Bai Giang PLC

BI GING PLC CHO H THNG LUCAS

Trnh Tun Dng KTM

Tng quan v PLC

1. Tng quan

PLC, Programmable logic controller, hay b iu khin logic kh trnh l mt b iu khin s c

s dng rng ri trong lnh vc c in t, t ng ha. Cc thut ton iu khin c thc hin mt

cch linh hot trn PLC thng qua ngn ng lp trnh, v cc chng trnh iu khin c lu trong b

nh PLC di dng cc khi chng trnh ( OB, FB hoc FC).

Trc khi PLC ra i, cc h thng iu khin c xy dng da trn cc bng mch r le phc tp,

cng knh, tn km chi ph, do cc k s thng phi ni dy li cc r le mi khi mun thay i c

tnh hot ng ca h thng. Do , s ra i ca b iu khin PLC tha mn cc nhu cu sau:

- Nh gn; d dng, thun tin trong vic bo qun, sa cha.

- Lp trnh n gin, ngn ng lp trnh d hc.

- Dung lng b nh ln.

- Hot ng n nh trong mi trng cng nghip.

- Giao tip tt vi cc thit b ngoi vi, module m rng.

- Gi c cnh tranh.

2. Cu trc ca PLC v nguyn l hot ng

2.1. Cu trc c bn ca PLC

Mt b PLC thng thng c cu trc c bn nh sau:

B NH

MODULE RA B X L TRUNG

TM

MODULE VO

NGUN CP

- B x l trung tm: L module cha vi x l, h iu hnh, b thi gian, b m,... iu khin

cc hot ng bn trong PLC. Module ny s c v kim tra chng trnh c cha trong b

nh, sau s thc hin th t tng lnh trong chng trnh, x l module vo ra v x l cc

giao tip vi thit b bn ngoi.

- B nh: L ni cha cc chng trnh h thng, phn mm iu khin cc hot ng ca h

thng,..B nh bn trong PLC c to bi cc vi mch bn dn, mi vi mch ny c kh nng

cha 2.000 - 16.000 dng lnh, ty theo loi vi mch, v c chia thnh cc loi sau:

RAM (Random Access Memory) l b nh c th np chng trnh, thay i hay xa b ni dung

bt kz lc no, v ni dung ca RAM s b mt nu ngun in nui b mt. V vy, cc PLC u

c trang b mt pin kh, c kh nng cung cp nng lng d tr cho RAM t vi thng n

vi nm. Hin nay, CMOS-RAM c dng ph bin nh kh nng tiu th thp v tui th ln.

EPROM (Electrically Programmable Read Only Memory) l loi b nh ch c th c v khng

ghi ni dung vo c. Ni dung ca EPROM khng b mt khi mt ngun, c nh sn xut

np v cha h iu hnh sn. Nu ngi s dng khng c nhu cu m rng b nh th ch cn

dng thm EPROM gn bn trong PLC.

EEPROM (Electrically Erasable Programmable Read Only Memory) l loi b nh c th c

xa v lp trnh li, tuy nhin s ln lu sa ni dung l c gii hn. Ty nhu cu s dng m

ngi dng c th gn thm cc b nh ngoi cho PLC.

- Module vo/ra: y l module lm nhim v cung cp cc kt ni vt l gia b x l trung tm

v cc thit b ngoi vi. Module vo gm nhiu nt bm, cng tc, cc gic cm c kt ni vi

cc cm bin, mch in t,... o s thay i cc i lng vt l{ nh chuyn ng, mc,

nhit , lu lng hay v tr... Cc thng s ny s c b x l trung tm dng lm d liu

tnh ton, qua thay i cc thng s module u ra, module c kt ni vi cc van, ng

c... Cc PLC cng c phn loi theo s lng u vo, ra. Micro PLC thng c s lng

u vo/ra l khong 32 hoc t hn. Trong khi , PLC c nh c khong 256 u vo/ra, PLC c

va c 1024 v PLC c ln c nhiu hn 1024 u vo/ra.

Ngoi ra, PLC cn c thm cc module m rng nh sau:

- PS (Power Supply): Module ngun nui. C 3 loi: 2A, 5A, 10A.

