j.nr. 1.01
v/TECHCOLLEGE
2. Overordnede krav til alle sektioner ............................................................................... 4
3. Specifikationer til Anlæg 1 - Bearbejdning af delelementer, og halvfabrikata ..................... 5
3.1 Pallet Transport System ....................................................................................... 5
3.2 Branch module .................................................................................................... 6
3.4 Touch Panel ........................................................................................................ 7
3.6 Industry 4.0 extension consisting of: ..................................................................... 7
3.7 Application module inspection ............................................................................... 8
3.8 Color Camera System: ......................................................................................... 9
3.9 Image processing software: .................................................................................. 9
3.10 Application module magazine ................................................................................ 9
3.11 Application module Heat tunnel ........................................................................... 10
3.12 Application module drilling .................................................................................. 11
3.13 Application module press .................................................................................... 13
3.14 Application module output .................................................................................. 14
3.15 Application module measuring ............................................................................. 15
3.16 Application module Pick-by-Light ......................................................................... 15
3.17 Active deflection system ..................................................................................... 16
3.18 Mobile laboratory bench ..................................................................................... 16
3.19 Compressor ...................................................................................................... 16
3.20 Production Control System, based on Microsoft Access Database including user interface
17
4. Anlæg 2 - Detalje montering med robotcelle, kvalitetskontrol og færdigvarelager ............ 18
4.1 Basic module, for camera inspection .................................................................... 19
4.2 Module for camera inspection .............................................................................. 20
4.3 Automatic Storage ............................................................................................. 21
Side 3
Side 4
1. Overordnet beskrivelse
I Bilag 1 er der en skitse over det eksisterende anlæg og opstillingen af det nye anlæg.
Det samlede udstyr kan opdeles i tre overordnede sektioner:
1) Anlæg 1 - Bearbejdning af delelementer og halvfabrikata
2) Anlæg 2 - Detalje montering med robotcelle, kvalitetskontrol og færdigvarelager
3) Anlæg 3 - Mobilt robot palletransportsystem
Der nærmere kan specificeres således:
Anlæg 1 bestående af følgende stationer:
o modtagerstation for mobilt robot palletransportsystem
o analog måling
o bearbejdning, boring
o Robot bearbejdningscelle
Mobilt robot palletransportsystem
Udstyret skal anvendes til undervisning
Udstyret skal være let håndterbart (laboratorie format)
Alle stationer skal være flytbare på hjul
Udstyret skal være dimensioneret således det rent fysik og styringsmæssigt matcher det
eksisterende udstyr (MPS serien fra FESTO)
Udstyret skal være opbygget af moduler, som kan sammensættes på forskellig måde
Hvert modul skal kunne betjenes individuelt vha. et operatørpanel
Der skal medleveres et mobilt robot palletransport system, som er fuldt integrerbart med
de øvrige moduler
Der medleveres et MES system, som skal være fuldt integreret med alle tre anlæg
Alt nødvendig kabling, stikforbindelser og andet tilslutning skal medleveres
Udstyret skal leveres opstillet og indkørt på leveringsadressen
Der skal medleveres kurser til underviserne
Side 5
3. Specifikationer til Anlæg 1 - Bearbejdning af delelementer, og halvfabrikata
3.1 Pallet Transport System
The pallet transport system is designed for transporting carriers and pallets. The pallet transfer
system is equipped with easily replaceable motors located laterally. The conveyor must be
able to transport not only carriers but also workpieces with dimensions of 40 x 40 mm ap-
proximately. The usage of double belt system is not permitted. The controller must be inte-
grated in the foot of the transfer system. One IO-link Master and two IO-link devices must be
an integral part of the Fieldbus. The Fieldbus concept must be expandable so that Profinet,
Profibus and Ethernet-IP can easily be added into the transfer system without the need for
rewiring of sensors and actuators. Multiple transfer systems must be flexibly combined with
each other, in sequence as well as around corners.
