Design And Application Of Embedded Soft PLC

Against the backdrop of the advent and development of Industry 4.0,PLC,as the controller of the equipment and the devices,undertakes the tasks assigned by Industry 4.0 and intelligent manufacturing.PLC should meet the following requirements:effective collection of industrial big data,great enhancement of the function of motion control,real-time autonomous control in situ to complete more and more complex control tasks,automation and intelligence of programming;dramatic improvement of the seamless connection capability,etc.On the basis of studying the advantages of embedded soft PLC technology,an embedded soft PLC,based on the Linux system of ARM architecture is designed.The main research contents and results include as follows:Firstly,the structure and characteristics of embedded soft PLC are introduced,especially including the operation principle of embedded soft PLC as well as the overall scheme design of embedded soft PLC based on CoDeSys.Secondly,on the basis of MYC_AM335x core board,the composition of Linux system and the transplantation of embedded Linux system are introduced in detail.The CoDeSys real-time system,including the development system and the operation system,get perfect explanation as the real-time operation system is transported on the Linux system platform.Thirdly,I/O components in CoDeSys operating system are developed.It includes the development of bottom driver,the configuration module of I/O port,the writing of device description file as well as accomplishment of the the test work of the added I/O component.Finally,the SCARA robot motion control experimental device based on EtherCAT network is developed by using embedded soft PLC,the SCARA basic machine of Googol Technology Ltd.and the servo driver of Hangzhou Liwei Technology Co.,Ltd.And the control program of SCARA robot system is designed.