- 學位論文
多軸工具機區域網路控制器之研製與整合
Development and Integration of the Local Networking Controller for Multi-Axis Machine Tools
摘要
近年來，製造業已朝著智能工廠與智慧製造等技術前行，但礙於成本與技術台灣多數廠商無法將現有產業進行升級，若能提供一個價格相對低且穩定的區域網路平台，則能讓小型工廠具有跨足智慧工廠的本錢。過往工廠內CAN Bus應用相當盛行，CANopen是一種架構在控制區域網路CAN Bus上高層應用層之通訊協定，且在工具機中馬達為最常見的設備。因此本論文以研究 CANopen中CiA301與CiA402協定為主，進而實現一個具有通訊網路與馬達控制的CANopen馬達控制節點。為了使本論文研製的馬達控制器能夠應付較高精度的應用情境，本控制器除了CANopen基本的網路管理與資料傳輸物件外，也實現了同步物件讓區域網路上各個馬達控制節點完成同步動作。馬達控制上除了基本的定速與定位功能外，亦實現了歸位功能。本研究進行CANopen網路系統可行性與系統性能之實測與評估，希望能實現自動化設備間的智能溝通，並建構出一個同步時序控制與排程機制之生產線。
並列摘要
In recent years, the manufacturing technology has evolved into intelligent manufacturing to construct the production lines of Smart Factory for Industry 4.0. However, the cost of intelligent manufacturing machines and production lines is very expensive so that most manufacturers are not willing to upgrade new equipment. Therefore, we want to develop and provide a relatively low price of machines to build up the stable network platform with high performance, and thus small factories can also achieve the intelligent manufacturing lines. In this paper, the CiA 301 and CiA 402 standards of CANopen Application-Layer protocol are studied and implemented for the local network of multi-axis machine tools. Moreover, the networking communication and motor control is developed for the motor controller node with CANopen. To enable the motor controller with high-accuracy operation, the motor controllers are provided with basic networking management and data transfer functions of CANopen, and have also realized the CANopen object of synchronization to make each motor control node in local network to complete the synchronization operation. Furthermore, the feasibility and system performance of CANopen local network is tested and evaluated to construct a production line of intelligent manufacturing with synchronization control and optimized scheduling mechanism.