Additional technical requirements:
Width 80 mm
Length 700 mm
Pallet stopper with spring­loaded bolt 3/2­way pneumatic valve
4 inductive sensors for Binary Coded Decimal (BCD) ­ code of the pallet
RFID – sensor (read/write)
Standard motor 400 VAC, Size 56 acc. to IEC
Operating voltage 24 V DC engine controller with rapid / slow speed / right / left
Creep speed adjustable
Drives are flanged by means of a plug­in claw coupling
Rotary encoder integrated via 2­channels
Optical sender / receiver placed at the beginning and the end of the belt
PLC with, integrated CPU
4 analog inputs, 2 analog outputs, integrated
IO­link Master, integrated
IO­link Device, integrated
3.2 Branch module
The branch allows and ensures a production workflow of materials between a pallet transfer
system and a basic work cell, for example: a linear module. The branch module must provide
a docking option for a mobile robot.
The diversion shall include the following:
integrated control
Pneumatic switch
Belt suitable for workpiece carriers with the dimensions 180 mm x 130 mm
Coupling sensors for a driverless transport system
3.3 Human Machine Interface (HMI)
Human Machine Interface (HMI) to be attached to a pallet transfer system. It must be modular
and it must be possible to upgrade the system in different steps. Specifically for safety circuits,
actuators and potential-free contacts must be provided. In the basic configuration, at least 4
actuators and 4 light indicators must be available. In the complete configuration, 8 additional
actuators, 8 light indicators and 8 potential-free contacts must be available. Furthermore the
HMI module must be designed for mounting a touch panel. The touch panel must be entirely
enclosed.
Standardized VESA mounting unit
Connection plug for Profinet
Connection plug for key panel 4 inputs/4 outputs
Connection plug for expansion key panel 8 inputs/8 outputs
Side 7
Consistent high-end functionality: archives, VB scripts and various viewers to display
the system documentation (e.g. as PDF) or in the form of Internet pages
Data security during power failure
Multiple interfaces for process communication
Integrated PROFINET switch from 7 "
Programming from WinCC Comfort V11 (example TIA Portal)
The touch panel should only be approved for schools and training centers in the commercial
sector.
Required technical data:
7.0 "widescreen TFT display (resolution 800 x 480, 16 million colors)
Touch screen
2 USB interfaces with integrated switch
Dimensions (W x H x D) 214 x 158 x 70mm
Power supply: 24 V DC
3.5 Tabletop power supply unit
Input voltage: 85 – 265 V AC (47 – 63 Hz)
Output voltage: 24 V DC, short­circuit­proof
Output current: max. 4.5 A
Dimensions: 75 x 155 x 235 mm
3.6 Industry 4.0 extension consisting of:
Load receiving unit:
o For holding workpieces. With the load receiving unit, the mobile robot must be
enabled to pick up workpiece carriers from a work cell or to deliver them to a
work cell.
Side 8
o To safely switch off the mobile robot when an obstacle appears. Two protection
zones must be programmable. The scanner must provide distance data for nav-
igation, which are transmitted to the computer's navigation computer via a fast
serial interface.
Navigation software
o The navigation software must both create and store the travel range of the
mobile robot as an electronic card in the navigation computer of the mobile
robot. Likewise, the navigation software must allow free, autonomous naviga-
tion ofthe mobile robot without a guide strip or optical markers
Fleet manager
o The fleet manager has to be able to direct several autonomous robots (mobile
robots) and to pick up his driving commands from the offered MES system.
Automatic charging station
o When the battery is low, the mobile robot must go to his loading bay inde-
pendently and automatically load it there.
o After the charging process has been completed, the mobile robot has to register
again with the fleet manager.
