畢業(yè)論文-PLC控制直列式加工自動(dòng)線設(shè)計(jì)（送全套CAD圖紙 資料打包）

《畢業(yè)論文-PLC控制直列式加工自動(dòng)線設(shè)計(jì)（送全套CAD圖紙 資料打包）》由會(huì)員分享，可在線閱讀，更多相關(guān)《畢業(yè)論文-PLC控制直列式加工自動(dòng)線設(shè)計(jì)（送全套CAD圖紙 資料打包）（30頁(yè)珍藏版）》請(qǐng)?jiān)谘b配圖網(wǎng)上搜索。

充值下載文檔就送全套 CAD 圖紙 扣扣加 414951605充值下載文檔就送全套 CAD 圖紙 扣扣加 414951605目 錄目錄……………………………………………………………………….1摘要……………………………………………………………………….2一， 應(yīng)用系統(tǒng)總體方案設(shè)計(jì)………………………………………2１．１ PLC 控制系統(tǒng)類(lèi)型…………………………………………3１．２系統(tǒng)的運(yùn)行方式…………………………………………….3二， 系統(tǒng)硬件設(shè)計(jì)根據(jù)２．１工藝要求………………………………………………………3２．２設(shè)備狀況………………………………………………………4２．３控制功能………………………………………………………4２．４I/O 點(diǎn)數(shù)和種類(lèi)………………………………………………...5三.系統(tǒng)軟硬件設(shè)計(jì)文件……………………………………………..5３．１ PLC 型號(hào)的選擇………………………………………………5３．２確定安排 PLC 的輸入\輸出點(diǎn)…………………………………..11３．３ 工藝流程圖與動(dòng)作順序表……………………………………..14３．４ PLC 現(xiàn)場(chǎng)器件的安裝接線較長(zhǎng)………………………………...15.３．５各模塊程序設(shè)計(jì)……………………………………………….15.附錄：附加外文翻譯……………………………………………21鳴謝……………………………………………………..27 參考資料……………………………………………….28【摘要】下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763本文主要介紹以模擬生產(chǎn)實(shí)際的自動(dòng)線為對(duì)象，利用電子、機(jī)械、檢測(cè)技術(shù)融為一體的 PLC 的控制技術(shù)，實(shí)現(xiàn) PLC 控制的多樣性和柔性化控制要求，其中包括 PLC 的選型，系統(tǒng)的運(yùn)行方式，步進(jìn)電動(dòng)機(jī)的 PLC 控制，工業(yè)機(jī)械手的 PLC 控制【關(guān)鍵詞】PLC、 步進(jìn)電動(dòng)機(jī)、 工業(yè)機(jī)械手【Abstract】The main introduction of this text regards producing the real transfer machine in simulation as the target , utilize control technology of PLC that the electron, machinery, detection technique combine together, realize variety and flexibility that PLC controls control and require，Including the selecting type of PLC, systematic operation way, PLC which walks into the motor controls, PLC of the industry manipulator controls【Key words】PLC,walks into the motor, industry manipulator第一章 應(yīng)用系統(tǒng)總體方案設(shè)計(jì)１.1 PLC 控制系統(tǒng)原理下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763１.2 系統(tǒng)的運(yùn)行方式用 PLC 構(gòu)成的控制系統(tǒng)有三種運(yùn)行方式,即自動(dòng)、半自動(dòng)和手動(dòng)。1.自動(dòng)運(yùn)行方式。自動(dòng)運(yùn)行方式是控制系統(tǒng)的主要運(yùn)行方式。這種運(yùn)行方式的主要特點(diǎn)是在系統(tǒng)工作過(guò)程中，系統(tǒng)按給定的程序自動(dòng)完成被控對(duì)象的動(dòng)作，不需要人工干預(yù)。系統(tǒng)的啟動(dòng)可由ＰＬＣ本身的啟動(dòng)系統(tǒng)進(jìn)行也可由ＰＬＣ發(fā)動(dòng)啟動(dòng)預(yù)告，由操作人員確認(rèn)并按下啟動(dòng)響應(yīng)啟動(dòng)響應(yīng)按鈕后，ＰＬＣ自動(dòng)啟動(dòng)系統(tǒng)。2.半自動(dòng)運(yùn)行方式。這種運(yùn)行方式的特點(diǎn)是系統(tǒng)在啟動(dòng)和運(yùn)行過(guò)程中的某些步驟需要人工干預(yù)才能進(jìn)行下去。半自動(dòng)方式多用于檢測(cè)手段不完善，需要人工判斷或某些設(shè)備不具備自控條件需要人工干涉的場(chǎng)合。3.手動(dòng)運(yùn)行方式。手動(dòng)運(yùn)行方式不是控制系統(tǒng)的主要運(yùn)行方式，而是用于設(shè)備調(diào)試、系統(tǒng)調(diào)整和特殊情況下的運(yùn)行方式，因此它是自動(dòng)運(yùn)行方式的輔助方式。與系統(tǒng)運(yùn)行的方式的設(shè)計(jì)相對(duì)應(yīng)，第二章．系統(tǒng)硬件設(shè)計(jì)根據(jù)２．１　工藝要求加工自動(dòng)生產(chǎn)線的工藝要求是以機(jī)械加工自動(dòng)線為對(duì)象，實(shí)現(xiàn)自動(dòng)線的上料、輸送、夾緊加工、轉(zhuǎn)位、夾緊加工、松開(kāi)、卸料多種動(dòng)作的模擬加工自動(dòng)線設(shè)計(jì)。采用小型壓縮下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763機(jī)組（功率為１.5ＫＷ,氣源壓力為 0.4`0.8Mpa）為動(dòng)力,用小型氣動(dòng)元件、行程開(kāi)關(guān)、接近開(kāi)關(guān)、光電開(kāi)關(guān)、可編程控制器（ＰＬＣ）來(lái)實(shí)現(xiàn)動(dòng)作要求。下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763２．