This article introduces the control strategy of using Siemens PLC to control Yamaha robots, using an external IO port to set command words, so that the PLC can communicate with the robot and instruct the robot to complete the corresponding actions.
Siemens S7-300PLC is a widely used large and medium-sized PLC in China, and it is of great significance to discuss its control strategy with peripheral robots in the field of installation automation. In this paper, on the basis of the research and production of lithium battery assembly lines, the communication and control between Siemens S7300PLC and Yamaha robots are completed, and the development of two key processes in the process of lithium battery installation is completed.
1 Overall hardware design
Siemens S7-300PLC and YAMAHA robot controller connected to the need to connect the start signal, emergency stop signal, fault signal and reset signal of the robot, through the connection of these four groups of signals and PLC can reach the basic requirements of the control robot. PLC is connected with the robot, and the PLC is generally used as the sending instruction party, and the robot is used as the receiving instruction party. In order to reach the intention that PLC controls the robot to walk to each point, the IO signal communication between PLC and robot needs to be established.
Combined with the process study of putting steel bar and stacking stamping process in the lithium battery installation process, the walking point of the robot will not exceed 16 points, and the point is calculated by 8421 to know that the connection point of the robot and the PLC is 4 points. The PNP standard robot is selected to be connected to Siemens, and the signal connection includes two parts: one part is the start, emergency stop, fault and reset signal; One part is the 4-point communication line between the PLC and the robot; A total of 8 sets of signals.
2. Overall software design
The software control strategy is the robot inquiry, the PLC command method to implement the entire control. Take the stacked trampling robot as an example, after the robot returns to the position sends a signal 1001 inquiry, the robot obtains the signal according to the process requirement to instruct the robot to go to the intention direction, the intention direction signal is (0001-1011) a total of 9 points, the point robot moves in place, sends a signal to inform the robot to be in place after being in place together, the robot controls other peripherals (cylinder, motor, etc.) action, tells the robot to return after the action is finished, and the robot continues to wait for the position instruction after the robot returns. An action loop ends.
After the communication and control of Siemens S7-300PLC and Yamaha robots, the development of two key processes in the installation process of lithium batteries was completed. PLC and robot through the way of signal transmission to complete the linkage used in the battery installation category, has a good demonstration effect; It can be used in other battery installation processes, and other reference PLC and robot control mode and control strategy, can complete most of the PLC control robot point-to-point function, has a good implementation effect.
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