PLC在机械手控制系统中的应用（毕设).doc

word格式整理版 文档可编辑 摘要 本论文论述了一种应用PLC来实现的机械手控制系统。应用西门子S7-200CPU226 PLC对该控制系统进行设计，应用STEP7-Micro/WIN软件编写控制系统的控制程序。控制程序分为五部分，分别为主程序、公共程序、手动程序、自动程序和回原点程序。主程序主要用来调用后面几个子程序；公共程序主要用于自动程序和手动程序相互切换的处理；手动程序主要用于手动控制机械手的运行；自动程序主要用于切换步进、单周期和连续的运行状态来控制机械手的运行；所编的程序通过仿真软件验证是正确的，实现了机械手控制要求，并且应用MCGS组态软件设计该控制系统的人机界面。人机界面直观的展示了机械手工作的全部过程。 关键词：机械手；PLC；MCGS Abstract The paper discusses an application of PLC to realize robot manipulator control system. Application of the Siemens S7-200CPU226 PLC control system design, application STEP7-Micro / WIN software development control system control program. Control program is divided into five parts, namely the main program, public program, manual procedures, automated procedures and homing procedures. Main program used to call back several subprograms; public procedure used mainly for automatic program and manual switching between programs; manual procedure used mainly for manual control robot manipulator operation; automatic procedure used mainly for switching step, single cycle and continuous operating state to control the operation of the robot manipulator; compiled by simulation software verification program is correct, to achieve a robot manipulator control requirements and application MCGS configuration software design of the control system, man-machine interface. Machine interface shows the whole process intuitive robot manipulator work. Keywords：Manipulator；PLC；MCGS 目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc422490794 1 绪论 PAGEREF _Toc422490794 \h 1 HYPERLINK \l _Toc422490795 1.1 机械手的发展 PAGEREF _Toc422490795 \h 1 HYPERLINK \l _Toc422490796 1.2 课题的背景和意义 PAGEREF _Toc422490796 \h 1 HYPERLINK \l _Toc422490797 1.3 国内外研究现状 1 HYPERLINK \l _Toc422490798 2 可编程控制器概述 PAGEREF _Toc422490798 \h 3 HYPERLINK \l _Toc422490799 2.1 PLC简介 PAGEREF _Toc422490799 \h 3 HYPERLINK \l _Toc422490800 2.1.1 PLC的概述与定义 PAGEREF _Toc422490800 \h 3 HYPERLINK \l _Toc422490801 2.1.2 PLC的特点 PAGEREF _Toc422490801 \h 3 HYPERLINK \l _Toc4