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Sensor Actuator Sensor Actuator

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Monitor

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Plant

Sensor 1 ... Sensor n Actuator 1 ... Actuator m

Computer Computer

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High-speed interconnect
(Ethernet)
Industrial PC

Low BW (DeviceNet)

High BW, Periodic Low BW, Bursty

(FireWire) (FireWire) Conveyer Feeder DI/DO

Robot
Controller
Low BW (DeviceNet)

Feeder Gripper

Modular Workcell

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Case 1: Case 2: Case 3:

No collision When a collison occurs When a collison occurs
occurs on DeviceNet, one with on Ethernet, both back
higher priority transmits off and transmit again
Node i

kh (k+1)h (k+2)h

Node j

kh (k+1)h (k+2)h

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Waiting for Token Signal Sent

or Time Slot

Node i Signal Ready

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