Design And Implementation Of Open Motion Controller Function Block Based On PLCopen

High-end CNC machine tools and robots are the focus of research and development of new generation technology,and motion controllers have received extensive attention as their core technology.The closedness of the traditional motion control system limits the degree of informationization,and the construction of an open architecture is the development trend of motion control technology.In addition,different motion control manufacturers have different programming environments,and intricate motion control products require operators to spend more energy to learn how to use.To this end,the PLCopen organization proposes a unified and standardized motion control standard,and encapsulates the motion control algorithm into the function block.The user only needs to use the interface of the function block to complete the complex motion control functions,which greatly improves the efficiency of the system.Therefore,the development of an open motion controller is of great significance.Based on the motion control standard defined by PLCopen,this paper aims to develop an open motion controller,and designs and implements a series of motion control function blocks that conform to the standard.The hardware platform of motion control system is based on ARM-Cortex A9 as the main controller,PC as the upper planning unit,servo driver and servo motor as the executing mechanism;the software architecture of the system is Multiprog as a programming tool,MATLAB as an auxiliary tool,and ProConOS eCLR as a runtime system.The high-end hardware platform with a reasonable software architecture makes the implementation of the motion controller function more stable.Firstly,the research background and significance of the subject are introduced,as well as the research status of PLCopen standard and open motion control system at home and abroad.Secondly,in order to build a motion control platform,the hardware structure and software architecture are introduced.Thirdly,the design process of the motion control function block is deeply studied,and the difficulties in the development technology of the function block are specifically analyzed.Then,the internal algorithm of function block is studied,and the basic applications of single-axis function block,double-axis function block and axis group function block are realized,and the algorithm verification is carried out by calling function block.Finally,a programming-free operation method is proposed to make the use of the motion control system more convenient,and the programming-free system is verified experimentally by building a rectangular coordinate robot.