The Control Software Of The Lower Computer Of The Servo Manipulator

The lower computer mainly completes the specific actions of the manipulator. The system mainly includes the main program OB1 module; the timing interrupt program OB35; the jog module FB1, corresponding to the background data module DB1 to store the jog operation data of each hydraulic cylinder and motor; the automatic operation module FB2, corresponding The background data module DB2 stores the automatic operation data of each hydraulic cylinder and motor; the jog PID module FB3, corresponding to the background data module DB3, stores the jog PID calculation results; the automatic PID module FB4, the corresponding background data module DB4 stores the automatic PID operation results; data The recording module FB5 stores the recording data corresponding to the background data DB5.