【正文】 。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。減速點(diǎn)位移公式已在第4章數(shù)學(xué)建模中給出。 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)。 主程序調(diào)試當(dāng)按下對(duì)應(yīng)按鈕時(shí)可以實(shí)現(xiàn)相應(yīng)運(yùn)動(dòng)的實(shí)現(xiàn)?？傊?，在本畢業(yè)設(shè)計(jì)中，我學(xué)到了很多知識(shí)，每當(dāng)遇到問題時(shí)我都會(huì)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。 2011 Published by Elsevier Ltd.doi:employee, and development road with bination of industry, study and research. Moreover,train the high quality laborer 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。,致 謝很高興陳白寧是我的指導(dǎo)老師，她是一個(gè)很負(fù)責(zé)任的老師，而且很有耐心，每當(dāng)我遇到不懂的問題，她都會(huì)悉心指導(dǎo)，從沒有半點(diǎn)嫌棄之意。 為重復(fù)輸出部分的程序。執(zhí)行動(dòng)作控制模式（INI），該控制使水平運(yùn)動(dòng)停止，0000表示脈沖輸出端口0，0003表示停止脈沖輸出，當(dāng)程序運(yùn)行結(jié)束時(shí)返回(RET)。而觸摸屏上貨格指示燈位地址W300與移位地址D501進(jìn)行邏輯或運(yùn)算就可以將存貨位的指示燈位地址置1，指示燈亮，表示此貨格有貨，其余位狀態(tài)不變。由指令FIX實(shí)現(xiàn)。其余部分大體相同，此處僅以取貨子程序的流程圖、順序功能圖、PLC程序?yàn)槔榻B，不再說明存貨的流程圖、順序功能圖、PLC程序。在自動(dòng)模式下，若按下觸摸屏上存貨確認(rèn)（）按鈕后，調(diào)用存貨子程序，若按下觸摸屏上取貨確認(rèn)（）按鈕后，調(diào)用取貨子程序。 頻率設(shè)定（SPED）指令名稱、格式與符號(hào)操作數(shù)功能說明SPEDC1C2S C1：端口設(shè)定 C2：控制數(shù)據(jù) S：目標(biāo)頻率低位CH編號(hào) 從C1指定的端口中，通過由C2指定的方式和由S指定的目標(biāo)頻率來執(zhí)行脈沖輸出。復(fù)位輸入為ON時(shí)被復(fù)位（當(dāng)前值=設(shè)定值、計(jì)數(shù)結(jié)束標(biāo)志=OFF），計(jì)數(shù)器輸入無效 無符號(hào)比較指令(CM