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DELTA2 robot control system based on soft PLC and EtherCAT bus

A control system and robot technology, applied in the field of machinery, can solve the problems of not too wide application range, real-time performance and stability, and few application cases, so as to shorten the research and development cycle, openness, and hardware The effect of simple structure

Inactive Publication Date: 2018-03-06
王小义
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, WinAC of Siemens, KinACT of Asia Control, Codesys of 3S Company, but the soft PLC control solutions of these companies are not widely used, and there are not many application cases, and the real-time and stability cannot be guaranteed.

Method used

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  • DELTA2 robot control system based on soft PLC and EtherCAT bus
  • DELTA2 robot control system based on soft PLC and EtherCAT bus

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with drawings and embodiments.

[0015] Such as figure 1 , Soft PLC can be divided into two parts: development system and operation system. The development system and the operating system are client / service mode, and the upper and lower communicate through C-OM / DCOM mode, and the operating environment provides a standard communication interface as a server. As a C-OM client application, the development environment can access these interfaces and perform operations.

[0016] Such as figure 2 , the development system is a PLC programmer with debugging and compiling functions, which is actually designed according to the IEC61131-3 standard. The IEC61131-3 software model is a hierarchical structure that describes many concepts including configuration (Configuration), resource (Resource), task (Task), program (Program), function block (FunctionBlock) and function (Function), etc. and their The relation...

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Abstract

The invention relates to a DELTA2 robot control system based on a soft PLC and an EtherCAT bus. A distributed clock technology is employed by a communication bus, a standard Ethernet protocol is usedwith no need of special network adapters, and multi-axis precise synchronous control can be achieved, and the DELTA2 robot control system is suitable for high-precision servo control of a high-speed robot. The DELTA2 robot control system is good in openness, simple in hardware structure and high in transportability, and the research and development period of an industrial robot is greatly shortened.

Description

Technical field [0001] The invention relates to a DELTA2 robot control system based on soft PLC and EtherCAT bus, which is suitable for the mechanical field. Background technique [0002] At present, most of the motion controllers at home and abroad adopt the multi-axis motion control card based on DSP and FPGA, which generally has a PCI interface and is integrated into the PCI slot of the PC. However, the wiring of the system is complex, the reliability is poor, the number of axes that can be controlled is limited, and the technology is closed, the expansion is poor, the price is expensive, and it is not easy to integrate with other equipment in the factory into a control system. [0003] Soft PLC is a solution that integrates control, man-machine interface, data processing, and communication functions into one PC. With the continuous improvement of PC performance, numerical calculation, program operation and logic processing capabilities have been greatly improved. At pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/05
CPCG05B19/05G05B2219/25268
Inventor 王小义
Owner 王小义
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