The program for designing the control system includes: PLC program, man-machine interface management program and 8031 ​​single-chip microcomputer program of ultrasonic generating module. PLC program is complicated by the control process of the system, the types of control objects are different and the number is large, if the traditional programming method is used, the readability and maintainability of the program is very poor. Therefore, we adopt modular programming to divide the manipulator control program, temperature control program, concentration and flow control program into different subprogram modules, and realize the comprehensive control of the system by the classification call of subprograms. From the perspective of ease of production and maintenance, the design of the integrated program is divided into manual mode and automatic mode, of which manual mode is designed for the maintenance and adjustment of equipment. In manual mode, the upper, lower, left, and right of the robot arm can be manually controlled. The temperature control of each process tank can be switched in manual mode. The switch is controlled by the operator on the manual mode interface of the man-machine interface. Control button to achieve. Similarly, the concentration, flow rate and start and stop of the ultrasonic device in each process tank can be achieved manually.
The automatic mode is designed for the needs of continuous production. In the automatic mode, the operation of the robot arm, the temperature of each process tank, the concentration of the cleaning solution, the flow rate, and the start and stop of the ultrasound are automatically controlled by the PLC. In order to ensure the discipline of process execution, the following protection procedures are added in the preparation of the automation program, that is, when the parameters of each station time, temperature, concentration, flow rate, etc. cannot meet the setting, or when the ultrasound fails, the automatic mode Execution, that is, the sequential control of the operation of the robot arm is organically combined with analog control programs such as temperature, concentration, and flow.
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