S7-1200PLC技术及应用 课件 项目13 机械手控制

机械手控制一、顺序功能图的绘制顺序控制系统在工业应用现场中诸多控制系统的加工工艺有一定的顺序性，它是按照生产工艺预先规定的顺序，在各个输入信号的作用下，根据内部状态和时间的顺序，在生产过程中各个执行机构自动地、有秩序地进行操作。顺序控制设计法绘制顺序功能图

分析工艺过程转换成梯形图程序

下载程序，调试运行顺序功能图---定义是描述控制系统的控制过程、功能和特性的一种图形，也是设计PLC的顺序控制程序的有力工具。1、顺序功能图构成Yi-1YiYi+1Xi-1XiXi+11

步表示系统的某一工作状态。MiMi-1Mi+12

有向线段将每一步按照它们成为活动步的先后顺序用直线连接。3

转换

与有向连线垂直的短画线来表示，将相邻两步隔开。4

转换条件

使系统由当前步进入到下一步的信号。5

动作

使在每一步内把状态为ON的输出位表示出来。2、顺序功能图绘制原位下降夹紧上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0∙LS2∙LS4下降下降上升上升夹紧放松左移右移M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.02、顺序功能图绘制下降上升左移右移夹紧、放松YV1YV2YV3YV1YV2YV32、顺序功能图绘制原位下降夹紧上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0∙LS2∙LS4下降下降上升上升夹紧放松左移右移M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0YV1得电YV1得电YV1失电YV1失电YV2得电YV2失电YV3得电YV3失电2、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0YV1得电YV1得电YV2得电YV3得电Q0.1Q0.1Q0.2Q0.3YV2失电YV3失电YV1失电YV1失电2、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3S原位下降夹紧上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0∙LS2∙LS4LS2LS3LS4LS1LS3LS4LS0∙LS2∙LS42、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SLS2LS3LS4LS1LS3LS4LS0∙LS2∙LS42、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SLS2LS3LS4LS1LS3LS4LS0∙LS2∙LS42、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SI0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.42、顺序功能图绘制2、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SI0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4M100.02、顺序功能图绘制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SI0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4M100.0T37T38T37T38二、顺序功能图的类型单序列：

由一系列相继激活的步组成，每步的后面仅有一个转换，每个转换后面只有一个步。M0.1M0.2M0.3M0.0M100.0I0.0I0.1I0.2I0.3M0.1M0.21、顺序功能图——单序列原位下降夹紧上升左移下降放松上升右移5S3SLS3LS4LS1LS3LS4LS0∙LS2∙LS4机械手自动搬运LS21、顺序功能图——单序列机械手自动搬运1、顺序功能图——单序列选择序列：顺序功能图步的流程产生分支时，便形成选择序列。M0.0M100.0M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T402、顺序功能图——选择序列M100.0M0.2T37M0.5M0.4T38I0.0I0.1T39T40分支M0.0M0.1M0.3合并2、顺序功能图——选择序列并行序列：转换的实现将会导致几个序列同时被激活。为了强调转换的同步实现，水平连线用双线表示。M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38M0.5I0.13、顺序功能图——并行序列M100.0M0.2T37M0.4T38M0.5I0.1分支M0.0I0.0M0.1M0.33、顺序功能图——并行序列M100.0T37T38分支M0.0I0.0M0.1M0.3M0.2M0.4I0.1M0.5合并3、顺序功能图——并行序列3、顺序功能图——并行序列9S3S东西绿灯东西黄灯东西红灯9S12S南北红灯南北绿灯南北黄灯12S3SM0.0M100.0起动SB1三、顺序功能图的分支与合并M0.0M100.0选择序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支与合并的处理方法分支合并分支合并M0.0M100.0选择序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40分支与合并的处理方法分支合并M0.0M100.0选择序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40分支与合并的处理方法分支合并M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支与合并的处理方法分支合并M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支与合并的处理方法分支合并四、顺序功能图的设计方法顺序控制设计法转换成梯形图程序

绘制顺序功能图

分析工艺过程下载程序，调试运行起-保-停M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38M0.0M0.2顺序功能图如何转换成梯形图1

步

代表系统工作步的位存储器M依次激活。2动作

输出每一步对应的动作。M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38M0.0M0.2

步

代表系统工作步的位存储器M依次激活。Mi起动停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi+11、起保停顺控设计法---步的激活1、起保停顺控设计法---步的激活

步

代表系统工作步的位存储器M依次激活。Mi起动停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi-1XiMiMi+1

步

代表系统工作步的位存储器M依次激活。1、起保停顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38M0.0M0.2M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38%M0.0%M0.1%M0.2M0.0%M0.0%I0.0%I0.2%I0.4%M0.1%M0.1M0.2%M0.2%M0.2%M0.1%I0.3%M0.3

1、起保停顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38%M0.3%M0.4%M0.5%M0.3%M0.2

T37.Q

%M0.4

%M0.4%M0.3%I0.4%M0.5

%M0.5%M0.4%I0.1%M0.6

Q0.1Q0.1Q0.2Q0.3T37T37T381、起保停顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38%M0.6%M0.7%M1.0%M0.6%M0.5%I0.3%M0.7

%M0.7%M0.6T38.Q%M1.0

%M1.0%M0.7%I0.4%M0.0

Q0.1Q0.1Q0.2Q0.3T37T37T381、起保停顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0M100.0I0.2I0.3I0.4I0.1I0.3I0.4T37T38%M0.0%M0.1%M0.2%M0.0%I0.0%I0.2%I0.4%M0.1%M0.2%M0.2%M0.1%I0.3%M0.3

①M100.0%M100.0M1.0I0.2%M1.0%I0.2%M0.0%M0.0%M0.11、起保停顺控设计法---步的激活Q0.1Q0.1Q0.2Q0.3T37T37T38②

步

代表系统工作步的位存储器M依次激活。Mi起动停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi-1XiMiMi+1MiMi+1动作

输出每一步对应的动作。MiYi1、起保停顺控设计法---步对应动作的输出1、起保停顺控设计法---步对应动作的输出M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0M100.0I0.2I0.3I0.4I0.1I0.3I0.4T37T38M100.0M1.0I0.2Q0.1Q0.1Q0.2Q0.3T37T37T381、起保停顺控设计法---急停的处理M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0M100.0I0.2I0.3I0.4I0.1I0.3I0.4T37T38M100.0M1.0I0.2Q0.1Q0.1Q0.2Q0.3T37T37T38Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi+12、置位复位顺控设计法---步的激活Mi-1Mi-1XiXi

步

代表系统工作步的位存储器M依次激活。2、置位复位顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38M0.0M0.22、置位复位顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37T38M0.0M0.22、置位复位顺控设计法---步的激活M100.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38Q0.1Q0.1Q0.2Q0.3T37M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0I0.2I0.3I0.4I0.1I0.3I0.4I0.0∙I0.2∙I0.4T37T38T37