Siemens PLC entry-level application example: simple robot control -

: to get down to business

as shown in the above, for the control of manipulator moving the motor M1, M2 for the control of manipulator and lifting motor, YV coil is used to control the manipulator clamping locking, SQ1 is left in position detection switch, for SQ2 as right in place detection switch, SQ3 to reach the designated position detection switch, SQ4 in place for the next detection switch, switch SQ5 for workpiece inspection.

control requirements are as follows: 1.

Manipulator to artifacts from location A to location B;

2。 The initial state of the manipulator ( The origin condition) Is the manipulator should stop above the station A, SQ1, SQ3 are closed;

3。 If the origin condition is met and SQ5 closure ( Artifacts in A has artifacts) Manipulator, press the start button, click 'origin - down to the clamping, up - moves to the right and down - locking - up to the left, the origin' of the work steps.

as shown in the figure below:

smooth action how to transfer before programming:

define the symbol table:

hardware wiring diagram:

meet all action program is as follows:

the following paragraphs we analyze this manipulator is how it works: