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2. 可編程序控制器選型
1) 硬件配置
系統(tǒng)輸入信號有3個啟動按鈕，4個限位開關，5個手動輸入信號，1個有工件檢測信號，共計14個數(shù)字量輸入信號；輸出信號有機械手上升下降驅動信號﹑左移右移驅動信號和機械手夾緊驅動信號，共有5個數(shù)字量輸出信號。不需模擬量模塊，選擇S7-300系列的CPU313，加上數(shù)字量輸入模塊SM321及輸出模塊SM322就可以滿足要求，而且還有一定的裕量。
2) IO地址分配
將14個輸入信號、5個輸出信號與PLC的IO端一一對應，編排好地址，
其它地址分配
(1) 夾緊定時器T1，定時5 s；
(2) 放松定時器T2，定時5 s；
(3) 自動方式標志M0.0；
(4) 單動方式標志M0.1；
(5) 手動方式標志M0.2；
(6) 結束標志M0.5。
3. 機械手程序設計
1) 邏輯功能塊(子程序)
邏輯功能塊包括兩個部分：自動方式或單動方式控制(FC10)和手動方式控制(FC11)。
(1) 自動方式或單動方式控制(FC10)的具體程序(梯形圖表示)如圖6.3所示。
(2) 手動方式控制(FC11)的具體程序(梯形圖表示)如圖6.4所示。
2) 組織塊(主程序)
組織塊OB1用于設定機械手啟動方式，主要負責功能塊或子程序的調用，是自動運行還是單動運行，以及系統(tǒng)的循環(huán)掃描、故障診斷和輸出刷新。其梯形圖如圖6.5所示。
5.1 編程方式與程序塊
5.2 數(shù)據(jù)塊與數(shù)據(jù)結構
5.3 S7系列PLC程序設計
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IC698ETM001
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