狀態(tài)編程方法在PLC控制的機(jī)械手設(shè)計(jì)中的應(yīng)用

1、機(jī)電工程技術(shù)年第38卷第03期狀態(tài)編程方法在PLC 控制的機(jī)械手設(shè)計(jì)中的應(yīng)用易銘廣東佛山（佛山職業(yè)技術(shù)學(xué)院機(jī)電工程系，528200）PLC 控制的機(jī)械手控制系統(tǒng)，；軟件設(shè)計(jì)文獻(xiàn)標(biāo)識(shí)碼：A文章編號(hào)：10099492(200903010102狀態(tài)編程方法是將一個(gè)復(fù)雜的控制過(guò)程分解為若干個(gè)工作狀態(tài)，明確各狀態(tài)的任務(wù)、狀態(tài)轉(zhuǎn)移條件和轉(zhuǎn)移方向，分別編程，然后依據(jù)總的控制要求，再組合成整體程序。狀態(tài)編程方法可使編程工作程式化、規(guī)范化，而且思路清晰114I O 分配表1 輸入輸出口分配表。本文用狀態(tài)編程方法實(shí)現(xiàn)PLC 控制的機(jī)械手系統(tǒng)。該系統(tǒng)控制設(shè)置有自動(dòng)循環(huán)與手動(dòng)操作工作方式。機(jī)械手按下降、夾緊、上升、右

2、移、下降、松開(kāi)、上升、左移的順序依次轉(zhuǎn)送。下降上升，左移右移中接觸器控制雙螺線管的電磁閥，夾緊使用接觸器控制單螺線管的電磁閥（電磁閥用中間繼電器控制）。15系統(tǒng)I O 接線圖系統(tǒng)I O 接線圖如圖1所示。1系統(tǒng)硬件設(shè)計(jì)11系統(tǒng)組成該系統(tǒng)采用FX0N40MRPLC 作控制器，有24個(gè)輸入點(diǎn)，16個(gè)輸出點(diǎn)，繼電器輸出；有啟動(dòng)按鈕、全自動(dòng)按鈕、手動(dòng)按鈕、限位開(kāi)關(guān)、回原點(diǎn)，停止按鈕。12I O 點(diǎn)數(shù)確定輸入點(diǎn)數(shù)確定：8個(gè)按鈕需8個(gè)輸入點(diǎn)，4個(gè)限位開(kāi)關(guān)需4個(gè)輸入點(diǎn)，1個(gè)光電開(kāi)關(guān)，共需13個(gè)輸入點(diǎn)。輸出點(diǎn)數(shù)確定：因機(jī)械手的運(yùn)行只有下降、上升、左行、右行以及夾緊放松五種模式，所以只需6個(gè)輸出點(diǎn)。13PLC

3、選擇因需要13個(gè)輸入點(diǎn)，6個(gè)輸出點(diǎn)，再考慮到實(shí)際應(yīng)用時(shí)應(yīng)有10的余量，所以綜合多種因素選擇三菱FX0N40MR 型PLC 。收稿日期：20081008圖1系統(tǒng)I O 接線圖應(yīng)16系統(tǒng)工作原理機(jī)電工程技術(shù)年第38卷第03期“下降”燈亮，表示機(jī)械手開(kāi)始向下運(yùn)動(dòng)。當(dāng)運(yùn)動(dòng)到下限點(diǎn)時(shí)，接通“下限”開(kāi)關(guān)，同時(shí)機(jī)械手夾緊物件，經(jīng)2s 后機(jī)械手已牢固物件后。機(jī)械手上升，上升指示燈亮。當(dāng)?shù)竭_(dá)上限點(diǎn)時(shí)，接通“上限”開(kāi)關(guān)，這時(shí)機(jī)械手向右運(yùn)動(dòng)，“右移”指示燈亮，當(dāng)?shù)竭_(dá)右限制點(diǎn)時(shí)，接通“右限”開(kāi)關(guān)。此時(shí)機(jī)械手下方有物體，不準(zhǔn)下降。當(dāng)物體拿走后，始下降2（1）選擇手動(dòng)方式，接通上下開(kāi)關(guān)，按下開(kāi)始鍵，機(jī)械手開(kāi)始向下運(yùn)動(dòng)，“