２　設(shè)備狀況自動(dòng)線的上料采用氣缸的動(dòng)作又由相應(yīng)的電磁閥來(lái)控制。自動(dòng)線的輸送動(dòng)作由步進(jìn)電動(dòng)機(jī)帶動(dòng)實(shí)現(xiàn)間隔輸送，實(shí)現(xiàn)設(shè)計(jì)要求的輸送狀況。從輸送帶到夾緊加工過(guò)程是利用簡(jiǎn)單機(jī)械手（１）控制對(duì)象實(shí)現(xiàn)工件的加工，再利用機(jī)械手送回由步進(jìn)電機(jī)控制的傳送帶上，繼續(xù)下一個(gè)工位的操作。用簡(jiǎn)單機(jī)械手（２）實(shí)現(xiàn)工件的轉(zhuǎn)位加工，用機(jī)械手（３）實(shí)現(xiàn)卸料的動(dòng)手，至此完成整個(gè)生產(chǎn)線的動(dòng)作過(guò)程。其中機(jī)械手（１） 、機(jī)械手（２） 、機(jī)械手（３）的全部動(dòng)作都由氣缸驅(qū)動(dòng)，其中上升、下降動(dòng)作由上升／下降氣缸完成;夾緊、放松動(dòng)作由夾緊／放松氣缸完成；右轉(zhuǎn)、左轉(zhuǎn)由右轉(zhuǎn)／左轉(zhuǎn)氣缸完成。所有氣缸的動(dòng)作又由相應(yīng)的電磁閥來(lái)控制。其中上升／下降氣缸和左轉(zhuǎn)／右轉(zhuǎn)氣缸分別由雙線圈兩位電磁閥控制。上升／下降、左轉(zhuǎn)／右轉(zhuǎn)分別上升／下降電磁閥、左轉(zhuǎn)／右轉(zhuǎn)電磁閥控制。機(jī)械手的放松／夾緊氣缸由一個(gè)單線圈兩位置電磁閥控制，當(dāng)該線圈通電時(shí)，機(jī)械手夾緊，該線圈斷電時(shí)，機(jī)械手放松。為了使機(jī)械手在工作過(guò)程中實(shí)現(xiàn)自動(dòng)或半自動(dòng)運(yùn)行，選用限位行程開(kāi)關(guān)（上升、下降、左轉(zhuǎn)、右下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763轉(zhuǎn)位置控制）和光電開(kāi)關(guān)（有工件檢測(cè)）給相應(yīng)電磁閥傳遞啟動(dòng)信號(hào)。２．３　控制功能由工藝要求和設(shè)備狀況設(shè)計(jì)系統(tǒng)的類(lèi)型、規(guī)模、機(jī)型、模塊、軟件等內(nèi)容。　生產(chǎn)線控制系統(tǒng)應(yīng)有如下功能要求：（１）自動(dòng)操作。系統(tǒng)自動(dòng)操作啟動(dòng)，自動(dòng)生產(chǎn)線按要求自動(dòng)運(yùn)行。（１）手動(dòng)操作。就是用按鈕操作對(duì)機(jī)械手和其他動(dòng)作的每一種運(yùn)動(dòng)單獨(dú)進(jìn)行控制。（２）復(fù)位操作。根據(jù)上述功能要求，控制系統(tǒng)需要設(shè)計(jì)成單級(jí)控制系統(tǒng)，以實(shí)現(xiàn)對(duì)系統(tǒng)各驅(qū)動(dòng)器件的控制。運(yùn)行方式需要選用自動(dòng)運(yùn)行方式和手動(dòng)運(yùn)行方式以實(shí)現(xiàn)不同情況的動(dòng)作要求。２．４　I/O 點(diǎn)數(shù)和種類(lèi)根據(jù)工藝要求、設(shè)備狀況和控制功能，統(tǒng)計(jì)系統(tǒng) I/0 點(diǎn)數(shù)。手一的輸入點(diǎn)數(shù)：上下限位行程開(kāi)關(guān)，２個(gè)；左右限位行程開(kāi)關(guān)，２個(gè)；右下限位行程開(kāi)關(guān)（裝料） ，１個(gè)。輸出點(diǎn)：五個(gè)電磁閥線圈。同理：機(jī)械手二有五個(gè)輸入點(diǎn)，五個(gè)輸出點(diǎn)。機(jī)械手三有五個(gè)輸入點(diǎn)。五個(gè)輸出點(diǎn) 1)推工件缸有一個(gè)行程開(kāi)關(guān)，一個(gè)接近傳感器，二個(gè)電磁閥線圈。 二個(gè)輸入，二個(gè)輸出。加各種光電開(kāi)關(guān)和手動(dòng)按鈕和轉(zhuǎn)換開(kāi)關(guān)，共有：３６個(gè)輸入點(diǎn)，２６個(gè)輸出點(diǎn)。第三章系統(tǒng)軟硬件設(shè)計(jì)文件３．１ 根據(jù) I/0 點(diǎn)數(shù)、ＣＰＵ能力和響應(yīng)速度選擇 PLC 型號(hào):品牌：三菱型號(hào)：FX2N-80MR下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763特性：超高速的運(yùn)算速度(0.08μs/step)，50%小型化設(shè)計(jì)，程序容量 :內(nèi)置8K STEP RAM ，最大可擴(kuò)充至 16K STEP，可使用 FX 系列模塊，可做 8 臺(tái)主機(jī)連線,，可以采用最小 8 點(diǎn)的擴(kuò)展模塊進(jìn)行擴(kuò)展.(FX2N-80MR 結(jié)構(gòu))開(kāi)始指示燈顯示正?？諝鈮嚎s機(jī)啟動(dòng)光電開(kāi)關(guān)一機(jī)械手一上料加工光電開(kāi)關(guān)二機(jī)械手二上料加工光電開(kāi)關(guān)三機(jī)械手三卸料原位 原位 原位T 時(shí)間到步進(jìn)電機(jī)轉(zhuǎn)一定脈沖時(shí)間到步進(jìn)電機(jī)停推工件缸接近傳感推缸返回下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763SQ1SQ4右轉(zhuǎn) YA1SQ0 SQ3 左轉(zhuǎn) YA2SQ5 右下限位夾緊YA5JNDU松開(kāi)上升 YA3下降 YA4下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763（機(jī)械手結(jié)構(gòu)示意圖）機(jī)械手通常位于原點(diǎn)。圖中 SQ1 為下限位開(kāi)關(guān)，SQ1 為上限位開(kāi)關(guān)，SQ3，SQ4 分別為右限位和左限位開(kāi)關(guān)。機(jī)械手的左右轉(zhuǎn)動(dòng)和有工件的夾持與松開(kāi)，均由電磁閥驅(qū)動(dòng)氣缸來(lái)實(shí)現(xiàn)。電磁閥 YA4 控制機(jī)械手下降，YA5 負(fù)責(zé)夾持及松開(kāi) 工件，YA3 使機(jī)械手上升。YA1 使機(jī)械手右轉(zhuǎn)，YA2 使機(jī)械手左轉(zhuǎn) 。一．上料加工時(shí)按下起動(dòng)按鈕，各機(jī)械手動(dòng)作如下框圖所示工作。