【正文】 梯形圖=1（上升電磁閥閉合）；=1（右旋限位開(kāi)關(guān)閉合）；=1（上升限位開(kāi)關(guān)閉合），=0（上升電磁閥斷開(kāi)），=0（右旋電磁閥斷開(kāi)），=1（左旋電磁閥閉合）。 梯形圖=1（下降電磁閥閉合）；=1（左旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合），=0（下降電磁閥斷開(kāi)）=0（夾放電磁閥斷開(kāi)）。當(dāng)T54=1（定時(shí)時(shí)間到）；=1（左旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合）；=0（下降電磁閥斷開(kāi)），=1（上升電磁閥閉合）。=1（右旋電磁閥閉合）；=1（上升限位開(kāi)關(guān)閉合）；=1（右旋限位開(kāi)關(guān)閉合），=0（右旋電磁閥斷開(kāi)）=0（輔助繼電器）。=1（下降電磁閥閉合）；=1（右旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合），=0（下降電磁閥斷開(kāi)）=1（夾放電磁閥閉合）。當(dāng)55=1（定時(shí)時(shí)間到）；=1（右旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合）；=0（下降電磁閥斷開(kāi)），=1（上升電磁閥閉合）。=1（左旋電磁閥閉合）；=1（上升限位開(kāi)關(guān)閉合）；=1（左旋限位開(kāi)關(guān)閉合），=0（左旋電磁閥斷開(kāi)）=0（上升電磁閥斷開(kāi)）=1（下降電磁閥閉合）。=0（夾放電磁閥斷開(kāi)）；=1（左旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合）；=0（上升電磁閥斷開(kāi)），則定時(shí)器T56啟動(dòng)定時(shí)。=1（上升電磁閥閉合）；=1（左旋限位開(kāi)關(guān)閉合）；=1（上升限位開(kāi)關(guān)閉合），=0（上升電磁閥斷開(kāi)），=0（左旋電磁閥斷開(kāi)），=1（右旋電磁閥閉合）。 機(jī)械手3控制程序=1（上升限位開(kāi)關(guān)閉合）；=1（右旋限位開(kāi)關(guān)閉合）；=0（上升電磁閥斷開(kāi)）：=0（左旋電磁閥斷開(kāi)），=1（下降電磁閥閉合）；=1（輔助繼電器）。=1（夾放電磁閥閉合）；=1（右旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合）；=0（上升電磁閥斷開(kāi)），則定時(shí)器T57啟動(dòng)定時(shí)。=1（上升電磁閥閉合）；=1（右旋限位開(kāi)關(guān)閉合）；=1（上升限位開(kāi)關(guān)閉合），=0（上升電磁閥斷開(kāi)），=0（右旋電磁閥斷開(kāi)），=1（左旋電磁閥閉合）。=1（下降電磁閥閉合）；=1（左旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合），=0（下降電磁閥斷開(kāi)）=0（夾放電磁閥斷開(kāi)）。當(dāng)T58=1（定時(shí)時(shí)間到）；=1（左旋限位開(kāi)關(guān)閉合）；=1（下降限位開(kāi)關(guān)閉合）；=0（下降電磁閥斷開(kāi)），=1（上升電磁閥閉合）。=1（右旋電磁閥閉合）；=1（上升限位開(kāi)關(guān)閉合）；=1（右旋限位開(kāi)關(guān)閉合），=0（右旋電磁閥斷開(kāi)）=0（輔助繼電器）。當(dāng)，=1（總停止按鈕閉合）；=0；=0；=0；=0（工作臺(tái)A物品檢測(cè)開(kāi)關(guān)閉合）；=0（工作臺(tái)B物品檢測(cè)開(kāi)關(guān)閉合）。當(dāng) =1（機(jī)械手群自動(dòng)方式輔助繼電器）；=0；=0；=0；=1（工作臺(tái)A物品檢測(cè)開(kāi)關(guān)閉合）；=0（工作臺(tái)B物品檢測(cè)開(kāi)關(guān)斷開(kāi)）；=0（工作臺(tái)C物品檢測(cè)開(kāi)關(guān)斷開(kāi)）。當(dāng)T60=1（定時(shí)時(shí)間到）調(diào)用機(jī)械手1控制程序。啟動(dòng)定時(shí)器T61定時(shí)。=1（機(jī)械手群自動(dòng)方式輔助繼電器）；=0；=0；=0；=1（工作臺(tái)C物品檢測(cè)開(kāi)關(guān)閉合）。當(dāng)T62=1（定時(shí)時(shí)間到），調(diào)用機(jī)械手3控制程序。=1（機(jī)械手群手動(dòng)方式輔助繼電器）；=1（機(jī)械手1啟動(dòng)按鈕閉合）；=0（機(jī)械手1停止斷開(kāi)），則調(diào)用機(jī)械手1控制程序。=1（機(jī)械手群手動(dòng)方式輔助繼電器）；=1（機(jī)械手2啟動(dòng)按鈕閉合）；=0（機(jī)械手2停止斷開(kāi)），則調(diào)用機(jī)械手3控制程序。機(jī)械手1啟動(dòng)按鈕合停止按鈕同時(shí)按下，PLC轉(zhuǎn)為停止?fàn)顟B(tài)。機(jī)械手3啟動(dòng)按鈕合停止按鈕同時(shí)按下，PLC轉(zhuǎn)為停止?fàn)顟B(tài)。第5章 結(jié)論本論文介紹了PLC的定義、特點(diǎn)、應(yīng)用領(lǐng)域，發(fā)展趨勢(shì)、基本組成、以及工作原理。本設(shè)計(jì)基本上達(dá)到了設(shè)計(jì)的要求。用PLC作為控制器，優(yōu)化了機(jī)械手群的控制系統(tǒng)。全部程序均采用模塊化設(shè)計(jì)思想，不僅在設(shè)計(jì)時(shí)結(jié)構(gòu)清晰，還易于檢查和修改。通過(guò)PLC的控制，每個(gè)機(jī)械手均能獨(dú)立完成八個(gè)動(dòng)作；機(jī)械手群能夠自動(dòng)運(yùn)行或手動(dòng)運(yùn)行。對(duì)限位開(kāi)關(guān)和紅外檢測(cè)器并未作出選擇。參考文獻(xiàn)[1] ：北京航空航天大學(xué)出版社,2003： 80102[2] 殷洪義. ：機(jī)械工業(yè)出版社,2006： 181200[3] ：華南里工大學(xué)出版社,1997：115[4] ：化學(xué)工業(yè)出版社,2000：3845[5] ：人民郵電出版社,2004：172185[6] ：化學(xué)工業(yè)出版社,2003：19[7] ：化學(xué)工業(yè)出版社,2004：2026[8] . 北京：化學(xué)工業(yè)出版社,2005：122[9] ：電子工業(yè)出版社,2004：81309[10] ：機(jī)械工業(yè)出版社，1986：4749[11] ：：13[12] (氣壓傳動(dòng)).北京：化學(xué)工業(yè)出版社，2004：89118[13] (氣動(dòng)機(jī)械手)， 1999，(5)：1316[14] ,2003(2)：6162.