Research And Application Of Motion Controller Based On IEC61131 Standard

With more and more applications of CNC machine tools and industrial robots,people gradually realize that the motion controller has broad prospects in the manufacturing industry.The motion control technology of the traditional closed architecture has been unable to meet the requirements of modern manufacturing industry to the development of information technology.Nowadays,the open motion control technology has become the main trend.Soft PLC technology is one of the key technologies to realize the open motion control system.In addition,the traditional motion control programming language can not adapt to the development requirements of the open motion control system because of its closed software system.The motion control function module which is defined by the PLCopen standard is the standard of the motion control programming language,which can make the combination of logic control and motion control programming better.Therefore,it is of great significance to study the open motion control technology.Therefore,this thesis focuses on the development of embedded open motion controller based on IEC61131 standard and PLCopen,which use ARM Cortex A9 chip +WinCE operation system as the hardware platform,MultiProg+ ProCon eCLR as the software platform,and EtherCAT protocol for the communication standards.This combination can ensure the data processing and operation in time,and can ensure the logic control and motion control simultaneously.Firstly,the background and current status of the research are presented,the important theoretical and practical significance of the subject are presented,and the combination method of soft PLC and motion control is described.Secondly,this thesis introduces the motion control programming method,motion control function block,which is based on the combination of motion control and PLC.After studying the model,specification and function,the thesis focuses on the implementation of the functional blocks.Thirdly,this thesis design and build an open motion control system based on IEC61131 standard,including hardware platform,software platform and communication system.According to the design of acceleration and deceleration of the single axis motion control,the detailed design steps and mathematical derivation are given,and the simulation results are given to illustrate the correctness of the algorithm.Finally,the thesis gives out the specific function block programming and development process,including the state machine implementation,interface functions,error detection and handling mechanism,realize the motion program task execution process and the realization of general eCLR function block process.