CN111796551A - PLC plug-in motion control module, motion control method and control system - Google Patents
PLC plug-in motion control module, motion control method and control system Download PDFInfo
- Publication number
- CN111796551A CN111796551A CN202010416811.5A CN202010416811A CN111796551A CN 111796551 A CN111796551 A CN 111796551A CN 202010416811 A CN202010416811 A CN 202010416811A CN 111796551 A CN111796551 A CN 111796551A
- Authority
- CN
- China
- Prior art keywords
- plc
- motion
- motion control
- control module
- plug
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
Abstract
The application discloses PLC joins externally motion control module, motion control's method and control system, PLC joins externally motion control module and includes little the control unit MCU, input interface, output interface, communication interface that are used for carrying out the motion control algorithm: the module is connected with the PLC, the MCU is respectively connected with the input interface, the output interface and the communication interface, and the output interface comprises a high-speed pulse output interface. The problem that current PLC joins externally motion control module commonality is poor has been solved in this application.
Description
Technical Field
The application relates to the technical field of control, in particular to a PLC (programmable logic controller) plug-in motion control module, a motion control method and a control system.
Background
Most PLC plug-in motion control modules are special at present, are limited by PLC models when in use, and have poor universality. For example, for the transformation of an old NC lathe, an NC control system may have been stopped without accessories, the control system relates to high-speed pulse control and interpolation algorithm, most of the existing PLCs in the lathe control system do not support the control of high-speed pulses on a servo motor, and some PLCs do not support interpolation operation even if supporting high-speed pulses, and cannot replace the NC system to perform the control of high-precision multi-axis machining. If the PLC plug-in motion control module is added, most PLC plug-in motion control modules are special and cannot be used universally. Therefore, the original PLC system needs to be replaced, and a new high-end PLC and a corresponding special motion control module are additionally arranged for control, so that the cost of one control system can be increased by buying several devices, and the reconstruction cost is too high.
Disclosure of Invention
The main aim at of this application is to solve the current poor problem of PLC plug-in motion control module commonality.
In order to achieve the above object, according to a first aspect of the present application, there is provided a PLC plug-in motion control module.
According to the application, the PLC plug-in motion control module comprises: a micro control unit MCU for executing motion control algorithm, an input interface, an output interface, a communication interface:
the module is connected with the PLC, the MCU is respectively connected with the input interface, the output interface and the communication interface, and the output interface comprises a high-speed pulse output interface.
Optionally, the high-speed pulse output interface includes a first high-speed pulse output interface for executing a motion control algorithm operation trajectory and a second high-speed pulse output interface for controlling the motion of the auxiliary shafting.
Optionally, the first high-speed pulse output interface is at least two interfaces.
Optionally, the second high-speed pulse output interface is at least two interfaces.
Optionally, the communication interface communicates with the PLC through a ModbusRTU protocol.
Optionally, the module further includes an amplifying circuit:
the input interface is connected with the MCU through an amplifying circuit;
the output interface is connected with the MCU through an amplifying circuit.
Optionally, the communication interface is an RS485 interface.
Optionally, the motion control algorithm includes a high-speed pulse control algorithm and an interpolation algorithm.
According to a second aspect of the present application, a control system is provided.
The control system comprises a human-computer interface system, a PLC (programmable logic controller), and the PLC plug-in motion control module, a driver and a servo motor in any one of the first aspects, wherein the servo motor comprises a servo motor for numerical control and/or a servo motor for free control:
the human-computer interface system is connected with the PLC, the PLC is connected with the PLC plug-in motion control module, the PLC plug-in motion control module is connected with the driver, and the driver is connected with the servo motor.
Optionally, the PLC communicates with the human-computer interface system through a Modbus protocol.
In order to achieve the above object, according to a third aspect of the present application, there is provided a method of motion control, the method including:
the PLC plug-in motion control module receives a motion execution instruction sent by the PLC;
executing the motion execution instruction through a built-in Micro Control Unit (MCU), and generating an execution result after the execution is finished;
and returning the execution result to the PLC.
Optionally, the method further includes:
and the PLC communicates with the PLC plug-in motion control module through a ModbusRTU protocol.
Optionally, a motion trajectory table is built in the PLC plug-in motion control module, and before the PLC plug-in motion control module receives a motion execution instruction sent by the PLC, the method further includes:
receiving configuration information of a motion trail table sent by a PLC;
and completing the configuration of the motion trail table according to the configuration information.