3.7 Application module inspection
The application module inspection must be combinable and easily adaptable to a pallet transfer
system. The module must be able to use even without pallet transfer system as a stand-alone
module on the table. An industrial vision inspection system must be integrated in the module
for the optical inspection of workpieces. The module has to be equipped with light barriers for
detecting the availability of pallets and workpieces. A software package for configuration and
optimization of inspection programs must be a part of the delivery. The image processing
software must contain at least the following tools for analyzing the image data:
Construction:
Industrial camera with integrated lighting
Technical specifications:
Number of I / O: 4/4
Voltage: 24 VDC
3.8 Color Camera System:
The color camera must be of an industrial standard and meet at least the following require-
ments:
Interfaces: Ethernet / CAN-bus
Testing possibilities per test program
Integrated CECC PLC according to IEC 61131-3 (Codesys)
Image refresh rate: 150 images / sec.
Protection class: IP65
3.9 Image processing software:
The image processing software must contain at least the following tools for evaluating the
image data:
ROI Tool: Pixel-based tool for area, dimension, position and rotation comparison
Contour tool: for detecting contour deviations and rotation
Measuring tool: for measuring lengths, distances, diameters and angles
Configuration and commissioning tool: for the camera for setting the signal behavior,
setting the frame rate, amplifying the sensor, setting the evaluation and output func-
tions
Analysis tool: for analysis and display of evaluated parts, live images, statistics and
handling of test programs, diagnostic display of the device properties, display of errors
3.10 Application module magazine
The application module magazine must be able to be installed on a pallet transfer system, a
working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table. Housing covers are stored in a
magazine shaft. If a pallet is located underneath the shaft magazine, the lowest housing cover
is separated and placed on the pallet.
Construction:
Side 10
Shaft magazine
Valve block
Number of I / O: 8/8
3.11 Application module Heat tunnel
The application module heating tunnel must be able to be installed on a pallet transfer system,
a working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table.
The application module heat tunnel" is used for the temperature control of workpieces up to a
temperature of 70 degrees Celsius. The tunnel oven must show the typical characteristics of
a PTn section with a short delay time as a temperature control section.
The application must contain components which are similarly contained in industrial heat tun-
nels (heating coil, PT100, electronic load relay).
The characteristics of a temperature control section and the realization of a quasi-continuous
control must be able to be shown clearly in the application.
Technical features:
Stainless steel housing with heat insulation
Heating capacity can be switched between 500 W and 1000 W
Safety shutdown at 70 degrees
Wire frame in front of the heating coils, to protect against the dangers of direct contact.
Ventilation flaps for influencing the control loop
Control via I / O interface (PWM 24 V DC)
Temperature signal analogous to 0-10V
Range characteristics PTn
3.12 Application module drilling
The application module drilling must be able to be installed on a pallet transfer system, a
working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table. Two drilling spindles (TWIN drill
head) must be set in the Z direction and can be traversed in the X direction. As a result, two
drilling couples can be inserted into a workpiece. The twin drill head must be able to produce
two drill holes at the same time. To control the unit, connection plate valves must be used in
battery mounting.
With the help of a functionality of cyber-physical characteristics the module must be able to
work as an autonomous system. The integrated intelligent controller must monitor the oper-
ating states of the individual actuators and be able to automatically generate order proposals
for spare and wear parts via the web interface.
Structure of the module:
1x valve block
I / O terminal
Web Controller
The module must be fully assembled and ready for operation. All signals must be routed to an
electrical connection block. The connection block may have to be exchanged optionally with a
connection block with AS-Interface, Profibus-DP or Profinet IO interface.
