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CPU</STRONG> 226控制器，采用氣源做驅(qū)動的，設(shè)計相應(yīng)的控制回路，電器元件的控制采用<STRONG>西門子PLC</STRONG>控制，以實現(xiàn)自動控制方式，能夠?qū)崿F(xiàn)三個自由度方向(水平、垂直和旋轉(zhuǎn))的抓取或放置物品，成本相對較低，使用效果良好。程序本人已親測，希望對你有幫助。 <UL style="LIST-STYLE-TYPE: none; FONT-SIZE: 16px; COLOR: rgb(51,51,51); PADDING-BOTTOM: 0px; PADDING-TOP: 0px; PADDING-LEFT: 0px; MARGIN: 0px 0px 10px; LINE-HEIGHT: 25px; PADDING-RIGHT: 0px"> <LI style="POSITION: relative; PADDING-BOTTOM: 20px; PADDING-TOP: 0px; PADDING-LEFT: 44px; PADDING-RIGHT: 0px"> <P style="POSITION: relative; PADDING-BOTTOM: 12px; PADDING-TOP: 12px; PADDING-LEFT: 12px; MARGIN: 0px; PADDING-RIGHT: 12px; BACKGROUND-COLOR: rgb(245,245,245); border-radius: 0px 2px 2px">機械手工作過程如下:每次循環(huán)動作均從原位開始。開始運行后，如果機械手不在初始位置上，步進電機開始運轉(zhuǎn)（橫軸向手抓方向移動，豎軸向上移動）。歸位后首先橫軸步進電機工作，橫軸前伸；前伸到位后，手抓電動機得電，帶動手抓旋轉(zhuǎn)；當(dāng)傳感器檢測到限位開關(guān)時，電動機停止，PLC控制電磁閥動作，手張開；延時一段時間，豎軸步進電機工作，豎軸下降；下降到位后，電磁閥復(fù)位，手爪夾緊；延時過后，豎軸上升，同時橫軸縮回、底盤電機帶動底盤旋轉(zhuǎn)；當(dāng)橫軸、豎軸、底盤都到位后，橫軸前伸；到位后手爪旋轉(zhuǎn)，然后豎軸下降，電磁閥動作，手爪張開；延時后豎軸上升復(fù)位，然后開始下一周期動作。</P>圖片是S7-200 CPU226的端子管腳圖<A href="/Article/UploadFiles/202212/2022121409242795.png" target=_blank><IMG onload=resizepic(this) style="HEIGHT: 317px; BORDER-TOP-COLOR: ; WIDTH: 640px; BORDER-LEFT-COLOR: ; BORDER-BOTTOM-COLOR: ; FILTER: none; BORDER-RIGHT-COLOR: " onmousewheel="return bbimg(this)" border=0 hspace=0 alt="S7-200 CPU226 PLC" src="/Article/UploadFiles/202212/2022121409242795.png" width=640 height=317></A> <LI style="POSITION: relative; PADDING-BOTTOM: 20px; PADDING-TOP: 0px; PADDING-LEFT: 44px; PADDING-RIGHT: 0px">I/O表如下： <LI style="POSITION: relative; PADDING-BOTTOM: 20px; PADDING-TOP: 0px; PADDING-LEFT: 44px; PADDING-RIGHT: 0px"><A href="/Article/UploadFiles/202311/2023110515435060.png" target=_blank><IMG onload=resizepic(this) onmousewheel="return bbimg(this)" border=0 src="/Article/UploadFiles/202311/2023110515435060.png" width=279 height=186> </A></LI></UL> <P style="POSITION: relative; PADDING-BOTTOM: 12px; PADDING-TOP: 12px; PADDING-LEFT: 12px; MARGIN: 0px; PADDING-RIGHT: 12px; BACKGROUND-COLOR: rgb(245,245,245); border-radius: 0px 2px 2px">手動程序。手動程序分為點動控制和單步控制兩部分，手動操作不需要按工序順序動作，按普通繼電器程序來設(shè)計。手動操作的梯形圖如圖所示。手動按鈕I0.7、I1.3—I2.1分別控制下降、上升、右移、左移、夾緊、放松和回原點各個動作。為了保證系統(tǒng)的安全運行設(shè)置了一些必要的連鎖。其中在左、右移動的梯形圖中加入了I0.2作為上限連鎖，因為機械手只有處于上限位置時，才允許左右移動，由于夾緊、放松、動作是用二位五通電磁換向閥的CY3-1電磁線圈控制，故在梯形圖中用“置位”、“復(fù)位”指令，使之有保持功能。