YA4 得電動(dòng)作，機(jī)械手先由原點(diǎn)下降，碰到下限位開(kāi)關(guān) SQ１后 YA4 失電，停止下降；電磁閥 YA5 動(dòng)作將工件夾持，為保證工件可靠夾緊，機(jī)械手在該位置等待 1S 時(shí)間；待夾緊后 YA3得電動(dòng)作使機(jī)械手開(kāi)始上升，碰到上限位開(kāi)關(guān) SQ2 后 YA3 失電，停止上升；YA1 得電，改向右轉(zhuǎn)動(dòng)，轉(zhuǎn)到右限位開(kāi)關(guān) SQ3 位置時(shí)，YA1 失電停止右轉(zhuǎn)；YA4 得電，改為下降，到碰到右下限位開(kāi)關(guān) SQ5 時(shí)，YA4 失電，機(jī)械手將工件松開(kāi)。放在夾具上。松開(kāi)延時(shí)一秒后使 YA3 得電機(jī)械手上升，碰到上限位行程開(kāi)關(guān) SQ2 后 YA3 失電停止上升。這時(shí)夾具夾緊工件，數(shù)控機(jī)床進(jìn)行加工。機(jī)械手在上等待加工完成信號(hào)。當(dāng)加工完成，機(jī)械手 YA4 得電，機(jī)械手下降。碰到右下限位開(kāi)關(guān) SQ5 時(shí)，YA4 失電，機(jī)械手將工件夾緊，為保證工件可靠夾緊，機(jī)械手在該位置等待 1S 時(shí)間；待夾緊后 YA3得電動(dòng)作使機(jī)械手開(kāi)始上升，碰到上限位開(kāi)關(guān) SQ2 后 YA3 失電，停止上升。當(dāng)機(jī)床加工完夾具松開(kāi)時(shí)，YA2 得電，改向左轉(zhuǎn)動(dòng)，轉(zhuǎn)到左限位開(kāi)關(guān) SQ4 位置時(shí)，YA2 失電停止左轉(zhuǎn)。改為下降，到碰到下限位開(kāi)關(guān) SQ1 時(shí)，YA4 失電，機(jī)械手將工件松開(kāi)放在傳送帶上，送到下一個(gè)工位進(jìn)行加工。松開(kāi)后一秒，機(jī)械手 YA3 得電上升碰到上限位行程開(kāi)關(guān) SQ2 停止（原位） 。則機(jī)械手一完成一次過(guò)程。當(dāng)光電開(kāi)關(guān)一有效時(shí)，又重復(fù)上述過(guò)程。上述整個(gè)流程都是按順序進(jìn)行的，即完成了上一步，才能執(zhí)行下一步。下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763二． 同理： 上料加工時(shí)起動(dòng)按鈕有效時(shí)，各機(jī)械手動(dòng)作如下框圖所示工作。YA9得電動(dòng)作，機(jī)械手先由原點(diǎn)下降，碰到下限位開(kāi)關(guān) SQ6 后 YA9 失電，停止下降；電磁閥 YA12 動(dòng)作將工件夾持，為保證工件可靠夾緊，機(jī)械手在該位置等待 1S 時(shí)間；待夾緊后 YA10 得電動(dòng)作使機(jī)械手開(kāi)始上升，碰到上限位開(kāi)關(guān) SQ7 后 YA10 失電，停止上升；YA8 得電，改向左轉(zhuǎn)動(dòng)，轉(zhuǎn)到左限位開(kāi)關(guān) SQ3 位置時(shí)，YA8 失電停止左轉(zhuǎn)；YA12 得電，改為下降，到碰到左下限位開(kāi)關(guān) SQ14 時(shí)，YA12 失電，機(jī)械手將工件松開(kāi)。放在夾具上。松開(kāi)延時(shí)一秒后使 YA10 得電機(jī)械手上升，碰到上限位行程開(kāi)關(guān)SQ7 后 YA10 失電停止上升。這時(shí)夾具夾緊工件，數(shù)控機(jī)床進(jìn)行加工。機(jī)械手在上等待加工完成信號(hào)。當(dāng)加工完成，機(jī)械手 YA11 得電，機(jī)械手下降。碰到左下限位開(kāi)關(guān)SQ10 時(shí)，YA9 失電，機(jī)械手將工件夾緊，為保證工件可靠夾緊，機(jī)械手在該位置等待1S 時(shí)間；待夾緊后 YA10 得電動(dòng)作使機(jī)械手開(kāi)始上升，碰到上限位開(kāi)關(guān) SQ7 后 YA10失電，停止上升。當(dāng)機(jī)床加工完夾具松開(kāi)時(shí)，YA8 得電，改向右轉(zhuǎn)動(dòng)，轉(zhuǎn)到右限位開(kāi)關(guān) SQ9 位置時(shí)，YA9 失電停止左轉(zhuǎn)。改為下降，到碰到下限位開(kāi)關(guān) SQ6 時(shí)，YA12 失電，機(jī)械手將工件松開(kāi)放在傳送帶上，送到下一個(gè)工位進(jìn)行加工。松開(kāi)后一秒，機(jī)械手 YA10 得電上升碰到上限位行程開(kāi)關(guān) SQ7 停止（原位） 。則機(jī)械手一完成一次過(guò)程。當(dāng)光電開(kāi)關(guān)一有效時(shí)，又重復(fù)上述過(guò)程。上述整個(gè)流程都是按順序進(jìn)行的，即完成了上一步，才能執(zhí)行下一步。三．同理：機(jī)械手三當(dāng)光電開(kāi)關(guān)三有效時(shí)，機(jī)械手三開(kāi)始工作。YA15 得電開(kāi)始從原位右轉(zhuǎn)，轉(zhuǎn)到右下限位開(kāi)關(guān) SQ15 位置時(shí)，YA15 失電停止右轉(zhuǎn)YA18 得電動(dòng)作，機(jī)械手下降，碰到下限位開(kāi)關(guān) SQ12 后 YA18 失電，停止下降；電磁閥 YA19 動(dòng)作將工件夾持，為保證工件可靠夾緊，機(jī)械手在該位置等待 1S 時(shí)間；待夾緊后 YA17 得電動(dòng)作使機(jī)械手開(kāi)始上升，碰到上限位開(kāi)關(guān) SQ12 后 YA17 失電，停止上升；YA16 得電，改向左轉(zhuǎn)動(dòng)，轉(zhuǎn)到左限位開(kāi)關(guān) SQ18 位置時(shí)，YA16 失電停止左轉(zhuǎn)；YA3 得電，改為下降，到碰到下限位開(kāi)關(guān) SQ11 時(shí)，YA17 失電，機(jī)械手將工件松開(kāi)。放在收料倉(cāng)里。松開(kāi)延時(shí)一秒后使 YA17 得電機(jī)械手上升，碰到上限位行程開(kāi)關(guān) SQ12后，YA17 失電，YA15 得電,改向右轉(zhuǎn),碰到右限位開(kāi)關(guān) SQ14 機(jī)械手停在原位。完成卸料動(dòng)作。動(dòng)作過(guò)程圖：如下下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763上述整個(gè)流程都是按順序進(jìn)行的，即完成了上一步，才能執(zhí)行下一步。四．當(dāng)機(jī)械手一動(dòng)時(shí)開(kāi)始有一個(gè)定時(shí)器，定時(shí)器設(shè)為生產(chǎn)線工作的某一個(gè)工位最長(zhǎng)時(shí)間的。在這里可設(shè)為（1.5 ~2.5 分鐘）調(diào)整定時(shí)器的時(shí)間可以調(diào)節(jié)生產(chǎn)節(jié)奏。當(dāng)機(jī)械手一、機(jī)械手二、機(jī)械手三、都回到原位時(shí)，定時(shí)時(shí)間到這時(shí)步進(jìn)電動(dòng)機(jī)轉(zhuǎn)動(dòng)，輸送工件，實(shí)現(xiàn)工件的間歇輸送。