基于CoDeSys的可重构的焊接自动化控制器

针对焊接过程对焊接工装运动控制平台和等离子焊接电源智能控制的要求,构成基于PC的开放式可重构控制器。根据开放式可重构控制系统架构的特点,控制器的设计以CoDeSys控制软件和实时工业以太网EtherCAT技术为核心,使得控制器兼具开放式、模块化、标准化、网络化。并将可重构控制器重构为包括五轴焊接工作台和变极性等离子焊接电源的智能控制器,利用控制软件设计控制器的多样化运动控制功能和对焊接电源的智能控制,设计合理的可视化操作界面。硬件执行层则通过倍福端子式总线模块搭建控制从站,完成对执行电机,串行通讯和系统扩展I/O的控制。实验证明,焊接自动化控制器能够完成工作台的单轴点动控制、多轴联动、插补运动、轨迹路径规划等功能,完成对变极性等离子焊接电源的参数设定和智能控制,并且控制器具有实时性好,运动轨迹控制精度高,焊接参数传输准确等特点。

Reconfigurable welding controller based on CoDeSys technology

A pc-based open reconfigurable controller is established which in view of requirements of welding motion control platform system and intelligent control of VPPAW. According to the architecture characteristics of open reconfigurable control system,the design of the controller depend on CoDeSys and EtherCAT technology,makes the reconfigurable controller have features like opening,modular,standardization and networked. Then reconstructed the reconfigurable controller including five-axes welding platform and VPPA power source,make use of CoDeSys to design the diversified movement control function and visual interface for the controller. The slave devices is consisted of Beckhoff modular bus terminals so as to complete the implementation of motor,serial communication and system extensional I/O function. Experiment prove that,reconfigurable controller can realize motion control functions including jog,multi axes interpolator coordinated motion,movement path planning,complete the parameters setting and intelligent control of VPPAW power source,the controller also has advantages of excellent real-time performance,high precision and accurate data transmission.