PLCopen轴组运动功能块的研究与实现  

Research and implementaion of the group function block based on PLCopen

作　　者：王夫康 张得礼[1] 周伟[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机电工程》2016年第12期1477-1482,共6页Journal of Mechanical & Electrical Engineering

基　　金：江苏省产学研联合创新资助项目(SBY2014020585)

摘　　要：针对PLCopen单轴及主/从结构多轴功能块无法实现复杂多维运动控制的问题,对PLCopen轴组功能块的执行方式和参数保存及传递方法进行了研究,提出了结构体队列法,设计并实现了PLCopen轴组功能块,完成了多轴协调运动控制。首先采用基于信息队列的方法实现了PLCopen标准定义功能块中Buffer Mode功能,能够完成多种模式下的运动控制。然后采用建立结构体的方法实现了运动参数的保存及传递。最后,基于工控机+PMAC运动控制卡为架构的硬件平台,以调用轴组直线运动功能块为例,对轴组功能块功能进行了实验验证。实验结果表明,轴组功能块运行正确,能够完成多种模式的运动控制,实现多轴协调运动,满足对于复杂多维运动的实际需求。Aiming at the problems that PLCopen single-axis and master/slave multi-axes function blocks could not complete the complexmulti-dimensional motion control, the execution mode and the preservation and transmission of motion parameters of the PLCopen group func-tion block were studied. The structure queue method was proposed and the PLCopen group function block was designed and implemented toachieve the coordinated multi-axes motion control. First, the method of establishing the message queue was used to achieve the BufferModefunction of the PLCopen, which was able to realize the motion control of several modes. Then, the preservation and transmission Of motionparameters were realized by establishing the structure body. Finally, based on the hardware platform with 1PC and the PMAC motion controlcard, taking group linear function block as an example, experimental verification of the group function block was carried out. The results in-dicate that the group function block which executes accurately is able to achieve the coordinated multi-axes motion control in several modesand meet the requirements in practical application.

关 键 词：PLCOPEN 轴组功能块 多轴协调运动 运动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]