PLC控制步进电动机在机械手中的应用

Application of PLC Control Stepper Motor in Manipulator

介绍了基于PLC的步进电动机运动控制技术,实现机械手精确的位置控制,满足工件定点搬运要求。详细介绍了机械手结构的基础上,重点阐述了机械手横轴和竖轴位置控制的PLC控制原理,设计了PLC控制步进电动机的硬件电路,包括PLC、步进电动机、步进驱动器的选择及其使用。分析了PLC高速脉冲控制方案,给出了脉冲数、脉冲频率等主要参数的计算方法,同时编写了相应PLC位置控制程序。用一台PLC控制两台步进电动机,通过滚珠丝杠副实现机械手横向和纵向直线运动,完成机械手伸缩半径和升降高度的精确定位,横向、纵向往复移动距离280 mm,位置精度±0.02 mm,在开环控制方式下达到较好的定位效果。

The motion control technology of stepper motor based on PLC was introduced to realize the precise position control of the manipulator and meet the requirements of fixed-point handling of workpieces.Based on the detailed introduction of the structure of the manipulator,the PLC control principle of the horizontal axis and vertical axis position control of the manipulator was focused on,the hardware circuit of controlling the stepping motor with PLC was designed,including the selection and use of PLC,stepping motor and stepping driver.The PLC high-speed pulse control scheme was analyzed,the calculation methods of main parameters such as pulse number and pulse frequency were given,and the corresponding PLC position control program was compiled.Two stepper motors were controlled by one PLC.The horizontal and vertical linear motion of the manipulator was realized through the ball screw pair,and the precise positioning of the telescopic radius and lifting height of the manipulator was completed.The horizontal and vertical reciprocating distance was 280 mm,and the position accuracy was ±0.02mm.Good positioning effect is achieved in the open-loop control mode.