CN106873514A - A kind of flexible punching press on line control system and control method - Google Patents

A kind of flexible punching press on line control system and control method Download PDF

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Publication number
CN106873514A
CN106873514A CN201710132468.XA CN201710132468A CN106873514A CN 106873514 A CN106873514 A CN 106873514A CN 201710132468 A CN201710132468 A CN 201710132468A CN 106873514 A CN106873514 A CN 106873514A
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China
Prior art keywords
robot
plc processor
punch press
information
control
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CN201710132468.XA
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CN106873514B (en
Inventor
陈劲扬
袁祥宗
杨林
王群
杨海滨
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Foshan Intelligent Equipment Technology Research Institute
Foshan Huashu Robot Co Ltd
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Foshan Intelligent Equipment Technology Research Institute
Foshan Huashu Robot Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/11Plc I-O input output
    • G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor

Abstract

The invention discloses a kind of flexible punching press on line control system, including PLC processor, human-computer interaction interface, execution unit, the power module powered for PLC processor and the storage card for storing product information and Product processing program, the execution unit is configured with multiple, the execution unit includes punch press and robot, the PLC processor is communicated to connect by Ethernet with human-computer interaction interface, the punch press, robot, power module and storage card are communicated to connect with PLC processor respectively, the punch press and machine include controller per capita, motor, detection sensor, for detecting encoder and controlled motor formation power circuit relay that motor action is performed, the relay, encoder and detection sensor are connected with controller respectively, the controller is communicated to connect with PLC processor.The system realizes the remote operation control of producing line control system, the real-time visual monitoring of punch press and robot in solid line producing line.

Description

A kind of flexible punching press on line control system and control method
Technical field
The present invention relates to a kind of intelligence control system for being applied to industry manufacture field, the more specifically present invention is a kind of Flexible punching press on line control system and control method.
Background technology
With the development of science and technology the automation of product is not only being pursued by the enterprise in modern times, while also striding forward intellectuality The manufacturing such as the level of production, especially television set, automobile, intelligent producing line is being gradually improved.
But there is a drawback in existing production line, general production line is set according to single fixed product Meter, each equipment on production line is all, according to a fixed sequencing, to be set to the operation that can only be fixed, and is led Causing production line can only produce a product, it means that as changing occurs in fruit product, corresponding production line must also put into certain Resource is transformed, and increases enterprise's initial stage input cost;In addition, a kind of product can only be carried out in the existing production line same time Production, it is impossible to while carry out two kinds of production works of product, influence enterprises production efficiency.
The content of the invention
To solve the above problems, the present invention provides a kind of flexible punching press on line control system and its control method.
The present invention solve its technical problem solution be:
A kind of flexible punching press on line control system, including PLC processor, human-computer interaction interface, execution unit, be PLC processor The power module of power supply and the storage card for storing product information and Product processing program, the execution unit are configured with many Individual, the execution unit includes punch press and robot, and the PLC processor is by Ethernet and human-computer interaction interface communication link Connect, the punch press, robot, power module and storage card are communicated to connect with PLC processor respectively, and the punch press and machine are per capita Formed and be powered back including controller, motor, detection sensor, the encoder for detecting motor action execution and controlled motor Road relay, the relay, encoder and detection sensor are connected with controller respectively, the controller and PLC treatment Device is communicated to connect.
Used as the further improvement of above-mentioned technical proposal, the encoder is incremental encoder, and the encoder includes Coding disk, the coding disk is arranged at the rotary shaft of motor.
As the further improvement of above-mentioned technical proposal, also including safe grating and safety relay, the safety relay Device is arranged on system mains electricity input end, and the safe grating is connected with safety relay, the safety relay and PLC processor It is connected.
The beneficial effects of the invention are as follows:The system realizes the remote operation control of producing line control system, is rushed in solid line producing line The real-time visual of bed and robot is monitored.
