Author: Uwe Vogt

Project: May 2003 – August 2004 (16 months)

Description

Cooperation in the specification and development of a compact drive for format adjustment with CAN interface and CANopen protocol according to CiA DSP-402 (Profile for Drives and Motion Control). My tasks in the project included:

• Support for a development team when defining the system configuration:
  • Definition of the drive functions (hardware and software)
  • Selection of CANopen communication services and CANopen communication objects
  • Specification of the motor control functions, including the interface definition to the motor operation program
  • Selection of the development environment (software and hardware tools such as compiler, assembler, debugger, emulator, etc.)
• Creation of the specification part “Description of the CAN / CANopen interface”
• Development and testing of the CANopen application program:
  • Adaption the CANopen protocol stack to the target system
  • Implementation and coding of the CANopen software part
  • Function and integration test of the CANopen software part
  • Support for the CANopen conformity test
• Creation of the development documentation “Description of the CAN / CANopen interface”
• as well as the cooperation in the planning, development and integration of further software functions

Summary

May 2003 – August 2004)

Project	CANopen Compact Drive
Duration
Customer	Berger Lahr GmbH & Co. KG, Lahr
Industry Sector	HW and SW Development Mechatronics
Role / Responsibility	Requirements Analysis/Requirements Document, System Specifications/Technical Specifications, System Architecture, Software Design, Implementation, Function Tests, Documentation/Manual, System Verification, Training and Support, Order Processing
Software / Tools / Methods	Keil C166 C Compiler (uVision3), IXXAT CANopen Slave Software, CAN/CANopen Tools (IXXAT), CiA CANopen Conformance Tester
Hardware Environment	Infineon XC164 Microcontroller, Keil U-Link On-chip Debugger, CAN Interface Boards (IXXAT)

Project: January 2003 – February 2003 (2 months)

Description

Development of an application program for Soft-PLC in C: The application consists of six (6) industrial sewing machines, whereby needle and gripper are not mechanically coupled but via two servo drives. The servos are controlled and monitored via a PLC that also handles thread monitors, material sensors and fault signals. The six PLCs are networked via CAN bus, one PLC serving as a master station. A display for operating the machine is connected to the master PLC via the CAN bus.

Summary

Project	Sewing Machine for Cover Film (Fruit-Growing)
Duration	2 months (January 2003 – February 2003)
Customer	Spruck Industrieelektronik, Neckarbischofsheim
Industry Sector	Automation Textile Industry
Role / Responsibility	System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods	Keil C166 C Compiler (uVision2), F&B Libraries (C source code), UVS CANopen Master Library
Hardware Environment	Frenzel&Berg EASY Soft PLC, Customized Display (320×200, CAN), Mitsubishi Servo Drives, Incremental Encoders, Various Digital Sensors

Project: December 2002 – December 2002 (1 month)

Description

Conducting a workshop on the topic of CANopen for electric drives:

• Overview of CAN and CANopen
• CANopen communication profile CiA DS-301
• CANopen device profile for motion controllers (DSP-402)
  • CANopen object directory for motion controllers
  • CANopen state machine for motion controllers
• Set-up of motion controllers under CANopen
  • The object directory for parameter access
  • The state machine for generating drive motions
• Hands-on training

The in-house workshop served a small developer team (2 people) to prepare themselves for the development of a CANopen drive according to CiA DSP-402.

Summary

Project	CANopen for Motion Controllers according to CiA DSP-402
Duration	1 month (December 2002 – December 2002)
Customer	Berger Lahr GmbH & Co. KG, Lahr
Industry Sector	HW and SW Development Mechatronics
Role / Responsibility	Training and Support, Order Processing
Software / Tools / Methods	PowerPoint Presentation, IXXAT CANanalyser/32
Hardware Environment	Compact Drive D065 (CANopen), IXXAT CAN Interface Board

Project: October 2002 – November 2002 (2 months)

Description

Development of an application program for Soft PLC in C. The machine simultaneously sews two sides of a mop. It consists of a pneumatic gripping device, a feed drive and a puller drive; two servo drives each driving an industrial sewing machine, a thread chopper and a thread extractor. The drives are controlled by the PLC via the CAN bus (CANopen protocol) and the remaining actuators and sensors via digital inputs / outputs. The sewing machine is operated via a display that communicates with the PLC via the CAN bus.

Summary

Project	Automatic Sewing Machine for Mop
Duration	2 months (October 2002 – November 2002)
Customer	Spruck Industrieelektronik, Neckarbischofsheim
Industry Sector	Automation Textile Industry
Role / Responsibility	System Specifications, Software Design, Implementation, Function Tests, Documentation, Order Processing
Software / Tools / Methods	Keil C166 C Compiler (uVision2), F&B Libraries (C source code), UVS CANopen Master Library
Hardware Environment	Frenzel&Berg EASY Soft PLC, Customized Display (320×200, CAN), Mitsubishi Servo Drives, Pneumatic Actuators, Various Digital Sensors