CiA® 318: CANopen integration to RTC environment

This document specifies the mapping of the robotic technology component (RTC) finite state automaton to the CANopen network management (NMT) finite state automaton as well as the mapping of the RTC data types to CANopen data types. In addition, it describes the RTC-CANopen manager and the ProxyRTCs system integration.

According to OMG, the RTC is a module, which enables uniform operations by covering common interfaces over essential parts (core logics) of robotic functional elements (RT functional elements). RT functional elements represent components of robots, which provide some meaningful functionality. For example, various devices such as servomotors, sensors, and cameras, and combination of those devices such as motor-driven carts and arms, are all RT functional elements. Hardware components, software such as control algorithm and image processing algorithm can be composed by itself.

RT-Middleware (RTM) is necessary to combine RTCs and build RT systems. This middleware enables collaboration among RTCs and make them running as a system. RTM is a software platform which executes actions defined in RTC, and perform other tasks such as instantiation of RTC, management of lifecycles, and communication with various services.

Interface specification and component models which RTC provides are defined as the standard specification in OMG-RTC. However, the definition covers only functionality, which is expected as RTC and component models, and communication behaviors between RTCs are not described in detail. Therefore, in this specification, CANopen is adopted for the RTC communication method, and it describes the execution of RTCs using CANopen communication.

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CiA 318 version 1.0.0CANopen integration to RTC environment
DescriptionThis document specifies the mapping of the Robotic technology component (RTC) finite state automaton to the CANopen network management (NMT) finite state automaton as well as the mapping of the RTC data types to CANopen data types. In addition, it describes the RTCCANopen manager and the ProxyRTCs system integration.
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DSP565 KiB2012-02-10Login