嵌入式软PLC技术在以传统PLC技术、嵌入式系统及软PLC技术为基础发展而来.针对不同的运动控制器所需的编程语言不同的问题,深入研究了嵌入式软PLC技术和PLCopen准则,以广州创龙公司的omapl138开发板为硬件平台,移植基于Codesys SP为内核的操作系统,并以圆弧插补算法作为运动控制功能块的研究对象,实现了符合PLCopen规范的多轴运动控制功能块的开发.在Matlab软件中完成对功能块的仿真验证,并将功能块下载到不同运动平台上.结果表明,功能块执行正确,符合设计要求,具有良好的兼容性.%According to different motion controller is needed for the programming language of different prob-lems, in-depth study of the standard iec61131-3 programming, and the circular arc interpolation algorithm as the research object of movement control function block, this paper proposes a in current industrial control in-dustry widely Codesys software as a development platform, adopt the method of ST combined with CFC pro-gramming language, realizes the migration method based on circle arc interpolation algorithm of motion con-trol block design, finally in the MATLAB software simulation was carried out on the design of the function block. The results show that the function block performs correctly, comply with the design requirements, it has good compatibility, for the design of the motion control algorithm module provides the theoretical foun-dation and solution.
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