Automatic feed palletizing system based on Motoman-Mpl100
LIU Guo-guang，CHEN hui，WANG Tao，ZHAO Jian-bo，LIU Li-min
（Zhejiang Academy of agricultural Machinery，Jinhua 321017，China）
Abstract：Aiming at the modernization needs of traditional feed processing enterprises and the diversified development trend of feedproducts，the automatic feed palletizing system based on Yaskawa Motoman-Mpl100 industrial robot was developed. The stacking processwas optimized according to the actual situation of the feed production line，the relatively independent control mode which the PLCcontroller was used as main control unit when the robot controller was only used for motion controlling was proposed，and both thehardware and software system were designed on this basis. The practice results indicate that the automatic palletizing system has theadvantages of simple structure，good flexibility and stable running，which can well meet the needs of the actual production.
Key words：flexible manufacturing；PLC；palletizing robot；I/O communication