Optionally, the executing the motion execution instruction by the built-in MCU includes:
and controlling the servo motor to move according to the motion track through a built-in micro control unit according to the start-stop instruction of the motion track contained in the motion execution instruction.
In the embodiment of the application, the motion control module is externally hung on the PLC, and comprises a micro control unit MCU for executing a motion control algorithm, an input interface, an output interface and a communication interface: the motion module is connected with the PLC, the micro control unit MCU is respectively connected with the input interface, the output interface and the communication interface, and the output interface comprises a high-speed pulse output interface. The motion control module is applied to the transformation of a lathe, a motion control algorithm and high-speed pulse output are integrated in the motion control module and are not performed in a PLC module, so that the performance of the PLC does not need to be considered, the motion control module can be matched with any PLC for use, the motion control algorithm can be a high-speed pulse control algorithm and an interpolation algorithm, and the motion control module can be matched with an old PLC to replace an NC control system. The high-end high-performance PLC and the corresponding special motion control module do not need to be replaced for control, and the reconstruction cost is greatly reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a block diagram of a PLC plug-in motion control module provided in accordance with an embodiment of the present application;
FIG. 2 is a circuit diagram of an input interface according to an embodiment of the present application;
FIG. 3 is a circuit diagram of an output interface provided according to an embodiment of the present application;
FIG. 4 is a diagram of an IO interface provided in an embodiment of the present application;
FIG. 5 is a circuit diagram of a communication interface according to an embodiment of the present application;
FIG. 6 is a logic diagram provided in accordance with an embodiment of the present application;
FIG. 7 is a block diagram of a control system provided in accordance with an embodiment of the present application;
FIG. 8 is a block diagram of a lathe control system provided in accordance with an embodiment of the present application;
FIG. 9 is a block diagram of a prior art lathe control system;
FIG. 10 is a flow chart of a method of motion control provided in accordance with an embodiment of the present application;
fig. 11 is a comparison diagram of a conventional motion control method provided in an embodiment of the present application and a motion control method of the present embodiment.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Firstly, the inventor wants to add a plug-in module to an old PLC to implement high-speed pulse and interpolation operation, so that the original equipment can be effectively utilized and the modification cost can be reduced. However, the inventor finds that the existing PLC plug-in modules are all IO signal modules, communicate with the PLC through a backplane bus, and perform calculation in the PLC, and the real-time output of the PLC calculation result and the real-time input rate of the signal have higher requirement on the communication rate of the backplane bus, so that the existing PLC plug-in modules are basically special and are matched with a specific PLC for use, and the protocol of the backplane bus is private and not open. The existing plug-in modules related to the high-speed pulse signals are mostly not supported, and only the IO signals carried by the PLC body support the high-speed pulse signals, so that the high-speed pulse signals are limited to specific models of the PLC, and the universality is poor. The PLC plug-in module in the application is universal. The process of inventing different reasons for the PLC plug-in module is also creative embodiment.
As shown in figures 1-6 of the drawings,
a PLC plug-in motion control module comprises a micro control unit MCU (11) for executing a motion control algorithm, an input interface (12), an output interface (13) and a communication interface (14). The module is designed based on a single chip microcomputer chip (an STM32 chip, a GD32 chip and the like).
The module is connected with a PLC, a micro control unit MCU (11) is respectively connected with an input interface (12), an output interface (13) and a communication interface (14), and the output interface (13) comprises a high-speed pulse output interface. The PLC sends an instruction to the PLC plug-in motion control module through the communication interface (14), the PLC plug-in motion control module sends the instruction sent by the PLC to the micro control unit MCU (11) through the input interface (12) and executes the instruction in the micro control unit MCU (11), and the execution process is that the control signal is output to external execution equipment (such as a servo motor) through the output interface (13) to carry out motion. And after the execution is finished, the result is returned to the PLC through the communication interface (14).
The PLC connected to the module is any PLC, has no performance requirement, and is not a PLC dedicated to the module. Compared with the existing PLC plug-in module, the algorithm part and the output part (motion control algorithm and high-speed pulse output) which need high-speed response are built in the PLC plug-in motion control module, so that the PLC only needs to send an instruction for executing any command, and an execution result of the PLC is returned after the instruction is executed. The method is just a process that the command execution process needs quick response and the requirement on an operation set is higher, and the process is finished in the PLC plug-in motion control module without real-time operation and tracking by the PLC. Therefore, the requirement of the communication speed between the PLC and the plug-in motion control module becomes less strict, and the PLC control system is greatly suitable for a large number of types of PLC products and application occasions. The motion control algorithm can be a high-speed pulse control algorithm, an interpolation algorithm and the like, so that the motion control module can be matched with an old PLC to replace an NC control system. The high-end high-performance PLC and the corresponding special motion control module do not need to be replaced for control, and the reconstruction cost is greatly reduced.
