三菱plc fx3g含以下功能 兩個(gè)伺服電機(jī)控制兩個(gè)軸：
兩個(gè)獨(dú)立控制軸，每個(gè)軸有原點(diǎn)光電傳感器
固定轉(zhuǎn)速和固定距離運(yùn)動(dòng)
四個(gè)固定位置點(diǎn)分別時(shí)電機(jī)（圈數(shù)a=100,圈數(shù)b=300,圈數(shù)c=200 ,圈數(shù)d=50)
可調(diào)停止時(shí)間
觸摸屏控制界面(啟動(dòng)、停止、復(fù)位、參數(shù)設(shè)置)
自動(dòng)循環(huán)運(yùn)行模式
I/O分配表
輸入
X0: 軸1原點(diǎn)傳感器
X1: 軸2原點(diǎn)傳感器
X2: 啟動(dòng)按鈕
X3: 停止按鈕
輸出
Y0: 軸1正轉(zhuǎn)
Y1: 軸1反轉(zhuǎn)
Y2: 軸2正轉(zhuǎn)
Y3: 軸2反轉(zhuǎn)
Y4: 氣泵控制
Y5: 運(yùn)行指示燈
數(shù)據(jù)寄存器分配
D0: 軸1轉(zhuǎn)速設(shè)定值
D1: 軸2轉(zhuǎn)速設(shè)定值
D2: 固定點(diǎn)a1位置(軸1)
D3: 固定點(diǎn)a2位置(軸2)
D4: 固定點(diǎn)b1位置(軸1)
D5: 固定點(diǎn)b2位置(軸2)
D6: 固定點(diǎn)c1位置(軸1)
D7: 固定點(diǎn)c2位置(軸2)
D8: 固定點(diǎn)d1位置(軸1)
D9: 固定點(diǎn)d2位置(軸2)
D10: 固定點(diǎn)a1停止時(shí)間
D11: 固定點(diǎn)b1停止時(shí)間
D12: 固定點(diǎn)c1停止時(shí)間
D13: 固定點(diǎn)d1停止時(shí)間
D14: 固定點(diǎn)a2停止時(shí)間
D15: 固定點(diǎn)b2停止時(shí)間
D16: 固定點(diǎn)c2停止時(shí)間
D17: 固定點(diǎn)d2停止時(shí)間
D20: 軸1當(dāng)前位置
D21: 軸2當(dāng)前位置
D30: 軸1最大速度
D31: 軸2最大速度
流程：原點(diǎn)-》正（方向）固定a-》停止多少秒-》正（方向）固定b-》停止多少秒-》反（方向）固定c-》停止多少秒-》反（方向）固定d-》停止多少秒-》回到原點(diǎn)重新開始，共有八個(gè)固定點(diǎn)，固定點(diǎn)根據(jù)軸轉(zhuǎn)的圈數(shù)，啟動(dòng)是觸發(fā)氣泵控制，當(dāng)停止時(shí)也要關(guān)閉氣泵
實(shí)現(xiàn)完整PLC程序梯形圖

復(fù)制代碼 |----[ M8002 ]-------------------------------( M0 ) 初始化脈沖 | |----[ M0 ]----------------------------------[ MOV K100 D2 ] 初始化固定點(diǎn)位置 |                                            [ MOV K300 D4 ] |                                            [ MOV K200 D6 ] |                                            [ MOV K50 D8 ] |                                            [ MOV K100 D3 ] |                                            [ MOV K300 D5 ] |                                            [ MOV K200 D7 ] |                                            [ MOV K50 D9 ] |                                            [ MOV K500 D30 ] 設(shè)置軸1最大速度 |                                            [ MOV K500 D31 ] 設(shè)置軸2最大速度 | |----[ X2 ]----[ M10 ]-----------------------( M10 ) 啟動(dòng)按鈕 |     |     | |     |----[ X3 ]----------------------------( M10 ) 停止按鈕 | |----[ M10 ]----------------------------------( M20 ) 運(yùn)行標(biāo)志 |                                            ( Y5 ) 運(yùn)行指示燈 | |----[ M20 ]----[ M100 ]----------------------[ SET M101 ] 啟動(dòng)原點(diǎn)回歸 | |----[ M101 ]---------------------------------[ PLSY D30 K0 Y0 ] 軸1原點(diǎn)回歸 |----[ X0 ]-----------------------------------[ RST M101 ] |                                            [ SET M102 ] | |----[ M102 ]---------------------------------[ PLSY D31 K0 Y2 ] 軸2原點(diǎn)回歸 |----[ X1 ]-----------------------------------[ RST M102 ] |                                            [ ZRST D20 D21 ] 當(dāng)前位置清零 |                                            [ SET M103 ] | |----[ M103 ]---------------------------------( Y4 ) 啟動(dòng)氣泵 |                                            [ SET M104 ] | |----[ M104 ]---------------------------------[ DRVI D2 D0 Y0 Y10 ] 軸1移動(dòng)到a1 |----[ M8029 ]--[ M104 ]----------------------[ RST M104 ] |                                            [ MOV D2 D20 ] 更新當(dāng)前位置 |                                            [ SET M105 ] | |----[ M105 ]---------------------------------[ DRVI D3 D1 Y2 Y11] 軸2移動(dòng)到a2 |----[ M8029 ]--[ M105 ]----------------------[ RST M105 ] |                                            [ MOV D3 D21 ] |                                            （OUT T0 D10 ] 啟動(dòng)a點(diǎn)定時(shí) |                                            [ SET M106 ] | |----[ M106 ]----[ T0 ]-----------------------[ RST M106 ] |                                            [ SET M107 ] | |----[ M107 ]---------------------------------[ DRVI D4 D0 Y0 Y10] 軸1移動(dòng)到b1 |----[ M8029 ]--[ M107 ]----------------------[ RST M107 ] |                                            [ MOV D4 D20 ] |                                            [ SET M108 ] | |----[ M108 ]---------------------------------[ DRVI D5 D1 Y2 Y11 ] 軸2移動(dòng)到b2 |----[ M8029 ]--[ M108 ]----------------------[ RST M108 ] |                                            [ MOV D5 D21 ] |                                            （OUT  T1 D11 ） 啟動(dòng)b點(diǎn)定時(shí) |                                            [ SET M109 ] | |----[ M109 ]----[ T1 ]-----------------------[ RST M109 ] |                                            [ SET M110 ] | |----[ M110 ]---------------------------------[ DRVI D6 D0 Y1 Y10 ] 軸1反轉(zhuǎn)到c1 |----[ M8029 ]--[ M110 ]----------------------[ RST M110 ] |                                            [ MOV D6 D20 ] |                                            [ SET M111 ] | |----[ M111 ]---------------------------------[ DRVI D7 D1 Y3 Y12 ] 軸2反轉(zhuǎn)到c2 |----[ M8029 ]--[ M111 ]----------------------[ RST M111 ] |                                            [ MOV D7 D21 ] |                                            （T2 D12 ]）啟動(dòng)c點(diǎn)定時(shí) |                                            [ SET M112 ] | |----[ M112 ]----[ T2 ]-----------------------[ RST M112 ] |                                            [ SET M113 ] | |----[ M113 ]---------------------------------[ DRVI D8 D0 Y1 Y10 ] 軸1反轉(zhuǎn)到d1 |----[ M8029 ]--[ M113 ]----------------------[ RST M113 ] |                                            [ MOV D8 D20 ] |                                            [ SET M114 ] | |----[ M114 ]---------------------------------[ DRVI D9 D1 Y3 Y12 ] 軸2反轉(zhuǎn)到d2 |----[ M8029 ]--[ M114 ]----------------------[ RST M114 ] |                                            [ MOV D9 D21 ] |                                            （ OUT  T3 D13 ） 啟動(dòng)d點(diǎn)定時(shí) |                                            [ SET M115 ] | |----[ M115 ]----[ T3 ]-----------------------[ RST M115 ] |                                            [ RST Y4 ] 關(guān)閉氣泵 |                                            [ SET M101 ] 循環(huán)運(yùn)行 | |----[ X3 ]-----------------------------------[ RST M20 ] 停止按鈕 |                                            [ RST Y4 ] |                                            [ ZRST M100 M115 ] 復(fù)位所有狀態(tài)

速度，位置，使用D寄存器要用32位，定位指令也用32位