Development Of Soft PLC System For Industrial Robot

Soft PLC compared with hard PLC,because of the standardization of the programming language,flexible hardware configuration and other characteristics is gradually widely used.Soft PLC running system as an important component of industrial robot control system is mainly responsible for the logic control and input and output of IO device.Soft PLC programming system mainly provides PLC programming language editing and IO status monitoring.Combined with the use scene of industrial robots,a soft PLC system software is developed.And the related key technologies is studied.First,according to the functional requirements of industrial robot soft PLC system in industrial robot control system,combined with software modularization and hierarchical architecture,a solution of soft PLC system software program is proposed.The soft PLC system is divided into running system and programming system.The running system is embedded in the controller.The programming system worked on the Android industrial flat or PC side.The target file is the data exchange bridge between the two parts.Soft PLC programming system is a man-machine interaction interface.A modular structure and a unified interface layout are designed and implemented,which reduces user's learning costs.Secondly,the soft PLC target file and data structure is designed.The process of the ladder language interpretation and real-time scanning operation are designed in detail.Based on the Android platform,a ladder editor is developed.The function of generating ladder diagram by parameter is designed,which reduces the threshold of ladder programming.Aiming at the requirements of the IO module in the soft PLC system,the functions of simulation IO,group IO and analog IO are designed and realized.For the data interaction between the running system and the programming system,a communication module based on Zero MQ is designed to realize the multi-channel data interaction.The control interface library is generated based on the communication module.Finally,based on the six-axis industrial robot platform,the function of soft PLC system software is tested.The test results show that the soft PLC system designed satisfies the basic functional requirements and has good feasibility and reliability.