Control System of Loading Manipulator

This paper introduces a control system of a loading manipulator in the filling and boxing line of a vinegar-producing factory. The system is composed of S7-300 PLC, S7-200, TD200 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. The manipulator can do accurate speed and position control drove by servomotor and servo amplifier. It´s also a speed and position double-loop system owing to revolver sampling actual speed and position. The working process is divided into several speed areas and different PI parameters are applied in different speed area to avoid the shake efficiently. This system can seek reference point automatically, teach position, and operate manually or automatically. Since it has been installed, it run well and greatly improved production efficiency