HYDRAULIC AND PNEUMATIC SYSTEMS

Lecture 4: Sequential Function Chart (GRAFCET)

Dr Mouhamadou Moustapha SARR
Associate Professor at Cheikh Anta Diop University
 OUTLINE

1. Introduction
2. Fundamental elements of SFC
3. Typical SFC structures
4. Operating modes in sequence controls
5. Applications

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 INTRODUCTION
▪ Sequential controls allow for processing sequential and parallel operations in a
mode that is discrete with respect to time or events.
▪ Sequential controls are implemented through sequential function charts (SFC).
▪ Sequential function chart language is also called Grafcet.
▪ Grafcet gives a formal specification of the evolution and the input/output
behavior of a system, from which it is possible to obtain unambiguously the
executable code for a synchronous machine interfaced to the outside world (the
PLC).

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 FUNDAMENTAL ELEMENTS OF SFC
▪ The fundamental elements of SFC are:
o Steps or stages
o Transitions
o Oriented link connecting Steps to
Transitions
o Rules of evolution
o Actions associated with the step
o Logical conditions associated with
transitions

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 FUNDAMENTAL ELEMENTS OF SFC
▪ Steps and transitions are connected to each other with oriented diagrams.
▪ It is possible to connect a step with several sequential transitions; the reverse is
possible also.
▪ A step sequence is the alternating sequence of steps and transitions.
▪ The individual steps activate certain actions.

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 FUNDAMENTAL ELEMENTS OF SFC/STEPS
▪ The individual steps activate certain actions.
▪ A step is symbolized by a square (with a double border if it is an initial step, i.e. it
is active at the beginning of the execution of the program).
▪ It has a label, usually consisting of a number and may be active or inactive; when
active it contains a marker (token).
▪ It can have associated actions

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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
▪ Actions associated with a step are listed in an action rectangle to highlight what
is being performed when that step is active.
▪ They are the means with which the SFC scheme acts, on the variables inside the
PLC and/or interacting with the outside.
▪ A step can have multiple actions associated with it.

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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
▪ Actions associated to steps can be of several types depending on the expected
temporal behavior.
▪ To clarify this aspect, qualifiers are associated to each action:
o Continuous action
o Conditional action
o Limited or delayed time or action
o Memorized action (on activation, deactivation and event)

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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
N Non-stored The action is active as long as the step is active.
R Overriding Reset The action is deactivated.
The action stats as soon as the step becomes active. The action continues to be executed, even
S Set (Stored)
if the step has already been deactivated, until it is reset.
The action starts as soon as the step becomes active. The action is executed until the step
L Time Limited
becomes inactive or the specified timespan has elapsed.
The action doesn’t start until the given delay time has elapsed after the step has become active
D Time Delayed
and the step is still active. The action is executed until the step is deactivated.
The action is executed precisely twice: once when the step becomes active and again in the
P Pulse
subsequent cycle.
Stored and time The action doesn’t start until the specified delay time has elapsed after the step has become
SD
Delayed active. The action is executed until it receives a reset.
Delayed and The action doesn’t start until the given delay time has elapsed after the step has become active
DS
Stored and the step is still active. The action is executed until it receives a reset.
Stored and time The action starts as soon as the step is activated. It is executed until the specified time has
SL
limited elapsed or a reset is received.
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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
▪ Continuous action
▪ Conditional action

Conditional action

Conditional action
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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
▪ Time-dependent

The assignment condition is true only

5 seconds after "c" changes from state
0 to state 1 (rising edge  of c); it
becomes false only 3 seconds after "c"
changes from state 1 to state 0 (falling
edge  of c).

o Limited and delayed time action

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 FUNDAMENTAL ELEMENTS OF SFC/ACTIONS
▪ Memorized action

KM1=1 upon activation of

step 10 and remains at 1
until activation of step 16.
Time

o Action on activation or deactivation

o Action on event
Action on event
Action on activation Action on deactivation

Increment counter C when Increment counter C on the rising edge of "a",

Reset counter C to 0 when step 10 being active.
step 10 is activated step 10 is deactivated.
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 FUNDAMENTAL ELEMENTS OF SFC/TRANSITION
▪ The transition is containing the logical condition (trigger) to control the change
from one step to the next.
▪ A transition is enabled if all series connected steps are active and the step
enabling condition is met.
▪ A transition in an SFC:
o is symbolized by a horizontal bar
o has an identifier
o can have an associated logical condition
o can be enabled or not, superable or not

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 FUNDAMENTAL ELEMENTS OF SFC/ORIENTED LINK
▪ An oriented link is represented by segments connected with 90° angles, links
steps to transitions or vice versa.
▪ The directional arrow can be omitted if it is from top to bottom.
▪ An oriented link can never connect a step to another step
▪ An oriented link can never connect a transition to a transition

Oriented link  
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 FUNDAMENTAL ELEMENTS OF SFC/RULES OF EVOLUTION
▪ Rule 1 - initial situation
o The initial situation of an SFC characterizes the initial behavior of the control part
with respect to the operating part, the operator and/or external elements. It
corresponds to the active steps at the start of operation. It generally reflects a rest
behavior.
▪ Rule 2 - crossing a transition
o A transition is either validated or not validated. It is validated when all the
immediately preceding steps are active. It can only be crossed: when it is validated,
and the receptivity associated with the transition is true. It is then necessarily
crossed.

