CN202716272U - Robot motion control system - Google Patents
Robot motion control system Download PDFInfo
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- CN202716272U CN202716272U CN 201220386124 CN201220386124U CN202716272U CN 202716272 U CN202716272 U CN 202716272U CN 201220386124 CN201220386124 CN 201220386124 CN 201220386124 U CN201220386124 U CN 201220386124U CN 202716272 U CN202716272 U CN 202716272U
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Abstract
The utility model provides a robot motion control system which comprises a programmable logic controller (PLC), a motion controller and a servo driver, wherein the motion controller can be connected with the PLC in both-way communication mode, the servo driver is connected with the motion controller in both-way communication mode, and the servo driver is connected with a robot in drive mode. According to the robot motion control system, the PLC and the motion controller are effectively combined, the PLC and the motion controller have mutual complementarity, efficient and accurate control for the robot is achieved, meanwhile standardized programming language is adopted, and an operation interface is simple and fast.
Description
Technical field
The utility model relates to a kind of robot movement-control system.
Background technology
In the automatic production line of industrial robot, often adopt programmable logic controller (PLC) (PLC) to realize control to industrial robot.The programming language of programmable logic controller (PLC) Application standard and simple and convenient operation interface have attracted users, but being out of one's domain aspect motion control.
Industrial robot generally adopts 4-6 axle to connect by mode in parallel and/or series connection.Therefore, the motion process of industrial robot is generally very complicated.For this reason, can consider to adopt motion controller (Motion Controller) to realize industrial robot compound movement process is carried out efficient and accurate control, but the programming language of now robot control is special program language and the environment of its manufacturer's customization often, and the user need to could utilize this type of programming language to control industrial robot by special training.The user has to expend the plenty of time for this reason and energy is grasped this type of programming language, and this just greatly reduces user satisfaction.
The utility model content
The utility model provides a kind of robot movement-control system, is intended to PLC and motion controller are effectively made up, and the two can be learnt from other's strong points to offset one's weaknesses each other.
Particularly, the utility model provides a kind of robot movement-control system, comprising: programmable logic controller (PLC); Motion controller, this motion controller is connected with the programmable logic controller (PLC) two-way communication; Servo-driver, this servo-driver is connected with the motion controller two-way communication, and this servo driver drives is connected to robot.
Preferably, programmable logic controller (PLC) and motion controller are integrated in the CPU.
More preferably, the communication media that adopts between programmable logic controller (PLC) and motion controller is the built-in storage of sharing.
More preferably, the communication media that adopts between motion controller and servo-driver is system bus.
Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.
Description of drawings
Fig. 1 illustrates the system architecture schematic diagram that adopts PLC and motion controller robot to be carried out motion control according to combination of the present utility model.
The specific embodiment
The utility model is soft engine-operated in same CPU (CPU) module with the soft control engine of PLC and motion controller, and provide shared drive as the communication media between them, thereby form general control system robot is carried out motion control.Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.
It should be noted that CPU mentioned above is not limited to particular type, can be the CPU in the common desktop computer, also can be the CPU on the notebook, even can be that the user is according to the CPU of self-demand custom-made.
Hereinafter, will describe concrete technical scheme of the present utility model in detail.
Fig. 1 illustrates the system architecture schematic diagram that adopts PLC and motion controller robot to be carried out motion control according to combination of the present utility model.As shown in Figure 1, PLC consists of two-way communication with motion controller and is connected, and subsequently, motion controller then carries out two-way communication with servo-driver and is connected, and servo driver drives is connected to robot.
When operation, preferably, PLC and motion controller are integrated among the CPU, and PLC can analyze and the defined programmable logic controller (PLC) language of executive basis IEC61131-3 standard.Preferably, the communication media that adopts between PLC and motion controller can be the built-in storage of sharing, this just make between PLC and the motion controller communicate by letter more convenient.And the communication media that adopts between motion controller and servo-driver can be system bus.
Because the existence of PLC, the user can carry out control operation easily by the standardization programming language on operation interface, send control instruction by CPU to servo-driver.Owing to comprise motion controller among the CPU, just can guarantee that thus CPU carries out efficient and accurate control to servo-driver.Above mention, industrial robot generally adopts 4-6 axle to connect by mode in parallel and/or series connection.Therefore, when the user carried out control operation and sends control instruction, motion controller can resolve into this motion control instruction the various movement instructions of the kinematic axis in the robot, thereby realized the efficient accurate motion control to robot.
Servo-driver drives robot according to this control instruction after receiving from the instruction of CPU immediately, and especially, the motor on the control makes robot accurately move according to user's intention thus.For example, servo-driver can be according to from the instruction of CPU the motor of robot being carried out speed ring, position ring, the control of moment ring.
Above mention, between PLC and the motion controller, and between motion controller and the servo-driver, all carry out two-way communication and connect.This just means that the moving situation of robot also can feed back to the user by operation interface via servo-driver, motion controller, makes thus the user adjust in real time the machine human motion according to the robot motion's situation that feeds back to.
Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.
Those skilled in the art will also be appreciated that protection domain of the present utility model is not limited in above-described embodiment, and all drop in the scope of the present utility model equivalents of the present utility model.
Claims (4)
1. a robot movement-control system is characterized in that, comprising:
Programmable logic controller (PLC);
Motion controller, this motion controller is connected with the programmable logic controller (PLC) two-way communication;
Servo-driver, this servo-driver is connected with the motion controller two-way communication, and this servo driver drives is connected to robot.
2. robot movement-control system according to claim 1 is characterized in that, programmable logic controller (PLC) and motion controller are integrated in the CPU.
3. robot movement-control system according to claim 2 is characterized in that, the communication media that adopts between programmable logic controller (PLC) and motion controller is the built-in storage of sharing.
4. robot movement-control system according to claim 2 is characterized in that, the communication media that adopts between motion controller and servo-driver is system bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220386124 CN202716272U (en) | 2012-08-01 | 2012-08-01 | Robot motion control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220386124 CN202716272U (en) | 2012-08-01 | 2012-08-01 | Robot motion control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202716272U true CN202716272U (en) | 2013-02-06 |
Family
ID=47618109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220386124 Expired - Lifetime CN202716272U (en) | 2012-08-01 | 2012-08-01 | Robot motion control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202716272U (en) |
-
2012
- 2012-08-01 CN CN 201220386124 patent/CN202716272U/en not_active Expired - Lifetime
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180525 Address after: Baden, Switzerland Patentee after: ABB Switzerland Co.,Ltd. Address before: Zurich Patentee before: ABB TECHNOLOGY Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130206 |
|
| CX01 | Expiry of patent term |