Design On Movement Control System Of Manipulator For Industry Purpose By PLC

With the development of economy and automation, industry manipulator has been playing an important role in the assemble line of manufacturing site, which make it an necessary part in modern industry production.In this paper, according to the control target:the performance of a manipulator, a design for both manipulator motion control and a monitor system, is demonstrated basing on the theory of PLC control and computer monitoring. The structure of the whole system, system control flow, and the functions and control methods of all the modules are also given.The whole system consists of controller, drive module, actuating parts, mechanical part, sensors and computer monitoring system. Mitsubishi PLC was chosen as the controller of the system, drive module contains servo drive part and pneumatic drive part; actuating parts includes servo motor and cylinder; the ball screw and guide supporting portion constitute the mechanical part; monitoring system is made up of PC with King View monitor software installed.This paper focuses on the manipulator motion control and host monitoring system, as for the motion control part, front-end and back-end circuit designs that are used to control the input of the control panel and sensor signal and the output of the PLC control signal are presented, establishment of software control flow and programming for the optional operation of manual and automatic are elaborate, besides, drive models and actuating part settings such as the calculation and selection of server motor type, reduction ratio and electronic gear ratio; connection between server amplifier and PLC; connection between solenoid valve and cylinder in pneumatic driving and the related control lines connections and so forth are also demonstrated in this section.In addition, the monitoring system is composed of device configuration, communication parameters settings, design of monitoring screen, animation connection, database construction, and programming. The database uploads the change of the field signal and the output signal of PLC, and displays the movement status of the manipulator on monitoring screen in real time.In conclusion, the manipulator can practice under the requirements of the control program, and implement the visual image observation with the host monitoring system.