Research And Development Of Software For Soft PLC System Of Industrial Robot Controller

As a hotspot technology in the field of modern industrial control,soft PLC technology has often been integrated in industrial control to replace the traditional PLC control.This paper has completed the design of industrial robot controller and the integration of the soft PLC subsystems,as well as making a research on the key technologies applied in the software integration design of soft PLC system by using the computer information technology and the real-time operating system platform and through the software simulation to realize the control function of traditional PLC system in order to improve such problems of the traditional robot controller as low openness and compatibility and low cost performance.First of all,this study presents an overall design scheme for the soft PLC system prepared for the robot,which means making a research and analysis of the technological model of soft PLC system and the robot control system framework.This study also aims to make a design for the development system(programming system)and the operation system with reference to the structure of the soft PLC system,basing on level and modular thoughts.Second,this study will make a specific research on and a design for the soft PLC programming prepared for robot,that is to say,making a research on and a design for the soft PLC programming system code editor and compiler successively,which is based on the related content of IEC61131-3 standard,and on the further study of the function modules of the programming system.The system firstly uses the rich WIN32 API function and graphical resources of MFC to form code editor software on the teaching device;then agrees the code format of target machine;lastly lays great emphasis on describing the implementation process of the compiler design,and describing how the programming system code editor and compiler realize the data distribution and upload via TCP/IP protocol.Then,this study also aims to make a research on and a design for the soft PLC running system prepared for robot.The running system mainly,using RTOS32-WIN,makes extensions to the real-time performance of Windows system so as to solve thecomplexity and real-time problems between the tasks of the soft PLC running system and the multi-tasks of the robot system.Then,after loading programming system and processing the target machine code file,the running system will start interpreting for virtual machine tasks and executing instructional code.At the same time,the study will make a research on and a design for the multi-mission communication mechanism,through the shared memory region,to make data interaction with other system modules of the robot controller,thus accomplishing logical and sequential control and the input/output management of the I/O device under complex scenarios.At last,this study makes the establishment of industrial robot hardware test platform and of soft PLC system platform to test the basic function of the softwares of the system and verify the feasibility of this research.Results show that the design of the soft PLC prepared for robots in this study meets the basic functional requirements i.e.improving such problems of the traditional robot controller as low openness and compatibility and low cost performance.