Other technical requirements:
Interface between sensors and connection block: M8 sensor plug
Interface to the control system: System interface according to IEEE 488, 24 pin
Operating voltage: 24 VDC
Drive Linear Slides X-Axis:
o Design: Rodless drive
o Guide: external ball circulation guide, 0mm guide clearance
Side 12
o Pneumatic connection M5
o Repeatability: 0, 02 mm
o Min. Operating pressure 2.5 bar
o Max. Operating pressure 8 bar
o Position detection: for proximity switches
o Guide axis: Precise guide suitable for ball circulation
Guide Linear Slides X-Axis:
o stroke: 120 mm
Linear slide Z axis:
o Repeatability +/- 0.01
o Damping: hydraulic, self-adjusting on both sides
o Position detection for proximity switches
o Minimum operating pressure 1.5 bar
o Max. Operating pressure 8 bar
o End position lock
for fixing the guide carriage in a depressurized, retracted state
form-fitting
on both sides
o Pneumatic connection M5
Integrated controller with Web interface for Cyber Physical System (CPS) Functionality:
o Interfaces: 4x IO Link Master, 1x IO link device, Ethernet connection, USB port,
CANopen
Interface to basic module: Web Controller
Pin assignment of the 24-pin connector must be 1: 1 of the pin assignment of a USB-PC
interface of the manufacturer for data exchange with a simulation and control software. It
must be guaranteed that the function module can be directly controlled by the fluid engineer-
ing instruction, simulation and control software of the manufacturer by directly plugging the
USB-PC interface without further intermediate adapters or matching cables.
3.13 Application module press
The application module press must be able to be installed on a pallet transfer system, a work-
ing cell linear and a working cell branch. The module must be able to use even without pallet
transfer system as a stand-alone module on the table.
The drive element must be controllable via a proportional pressure control.
The drive element must consist of 2 pneumatic muscles to avoid the stick-slip effect. The force
exerted on the workpiece must be precisely measured by means of a load cell. The load cell
must be qualitatively comparable to the load cell Megatron DMS force sensor KMB19 with
measuring transducer “IMA2-DMS”.
Force measurement:
Output signal: 2 mV / V
Output technology: without measuring amplifier
Direction of force: pressure
Construction: measuring socket
Protection class: IP65
Resolution of the AD converter in PLC: 16Bit, corresponding to 0.04%
Pressure regulation:
Input signal: 10V corresponds to 6 bar.
Maximum hysteresis 0.03 bar
Force:
Depending on the length utilization allowed up to 630N per muscle.
Practical value 0 - approx. 200N per muscle
3.14 Application module output
The application module output must be able to be installed on a pallet transfer system, a
working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table.
The module has to remove workpieces from the transport pallets and output them to one of 2
selectable paths.
Frame: Aluminum profiles
Air pressure: 6 bar
X axis: stepper motor
Control: Syslink
The application module output must be equipped with a two-axis handling system which is
used to output cubic workpieces on two roller conveyors. All sensors and actuators are con-
nected to an I/O terminal, which can optionally be exchanged for fieldbus nodes (Profinet I/O).
The application module is completely assembled and tested.
Learning contents:
Handling technology
3.15 Application module measuring
The application module measuring must be able to be installed on a pallet transfer system, a
working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table.
The module must be able to measure the edge of a workpiece in a flexible manner. For this
purpose, two laser distance sensors should be able to be directed to any desired positions of
the workpiece.
Measuring range of laser distance sensors approx.10mm-80mm
Measuring accuracy of the distance measurement max 0.2 mm
Measurement signal 0-10V
3.16 Application module Pick-by-Light
The application module Pick-by-Light must be able to be installed on a pallet transfer system,
a working cell linear and a working cell branch. The module must be able to use even without
pallet transfer system as a stand-alone module on the table. The manual workstation contain
a rack with at least 8 shells for 8 different assembly parts. Each shell must be equipped with
a signal lamp and a sensor for assembly check. The signal lamps must show the worker the
right grip shell in the assembly sequence. The integrated sensors must be able to supervise
whether the worker selects the correct shell. In case of wrong selections, a light signal must
be sent and assembly process has to be interrupted.
In addition, the following properties must be fulfilled:
Shelf frame made of anodized aluminum profile
8 ergonomic handles
Each gripping position is equipped with gripping sensors
Program blocks for Pick-by-Light
3.17 Active deflection system
Reversing system, consisting of 4x 90 degree deflections for the construction of closed work-
piece support revolutions.
