I0.21#堆垛处感应器I3.0双向机械手右转I0.3进料处感应器I3.1双向机械手左转I0.42#堆垛处感应器I3.2参考点到位I0.5伺服2+PhasezI3.3堆垛机2下降到位I0.6双向机械手取料处感应器I3.41#伺服过载I0.7伺服2POS_OKI3.52#伺服过载I1.1单向机械手上升I3.6复位I1.2单向机械手下降到位I3.7急停I1.3单向机械手左移I4.0出口电机变频器前的空开断开I1.4单向机械手右移I4.1I1.5单向机械手放料处感应器I4.2PLC电源断开I2.0双向机械手2下降I4.3AIARM1#伺服报警I2.1双向机械手1下降I4.4AIARM2#伺服报警I2.2双向机械手1上升I4.50VI2.3双向机械手2上升I4.6伺服1+PhasezI2.4双向机械手1夹紧I4.7伺服1POS_OKI2.5双向机械手1松开I5.01#堆垛机下降到位I2.6双向机械手2夹紧I5.1门限位I2.7单向机械手最低位置I5.2堆垛1堆满感应器I5.3堆垛2堆满感应器I5.4顶针器上升I5.5出口处气缸松开I5.6出口处气缸夹紧I5.7顶针器下降Q0.0PULS脉冲1Q0.6单向机械手上升Q0.1PULS脉冲2Q0.7单向机械手下降Q0.2SIGN方向1Q0.3SIGN方向2Q1.0单向机械手左移Q0.4真空吸Q1.1单向机械手右移Q0.5真空吹Q2.0双向机械手1夹紧/松开Q3.2ON/OFF伺服使能1Q2.2双向机械手2夹紧/松开Q3.3ON/OFF伺服使能2Q2.4出口电机KM3吸合运行Q3.5蜂鸣器Q2.5堆垛机1上升/下降Q3.6CLR伺服1Q2.7堆垛机2上升/下降Q4.0指示灯Q4.6Q4.1CLR伺服2Q4.7手动指示Q4.2双向机械手1下降Q4.3双向机械手2上升Q4.4双向机械手2下降Q4.5Q5.01#线夹盒子Q5.6双向机械手左转Q5.1自动指示Q5.7双向机械手右转Q5.2伺服1电源接通Q5.3伺服2电源接通Q5.4出口处气缸夹紧Q5.5出口处气缸松开