Introducton

This is the codebase of our Lego sorting robot for an educational setup as OST. While there is another experimental implementaiton of this robot in the rep SmartFactory_SorticRoboter, this is the current stable code that is used in production. For installation, please use the "production" branch to get stable code with the latest bugfixes.

structure

Sortic150 consists of several modules located in the sw-# Introducton

This is the codebase of our Lego sorting robot for an educational setup as OST. While there is another experimental implementaiton of this robot in the rep SmartFactory_SorticRoboter, this is the current stable code that is used in production. For installation, please use the "production" branch to get stable code with the latest bugfixes.

This branch designed to use with a PLC compact CPU 1512C-1 PN to resemble an real decentralized factory.

structure

Sortic150 consists of several modules located in the sw-modules directory. The individual modules are presented below:

module-chassis and module-roboter-arm

Requirements

• platformio

Build

API chassis

Write into memory of the PLC (DB100) with OPCua or RFC1006-communication protocol

OPCua ns=3;s="Data_Block1"."BoxAt"

IN type Offset

done Bool 0 distanz Int16 6 BoxAt Int16 8 getPackage Bool 10

OUT type Offset

sollPos Int16 2

API roboter-arm

gets Data with OPCua

IN

sollPos (Int) '1 pickup back' '2 put down back' '3 pickup front' '4 put down front'

Out

done (Bool)

API package-reader

Sends Data with MQTT

IN

Out

getPackage Bool

module-raspbi

Requirements

• RaspberryPi(Model 3B+)
• SD-Card(16Gb)
• Touch-Screen

Setup Instructions

Before you begin

1. Download Raspbian Buster with desktop
2. Follow Installing instructions installing-images
3. Insert the sd-card and put the device together(plug-in the usb cables etc.)

Set Up The RaspberryPi

1. Connect the RaspberryPi with the Internet
2. Install latest the Node-Red follow instructions
3. Autostart Chromium in Kioskmode

Configure Node-Red

1. Copy/paste the node-red.json into running node-red
2. Install node-red-dashboard
3. Autostart node-red on boot: sudo systemctl enable nodered.service

Testing

ip_raspbi:1880/ui

Show connected devices python -m platformio device list

Show API OUT from device(needs sudo) python -m platformio device monitor

module-iot2050

Image from SIEMENS website. (https://support.industry.siemens.com/cs/document/109780231/simatic-iot2050-sd-card-beispielimage?dti=0&lc=de-CH)

Setup like module-raspbi. Node-red is pre-installed

differents to Raspberry Pi:

• Nodes for Hardware-Pins (for Arduino Shields)
• in python scipts you'll need the mraa-Library to connect to GPIO's
• ... modules directory. The individual modules are presented below:

module-chassis and module-roboter-arm

Requirements

• platformio

Build

Build&Upload python -m platformio run -t upload

module-raspbi

Requirements

• RaspberryPi(Model 3B+)
• SD-Card(16Gb)
• Touch-Screen

Setup Instructions

Before you begin

1. Download Raspbian Buster with desktop
2. Follow Installing instructions installing-images
3. Insert the sd-card and put the device together(plug-in the usb cables etc.)

Set Up The RaspberryPi

1. Connect the RaspberryPi with the Internet
2. Install latest the Node-Red follow instructions
3. Autostart Chromium in Kioskmode

Configure Node-Red

1. Copy/paste the node-red.json into running node-red
2. Install node-red-dashboard
3. Autostart node-red on boot: sudo systemctl enable nodered.service

Testing

ip_raspbi:1880/ui

Show connected devices python -m platformio device list

Show API OUT from device(needs sudo) python -m platformio device monitor