This article describes the control strategy of using a Siemens PLC to control a Yamaha robot, using an external IO port to set the command word, so that the PLC can communicate with the robot and instruct the robot to complete the corresponding action.
Siemens S7-300PLC is a widely used large and medium-sized PLC in China, and it is of great significance to study its control strategy with peripheral robots in the field of device automation. Based on the research and production of lithium battery assembly lines, this paper completes the communication and control between Siemens S7300PLC and Yamaha robots, and completes the research and development of two key processes in the process of lithium battery installation: square steel bar and stacking.
1 Overall hardware design
Siemens S7-300PLC is connected with YAMAHA robot controller and needs to connect the start signal, emergency stop signal, fault signal and reset signal of the robot, and the basic requirements of the control robot can be reached through the connection of these four groups of signals and PLC. 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 purpose of PLC controlling the robot to walk to each point, the IO signal communication between PLC and robot needs to be established.
Combined with the process research of putting steel bar and stacking stamping process in the process of lithium battery device, the walking point of the robot will not exceed 16 points, and the connection point of the robot and the PLC is 4 points by 8421 to calculate the point. PNP standard robot is selected to be connected with Siemens, and the signal connection comprises 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 method of robot inquiry, PLC instruction to implement the entire control. Take the stacked stomping robot as an example, after the robot returns to send signal 1001 inquiry, the robot obtains the signal according to the process requirement to instruct the robot to go to the destination direction, the destination 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 return. An action loop ends.
Through the communication and control between Siemens S7-300PLC and Yamaha robots, the research and development of two key processes in the process of lithium battery device was completed. PLC and robot are used in the field of battery devices through the method of signal transmission, which has a good demonstration effect; It can be used in other battery device processes, other reference PLC and robot control methods and control strategies, can complete most of the PLC control robot to point function, has a good promotion effect.
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