基于PLC的工业机器人控制系统关键技术研究

Research on Key Technologies of Industrial Robot Control System Based on PLC

文章主要从软件和硬件两个部分对基于PLC的工业机器人控制系统关键技术进行研究,硬件部分详细介绍了工业机器人与多个伺服驱动器通信的SERCOS高速传输总线,及其与外围I/O设备通信的CanOpen总线协议;软件部分在CoDeSys产品基础上,重点对G代码解码程序,以及进行工业机器人运动轨迹控制的插补程序结构进行研究。通过软硬件的结合,工业机器人控制程序可读取G代码存储的机器人运动控制程序,以及工业机器人硬件部分的准确、快速通信,满足工业机器人的应用需求。

In this paper, the key technology of industrial robot control system based on PLC is studied from two parts： software and hardware. In hardware part, the SERCOS high-speed transmission bus which communicates between industrial robot and several servo drivers is introduced in detail. The CanOpen bus protocol which communicates with the peripheral I/O equipment, the software part based on the CoDeSys product, with focus on the G code decoding program, as well as the interpolation program structure of the industrial robot motion trajectory control. Through the combination of software and hardware, the control program of industrial robot can read the motion control program stored in G code, and the hardware part of the industrial robot can communicate accurately and quickly, which can meet the application needs of industrial robot.