基于OPC Server技术的多功能工业机器人控制系统设计

Design of Multifunctional Industrial Robot Control System with OPC Server Technology

为实现多功能工业机器人控制,采用了TCP和Profinet协议,构建了基于OPC的"Server-多主站-多从站"的系统结构。根据集中管理和分散控制的原则,进行了系统硬件组态和软件编程设计。Client软件通过TCP与OPC Server进行通信,OPC Server与主站层多个S7-1200 PLC之间采用Profinet通信,主站层与从站层采用Profinet通信。在TIA Portal软件平台上,采用模块化编程技术与OPC Server数据交换技术,设计出了主站层多个S7-1200PLC的自动控制程序,包括主程序OB1、子程序FB1-FB2、子程序FC1-FC2、故障中断程序、数据处理转换等模块化程序;从站层主要进行ABB工业机器人的控制程序设计,关键技术点是建立对应主站PLC的数据接收/发送映像区和机器人运行控制的联系。系统面向工业生产现场应用,经试验,该系统性能稳定和可靠。

In order to realize the control of multi-function industrial robot,TCP and Profinet are used to construct the system structure of“server-based multi-master station-multi-slave station”based on OPC According to the principle of centralized management and decentralized control,the hardware configuration and software programming of the system are designed.The communication of client software with OPC Server is through TCP,and Profinet communication is adopted between OPC Server and multiple s7-1200 PLC of the master station layer,and Profinet communication is also adopted between the master station layer and the slave station layer.On the TIA Portal software platform,modular programming technology and OPC Server data exchange technology are used to design the automatic control program of multiple s7-1200plc at the main station layer,including the modularization program OB1,subprogram fb1-fb2,subprogram fc1-fc2,fault interrupt program,data processing and conversion,etc.The control program design of ABB industrial robots is mainly carried out at the station layer.The key technical point is to establish the connection between the corresponding main station PLC receiving data/sending image area and the operation control of the robot.The performance of the system is stable and reliable.