助力机械手气动控制系统设计

目录
原文 (1)
译文 (6)
原文
机械手是近几十年发展起来的一种高科技自动化生产设备。

它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器的优点，尤其体现了人的智能和适应性。

机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。

机械手的概念
我国国家标准(GB/T12643–90)对机械手的定义：“具有和人手臂相似的动作功能，可在空间抓放物体，或进行其它操作的机械装置。

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机械手可分为专用机械手和通用机械手两大类。

专用机械手：它作为整机的附属部分，动作简单，工作对象单一，具有固定(有时可调)程序，使用大批量的自动生产。

如自动生产线上的上料机械手，自动换刀机械手，装配焊接机械手等装置。

通用机械手：它是一种具有独立的控制系统、程序可变、动作灵活多样的机械手。

它适用于可变换生产品种的中小批量自动化生产。

它的工作范围大，定位精度高，通用性强，广泛应用于柔性自动线。

机械手最早应用在汽车制造工业，常用于焊接、喷漆、上下料和搬运。

机械手扩大了人的手足和大脑功能，它可替代人从事危险、有害、有毒、低温和高热等恶劣环境中的工作；代替人完成繁重、单调的重复劳动，提高劳动生产率，保证产品质量。

目前主要应用于制造业中，特别是电器制造、汽车制造、塑料加工、通用机械制造及金属加工等工业。

机械手与数控加工中心，自动搬运小车与自动检测系统可组成柔性制造系统(FMS )和计算机集成制造系统(CIMS )，实现生产自动化。

随着生产的发展，功能和性能的不断改善和提高，机械手的应用领域日益扩大。

气动机械手的简介
气动技术—这个被誉为工业自动化之“肌肉”的传动与控制技术，在加工制造业领域越来越受到人们的重视，并获得了广泛应用。

目前，伴随着微电子技术、通信技术和自动化控制技术的迅猛发展，气动技术也不断创新，以工程实际应用为目标，得到了前所未有的发展。

气动技术(Pneumatics)是以压缩空气为介质来传动和控制机械的一门专业技术。

“Pneumatics”一词起源于希腊文的“Pneuma”，其原义为“呼吸”，后来才一演变成“气动技术”。

气动技术因具有节能、无污染、高效、低成本、安全可靠、结构简单，以及防火、防爆、抗电磁干扰、抗幅射等优点广泛应用于汽车制造、电子、工业机械、食品等工业
产业中。

随着新材料、新技术、新工艺的开发和应用，气动技术己经突破传统的设计、制造理念，正在IC/LCD、微电子、生物制药、医疗机械等高技术领域扮演着重要角色。

随着生产自动化程度的不断提高，气动技术应用面迅速扩大，气动产品品种规格持续增多，性能、质量不断提高，市场销售产值稳步增长。

在工业技术发达的欧美、日本等国家，气动元件产值已接近液压元件的产值，而且仍以较快的速度在发展。

气动工业的高速增长，进一步刺激了气动技术的发展。

气动技术正朝着精确化、高速化、小型化、复合化和集成化的方向发展。

工业机械手使用最多的一种驱动方式是电机驱动。

驱动电机一般采用步进电机、直流伺服电机以及交流伺服电机。

由于电机速度高，通常须采用减速机构(如谐波传动、RV摆线针轮传动、齿轮传动、螺旋传动和多杆机构等)。

这类机械手的特点是控制精度高，驱动力较大，响应快，信号检测、传递、处理方便，并可以采用多种灵活的控制方案。

但是由于这类机械手价格昂贵，限制了在一些场合的广泛应用。

因此，人们开始寻求其它一些经济适用的机械手驱动方式。

随着气动技术获得了快速发展，其利用成本性能比低廉及同时具有许多优点的气动设备，在满足社会生产实践需要的同时也越来越多的受到重视。

气动机械手技术已经成为能够满足许多行业生产实践要求的一种重要实用技术。

气动机械手与其它控制方式的机械手相比，具有价格低廉、结构简单、功率体积比高、无污染及抗干扰性强等特点。

气动机械手是在己有的机械手基础上发展起来的。

二者之间的区别在于气动机械手发展的起点颇高，它强调模块化的形式，把专用机械手和通用机械手结合起来。

现代气动机械手的基本结构由感知部分、控制部分、主机部分和执行部分四个方面组成。

采集感知信号及控制信号均由智能阀岛来处理，气动伺服定位系统代替了伺服电机、步进马达或液压伺服系统；气缸、摆动马达完成原来由液压缸或机械所作的执行动作；主机部分采用了标准型材辅以模块化的装配形式，使得气动机械手能拓展成系列化、标准化的产品。

