Design Of Industrial Robot Teaching Pendant Based On Ethernet

Industrial robot is an important intelligent processing equipment in advanced manufacturing systems,which is operated by the operator's pre-programmed work procedures.And its programming methods include teaching and playback programming and offline programming.Compared with offline programming,the process of teaching and playback programming does not need high absolute positioning accuracy.Thus it has a wider range of applications.The teaching pendant is an indispensable tool for teaching and playback programming,and it is an important way for human-computer interaction.In this thesis,based on STM32 processor,?C/OSII operating system and Ethernet communication,a teaching pendant is developed.Firstly,based on STM32F407VGT6,several circuits and their driving softwares of the robot teaching pendant are designed,including ARM kernel circuit,SD card interface circuit,network communication circuit,display circuit and keyboard circuit.Secondly,the simplified TCP/IP protocol stack is applied to ?C/OSII operating system to improve the real-time and reliability of data transmission and turn the cross-platform Ethernet communication into reality by means of the Socket.In addition,the application layer protocol is developed to exchange data between the pendant and the controller.Thirdly,on the basis of the software demand analysis,the corresponding logic function of the teaching robot interfaces are designed.And in this thesis,the overall user interface framework is builded up by using emWin graphics library to achieve easy operation.And these interfaces include configuration management,variable management,robot management,robot work management,state management,and warning interface.Finally,SR20 A robot is used to prove that the teaching pendant can teaching and playback robot program effectively.