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目 录
第 1 章 绪论 .............................................................................................................................................1
1.1 PLC 的发展及其应用....................................................................................................................1
1.2 机械手的发展史 ............................................................................................................................2
1.3 机械手前景展望 ............................................................................................................................3
1.4 机械手分类及组成 ........................................................................................................................3
第 2 章 机械手 PLC 控制系统设计.......................................................................................................3
2.1 程序的总体结构..............................................................................................................................6
2.2 OB100 中的初始化程序 ...............................................................................................................6
2.3 公用程序..........................................................................................................................................7
2.4 手动程序..........................................................................................................................................7
2.5 单周期、连续和单步程序 ..............................................................................................................8
2.5.1 单步与非单步的区分 ..............................................................................................................9
2.5.2 单周期与连续的区分 ..............................................................................................................9
2.5.3 单周期工作过程 ....................................................................................................................10
2.5.4 单步工作过程 ........................................................................................................................10
2.5..5 输出电路 ...............................................................................................................................11
2.6 自动返回原点程序........................................................................................................................11
结束语 .......................................................................................................................................................12
致谢 ...........................................................................................................................................................13
参考文献 ...................................................................................................................................................14