人们根据应用情况的要求，选择相应功能和参数的模块，像积木一样随意的组合，这是一种先进的设计思想，代表气动机械手今后的发展方向，也将始终贯穿着气动机械手的发展及实用性。

因此，气动机械手可以代替一些功能不理想的工业机械手的地位，在目前的工业自动线上有着及其广泛的应用前景。

气动机械手的发展趋势
尽管世界工业经济发展放缓，使得气动机械手的发展受到一定的影响，然而，作为新兴科学技术的产物，气动机械手的发展势不可挡。

目前，气动机械手的发展呈现出了以下趋势：
1、结构模块化
2、控制智能化
3、感觉功能变强
4、系统应用与集成化
5、可靠性越来越高
6、易操作更灵活
7、向微型化方向发展
本论文的主要内容及达到的目标
本论文主要内容是以气动搬运机械手作为控制对象，用PLC作为控制器，最终实现对多个气动搬运机械手自动运行的控制。

本论文要达到的目标是，当系统工作开始时，机械手1首先工作，完成10个基本操作后（即一个循环），机械手2便启动工作，同样完成一个循环；当系统工作结束时，机械手1首先完成一个循环后停止，然后机械手2停止工作。

每个机械手的完成10个基本操作，第1步当工作台上有物品时，机械手下降。

第2步是机械手前伸.第3步是机械手臂夹紧物品。

第4步是机械手夹紧物品上升。

第5步是机械手夹紧物品右旋180度。

第6步是机械手夹紧物品下降。

第7步是在最低位时松开物品。

第8步机械手横臂后移. 第9步机械手上升。

第10步是机械手左旋180度，回到原位。

在总体方案里，气动机械手将模拟人手的部分动作，按预先给定的程序、轨迹和工艺要求实现自动夹取、移动，完成工件的搬运。

这些动作归结起来可分解成以下几个基本动作：
（1）水平方向手臂的伸缩移动.
（2）垂直方向高度的上升、下降移动.
（3）绕某一个轴线（如Z轴）的回转运动.
（4）手臂的夹紧,放松。

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气动执行元件和控制元件
气动执行元件是一种能量转换装置，它是将压缩空气的压力能转化为机械能，驱动机构实现直线往复运动、摆动、旋转运动或冲击动作。

气动执行元件分为气缸和气马达两大类。

气缸用于提供直线往复运动或摆动，输出力和直线速度或摆动角位移。

气马达用于提供连续回转运动，输出转矩和转速。

气动控制元件用来调节压缩空气的压力流量和方向等，以保证执行机构按规定的程序正常进行工作。

气动控制元件按功能可分为压力控制阀、流量控制阀和方向控制阀。

可编程控制器的概念
可编程控制器(Programmable Logical Controller)简称PLC。

国际电工委员会（IEC）在1985年的PLC标准草案第3稿中，对PLC作了如下定义：“可编程控制器是一种数字运算操作的电子系统，专为在工业环境下应用而设计。

它采用可编程序的存储器，用来在其内部存储执行逻辑运算、顺序控制、定时、计数和算术运算等操作的指令。

并通过数
字式、模拟式的输入和输出，控制各种类型的机械或生产过程。

可编程控制器及其有关设备，都应按易于使工业控制系统形成一个整体，易于扩充其功能的原则设计。

”
现代工业生产过程是复杂多样的，它们对控制的要求也各不相同。

PLC一经出现就受到了广大工程技术人员的欢迎。

PLC具有如下特点：
1、编程方法简单易学。

2、功能强，性能价格比高。

3、硬件配套齐全，用户使用方便，适应性强。

4、可靠性高，抗干扰能力强。

5、系统的设计、安装、调试工作量少。

6、维修工作量小，维修方便。

7、体积小，能耗低。

PLC的应用范围通常分成以下5种类型：
1、顺序控制
这是PLC应用最广泛的领域，也是最适合PLC使用的领域，它用来取代传统的继电器顺序控制。

PLC应用于单机控制、多机控制、生产自动线控制等。

例如：注塑机械、印刷机械、订书机械、包装机械、切纸机械、组合机床、磨床、装配生产线、电镀流水线及电梯控制。

2、运动控制
PLC制造商目前已提供了拖动步进电机或伺服电机的单轴或多轴位置控制模块，在多数情况下，PLC把描述目标位置的数据送给模块，其输出移动一轴或数轴到目标位置，每个轴移动时，位置控制模块保持适当的速度和加速度，保持运动平滑。

