Motion control of 3D Cartesian robots for different mechanical applications using the CoDeSys SoftMotion in PLC

This work involves the motion control of the Cartesian Robots for the applications like Gasketing using SoftMotion technique in PLC. The “SoftMotion” is a part of Controlled Development System (CoDeSys) and the functionality is used for realizing movements from a simple single axis CAMs to complex motions in several dimensions of the development environment. Those applications where sequence and process control or auxiliary functions play a key role alongside the motion functions are ideal for use with SoftMotion (as opposed to those that are exclusively concerned with motion functions). With the implementation of the SoftMotion technique, this work shows the economic efficiency of the system for performing the same task as the NC machine with the same level of precision, just by using the PC of a user, a drive controller and a dedicated HMI.