Research And Development Of Multi-axis Sealing Robot’s Control System Based On Field-bus Technology

As the best production of the construction industry for saving energy, reducing energy consumption, Insulating glass has been widely used in China. In order to meet the market demand, it is imminent for us to develop glass deep-processing equipment owning both high efficiency and quality. The automatic sealing robot is one of the key equipment for deep-processing of insulating glass, the performance of this equipment directly affects the quality and energy-saving features of the finished insulating glass. The purpose of this project is to R&D the control system of the automatic sealing robot, the control system directly determines the performance of the automatic sealing robot.Starting from the mechanical structure and process of the automatic sealing robot, obtained the control characteristics and performance requirements of the device. Analysising and researching the mature system control mode in the market at present, and ultimately determines the Delta DMC-Net bus technology to build the control system of the automatic sealing robot.Building an open CNC system mode based on "PC+motion control card", the system has the advantages of scalability, and high operational stability, development and easy maintenance and the flexibility to adapt to the different demand. The paper has more detailed explanation from both software and hardware to build the system of automatic sealing robot based on motion card PCI-DMC-B01, and highlights the CNC system hardware architecture system, software modules design and development process of the upper HMI under Windows xp.On the hardware design, choosing the motion card PCI-DMC-B01, high-speed communications AC servo system and other remote expansion module of Delta Electronics Co., Ltd., and making full use of the inherent hardware resources of the PC, set up the "PC-DSP Client-Server" hardware environment of CNC servo control system. In the software development process, selecting Windows xp as the operating platform of the whole CNC system, using object-oriented and modular programming techniques and adopting C#as the programming language designed the user interface. The main man-machine interface included:initialize communication module interface, manual/automatic operation module interface, parameter setting module interface, status display module interface etc. Using the dynamic link library to control the motion card PCI-DMC-B01directly, it achieved a predetermined goal, attained good results.