Content for TS 22.104 Word version: 18.0.0
A.2.2 Factory automation
A.2.2.1 Motion control
A.2.2.2 Control-to-control communication
A.2.2.3 Mobile robots
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A.2.2 Factory automation Word‑p. 29
A.2.2.1 Motion control
A motion control system is responsible for controlling moving and/or rotating parts of machines in a well-defined manner, for example in printing machines, machine tools or packaging machines.
A schematic representation of a motion control system is depicted in Figure A.2.2.1-1. A motion controller periodically sends desired set points to one or several actuators (e.g., a linear actuator or a drive) which thereupon perform a corresponding action on one or several processes (in this case usually a movement or rotation of a certain component). At the same time, sensors determine the current state of the process(es), e.g. the current position and/or rotation of one or multiple components, and send the actual values back to the motion controller. This is done in a strictly cyclic and deterministic manner, such that during one application cycle the motion controller sends updated set points to all actuators, and all sensors send their actual values back to the motion controller. Nowadays, typically Industrial Ethernet technologies are used for motion control systems.
Use case #
Characteristic parameter
Influence quantity
Communication service availability: target value [%]
Communication service reliability: mean time between failures
End-to-end latency: maximum
Service bitrate: user experienced data rate
Message size [byte]
Transfer interval: lower bound
Transfer interval: upper bound
Survival time
UE speed
# of UEs
Service area (note)
1 99.999 to 99.999 99 ~ 10 years < transfer interval value – 50 500 μs - 500 ns 500 μs + 500 ns 500 μs ≤ 72 km/h ≤ 20 50 m x 10 m x 10 m 2 99.999 9 to 99.999 999 ~ 10 years < transfer interval value – 40 1 ms - 500 ns 1 ms + 500 ns 1 ms ≤ 72 km/h ≤ 50 50 m x 10 m x 10 m 3 99.999 9 to 99.999 999 ~ 10 years < transfer interval value – 20 2 ms - 500 ns 2 ms + 500 ns 2 ms ≤ 72 km/h ≤ 100 50 m x 10 m x 10 m
NOTE:
Length x width x height.
Use cases one to three
Characteristic parameters and influence quantities for a communication service supporting the cyclic interaction described above.
A.2.2.2 Control-to-control communication Word‑p. 31
Control-to-control communication, i.e., the communication between different industrial controllers is already used today for different use cases, such as:
-
large machines (e.g., newspaper printing machines), where several controls are used to cluster machine functions, which need to communicate with each other; these controls typically need to be synchronised and exchange real-time data;
-
individual machines that are used for fulfilling a common task (e.g., machines in an assembly line) often need to communicate, for example for controlling and coordinating the handover of work pieces from one machine to another.
Typically, a control-to-control network has no fixed configuration of certain controls that need to be present. The control nodes present in the network often vary with the status of machines and the manufacturing plant. Therefore, hot-plugging support for different control nodes is important and often used.
Use case #
Characteristic parameter
Influence quantity
Communication service availability: target value in %
Communication service reliability: mean time between failures
End-to-end latency: maximum
Message size [byte]
Transfer interval
Survival time
UE speed
# of UEs
Service area (note 1)
1 (note 2) 99.999 9 to 99.999 999 ~ 10 years < transfer interval value 1 k ≤ 10 ms 10 ms stationary 5 to 10 100 m x 30 m x 10 m 2 (note 2) 99.999 9 to 99.999 999 ~ 10 years < transfer interval value 1 k ≤ 50 ms 50 ms stationary 5 to 10 1,000 m x 30 m x 10 m
NOTE 1:
Length x width x height.
NOTE 2:
Communication may include two wireless links (UE to UE)
Use case one
Control-to-control communication between different motion (control) subsystems, as addressed in subclause A.2.2.1. An exemplary application for this is large printing machines, where it is not possible or desired to control all actuators and sensors by one motion controller only.
Use case two
Control-to-control communication between different motion (control) subsystems. Exemplary application for this are extra-large machines or individual machines used for fulfilling a common task (e.g., machines in an assembly line).
A.2.2.3 Mobile robots
Mobile robots and mobile platforms, such as automated guided vehicles, have numerous applications in industrial and intra-logistics environments and will play an increasingly important role in the Factory of the Future. A mobile robot essentially is a programmable machine able to execute multiple operations, following programmed paths to fulfil a large variety of tasks. This means, a mobile robot can perform activities like assistance in work steps and transport of goods, materials and other objects. Mobile robot systems are characterised by a maximum flexibility in mobility relative to the environment, with a certain level of autonomy and perception ability, i.e., they can sense and react with their environment.
Autonomous guided vehicles are a sub-group of mobile robots. These vehicles are driverless and used for moving materials efficiently within a facility. A detailed overview of the state of the art of autonomous-guided-vehicle systems is provided elsewhere in the literature [16].
Mobile robots are monitored and controlled from a guidance control system. Radio-controlled guidance control is necessary to get up-to-date process information, to avoid collisions between mobile robots, to assign driving jobs to the mobile robots, and to manage the traffic of mobile robots. The mobile robots are track-guided by the infrastructure with markers or wires in the floor or guided by own surround sensors, like cameras and laser scanners.
