Collaborative AGVs in the Cleanroom
Large-format, highly sensitive workpieces often cannot be transported by a single vehicle. In the cleanroom of an optical systems manufacturer, two AGVs therefore handle the transport together, connected to each other via real-time radio communication through a virtual drawbar. Precisely controlled, highly cooperative, and with all necessary safety precautions in place.
- Client
- German manufacturer of optical systems and optoelectronics
- Cooperation partners
- STÄUBLI WFT GmbH
- Project area
- Germany, European Union
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Task
Pairs of AGVs must move in such a synchronized manner that they appear to be rigidly connected by a physical drawbar. Only in this way can they jointly transport large, sensitive workpieces through the cleanroom without causing damage. This “virtual drawbar” requires deterministic, highly reliable wireless communication directly between the vehicles.
Implementation
Stäubli equips its AGVs as standard with one safety PLC each—responsible for vehicle movement—and one Bridge E each. The safety PLCs of the participating AGVs exchange control and safety data deterministically via PROFINET/PROFIsafe with a cycle time of 32 milliseconds. The metadata is transmitted via the TCP/IP protocol. All data streams are transmitted directly from AGV to AGV via the Bridge E devices. No additional infrastructure is required. The wireless communication is based on EchoRing technology developed by R3 Solutions, which enables deterministic real-time communication without cables.
"R3 reliably supports us in connecting our vehicles via PROFINET and PROFIsafe. The very short cycle times, the high level of technical expertise, and the fact that our contacts are always available make our collaboration particularly efficient. Their comprehensive knowledge of Wi-Fi is a clear added value."
Johannes Wolf
Software & Controls/Robotics, STÄUBLI WFT GmbH
Result
Stäubli can deliver its collaborative AGVs without having to rely on an existing customer network. This makes integrating the AGVs into existing production environments significantly easier.
The direct Bridge-E connection transmits all data with low latency, low power consumption, and high reliability via a single interface—a clear advantage for integration and operation.
Project Data
| Network size: | 4 devices |
|---|---|
| Real-time protocol: | PROFIsafe |
| Other data transmission: | TCP/IP (non-time-critical) |
| PLC cycle time: | 32 ms |
| Coverage: | Only between AGVs (short distance) |
| Roaming: | No |
| Monitoring: | No |
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