以下是手動操作程序梯形圖，如下圖所示：</P> <P style="POSITION: relative; PADDING-BOTTOM: 20px; PADDING-TOP: 20px; PADDING-LEFT: 44px; PADDING-RIGHT: 0px"><A href="/Article/UploadFiles/202311/2023110513592232.png" target=_blank><IMG onload=resizepic(this) onmousewheel="return bbimg(this)" border=0 alt=西門子plc編程入門s7-200機械手程序梯形圖實例 src="/Article/UploadFiles/202311/2023110513592232.png" width=378 height=723> </A></P> <UL style="LIST-STYLE-TYPE: none; FONT-SIZE: 16px; COLOR: rgb(51,51,51); PADDING-BOTTOM: 0px; PADDING-TOP: 0px; PADDING-LEFT: 0px; MARGIN: 0px 0px 10px; LINE-HEIGHT: 25px; PADDING-RIGHT: 0px"> <LI style="POSITION: relative; PADDING-BOTTOM: 20px; PADDING-TOP: 20px; PADDING-LEFT: 44px; PADDING-RIGHT: 0px"> <P style="POSITION: relative; PADDING-BOTTOM: 12px; PADDING-TOP: 12px; PADDING-LEFT: 12px; MARGIN: 0px; PADDING-RIGHT: 12px; BACKGROUND-COLOR: rgb(245,245,245); border-radius: 0px 2px 2px">自動程序。由于自動操作的動作較復(fù)雜，采用順序功能圖設(shè)計法設(shè)計程序，用以表明動作的順序和轉(zhuǎn)換條件，矩形框表示“工步”,相鄰兩工步用線段連接，表明轉(zhuǎn)換的方向。橫線表示轉(zhuǎn)換的條件。若轉(zhuǎn)換條件得到滿足則程序從上一工步轉(zhuǎn)到下一工步。根據(jù)順序功能圖可以方便的轉(zhuǎn)換為梯形圖程序，其順序功能圖如下圖所示：</P><A href="/Article/UploadFiles/202311/2023110513594488.png" target=_blank><IMG onload=resizepic(this) onmousewheel="return bbimg(this)" border=0 alt=西門子plc編程入門s7-200機械手程序流程圖 src="/Article/UploadFiles/202311/2023110513594488.png" width=404 height=661> </A></LI></UL> <script language='javascript' src='/myxin/200806/pageb.js'></script> </div> <div id="ggakewc" class=pagebreak></div> <div id="saueyye" class=text_tag> <h5>Tags：<b>機械手,西門子plc,S7-200,梯形圖</b> </h5><span>責(zé)任編輯：admin</span> </div> <div id="kimgyym" class=xg> <li>上一篇文章： <a class='LinkPrevArticle' href='/Article/tixingtu/9236.html' title='文章標(biāo)題：西門子S7-200 SMART PLC的機械手控制控制系統(tǒng)設(shè)計（PLC試題）作者：佚名更新時間：2023/11/5 12:02:08'>西門子S7-200 SMART PLC的機械手控制控制系統(tǒng)設(shè)計（PLC試題）</a></li><li>下一篇文章：沒有了</li> </div> <div id="yegsmka" class=box_xg> <div id="usuwige" class=title_xg>相關(guān)文章列表</div> <a class='LinkArticleCorrelative' href='/Article/tixingtu/9236.html' title='文章標(biāo)題：西門子S7-200 SMART PLC的機械手控制控制系統(tǒng)設(shè)計（PLC試題）作者：佚名更新時間：2023/11/5 12:02:08' target="_self">西門子S7-200 SMART PLC的機械手控制控制系統(tǒng)設(shè)計（PLC試題）</a><br><a class='LinkArticleCorrelative' href='/Article/plc/9235.html' 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