相对来说，位置控制模块比CNC装置体积更小，价格更低，速度更快，操作更方便。

3、过程控制
PLC还能控制大量的过程参数，例如：温度、流量、压力、液位和速度等。

PID模块提供了使PLC具有了闭环控制的功能，即一个具有PID控制能力的PLC可用于过程控制。

当过程控制中某个变量出现偏差时，PID控制算法会计算出正确的输出，把变量保持在设定值上。

4、数据控制
在机械加工中，PLC作为主要的控制和管理系统用于CNC和NC系统中，可以完成大量的数据控制。

5、通信控制
PLC的通信包括主机与远程I/O的通信、多台PLC之间的通信、PLC和其他智能控制设备（如计算机、变频器、数控装置）之间的通信。

PLC与其他智能控制设备一起，可以组成“集中管理、分散控制”的分布式控制系统。

编写的程序的过程
1、深入了解和分析被控对象的工艺条件和控制要求
a ．被控对象就是受控的机械、电气设备、生产线或生产过程。

b．控制要求主要指控制的基本方式、应完成的动作、自动工作循环的组成、必要的保护和联锁等。

对较复杂的控制系统，还可将控制任务分成几个独立部分，这种可化繁为简，有利于编程和调试。

2、确定 I/O 设备
根据被控对象对 PLC控制系统的功能要求，确定系统所需的用户输入、输出设备。

常用的输入设备有按钮、选择开关、行程开关、传感器等，常用的输出设备有继电器、接触器、指示灯、电磁阀等。

3、选择合适的 PLC 类型
根据已确定的用户 I/O 设备，统计所需的输入信号和输出信号的点数，选择合适的 PLC 类型，包括机型的选择、容量的选择、 I/O模块的选择、电源模块的选择等。

4、分配 I/O 点
分配 PLC 的输入输出点，编制出输入 / 输出分配表或者画出输入 / 输出端子的接线图。

接着九可以进行 PLC程序设计，同时可进行控制柜或操作台的设计和现场施工。

5、设计应用系统梯形图程序
根据工作功能图表或状态流程图等设计出梯形图即编程。

这一步是整个应用系统设计的最核心工作，也是比较困难的一步，要设计好梯形图，首先要十分熟悉控制要求，同时还要有一定的电气设计的实践经验。

6、将程序输入 PLC
当使用简易编程器将程序输入 PLC时，需要先将梯形图转换成指令助记符，以便输入。

当使用可编程序控制器的辅助编程软件在计算机上编程时，可通过上下位机的连接电缆将程序下载到PLC中去。

7、进行软件测试
程序输入 PLC 后，应先进行测试工作。

因为在程序设计过程中，难免会有疏漏的地方。

因此在将 PLC连接到现场设备上去之前，必需进行软件测试，以排除程序中的错误，同时也为整体调试打好基础，缩短整体调试的周期。

8、应用系统整体调试
在 PLC软硬件设计和控制柜及现场施工完成后，就可以进行整个系统的联机调试，如果控制系统是由几个部分组成，则应先作局部调试，然后再进行整体调试；如果控制程序的步序较多，则可先进行分段调试，然后再连接起来总调。