- SM (Signal Module): Module m rng cng tn hiu vo/ra, bao gm:

DI (Digital Input): Module m rng cc cng vo s.

DO (Digital Output): Module m rng cc cng ra s.

DI/DO: Module m rng cc cng vo/ra s.

AI (Analog Input): Module m rng cc cng vo tng t.

AO (Analog Output): Module m rng cc cng ra tng t.

AI/AO: Module m rng cc cng vo/ra tng t.

- IM (Interface module): Module ghp ni. y l loi module chuyn dng c nhim v ni tng

nhm cc module m rng li vi nhau thnh mt khi v c qun l chung bi mt module

CPU. Cc module m rng c g trn mt thanh rack. Trn mi rack c th g c ti a 8

module m rng (khng k module CPU v module ngun nui). Mt module CPU S7-300 c th

lm vic trc tip c vi nhiu nht 4 racks v cc racks ny phi c ni vi nhau bng

module IM.

- FM (Function Module): Module c chc nng iu khin ring, v d nh module iu khin

ng c bc, module iu khin ng c servo, module PID, module iu khin vng kn,...

- CP (Communication Module): Module phc v truyn thng trong mng gia cc PLC vi nhau

hoc gia PLC vi my tnh.

2.2. Cu trc b nh ca PLC

Cu trc b nh ca PLC c chia ra lm 3 vng chnh:

1. Vng nh cha chng trnh ng dng, c chia lm 3 min:

- OB: Min cha chng trnh t chc (cc chng trnh ny s c gii thiu mc 1.2.5).

- FC: (Function): min cha chng trnh con c t chc thnh hm c bin hnh thc trao

i d liu vi chng trnh gi n.

- FB: (Function Block): Min cha chng trnh con, c t chc thnh hm v c kh nng trao

i d liu vi bt c mt khi chng trnh no khc. Cc d liu ny phi c xy dng

thnh mt khi d liu ring (gi l DB-Data block).

2. Vng cha cc tham s ca h iu hnh v chng trnh ng dng, c phn chia thnh 7

min khc nhau, bao gm:

- I (Procees image input): min b m cc d liu cng vo s. Trc khi thc hin chng

trnh, PLC s c gi tr logic ca tt c cc u vo v ct gi chng trong vng nh I. Thng

thng chng trnh ng dng khng c trc tip trng thi logic ca cng vo s m ch ly

d liu ca cng vo t b m I.

- Q (Process image output): min b m cc cng ra s. Kt thc giai on thc hin chng

trnh s chuyn gi tr logic ca b m ti cc cng ra s. Thng thng PLC khng trc tip

gn gi tr ti tn cng ra m ch chuyn chng vo b m Q.

- M: Min cc bin c. Chng trnh ng dng s dng vng nh ny lu gi cc tham s cn

thit v c th truy cp n theo bit (M), byte (MB), t (MW) hay t kp (MD).

- T: Min nh phc v b thi gian (TIME) bao gm vic lu gi gi tr thi gian t trc (PV-

preset value), gi tr m thi gian tc thi (CV- Curren value) cng nh cc gi tr logic u

ra ca b thi gian.

- C: Min nh phc v b m (counter) bao gm vic lu gi gi tr t trc (PV), v gi tr m

tc thi (CV) v gi tr logic u ra ca b m.

- PI: Min a ch cng vo ca cc modul tng t. Cc gi tr tng t ti cng vo ca modul

tng t s c c v chuyn t ng theo nhng a ch. Chng trnh ng dng c th truy

nhp min nh PI theo tng byte (PIB), tng t (PIW) hoc theo t kp (PID).

- PQ: min a ch cng ra cho cc modul tng t. Cc ga tr theo nhng a ch ny c modul

tng t chuyn ti cc cng ra tng t. Chng trnh ng dng c th truy cp min nh PQ

theo tng byte (PQB), tng t (PQW) hay tng t kp (PQD).

