Open Automation
Project Overview
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Industrial Machinery
User Panel
Industrial Machinery
PLANT
USER PANEL (HMI) CONTROLLER
Industrial Machinery
CONTROLLER PLANT
USER PANEL (HMI) Hard Real Time Loop
Industrial Machinery
CONTROLLER PLANT
USER PANEL (HMI) Hard Real Time Loop
Industrial Machinery
CONTROLLER PLANT
USER PANEL (HMI) Hard Real Time Loop
Fast Enough Loop
Industrial Machinery
CONTROLLER PLANT
USER PANEL (HMI) Hard Real Time Loop
Fast Enough Loop Field Interface Machine to Machine Interface Man to Machine Interface Human-the-Loop
Mobile Robotics
Jog Box
ECU
(Electronic
Control Unit)
Mobile Robotics
CONTROLLER PLANT
Mobile Robotics
CONTROLLER PLANT Hard Real Time Loop
Mobile Robotics
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop
Mobile Robotics
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop
JOG BOX (HMI) Human-the-Loop
Mobile Robotics
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop Field Interface
Machine to Machine Interface
Man to Machine
Interface JOG BOX (HMI)
Electric Wheelchair
Armrest Joystick
ECU
(Electronic
Control Unit)
Electric Wheelchair
CONTROLLER PLANT
ARMREST JOYSTICK (HMI)
External PLANT (environment)
Electric Wheelchair
CONTROLLER PLANT Hard Real Time Loop
External PLANT (environment)
Electric Wheelchair
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop
External PLANT (environment)
Electric Wheelchair
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop
External PLANT (environment)
ARMREST JOYSTICK (HMI) Human-the-Loop
Electric Wheelchair
CONTROLLER PLANT Hard Real Time Loop
Fast Enough Loop Field Interface Machine to Machine Interface Man to Machine Interface External PLANT (environment)
ARMREST JOYSTICK (HMI) Human-the-Loop
Light Vehicles
Handlebar and throttle
ECU
(Electronic
Control Unit)
Light Vehicles
CONTROLLER PLANT
Light Vehicles
CONTROLLER PLANT
HANDLEBAR, THROTTLE (HMI) Hard Real Time Loop
Light Vehicles
CONTROLLER PLANT
HANDLEBAR, THROTTLE (HMI) Hard Real Time Loop
Light Vehicles
CONTROLLER PLANT
HANDLEBAR, THROTTLE (HMI) Hard Real Time Loop
Fast Enough Loop
Light Vehicles
CONTROLLER PLANT
HANDLEBAR, THROTTLE (HMI) Hard Real Time Loop
Fast Enough Loop Field Interface Machine to Machine Interface Man to Machine Interface Human-the-Loop
Mechatronics Framework
TARGET (CONTROLLER) PLANT
HOST (HMI) Hard Real Time Loop
Fast Enough Loop Field Interface Machine to Machine Interface Man to Machine Interface Structure Power Supply Actuators Sensors Human-the-Loop
Open Automation
Controllers
Industrial Controller: PLC Allen-Bradley
Operating System: Unknown/Custom
IEC 61131-3
(IL)
Instruction List
(ST)
Structured Text
(LD)
Ladder Diagrams
(FD)
Function Block Diagram
(SFC) Sequential Function Chart
DSP: Dedicated Development System
Development Software: 907 AC 1131
H
A
R
D
W
A
R
E
ie ld M o d u le 2 ie ld M o d u le 1 m m u n ic ati o n M o d u le D S P B o ar dS
O
F
T
W
A
R
E
FPGA: Not Present
Hardware Component Modules
E m b ed d ed u P ro ce ss o r B o ar d
Industrial Controller: SoftPLC KONTRON
Operating System: Windows/Linux/QNX
IEC 61131-3
(IL)
Instruction List
(ST)
Structured Text
(LD)
Ladder Diagrams
(FD)
Function Block Diagram
(SFC) Sequential Function Chart
DSP: Not Present
Development Software: CoDeSys SP
H
A
R
D
W
A
R
E
ie ld M o d u le 2 ie ld M o d u le 1 m m u n ic at io n M o d u leS
O
F
T
W
A
R
E
FPGA: Not Present
ie ld M o d u le 3
Hardware Component Modules