Furthermore, the high-speed pulse output interface comprises a first high-speed pulse output interface used for executing the operation track of the motion control algorithm and a second high-speed pulse output interface used for controlling the motion of the auxiliary shafting. The first high-speed pulse output interface corresponds to numerical control, and the second high-speed pulse output interface corresponds to free control.
The first high-speed pulse output interface forms a two-dimensional or multi-dimensional coordinate system to execute plane interpolation operation (plane interpolation operation such as linear interpolation and circular interpolation) or a three-dimensional interpolation operation track. The number of the first high-speed pulse output interfaces is determined according to actual needs, for example, if a plane interpolation algorithm is executed, two paths of interfaces are needed; if a three-dimensional interpolation algorithm, such as a three-dimensional interpolation algorithm, is executed, three interfaces are required.
The second high-speed pulse output interface is a free high-speed pulse output interface and can control the movement of other auxiliary shafting such as a mechanical arm for taking and placing the part. In practical application, the number of the second high-speed pulse output interfaces can be adjusted according to practical requirements and interface limitations of a chip used, and in this example, the second high-speed pulse output interfaces are at least two interfaces.
Specifically, in this embodiment, an STM32 chip is taken as an example, the input interface (12) is 16-way, the output interface (13) is 4-way, two first high-speed pulse output interfaces and two second high-speed pulse output interfaces are provided, and the circuits of the output interface (13) and the input interface (12) are provided, as shown in fig. 2, a circuit diagram of the input interface (12) is provided, and as shown in fig. 3, a circuit diagram of the output interface (13) is provided. Fig. 4 is a physical diagram of the IO interface.
In fig. 2, U1 and U3 are eight-channel SPI interface digital input level converters, convert 16 channels of DI signals into SPI signals, and output to the MCU (11) after being isolated by a six-channel isolation chip U2. The following is a description of the terminal connections of the input interface (12):
DI：
| DI_24V | DI0 | DI2 | DI4 | DI6 | DI8 | DI10 | DI12 | DI14 |
| DI_GND | DI1 | DI3 | DI5 | DI7 | DI9 | DI11 | DI13 | DI15 |
DI — 24V represents the positive pole of the link 24VDC supply;
DI _ GND represents the negative pole of the link 24VDC power supply;
DI0-DI15 are switching magnitude signal transistor input types of 24VDC voltage.
In fig. 3, U7, U9, U10 and U11 are high-speed IGBT optocouplers, and PWM signals of the 4-way MCU can be output to maximum PWM signals of 24V, 1.5A and 150KHZ after being isolated by the IGBT optocouplers. U4 and U5 are eight-channel power switches and SPI interfaces. The SPI signal of the MCU is isolated by a six-channel isolation chip MAX14850 and then output to a power switch, and 16 DO signals of 24V and 850mA are output maximally. When the CS2 no-signal exceeds 9ms, the enable signal EN of MAX14900E is pulled low by the circuit composed of Q1, Q2 and Q4, so that the DO output is closed, and the safety of DO in the absence of data transmission is ensured.
The following is a description of the terminal connections of the output interface (13):
DO：
DO _24V represents the positive pole of the link 24VDC supply;
DO _ GND represents the negative pole of the link 24VDC power supply;
DO0-DO15 are of the switching value signal transistor output type with 24VDC voltage;
PTO0-PTO3 are the high speed pulse output interface of the present invention.
PTO0 and PTO1 are the first high speed pulse output interface and PTO2 and PTO3 are the second high speed pulse output interface.
Further, the communication interface (14) communicates with the PLC through a ModbusRTU protocol.
ModbusRTU is low-cost low-rate industry ordinary communication protocol, and ModbusRTU communication is PLC's basic communication interface basically, and the agreement is simple, and communication rate requires lowly, and the commonality is good. In the application, an algorithm part and an output part (a motion control algorithm and high-speed pulse output) of high-speed response are built in the PLC plug-in motion control module, so that the basic ModbusRTU can meet the use requirement. In the prior art, if modules for realizing high-speed pulses all need high-speed communication protocols EtherCAT or CANOpen, the protocols are expensive in cost and high in development cost, and many of the PLCs on the market do not support the protocols and have poor universality.
