The Control System Designs Of Robot Based On Soft PLC

Along with the rapidly developing of cigarette industry, the requests of automation produced to the cigarette is also more and more high, but when the tobacco first enters the cigarette production workshop, it needs many workers remove the packaging by hands, this not only wastes a great deal of labour force, but also makes the efficiency lower, it directly influences to the following cigarette production. Contraposing the characteristics of the robot, designed the control system of the robot based on the SERCOS and soft PLC, carrying out a full-automatic process of removing the tobacco's packaging,it's good for the produce automation of a corporation.First we analysis the machine structure of the robot, then do the kinematics analysis according to the machine structure of the robot, include forward kinematics analysis,converse kinematics analysis and the Jacober matrix of the robot and the speed solution. Providing a theoretics base for the control system.Set up an open control system that mainly consisted of industry computer and standard fieldbus based on SERCOS and soft PLC. Motion control uses SERCOS interface and logic control adopts CanOpen communication agreement. The structure of hardware of the control system is simple and high reliability. It's easy to realizing the high speed and high accuracy motion control.The software of the control system designed on the operating system -Windows XP, using the soft PLC software called CoDeSys that matches international standard of IEC61131 - 3, complete the design of the robot control system. The software structure adopts model design, it's an open system.The motion control of the robot control system adopts standard G code,for the easy use of customer, develop a language conversion model that can transfer the robot language to NC code, provided a new viable project for the control system design of the robot.