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 FUNDAMENTAL ELEMENTS OF SFC/RULES OF EVOLUTION
▪ Rule 3 - evolution of active steps
▪ The crossing of a transition results in the activation of all the immediately following
steps and the deactivation of all the immediately preceding steps.
▪ Rule 4 - simultaneous evolutions
▪ Several simultaneously crossable transitions are simultaneously crossed.
▪ Rule 5 - Simultaneous activation and deactivation of a step
▪ If during operation the same step must be deactivated and activated simultaneously, it
remains active.

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 TYPICAL SFC STRUCTURES
▪ Typical structures of SFC are:
Linear sequence Jumping step Sequence resumption

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 TYPICAL SFC STRUCTURES
Sequence selection Simultaneous Sequence

OR convergence and OR divergence

AND convergence and AND divergence
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 TYPICAL SFC STRUCTURES
Macro and encapsulation
o Activating the encapsulating step causes all
boxes marked with an asterisk  on the
encapsulated graph(s) to be activated.

o The macro step is the unique representation of

. a set of steps and transitions. It allow to
19 organize a complex graph.
 OPERATING MODES IN SEQUENCE CONTROLS
▪ Just as for the individual drive functions, adequate protection functions and
operating modes have to be implemented for sequence controls.
o Automatic mode:
• The action of the step sequence is executed if the preceding transition is enabled.
o Manual mode:
• The operator triggers the action of step sequence, even if the preceding transition is not
enabled.
o Mixed mode:
• The action of the step sequence is executed if the preceding transition is enabled, or the
operator triggered it. As an alternative, operator activation as well as enabling the
preceding transition may be required
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 APPLICATIONS
▪ Draw the SFC according to the process part of
the systems given in the following applications.
▪ Application 1: Linear or unique sequence Drill head

When the sensor k detects the presence of a

workpiece, the operator presses the pushbutton
S1 to clamp the workpiece. The drill bit rotates
and the drill head moves down to complete the Vice
drilling operation. Action on sensor b1 causes the
drill head to rise up, b1 activated, then the
spindle stops and the vice retracts.

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 APPLICATIONS
▪ Application 2: Simultaneous sequence
A container filling system is shown in the
adjacent figure. Both containers are used in a
similar way. container 1 is empty when its
level reaches b1. It is full when its level
reaches h1. In the initial state, both bins are
empty. If the operator presses the pushbutton
m, the V1 and V2 valves open to fill the
containers. As soon as a bin is full, we stop
filling it and start using its contents (opening
of discharge valve W). When a bin is empty,
close valve W. Filling can only be resumed
22 when both containers are empty.
 APPLICATIONS
▪ Application 3: Sequence resumption
Two parts A and B are joined by a pin. The parts
and the pin are positioned manually by the operator.
The operator presses a pushbutton S1 to start the
process as follows:
o Parts A and B are clamped by cylinder F.
o The pin is inserted by cylinder E, with the hammer
striking the pin until it is fully inserted (detected
by S4).
o The assembly is unclamped. Cylinder D (not
shown) then discharges the assembly onto a
conveyor belt (not shown) driven by an electrical
motor M which starts at the same time.
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 APPLICATIONS
▪ Application 3: Sequence resumption
o The belt stops 10s after cylinder D returns to its
initial position. The cycle is complete.
Draw the SFC according to the control part.
Note: Initially, all cylinders are retracted.
Nomenclature: Sensors and Push buttons
KM: belt motor M rotation command S1: Cycle start push button
KV1 : clamping command S2: Hammer up position Sensor
KV2 : unclamping command S3: Hammer down position Sensor
S4: Pin hammered Sensor
KV3 : hammer down command
S5: Parts unclamped Sensor
KV4 : hammer up command
S6: Parts clamped Sensor
KV5 : assembly evacuation command S7: Assembly evacuated Sensor
KV6 : cylinder D return command S8: D in return position Sensor
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THANKS!
 REFERENCES

1. Automatismes industriels, M.N. Kabbaj, 2020

2. Grafcet Step-by-Step,Tutorial and Reference Guide to the Grafcet Language, Paul Baracos,
Ph.D, Copyright 1992, Famic Automation

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