Development of Automated Virtual CNC Router for Application in a Remote Mechatronics Laboratory

Virtual twins are capable of replicating the shape and behavior of physical systems in a digitized environment, achieving better control and monitoring of industrial processes. The virtual machine covers different areas necessary for proper operation, such as design, simulation programming, communication networks, and actuator control. Throughout this document, the process of building a virtual Computer-Numerical-Control router in Unity software, including the numerical simulation of mathematical models for the dynamics of the actuators, is explained. The control of the Cartesian robot is designed and implemented in the CODESYS platform, as well as a trajectory generator and a discrete closed loop control for the movement of each of the motion axes. The virtual router and the controller are configured in a hardware in the loop simulation scheme using the Modbus open source industrial protocol for data communication. The developed system is suitable for mechatronics engineering remote/online education.