A kind of control method of flexible punching press on line control system, comprises the following steps:
Step A:The network address of PLC processor and human-computer interaction interface is set, Ethernet connection PLC processor and man-machine is set up Interactive interface;
Step B:System operational parameters are set, including production pattern is set, the production model includes single line production model With two-wire production model, the number information of punch press and robot is set, each producing line participates in production under setting correspondence production model Punch press and robot number, input product information are simultaneously loaded into Product processing program, edit each execution unit punch press and robot Action is performed, the number information is acted with execution and corresponded;
Step C:PLC processor sends number information and performs actuating signal to each execution unit;
Step D:Controller performs operation according to action executing signal, generates feedback signal and passes number information and feedback signal It is defeated to PLC processor;
Step E:PLC processor exports punch press to human-computer interaction interface and robot performs the result of the action.
Further, include after the step B:
Step F:System operation conditions Autonomous test, if System self-test is qualified, system startup optimization performs step C, if System self-test Unqualified, PLC processor exports fault alarm information to human-computer interaction interface, and step is re-executed after the completion of alarm information processing F。
Further, also include after the step C:
Step G:PLC processor starts timing, if timing is not over, continues executing with step D, if timing terminates, PLC processor The feedback signal of punch press or robot is not received by, performing step H, the step H includes PLC processor to man-machine interaction circle Face exports the fault alarm information of punch press or robot, the execution list where shielding and removing the punch press or robot of failure Unit, execution unit is automatically added in producing line end, adds the number of execution unit consistent with the number of shielding execution unit, PLC By producing line tandem, by the number information of punch press and robot and execution action, matching is corresponding again automatically for processor, returns again to Step F.
Further, the step D is comprised the following steps:
Step D1:Controller judge receive number information whether whether the number information stored with itself consistent, if differing Cause, controller need not any operation, return to step G, if unanimously, controller performs operation according to actuating signal is performed;
Step D2:Encoder detection motor performs operation, if not detecting, controller without any action, return to step G, If detecting, controller generation feedback signal and by itself number information and feedback signal transmission to PLC processor.
The beneficial effects of the invention are as follows:This control method can to participated in producing line production punch press and robot number and its Execution action carries out free setting, can simultaneously produce two kinds or more products, and the execution additionally, due to punch press and robot is moved Work can freely set, therefore, it is possible to compatible with the production of multiple product.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the invention, rather than whole implementations Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings Scheme and accompanying drawing.
Fig. 1 is the circuit theory diagrams of control system of the present invention;
Fig. 2 is punch press of the present invention and robot and circuit theory diagrams;
Fig. 3 is the flow chart of control method embodiment of the present invention;
Fig. 4 is the pairing of punch press before and after step H is performed in control method of the present invention and robot number information and execution action Comparison diagram.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out clearly below with reference to embodiment and accompanying drawing Chu, complete description, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.It is each in the invention Individual technical characteristic, can be with combination of interactions on the premise of not conflicting conflict.
Referring to Figures 1 and 2, a kind of flexible punching press on line control system, the control system includes PLC processor, man-machine Interactive interface, execution unit, the power module powered for PLC processor and for storing product information and Product processing program Storage card, the execution unit is configured with enough, and the execution unit includes punch press and robot, the PLC processor Communicated to connect by Ethernet and human-computer interaction interface, user can be realized to production line by Ethernet using human-computer interaction interface The remote operation of upper each equipment, the punch press, robot, power module and storage card are communicated to connect with PLC processor respectively, institute State punch press and machine per capita include controller, motor, detection sensor, for detect the encoder of motor action implementation status with And controlled motor forms power circuit relay, the detection sensor is used to gather the status information of punch press and robot, example Such as detect punch press top dead-centre, whether in work origin etc., the detection sensor can be pressure sensor, infrared for robot Sensor etc., the relay, encoder and detection sensor are connected with controller respectively, the controller and PLC treatment Device is communicated to connect.
The present invention plans as a whole the work of each execution unit punch press and robot using PLC processor, realizes Based Intelligent Control, will PLC processor and human-computer interaction interface are connected by Ethernet, and user can realize remote real-time monitoring to control system, exist in addition Punch press and robot aspect the running status of equipment is carried out effectively information and adopt by detection sensor and encoder Collecting, and be transferred to corresponding controller carries out intelligently setting treatment, and real-time, accuracy in detection is high.
