毕业论文基于柔性生产线立体仓库的设计目录摘要································································IAbstract···························································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···········································62.1S7-200CPU的选择············································62.2EM232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··························93.1立体仓库的简述··············································93.2立体仓库的优越性···········································103.3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··········································121.1I/0地址分配表··············································121.2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···································133.1指令说明···················································133.2PTO/PWM控制寄存器··········································163.3主要程序的编写·············································18（四）控制器的法杖方向············································184.1可编程控制器的构成及工作原理·...