E m b ed d ed u P ro ce ss o r B o ar d
Industrial Controller: National Instruments Compact RIO
Operating System:
LabVIEW Run-Time Engine + Linux/Windows/OS LabVIEW O.S. (PXI Architecture)
DSP: LabView
Development Software:
G Dataflow Language
Graphical Programming (VI)
H
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ie ld M o d u le 3 ie ld M o d u le 2 m m u n ic ati o n M o d u leS
O
F
T
W
A
R
E
FPGA: LabView
ie ld M o d u le 1Hardware Component Modules
E m b ed d ed u P ro ce ss o r B o ar d
Industrial Controller: OpenPLC
Operating System: OpenHRTOS + Linux/RTAI
DSP: Open Development Environment
Development Software:
Scilab Dataflow Language
C/C++ Hard Coding
Graphical Programming (VI)
H
A
R
D
W
A
R
E
S
O
F
T
W
A
R
E
FPGA: Free Editor
Hardware Component Modules
Scilab/Scicos m m u n ic ati o n M o d u le D S P an d /o r F P G A B o ar d E m b ed d ed u P ro ce ss o r B o ar d ld M o d u le (s ) ld M o d u le (s )
Industrial Controller: OpenECU
Operating System: OpenHRTOS + Linux/RTAI
DSP: Open Development Environment
Development Software:
Scilab Dataflow Language
C/C++ Hard Coding
Graphical Programming (VI)
H
A
R
D
W
A
R
E
S
O
F
T
W
A
R
E
FPGA: Free Editor
Scilab/Scicos
Hardware Component Modules
ld M o d u le (s ) m m u n ic at io n M o d u le D S P an d /o r F P G A B o ar d E m b ed d ed u P ro ce ss o r B o ar d
OpenECU: Open Hardware Digital Platform
TOPISA Connector
Digital FB
Connector
Communication
Connector
DSP Motor
Manager
Connector
Analog FB
Connector
Power
Supply
Connector
CycloneII FPGA
TMS320F2812
DSP
64/256/512kword
Memory
Debug
Connector
3.3V
Regulator
User
Oscillator
OpenECU: OpenHRTOS
E
le
m
en
ts
P
la
tf
o
rm
O
p
en
H
R
T
O
S
CW Layer FW Layer SW Layer
Cables Connectors Lines Blocks
SR
SR
BlocksIP
IP
BlocksIC
IC
CW OS FW OS SW OSCW Components FW Components SW Components
ECU System Bus ECU Field Bus Cables Connectors Lines ECU Layer Interface ECU Layer Interface PW Layer Cables Connectors Lines Blocks
IC
PC
PW OS PW Components ACU Power Bus ECU Layer InterfaceAbstraction Layer
ECU ACUOpenECU Development: Manual Code Generation
IP
SR
IP
IP
S ys te m B u sF
W
S
W
FW LayerIP
IP
SW LayerIP
SR
HRTOS
U
se
r
(D
ev
e
lo
p
er
)
Altera
©USBBlaster
DSP
Emulator
D
ev
el
o
p
m
en
t
In
te
rf
ac
es
UltraEdit32 AnjutaOpenECU Development: Authomatic Code Generation
IP
SR
IP
IP
S ys te m B u sF
W
S
W
FW LayerIP
IP
SW LayerIP
SR
HRTOS
U
se
r
(D
ev
e
lo
p
er
)
Altera
©USBBlaster
DSP
Emulator
D
ev
el
o
p
m
en
t
In
te
rf
ac
es
Scilab/ScicosOpenECU: Real Time Tandem (I)
IP
SRIP
IP S ys . B u sIP
IPIP
SRO
pe
n
H
R
TO
S
QuartusIIH
o
st
I
n
te
rf
ac
e
IP
IC F BIP
IC SchematicL
in
ux
/
R
TA
I
IP
SRIP
SR FP Development Tools R ea l T im e T an d em Service Routine Floating Point Service Routine Fixed PointU
s
er
(
D
e
ve
lo
pe
r)
Code Composer StudioOpenECU: Real Time Tandem (II)
IP
SRIP
IP S ys . B u sIP
IPIP
SRO
p
en
H
R
T
O
S
QuartusIIH
o
st
I
n
te
rf
ac
e
IP
IC F BIP
IC SchematicR
T
A
I
IP
SRIP
SR FP Development Tools R ea l T im e T an d emU
s
er
(
D
e
ve
lo
p
e
r)
Code Composer Studio API T an d emIP
API Eclipse W in / L in u xYes No Yes Yes Yes
Industrial Controllers:
Hardware Summary
Embedded
PC104
DSP + FPGA
board
Comm Module FieldModule1 Module2Field
Programmable
Logic
Controller
Kontron
Yes Yes
Yes Yes Yes
AllenBradley, Siemens,
Telemecanique, GE, Omnron
Yes Yes
Yes Yes Yes
Programmable
Automation
Controller
Yes Yes
Yes Yes Yes
O
pen
PLC
O
pen
ECU
National Instruments
