基于IEC61131-3标准的多轴联动伺服电机运动控制的研究

摘要

针对多轴联动伺服电机的运动控制进行研究.分析CoDeSys软件的结构框架和主要功能,对多轴联动的直线运动控制进行建模,基于IEC61131-3标准,在软件中采用ST与CFC结合的编程方式,将输入的合速度分解到各个运动坐标轴,实现多轴联动伺服电机的运动控制,并设计一款便于用户监控和操作运行设备的可视化界面,为在运动控制器中设计基于IEC61131-3标准的伺服电机多轴直线联动程序提供了解决方案与可扩展的平台.%Multi-axis linkage movement control to servo motor was studied. The framework structure and main function of CoDeSys software were analyzed. The linear motion control of multi-axis linkage was modeled. Based on IEC61131-3 standard, ST and CFC were used in software programming, the input of the resultant velocity was decomposed to each motion axes, to realize multi-axis linkage ser-vo motor movement control. A visual interface allowing users to monitor and operate equipment was designed. It provides solutions and extensible platform servo motor multi-axis linkage program design based on IEC61131-3 standard.