Design and Implementation of Programming-free Robot System Based on PLCopen

Robots are widely used in various industries, and motion control is at the heart of all industrial robots. In order to improve the simplicity, efficiency, versatility and flexibility of Cartesian robots in motion. This paper introduces the concept of programming-free, that is, the operator plans an arbitrary path, and the robot reproduces the motion function along with the planned path. According to the IEC 61131 specification and the PLCopen MC motion control specification, first, in the UNITY3D, a three-dimensional curve is generated according to the control point and the Bezier curve, and data points of the curve are intensively processed according to the speed forward planning;then use C/C++ language for motion planning; finally call the package function block in the host platform Multiprog, read each axis data from MATLAB through OPC communication, realize the three-axis coordinated motion, the whole motion control is executed in the ProConOS eCLR kernel. The experimental results show that this design can realize the smooth and stable motion of the Cartesian robot in accordance with the predetermined arbitrary trajectory in industrial control, and the application prospect is wide.