【正文】 er and high technical application talents. All these are as the mon view of vocation education as well as the agreed account of the society. The above knowledge and ability is far from the scholastic learning that can only obtained during the practical working environment and applied through the integrated learning. Under the condition of workintegrated learning, the practical psychological sates and environment experiences are very different form the school. The modern corporate philosophy, favorable action, strain capacity, fresh application technology and innovation ability can only learn or form in the practical working environment. In the practice, we can deeply understand that profession training need relevant teaching environment. Technical talents, realistic type talents can only apply in the workintegrated learning that PLC teaching cannot be except. 2. Training teaching shortings of traditional electromechanical controlThe present PLC (Programmable Logic Controller) teaching is facing the problems of backward equipments that cannot keep up with the PLC update. Teaching resource limitation, examination design unreasonable, lay particular stress on programming practice, lack of whole acknowledge of practical project, prehensive practice is singleness with big discrepancy in practical field. Each college usually use such as hydraulic drive of PLC training equipment and PLC training equipment, pneumatic and PLC training equipment, air and hydraulic integration equipment, PLC training box and so on. In there, the hydraulic drive and PLC training equipment is bine with training staging, hydraulic power unit, mon hydraulic element and electric control unit that can operate loop control practice with multiplemodels. Pneumatic and PLC training equipment is bine with training staging, hydraulic power unit, mon hydraulic element and electric control unit and configuration software that can operate loop control and connection training of multiple pneumatic element. Electromechanical integration training equipment is bine with feeding unit, intermittent transfer unit, clamp unit, stamping unit, drill unit and sorting unit that can operate typical integration system installation, loop installation of hydraulic pressure, electrical control circuit, touch screen and PLC program and debugging, plete machine debugging. PLC training box is bine with various function models and individual input/output models that can practice the basic PLC programming such as basic logical control, electromotor triangle depressurization control, traffic light control and so on. The over training equipments are all the training platform modes that can operate imitate training. Each function and motion is imitate by indicating lamp or electromagnetic valve condition that has huge discrepancy with practical operation with low prehensive in individual training equipment. There can only proceed few courses to train the student without prehensive and system training that cannot be treated as training project of course design and undergraduate design.3. Attentive questions for improving training teaching effectiveness of electromechanical control. Strengthen basement establishment of training classroom teachingIt is mainly represents in two parts: one is improvement of practical teaching facilities to ensure the enough training facilities. The other is to improve the teacher team establishment of training teaching. There needs to train the high technical talents with strong handy and the teacher with highlevel theory is also necessary.. Strengthen the process and management of training classroom teachingIn the first is to strengthen the market research. School and teacher need to understand the enterprise requirement of high ability talents and student can obtain which abilities that can choose the right method during the training classroom teaching. In the second place is innovating the teaching process that based on the training characteristics. Teacher should understand the technical requirement that can be achieved before training. Moreover, confirm the training project to achieve the technical target and theory target. Then to plan the detailed teaching content and prepare the tools, materials, instruments and so on. It is impossible to take fully consideration of individuality and basic technology differences and think over of the student employment.. Strict training managementBefore training, school will plan the professional regulation based on profession and training subjects and divide the plan into each semester. The training teacher needs to formulate the detailed training plan. Moreover, the plan should include such as target, requirement, content, assignment, time, place, student emplacement and so on. Training plans are all work out under modularization training outline that must be feasible. From the。 2011 Published by Elsevier Ltd. Selection and/or peerreview under responsibility of [CEIS 2011]Keywords：electromechanical control, workintegrated learning, training, teaching?？傊?，在本畢業(yè)設(shè)計(jì)中，我學(xué)到了很多知識，每當(dāng)遇到問題時(shí)我都會很認(rèn)真的思考，有時(shí)候自己解決，有時(shí)候和老師、同學(xué)一起研究解決。因時(shí)間倉促，本設(shè)計(jì)有許多不足之處： 立體倉庫的動(dòng)作只有取、存動(dòng)作，而沒有換（從這個(gè)倉位直接換到另一個(gè)倉位）； 在取和存兩個(gè)動(dòng)作之間，貨叉必須返回原點(diǎn)處，才可以執(zhí)行下一動(dòng)作，在這過程中控制系統(tǒng)沒有記憶功能，這就使得系統(tǒng)在執(zhí)行動(dòng)作時(shí)運(yùn)行時(shí)間較長，程序上編寫不太合理等； 本設(shè)計(jì)觸摸屏界面設(shè)計(jì)的不太美觀。 主程序調(diào)試當(dāng)按下對應(yīng)按鈕時(shí)可以實(shí)現(xiàn)相應(yīng)運(yùn)動(dòng)的實(shí)現(xiàn)。 手動(dòng)子程序 重復(fù)輸出程序在程序的編程中，比如說取貨、存貨中都有貨叉的伸出、縮回、微抬、微降、堆垛機(jī)的左行、右行、上升、下降等等都不止一次出現(xiàn)，所以需要將這些重復(fù)輸出編寫到一起，否則會出現(xiàn)程序編譯錯(cuò)誤。程序中也用到了上升沿(DIFU)指令，表示當(dāng)按下手動(dòng)按鈕時(shí)，此時(shí)開始計(jì)算運(yùn)動(dòng)參數(shù)。從而實(shí)現(xiàn)了判斷該貨格有無貨的目的。 水平子程序 判斷有無貨子程序在取貨和存貨過程中，都需要判斷該貨格是否有貨物，因此本課題設(shè)計(jì)了判斷有無貨子程序，、。程序中FIX指令是把運(yùn)算后的浮點(diǎn)數(shù)轉(zhuǎn)化為BIN數(shù)；頻率加減速控制ACC表示水平運(yùn)動(dòng)加速階段，第一個(gè)0000表示脈沖輸出0，第二個(gè)0000表示CW/CWW輸出方向CW，D7062表示加速比率，目標(biāo)比率放到D7063地址中。減速點(diǎn)位移公式已在第4章數(shù)學(xué)建模中給出。 取貨子程序同理，存貨程序與取貨程序類似，但存貨位置1是用邏輯或ORW來實(shí)現(xiàn)的。移位后地址用取反指令（COM）將取貨位變?yōu)?，其余位變成1，將取反后的數(shù)據(jù)放到地址D501中，此時(shí)用本身貨格地址D106與取反后地址D501進(jìn)行邏輯與計(jì)算，就可以將取貨位置0。根據(jù)取貨子程序的順序功能圖編寫出取貨PLC程序。 主程序 取貨子程序設(shè)計(jì)根據(jù)本課題。由于P_First Cyc