Specifically, in the present embodiment, the PLC processor, storage card, human-computer interaction interface and power module are used The product of Siemens Company, the PLC processor model CPU315-2PNDP, the storage card is mmc card, and memory space is 512KB, model 6ES7-953-8LJ20-0AA0, the human-computer interaction interface are touch-screen, model KTP 1000PN, institute State power module and 220V exchange input electricity is converted into 24V direct current electricity outputs, its output current is configured as 10A or 5A, model It is 6ES7-307-1EA01-0AA0, the system is also configured with digital quantity input/output module in addition, and PLC processor is by described Digital quantity input/output module is connected with punch press and robot, and the digital quantity input module model has 6ES7-321-1BP00- 0AA0 and 6ES7-360-3AA01-0AA0, the digital output module model have 6ES7-322-1BL00-0AA0 and 6ES7-360-3CA01-0AA0.Certain the above module is not limited solely to the present embodiment, any module that can complete similar functions Device belongs to the protection domain of the invention.
It is further used as preferred embodiment, the encoder is a kind of incremental encoder, the encoder includes Coding disk, the coding disk is arranged at the rotary shaft of motor.Specifically, when motor is operated, encoder changes angular displacement Into periodic electrical signal, then count pulse is converted the electrical signal to, be transferred to controller treatment, the encoder is mainly used in inspection Punch press and robot motion implementation status are surveyed, is not in contact between encoder and motor during detection, any friction or mill will not be produced Damage, and the response time is fast, it is real-time.
It is further used as preferred embodiment, is more preferably to protect worker safety on the scene, the system also includes safety Grating and safety relay, the safety relay are arranged on system mains electricity input end, the safe grating and safety relay It is connected, the safety relay is connected with PLC processor.Specifically the safe grating includes infrared transmitter and infrared receiver Device, safe grating may be mounted near electric component, for example power input, or be directly installed on producing line periphery, prevent Someone enters producing line operating area.The safe grating includes infrared transmitter and infrared remote receiver, infrared to connect during normal work Receive device meeting one and directly receive infrared ray, infrared ray can be blocked when someone is close to, infrared remote receiver cannot once receive infrared Line will quick response to safety relay transmission signal, cut off the electricity supply by safety relay, prevent accident Fang Sheng.
A kind of reference picture 3, above-mentioned control method of flexible punching press on line control system, comprises the following steps:
Step A:The network address of PLC processor and human-computer interaction interface is set, Ethernet connection PLC processor and man-machine is set up Interactive interface;
Step B:System operational parameters are set, including production pattern is set, the production model includes single line production model With two-wire production model, the number information of punch press and robot is set, each producing line participates in production under setting correspondence production model Punch press and robot number, input product information are simultaneously loaded into Product processing program, edit each execution unit punch press and robot Action is performed, the number information is acted with execution and corresponded;
Step C:PLC processor sends number information and performs actuating signal to each execution unit;
Step D:Controller performs operation according to action executing signal, generates feedback signal and passes number information and feedback signal It is defeated to PLC processor;
Step E:PLC processor exports punch press to human-computer interaction interface and robot performs the result of the action.
Specifically, this control method initially sets up Ethernet and sets the network ground of PLC processor and human-computer interaction interface Location, realizes the real-time and telecommunication of PLC processor and human-computer interaction interface, the Siemens of the model CPU315-2PNDP PLC processor supports PROFINET industrial ethernet protocols, and networking is convenient and simple.
After networking is completed, it is necessary to which system operational parameters are set, and the parameter of required setting is the invention difference In the key of prior art, including production pattern is set, production model described in the present embodiment include single line production model and Two-wire production model, when single line production model is set to, can only produce a product in whole production line, when being set to two-wire During production model, whole production line is split into two, and two kinds of products can be produced under this production model.Certain production model Species be not limited solely to the present embodiment, as long as the punch press and robot foot of production line are more than enough, may be arranged as multi-thread production mould Formula.
