Taking SX-815Q mechatronic comprehensive training and assessing equipment as the
carrier, this book is a training textbook which is based on project teaching for the service of
the national vocational students’ skills competition and higher vocational electromechanical
occupational ability.
This book mainly includes the guiding ideology and teaching design, the installation
and commissioning of five units of Mechatronics Comprehensive Training and Assessing
Equipment, PLC programming and testing, touch screen configuration, industrial robot
application, frequency converter application, industrial sensor application and other knowledge.
This book is featured by taking the typical content tasks assigned by the mechatronics of the
national vocational students’ skills competition as the carrier, decomposing the main tasks into
several tasks to narrate step-by-step, striving to improve students’ interest and efficiency in
learning, and realizing the goal that easy to learn, easy to understand and easy to use.
This book can be used as a professional textbook for majors like industrial robots and
mechatronics and others in higher vocational education schools. It can also be used as a
reference book for related engineering personnel to study mechatronics production lines.

In order to expand the cooperation in the area of vocational education with the countries
along the B&R, and implement the requirements of the plan of Tianjin that sharing the launched
and implemented excellent vocational education results with the world, the vocational education is
playing an important role as an education form which is most closely related to the manufacturing
industry. In 2018, Tianjin Vocational College of Mechanics and Electricity established the “Luban
Workshop” in Setubal, Portugal. In order to cooperate with theory and training teaching of
Setubal’s “Luban Workshop”, carry out exchange and cooperation, realize educational resource
sharing and improve international influence of Chinese vocational education, innovate the
international cooperation mode of vocational colleges, and export China’s excellent vocational
resources, the research group compiled the textbook Mechatronics Technology and Training.
In May 2018, the National Higher Vocational Colleges Skills Competition “Mechatronics
Technology” was held. 68 representative teams from various provinces, municipalities and
autonomous regions in China and 8 teams from India, Russia and other countries along the Belt and
Road competed together. We adopted SX-815Q mechatronic comprehensive training and assessing
equipment as the equipment for this competition. The equipment is developed and designed
according to the relevant national occupation training and appraisal standards, combined with
the current job requirements of China’s manufacturing industry, and connected with the relevant
standards and procedures of the world skills competition. This equipment comprehensively re？ects
the mechatronics “work unit”, electrical assembly station, mechanical assembly table, computer
desk and other accessory work facilities in the form of “work station”. It not only cultivates and
trains the operator’s mechanical and electrical professional skills at work, but also improves their
social abilities and methods abilities in professional quality. The system consists of the granular
material feeding workstation, capping and cap screwing workstation, detecting and sorting
workstation, six-axis robot workstation, and material storage workstation, including the intelligent
assembly production system, automatic packaging system, automatic three-dimensional warehouse
& intelligent logistics system, automatic inspection machine quality control system, production
process data acquisition and control system, etc., it is a complete intelligent factory simulation
device, which uses industrial robot technology, PLC control technology, frequency conversion
control technology, servo control technology, industrial sensor technology, motor drive technology
and other industrial automation related technologies. It can realize empty bottle feeding, particle
material feeding, material sorting, particle filling, capping, cap screwing, material detecting, cap
detecting, finished product sorting, robot grabbing into box, lid packaging, labeling, warehousing
and other intelligent production processes.
This textbook combines the characteristics of SX-815Q mechatronic comprehensive training
and assessing equipment to illustrate step by step by the means of program teaching, the content of
which is task-oriented and novel, and it strives to be profound and simple, combining knowledge
and ability, focusing on cultivating students’ engineering application ability and the ability of
solving practical problems on site to meet the training requirements for higher vocational talents.
According to the characteristics of SX-815Q Mechatronic Comprehensive Training and Assessing
Equipment, the textbook divides the whole course into six projects. Project Zero mainly introduces
the guiding ideology and teaching design of this book; the following five projects comprehensively
introduce and illustrate the involved key knowledge points of each unit of SX-815Q, mechanism
assembly process, PLC program design, robot programming, frequency converter usage, touch
screen configuration, industrial sensor application, etc.
This book is edited by Wang Xingdong of Tianjin Vocational College of Mechanics and
Electricity and deputy edited by Dong Jinqi. Tasks have been distributed as follows: Lv Jingquan,
is responsible for the compiling of the Project Zero; Song Haiqiang and Wang Xingdong is
responsible for Project One; Dong Jinqi and Wang Xingdong is responsible for Project Two,
Project Three, Project Four; Xue Lichen and Wang Zhenxing are responsible for compiling Project
Five. Zhou Fubin provided various materials and guidance for the compiling of the book, and
compiled Appendix I and Appendix II together with Wang Zhenxing, and compiled a program
？ow chart and procedure list. The whole book was planned and systematically guided by Wang
Xingdong and jointly drafted with Dong Jinqi. In the process of compiling this textbook, we
received strong support from China Railway Publishing House Co., Ltd. and Zhaoqing Sanxiang
Teaching Instrument Manufacturing Co., Ltd., and we were assisted by many teachers such as
Yuan Hailiang and Jiang Ying from Tianjin Vocational College of Mechanics and Electricity. We
hereby want to express our sincere thanks for the efforts they made!
Restricted to the editor’s experience, limited ability and limited time, the book will inevitably
have shortcomings in the content and wording, please feel free to criticize and correct.
Editor
May, 2020

