基于plc的搬運機械手控制系統(tǒng)設計論文-資料下載頁

　　

【正文】 // 網(wǎng)絡注釋LD O S , 1// 伺服1復位LD = LD = LD CALL SBR5, , , VB70// 伺服2復位LD = LD = LD CALL SBR16, , , VB71//參數(shù)復位LD R , 1R , 2// 伺服1下降LD A AN = LD EU= LD CALL SBR3, , VD500, VD504, 1, , , VB70, VD76, VD80// 下降指示燈LD O AN = // 伺服1下降完成LD AN T39= // 夾緊工件，等待2秒LD S , 1R , 1AN T39TON T39, 20// 夾緊指示燈LD O AN = // 夾緊完成LD T39AN = // 伺服1上升LD AN = LD = LD CALL SBR5, , , VB71// 上升指示燈LD T39ON AN AN = // 上升完成LD = // 伺服2前進LD AN = LD = LD CALL SBR14, , VD508, VD512, 1, , , VB72, VD84, VD88// 前進指示燈LD ON AN AN = // 前進完成LD AN T40= // 到達前進工位后伺服1下降LD A AN = LD = LD CALL SBR3, , VD500, VD504, 1, , , VB73, VD92, VD96// 下降指示燈LD ON AN = // 下降完成LD AN T40= // 放下工件，等待2秒LD S , 1R , 1R , 4AN T40TON T40, 20// 松開指示燈LD ON AN = // 松開完成LD T40= // 重復動作LD = 半自動子程序: // 網(wǎng)絡注釋LD S , 1// 伺服1復位LD = LD = LD CALL SBR5, , , VB70// 伺服2復位LD = LD = LD CALL SBR16, , , VB71//參數(shù)復位LD R , 1R , 2// 伺服1下降LD A AN = LD EU= LD CALL SBR3, , VD500, VD504, 1, , , VB70, VD76, VD80// 下降指示燈LD O AN = // 伺服1下降完成LD AN T39= Network 8 // 夾緊工件，等待2秒LD S , 1R , 1AN T39TON T39, 20// 夾緊指示燈LD O AN = // 夾緊完成LD T39AN = // 伺服1上升LD AN = LD = LD CALL SBR5, , , VB71// 上升指示燈LD T39ON AN AN = // 上升完成LD = // 伺服2前進LD AN = LD = LD CALL SBR14, , VD508, VD512, 1, , , VB72, VD84, VD88// 前進指示燈LD ON AN AN = // 前進完成LD AN T40= // 到達前進工位后伺服1下降LD A AN = LD = LD CALL SBR3, , VD500, VD504, 1, , , VB73, VD92, VD96// 下降指示燈LD ON AN = // 下降完成LD AN T40= // 放下工件，等待2秒LD S , 1R , 1AN T40TON T40, 20// 松開指示燈LD ON AN = // 松開完成LD T40= // 伺服1上升LD = LD = LD CALL SBR5, , , VB74// 上升指示燈LD ON AN = // 上升完成LD = // 伺服2后退LD = LD = LD CALL SBR16, , , VB75// 后退指示燈LD ON AN = Network 28 // 后退完成LD = R , 6手動子程序: // 手動上升LD AN AN AN AN = = // 手動下降LD AN AN AN AN = = // 伺服1手動LD = LD = LD AN = LD AN = LD CALL SBR2, , , , VD504, , VB74, VD8, VD12, // 手動后退LD AN AN AN = = // 手動前進LD AN AN AN = = // 伺服2手動LD = LD = LD AN = LD AN = LD CALL SBR13, , , , VD512, , VB75, VD16, VD20, // 手動夾緊工件LD S , 1R , 1// 夾緊指示燈LD AN = // 手動松開工件LD S , 1R , 1// 松開指示燈LD AN =