THE CONTROL WITH PROGRAMMABLE AUTOMATION OF THE INDUSTRIAL ROBOT RBH2

The driving system of the industrial robot RBH2 is hydraulic. It is composed of a hydraulic unit with a drive power KW and 12 solenoid valves. The control system of the industrial robot is composed of: a) TWIDO programmable automation made by the firm Schneider, b) interface for controlling the solenoid valves, c) supply source for solenoid valves, d) solenoid valves, e) position sensors. The TWIDO programmable logic controller (PLC) has the following features: 20 numerical inputs, 16 numerical outputs. The numerical signal from the position sensors of the industrial robots are taken over programmable automation. The numerical signals for controlling the solenoid valves are transmitted from programmable automation to the solenoid valve control interface. Depending on the technological process where the robot is used a control program for the solenoid valves of the robot driving circuit is issued. For each control algorithm of the industrial robot required by the technological process one program is to be issued that will be performed by means of the programmable automation