In this embodiment, an RS485 interface (as shown in fig. 4) is designed to perform ModbusRTU communication with a CPU and perform upgrading and configuration testing on a software portion of the present application.
The part of ModbusRTU is defined as follows:
the DIO supports the 0x03, 0x06, and 0x10 commands of the Modbus protocol, baud rate 9600, no check, 8 data bits, 1 stop bit.
Modbus address: 1
Register definition:
read-only, support the 0x03 command:
0x 18: DI State
0x 19: DO state
0x 1A: DO setup state
Readable and writable, supporting the 0x03, 0x06, and 0x10 commands:
0x 4004: DO settings
The above registers correspond to one BIT IO per BIT
An example of a command is:
reading the DIO state:
0x01 0x03 0x00 0x18 0x00 0x03 0x85 0xCC
DIO board return:
0x01 0x03 0x06 DI_H DI_L DO_H DO_L DO_SET_H DO_SET_L CRC CRC
setting DO
0x01 0x06 0x40 0x04 DO_H DO_L CRC CRC
DIO board return:
0x01 0x06 0x40 0x04 DO_H DO_L CRC CRC
specifically, as shown in fig. 5, a circuit diagram corresponding to the RS485 interface is shown. In fig. 5, U17 is an isolated 5V full-duplex RS485 transceiver, and a UART signal of the MCU is converted into an RS485 signal by U17 for output. The TVS tube U8 is used to absorb surge shock. The PTC self-healing fuse R80 is used to prevent misconnection.
The DCDC module provides an isolated 5V power supply for the RS485 side.
In addition, specifically, the motion trajectory table is configured through modbusRTU by adopting a built-in logic operation (motion control algorithm) and a trajectory storage table function. The configured motion track table can be controlled and executed according to the preset motion track table only by giving starting and stopping commands. After the motion trail table is executed, the motion trail table is fed back to the PLC execution state so that the PLC can carry out the next control instruction, and the logic principle is shown in FIG. 6.
Further, the PLC plug-in motion control module also comprises an amplifying circuit (15): the input interface (12) is connected with the micro control unit MCU (11) through an amplifying circuit (15); the output interface (13) is connected with the MCU (11) through an amplifying circuit (15).
Example two
A control system, as shown in fig. 7, the system includes a human-machine interface system (21), a PLC (22), a PLC plug-in motion control module (23) in the first implementation, a driver (24), and a servo motor (25), where the servo motor includes a servo motor for numerical control and/or a servo motor for free control:
the human-computer interface system is an HMI in fig. 7, the HMI comprises two parts of hardware and software, and the driver is a device for driving the servo motor. The HMI is connected with the PLC (22), the PLC (22) is connected with the PLC plug-in motion control module (23), the PLC plug-in motion control module (23) is connected with the driver (24), and the driver (24) is connected with the servo motor for numerical control and the servo motor for free control. The PLC (22) and the human-computer interface system (21) communicate through a Modbus protocol.
The PLC (22) in this embodiment is an arbitrary PLC, has no performance requirement, and is not a dedicated PLC. The cost of the PLC plug-in motion control module (23) is within thousands of yuan, and the cost of the control system applying the embodiment is lower. In addition, an old NC numerical control system can be transformed, the transformation is completed through a low-cost PLC and a PLC plug-in motion control module, and the expenditure is saved.
The present embodiment is described with reference to a specific modification example of a lathe control system, as shown in fig. 8. Fig. 8 is a lathe control system obtained by modifying the existing old NC lathe in fig. 9 by using the PLC plug-in motion control module in the first embodiment. Fig. 8 includes a human-computer interface system, a PLC, the PLC external motion control module in the first embodiment, a driver, and a servo motor, where the servo motor includes a servo motor (one for controlling the X axis and the Y axis) for numerical control and a servo motor (for controlling the truss mechanical arm) for free control. Fig. 9 is a structural diagram of an old NC lathe control system before modification, specifically a self-contained mini-robot system for automatic loading and unloading of the lathe, with a total of three servo motors controlling two servo systems for numerical control. Two are controlled by NC numerical control, and one is controlled by a mechanical arm control PLC. In fig. 9, a human-machine interface system, a PLC, an NC system, a driver, and a servo motor are included, and the servo motor includes a servo motor (one for controlling X axis and one for controlling Y axis) for numerical control and a servo motor (for controlling the truss mechanical arm) for free control. Wherein the PLC interacts with the NC system through DIO signals. After the transformation, the original NC numerical control system is removed, and a PLC plug-in module according to the first embodiment is mounted below the original PLC, as shown in fig. 8. The modified lathe control system can realize all control logics of numerical control machining and loading and unloading of the mechanical arm. The cost of the PLC plug-in control module in the modified structure is within thousands of yuan, and the modification cost is very low.
