1. ERXA for Luxottica 4 February 2008 ERXA’s Main Experiences in Robotics February 2010

2.  Real Time/Embedded software  Numerical Control  Robotics Application  Robotics CAM  3D Robotics Simulator  Robotics plant scheduling, control and monitoring Main Experiences in Robotics

3. FASP: Real-Time environment  To control a wide mechanical structure for bending large metal sheet in naval field  In this project ERXA carried out: – Consulting and training on VxWorks ® – system analysis – drivers and control systems development, integration and data collection ENEA

4. MACH-90: a Multi-Purpose Robot Control  ERXA was chosen as technical partner for design and implementation of a new robot control  ERXA activities was dedicated to: – programming environment – moving strategies – coordinate transformations – machine supervision – communication platforms  System based on a multi-micro architecture in VME environment PRIMA ELECTRONICS PRIMA ELECTRONICS

5. RCS: Robertino Control System  A large gantry structure with six axes, each one moved by several synchronized motors. For heavy material handling developed for the ITER program  a special purpose robot control based on a multi-micro architecture in VXI environment and VxWorks  design and software implementation, for multi-axis moving strategies, coordinates transformation and robot supervision – Portability – Modularity and expandability – Configurability – Expansion capability JRC - JOINT RESEARCH CENTRE, European Community, Ispra site JRC - JOINT RESEARCH CENTRE, European Community, Ispra site

6. RCS: Robertino Control System

7. GENERIS ® : Generalized Software Control System for Industrial Robots  Software package, in multimicro / multitasking environment, devoted to control and manage multi robot systems: – Configurability for a wide range of robot geometry and driving systems; – Portability on different hardware platform – Flexibility and modularity to facilitate the integration of new functions JRC - JOINT RESEARCH CENTRE, European Community, Ispra site JRC - JOINT RESEARCH CENTRE, European Community, Ispra site

8. PHOENIX: general purpose Control System for Robots, Robotized Cells and 2D/3D Laser Cutting Machines  Software characterized by: – hardware portability – openness to extensions – multi-task – multi-robot – multi-language part-program – integrated soft PLC (IsAGraf®) – specific technologies integration (i.e. laser cutting management) – based on Pentium architecture – CPCI bus – VxWorks ® Operating System CREA - AmadaCREA - Amada Research Center CREA - Amada

9. AUTOCAL: Automatic Measuring Systems for Robotized Cell Configuration  A specific software developed for the automatic calibration of spot welding robotized cell, using digital sensor.  Starting from the theoretical position of the cell elements, the robot, using a measure sensor, executes a set of measures for the precise evaluation of the cell element real positions. COMAU BODY WELDING COMAU BODY WELDING

10. BM-540-COMBI: Robotized and Integrated Work Cell for Cutting/Bending/Forming  New special machine, completely automatic, for small sizes sheet metal  Robotized cell composed by a cutting laser, a bending machine, a tools warehouse, two servo robot, a load/unload station.  Working operations as laser cutting, metal sheet manipulation, bending, forming and storing, are strictly integrated;  Completely controlled by PHOENIX NC  CREA - AmadaCREA - Amada Research Center CREA - Amada

11. Different operations performed at the same time on different parts of the cell; Complete automatic programming of the different operations using specialized CAD/CAM.  ERXA activities: – system analysis, project requirements and software design – A specialized and innovative CAD/CAM environment – Jobs scheduling and control software BM-540-COMBI: Robotized and Integrated Work Cell for Cutting/Bending/Forming

12. Robotized Milling Work Cell for Shoes Last  Design and realization of an innovative CAD/CAM and cell control software for a robotized work cell devoted to mill shoes last.  Work cell composed by three robots: – one dedicated to the spatial measure of the shoes – the other two to the milling  CAD/CAM software generate automatically the part–programs of all the robots and simulate the whole production process.  Application is completed with the cell management and production control software. ARBO

13. Main Applications