PLC Program Development of a Robotic Work Cell Using CEE Simulation

This study explores how CEE (Cyclic Event Evaluator) function of a simulation tool can be used for the virtual commissioning of a robotic work cell. By using this approach, control logic can be continuously developed and tested throughout the work cell’s design process. The entire work cell operates within an event-based simulation, where each event—such as a sensor signal or a robot action—triggers another event. To keep things organized, the logic for each event is built as a separate module. These modules are tested individually and then combined to ensure they work together seamlessly. Once the work cell is fully developed, these modules can be directly used to create a virtual PLC program in a step-by-step manner. This method simplifies virtual commissioning because the PLC logic is essentially pre-built and validated within the simulation. As a result, transitioning from simulation to real-world implementation becomes much more efficient and reliable.