4、下降”燈亮，斷開(kāi)“上下”開(kāi)“夾緊”關(guān)，同時(shí)接通“夾松”開(kāi)關(guān)，按下“開(kāi)始”鍵，“停止”鍵，機(jī)械手開(kāi)始上升，機(jī)械手開(kāi)始向右運(yùn)動(dòng)，動(dòng)，開(kāi)關(guān)，燈亮。斷開(kāi)“夾緊”開(kāi)關(guān)，接通“上下”鍵，按一下“上升”燈亮。斷開(kāi)“上下”開(kāi)關(guān)，接通“左右”開(kāi)關(guān)，接著按一下“開(kāi)始”鍵，“右移”燈亮。斷開(kāi)“左右”開(kāi)關(guān)，接通“上下”開(kāi)關(guān)，按一下開(kāi)始鍵，機(jī)械手向下運(yùn)“下降”燈亮。斷開(kāi)“上下”開(kāi)關(guān)，接通“夾緊”“夾緊”燈熄滅，表示物件已經(jīng)放下，機(jī)械手松“光電開(kāi)關(guān)”斷開(kāi)，機(jī)械手“光電開(kāi)關(guān)”接通，機(jī)械手開(kāi)。2系統(tǒng)軟件設(shè)計(jì)系統(tǒng)軟件的編制采用狀態(tài)編程方法，將復(fù)雜的順控過(guò)程分解為小的“狀態(tài)”分別編程，依據(jù)總的控制順序要求，再組合成整體程序的編程

5、思想。開(kāi)，斷開(kāi)“夾緊”開(kāi)關(guān)，接通“左右”開(kāi)關(guān)，按一下“停止”鍵，機(jī)械手向左運(yùn)動(dòng)”左移燈亮?；氐皆c(diǎn)，斷開(kāi)“左右”開(kāi)關(guān)，從而完成一個(gè)周期的運(yùn)動(dòng)。（2）選擇自動(dòng)方式，同時(shí)按下“上限”及左限鍵，原點(diǎn)指示燈亮，機(jī)械手處于保持狀態(tài)。按下“開(kāi)始”鍵，S2狀態(tài)元件分配給初始狀態(tài)，S20觸S27依次分配給各個(gè)中間狀態(tài)，每個(gè)狀態(tài)驅(qū)動(dòng)各自的任務(wù)以及轉(zhuǎn)移方向。由于控制設(shè)置分為自動(dòng)和手動(dòng)操作兩部分，所以用CJ 跳轉(zhuǎn)指令來(lái)控制程序的流程3。其狀態(tài)梯形圖如圖2、圖3所示。3結(jié)論狀態(tài)轉(zhuǎn)移圖各狀態(tài)的任務(wù)明確而具體，各狀態(tài)間的聯(lián)系清楚，轉(zhuǎn)換條件直觀，可讀性強(qiáng)，編程思路清晰，特別適用于復(fù)雜的順控過(guò)程。CJ 跳轉(zhuǎn)指令可以使程序出現(xiàn)

6、跨越或跳躍以實(shí)現(xiàn)程序段的選擇，滿足自動(dòng)與手動(dòng)操作設(shè)置，實(shí)現(xiàn)控制要求。參考文獻(xiàn)：1鐘肇新，范建東可編程控制器原理與應(yīng)用M 廣州：華南理工大學(xué)出版社，20032王蘭軍基于狀態(tài)編程思想的PLC 編程的新方法J 機(jī)電工程技術(shù)，2006（8）：35373張聯(lián)瑞，陳志新PLC 編程中的幾個(gè)常見(jiàn)錯(cuò)誤J 紡織機(jī)械，2008（01）：3739作者簡(jiǎn)介：易銘，女，1973年生，湖南湘鄉(xiāng)人，碩士，講師。圖3手動(dòng)程序梯形圖研究領(lǐng)域：自動(dòng)控制及機(jī)械電子應(yīng)用。已發(fā)表論文6篇。圖2自動(dòng)程序梯形圖(編輯：王智圣Abstractsby CAXA Solid can be used to construct 3D models

7、and define their variables. Through dynamic linking between CAXA Solid and Excel, the finished parametric modeling can be output to Excel. Then 3D models will be driven by the relevant constructed data listed in Excel. The Excel sheet and parameter modes will be saved to the local file.Key words:gog

8、gle valve; parametric design; CAXA Solid; Excel linkPLC, fully discusses the wiring of hardware, software flow and design of source program, also discusses operation principle of this system in detail.Key words:status programming method; PLC; software design09-03-103The Design and Application of Con

