Design of Embedded Industrial robot based on PLC servo control

Abstract

In order to improve the automation degree of robot, design size of the robot is reduced, a new industrial robot has been designed using PLC, servo motor drive and servo motor as the core component, through the PLC programming and the Modbus communication. IPC and Delta PLC of this kind of robot uses RS232 serial port and communication mode of ASCII protocol to control servo motor, force control software and servo driver use Modbus protocol communication mode for real-time monitoring of motor movement state. Through the PLC programming, the positioning function of the industrial robot servo motor is realized. Finally, the system positioning accuracy is higher after the debugging and running, which can meet the requirements for embedded industrial robot design.