The design of control function includes two parts: PLC program design and human-computer interaction interface design. The PLC program includes parameter initialization control program, teaching and data storage program, manual control program, input and output program, tapping process program, etc.;The touch screen human-machine interface program includes start-up interface, control interface, teaching interface, parameter setting interface, etc.
The control system is mainly composed of PLC, HMI (touch screen), input equipment and output equipment. The input device comprises an operation button and a variety of sensor signals, and the operation button realizes the functions of starting, stopping, and resetting the deviceThe sensor includes functions such as motion mechanism limit, origin positioning, etc. The output equipment includes servo drive and cylinder solenoid valve, etc., which are used to realize the positioning control of each motion axis and the grasping action of the air gripper manipulator. Through the touch screen, the operation of the control system, the setting of teaching parameters, the selection of workpiece models, the setting of speed parameters and other functions are realized, and the operation status of the equipment is monitored in real time. As the core controller, PLC is responsible for collecting sensor signals and button signals, data operation and processing, executing process and outputting control signals such as solenoid valves, servo pulses, and indicator lights.
The control system needs to have 4 pulse output functions, respectively control the upper and lower motion axis, the left and right motion axis, the front and rear motion axis, the flip axis to achieve positioning and fixed speed control, in addition also need the switching input point 20 points, the switching output point 6 points. Considering the margin of 15%, Omron CP1HPLC is selected, the model is CH1P-X40DT-D, its output mode is transistor output, with 24 switching input signals and 16 switching output signals, and has 4 pulse output functions, which basically meet the control requirements.