Mobile robot systems can be divided in operation in indoor, outdoor and both indoor and outdoor areas. These environmental conditions have an impact on the requirements of the communication system, e.g., the handover process, to guarantee the required cycle times.
Use case #
Characteristic parameter
Influence quantity
Communication service availability: target value [%]
Communication service reliability: mean time between failures
End-to-end latency: maximum
Service bitrate: user experienced data rate
Message size [byte]
Transfer interval: lower bound
Transfer interval: target value (note)
Transfer interval: upper bound
Survival time
UE speed
# of UEs
Service area
1 > 99.999 9 ~ 10 years < target transfer interval value – 40 to 250 - < 25 % of target transfer interval value 1 ms to 50 ms + < 25 % of target transfer interval value target transfer interval value ≤ 50 km/h ≤ 100 ≤ 1 km² 2 > 99.999 9 ~ 1 year < target transfer interval value – 15 k to 250 k - < 25 % of target transfer interval value 10 ms to 100 ms + < 25 % of target transfer interval value target transfer interval value ≤ 50 km/h ≤ 100 ≤ 1 km² 3 > 99.999 9 ~ 1 year < target transfer interval value – 40 to 250 - < 25 % of target transfer interval value 40 ms to 500 ms + < 25 % of target transfer interval value target transfer interval value ≤ 50 km/h ≤ 100 ≤ 1 km² 4 > 99.999 9 ~ 1 week 10 ms > 10 Mbit/s – – – – – ≤ 50 km/h ≤ 100 ≤ 1 km²
NOTE:
The transfer interval is not so strictly periodic in these use cases. The transfer interval deviates around its target value within bounds. The mean of the transfer interval is close to the target value.
Use case one
Periodic communication for the support of precise cooperative robotic motion control (transfer interval: 1 ms), machine control (transfer interval: 1 ms to 10 ms), co-operative driving (10 ms to 50 ms).
Use case two
Periodic communication for video-operated remote control.
Use case three
Periodic communication for standard mobile robot operation and traffic management.
Use case four
Real-time streaming data transmission (video data) from a mobile robot to the guidance control system.
A.2.2.1 Motion control
A motion control system is responsible for controlling moving and/or rotating parts of machines in a well-defined manner, for example in printing machines, machine tools or packaging machines.
A schematic representation of a motion control system is depicted in Figure A.2.2.1-1. A motion controller periodically sends desired set points to one or several actuators (e.g., a linear actuator or a drive) which thereupon perform a corresponding action on one or several processes (in this case usually a movement or rotation of a certain component). At the same time, sensors determine the current state of the process(es), e.g. the current position and/or rotation of one or multiple components, and send the actual values back to the motion controller. This is done in a strictly cyclic and deterministic manner, such that during one application cycle the motion controller sends updated set points to all actuators, and all sensors send their actual values back to the motion controller. Nowadays, typically Industrial Ethernet technologies are used for motion control systems.
| Use case # | Characteristic parameter | Influence quantity | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Communication service availability: target value [%] | Communication service reliability: mean time between failures | End-to-end latency: maximum | Service bitrate: user experienced data rate | Message size [byte] | Transfer interval: lower bound | Transfer interval: upper bound | Survival time | UE speed | # of UEs | Service area (note) | |
| 1 | 99.999 to 99.999 99 | ~ 10 years | < transfer interval value | – | 50 | 500 μs - 500 ns | 500 μs + 500 ns | 500 μs | ≤ 72 km/h | ≤ 20 | 50 m x 10 m x 10 m |
| 2 | 99.999 9 to 99.999 999 | ~ 10 years | < transfer interval value | – | 40 | 1 ms - 500 ns | 1 ms + 500 ns | 1 ms | ≤ 72 km/h | ≤ 50 | 50 m x 10 m x 10 m |
| 3 | 99.999 9 to 99.999 999 | ~ 10 years | < transfer interval value | – | 20 | 2 ms - 500 ns | 2 ms + 500 ns | 2 ms | ≤ 72 km/h | ≤ 100 | 50 m x 10 m x 10 m |
|
NOTE:
Length x width x height.
|
|||||||||||
Use cases one to three
Characteristic parameters and influence quantities for a communication service supporting the cyclic interaction described above.
A.2.2.2 Control-to-control communication Word‑p. 31
Control-to-control communication, i.e., the communication between different industrial controllers is already used today for different use cases, such as:
-
large machines (e.g., newspaper printing machines), where several controls are used to cluster machine functions, which need to communicate with each other; these controls typically need to be synchronised and exchange real-time data;
-
individual machines that are used for fulfilling a common task (e.g., machines in an assembly line) often need to communicate, for example for controlling and coordinating the handover of work pieces from one machine to another.
Typically, a control-to-control network has no fixed configuration of certain controls that need to be present. The control nodes present in the network often vary with the status of machines and the manufacturing plant. Therefore, hot-plugging support for different control nodes is important and often used.
