PLC application in the manipulator step control

1 introduction manipulator is often encountered in the area of industrial automatic control of a control object. Robots can do a lot of work, such as moving objects, assembly, cutting, spraying, etc. , application is very broad. PLC control manipulator is applied to implement various rules of process action, can simplify the control circuit, cost savings, improve labor productivity. Figure 1 is a schematic manipulator handling items. Figure 1 manipulator moving objects motioned tutu manipulator's mission is to the conveyor belt in A carry on to the conveyor belt B. In order to make accurate manipulator movement, in the limit position of the manipulator installed limit switch SQ1, for SQ2 and SQ3, SQ4, SQ5 and manipulator respectively for grasping, turn left, turn right, up and down movement of limit, and action in place of the input signal. Mounted on the conveyor belt, A photoelectric switch SP, used to detect the conveyor belt on A items are in place. Manipulator, stop by the figure in the starting button SB1, stop button SB2 control. A and B by motor drag conveyor belt. Up, down, left and right side of the manipulator, grip, relax by hydraulic pressure drive, and by six solenoid valve to control respectively. 2 the continuous operation of the conveyor belt B motion of the manipulator, so don't need to use PLC control. Manipulator and conveyor belt, sequential C is: 1) Press the start button SB1, the manipulator system. First up, electromagnetic valve, electric arm rise, to rise limit switch action; 2) Turn left, electromagnetic valve, electric arm, turn left to limit switch action; 3) Decline in electromagnetic valve power, arm drops, decreased to the limit switch action; 4) Start the conveyor belt, A run by the photoelectric switch SP test on the conveyor belt, A presence of goods delivered, if detected objects, the clutch electromagnetic valve electricity, mechanical hand grip, to take action for the limit switch; 5) Arm to rise again, to increase the limit switch action again; 6) Turn right, electromagnetic valve, electric arm turn right, turn right to limit switch action; 7) Arm fell again and again to the down limit switch action; 8) Relax, electromagnetic valve, electric manipulator loosen the gripper, the delay after 2 seconds, to complete a handling tasks, and then repeat above circulation process. 9) Press the stop button SB2 or power outages, the manipulator to stop on the current work step, starting afresh, manipulator according to stop before the action to continue to work. According to the order of the manipulator movement request, can draw a sequence diagram is shown in figure 2. By the sequence diagram can make the manipulator motion flow chart shown in figure 3. Figure 2 manipulator Buddha that cause sequence tutu 3 flow chart of manipulator moves 3 type selection of PLC and its I/O point number 3. 1 PLC controller selection because of the manipulator system input/output contact less, electrical control part of small volume, low cost, and can use a computer to monitor PLC and management, so choose Japan OMRON ( Standing stones) Company production of multi-functional small C20P host. The machine input points to 12, output for 8. Internal basically has: 136 auxiliary relay, 16 special function relay, 160 keep relays, 8 temporary relay, 48 of the 64 timer/counter, 16 bits of data storage. 3. 2 I/O point number according to the manipulator motion flow chart shown in figure 3, electric control system can be determined the distribution of I/O points, as shown in table 1. Table 1 manipulator control I/O allocation table according to the flow chart of figure 3 and table 1 I/O allocation table, can develop the state transition diagram as shown in figure 4. Figure 4 manipulator state transition diagram 4 programming and program run 4. 1 with programming according to the figure 4 step by step instructions state transition diagram, the step ladder diagram program is shown in figure 5. In figure 5, the function of all output is prohibited 'part' is banned all output when stop, make the mechanical stop on the work of the current step; To start again from step to stop the work of former continue to action. In the state by HR010 to metastasize to the HR000 condition, increase the normally closed contact stick relay, its role is: when the robots work in a middle work step, if PLC power or stop running, stop in the middle step on the manipulator. PLC controller wired back or return to after the operation, keeping relay HR has the function of state power protection when starting anew accordingly, there is a disconnect, makes HR000 cannot setting, robots can only be setting from the stop before the subsequent work step to continue in relay. 4. 2 programs run press the starting button SB1, input point to ON 0000, as 1000 relay interlocking conditions of auxiliary to ON, interlock IL directive ON, between the IL and the ILC coil to work properly, 'all output is prohibited'. If ( Grasp the FIG. 1) Normally closed contact to ON, keep relay HR000 switched ON, the output point 0503 make up electrical solenoid valve, arms up. When rising arm in place, rising limit switch closes the input point 0005, stick relay HR001 connected, HR000 reset, output point 0501 make a left electrical solenoid valve, a left arm. 。 。 。 。 。 。 After every time step in place to limit condition is met, the state transition, on to the next step work. When the state transition to HR008 is ON, the output point 0506 make relax solenoid valve, mechanical relaxation and timer TIM00 timing at the same time. When time to 2 seconds, and transferred to HR000, program from the first working step cycle all over again.
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