| In the important transformation period of industrial manufacturing upgrading,opportunities and challenges coexist in the field of industrial robots.As one of the key technologies of industrial robots,controllers also have many possibilities of innovation and optimization.A software design of advanced controller system is to improve the system performance by using soft PLC technology and robot technology,logic control and process management is realized by soft PLC technology,and motion control is realized by robot technology.Based on this solution,with IEC61131-3 as the standard and the actual demand of controller system as the goal,soft PLC technology in the industrial robot controller system is presented in this dissertation.The industrial robot controller system software includes the system configuration and parameter management software in the upper computer,the running system software in the controller.The programming system and the running application platform of the soft PLC technology are located in these two parts respectively.Programming system belongs to the important subsystem of the configuration management software,and completes the functions of editing,compiling,test run and monitoring management of the soft PLC source code.As one of the key tasks of the controller operation system,the platform realizes the functions of soft PLC object file operation,data refresh of various servo bus devices and system operation management.Firstly,the research status of industrial robot controllers at home and abroad is summarized,and the application status of soft PLC technology in the system is introduced.Then,starting from the software requirements of the controller system,the overall architecture of the system and multitasking scheduling strategy is summarized macroscopically.At the same time,the overall design scheme of the soft PLC programming system and the running application platform is expounded in combination with the application scenarios and functional requirements of the soft PLC.Secondly,for soft PLC programming system,ST language compiler upgrade,ladder diagram language programming subsystem and other functions are designed and completed.Aiming at the ST language compiler,the compiler description model and complete compilation process are designed and developed,focusing on the typical features of ST language,and the application and management of external device data is realized.Aiming at the ladder diagram programming subsystem,it is further divided into two modules: editor and compiler.The editor module designs and implements data model,operation editing and other functions in turn.The compiler module gives a solution to compile by language conversion,and designs and implements the algorithm of converting ladder diagram language into ST language.Thirdly,for the application platform of soft PLC,the task life cycle is optimized,on this basis,the encryption and decryption process is designed and implemented.At the same time,combined with the unit test interface of the soft PLC programming system,the unit program of the soft PLC is tested.At the same time,facing the complex operation management process,the interactive management scheme with the soft PLC operation application platform(data management)and operation management layer(control interaction)as the center is designed and improved.Finally,the function of each task module is validated separately,and the ER4 robot is used as the system experimental platform to verify that the soft PLC technology can meet the control and management requirements of the controller system. |
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