调试中发现的问题，要逐一排除，直至调试成功。

The original article
Manipulator is in recent decades developed a kind of high-tech automated production equipment. Its characteristic is can be done through programming various expectations of job tasks, on the structure and performance of the advantages of both humans and machines, especially reflects people's intelligence and adaptability. The accuracy of the manipulator work and various kinds of environment's ability to finish the homework, in the national economy in various fields has a broad development prospects.
The concept of the manipulator
The concept of the manipulator
China's national standard (GB/T12643-90) definition of a manipulator: "and one arm similar action function, can catch put objects in space, or other operating mechanism."
Manipulator can be divided into two categories, dedicated manipulator and general manipulator. Dedicated manipulator: it as an accessory of the machine parts, simple actions, work objects of a single, has a fixed (and sometimes adjustable) program, use large quantities of automatic production. Such as automatic production line of the feeding manipulator, automatically change the knife manipulator, assembly welding manipulator device, etc. Unimate: it is a kind of independent control system, process variable, movements flexible manipulator. It is suitable for can transform to produce varieties of small batch production automation. Its working range, high positioning accuracy, versatility is strong, widely used in flexible automatic line.
Manipulator earliest application in automobile manufacturing industry, often used for welding, spray painting, loading and handling. Manipulator expanded human limbs and brain function, it can replace people engaged in dangerous, hazardous, toxic, low temperatures and in the bad environment such as high fever; Instead of one heavy and monotonous repetitive work, improve labor productivity, ensure the quality of the product. Mainly used in the manufacturing industry, especially electrical appliance manufacturing, automobile manufacturing, plastic processing, general machinery manufacturing and metal processing industries. Manipulator with CNC machining center, automatic handling vehicles and automatic detection system of flexible manufacturing system (FMS) and computer integrated manufacturing system (CIMS), realize the production automation. With the development of production, constantly improve and improve functionality and performance, application field of the manipulator.
Introduction of pneumatic manipulator
Pneumatic technology - this is known as the "muscle" of the industrial automation, drive and control technology, more and more get the attention of people in the field of processing and manufacturing, and has a wide range of applications. At present, with microelectronics technology, the rapid development of communication technology and automation control technology, pneumatic technology innovation, also applied to the engineering practice as the goal, get the unprecedented development. Pneumatic technology (Pneumatics) is compressed air as medium to mechanical transmission and control of a professional technology. The word "Pneumatics" derives from the Greek "Pneuma", its original meaning is "breathing", later evolved into "pneumatic technology".
Pneumatic technology for energy saving, no pollution, high efficiency, low cost, safe and reliable, simple structure, and fire, explosion-proof, resistance to electromagnetic interference, resistance to radiation, etc advantages are widely used in automobile manufacturing, electronics, industrial machinery, food industry etc. As the new material, new technology, new technology development and application of pneumatic technology has break through the traditional design concept, manufacturing, are IC/LCD, microelectronics, biological pharmaceutical, medical machinery etc technology plays an important role.
With the continuous improvement of production automation and pneumatic technology application is expanding fast, pneumatic products specifications continues to increase, performance, quality, continuously improve, the market sales output value has grown steadily. In industrial technology developed countries such as Europe, America, Japan, pneumatic components production to some of the production of hydraulic components, and they remain at a rapid speed in development. Pneumatic industry high-speed growth to further stimulate the development of pneumatic technology. Pneumatic technology is toward the high-precision, high speed, multiple, miniaturization, and the direction of integration.
Manipulator earliest application in automobile manufacturing industry, often used for welding, spray painting, loading and handling. Manipulator expanded human limbs and brain function, it can replace people engaged in dangerous, hazardous, toxic, low temperatures and in the bad environment such as high fever; Instead of one heavy and monotonous repetitive work, improve labor productivity, ensure the quality of the product. Mainly used in the manufacturing industry, especially electrical appliance manufacturing, automobile manufacturing, plastic processing, general machinery manufacturing and metal processing industries. Manipulator with CNC machining center, automatic handling vehicles and automatic detection system of flexible manufacturing system (FMS) and computer integrated manufacturing system (CIMS), realize the production automation. With the development of
production, constantly improve and improve functionality and performance, application field of the manipulator.
Industrial manipulator drive mode is one of the most used motor driver. Drive motor is generally adopt stepper motor, dc servo motors and ac servo motor. Due to the motor speed is high, usually the retarding mechanism should be used in, such as harmonic drive, RV cycloidal pinwheel transmission, gear transmission, screw transmission and multiple lever mechanism, etc.). This kind of manipulator is characterized by high control precision, large driving force, fast response, convenient signal detection, transmission, processing, and can be used in a variety of flexible control program. But because this kind of manipulator is expensive, limiting the wide application in some occasions. As a result, people start to look for some other economy is applicable the manipulator driving mode. As the pneumatic technology obtained fast development, the use of low cost performance ratio and have many advantages of pneumatic equipment at the same time, in the meet the need of social production practice at the same time is also more and more attention. Pneumatic manipulator technology has become able to meet the requirements of many industry production practice is an important practical technology.