The number information of punch press and robot is set, the punch press and machine of each producing line participation production under correspondence production model are set Device people's number, the punch press and robot number information of production line head end are 1, and next number information is 2, and so on, set Punch press and robot number information purpose are as follows:By punch press and the number information of robot, different punch presses and machine are distinguished People, convenient setting punch press and robot perform action, and PLC processor can be realized and punch press according to number information when running in addition Or the accurate communication in the machine human world, user freely sets single line production model according to actual Production requirement or two-wire is produced Under pattern, the punch press and robot quantity of each producing line participation work optimize the resources of production, improve production efficiency, concrete operations As follows, user is provided with after production model in human-computer interaction interface, can show under the production model each production line head end and The punch press of end and the input frame of robot number information, after user's correspondence input, you can complete each producing line under the production model Participate in the setting of the punch press and robot quantity of work.
End user needs input product information and is loaded into Product processing program, edits each execution unit punch press and robot Perform action, the number information is acted with execution and corresponded.Specifically, in system design, user can matched somebody with somebody Product information and corresponding Product processing program are stored in the storage card put, user needs to set under each production line in the present embodiment The product information of production is needed, the product information is user-defined production code member, PLC processor can be according to being input into Product information loads corresponding Product processing program automatically, and the Product processing program is by the punch press of each numbering and robot Setting completed for execution action, time-consuming without resetting before system operation;In addition, when producing the information of product and right The execution action answered does not pre-deposit storage card or original execution action being stored in corresponding to Product processing program cannot When meeting production requirement, user can modify or again on the basis of the execution action of the former storage of each punch press and robot Setting, by the setting of this parameter, realizes the different product of the compatible production of production line, compared with traditional line production system, this Innovation and creation can greatly save user's input cost.
It is further used as preferred embodiment, step F is also included after step B described in this control method:System operation Condition Autonomous test, if System self-test is qualified, system startup optimization, perform step C, if System self-test is unqualified, PLC processor to Human-computer interaction interface exports fault alarm information, and step F is re-executed after the completion of alarm information processing.The specifically step F The service condition for being detected include step B mentioned in parameter whether setting completed, punch press whether top dead-centre, whether robot In origin position, in production line certain limit whether someone etc., the detection punch press whether top dead-centre, whether robot be in The detection sensor that has configured of operation such as origin position is completed, and safe grating be responsible in detection producing line prescribed limit whether Someone enters, after all conditions above is all qualified, system startup optimization, if above-mentioned condition has unqualified, a PLC treatment Device will export fault alarm information to human-computer interaction interface, after the completion of pending fault alarm information processing, then return to step F, re-starts service condition detection, untill all service conditions are qualified.Certain service condition is not limited solely to this reality The above-mentioned testing conditions of example are applied, user can freely set addition according to demand.
It is further used as preferred embodiment, step G is also included after step C described in this control method:PLC processor Start timing, if timing is not over, continue executing with step D, if timing terminates, PLC processor is not received by punch press or machine The feedback signal of device people, performing step H, the step H includes that PLC processor exports punch press or robot to human-computer interaction interface Fault alarm information, the execution unit where shielding and removing the punch press or robot of failure is automatic in producing line end Execution unit is added, the number needs of addition execution unit are consistent with the number of shielding execution unit, and PLC processor is pressed and produced automatically Matching is corresponding again by the number information of punch press and robot and execution action for line tandem, returns again to step F.
Specifically, the step G belongs to a kind of failure monitoring mechanism of the system.When PLC processor is not received by punching During the feedback signal of bed or robot, PLC processor can export fault alarm information to human-computer interaction interface, afterwards at PLC Reason device can voluntarily shield the punch press or robot of failure where execution unit, and add execution automatically in producing line end Unit, the quantity of the execution unit for being added is consistent with the execution unit quantity for being shielded, and PLC processor is again by suitable before and after producing line Matching is corresponding again by the number information of punch press and robot and execution action for sequence, reference picture 4, before the left side one is classified as failure The punch press and robot of original numbering perform the corresponding relation of action with it, and the right one is classified as after breaking down and being disposed different Punch press and robot and its of numbering perform the corresponding relation of action, it is assumed that when punch press 3 and punch press 7 break down, PLC treatment Device shields the execution unit at punch press 3 and the place of punch press 7, then adds two execution units in producing line end, finally according still further to producing line Matching is corresponding again by the number information of punch press and robot and execution action for tandem, and thus user can occur event The punch press or robot of barrier fill in producing line to shield to remove and terminate producing line operation without long-time, improve the effect of system operation Rate and reliability.Certainly during specific implementation, can be arranged on guide rail for all of punch press in producing line and robot by user, so be System can be removed and added to execution unit automatically, without artificial operation, realize full-automatic operation.
