论文部分内容阅读
随着科技日新月异的发展,可编程控制器应用技术也日趋成熟,从而使得PLC的应用范围较以前也显得更加广泛,所以在现今的电气控制系统的设计工程技术人员,更倾向于选用PLC而不是接触器控制。着重介绍基于PLC技术的机械手臂控制系统的组成,并详细介绍PLC对步进电机集成控制软件和硬件的实现方法。该系统采用步进电机的单位脉冲步进距离相等的特点,对其开环点位进行控制。因此,整个运动可视为折线运动,每一个动作,可视为相同的锻炼项目,不同的特征参数的点位相对运动。作为参考点,目标点的位置由脉冲计数得到,手动操作机械手,从基准点到目标点,保存目的点的特征参数并且进行统一列表管理。以此实现手动模式下关键点位的输入以及自动模式下查表方法的“仿形纠正”动作。
With the rapid development of science and technology, application of programmable controller technology is also increasingly mature, making the application of PLC than ever before it is also more extensive, so in today’s electrical control system design engineering and technical personnel, preferring to use PLC rather than Contactor control. The composition of the robot arm control system based on PLC technology is emphatically introduced, and the realization method of PLC integrated control software and hardware for the stepper motor is introduced in detail. The system uses stepper motor unit pulse step distance equal to the characteristics of its open-loop point control. Therefore, the entire movement can be regarded as a polyline movement, each action can be regarded as the same exercise items, the different characteristic parameters of the relative movement. As a reference point, the position of the target point is obtained by pulse counting. The manipulator is manually operated to save the characteristic parameters of the destination point from the reference point to the target point and perform unified list management. In order to achieve the key points in manual mode input and automatic mode table look-up method “copy correction ” action.