Research Of Standard Robot Control Software Based On PLCopen And OPCUA

With the development of industrial systems towards intelligent and unmanned development,,in situations such as unmanned factories and intelligent manufacturing lines,the control system proposes higher security and openness requirements.Traditional control solutions are often limited by equipment providers,and are difficult to interconnect at the hardware and software levels.This has greatly hindered the construction of intelligent factories and production lines.In the intelligent factory and production line,industrial robot are an important part,but in the field of robot control,there are varieties of slutions.Different manufacturers provide different programming languages and software standards,which greatly reduces the interchangeability of the program and also increases the difficulty for programmers.Based on the PLCopen series standard and the IEC61131-3 programming language,this paper proposes a control program design and implementation method based on industrial robots.content:In order to improve the portability of motion control program,this paper develops motion control module based on PLCopen standard method.In order to reduce the complexity and maintainability of programming,the program is mainly used in SFC sequential function diagram language in IEC61131-3 programming language.Design and implementation,combined with the characteristics of coordinated motion,proposed a general-purpose motion control framework and designed experiments.In order to improve the reusability of the program,this paper mainly uses the form of plug-in to develop kinematics and circular interpolation function block,and uses the program exchange method based on PLCopenXML specification to develop the UR5 type robot forward and reverse solution and matrix operation library based on C.Integrated into the IEC61131-3 development environment for flexible program development.In order to improve the interoperability between robots and other industrial equipments,this paper studies the communication model of OPCUA and the HZACP information model,and proposes to use the shared memory and address mapping to realize the data exchange between the program and the OPCUA server.Based on the above,an experimental platform with UR5 robot as the control target was designed.The designed axis group motion control function block and OPCUA communication function block were tested.The robot control program development method based on PLCOpen standard,using the state machine model framework of axis and axis group and PLC communication and control framework,makes the structure of the robot program module clear,versatile and reusable,using IEC61131-3 language programming,To ensure that the control program is safe and efficient,it can also reduce the complexity and difficulty of programming,and it can better integrate the robot equipment into the standardized equipment production line,which is convenient for the unified development of intelligent applications.