Abstract
Conventionally, industrial robots are programmed in special proprietary languages. With the growing integration of industrial robots into PLC controlled machines and manufacturing lines, programming of industrial robots is done in tight relation with PLC controlled devices. In order to reduce engineering complexity as well as training effort for service personal, machine builders, and line integrators request more and more robot programming directly in a PLC language. The PLCopen working group motion control therefore worked out a specification for coordinated motion control, which is also applicable to industrial robots. However, some important details for the implementation are kept free for the manufacturer of controllers and robots. Some other aspects relevant for state-of-the-art industrial robots are not addressed at all. In order to optimally utilize the capabilities of industrial robots, some extensions, and adaptations are necessary. This article discusses the related aspects and describes an experimental implementation.
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Dai, F., Becker, O. (2013). A PLCopen-Based Approach for Utilizing Powerful Industrial Robot Functions in PLC-Controlled Applications. In: Azevedo, A. (eds) Advances in Sustainable and Competitive Manufacturing Systems. Lecture Notes in Mechanical Engineering. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00557-7_45
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DOI: https://doi.org/10.1007/978-3-319-00557-7_45
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