The control logic of the modified lathe control system is as follows: the method comprises the steps of firstly configuring a motion track table through a ModbusRTU, wherein the motion track table is used for executing a motion control algorithm by a servo motor, and the configured motion track table can be controlled and executed according to a preset motion track table only by giving starting and stopping commands. The PLC sends an instruction (start-stop instruction) sent by the HMI and received by the Modbus to the PLC plug-in motion control module, the PLC plug-in motion control module sends the instruction sent by the PLC to the MCU through the input interface and executes the instruction in the MCU, and the execution process is to output control signals (pulses) to the three servo motors through the output interface so that the three servo motors move according to the motion track table. And after the execution is finished, the result is returned to the PLC through the communication interface so that the PLC can carry out the next control instruction.
EXAMPLE III
According to an embodiment of the present application, a motion control method is provided, where the motion control method of the PLC plug-in module in the first embodiment is applied, as shown in fig. 10, the method includes the following steps:
and S101, the PLC plug-in motion control module receives a motion execution instruction sent by the PLC.
And S102, executing the motion execution instruction through a built-in Micro Control Unit (MCU), and generating an execution result after the execution is finished.
And S103, returning the execution result to the PLC.
For the detailed description of the components of the PLC plug-in motion control module and the circuit diagrams of the components, reference may be made to the description of the first embodiment, which is not repeated herein. The workflow of the motion control method of the embodiment is as follows: the method comprises the steps of firstly configuring a motion track table through a ModbusRTU, wherein the motion track table is used for executing a motion control algorithm by a servo motor, and the configured motion track table can be controlled and executed according to a preset motion track table only by giving starting and stopping commands. The PLC sends a start-stop instruction received by the Modbus to the PLC plug-in motion control module, the PLC plug-in motion control module sends the instruction sent by the PLC to the MCU through the input interface and executes the instruction in the MCU, and the execution process is to output control signals (pulses) to the three servo motors through the output interface so that the three servo motors move according to the motion track table. And after the execution is finished, the result is returned to the PLC through the communication interface so that the PLC can carry out the next control instruction.
It should be noted that, before the PLC external motion control module receives the motion execution instruction sent by the PLC, the motion trajectory table is configured: receiving configuration information of a motion trail table sent by a PLC; and completing the configuration of the motion trail table according to the configuration information.
As shown in fig. 11, a comparison between the conventional motion control method and the motion control method of the present embodiment is shown. Compared with the existing motion control method, the operation of motion algorithms such as high-speed pulse control, interpolation algorithm and the like can be realized through the common PLC with the ModbusRTU and the universal PLC plug-in motion control module in the first embodiment. The existing motion control method for realizing the same control function needs to be realized by a high-end PLC with an EtherCAT bus (or CANOpen) and a special control module with the EtherCAT bus (or CANOpen). The motion control method of the embodiment has good universality and low cost, and can realize various high-precision numerical control controls (relating to high-speed pulse control, interpolation algorithm calculation and the like).
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The PLC plug-in motion control module is characterized by comprising a Micro Control Unit (MCU), an input interface, an output interface and a communication interface, wherein the MCU is used for executing a motion control algorithm:
the module is connected with the PLC, the MCU is respectively connected with the input interface, the output interface and the communication interface, and the output interface comprises a high-speed pulse output interface.
2. The PLC plug-in motion control module according to claim 1, wherein the high speed pulse output interface comprises a first high speed pulse output interface for executing a motion control algorithm operation trajectory and a second high speed pulse output interface for controlling the motion of the auxiliary shafting.
3. The PLC plug-in motion control module according to claim 1, wherein the communication interface communicates with the PLC via a ModbusRTU protocol.
4. The PLC plug-in motion control module of claim 1, further comprising an amplification circuit:
the input interface is connected with the MCU through an amplifying circuit;
the output interface is connected with the MCU through an amplifying circuit.