3. Vng cha cc khi d liu, c chia lm hai loi:

- DB (Data block): min cha cc d liu c t chc thnh khi. Kch thc cng nh s lng

do ngi s dng qui nh, ph hp vi tng bi ton iu khin. Chng trnh c th truy cp

min ny theo tng bit (DBX), byte (DBB), t (DBW) hoc t kp (DBD).

- L (Local data block) : min gi liu a phng, c cc khi chng trnh OB, FB, FC t chc v

s dng cho cc bin nhp tc thi v trao i gi liu ca bin hnh thc ca chng trnh vi

nhng khi chng trnh gi n. Ni dung ca mt s d liu trong min nh ny s b xo

khi kt thc chng trnh tng ng trong OB, FB, FC. Min ny c th truy cp t chng trnh

theo bit (L), byte (LB), t (LW) hay t kp (LD).

2.3. Nguyn l hot ng ca PLC

B vi x l s ln lt qut cc trng thi ca u vo v cc thit b ph tr, thc hin chng

trnh, cc tnh ton v iu khin cc u ra tng ng ca PLC. Cc PLC th h cui cho php thc hin

cc php tnh s hc v cc php tnh logic, b nh ln hn, tc x l{ cao hn v c trang b giao din

vi my tnh, vi mng ni b.v.v. B vi x l{ iu khin chu kz lm vic ca chng trnh. Chu kz ny

c gi l chu kz qut ca PLC, tc l khong thi gian thc hin xong mt vng cc lnh ca chng

trnh iu khin. Chu kz qut c minh ha hnh sau :

Khi thc hin qut cc u vo, PLC kim tra tn hiu t cc thit b vo nh cng tc, cm bin,Trng

thi ca tn hiu vo c lu tm thi vo mt mng nh. Trong thi gian qut chng trnh, b x l

qut ln lt cc lnh ca chng trnh iu khin, s dng cc trng thi ca tn hiu vo trong mng

nh xc nh cc u ra p ng hay khng. Kt qu l cc trng thi ca u ra c ghi vo mng

nh, PLC s cp hoc ngt in cho cc mch ra iu khin cc thit b ngoi vi. Chu kz qut ca PLC

c th ko di t 1 n 25 mili giy. Thi gian qut u vo v u ra thng ngn so vi chu kz qut

ca PLC.

Thng tin gia CPU, b nh v h thng I/O c truyn thng qua h thng Bus, gm nhiu ng tn

hiu song song:

- Address Bus: Bus a ch dng truyn a ch n cc Modul khc nhau.

- Data Bus: Bus dng truyn d liu.

- Control Bus: Bus iu khin dng truyn cc tn hiu nh th v iu khin ng b cc hot

ng trong PLC.

3. Gii thiu v lp trnh cho PLC

3.1. Cc phng php lp trnh cho PLC

C 2 phng php lp trnh cho PLC l lp trnh tuyn tnh v lp trnh c cu trc:

- Lp trnh tuyn tnh.

Trong cch lp trnh ny, ch c duy nht khi OB1 c thc hin trc tip theo vng qut. N

c h iu hnh gi theo chu kz lp vi khong thi gian khng cch u nhau m ph thuc vo

di ca chng trnh, cc loi khi chng trnh khc khng tham gia vo vng qut. Vi cch lm nh

vy th ton b chng trnh ng dng c th ch cn vit trong OB1 l nh hnh v sau.

Trong khi khi OB1 c gi lin tc theo vng qut th cc khi OB khc c gi bng nhng tn hiu

bo ngt nh: tn hiu bo ngt khi c s c ngun nui, c s c chp mch cc modul m rng, tn

hiu bo ngt theo chu kz thi gian,... V mi loi tn hiu bo ngt nh vy cng ch c kh nng gi

mt khi OB nht nh. Mi khi xut hin tn hiu bo ngt h thng s dng cng vic ang thc hin

li, chng hn nh tm dng vic thc hin chng trnh trong OB1, v chuyn sang thc hin chng

trnh x l ngt tong cc khi OB tng ng. Cch t chc chng trnh vi ch mt khi OB1 duy nht

nh vy c gi l lp trnh tuyn tnh.

- Lp trnh cu trc.

