Motion control system and method based on Codesys software development position error compensation

Abstract

The invention discloses a motion control system and method based on Codesys software development position error compensation. The system comprises a power supply module, an interpolation operation module, an inverse kinematics transformation module, a PID control module, a position control module, a speed control module, an EtherCAT communication interface and a servo driver. The power module and the PID control module collect input signals in a centralized mode, the motion control quantity is calculated by adjusting proportional, integral and differential parameters through the control method provided by the invention, and tool point position adjustment in the motion process can be achieved. Error accumulation caused by the fact that a cutter feeding extension line does not pass through the axis of a workpiece in the numerical control machining process can be effectively corrected.

Description

Technical field: [0001] The invention relates to the field of motion control of a numerical control system. It specifically relates to a motion control scheme based on Codesys software development system. Background technique: [0002] In recent years, the traditional PLC-based motion control has become increasingly unable to meet the growing needs of factories for diversification, high-tech integration, and customization; the existing traditional PLC-based numerical control system is not suitable for industrial sites with complex environments and mobile requirements. The operation is not suitable; its reliability, applicability, economy and anti-interference ability are still insufficient to meet the needs of industrial PLC programmable control in the current market. [0003] The Codesys software development system based on IEC61131-3 has a function block library, and the encapsulated function blocks include power supply function blocks, interpolation function blocks, inve...

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Problems solved by technology

[0002] In recent years, the traditional PLC-based motion control has become increasingly unable to meet the growing needs of factories for diversification, high-tech integration, and customization; the existing traditional PLC-based numerical control system is not suitable for industrial sites with complex environments and mobile requirements. The operation is not suitable; its reliability, applicability, economy and anti-interference ability are still insufficient to meet the needs of industrial PLC programmable control in the current market

[0003] The Codesys software development system based on IEC61131-3 has a function block library, and the encapsulated function blocks include power supply function blocks, interpolation function blocks, inverse kinematics transformation function blocks, position control function blocks, speed control function blocks, etc.; The workpiece reference displacement leads to the misalignment of the motion track with the actual one, resulting in a bias error that violates the random principle, which cannot be corrected by existing function blocks

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