Heidenhain 532571-09 在序列級聯中，您將程序分為幾個步驟。在各個步驟中，確定要執行的操作。步驟之間存在過渡。在過渡中，您定義了前進到下一步的條件。
在簡單的情況下，步驟將線性處理。但是，通過使用替代分支或同時分支，您還可以生成具有更復雜結構的序列級聯。
使用GRAPH具有以下優點：
?通過圖形編程，最小的編程工作量和更高的清晰度。
?維護人員的易讀性。
?通過圖形化的編程界面，可以縮短調試階段的時間。
?最小的實現工作量，因為生成代碼時出錯的可能性很小。
?通過過程診斷功能（互鎖和監督），機器具有高可用性。
?通過PLC代碼顯示和HMI上的標準分析，快速檢測錯誤。
該應用程序示例提供了有關如何在TIA Portal中自動執行和調試順序級聯的逐步說明。
使用下面的組裝機上的過程和一個用于將物體放置在工件支架上的機器人的過程，提供了一個具體示例。
規定了用于組裝機器自動化的結構。
機器結構
該機器包括以下元素：
1.機器人
2.傳送帶，用于運輸工件
3.三個用于檢測工件位置的光柵
組裝機器的過程以序列級聯的形式描述。序列級聯是調節進入下一個步驟的單個步驟和條件的順序。
流程結構的組織
放置（組裝）過程按以下步驟組織：
1.通過啟動按鈕啟動工作循環。
2.在個光柵處的傳送帶上檢測到工件。
3.工件被運送到第二光柵。
4.機器人被引導至工件。
5.工件裝有“螺母”。
6.機器人被帶回原位。
7.工件被運送到最后一個光柵，并從傳送帶上取下。
如果在最后一個光柵處檢測到負邊緣，則重復該過程，如果檢測到正邊緣，則將重置所有位置，并重新啟動傳送帶。
組態和項目計劃PLC
本節說明如何在TIA Portal中使用GRAPH在PLC程序中實現過程結構。為此，顯示了從調用GRAPH編輯器到測試GRAPH序列級聯所需的步驟。
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Heidenhain 532571-09
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