[ARM+Codesys Customer Case] Application Case of RK3568/A40i/STM32+Codesys in Intelligent Manufacturi

Vegetables are essential foods in people's daily lives, and there are various ways to consume them. Since entering a moderately prosperous society, people's pace of life has become increasingly fast, and many traditional services can no longer meet people's material needs and pace of life. In daily life, the rapid manual cutting of vegetables seriously threatens personal safety. Factors such as long cutting time or unskilled cutting can easily lead to injury. In places with high demand for cutting vegetables such as canteens and food processing plants, it is safe and fast to process vegetables into various shapes. Relying solely on manual labor is both time-consuming and laborious. How to cut vegetables faster will become a very tricky problem. Replace manual labor with food processing machines or supplement it. This will increase the efficiency of cutting vegetables. Therefore, it is necessary to conduct research on vegetable cutting robots.

The SCR-Vg 2.1 fully automatic slicing robot Doner Kebab is very popular in Germany, with its main structures including feeding device, cutting mechanism, transmission mechanism, and vegetable collection device. Vegetables move downwards in the feeding tube by gravity, and are sliced and shredded through two working modes: transmission mechanism and cutting mechanism. Then, they are collected by a collection device using gravity or centrifugal force. Structural design mainly includes: design of cutting mechanism, design of transmission mechanism, and design of casing. This robot is programmed and operated by Eaton's XV102 integrated display and control machine. The DC motor is used to control the high-speed rotation of the central turntable, while the stepper motor is used to switch tools. XV102 controls various motors and relays, which generate PWM waves of fixed frequency duration through two 11MX timers to control the stepper motor. The high and low control of the IO port controls the switch of the relay to turn on or off the DC motor, Hall sensor, stepper motor enable, and solenoid valve. The Doner Kebab slicing robot is easy to operate, highly flexible, capable of automatic cleaning, precise slicing, and can work continuously for 24 hours when necessary.

The Doner Kebab robot is controlled by four stepper motors and uses brushless DC motors. The motor driver is connected to Eaton XV102 HMI/PLC (integrated display and control) via CANopen bus, providing great flexibility in configuration. The programming of Eaton XV102 is very easy because based on CODESYS IEC61131-3 programming, it can directly execute IEC61131-3 applications in the controller. HMI/PLC (integrated display and control) also leaves a deep impression on people due to its compact size, making it very suitable for installation in the limited space on the left side of the robot. The color touch screen has a 3.5-inch screen and a smooth panel, making it easy to clean and operate. A flexible multilingual menu guide enables machine manufacturers to sell their machines globally using only one hardware and software (CODESYS) standard solution. Developers use the powerful and comprehensive CODESYS Visualization design environment to create visualization files. In addition, separate I/O addresses can be used on the controller: "The stepper motor driver has provided input and output address settings on the visualization panel.

The CODESYS development system based on the IEC 61131-3 standard includes an integrated visual editor that can directly create professional visual interfaces displayed on target devices, PCs, or web browsers in PLC development systems. In the past decade, CODESYS visualization has been proven in thousands of industrial machines and application developments worldwide.

CODESYS combines motion control and logic control into one, integrated into the CODESYS programming system and CODESYS real-time operation system of IEC61131-3 standard, forming the CODESYS SoftMotion (CNC) toolkit. From single axis motion to complex CNC control and robot applications, CODESYS SoftMotion (CNC) can be programmed and implemented.

Contrary to traditional motion control solutions, CODESYS SoftMotion (CNC) provides a toolkit directly integrated into the CODESYS programming environment to achieve all functions of motion control. The CODESYS SoftMotion (CNC) toolkit is based on the international standard IEC61131-3 programming language, allowing users to develop the most complex motion control applications.