- large machines (e.g., newspaper printing machines), where several controls are used to cluster machine functions, which need to communicate with each other; these controls typically need to be synchronised and exchange real-time data;
- individual machines that are used for fulfilling a common task (e.g., machines in an assembly line) often need to communicate, for example for controlling and coordinating the handover of work pieces from one machine to another.
| Use case # | Characteristic parameter | Influence quantity | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Communication service availability: target value in % | Communication service reliability: mean time between failures | End-to-end latency: maximum | Message size [byte] | Transfer interval | Survival time | UE speed | # of UEs | Service area (note 1) | |||
| 1 (note 2) | 99.999 9 to 99.999 999 | ~ 10 years | < transfer interval value | 1 k | ≤ 10 ms | 10 ms | stationary | 5 to 10 | 100 m x 30 m x 10 m | ||
| 2 (note 2) | 99.999 9 to 99.999 999 | ~ 10 years | < transfer interval value | 1 k | ≤ 50 ms | 50 ms | stationary | 5 to 10 | 1,000 m x 30 m x 10 m | ||
|
NOTE 1:
Length x width x height.
NOTE 2:
Communication may include two wireless links (UE to UE)
|
|||||||||||
Use case one
Control-to-control communication between different motion (control) subsystems, as addressed in subclause A.2.2.1. An exemplary application for this is large printing machines, where it is not possible or desired to control all actuators and sensors by one motion controller only.
Use case two
Control-to-control communication between different motion (control) subsystems. Exemplary application for this are extra-large machines or individual machines used for fulfilling a common task (e.g., machines in an assembly line).
A.2.2.3 Mobile robots
Mobile robots and mobile platforms, such as automated guided vehicles, have numerous applications in industrial and intra-logistics environments and will play an increasingly important role in the Factory of the Future. A mobile robot essentially is a programmable machine able to execute multiple operations, following programmed paths to fulfil a large variety of tasks. This means, a mobile robot can perform activities like assistance in work steps and transport of goods, materials and other objects. Mobile robot systems are characterised by a maximum flexibility in mobility relative to the environment, with a certain level of autonomy and perception ability, i.e., they can sense and react with their environment.
Autonomous guided vehicles are a sub-group of mobile robots. These vehicles are driverless and used for moving materials efficiently within a facility. A detailed overview of the state of the art of autonomous-guided-vehicle systems is provided elsewhere in the literature [16].
Mobile robots are monitored and controlled from a guidance control system. Radio-controlled guidance control is necessary to get up-to-date process information, to avoid collisions between mobile robots, to assign driving jobs to the mobile robots, and to manage the traffic of mobile robots. The mobile robots are track-guided by the infrastructure with markers or wires in the floor or guided by own surround sensors, like cameras and laser scanners.
Mobile robot systems can be divided in operation in indoor, outdoor and both indoor and outdoor areas. These environmental conditions have an impact on the requirements of the communication system, e.g., the handover process, to guarantee the required cycle times.
| Use case # | Characteristic parameter | Influence quantity | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Communication service availability: target value [%] | Communication service reliability: mean time between failures | End-to-end latency: maximum | Service bitrate: user experienced data rate | Message size [byte] | Transfer interval: lower bound | Transfer interval: target value (note) | Transfer interval: upper bound | Survival time | UE speed | # of UEs | Service area | |
| 1 | > 99.999 9 | ~ 10 years | < target transfer interval value | – | 40 to 250 | - < 25 % of target transfer interval value | 1 ms to 50 ms | + < 25 % of target transfer interval value | target transfer interval value | ≤ 50 km/h | ≤ 100 | ≤ 1 km² |
| 2 | > 99.999 9 | ~ 1 year | < target transfer interval value | – | 15 k to 250 k | - < 25 % of target transfer interval value | 10 ms to 100 ms | + < 25 % of target transfer interval value | target transfer interval value | ≤ 50 km/h | ≤ 100 | ≤ 1 km² |
| 3 | > 99.999 9 | ~ 1 year | < target transfer interval value | – | 40 to 250 | - < 25 % of target transfer interval value | 40 ms to 500 ms | + < 25 % of target transfer interval value | target transfer interval value | ≤ 50 km/h | ≤ 100 | ≤ 1 km² |
| 4 | > 99.999 9 | ~ 1 week | 10 ms | > 10 Mbit/s | – | – | – | – | – | ≤ 50 km/h | ≤ 100 | ≤ 1 km² |
|
NOTE:
The transfer interval is not so strictly periodic in these use cases. The transfer interval deviates around its target value within bounds. The mean of the transfer interval is close to the target value.
|
||||||||||||
Use case one
Periodic communication for the support of precise cooperative robotic motion control (transfer interval: 1 ms), machine control (transfer interval: 1 ms to 10 ms), co-operative driving (10 ms to 50 ms).
Use case two
Periodic communication for video-operated remote control.
Use case three
Periodic communication for standard mobile robot operation and traffic management.
Use case four
Real-time streaming data transmission (video data) from a mobile robot to the guidance control system.
