PLC Programming Practice - Part3
PLC Programming Practice - Part3
LANGUAGE (Grafcet)
1. Introduction
2. Operation principle
3. Construction method
4. Application exercises
Bộ môn Cơ điện tử 1
INTRODUCTION
SFC means
“Sequential Function Chart”
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INTRODUCTION
3
OPERATION PRINCIPLE
4
CONSTRUCTION METHOD
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CONSTRUCTION METHOD
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CONSTRUCTION METHOD
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CONSTRUCTION METHOD
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CONSTRUCTION METHOD
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CONSTRUCTION METHOD
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NOTES
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NOTES
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EXAMPLE
Pulse generation
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EXAMPLE
Fountain control
1) Cyclic operation (X001 = OFF, X002 = OFF)
When the start button X000 is pressed, the outputs turn ON in the order “Y000 (wait indication)
→ Y001(center lamp) → Y002 (center fountain) → Y003 (loop line lamp) → Y007 (loop line
fountain) → Y000(wait indication)”, and then the outputs return to the wait status. Each output
is switched in turn every 2 seconds by a timer.
2) Continuous operation (X001 = ON)
Y001 to Y007 turn ON in turn repeatedly.
3) Stepping operation (X002 = ON)
Every time the start button is pressed, each output turns ON in turn.
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EXAMPLE
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Practice #18- Mixing tank
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GHW#3 – 3 motors system control
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CHAPTER 7: Specialized functions on PLC
1. Introduction to special function modules
2. specialized function modules
3. Expansion module in/out
4. Temperature sensor module
5. A/D and D/A modules
6. Position control module using stepper motor or servo
Bộ môn Cơ điện tử 7. Communication on PLC 18
Introduction to special function modules
A weight input module provides the excitation voltage for load cells, as well as the
necessary software for calibrating load cell circuits. A weight module sends an
excitation voltage to a load cell and reads the signal created by the weight force
exerted on the cell
Thermocouple Input Modules
Once the module detects an error, the control loop modifies the
control variable (CV) output to force the error to zero.
PID Modules
The PID module receives the process variable in analog form and computes the error difference
between the actual value and the set point value.
First, the module formulates a proportional control action based on an output control variable that
is proportional to the instantaneous error value (KPE).
Then, it initiates an integral control action (reset action) to provide additional compensation to the
output control variable. This causes a change in the process variable in proportion to the value of
the error over a period of time (KI or KP/TI).
Finally, the module initiates a derivative control action (rate action) adding even more
compensation to the control output (KD = KPTD). This action causes a change in the output control
variable proportional to the rate of change of error.
These three steps provide the desired control action in proportional (P), proportional-integral (PI),
and proportional-integralderivative (PID) control fashion, respectively.
PID Modules
PID Modules
Positioning Interfaces
Encoder/Counter Interfaces
Example:
Suppose that the 200-step motor is operating at half-stepping
conditions (400 steps per revolution) and that the leadscrew has 5
threads per inch. What are the step angle and linear displacement
per step used in the system?
Stepper Motor Interfaces
The use of a
position/velocity
feedback scheme (see
Figure 8-26) can
greatly improve the
operation of a stepper
motor control system,
because this scheme
provides closed-loop
positioning control.
Servo Motor Interfaces
Typical applications
of servo positioning
include grinders,
metalforming
machines, transfer
lines, material-
handling machines,
and the precise
control of servo
driver valves in
continuous process
applications.
Servo Motor Interfaces
The PLC processor sends all of the move and position information,
including acceleration, deceleration, and the final and feed velocities,
to the servo module.
Servo Motor Interfaces
When servo interfaces are used for positioning control, the feedback
resolution provided by the system is a key issue.
For example, if an interface uses a leadscrew (a rotational-to-linear
motion translator) for axis displacement and an encoder to provide a
feedback signal to the servo module, the user must know the
leadscrew pitch, the number of encoder pulses per revolution, and the
multiplier value in the encoder section of the interface.
Fuzzy Logic Interfaces
Temperature sensing in (a) a normal PLC and (b) a PLC with fuzzy
logic capabilities.
Fuzzy Logic Interfaces
Fuzzy logic control is even more practical when multiple rules exist. For example,
a fuzzy I/O module may receive data from a field device measuring the input
process temperature, as well as from a field device measuring the outside
environmental temperature. In this case, the module could combine two rules to
determine a more precise acceptability level, resulting in a more precise output
action.
For example, IF the input temperature is 75°F and IF the outside environmental
temperature is 70°F, THEN the acceptability level is 0.63, so turn the control
element a little less (perhaps 8 degrees) clockwise.