Vi kiu lp trnh c cu trc th khc v ton b chng trnh iu khin c chia nh thnh cc

khi FC v FB mang mt nhim v c th ring v c qun l chung bi nhng khi OB. Kiu lp trnh

ny rt ph hp cho nhng bi ton phc tp, nhiu nhim v v li rt thun li cho vic sa cha sau

ny. Chng trnh trong cc khi c lin kt vi nhau bng cc lnh gi khi, chuyn khi.

3.2. Ngn ng lp trnh

C nhiu loi ngn ng khc nhau c s dng lp trnh cho PLC nh: LAD, FBD, STL,...Gio trnh

ny s s dng phn mm Step7 v ngn ng FBD trong vic lp trnh.

3.2.1. Kiu d liu:

Mt chng trnh trong S7-300 c th s dng cc kiu d liu sau:

- BOOL: vi dung lng l 1 bit v c gi tr l 0 hoc 1 (ng hoc sai). y l kiu d liu bin c

hai gi tr.

- BYTE: gm 8 bits, thng c dng biu din mt s nguyn dng trong khong t 0 n

255 hoc m ASCII ca mt t. V d: B#16#14 ngha l s nguyn 14 vit theo h m c s

16 c di 1 byte.

- WORD: gm 2 byte, biu din s nguyn dng t 0 n 65535 (216 -1).

- DWORD: L t kp c gi tr l: 0 n 232-1.

- INT: cng c dung lng l 2 bytes, dng biu din mt s nguyn trong khong -32768 ( -

215) n 32767 hay (215-1).

- DINT: gm 4 bytes, dng biu din s nguyn t -2147483648 (-231) n 2147483647 (231-1).

- REAL: gm 4 bytes, dng biu din mt s thc du phy ng c gi tr l: -3,4e38.....3,4e38.

V d: 1.234567e13

- S5t (hay S5Time): khong thi gian, c tnh theo gi/pht/giy: (-231 231-1 ms). V d:

S5t#2h_3m_0s_5ms. y l lnh to khong thi gian l 2 ting ba pht v 5 mili giy.

- TOD: Biu din gi tr tc thi tnh theo Gi/pht/giy.V d: TOD#5:30:00 l lnh khai bo gi

tr thi gian trong ngy l 5 gi 30 pht.

- DATE: Biu din thi gian tnh theo nm / ngy / thng. V d: DATE#2003-6-12 L lnh khai bo

ngy12 thng 6 nm 2003.

- CHAR: biu din mt hoc nhiu k t (nhiu nht l 4 k t) (ASCII - code). V d: ABCD

3.2.2. Cc khi hm c bn

STEP7 FBD c cc nhm khi hm v logic, so snh , chuyn i kiu d liu, b m, b thi gian,

cc khi hm ton hc, cc php ton vi bit...Gio trnh ny ch cp n 4 loi nhm khi hm quan

trng nht, phc v cho vic lp trnh vi h thng LUCAS l: Nhm khi hm logic, nhm khi hm so

snh, nhm khi hm b m v nhm khi hm thi gian.

3.2.2.1. Nhm khi hm Logic

- u vo v u vo nghch o nh phn

Tham s Min b nh Kiu d liu Ch thch

I, Q, M, T, C, D, L BOOL Cung cp u vo hoc u vo nghch o cho cc khi khi hm.

- Khi hm AND


I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 s bng 1 khi ng thi I0.0 v I0.1 = 1

- Khi hm OR


I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 s bng 1 khi t nht I0.0 hoc I0.1 = 1

- Khi hm XOR


I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 = 1 khi I0.0 khc I0.1

- Khi hm SET


I, Q, M, D, L BOOL

Khi u vo bng 1 th s c thit lp bng 1. Khi u vo bng 0 th khng b nh hng.

- Khi hm RESET


I, Q, M, T,C, D, L BOOL TIMER COUNTER

Khi u vo bng 1 th s c xa v 0. Khi u vo bng 0 th khng b nh hng.

- Khi hm RS


I, Q, M, D, L BOOL a ch bit s c thit lp hoc xa.