Power supply 24 VDC
Base steel sheet
3.18 Mobile laboratory bench
Laboratory trolley Pallet transfer system with profile columns and two-line A4 receiving frames.
Height workbench 800 mm (must be compatible, to the high of the AGV transport system
and the(must be compatible, to the high of the AGV transport system and the other cells)
Width 700mm
Depth 900mm
Frame in aluminum and light gray; Worktop in light gray. The car is delivered with twin wheels
and parking brakes.
Quiet/oil­lubricated compressor (54 dB (A)). Equipped with filter regulator.
Pressure: 8 bar
Tank size: 100 l
Duty cycle: ~ 50 %
Compressor accessories
Side 17
Consisting of:
Coupling plug (KS4­CK­4)
Tubing (6 x 1 silver 2,5 m)
3.20 Production Control System, based on Microsoft Access Database including user interface
The production control system must be designed as a didactic structured Manufacturing Exe-
cution System (MES). The MES must be able to communicate directly with the PLC via open
communication interfaces. Each PLC must be able to communicate with the MES in real-time.
The open database of MES must be externally accessed via SQL commands. The database are
easily exchangeable, so that the MES is individually adaptable to different training scenarios.
The process monitoring and order traceability must be done by means of RFID based opera-
tion. The software must be completely installed on PC. The PC and TFT display are included in
the delivery.
Open database
Individual training scenarios
Warehouse management
Export final orders as *.xls­file
Side 18
4. Anlæg 2 - Detalje montering med robotcelle, kvalitetskontrol og færdigvare-
lager
The Basic Module Branch is equipped with one PLC board in the control cabinet and allows the
use of one application module. Two parallel conveyors move in 2 different directions and
transport the pallet carriers. Two rectangular branch-off conveyors allow the diversion of pallet
carriers. Every carrier is equipped with a
RFID-tag on which workpiece parameters are stored. Using a passive deflection a circulating
system can be realized. The module can be used as a docking module for the mobile robot.
Learning content for project work:
Mechanical and electrical set-up of the module: Sensors/Actuators - Conveyors - Wiring
Capture of information using intelligent sensors
Process and material flow optimization: diversion/Routing
PLC programming
Binary pallet detection
Identification using RFID
Consisting of:
1x Integrated control cabinet with control panel
4x Conveyor
2x Stop unit with RFID-sensor
1x Control panel with key panel touch panel and emergency stop
2x Passive deflection
Doors, Transparent, lockable
Positioning, 4x Levelling feet; 4x Caster wheels
Dimensions (H x W x D), 980 mm x 1200 mm x 800 mm
Power supply, 230/400 VAC
Touchpanel, example, 1x Siemens TP700 Comfort
Drives for conveyors, 4x 24 VDC Motors
Stopper, 2x Stopper with RFID
Switch, 8-port
Side 19
4.1 Basic module, for camera inspection
The basic module bypass is equipped with 2 independent controls. It therefore offers 2 inde-
pendent learning places opposite one another. Two parallel conveyors move in 2 different
directions and transport carriers. An additional bypass-conveyor allows the diversion of the
carriers to the next working position. Every carrier is equipped with a RFID-tag on which
workpiece parameters are stored. Using a passive deflection a circulating system can be real-
ized.
Mechanical and electrical set-up, ByPass: Sensors/ Actuators - Conveyors – Wiring
Capture of information using intelligent sensors
Optimization of processes and material flow: ByPass/ bottle neck
PLC programming
Binary pallet detection
Identification using RFID
Consisting of:
2x Integrated control cabinet
3x Stop unit, pneumatic with RFID-sensor
2x Control panel with key panel, touch panel and emergency stop
2x Passive deflection
Doors, Transparent, lockable
Positioning, 4x Levelling feet; 4x Caster wheels
Dimensions (H x W x D), 980 mm x 1200 mm x 800 mm
Power supply, 230/400 VAC
Touch Panel, example 2x Siemens TP700 Comfort
Drives for conveyors, 3x 24 VDC motor
Stopper, 3x Stopper with RFID
Switch 8-port
Function:
The application module for Camera Inspection can be mounted on basic modules The camera
is used as an intelligent and universal sensor with integrated controller for quality assurance
by optical inspection.
