Design Of Control System Of Injection Molding Machine Manipulator Based On ARM

Injection Molding Machine Manipulator is an automation device take the plastic out of the Injection Molding Machine.These manipulators not only take the molded products out of the mold, but also transfer them to subsequent processes.So that it can greatly improve the production efficiency, reduce the occurrence of safety accidents and increase the enterprise competitive ability.The goal of this paper is to design control system for JA series AC Servo Traversing Injection Molding Machine Manipulator.The control system uses a master-slave control structure that the hand controller as master device and the main controller as slave device. Therefore, The control system can provide users with user-friendly experience and achieve superior control performance.The hand controller adopt ARM9 series S3C2416 which is characterized with strong graphic performance as the processor. In order to achieve human–computer interaction,hand controller accesses to user’s input information through matrix keyboard and deliver status information to the user through LCD. The main controller employs the ARM Cortex-M3 series STM32F103ZET6 which is featured with superior motion control performance as the core processor. The main controller includes power supply circuit, power-down memory circuit, general purpose digital input and output circuit, RS-485 communication circuit and manipulator with injection molding machine communication circuit, servo control circuit and the emergency stop circuit. So that it can control manipulator do production task.The hand controller exploited user-oriented man-machine interface application program having functions with simplicity and friendliness plus guide function based on the Win CE embedded system so as to realize its functions of authority management, parameter configuration, program teaching and writing, condition monitoring, abnormalities suggesting and logging capabilities to improve the user experience. The main controller use composite application architecture of foreground and background nested finite state machine.Foreground program using interrupt handler to enhance control system performance in real-time response. Background program using finite state machine for three working modes as manual operation, automatic operation and parameter configuration to ensure the manipulator safety and orderly running. What’s more, it improves the manipulators’ operating performance with T-curve and S-curve velocity planning algorithm.