It is further used as preferred embodiment, the step D is comprised the following steps:
Step D1:Controller judge receive number information whether whether the number information stored with itself consistent, if differing Cause, controller need not any operation, return to step G, if unanimously, controller performs operation according to actuating signal is performed;
Step D2:Whether encoder detects motor and performs operation, if not detecting, controller need not any action, return Step G, if detecting, controller generation feedback signal and by itself number information and feedback signal transmission to PLC processor.
Specifically, the step D is the execution motion mechanism of punch press and robot, and controller first determines whether the volume for receiving Whether code information is consistent with the coding information that itself is deposited, if inconsistent, return to step G, if unanimously, controller is dynamic according to performing Make signal and perform operation, controller performs relay one electricity of output that operation simply forms power circuit to controlled motor in addition Ordinary mail number, therefore cannot ensure whether punch press or the motor of robot produce run action, it is therefore desirable to using encoder detection Whether motor runs generation associative operation, if encoder detects motor and performs operation really, to controller output signal, control Device production feedback signal processed simultaneously itself will deposit address information and feedback signal transmission to PLC processor, if encoder is not examined Measure motor and perform associative operation, controller cannot generate feedback signal, return to step G.
Further, in the step E, PLC is provided according to the address information for receiving and corresponding feedback signal, identification Which punch press body is or robot completes execution actuating signal, and implementing result output is rushed accordingly to human-computer interaction interface Bed the monitoring page or the supervisory control of robot page, the punch press monitoring page or the supervisory control of robot page can show all numberings Punch press and robot current execution movement content and its practice condition, user can be by human-computer interaction interface to whole system System carries out real-time visual monitoring.
Reference picture 3, the specific embodiment of the invention control method, specific control flow is as follows:
Step S01:The network address of PLC processor and human-computer interaction interface is set;
Step S02:Ethernet is set up, PLC processor and human-computer interaction interface is connected;
Step S03:Setting system production model;
Step S04:The number information of each punch press and robot is set;
Step S05:Punch press and robot quantity that each producing line participates in production are set;
Step S06:Input product information, is loaded into production program;
Step S07:That edits each punch press and robot performs action;
Step S08:System carries out service condition Autonomous test;If service condition is qualified, system startup optimization, if service condition does not conform to Lattice, PLC processor exports fault alarm information to human-computer interaction interface, after fault alarm information is disposed, re-executes step Rapid S08;
Step S09:PLC processor sends number information and corresponding execution actuating signal, and starts timing;
Step S10:Judge whether timing terminates, if timing is not over, perform step S11, if timing terminates, PLC processor Feedback signal is not received by, PLC processor exports failure alarm signal to human-computer interaction interface, shields the punch press for breaking down With the execution unit where robot, execution unit is added in producing line end, PLC processor will be rushed by producing line tandem automatically The number information of bed and robot is corresponding with execution action again matching, returns again to step S08;
Step S11:Controller judges whether the number information for receiving is consistent with the coding information that itself is deposited, if unanimously, control Device processed performs operation according to action executing signal, if inconsistent, controller is without any operation, return to step S10;
Step S12:Whether encoder detects motor and performs operation, if detecting, encoder output to controller, control Device generates feedback signal and itself will deposit coding information and feedback signal transmission to PLC processor, if not detecting, control Device need not carry out any operation, return to step S10;
Step S13:PLC processor exports the execution running-active status of punch press or robot to human-computer interaction interface.
Better embodiment of the invention is illustrated above, but the invention is not limited to the implementation Example, those of ordinary skill in the art can also make a variety of equivalent modifications or replace on the premise of without prejudice to spirit of the invention Change, these equivalent modifications or replacement are all contained in the application claim limited range.

