Status of SuperVisorPLCs

1

Status of SuperVisor-PLCs
BMM D. Duchesneau, Th. Le Flour, S.
Lieunard. (Linux C)
SuperVisor J. Damet, F. Moreau (Windows Visual
C)
PLCs R. Gallet, I. Monteiro (PL7pro)
2

Status of SuperVisor-PLCs
OPERA general control, other systems
Java Interface
Extract the 5th brick
ORACLE
BMM
Brick Manipulation Manager
CORBA
Mission
SuperVisor
ETHERNET links
BMS
PLC 2
Brick Manipulation System
PLC 1
Action
PROFIBUS links
Sensors, actuators
Sensors, actuators
Mechanics Manipulator 1
Mechanics Manipulator 2
3

Status of SuperVisor-PLCs

• What did we learn for this test?
• Corba connection using EventService works.
• TCP Open (TCP/IP libraries for communications).
• Use of thread in the SuperVisor (Visual C)
  100 CPU whist listening to PLCs.

Bunch of tests has been perfomed to better
understand the procedure for socket connections.
4

Status of SuperVisor-PLCs
TCP Open Connection
Buffer structure
We have to check the connection
5

Status of SuperVisor-PLCs
Additional tests for SuperV-PLCs communication
S0
Launch DFB_CNX
Create Socket Connect()
Set paramters
Active A6
Active A0
Home
Mission
Active DFB_RECV
Send()
Ok Mission
Move of the motors
Mission treatment

Report
Recv()
Active DFB_SEND
Ok Report
Active DFB_RECV
Send()
6

Status of SuperVisor-PLCs

• Next steps
• Implement the connection check into SuperVisor
  and PLCs
• Change the thread features in VisualC
  (SuperVisor)

Perform a new test of the whole chain in Feb.

• SuperVisor programming Modify the actual
  software structure
• to ease implementation with BMM.
• Last but not least. Include code to manage all
  possible failure
• cases and test the program with the manipulators
  in Annecy

7

The BMS positioning in respect of the wall
Wall Tray
Draw bridge
Analogical Sensor To check the height
positioning
Optical fiber Sensor For the Longitudinal an
transverse positioning
Inductive Switch Sensor To Avoid collision with
End Cap Target Tracker
I. Monteiro / Strasbourg Jan.2003
8

The BMS positioning in respect of the wall
Instrumentation of the swing bridge with captors
and threshold controllers underneath.
9

Instrumentation of the manipulator
4.4 Kw motor for the manipulator mounted in Annecy
10

Instrumentation of the manipulator
Next steps
Armoire 4 (XMV500, ZMVFIN, TJAKVV, CARROUSEL)
Armoire 5 (PUSHER,Swing Bridge)
11

Instrumentation of the manipulator
Armoire 6 (VV, PULLER, BIGJACK)
Armoire 7 (Modules E/S, Pneumatique)