图13 PLC与现场器件的实际连接 6.3梯形图
满足机械手工艺流程的梯形图如下图所示 ：
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图14 机械手梯形图
6.4指令程序
根据梯形图编写的指令程序如下：
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0 LD X001 1 OR M0 2 OUT M0 3 OUT Y016 4 LD X001 5 OR M1 6 ANI M2 7 ANI M3 8 OUT M1
9 LD X002 10 OR M2 11 ANI M1 12 OUT M8 13 LD M1 14 OR T7 15 AND M0 16 ANI M2 17 OUT M3 18 LD M3 19 OR Y007 20 ANI M4 21 ANI M5
22 OUT T0 K2 25 OUT Y007 26 LD T0 27 OR Y001 28 ANI X011 29 OUT Y001 30 LD X011 31 OR Y002 32 ANI T1 33 OUT Y002
34 OUT T1 K2 37 NOP 38 NOP 39 NOP 40 NOP 41 NOP
42 LD T1 43 OR Y003 44 AIN X007 45 OUT Y003 46 LD X007 47 OR Y001
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48 ANI X012 49 OUT Y001 50 LD X012 51 OR Y014 52 ANI X013 53 OUT Y014 54 LD X013 55 OR Y005 56 ANI X003
57 OUT Y005 58 LD X003 59 MPS
60 ANI T2
61 OUT T2 K2 64 MPP
65 ANI X005 66 OUT M4 67 LD T2 68 OR Y010 69 ANI X005 70 OUT Y010 71 LD X005 72 ANI T3 73 OUT T3 76 LD T3 77 OR Y000 78 ANI X011 79 OUT Y000 80 LD X011 81 OUT T4 84 ANI T4 85 OUT Y012 86 LD T4 87 OUT T5 90 ANI T5 91 OUT Y002 92 LD T5 93 OR Y001 94 ANI X012 95 OUT Y001 96 LD X012 97 OR Y004 98 ANI X010 99 OUT Y004
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100 LD X010 101 OR Y006 102 ANI X004 103 OUT Y006 104 LD X004 105 MPS
106 ANI T7 107 OUT M5
108 MPP
109 OUT T6 K2 112 LD T6 113 OR Y011 114 ANI X006 115 OUT Y011 116 LD X006 117 OR Y015 118 ANI X014 119 OUT Y015 120 LD X014 121 OUT Y011 122 OUT Y012
123 OUT T7 K5
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