Compared with other control method of manipulator, pneumatic manipulator has low cost, simple structure, high power volume, no pollution, and strong anti-interference characteristics.
Pneumatic manipulator is developed based on the existent manipulator. Difference between the starting point of the development of pneumatic manipulator, it emphasizes the modular form, combine special manipulator and general manipulator. The basic structure of modern pneumatic manipulator by perception part, control part, the host part and perform part of four aspects. Sensory signals and control signals are collected by intelligent valve island, pneumatic servo positioning system instead of a servo motor, stepper motor or hydraulic servo system; Cylinder, oscillating motor finish originally by the hydraulic cylinder or mechanical action; Host part adopts the standard profile with modular assembly form, makes the pneumatic manipulator can develop into a serialized, standardized products. People according to the requirement of the application, select the corresponding functions and parameters of the modules, like blocks optional combination, it is a kind of advanced design idea, on behalf of pneumatic manipulator in the future development direction, also will always runs through the development of pneumatic manipulator and practicality. Pneumatic manipulator can replace some functions are not ideal, therefore, the industrial position of the manipulator, with in the current industrial automatic line and its extensive application prospect.
Manipulator earliest application in automobile manufacturing industry, often used for welding, spray painting, loading and handling. Manipulator expanded human limbs and brain
function, it can replace people engaged in dangerous, hazardous, toxic, low temperatures and in the bad environment such as high fever; Instead of one heavy and monotonous repetitive work, improve labor productivity, ensure the quality of the product. Mainly used in the manufacturing industry, especially electrical appliance manufacturing, automobile manufacturing, plastic processing, general machinery manufacturing and metal processing industries. Manipulator with CNC machining center, automatic handling vehicles and automatic detection system of flexible manufacturing system (FMS) and computer integrated manufacturing system (CIMS), realize the production automation. With the development of production, constantly improve and improve functionality and performance, application field of the manipulator.
The development trend of pneumatic manipulator
Despite the slowdown in the world industrial economic development, make the development of pneumatic manipulator under the influence of certain, however, as a product of emerging science and technology, the development of pneumatic manipulator is overwhelming. At present, the development of pneumatic manipulator presents the following trends:
1．the modular structure
2．the intelligent control
3．sensory function stronger
4．system application and integration
5．the reliability is higher and higher
6．more flexible, easy to operate
The main content of this thesis and achieve the goal
This thesis mainly content is pneumatic carrying manipulator as a control object, using PLC as controller, finally realize the multiple control of pneumatic carrying manipulator automatically run.
To achieve the goal of this paper is that, when the system is started, the manipulator 1 first work, completion of ten basic operations (a loop), manipulator 2 then start the work, also completed a cycle; When the system work at the end of the manipulator 1 first stop after completing a cycle, then the manipulator 2 stop working.
Each manipulator to complete ten basic operation, the step 1 when the workbench is items, manipulator. Step 2 is stretched out before manipulator. Step 3 is a mechanical arm clamping. Step 4 is rising manipulator clamping article. Step 5 is right-handed manipulator clamping article 180 degrees. Step 6 is manipulator clamping item drop. Step 7 is at its lowest loose
items. Step 8 manipulator arm backwards. Rising step 9 manipulator. Step 10 l manipulator is 180 degrees, back to the in situ.
In the overall scheme, pneumatic manipulator parts of the mimics the action, according to the requirements of a given program, track and process in advance to realize automatic clip, mobile, complete workpiece handling. These movements in the aggregate, can be decomposed into several basic action:
(1) the horizontal scale of arm movement.
(2) the vertical height of up and down movement.
(3) (e.g., Z axis) around a particular axis of rotary motion.
(4) clamping arm, relax. ,
Pneumatic actuators and control devices
Pneumatic actuators is an energy conversion device, it is the pressure of compressed air can be converted into mechanical energy, the drive mechanism to realize straight line reciprocating movement, swinging, impact rotary motion or movement. Pneumatic actuators divided into two major categories of gas cylinder motor. Cylinder is used to provide a straight line reciprocating movement or swing, output force and the linear speed or swinging angular displacement. Gas motor used to provide a continuous rotary motion, output torque and rotational speed. Pneumatic control components are used to adjust the pressure of compressed air flow rate and direction, etc., so as to ensure the normal continuity for actuators according to the procedures prescribed by the work. Pneumatic control components according to the function can be divided into the pressure control valve, flow control valves and direction control valves.
The concept of programmable controller
