1、 1 中文 3000 字 ISSN 1002 4956 CN11 2034/T Experimental Technology and M anagement Vo1.26 No.2 Feb 2009 Design of manipulator experimental system based on control of configuration en Sijing Abstract: The configuration software is the area in recent years the rise of industrial automation software devel
2、opment of a new technology, with the development of simple, short development cycles, high universality, high reliability. The article will be applied to manipulator configuration software test system, not only can monitor the robot system, and simulation can be carried out offline, analog control.
3、In the experiment with the use of animation Cooperative Movement in kind, to give the most intuitive display. Not only reduces the learning difficulty, but also improves the efficiency of learning and fun. Key words: Kingview, programmable logic controller, control system PLC (Programmable Controlle
4、r, the English abbreviation for the PC, then known as the PLC) is a microprocessor based on a combination of computer technology, semiconductor integration technology, automatic control technology, digital technology and communication network technology developed a common industrial automation devic
5、es. It for control of the process of user-oriented to meet the industrial environment, convenient operation, high reliability and modern three pillars of industrial control (PLC, robotics and CAD / CAM) one. Programmable Logic Controller (PLC) from the early development of relay logic control system
6、 from. Since the PLC has been since the advent of rapid development, has become a powerful tool for industrial automation, has been widely popularize and promote the application. Experimental teaching is a necessary part of the course, but the traditional high cost of laboratory equipment； not set u
7、p this experiment students will affect the absorption of new technologies and innovative capabilities of the play is not conducive to the creation of the capacity of students and ability to practice engineering. Therefore, we have technology and programmable configuration control the combination of
8、experimental apparatus to explore a novel experimental method. 2 1.1 Manipulator Control System Robot simulation is a manual operation of the automatic machinery. It can be fixed procedures crawling, handling objects or tools to maintain the completion of certain operations. Application can replace
9、the mechanical hand to engage in monotonous, repetitive or heavy manual labor, production mechanization and automation in place of the harmful environment in the manual to improve the working conditions, to ensure personal safety. 50s, the mechanical hand and gradually extended to the industrial pro
10、duction sector, for high temperature, cause serious pollution of the local pick-and-place and loading and unloading the workpiece material, but also as a machine-assisted device in automatic machine tools, automatic production lines and machining center applications, the completion of the whole mate
11、rial or from the knife tool library and pick-and-place tool, such as the replacement of fixed operating procedures. With the popularity of industrial automation and development of the industrial robot industry, more and more applications, the control of the robot requirements and accuracy are also g
12、etting higher and higher. Manipulator control system of the PLC in various institutions in the practice of teaching has been widely used to control the basic requirements: click the Start button devices to work, first of all, do drop in robot movement, to be dropped in place, the mechanical hand wit
13、h open fingers crawl items (time to pay close attention to items identified by the timer)； and machinery have risen to the top (by the switch to determine the upper limit), and then to the right movement； to reach the right side, the robot began to drop in place after the release manipulator, to lay
14、 down their articles； then Manipulator increase in extraction of materials such cycle. Manipulator process flow as shown in Figure 1, the system I / O distribution as shown in table 1, some control procedures shown in Figure 2. The original bit Decline Clamping Raise Shifted to right Left Raise Rele
15、ase Decline Figure 1 Process flow chart of the work manipulator Table 1 system input and output address allocation table Input Output Start button X8 Rightmotorrelay Y0 Stop button X2 The left motor relay Y9 Limit switch X3 Increased electrical relay Y8 Minimum position switch X4 Decline in motor re
16、lay Y1 3 Left limit switch X5 Clamping motor relay Y3 Right limit switch X6 Electric relaxation relay Y2 Clamping limit switch X7 Figure 2 part ladder system 2.1 Kingview In the PLC-controlled manipulator system, also known as PC software configuration management software, widely used in industrial
17、fields, it provides a flexible configuration tools, man-machine interface, and can be fully realized in various fields of industrial management controls, data acquisition, continuous control and statistical process control. Kingview configuration software is one of the many outstanding representativ
18、es of China-made software. 2.1.1 Kingview software features (1) a wealth of I / O Will Kingview and drivers together, unified, containing a variety of I / O driver of the PLC with more communication, and reliable communications. (2) alarm and event system Kingview alarm system with convenient, flexible, reliable, easy to extend the features. Distributed Alarm Management Kingview provides a wide range of alarm management functions. Include: event-based alarm, alarm packet management, alarm priority, alarm filtering, a new
