Vegetables are an indispensable part of people's daily diet and can be prepared in various ways. Since entering a moderately prosperous society, people's pace of life has accelerated, and many traditional services can no longer meet their material needs and lifestyle demands. In daily life, fast manual vegetable cutting poses a serious threat to personal safety. Factors such as prolonged cutting time or lack of skill can easily lead to injuries. In places with high demand for vegetable processing, such as canteens and food processing plants, there is a need to process vegetables into various shapes both safely and quickly. Relying solely on manual labor is both time-consuming and laborious. How to cut vegetables faster has become a challenging problem. Using food processors to replace or supplement manual labor will increase the efficiency of vegetable cutting. Therefore, research into vegetable cutting robots is highly necessary.

The SCR-Vg 2.1 fully automatic slicing robot, popular for Doner kebab in Germany, has a main structure that includes: a feeding device, a cutting mechanism, a transmission mechanism, and a vegetable collection device. Vegetables move downwards in the feeding cylinder by gravity. Through the transmission mechanism and cutting mechanism, it achieves two working modes: slicing and shredding. The cut vegetables are then collected by a collection device, utilizing gravity or centrifugal force. The structural design is mainly divided into: the design of the cutting mechanism, the design of the transmission mechanism, and the design of the casing. This robot is programmed and operated by Eaton's XV102 HMI/PLC (Human Machine Interface/Programmable Logic Controller) all-in-one device. A DC motor controls the high-speed rotation of the central turntable, and stepper motors are used to switch cutting tools. The XV102 controls various motors and relays, generating fixed-frequency PWM waves via two 11MX timers to control the stepper motors. The high and low states of the I/O ports control the relay switches, which in turn open or close the DC motor, Hall sensor, stepper motor enable, and solenoid valve. The Doner kebab slicing robot is easy to operate, highly flexible, capable of automatic cleaning, precise slicing, and can operate 24 hours a day if necessary.

The Doner kebab robot is controlled by four stepper motors and utilizes brushless DC motors. The motor drivers are connected to the Eaton XV102 HMI/PLC (all-in-one) via a CANopen bus, offering great flexibility in configuration. Programming the Eaton XV102 is very easy because, based on CODESYS IEC 61131-3 programming, IEC 61131-3 applications can be executed directly in the controller. The HMI/PLC (all-in-one) also impresses with its compact size, making it ideal for installation in the limited space on the left side of the robot. The color touchscreen features a 3.5-inch screen and a smooth panel, making it easy to clean and operate. Flexible multi-language menu guidance allows machine manufacturers to sell their machines globally using only one standard hardware and software (CODESYS) solution. Developers use the powerful and comprehensive CODESYS Visualization design environment to create visualization files. Furthermore, separate I/O addresses can be used on the controller: "The stepper motor drivers already provide input and output address settings on the visualization panel."

The CODESYS development system, based on the IEC 61131-3 standard, includes an integrated visualization editor, allowing professional visualization interfaces to be created directly within the PLC development system for display on target devices, PCs, or web browsers. Over the past decade, CODESYS Visualization has proven itself in the development of thousands of industrial machines and applications worldwide.

CODESYS unifies motion control and logic control, integrating them into the IEC 61131-3 standard CODESYS programming system and CODESYS real-time runtime system, forming the CODESYS SoftMotion (CNC) toolkit. From single-axis movements to complex CNC control and robotic applications, all can be programmed and implemented using CODESYS SoftMotion (CNC).

In contrast to traditional motion control solutions, CODESYS SoftMotion (CNC) provides a toolkit directly integrated into the CODESYS programming environment to implement all motion control functions. The CODESYS SoftMotion (CNC) toolkit is based on the international standard IEC 61131-3 programming language, allowing users to develop the most complex motion control applications.