基于工业机器人控制系统的软PLC设计

工业机器人在应用过程中需要外部信号与机器人系统进行交互来完成复杂的工艺,PLC可对两者之间的信号进行逻辑运算来实现控制。软PLC相较于硬件PLC有编程语言标准化、硬件配置灵活等特点,并且可以接口的方式直接嵌入不同的控制系统中。软PLC主要负责系统中的逻辑控制与输入输出管理。针对一款自主研发的新型控制系统,设计一套可配合该系统用于工业领域的软PLC控制系统。该软PLC系统包含编程模块、编译模块、执行模块、监测模块,可用于绘制梯形图、生成指令表、编译可执行文件、执行程序。编程、编译模块基于Windows下Qt平台开发,执行、监测模块基于Linux下Qt平台开发。

Design of Soft PLC Based on Industrial Robot Controller System

Industrial robot is applied for finishing complex craft with external signals. The PLC is used to control logic calculation between robot and external signals. Compared with traditional PLC, the soft PLC has characteristics of standard programming language, customized hardware configuration, etc. It can be directly embed in different control systems as interface. The soft PLC takes responsibility for logic control and I/O control. A new independent research controller was analyzed, and a soft PLC controller applied in industrial area was designed for this system. This soft PLC included programming module, compile module, execute module, monitor module. It could be applied for drawing LAD, generating IL, compiling executable file, running programs. The programming module and compile module were developed by Qt based on Windows OS. The execute module and monitor module were developed by Qt based on Linux OS.