5. The PLC plug-in motion control module according to claim 1, wherein the motion control algorithm comprises a high speed pulse control algorithm and an interpolation algorithm.
6. A control system, characterized in that the system comprises a human-machine interface system, a PLC plug-in motion control module according to any one of the preceding claims 1 to 5, a driver, a servo motor, the servo motor comprises a servo motor for numerical control and/or a servo motor for free control:
the human-computer interface system is connected with the PLC, the PLC is connected with the PLC plug-in motion control module, the PLC plug-in motion control module is connected with the driver, and the driver is connected with the servo motor.
7. A method of motion control, the method comprising:
the PLC plug-in motion control module receives a motion execution instruction sent by the PLC;
executing the motion execution instruction through a built-in Micro Control Unit (MCU), and generating an execution result after the execution is finished;
and returning the execution result to the PLC.
8. The method of motion control according to claim 7, further comprising:
and the PLC communicates with the PLC plug-in motion control module through a ModbusRTU protocol.
9. The motion control method according to claim 7, wherein a motion trajectory table is built in the PLC plug-in motion control module, and before the PLC plug-in motion control module receives a motion execution instruction sent by the PLC, the method further comprises:
receiving configuration information of a motion trail table sent by a PLC;
and completing the configuration of the motion trail table according to the configuration information.
10. The method of claim 7, wherein the executing of the motion execution instructions by the built-in MCU comprises:
and controlling the servo motor to move according to the motion track through a built-in micro control unit according to the start-stop instruction of the motion track contained in the motion execution instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010416811.5A CN111796551A (en) | 2020-05-15 | 2020-05-15 | PLC plug-in motion control module, motion control method and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010416811.5A CN111796551A (en) | 2020-05-15 | 2020-05-15 | PLC plug-in motion control module, motion control method and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111796551A true CN111796551A (en) | 2020-10-20 |
Family
ID=72805926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010416811.5A Pending CN111796551A (en) | 2020-05-15 | 2020-05-15 | PLC plug-in motion control module, motion control method and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111796551A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193453A (en) * | 2021-12-30 | 2022-03-18 | 浙江博采传媒有限公司 | Method for restoring camera track by using mechanical arm |
| CN114253189A (en) * | 2021-12-17 | 2022-03-29 | 南京科远智慧科技集团股份有限公司 | Remote I/O module of PLC controller and configuration method thereof |
-
2020
- 2020-05-15 CN CN202010416811.5A patent/CN111796551A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253189A (en) * | 2021-12-17 | 2022-03-29 | 南京科远智慧科技集团股份有限公司 | Remote I/O module of PLC controller and configuration method thereof |
| CN114193453A (en) * | 2021-12-30 | 2022-03-18 | 浙江博采传媒有限公司 | Method for restoring camera track by using mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111796551A (en) | PLC plug-in motion control module, motion control method and control system | |
| CN109639187B (en) | Driving and control integrated servo implementation method and system | |
| CN102862161B (en) | Field bus-based PAC (Programmable Automation Controller) industrial robot control system | |
| CN104391477A (en) | Drive-control integrated networked intelligent controller | |
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN109600076A (en) | Multiple-axis servo driver | |
| CN111309669B (en) | Programmable motor motion control system on chip | |
| CN203311218U (en) | Novel machining center numerical control system | |
| CN212031996U (en) | PLC plug-in motion control module and control system | |
| CN203825438U (en) | Servo driver and multi-shaft control system using the same | |
| CN103901804A (en) | Servo system real-time motion controller based on DSP and FPGA and control method | |
| CN203849591U (en) | Multi-shaft linkage motion control system | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN103885393A (en) | Cluster control system and operation method thereof | |
| CN203376604U (en) | Full closed-loop numerical control system feedback circuit realized by AC servo drive | |
| CN214818593U (en) | Robot control system | |
| CN205992868U (en) | A kind of motor driver based on CPLD | |
| CN104750029A (en) | Five-axis motion controller and control method thereof | |
| US20040059434A1 (en) | Device for automating and/or controlling machine tools or production machines | |
| CN204536861U (en) | For the digital control system of numerically-controlled machine | |
| CN207663257U (en) | A kind of high-performance steam turbine adjusting control device | |
| CN109582621B (en) | Expansion system and method for peripheral interface of servo driver | |
| CN204790496U (en) | Intelligent object of PLC core bus agreement extension PPI communication port | |
| CN105128019A (en) | Voice control device for manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |