Control system of loading manipulator based on profibus

This paper introduces a control system of loading manipulator in the filling and boxing line of a vinegar-producing factory. The system is composed of S7-300 PLC, touch panel, servo amplifier, servomotor and manipulator. S7-300 PLC is used as the central controller which controls servo amplifier and field actuator via Profibus control network. Manipulator can do accurate speed and position control driven by servomotor and servo amplifier. It´s also a speed and position double-loop system owing to resolver sampling actual speed and position. The working process is divided into several speed areas and different PI parameters is applied in different speed area to avoid the shake efficiently. Such four kind of functions as seeking reference point automatically, self-learning, manual operation, automatic operation can be achieved. It run well since it has been installed and greatly improved the productivity