PLC (Programmable Logical Controller), hereinafter referred to as PLC. International electrotechnical commission (IEC) of PLC in 1985 draft standard in draft 3, the PLC made the following definition: "a programmable controller is a digital computing operation of electronic systems, specially designed for application in industrial environment. It USES a programmable memory, used in its internal storage implementation logic operation, sequence control, timing, counting and arithmetic operations such as instruction. And, through digital, analog input and output, control various types of machinery or production process. Programmable controller and related equipment, should be according to the industrial control system is easy to form a whole, easy to expand its function design principles."
Modern industrial production process is complicated, their requirement for control also each are not identical. Once a PLC has been welcomed by the general engineering and technical personnel. PLC has the following features:
1．the programming method is easy to learn.
2．strong function, high cost performance.
3．matching the hardware complete, the user use convenient, strong adaptability.
4．high reliability, strong anti-jamming capability.
5．system design, installation, debugging workload.
6．maintenance workload small, convenient maintenance.
7．small volume, low energy consumption.
The application range of the PLC is usually divided into the following five types:
1．the sequence control
PLC which is the most widely used field, PLC is also the most suitable areas, it is used to replace the traditional relay control sequence. PLC was applied to single machine control and multi-motor control, automatic line production control, etc. Injection molding machines, printing machines, staplers, for example, machinery, packaging machinery, paper cutting machine, combination machine, grinding machine, assembly lines, plating lines and elevator control.
2．motion control,
PLC manufacturer has provided the drag single shaft of the stepper motor or servo motor or multi-axis position control module, in most cases, the PLC send module, describes the target location of the data output by a shaft or a number line to the target position, each axis, position control module to keep proper velocity and acceleration, to keep smooth movement. Relatively speaking, position control module is smaller than the CNC device, lower prices, faster, more convenient operation.
3．the process control
PLC can control a large number of process parameters, such as: temperature, flow, pressure, liquid level and speed, etc. PID module provides the PLC with function of closed loop control, that is, a PLC can be used for process control with PID control ability. When the errors occurring in a variable in the process control, PID control algorithm can calculate the correct output, keep the variables on the set value.
4．data control
In mechanical processing, PLC as the main control and management system used in NC and CNC system, can accomplish a great deal of control data.
5．communication control
PLC communication including host and remote I/O communication, more communication between the PLC, PLC and other intelligent control equipment (such as computer, inverter, numerical control device) the communication between. PLC, together with other intelligent control device, can be composed of "centralized management, decentralized control" distributed control system.
The process of program
1．in-depth understanding and analysis of process conditions and control requirements of the controlled system
A. controlled object is controlled mechanical and electrical equipment, production lines or production process.
B. control mainly refers to the control of the basic mode, shall complete the action, the composition of automatic work cycle, the necessary protection and interlock, etc. For more complex control system, but also will control task is divided into several independent parts, this can change numerous for brief, is advantageous to the programming and debugging. 2．determine the I/O devices
According to the controlled object of the function of the PLC control system, determine the user input, output, equipment required by the system. Commonly used input devices have button, selector switch, trip switch, sensor, etc., commonly used output device has relay, contactor, light, electromagnetic valve, etc.
3．select the appropriate type of PLC
According to the identified user I/O devices, statistics required input signal and output signal points, choosing the appropriate PLC type, including the selection of models, the choice of capacity, I/O module choice, the choice of power supply module, etc. 4．distributed I/O points
Allocation of PLC input and output points, compile the input/output distribution list or draw the input/output terminal wiring diagram. Then nine can undertake PLC program design, control cabinet can be performed at the same time, work station design and site construction. 5．ladder diagram program design application system
According to the job function chart or state flow chart and design a ladder diagram
programming. This step is the whole application system design of the core work, is also a difficult step, to design good ladder diagram, be very familiar with the control requirements, first of all at the same time also has a certain practical experience of electrical design.
6．the program input PLC
When using a simple programmer will input the PLC program
First, you need to convert ladder diagram into instruction mnemonic, in order to enter. When using the programmable controller of auxiliary programming software on the computer programming, through up and down a machine connection cable to download to the PLC program.
7．to software testing
Input after the PLC program, the test work should be. Because in the process of program design, will have its gaps. So before connect the PLC to field devices, required for software testing, to eliminate errors in the program, at the same time, it provided a basis for the overall debugging, shorten the overall debugging period.
8．the whole application system debugging
At the scene of the PLC hardware and software design and the control cabinet and the construction is completed, you can proceed to the on-line debugging of the whole system, if the control system is composed of several parts, you should first make local debugging, then carries on the overall debugging; If the step sequence control program is more, can to block debugging, and then connect tuned. Problems found during the debugging, to exclude them one by one, until the debugging success。