Learning content:
Image processing: Quality assurance/evaluation
Consisting of:
1x Intelligent camera with integrated controller
1x Signal interface
1x Software package
Interfaces, Ethernet or CANopen
Frame rate, 150 pictures/sec.
Contour tool: Contour deviation, Rotation
Measuring tool: Length, Distance, Diameter, Angle
Configuration tool: Signals, Frame rate, Amplification, Output functions
Analysis tool: Statistics, Evaluations, Test programs
Diagnostic display: Features, Errors
Dimensions (H x W x D), 605 mm x 350 mm x 195 mm
4.3 Automatic Storage
Function:
The and Retrieval System is equipped with a Cartesian robot for automatic storage and re-
trieval of pallets. Up to 32 pallets can be stored and retrieved. Two parallel conveyors move
in 2 different directions and transport carriers to the next working position. Every carrier is
equipped with a RFID-tag on which workpiece parameters are stored. Using a passive deflec-
tion, a circulating system can be realized.
Learning content for project work:
Mechanical and electrical set-up for Pallets: Sensors/ Actuators - Conveyors - Wiring
Capture of information using intelligent sensors
Warehouse management using MES
Positioning and servo drives
Binary pallet detection
Identification using RFID
Consisting of:
1x Integrated control cabinet with a control panel
2x Conveyor
2x Stop unit, pneumatic with RFID-sensor
1x Control panel with key panel, touch panel and emergency stop
1x High-bay rack on a aluminium profile with 32 storage shelves
1x Cartesian robot consisting of:
o 2x servo linear axes
o 1x pneumatic linear axis
Side 22
o 1x pneumatic gripper
Doors, Transparent, lockable
Positioning, 4x Levelling feet; 4x Caster wheels
Dimensions (H x W x D), 1800 mm x 1200 mm x 800 mm
Power supply, 230/400 VAC
Touch Panel, example 1x Siemens TP700 Comfort
Drives for conveyors, 2x 24 VDC motor
Stopper, 2x Stopper with RFID
Switch, 8-port
Number of shelves, 32
4.4 Robot assembly cell
Function:
The Robot Assembly Cell is used for mounting of workpieces using a 6-axis industrial robot.
The robot places the printed circuit boards (PCB) into the housing and equips them with fuses.
Two parallel conveyors move in 2 different directions and transport carriers. An additional
bypass-conveyor allows the diversion of the carriers to the robot working position. Every car-
rier is equipped with a RFID-tag on which workpiece parameters are stored. Using a passive
deflection, a circulating system can be realized. The supply of workpieces (PCBs) happens
manually or by means of a mobile robot.
Learning Content for Project Work:
Mechanical and electrical set-up of the Robot Assembly Cell
Functioning and application areas of optical and inductive sensors
Capture of information using intelligent sensors
Functioning and application areas of industrial camera systems
Object recognition
Application areas of industrial robots
Teaching of robots in various coordinate systems
Individual and flexible assembly
Binary pallet detection
Identification using RFID
Consisting of:
1x 6-axis industrial robot
1x Integrated control cabinet with a control panel
3x Conveyor
3x Stop unit, pneumatic with RFID-sensor
1x Control panel with key panel, Siemens touch panel and emergency stop
1x Camera with transmitted light unit
1x Changer magazine for 3 grippers
2x Passive deflection
Technical data
Base Frame 2x Base frame made from steel and aluminium profile; seperable
Doors Transparent, lockable
Positioning/ Base Frame 4x Levelling feet; 4x Caster wheels
Dimensions/ Base Frame 1800 mm x 1200 mm x 800 mm
Power supply 230/400 VAC
Touch panel example 1x Siemens TP700 Comfort
Drives for conveyors 3x 24 VDC Motors
Stopper 3x Stopper with RFID
Technical data robot:
Type, Articulated Robot
Movement range, 480 °/240°/164°/400°/240°/720°
Maximum composite speed, 9048 mm/s
Cycle time, 0,36 s
Position repeatability, ± 0,02 mm
Weight, max. 40 kg
Protection rating, IP67
Function:
The Mobile robot pallet transport system is used for transporting carriers. With a laser
scanner and a transportation unit makes it an automated guided vehicle in the mobile robotics.
