Development Of Soft PLC System For Industrial Robot Controller

The industrial robot controllers are developing towards the standardized, modular, open and embedded ones. Soft PLC system, as the important part of industrial robot controller, is mainly responsible for the logic control and the field bus communication, and collaboratively works with robot motion control system to integrate robot motion control and peripheral process control. Aiming at developing the soft PLC system software with independent intellectual property rights, further study of the related technologies and development of the soft PLC system software for industrial robot controller which supports IEC61131-3 standardized programming language is presented in this dissertation.Soft PLC system software being developed consists of two parts, programming system and run-time system. The soft PLC target file is designed for connecting them. Soft PLC programming system supports IEC61131-3 standardized programming language and provides good environment for editing, compiling and project configuration. Based on embedded Xenomai+Linux dual kernel RTOS, soft PLC run-time system is developed to complete the soft PLC target file execution, I/O and servo data refreshing and human machine interaction task, and cooperates with the robot motion control task to control the industrial robots and peripheral I/O devices.Firstly, in this dissertation, the soft PLC technology in the present situation of development is discussed, the demand of soft PLC system for industrial robot controller is analyzed, a set of design scheme which contains soft PLC programming and running is put forward; Secondly, the self-designed soft PLC target file format specification is described, the design of the ST language compiler based on flex and bison tools is expounded, the functions such as generating the soft PLC target file and configuring I/O and servo parameter are implemented; Thirdly, the process of building the soft PLC Embedded platform is described in detail, including the transplant process of embedded Xenomai RTOS and Qt/Embedded graphics library on the target board; Finally, the task partitioning and communication interface design of the soft PLC run-time system at Xenomai+Linux dual kernel system are discussed, the design and implementation of the run-time management task and register-based soft PLC virtual machine task are discussed in detail, the functions such as run-time management, soft PLC target file execution and human machine interaction are implemented. The final experiments and tests validate the feasibility of the soft PLC system software supporting the demand of the standardized, modular, open and embedded new-type industrial robot controller.