9、stant Torque Subdivision Drive about Two Phase Hybrid Stepper Motor DriveFENG Meng-ya, HUA Xue-hui (GuangdongSongshan PolytechnicCollege, Shaoguan512126, China09-03-92The Application of OPC Technology in Elevator Control Cabinet Type TestingLEI Qiao-bing 1, ZHANG Qi 1, HE Yong-sheng 2(1.AutomationCo

10、llege, Guangdong University of Technology, Guangzhou510090, China; 2. The Detection Institute of Special Equipment, Guangzhou510510, ChinaAbstract:The automation interfaces of OPC client are exploited under VB environment, through the OPC has implemented the communication between PC and PLC, and the

11、 concrete steps and programs are offered in details. The method has been successfully applied in the design of elevator control cabinet type testing system and solved the datum transference problem from PLC to SQL database.Key words:OPC; PLC; control cabinet; communicationAbstract:A scheme of the ch

12、opper constant torque driver is presented in this paper which is based on a single chip and multi-channel DAC breakdown for 4lines two-phase stepper motor. Sub-control strategy is specified and the hardware implementation of drive circuit about the chopper constant current is mainly discussed. Then

13、the function diagram of hardware and software design is presented. This method can be applied to the numerical control electric pan&tiltto drive professional camera which can smooth the filming process and jitter-free defocusing.Key words:stepper motor; SCM; PWM; chopper; subdivision drive; constant

14、 torque09-03-95The Application of Variable Frequency Technology in Modification PROTOS Cigarette Making MachineDING Qiang (GuangzhouNo. 2Cigarette Factory, Guangzhou510310,China09-03-111Two Kinds of Malfunction Treatment of Ball MillYANG Yun-shan (DapuCounty Ceramics Association of EnterprisesCompan

15、y, Dapu514247, ChinaAbstract:The waste rate of PROTOS80in actual production is higher than the internal controlled target. The analysis data shows that it is due to the abrasion of the parts in needle roller driving system. The abrasion will lower the precision of the driving system, and make it har

16、d to keep the setting speed. This will cause unstable weight of cigarettes, more empty or block tobacco while start or stop the machine, which means higher waste rate. This can be solved by using AC variable frequency speed control system in needle roller driving system and modify relevant devices.

17、It will greatly improve the accuracy and stability of the system; furthermore, easy maintenance. The solution can be promoted to other PROTOS series machine valuably.Key words:PROTOS cigarette making machine; needle roller driving device; variable frequency technology; AC motorAbstract:The ball mill

18、 is to dress ore, industry such as broken, pink the body, ceramics produces manufacturers main equipment, the analytical ball mill has produced the main body of a book leaving out thick fluid phenomenon cause, has suggested that the malfunction resolving the ball mill frequently seeing leaves out th

19、ick treatment method, has suggested that the way that ball millpinion axis adjustment assembles, the treatment owing an item a malfunction to the ball mill have guiding significance.Key words:ball mill; trouble; processing09-03-113The Problems in Preventive Experiments in Transformer Substation and

20、Their PrescriptionsHUANG Zhi-zhong (HeyuanPolytechnic, Heyuan517000, China Abstract:Based on a sum-up of practical experience in the preventive experiments in transformer substation and an analysis of the problems existing in the experiments, the article explores the influence that such problems hav

21、e on the result of the experiments. Thus prescriptions for these problems have been put forward to provide reference for electricians to make true judgment in time on the operation state of the electrical installation. Therefore it is very important for arranging the overhaul, finding out problems,

22、avoiding accidents and making sure that the electrical installation works safely.Key words:transformer substation; preventive experiments; problems prescriptions; electrical installation09-03-98Application of RBF Neural Network on the Optimized Design of Blank Shape of StampingsLIU He-hai, RUAN Feng

23、 (Schoolof Mechanical and AutomotiveEngineering, South China University of Technology, Guangzhou510640, ChinaAbstract:Artificial neural network, for its strong power in parallel processing of information and it can effectively accomplish the nonlinear mapping from the input to the output, is widely

24、used to the nonlinear systems that is difficult to establish the mathematical model. This article brings Radial Basis Function neural network into the optimized design of blank shape of stampings. With programming and computing in Matlab software, the example shows this method is effective.Key words:radial basis function; optimized design of blank shape; nonlinear mapping; Matlab09-03-115The Installs Craft of Electric Circuit Terminal Electric ApplianceCHEN Xiao-li