步進(jìn)電機(jī)的控制是利用 PLC 的軟件編程的方法產(chǎn)生一定頻率的脈沖。通過(guò)編程軟件改變脈沖的頻率來(lái)實(shí)現(xiàn)步進(jìn)電機(jī)的調(diào)速。 五． 當(dāng)步進(jìn)電機(jī)輸送一定的步距，步進(jìn)電動(dòng)機(jī)就停止轉(zhuǎn)動(dòng)，這時(shí)，光電傳感開(kāi)關(guān)一有效，機(jī)械手一動(dòng)作，光電傳感開(kāi)關(guān)二有效，機(jī)械手二動(dòng)作。同時(shí)，推工件缸工作，使工件被推到傳送帶上。推工件缸的的控制是由氣缸雙線圈兩位電磁閥控制。推工件缸起動(dòng)，YA20 得電，工件被緩慢的推到傳送帶上，當(dāng)工件接近接近傳感器時(shí)，接近傳感器工作推件缸 YA20 失電，YA21 得電返回，碰到行程開(kāi)關(guān)SQ16。缸返回到原位停止。完成一次過(guò)程。當(dāng)步進(jìn)電機(jī)再一次停止時(shí)，又重復(fù)上述過(guò)程。３．２：現(xiàn)場(chǎng)器件與 PLC 內(nèi)部等效繼電器地址編號(hào)的對(duì)照表。根據(jù)上表選定與各開(kāi)關(guān)、電磁閥等現(xiàn)場(chǎng)器件相對(duì)應(yīng)的 PLC 內(nèi)部等效繼電器的地址編號(hào)，其對(duì)照表如下表所示。機(jī)械手一輸入機(jī)械手一說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址下限位開(kāi)關(guān) SQ1 X0上限位開(kāi)關(guān) SQ2 X1右限位開(kāi)關(guān) SQ3 X2左限位開(kāi)關(guān) SQ4 X3右下限位開(kāi)關(guān) SQ5 X4光電檢測(cè)開(kāi)關(guān) 1 YJ1 X5停止按鈕 SB1 X6返回原點(diǎn)按鈕 SB2 X7下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763機(jī)械手二輸入機(jī)械手二說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址下限位開(kāi)關(guān) SQ6 X10上限位開(kāi)關(guān) SQ7 X11右限位開(kāi)關(guān) SQ8 X12左限位開(kāi)關(guān) SQ9 X13右下限位開(kāi)關(guān) SQ10 X14光電檢測(cè)開(kāi)關(guān)二 YJ2 X15停止按鈕 SB3 X16返回原點(diǎn)按鈕 SB4 X17機(jī)械手三輸入機(jī)械手三說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址下限位開(kāi)關(guān) SQ11 X20上限位開(kāi)關(guān) SQ12 X21右限位開(kāi)關(guān) SQ13 X22左限位開(kāi)關(guān) SQ14 X23右下限位開(kāi)關(guān) SQ15 X24光電檢測(cè)開(kāi)關(guān)三 YJ3 X25停止按鈕 SB5 X26返回原點(diǎn)按鈕 SB6 X27其他輸入：說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址步進(jìn)電機(jī)手動(dòng)按鈕 SB7 X30步進(jìn)電機(jī)停止按鈕 SB8 X31手動(dòng)上料(帶) SB9 X32下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763上料返回 SB10 X33一工位加工信號(hào) YJ4 X34二工位加工信號(hào) YJ5 X35接近傳感器 YJ6 X.36推件缸回程行程開(kāi)關(guān) SQ16 X37空氣壓縮機(jī) K1 X40生產(chǎn)線總停按鈕 SB11 X40選擇自動(dòng)開(kāi)關(guān) K2 X42連續(xù)返回原點(diǎn)按鈕 K3 X44輸出對(duì)照：說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址回轉(zhuǎn)缸右轉(zhuǎn)電磁閥 YA1 Y0回轉(zhuǎn)缸左轉(zhuǎn)電磁閥 YA2 Y1升降缸上升電磁閥 YA3 Y2升降缸下降電磁閥 YA4 Y3夾緊缸夾緊電磁閥 YA5 Y4機(jī)械手二回轉(zhuǎn)缸左轉(zhuǎn)電磁閥 YA8 Y10回轉(zhuǎn)缸右轉(zhuǎn)電磁閥 YA9 Y11升降缸上升電磁閥 YA10 Y12升降缸下降電磁閥 YA11 Y13夾緊缸夾緊電磁閥 YA12 Y14機(jī)械手三回轉(zhuǎn)缸右轉(zhuǎn)電磁閥 YA15 Y20回轉(zhuǎn)缸左轉(zhuǎn)電磁閥 YA16 Y21升降缸上升電磁閥 YA17 Y22升降缸下降電磁閥 YA18 Y23下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763夾緊缸夾緊電磁閥 YA19 Y24其他輸出對(duì)照：說(shuō)明 現(xiàn)場(chǎng)器件 內(nèi)部繼電器地址夾具一夾緊電磁閥 YA6 Y5夾具一松開(kāi)電磁閥 YA7 Y6夾具二夾緊電磁閥 YA13 Y15夾緊二松開(kāi)電磁閥 YA14 Y16手一原位指示燈 HL1 Y7手二原位指示燈 HL2 Y17手三原位指示燈 HL3 Y25PLC 初始化正常指示燈 HL4 Y26自動(dòng)運(yùn)行指示燈 HL5 Y27步進(jìn)電機(jī) A 相 A Y30步進(jìn)電機(jī) B 相 B Y31步進(jìn)電機(jī) C 相 C Y32步進(jìn)電機(jī) D 相 D Y33空氣壓縮機(jī)起動(dòng) KM1 Y34帶上料電磁閥 YA20 Y35上料返回電磁閥 YA21 Y36３．３ PLC 與現(xiàn)場(chǎng)器件的實(shí)際安裝接線圖如圖３．４ 完整順序控制程序結(jié)構(gòu)安排根據(jù)操作方式的要求，可對(duì)完整順序操作控制程序結(jié)構(gòu)作如下安排，整個(gè)操作分為手動(dòng)和自動(dòng)順序兩類(lèi)基本操作。（１）手動(dòng)順序操作1）單一操作：用各按鈕開(kāi)關(guān)來(lái)集資接通或斷開(kāi)各負(fù)載的工作方式。2）返回原位：按下返回原型位按鈕時(shí)，機(jī)械手一、二、三自動(dòng)返回到它的原點(diǎn)位置，為順序控制由原位開(kāi)始作好工作準(zhǔn)備。下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763（２）自動(dòng)順序操作機(jī)械手一、二、三處在原位時(shí)，按下起動(dòng)按鈕，機(jī)器就連續(xù)周期重復(fù)進(jìn)行各步序工作。