SYSMAC NJ-based Controller Parallel Robot Control System

With the improvement of mechanical automation level, the industrial manipulator was used more and more widely. The parallel manipulator was a new kind of manipulator with high precision, low inertia, small error and so on, which had a wide application foreground. The parallel manipulator control system based on the new product SYSMAC NJ controller released by OMRON was designed in this paper. The OMRON G5series servo drive and NS series touch screen were used, the control program was designed by the software Sysmac Studio. The manipulator controlled by NJ controller had been greatly improved in performance and accuracy compared with the manipulator controlled by PLC.The main work of this paper was as follows.Firstly, the constitution and principle of industrial manipulator were introduced, the characteristics of various manipulator were summaried, the advantages and disadvantages of parallel manipulator were analysised in particular.Secondly, the EtherCAT communcation and motion instructions of the NJ controller were introduced. The design of the parallel manipulator control system was given, the electrical network diagram and the hookup of the controller were designed, the positive and negative solution algorithm of the motion control were deduced in particular.Thirdly, the control system was designed according to the working process of the parallel manipulator, the program mainly included the touch panel screen and the motion control program. The motion control program included positive and negative solution algorithm, auto program, manual program,the function of limits and so on. The function of the touch panel screen was to get the coordinate manually, display the coordinate of the manipulator, reset error and so on.Finally, the control system was debugged. After the trajectory of the manipulator grabbing and storing the iron was simulated by the function of data trace, the system was debugged in the parallel manipulator in the laboratory to repeat grabbing and storing the iron precisely. The trajectory of the manipulator and the current coordinates were real-time displayed by the touch screen normally.The new control system of the parallel manipulator was designed and debugged successfully in this paper. This research work had certain value.