S7-1200PLC技術及應用 課件 項目13 機械手控制

機械手控制一、順序功能圖的繪制順序控制系統(tǒng)在工業(yè)應用現(xiàn)場中諸多控制系統(tǒng)的加工工藝有一定的順序性，它是按照生產工藝預先規(guī)定的順序，在各個輸入信號的作用下，根據(jù)內部狀態(tài)和時間的順序，在生產過程中各個執(zhí)行機構自動地、有秩序地進行操作。順序控制設計法繪制順序功能圖

分析工藝過程轉換成梯形圖程序

下載程序，調試運行順序功能圖---定義是描述控制系統(tǒng)的控制過程、功能和特性的一種圖形，也是設計PLC的順序控制程序的有力工具。1、順序功能圖構成Yi-1YiYi+1Xi-1XiXi+11

步表示系統(tǒng)的某一工作狀態(tài)。MiMi-1Mi+12

有向線段將每一步按照它們成為活動步的先后順序用直線連接。3

轉換

與有向連線垂直的短畫線來表示，將相鄰兩步隔開。4

轉換條件

使系統(tǒng)由當前步進入到下一步的信號。5

動作

使在每一步內把狀態(tài)為ON的輸出位表示出來。2、順序功能圖繪制原位下降夾緊上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0?LS2?LS4下降下降上升上升夾緊放松左移右移M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.02、順序功能圖繪制下降上升左移右移夾緊、放松YV1YV2YV3YV1YV2YV32、順序功能圖繪制原位下降夾緊上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0?LS2?LS4下降下降上升上升夾緊放松左移右移M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0YV1得電YV1得電YV1失電YV1失電YV2得電YV2失電YV3得電YV3失電2、順序功能圖繪制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0YV1得電YV1得電YV2得電YV3得電Q0.1Q0.1Q0.2Q0.3YV2失電YV3失電YV1失電YV1失電2、順序功能圖繪制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3S原位下降夾緊上升左移下降放松上升右移5S3SLS2LS3LS4LS1LS3LS4LS0?LS2?LS4LS2LS3LS4LS1LS3LS4LS0?LS2?LS42、順序功能圖繪制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SLS2LS3LS4LS1LS3LS4LS0?LS2?LS42、順序功能圖繪制M0.1M0.2M0.3M0.4M0.5M0.6M0.7M1.0M0.0Q0.1Q0.1Q0.2Q0.35S3SLS2LS3LS4LS1LS3LS4LS0?LS2?LS42、順序功能圖繪制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、順序功能圖繪制2、順序功能圖繪制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、順序功能圖繪制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、順序功能圖的類型單序列：

由一系列相繼激活的步組成，每步的后面僅有一個轉換，每個轉換后面只有一個步。M0.1M0.2M0.3M0.0M100.0I0.0I0.1I0.2I0.3M0.1M0.21、順序功能圖——單序列原位下降夾緊上升左移下降放松上升右移5S3SLS3LS4LS1LS3LS4LS0?LS2?LS4機械手自動搬運LS21、順序功能圖——單序列機械手自動搬運1、順序功能圖——單序列選擇序列：順序功能圖步的流程產生分支時，便形成選擇序列。M0.0M100.0M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T402、順序功能圖——選擇序列M100.0M0.2T37M0.5M0.4T38I0.0I0.1T39T40分支M0.0M0.1M0.3合并2、順序功能圖——選擇序列并行序列：轉換的實現(xiàn)將會導致幾個序列同時被激活。為了強調轉換的同步實現(xiàn)，水平連線用雙線表示。M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38M0.5I0.13、順序功能圖——并行序列M100.0M0.2T37M0.4T38M0.5I0.1分支M0.0I0.0M0.1M0.33、順序功能圖——并行序列M100.0T37T38分支M0.0I0.0M0.1M0.3M0.2M0.4I0.1M0.5合并3、順序功能圖——并行序列3、順序功能圖——并行序列9S3S東西綠燈東西黃燈東西紅燈9S12S南北紅燈南北綠燈南北黃燈12S3SM0.0M100.0起動SB1三、順序功能圖的分支與合并M0.0M100.0選擇序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支與合并的處理方法分支合并分支合并M0.0M100.0選擇序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40分支與合并的處理方法分支合并M0.0M100.0選擇序列M0.1I0.0M0.2T37M0.5T39M0.3I0.1M0.4T38T40分支與合并的處理方法分支合并M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支與合并的處理方法分支合并M0.0M100.0I0.0M0.1M0.2T37M0.3M0.4T38并行序列M0.5I0.1分支與合并的處理方法分支合并四、順序功能圖的設計方法順序控制設計法轉換成梯形圖程序

繪制順序功能圖

分析工藝過程下載程序，調試運行起-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順序功能圖如何轉換成梯形圖1

步

代表系統(tǒng)工作步的位存儲器M依次激活。2動作

輸出每一步對應的動作。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

代表系統(tǒng)工作步的位存儲器M依次激活。Mi起動停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi+11、起保停順控設計法---步的激活1、起保停順控設計法---步的激活

步

代表系統(tǒng)工作步的位存儲器M依次激活。Mi起動停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi-1XiMiMi+1

步

代表系統(tǒng)工作步的位存儲器M依次激活。1、起保停順控設計法---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、起保停順控設計法---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、起保停順控設計法---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、起保停順控設計法---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、起保停順控設計法---步的激活Q0.1Q0.1Q0.2Q0.3T37T37T38②

步

代表系統(tǒng)工作步的位存儲器M依次激活。Mi起動停止Mi-1Xi-1MiMi+1Yi-1YiYi+1XiXi+1第i步上一步下一步Mi-1XiMi-1XiMiMi+1MiMi+1動作

輸出每一步對應的動作。MiYi1、起保停順控設計法---步對應動作的輸出1、起保停順控設計法---步對應動作的輸出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、起保停順控設計法---急停的處理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、置位復位順控設計法---步的激活Mi-1Mi-1XiXi

步

代表系統(tǒng)工作步的位存儲器M依次激活。2、置位復位順控設計法---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、置位復位順控設計法---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、置位復位順控設計法---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