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id="print"> <p>在完成了五轴铣削混联机器人的硬件设计后，为了确保五轴铣削混联机器人能够进行完整的铣削运动，需要对五轴铣削混联机器人进行软件设计。运动控制软件为 STEP7‑Micro/WIN SMART 软件，由该软件编写的程序被下载到 200 Smart PLC 进行运动控制。运动控制主要通过软件运动控制库进行运动 [6]。在本文中整个系统的程序主要包括主程序、伺服电动缸子程序、伺服电动机子程序、初始化子程序、自动控制子程序、手动控制子程序、报警及复位子程序 [7]，主程序主要起到调用子程序的作用，在控制系统上电时，PLC 会对 3 个伺服电动缸及 2 个伺服电动机进行位置检测，确定是否在零点，以及是否需要进行回零的操作。</p><p>1) 初始化子程序。驱动器和 PLC 上电以后，检测各个电动缸和电动机是否在原点位置，检查五轴铣削混联机器人的状态 [8]，如图 7 所示。</p><p>图 7 初始化子程序流程图</p><p>2) 报警及复位子程序。当电动机运行发生错误时进行报警，在最快的时间内停止工作，等待工作人员修复完成，进行复位操作，恢复到初始化后的状态。主要包括对应的每个轴的初始化轴的参数、每个轴手动控制轴的子程序、每个轴的绝对定位控制子程序、寻找参考点子程序。</p><p>3) 每个支链的电动缸子程序和电动机子程序。</p><p>4) 手动控制。包括单轴点动、回原点，主要用于在故障、安装等情况下进行调试。</p><p>5) 自动控制。写入预定参数，在自动模式下按照预定的铣削轨迹进行铣削工作。</p><p>由于每个电动缸和电动机所在的位置不同，导致它们回到原点的时间不相同，所以需要每个电动机到达原点位置时反馈 1 个标志位信号，当 5 个标志位信号都反馈完成，则代表回原点完成。图 8 所示程序用于判断 3 个电动缸和 2 个 A、C 轴电动机是否在原点。</p><p><img src="/bethel/upload/images/202608/17872145496823.png" title="17872145496823.png" alt="image.png"/></p><p><img src="/bethel/upload/images/202608/17872145628672.png" title="17872145628672.png" alt="image.png"/></p><p>在进行自动程序编写时，需要先通过运动控制向导对五轴铣削混联机器人进行组态，自动控制程序根据设定好的预定轨迹，进行铣削加工，当达到铣削工件的位置时，电主轴开始工作，按照预定的轨迹进行运动，当铣削完成后，电主轴停止转动，五轴铣削混联机器人回到零点，等待下一步的命令。同样在进行预定轨迹编写时，需要通过手动控制程序多次单步调试后，经过试运行确认没有任何危险后，才可以进行铣削工作。手动控制程序主要用于调试五轴铣削混联机器人参数，单步运行程序，解决故障问题等，除了上述自动控制程序以外，还应该具有记录保存每一个电动缸和电动机的当前位置的功能，以便于电动机和电动缸上电回零点。</p><p><br/></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E4%BA%94%E8%BD%B4' target='_blank'>五轴</a> <div class="blank30"></div> <!--自动调用自定义字段--> <div class="blank20"></div> <div class="blank30"></div> <!-- 投票 --> <script src="/index.php?case=vote&act=view&aid=3062"></script> <!-- 自定义表单开始 --> <!-- 自定义表单结束 --> <div class="blank60"></div> <!-- 上下页开始 --> <div id="page"> <strong>上一篇</strong><a href="/bethel/5-aix/show-3061.html">铣削五轴混联机器人系统硬件</a> <div class="blank10"></div> <strong>下一篇</strong><a href="/bethel/5-aix/show-3063.html">铣削五轴混联机器人人机界面</a> </div> <!-- 上下页结束 --> </div><!-- 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text-decoration:none; display:block;} .izl-rmenu .btn-skype{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_skype.png) 0px 0px no-repeat; background-color:#FF69B4;} .izl-rmenu .btn-skype:hover{background-color:#8B008B;} .izl-rmenu a.btn-skype,.izl-rmenu a.btn-skype:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_skype.png) 0px 0px no-repeat; background-color:#FF69B4; text-decoration:none; display:block;} .izl-rmenu .btn-web{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_web.png) 0px 0px no-repeat; background-color:#008a46;} .izl-rmenu .btn-web:hover{background-color:#00663a;} .izl-rmenu a.btn-web,.izl-rmenu a.btn-web:visited{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_web.png) 0px 0px no-repeat; background-color:#008a46; text-decoration:none; display:block;} .izl-rmenu .btn-top{background:url(/template/CmsEasy_V_408/skin/images/servers/metro_color/r_top.png) 0px 0px 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