Claims (7)

1. a kind of flexible punching press on line control system, it is characterised in that:Including PLC processor, human-computer interaction interface, perform list Unit, the power module powered for PLC processor and the storage card for storing product information and Product processing program, it is described to hold Row unit is configured with multiple, and the execution unit includes punch press and robot, and the PLC processor passes through Ethernet and man-machine friendship Mutual interface communications connection, the punch press, robot, power module and storage card are communicated to connect with PLC processor respectively, the punching Bed and machine include controller, motor, detection sensor, encoder and control electricity for detecting motor action execution per capita Machine forms power circuit relay, and the relay, encoder and detection sensor are connected with controller respectively, the control Device is communicated to connect with PLC processor.
2. with according to a kind of flexible punching press on line control system described in claim 1, it is characterised in that the encoder is increment Formula encoder, the encoder includes coding disk, and the coding disk is arranged at the rotary shaft of motor.
3. a kind of flexible punching press on line control system according to claim 2, it is characterised in that:Also include safe grating and Safety relay, the safety relay is arranged on system mains electricity input end, and the safe grating is connected with safety relay, institute Safety relay is stated to be connected with PLC processor.
4. the control method of the flexible punching press on line control system described in a kind of claim 3, it is characterised in that including following step Suddenly:
Step A:The network address of PLC processor and human-computer interaction interface is set, Ethernet connection PLC processor and man-machine is set up Interactive interface;
Step B:System operational parameters are set, including production pattern is set, the production model includes single line production model With two-wire production model, the number information of punch press and robot is set, each producing line participates in production under setting correspondence production model Punch press and robot number, input product information are simultaneously loaded into Product processing program, edit each execution unit punch press and robot Action is performed, the number information is acted with execution and corresponded;
Step C:PLC processor sends number information and performs actuating signal to each execution unit;
Step D:Controller performs operation according to action executing signal, generates feedback signal and passes number information and feedback signal It is defeated to PLC processor;
Step E:PLC processor exports punch press to human-computer interaction interface and robot performs the result of the action.
5. the control method of flexible punching press on line control system according to claim 4, it is characterised in that after the step B Including:
Step F:System operation conditions Autonomous test, if System self-test is qualified, system startup optimization performs step C, if System self-test Unqualified, PLC processor exports fault alarm information to human-computer interaction interface, and step is re-executed after the completion of alarm information processing F。
6. the control method of flexible punching press on line control system according to claim 5, it is characterised in that after the step C Also include:
Step G:PLC processor starts timing, if timing is not over, continues executing with step D, if timing terminates, PLC processor The feedback signal of punch press or robot is not received by, performing step H, the step H includes PLC processor to man-machine interaction circle Face exports the fault alarm information of punch press or robot, the execution list where shielding and removing the punch press or robot of failure Unit, execution unit is automatically added in producing line end, adds the number of execution unit consistent with the number of shielding execution unit, PLC By producing line tandem, by the number information of punch press and robot and execution action, matching is corresponding again automatically for processor, returns again to Step F.
7. the control method of flexible punching press on line control system according to claim 6, it is characterised in that the step D includes Following steps:
Step D1:Controller judge receive number information whether whether the number information stored with itself consistent, if differing Cause, controller need not any operation, return to step G, if unanimously, controller performs operation according to actuating signal is performed;
Step D2:Encoder detection motor performs operation, if not detecting, controller without any action, return to step G, If detecting, controller generation feedback signal and by itself number information and feedback signal transmission to PLC processor.
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CN109910004A (en) * 2019-02-28 2019-06-21 北京镁伽机器人科技有限公司 User interaction approach, control equipment and storage medium
CN110000263A (en) * 2019-06-11 2019-07-12 广东辰威机器人有限公司 A kind of punch line automatic press control system
CN110047165A (en) * 2019-02-28 2019-07-23 广州明珞汽车装备有限公司 A kind of production control and management system and method
CN110764460A (en) * 2018-07-25 2020-02-07 君泰创新(北京)科技有限公司 Preprocessing method, control method and system of programmable logic controller
CN110834055A (en) * 2019-11-12 2020-02-25 珠海格力智能装备有限公司 Equipment safety protection method and device and punch control system
CN111736558A (en) * 2020-07-01 2020-10-02 佛山科学技术学院 Production line equipment control method and control system

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