制杯机取杯机械手是根据传统的人工拾取叠放塑料杯设计开发的一款全自动的取杯叠放设备，相对于人工操作叠杯，自动取杯机械手更快，叠放精度更高，无人工接触更加卫生。全自动制杯机取杯机械手控制多采用PLC控制系统，PLC不但能满足客户的控制要求，而且系统稳定性好、可操控性高。本文主要以永宏PLC在制杯机取杯机械手上的应用为背景，对该方案的硬件设计、软件设计和实施结果（应用效果）进行了详细的阐述和说明。
2.2 客户需求
根据机械结构和工艺要求，客户要求拥有以下功能，首先要求可进行手动控制步进电机、气缸等，有模拟启动和单独停机功能，HMI显示当前当前机械手运行状态、主机当前角度显示等功能。总而言之，制杯机取杯机械手既需要很好的实现多种控制要求，同时也需要很好的实现多种工艺要求。制杯机取杯机械手具体工艺及功能要求下表。
JANCD-MM13-487002
The cup taking manipulator of the cup making machine is a fully automatic cup taking and stacking device designed and developed according to the traditional manual picking and stacking of plastic cups. Compared with the manual operation of cup stacking, the automatic cup taking manipulator is faster, with higher stacking accuracy, and more hygienic without manual contact. The full-automatic cup making machine's Cup taking manipulator is mostly controlled by PLC control system. PLC can not only meet the control requirements of customers, but also has good stability and high controllability. Based on the application of Yonghong PLC in the cup making machine, the hardware design, software design and implementation results (application effect) of the scheme are described in detail.
2.2 customer demand
According to the mechanical structure and process requirements, the customer requires the following functions. First of all, it is required to manually control the stepping motor, cylinder, etc., with the functions of simulated startup and separate shutdown. The HMI displays the current operating state of the manipulator and the current angle of the host. In a word, the cup taking manipulator of the cup making machine not only needs to meet a variety of control requirements, but also needs to meet a variety of process requirements. The specific process and functional requirements of the cup taking manipulator of the cup making machine are shown in the table below.
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