Collaboration Strategy Based on Conflict Resolution for Flatness Actuator Group

Table 1

The main hardware of SIMATIC TDC.

TDC hardware	Product model	Function
Rack	UR5213	21 slots are provided
Central processing unit	CPU551	High-performance closed-loop control is achieved
I/O template	SM500	Analog and digital input interfaces are provided
Communication template	CP51M1	Interrack Ethernet communication and WinCC communication are provided
Program memory module	MC500	Storing handlers and hardware configurations are provided