Project Zero EPIP Teaching Mode ..................................................１
I. Definition of EPIP ................................1
II. Curriculum Theory of EPIP Teaching Mode .......2
III. The Professional Theory of EPIP Teaching Mode....3
IV. Education Theory of EPIP Teaching Mode ........4
Project One Granular Material Feeding Workstation ......................5
Task One Assembly and Adjustment of Mechanical Components ... 6
I. Assembly of Conveyor ...........................6
II. Assembly of Material Filling Device .............13
III. Overall Installation and Adjustment .............15
Task Two Connection and Operation of Electric Circuits and Air
Channels .............................................................................16
I. Preparation......................................16
II. Electric Circuit Connection .....................17
III. Connection of Air Channels.....................28
Task Three Programming and Testing .................................. 30
I. Preparation .....................................30
II. PLC Schematic Diagram ........................35
III. Program Flow Chart ..........................36
IV. PLC I/O Function Allocation Table ............39
V. Allocation Table of Interface Board Terminal ....39
VI. Program Design ...............................40
VII. Testing Steps .................................42
Project One Granular Material Feeding Workstation ......................5
Project Zero EPIP Teaching Mode ..................................................１
CONTENTS
I. Definition of EPIP ................................1
II. Curriculum Theory of EPIP Teaching Mode .......2
III. The Professional Theory of EPIP Teaching Mode....3
IV. Education Theory of EPIP Teaching Mode ........4
目录.indd   1 2020-9-22   17:53:45Installation and Testing of Mechatronics Equipment 2
Task One　 Assembly and Adjustment of Mechanical
Components .......................................................... 48
I. Assembly of Delivery Mechanism ................48
II. Assembly of Capping Mechanism ................48
III. Assembly of Cap Screwing Mechanism ..........52
IV. Overall Installation and Adjustment .............54
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................... 56
I. Electric Circuit Connection ......................56
II. Air Channel Connection ........................66
Task Three Programming and Testing ................................... 67
I. PLC Schematic Diagram ........................67
II. Program Flow Chart ...........................68
III. PLC I/O Function Allocation Table ............69
IV. Allocation Table of Interface Board Terminal ....70
V. Program Design ................................71
VI. Testing Steps .................................72
Project Two Capping and Cap Screwing Workstation......................47
Project Three Detecting and Sorting Workstation...........................74
Task One Assembly and Adjustment of Mechanical
Components ........................................................... 75
I. Assembly of the Gantry Mechanism ..............75
II. Assembly of Sorting Mechanism ................76
III. Assembly of the Delivery Mechanism ...........76
IV. Overall Installation and Adjustment..............77
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................... 77
I. Electric Circuit Connection .......................77
II. Air Channel Connection ........................85
Project One Granular Material Feeding Workstation ......................5
Project Zero EPIP Teaching Mode ..................................................１
CONTENTS
I. Definition of EPIP ................................1
II. Curriculum Theory of EPIP Teaching Mode .......2
III. The Professional Theory of EPIP Teaching Mode....3
IV. Education Theory of EPIP Teaching Mode ........4
目录.indd   1 2020-9-22   17:53:45Installation and Testing of Mechatronics Equipment 2
Task One　 Assembly and Adjustment of Mechanical
Components .......................................................... 48
I. Assembly of Delivery Mechanism ................48
II. Assembly of Capping Mechanism ................48
III. Assembly of Cap Screwing Mechanism ..........52
IV. Overall Installation and Adjustment .............54
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................... 56
I. Electric Circuit Connection ......................56
II. Air Channel Connection ........................66
Task Three Programming and Testing ................................... 67
I. PLC Schematic Diagram ........................67
II. Program Flow Chart ...........................68
III. PLC I/O Function Allocation Table ............69
IV. Allocation Table of Interface Board Terminal ....70
V. Program Design ................................71
VI. Testing Steps .................................72
Project Two Capping and Cap Screwing Workstation......................47
Project Three Detecting and Sorting Workstation...........................74
Task One Assembly and Adjustment of Mechanical
Components ........................................................... 75
I. Assembly of the Gantry Mechanism ..............75
II. Assembly of Sorting Mechanism ................76
III. Assembly of the Delivery Mechanism ...........76
IV. Overall Installation and Adjustment..............77
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................... 77
I. Electric Circuit Connection .......................77
II. Air Channel Connection ........................85
目录.indd   2 2020-9-22   17:53:46CONTENTS 3
Project Four Six-axis Robot Workstation.........................................94
Task Three Programming and Testing ................................... 85
I. PLC Schematic Diagram .........................85
II. Program Flow Chart............................86
III. PLC I/O Function Allocation Table ............90
IV. Allocation Table of Interface Board Terminal....90
V. Program Design.................................91
VI. Testing Steps ..................................92
Task One Assembly and Adjustment of Mechanical
Components........................................................... 95
I. EFORT robots...................................95
II. Assembly of Material Platform .................101
III. Assembly of A and B lifting platform .........102
IV. Integral installation ...........................103
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................. 103
I. Electric Circuit Connection and Operation ........103
II. Draw the Connection Diagram of Air Channel ......117
Task Three Programming and Testing of Robot ...................117
I. Basic Instructions for Robot .....................117
II. Robot Programming............................119
Task Four PLC Programming and Testing .......................... 123
I. PLC Schematic Diagram ........................123
II. Program Flow Chart...........................124
III. PLC I/O Function Allocation Table ............125
IV. Allocation Table of Interface Board Terminal....126
V. Program Design................................128
VI. Testing Steps .................................130