直到按下停止按鈕，機(jī)器執(zhí)行完最后一個(gè)工作周期返回原位，然后停機(jī)。利用 FX2N-80MR PLC 中的條件跳轉(zhuǎn)指令可方便地對(duì)各種操作方式進(jìn)行選擇。下圖是對(duì)生產(chǎn)線完整的順序操作結(jié)構(gòu)的安排。ＰＬＣ工作時(shí)，首先執(zhí)行通用程序，包括步狀態(tài)初始化，狀態(tài)轉(zhuǎn)換起動(dòng)、狀態(tài)轉(zhuǎn)換禁止、事故報(bào)警保護(hù)等程序。若選擇手動(dòng)操作方式時(shí)，選擇返回原位方式，則常開(kāi)觸點(diǎn)接通,按Ｘ７、Ｘ１７、Ｘ２７，執(zhí)行原位程序；選擇 X32 手動(dòng)上料(帶),選擇 X33 手動(dòng)上料返回,選擇 X30 步進(jìn)電機(jī)手動(dòng)控制.在不選擇該手動(dòng)操作時(shí)，程序轉(zhuǎn)移到自動(dòng)操作程序；自動(dòng)程序要在起動(dòng)按鈕下時(shí)才執(zhí)行。如果工藝要求在自動(dòng)順序操作過(guò)程中停機(jī)，重新起動(dòng)后由原位開(kāi)始工作，則可取消起動(dòng)這步操作。整體結(jié)構(gòu)安排妥當(dāng)之后，進(jìn)一步深入，按模塊分別編制通用程序塊、手動(dòng)順序程序塊、自動(dòng)順序程序塊等各種操作方式的控制程序。３．５　　各模塊程序設(shè)計(jì)（１）自動(dòng)連續(xù)操作程序自動(dòng)連續(xù)操作程序是生產(chǎn)線ＰＬＣ控制中最重要的核心程序。對(duì)于生產(chǎn)過(guò)程過(guò)于復(fù)雜用繼電器符號(hào)程序很難實(shí)現(xiàn)或無(wú)法實(shí)現(xiàn)程序設(shè)計(jì)時(shí)，可采用步進(jìn)梯形指令來(lái)實(shí)現(xiàn)。通常是根據(jù)生產(chǎn)設(shè)備的工藝流程圖畫(huà)出其負(fù)載驅(qū)動(dòng)圖，轉(zhuǎn)換條件圖，狀態(tài)轉(zhuǎn)換圖（或步進(jìn)梯開(kāi)圖） ，最后到編寫(xiě)指令程序表。１）負(fù)載驅(qū)動(dòng)圖：負(fù)載驅(qū)動(dòng)圖如圖所示，第一次下降工序中，下降電磁閥Ｙ３接通；在夾持工序中，夾持電磁閥Ｙ４置位，同時(shí)驅(qū)動(dòng)定時(shí)器Ｔ99以后執(zhí)行類(lèi)似的操作完成由初始條件到下一個(gè)起動(dòng)條件之間的一系列操作以下是狀態(tài)轉(zhuǎn)換條件圖：下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 13041397635．步進(jìn)電機(jī)控制（控制框圖）步進(jìn)電動(dòng)機(jī) PLC 傳動(dòng)控制梯形圖程序（如圖）步進(jìn)電機(jī)的運(yùn)行控制：１） 轉(zhuǎn)速控制。接通起動(dòng)開(kāi)關(guān) X30。脈沖控制器產(chǎn)生周期為 0。1 秒的脈沖，使移位寄存器移位產(chǎn)生八拍時(shí)序脈沖。通過(guò)四相八拍環(huán)行分配器使四個(gè)輸出繼電器 Y30、Y31、Y32、Y33 按照單雙八拍的通電方式接通，其接通順序?yàn)椋篩30——Y30、Y31——Y31——Y31、Y32——Y32——Y32、Y33——Y33——Y33、Y30——Y30其相應(yīng)于四相步進(jìn)電動(dòng)機(jī)繞組的通電順序?yàn)椋篜LC功率放大器 步進(jìn)電動(dòng)機(jī)下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763A——A、B——B——B、C——C——C、D——D——D、A——A調(diào)整 T200 的定時(shí)時(shí)間，步進(jìn)電機(jī)的接通順序不變，但間隔時(shí)間變化了。即脈沖的頻率改變了，這樣可以通過(guò)軟件的辦法改變 T200 的定時(shí)時(shí)間來(lái)改變步進(jìn)電機(jī)的轉(zhuǎn)速，實(shí)現(xiàn)步進(jìn)電機(jī)的可調(diào)。２） 步數(shù)控制。改變步數(shù)控制 C230 的數(shù)值，將使步進(jìn)電動(dòng)機(jī)的步距改變。即可實(shí)現(xiàn)工件的步距改變，有利于實(shí)現(xiàn)生產(chǎn)線布局的調(diào)節(jié)。３） 總之，改變 PLC 的控制程序，可實(shí)現(xiàn)步進(jìn)電動(dòng)機(jī)靈活多變的運(yùn)行方式，有利于實(shí)現(xiàn)設(shè)計(jì)的模塊化。 2)轉(zhuǎn)步條件圖。 在負(fù)載驅(qū)動(dòng)圖上加上名步序的轉(zhuǎn)步條件，構(gòu)成轉(zhuǎn)步條件圖，如圖所示。當(dāng)按下自動(dòng)起動(dòng)按鈕，機(jī)械手一、二、三的起動(dòng)有效時(shí)，機(jī)械手開(kāi)始動(dòng)作， 。按步序完成所有動(dòng)作，當(dāng)機(jī)械手一、二、三都又處于原位時(shí)完成一次工作過(guò)程，當(dāng)起動(dòng)信號(hào)再一次有效時(shí)步序又轉(zhuǎn)換為第一次工作狀態(tài)。以后，用類(lèi)似的方法完成一系列工藝過(guò)程的轉(zhuǎn)換。３） 狀態(tài)轉(zhuǎn)換圖和步進(jìn)梯形圖。它由負(fù)載驅(qū)動(dòng)圖和轉(zhuǎn)步條件圖組合而成。圖中每個(gè)工藝過(guò)程，都由標(biāo)有編號(hào)的狀態(tài)器代替，編號(hào)可在 S500—S800 范圍內(nèi)選用。但不一定要連續(xù)排列。根據(jù)機(jī)械操作的工藝過(guò)程的狀態(tài)轉(zhuǎn)換圖，進(jìn)行編程，而不設(shè)計(jì)常規(guī)的繼電器順序。(3)方式選擇等通用程序1) 狀態(tài)的初始化。如圖所示。狀態(tài)初始化包括初始狀置位和中間狀態(tài)器復(fù)位。1. 初始狀態(tài)置位。在選擇返回原位方式下， 按返回原位按鈕，則表示機(jī)器初始化條件的初始狀態(tài)器 S500、S530、S550 置位，其作用是使自動(dòng)順序工作從原位開(kāi)始，依次逐步進(jìn)行轉(zhuǎn)換當(dāng)最后工序完成之后S500、S530、S550 又分別置位。而在依次工作期間，即使誤按了起動(dòng)按鈕，也不可能作另一次的起動(dòng)，因?yàn)榇藭r(shí)工序已不在原位，S500、S530、S550 已處于不工作狀態(tài)。2．中間狀態(tài)器復(fù)位。因?yàn)闋顟B(tài)器 S500—S800 均由后備電源支持，在失電時(shí)有可能是接通的。為防止順序控制動(dòng)作，通常需要在返回原位和手動(dòng)操作下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763時(shí)，對(duì)處于蹭狀態(tài)的狀態(tài)器進(jìn)行總復(fù)位。