Control of manipulator by CPM2 series PLC

Add Time: 2016-10-24 Source: Aite Trade Network | Read: 14

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1. Control System Functional Requirements Figure 12-3 shows the motion of the robot, which is
common in automated plants. The working process of the robot is to grab the workpiece from the
conveyor belt A, and then put the workpiece on the conveyor belt B. The robot is grasped when
the robot moves to the conveyor belt A. When the robot grasps the workpiece, the machine arm
rotates counterclockwise; when the robot arm

1 . Control system functional requirements

Figure 12-3 shows the motion of the manipulator, which is common in automated plants. The
working process of the robot is to grab the workpiece from the conveyor belt A , and then put the
workpiece on the conveyor belt B. The robot is grasped when the robot moves to the conveyor
belt A. When the robot grasps the workpiece, the machine arm rotates counterclockwise; when
the robot arm Rotate to the conveyor belt B , the robot down the workpiece; press the stop button
at any time, the robot stops rotating, and stops at the current position; press the start button again,
the robot continues to rotate.
 Figure 12-3 Schematic diagram of manipulator movement

2 . Design steps

(1) control system requirements analysis

In order to realize the above control function, by carefully analyzing the working process of
the manipulator, the control function can be realized in the following way:

[1] Press the start button PB1 , the robot starts to rotate clockwise.

[2] When the robot arm moves to the workpiece position on the conveyor belt A determined by
the travel switch LS1 , the robot arm stops rotating.

[3] Sensor PH1 When the workpiece is detected, the conveyor belt A stops running and the robot
catches the workpiece.

[4] When the robot caught the workpiece, the switch LS3 open, the robot arm counterclockwise
rotation.

[5] When the robot arm is rotated to the position of the conveyor belt B determined by the stroke
switch LS2, the manipulator drops the workpiece and the switch LS3 is closed.

[6] Press the stop button PB2 at any time, the robot stops rotating and stops at the current
position; press the start button again and the robot continues to rotate.

(2) control sequence flow chart

According to the analysis of the system control requirements , draw the control sequence flow
chart, as shown in Figure 12-4 .
 Figure 12-4 Control Sequence Flowchart

(3) I / O points and address assignments

According to the requirements of the control system, the start button PB1 can be rotated
clockwise by turning the stroke switch LS1 , turning the stroke switch LS2 counterclockwise ,
the manipulator grasping the workpiece control switch LS3 , the workpiece detection PH1 , the
stop button and the reset button as input, , Counterclockwise rotation SOL2 , grab the workpiece
SOL3 and conveyor belt A motion as output. The I / O assignment is shown in Table 12-2 .
(4) control system programming

The system ladder diagram for the control requirements is shown in Figure 12-5 .

Table 12-2 Robot Motion Control I / O Assignment Table

Figure 12-5 Robot action control ladder diagram