Highlights:
Free and autonomous navigation, due to the Smart Soft navigation software, the robot
can freely navigate through the environment and generate movement paths in real-
time. Area detection and survey can be done by means of an integrated laser scanner.
Open programming environment, the programming interface of the robot allows vari-
ous programming languages and systems to be used to develop a control program.
The supports the following languages and systems:
o C/C++, JAVA, .Net
o Microsoft Robotics Developer Studio
Omnidirectional drive, with its omnidirectional drive, moves in all directions: forwards,
backwards and sideways and also turns on the spot.
Graphical programming environment for external PC View is an interactive, graphical
programming and learning environment for Robot. It communicates directly with the
robot system via wireless LAN.
Positioning and docking, the integrated infrared and fibreoptical sensors are used for
wireless communication with various docking cells. The fibre-optical senders and re-
ceivers make the positioning and docking of the robot more accurate.
Communication to the Manufacturing Execution System (MES), the optional fleet man-
ager can manage several robots as a fleet and can be connected to the MES4 as greater
order and route planning software
Learning Content for Project Work:
o Commissioning of a mobile robot system
o Capture and scaling of various sensor data
o Electrical drive control
o Graphic programming of applications for the mobile robot system
o Programming of mobile robot applications in C++, C#, JAVA and .Net
o MathLab and LabView Interface
o Remote Control via wireless LAN
o Integration of a camera system
o Programming of autonomous navigation
o Communication with superordinate controls and MES
Side 26
Technical claim:
Operating system, Linux ubuntu 12.x
User interface, Webserver
Sensors, 9x Infrared sensors; Logitech C905 camera; Safety bumper, sensor; gyro-
scope
Device interface, 6x USB2.0; 2x PCIe; 8x digital E/A; 8x analogue Input
Empty weight/Payload 25 kg/max. 30 kg
Max. velocity max. 2,7 m/s
Dimensions Diameter 450 mm, Height 1250 mm
Runtime/Charging max. time 4 hours/6 hours
Safety claim:
Maximum warning field range, 8 m
Number of Field set, 16
Data interface, RS422
Drive, 24 VDC Motor
Sensors, 3x infrared distance sensor; 1x light barrier sensor; 1x infrared light, trans-
mitter; 1x infrared light receiver
Safety, Safety emergency button
User input, 1x user input button with integrated LED
1. Overordnet beskrivelse
3. Specifikationer til Anlæg 1 - Bearbejdning af delelementer, og halvfabrikata
3.1 Pallet Transport System
3.4 Touch Panel
3.6 Industry 4.0 extension consisting of:
3.7 Application module inspection
3.8 Color Camera System:
3.9 Image processing software:
3.10 Application module magazine
3.12 Application module drilling
3.13 Application module press
3.14 Application module output
3.15 Application module measuring
3.16 Application module Pick-by-Light
3.17 Active deflection system
3.18 Mobile laboratory bench
3.20 Production Control System, based on Microsoft Access Database including user interface
4. Anlæg 2 - Detalje montering med robotcelle, kvalitetskontrol og færdigvarelager
4.1 Basic module, for camera inspection
4.2 Module for camera inspection
4.3 Automatic Storage