指令格式如圖。F670K103 是總復(fù)位功能指令，包括 F671 的 K 編號(hào)到 F672 的 K 編號(hào)的所有器件。2) 狀態(tài)器轉(zhuǎn)換禁止 如圖。當(dāng)用步進(jìn)梯形指令控制狀態(tài)器轉(zhuǎn)換時(shí)，激勵(lì)特殊功能繼電器 M574 動(dòng)作，則狀態(tài)器的自動(dòng)轉(zhuǎn)換就被禁止。 當(dāng)按下自動(dòng)按鈕時(shí)，M110 產(chǎn)生脈沖輸出，使 M574 斷開(kāi)，狀態(tài)器轉(zhuǎn)換禁止立即復(fù)位，進(jìn)行后工序處理。 1．對(duì)自動(dòng)連續(xù)操作方式，狀態(tài)轉(zhuǎn)換禁止不受起動(dòng) X42 的影響，若按下停止按鈕時(shí)，M574 得電自保持，操作停止在現(xiàn)行工序。按起動(dòng)按鈕又可繼續(xù)下去。2．手動(dòng)方式及 PC 起動(dòng)時(shí)，都可使 M574 得電自保持，禁止?fàn)顟B(tài)轉(zhuǎn)換，直到按下起動(dòng)按鈕。３．６ 生產(chǎn)線控制總程序按照?qǐng)D完整順序控制結(jié)構(gòu)安排，將通用程序塊、手動(dòng)程序塊、自動(dòng)程序塊用FX2N-80MR PLC 的跳轉(zhuǎn)條件程序有機(jī)地連接起來(lái)，即得到生產(chǎn)線步進(jìn)指令實(shí)現(xiàn)控制的總程序。附加外文翻譯 外文文獻(xiàn) I , robot controllerA sophisticated approach to kinematics is what differentiates robot controllers from more general purpose motion equipment.An interesting situation emerged recently when a manufacturer tried to put a vision system on an assembly line. The idea was to locate parts on a moving conveyor with a vision system ,then position a robotics arm to pick them up line at a time .Engineers there diligently worked out numerous displacement fudge factors to relate the locations of the conveyor end effectors and parts imaged by the camera . The fudge factors let the motion controller infer the physical location of a part from the vision system data , then direct the arm to the right place 下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763to pick it up.Problem was , the relative position of the various components all changed every time the conveyor went back on line after servicing or maintenance . The factors so carefully computed became useless .This necessitated regular rounds of recalculating new displacements.At the root of these difficulties were some fundamental misunderstandings about how general-purpose motion controllers differ from more specialized robot controllers. Hardwarewise, the two can look similar. Both frequently employ Pentium-based processors or adopt a hybrid approach with a general CPU supervising one or more digital signal processors dedicated to servo loops. However, the software architecture of a robot controller differs dramatically from that of an ordinary motion-controller software: It generally consists of a routine for closed-loop position or v velocity control ,operator interface functions , and routine for supervisory tasks.An important point to note is at the supervisory level of control . Tasks there that relate to handling motion do not extend much past simply issuing position commands and individual axes. In other word ,the supervisory level is relatively simply.The supervisory level of robot controller is more sophisticated. For one thing , it is written with the idea that ,post robotic systems incorporate feedback from high-level sensors that reside outside the position-encoder-feedback servo loops of individual axes. Typical examples include industrial vision system and force sensors.Most robotic work involves using information from these sensors to calculate the trajectory of a robot arm. To handle this calculation process, supervisory