In this paper,the industrial robot palletizing workstation is taken as an example,the IRC5 controller of the robot is set as OPC UA server,and the full virtual system of multi-platform co-simulation is realized by OPC UA technolo-gy.Control the start and stop of the robot at the client side,read the running status of the robot,I/O signals,and collect data on the six-axis Angle.Finally,the robot and PLC are jointly programmed to realize the multi-platform co-simulation and data linking and embedding of the machine manual station.The simulation results show that the method verifies the feasibility and effectiveness of the multi-platform virtual and real simulation station of the robot integrated system,provides a new solution for the design and debugging of the robot integrated system.
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