1756-HSC、1756-HSC

当机械手未到原位，此时 plc 输入电平信号跟脉冲信号 cp-1给步进电机横轴驱动器，连接横轴的步进电机反转，横轴往后缩，后缩到位后会碰到后限位开关 sq3，sq3启动之后，主机就输入电平信号跟脉冲信号 cp-2 给竖轴驱动器，竖轴步进电机控制竖轴上升，上升到位后会触碰到竖轴反限位开关sq4，sq4 启动之后，主机输入旋转脉冲信号 sb-0 给直流电机驱动器 3，4，完成机械手的复位动作即 yu21 和 yu22的动作。 复位操作结束后，主机输入脉冲信号 cp-1 给横轴驱动器，步进电机开始正转，横轴实现进给操作yv2，横轴进给到位时碰到正限位开关 sq1，进给完成。 机械手收到主机发送电压信号，旋转至已定的角度，完成动作yv20，这时气动电磁阀断电，机械手张开。主机再同时输入电平信号跟脉冲信号 cp-2给竖轴驱动器使步进电机开始反转，竖轴下降。当竖轴下降至碰到限位开关时 sq4，下降停止，电磁阀得电机械手夹紧。夹紧后，主机只输入脉冲信号 cp-2 给竖轴步进电机驱动器，步进电机得电正转竖轴上升，碰到限位开关 sq2后，上升停止，启动横轴步进电机驱动器脉冲 cp-1，步进电机得电开始反转，横轴缩回。 碰到限位开关 sq3 后，plc发送旋转脉冲信号 sb0给底盘，底盘正旋转到位。此时主机再次输入脉冲信号 cp-1 给横轴驱动器，横轴第二次向前伸出，碰到限位开关sq1 后停止。 停止后主机输入电平和脉冲信号 cp-2 给竖轴驱动器 2 使得竖轴电机 2反转使竖轴再次下降，下降到位碰到竖轴正限位开关 sq2停止，此时电磁阀断电，卡爪和真空吸盘放松，释放工件，完成整套的工件运送工作。本机械手实训装置采用的 plc 具有高速运算能力和 pid调节功能，同时可以输出两路脉冲控制两台电机的优点。 图 3为控制输出两路脉冲梯形图，可以控制两个方向的电机同时运动，节省搬运时间。

 
图 3 输出两路脉冲梯形图

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