Project Five Material Storage Workstation................................... 134
Task One Assembly and Testing of Mechanical
Components ........................................................ 135
I. Assembly of Cambered Stereoscopic Warehouse .....135
II. Assembly of the Stacker .......................136
III. Assembly of Touch Screen ....................140
IV. Overall Installation and Adjustment.............140
Task Two Connection and Operation of Electric Circuits
and Air Channels ................................................. 141
I. Electric Circuit Connection ......................141
II. Air Channel Connection ........................152
Task Three Programming and Testing ................................ 152
I. PLC Schematic Diagram ........................152
II. Program Flow Chart...........................153
III. I/O Function Allocation Table .................156
IV. Allocation Table of Interface Board Terminal ....... 157
V. Program Design................................158
VI. Design of Touch Screen Configuration Picture.....160
VII. Testing Steps.................................163
Appendix I Introduction to the Circuit Board ................................ 170
I. Introduction of Push Button Panel ..............170
II. Introduction to the Desktop Interface’s Circuit
　 Board ........................................172
III. Control Panel of DC Motor ...................175
Appendix II Configuration and Use of Touch Screen..................... 177

吕景泉，天津市海河教育园区管委会副主任

本书为全国职业院校技能大赛配套教材，所用设备为目前最新的，结合大赛装备编写。立足高职教育工程创新实践能力的培养，将工业机械人技术传授和文化传承为一体，书中还拓展了对多种工业机械人型号的介绍，本书针对工业机械人应用的核心技术，由简入繁，由经典竞技任务到开放式实践，将工业机械人学习融入“故事”形式的任务实现中，力求将学习融于轻松愉悦的环境中，激发学生学习工业机械人技术的兴趣，培养学生的综合实践能力和创新实践能力。