level software implements a trajectory planning algorithm. This algorithm relates the physical location of positioning elements, sensor feedback ,and the objects being positioned in terms of what’s called a world coordinate system. This is in contrast to general-purpose motion equipment which tends to use a separate reference frame for each axis of motion .One benefit of a world-coordinate system is that it can eliminate the need for fudge factors relating sensor data to the position of various components. The state of the art is such that straightforward setup routines can compute suck information automatically. Moreover, data gathered during setup goes into transformation calculations that determine world coordinates and which are more precise than any manually deduced fudge factors. REFEENCE KINEMATICSIt is useful to briefly review the way a robot controller implements world coordinates. Readers will probably recall from engineering mechanics that the position of an arbitrary point expressed in one coordinate system can be mapped in another through use of a 4x4 transformation. In the case of Scasa robot arm , the position of a point at the end of the arm can be expressed in terms of the product of 4x4 matrices, one matrix for each link in the robot arm. Matrix coefficients for the arm itself are determined by link length and geometry, and joint angle. Obviously link geometry is known. Joint angle coefficients come from feedback provided by joint servo encoders.In an analogous manner, the coordinates inferred from the image of an industrial vision system can be expressed in world coordinates via another set of 4x4 transformations. The 下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763coefficients for the transformation matrices come from information determined during equipment setup .Take, as an example, the case of parts laying on a conveyor. The robot arm will locate three points on the conveyor as part of the setup process. These points , of course, define the conveyor plane . The robot controller uses this information to deduce the transformation coefficients that will relate conveyor position in world coordinates. A point to note is that even if the conveyor is on an angle this fact will be reflected in the transformation coefficients calculated automatically during setup. There is no need for computing additional displacements or other compensating offsets.Modern robot controllers use programming languages that also work in world coordinates. Tool commands, vision commands, and conveyor definitions all get expressed this way. Put another way, the world-coordinate system and the transformations that make it possible are embedded in the controller programming language. One additional manifestation of this approach is that when programming moves operators of suck systems need not concern themselves with timing relationships at the operating-system level.This is also one reason why robot controllers can implement a high-level calibration methodology. Once repositioned , a robot and its ancillary systems can find their bearings through use of a few software setup utilities that recalculate transformation