PLC light source robot hand bubble control circuit

Control ladder diagram design using shift register control method According to the control function flow chart of the controlled system, the control ladder diagram can be drawn using the shift register control method, as shown in Figure 26-5. In the program, the HR relay with power-off protection is used to store the working step status. HR relay used
: an internal relay and timer are shown in Table 26-2.
    The working principle of the ladder diagram is explained as follows:
    1) In the home position, press the start button SBl (0000),
the intermediate relay 1000 is energized and self-locked (maintains a cycle
), 0501 is energized, and the sealing machine starts running. . The initialization pulse
1815 is closed, the holding relay HROOO is energized, the broom contact is closed
, 0505 is energized, and the manipulator starts to rise from the lower right limit.
    2) When it rises to the upper limit, the rising limit switch s04 (0005)
acts, its normally open contact is closed, SROOO loses power, 0505 loses power,
the rising action ends and HRO01 becomes powered, and 0502 becomes powered.
    3) The manipulator starts to turn left, and when the left limit travel switch
SQ2 (0003) activates, HRO01 loses power, 0502 loses power, and the left-hand
movement ends; Heshi HR002 gets power, 0504 gets power, and the manipulator
starts to descend.
    4) When the lower limit travel switch SQ5 (0006) is lowered,
HR002 loses power, 0504 loses power, and the descending action ends; at the same time,
HR003 gets power, 0500 gets power, and the upper bubble plate starts.
    5) The upper bubble shell on the upper bubble plate enters the photoelectric switch measurement area, the photoelectric
switch SQ6 (0007) is activated, HR003 loses power, 0500 loses
power, and the upper bubble plate stops; at the same time, HR004 becomes powered, 0506 becomes powered, and
the manipulator starts grabbing bubbles.
    6) When the bubble grabbing limit switch SQl (0002) acts,
HR004 loses power, 0506 loses power, and the bubble grabbing action ends; at the same time,
HR005 gets power, 0505 gets power, and the manipulator starts to rise.
    7) When the manipulator reaches the upper limit of travel, switch s04 (0005)
activates. HR005 loses power, 0505 loses power, and the rising action ends;
at the same time, HR006 and 0503 gain power, and the manipulator begins to rotate right
until the right limit travel switch SQ3 (0004) is pressed, and
HR006 becomes powered. When 0503 loses power, the right-hand rotation ends; at the same time,
HR007 gets power, 0504 gets power, and the manipulator descends.
    8) When the manipulator drops to the lower limit travel switch SQ5 (0006)
and is pressed, HR007 loses power, 0504 loses power, and the descending action
ends; at the same time, HR008 becomes energized, 0507 becomes energized, the bubble releasing action
ends , and at the same time, the counter TOO becomes energized. start the timer.
    9) The time is 25. HR008 loses power, 0507 loses power, and
the bubble releasing action ends; at the same time, HR008 gets power, the manipulator resets, and a
working cycle ends.
    If set to continuous operation, SA (0008) will act at this time and
the next working cycle will begin. The upper bubble tray and sealing machine start running when the robot
starts, and stop when the action ends.
    (4) Conclusion The application of this example shows that using PI.C to control
the movement of the bubble manipulator can make it work smoothly and accurately, which is more
conducive to improving the working environment of workers, reducing noise, increasing efficiency, and saving energy. Especially when certain actions of the manipulator need to be changed,
the program can also be changed through the programmer without the need to modify other structures, which is flexible and fast. If the movements of the foaming manipulator before and after the processes are controlled by PLC , then in the entire
production line, the operating status of the previous process will be determined by the needs of the subsequent process, and there will be linkage between the processes, and there will be no inter-process interactions.
Uncoordinated production can reduce the number of operators on the production line and improve work efficiency.