/
IEC 61131-3
Industrial Controllers:
Software Summary
AllenBradley, Siemens,
Telemecanique, GE, Omnron
Programmable Logic Controller Kontron Programmable Automation Controller
Communication
Networks
Operating
System
Programmability
System
Proprietary
close
Open
/
Proprietary
IEC 61131-3
O
pen
PLC
O
pen
ECU
Proprietary
close
+
Custom
Open
Scilab
CVI National InstrumentsS
oft
PLC
Open Automation
Interfaces
Interfaces: Open Hardware Communication Modules
7 6 5 4 3 2 1 physical data link network transport session presentation application 7 6 5 4 3 2 1 phy sic al data lin k net wor k tra nsp ort se ssi on pre se nta tio n app lic atio n CoaxialTwisted Pair Optical Fiber
Plastic Fiber Wireless
Physical Link Lo gi ca l L in k
ISO-OSI Model
Mechatronics Framework: Wireless Interfaces
TARGET (CONTROLLER) PLANT
HOST (HMI) Hard Real Time Loop
Fast Enough Loop
Fast Loop Field Interface Machine to Machine Interface Man to Machine Interface
Consortium Logo: ZigBee Bluetooth
WPAN WLAN
IEEE Protocol 802.15.4 802.15.1 802.11.a 802.11.b 802.11g
Frequency (Hz) 868M, 915M(US), 2.4G 2.4G 5G 2.4 Ghz 2.4Ghz
Network initialization 30ms 10s 3s 3s 3s
Modulation DSSS FHSS OFDM DSSS/CCK OFDM/PBCC
Mac CSMA/CA TDMA CSMA/CA CSMA/CA CSMA/CA
Througput (bps) 250K,40K,20K 1M, 723K 54M 11M 54M
Distance 10m~75m 10m~100m 15m~30m 60m~90m 45m~75m
Network size 65535 8 256 256 256
Channel band(Hz) 600K, 2M, 5M 1M 16.6M 22M 22M
-4~20 0~20 17 0 17
Target unit price ($) 1.5~2.5 5 - -
-Tarnsmission power (dBm)
Wireless: Standard Protocols
Field Interface Machine to Machine Interface Controller [Target 2] Controller [Target 1] Plant 1 Plant 2
Control and Automation (Real Time)
FieldBus (Hard Real Time)
Mechatronics Framework: Deterministic Networks
FieldBus (Hard Real Time) FieldBus (Hard Real Time)
Mechatronics framework: OPC
PMI (i.e.SCADA) Field Interface Machine to Machine Interface Man to Machine Interface PlantController
[Target]
HMI: Maintenance Tuning Fieldbus-([H]RealTime)Information (Fast Enough) Control and Automation (Real Time)
Information
Management
Computer
HMI: Development HMI: Common User PlantIn
d
u
s
tri
a
l c
om
m
u
n
ic
at
io
n
s
Industrial
network
OPC FlexRay Ethernet/IP ControNet CANopen Profibus PA Modbus (TCP) FIP LIN CAN Sercos DeviceNet RS232/485throughp
ut
high
Medium
to high
Field BUS
No Very Good No Possible No Good No FIP Possible Possible Very Good Possible GoodControl &
Automation
No Good Possible Good Possible Good Possible FIP Possible Medium Good Possible 2Information
Very Good No Good Possible Possible Possible Possible FIP No No No .. 0.5Mb/s 1.2 .. 115KbLimitations
-Bad Determinism 10 .. 500 Hz No determinism if MultiMaster ProfibusDP Bad Determinism FIP Low Rate No determinism if MultiMaster Low Rate Low RateOpen Automation
Demonstrators
Industrial Machinery
OpenPLC PLANT
USER PANEL (HMI) Field Interface
Machine to Machine Interface
Man to Machine Interface
Mobile Robotics
OpenECU PLANT
JOG BOX (HMI) Field Interface Machine to Machine Interface Man to Machine Interface SMAC
Electric Wheelchair
OpenECU PLANT
External PLANT (Environment)
ARMREST JOYSTICK (HMI) Field Interface
Machine to Machine Interface
Man to Machine Interface
Light Vehicles
OpenECUs PLANT
HANDLEBAR, THROTTLE (HMI) Field Interface Machine to Machine Interface Man to Machine Interface FlexRay
Light Vehicles
OpenECU PLANT
PDA, SMARTPHONE (HMI) Field Interface
Machine to Machine Interface
Man to Machine Interface
