to shop controller. Issues hardware commands based on shop level instructions. Follows equipment level state graph. Ethernet message router Ethernet socket connection Hardware RS-232, Digital I/O

5. Control software development process General principle: design control software to be generic, verify with specific parts. Design shop control part state graph based on general assumptions Design equipment control part state graphs based on expected resource interaction with part. Define extra message info for equipment VERIFY ! by hand Generate shop level software, add customization for extra msg info Generate equip level software, add customization for hardware interfacing VERIFY ! with manual control of shop controller

6. Procedures for Part Processing Start Unload Load Process/Store Unload Load Move End Wysk, Peters, Smith Model Start NS Unload NS Load MP Process Synch Unload Synch Load MT Move End Detailed Model for PSU Buf. Release Tray Buf. Return Tray MP Grasp Part MP Release Part

7. Some assumptions for PSU Always non-synchronous load to and unload from MT and BS devices. Always synchronous load to and unload from MP devices. Part always starts and ends at a BS device.

8. MPSG Controller Development MPSG Graph manual MPSG Input File MPSG Builder header file code file action file Visual C++ Project generic files extra message info handling (i.e. NC/robot file names) manual modification hardware interface customization manual modification

9. MPSG Builder Specifications See handout for Input File Specification Output Files: –header file: defines constants used by code –code file: functions to initialize state graph and parse input messages –action file: task precondition and action functions (modifiable by you) –Note: precondition functions not designed for error-handling, simply re-execute until precondition is satisfied (function returns TRUE).

10. Shop Control software customization Shop control software task action functions get messages from simulation and pass them to equipment controllers. Code to pass along extra message info (i.e., NC/robot files names) must be explicitly added in action function.

11. Equip. Control software customization Not required for simulated testing. Required to interface with hardware. Add interfacing C code to appropriate task action functions (i.e., grasp, process, etc). Serial DLL for RS-232 communication (Kardex, Puma robot, download NC files). Device Driver for digital I/O communication using digital I/O board (PLC interfacing, interfacing to relays, digital switches).

12. DEMO ! 0123456789 Generic MH graph pick_br I pick T pick_ok_br O clear1_br I clear1 T clear1_ok_br O put_br I put T put_ok_br O 101112 clear2_br I clear2 T clear2_ok_br O 9 Generic MP graph 0 load_bm I 1 load T 2 load_ok_bm O 3 process_bm I 4 process T 5 process_ok_bm O 6 unload_bm I 7 release T 8 unload_ok_bm O