[15] . ：3738 [16] 史國(guó)生，崔洪斌，梁雪春. . ：2528[17] 葉愛(ài)芹，袁金強(qiáng). ： 6465[18] 羅庚合，蔡霞. ：79[19] 王麗偉，劉軒. ：3536[20] 西門(mén)子（中國(guó)）有限公司[21] Position Control Carrier Tape Based on PLC,Gao Fei,電氣自動(dòng)化，2006：3[22] S7200 Programmable Controller System Manual 2005：3致 謝結(jié)束本文之際，作者謹(jǐn)向恩師遼寧工業(yè)大學(xué)信息科學(xué)與工程學(xué)院梅麗鳳副教授致以崇高的敬意和由衷的感謝。在整個(gè)課題研究過(guò)程中，導(dǎo)師在各方面給予了我無(wú)盡的關(guān)心、幫助和教誨，使本論文得以順利完成。老師待人誠(chéng)懇，心胸寬大，精深的知識(shí)令我受益非淺。附 錄Ⅰ英文資料原文Understanding the Basics of S7200 Network CommunicationsSelecting the Communication Interface for Your NetworkThe S7200 is designed to solve your munications and networking needs by supporting not only the simplest of networks but also supporting more plex networks. The S7200 also provides tools that allow you to municate with other devices, such as printers and weigh scales which use their ownmunications protocols.The S7200 supports many different types of munication networks. The selection of a network isperformed within the Set PG/PC Interface property dialog. A selected network is referred to as an Interface. The different types of interfaces available to access these munication networks are:1. PPI MultiMaster cables2. CP munication cards3. Ethernet munication cardsTo select the munication interface for STEP 7Micro/WIN, you perform the following steps. See Figure 71.1. Doubleclick the icon in the Communications Setup window.2. Select the interface parameter for12Figure 71 STEP 7Micro/WINCommunications InterfacePPI MultiMaster CablesThe S7200 supports munication through two different types of PPI MultiMaster cables. These cable types permit munication through either an RS232 or a USB interface.As shown in Figure 72, selecting the PPI MultiMaster cable type is simple. You perform the following steps:1. Click the Properties button on the Set PG/PC Interface property page.2. Click the Local Connection tab on the Properties page.3. Select the USB or the desired COM port .123Figure 72 PPI MultiMaster Cable SelectionTipPlease note that only one USB cable can be used at a time.TipExamples in this manual use the RS232/PPI MultiMaster cable. The RS232/PPI MultiMaster cable replaces the previous PC/PPI cable. A USB/PPI MultiMaster cable is also available. Refer to Appendix E for order numbers.Using Master and Slave Devices on a PROFIBUS NetworkThe S7200 supports a masterslave network and can function as either a master or a slave in a PROFIBUS network, while STEP 7Micro/WIN is always a master.MastersA device that is a master on a network can initiate a request to another device on the network. A master can also respond to requests from other masters on the network. Typical master devices include STEP 7Micro/WIN, humanmachine interface devices such as a TD 200, and S7300 or S7400 PLCs. The S7200 functions as a master when it is requesting information from another S7200 (peertopeer munications).TipA TP070 will not work on a network with another master device.SlavesA device that is configured as a slave can only respond to requests from a master device。 however, you cannot install more than 32 masters on the network.Figure 77 PPI NetworkS7200 CPUs can act as master devices while they are in RUN mode, if you enable PPI master mode in the user program. (See the description of SMB30 in Appendix D.) After enabling PPI master mode, you can use the Network Read or the Network Write instructions to read from or write to other S7200s.While the S7200 is acting as a PPI master, it still responds as a slave to requests from other masters.