柔性生产线立体仓库的设计论文(DOC 41页).doc

毕业论文 基于柔性生产线立体仓库的设计 目 录 摘要································································I Abstract···························································II 一、前言·····························································1 （一）目的和意义···················································1 （二）研究领域·····················································1 二、立体仓库系统各单元结构及其工作原理·······························3 （一）立体仓库系统单元结构图·······································3 （二）立体仓储库···················································3 （三）Z轴运动机构·················································4 （四）X\Y轴运动机构···············································5 三、系统硬件设计·····················································6 （一）总体设计·····················································6 （二）可编程控制器的选型···········································6 2.1 S7-200 CPU的选择············································6 2.2 EM232模拟量输出模块·········································8 （三）立体仓库的系统介绍MCGS组态软件应用··························9 3.1 立体仓库的简述··············································9 3.2 立体仓库的优越性···········································10 3.3 立体仓库一般基本组成部分···································11 四、系统的软件设计··················································12 （一）系统的总体程序设计··········································12 1.1 I/0地址分配表··············································12 1.2 系统的程序流程图及程序编制·································12 （二）旋转编码器程序编制··········································12（三）步进电机的控制及程序编制 ···································13 3.1 指令说明···················································13 3.2 PTO/PWM控制寄存器··········································16 3.3主要程序的编写·············································18 （四）控制器的法杖方向············································18 4.1 可编程控制器的构成及工作原理·······························19 4.2 可编程控制器的特点·········································20 4.3 可编程控制器的主要功能·····································20 4.4 电动机的介绍与选择·········································21 4.5 变频器的介绍与选择·················