coefficients.This process contrasts with that necessary for more general-purpose motion controllers. Though these systems also tend to employ special-purpose automation software , positioning commands tend to assume coordinate systems that center on each axis of motion . It is certainly possible to define world-coordinate system for these controllers. But control venders generally leave this task to OEMs handing applications where it specifically comes in handy.The reason is that robotic positioning is a special case of motion control . World coordinates offer limited utility in simpler but more typical positioning applications that can range from converting machines to card readers in ATMs.All in all , the process of fitting general-purpose controllers to robotic applications puts the burden on OEMs for coordinate transformation relationships already avail able in robot controllers. Alternatively they can simply try to make do with a series of loss robust physical offsets and displacements.TRAJECTORY PLANNINGThe servo loop software that positions an axis on a robot is fairly conventional. Each axis has its own servo loop . An error term drives axis motion, derived from the difference between position feedback and a position command. There may be feed forward constants to adjust the position error under certain conditions. And as with general-purpose motion controllers, robotic servo loops execute on the order of once every millisecond.The software that feeds position commands to each servo loop is called the trajectory planner. It is the trajectory planner that computes a model of where a tool tip must go from where it currently resides. To do so , it must take information out of world-coordinate form and translate it into joint angles (for a Scasa robot ) or into displacements for more general-purpose automation equipment. The trajectory planner repeats this process about every 16-mses. 下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763下載論文就送你全套 CAD 圖紙，Q 咨詢(xún) 414951605 或 1304139763Trajectory and servo cycle time enters into not only system bandwidth concerns, but also safety considerations. The robotic industry has issued strict safety standards that dictate minimum levels of performance in emergency situations. Perhaps most obvious of these is the emergency stop. Robotic controllers employ an emergency stop algorithm that bypasses the trajectory planner and its 16-mses cycle time and executes controlled-stop routines in firmware . This powers down each axis to a controlled stop in a few milliseconds.This fast-but-controlled emergency stop can be contrasted with the technique used by many general-purpose motion controllers. The simpler approach is to just drive a large momentary surge of negative(halt)power to the amplifier. This certainly stops the positioning equipment. But in the case of a robot , it could easily snap off a wrist mechanism if there is enough inertia.Finally, robot controllers employ other safety , measures that are commonly found in NC equipment but which are rare in more general-purpose positions. For example, loss of encoder feedback will generate an emergency stop. Ditto for reaching end –