S I, Q, M, T,C, D, L BOOL S =1 s thit lp Q R I, Q, M, T,C, D, L BOOL R =1 s xa Q

Q I, Q, M, D, L BOOL Trng thi ca

Ch : Nu c R v S u bng 1, Q s bng 1.

- Khi hm SR


I, Q, M, D, L BOOL a ch bit s c thit lp hoc xa.

S I, Q, M, T,C, D, L BOOL S =1 s thit lp Q

R I, Q, M, T,C, D, L BOOL R =1 s xa Q Q I, Q, M, D, L BOOL Trng thi ca

Ch : Nu c R v S u bng 1, Q s bng 0.

3.2.2.2. Nhm khi hm so snh

C cc dng khi hm so snh dnh cho s nguyn 16 bits, s nguyn 32 bits v s thc sau:

Khi hm so snh K hiu

So snh bng nhau == So snh khc nhau

So snh ln hn > So snh nh hn <

So snh ln hn hoc bng >=

So snh nh hn hoc bng

- So snh s nguyn 16 bits


IN1 I, Q, M, D, L hoc hng s

INT Gi tr so snh th nht


INT Gi tr so snh th hai

Output I, Q, M, D, L BOOL Kt qu ca php so snh

- So snh s nguyn 32 bits



DINT Gi tr so snh th nht


DINT Gi tr so snh th hai


- So snh s thc



REAL Gi tr so snh th nht


REAL Gi tr so snh th hai


3.2.2.3. Nhm khi hm b m

- S_CUD: Gn gi tr v m tin/li

Tham s ting Anh

Tham s ting c

Min b nh Kiu d liu Ch thch

no Nr. C COUNTER S th t ca b m

CU ZV I, Q, M, D, L BOOL m tin CD ZR I, Q, M, D, L BOOL m li

S S I, Q, M, D, L, T, C BOOL u vo thit lp b m

PV ZW I, Q, M, D, L hoc hng s

WORD

Gi tr m nm trong khong 0 n 999. Hoc nhp di dng C# di dng BCD

R R I, Q, M, D, L, T, C BOOL Xa b m

CV DUAL I, Q, M, D, L WORD Gi tr m hin thi ( h thp lc phn)

CV_BCD DEZ I, Q, M, D, L WORD Gi tr m hin thi ( h BCD)

Q Q I, Q, M, D, L BOOL Trng thi ca b m

- S_CU: Gn gi tr v m tin

Tham s ting Anh

Tham s ting c



CU ZV I, Q, M, D, L BOOL m tin



WORD






- S_CD: Gn gi tr v m li

Tham s ting Anh

Tham s ting c



CD ZR I, Q, M, D, L BOOL m li



WORD






3.2.2.4. Nhm khi hm thi gian

C 5 loi b thi gian m ngi s dng c th la chn da trn tnh cht ca tng loi nh sau:

Khi hm thi gian Ch thch

S_PULSE Thi gian ln nht m u ra gi gi tr 1 bng vi thi gian c lp trnh t. Khong thi gian ny s nh i khi tn hiu u vo chuyn sang 0.

S_PEXT

u ra s lun gi gi tr bng 1 trong khong thi gian bng vi thi gian c lp trnh, khng k n vic tn hiu u vo bng 1 trong bao lu.

S_ODT Tn hiu u ra s chuyn t 0 sang 1 khi thi gian c lp trnh ht v tn hiu u vo vn ang l 1.

S_ODTS Tn hiu u ra s chuyn t 0 sang 1 khi thi gian c lp trnh ht, khng k n vic tn hiu u vo bng 1 trong bao lu.

S_OFFDT

Tn hiu u ra s chuyn t 0 sang 1 khi tn hiu u vo chuyn sang 1 hoc b thi gian ang hot ng. Thi gian t c bt u t khi tn hiu vo chuyn t 1 sang 0.

Gi tr thi gian s c thit lp theo cu trc nh sau:

S5T#aH_bM_cS_dMS

Vi: H ch gi, M ch pht, S ch giy, v MS ch mili giy; a, b, c, d l cc gi tr do ngi dng t.

V d:

- S5T#4S = 4 giy

- S5T#2H_15M = 2 gi, 15 pht

- S5T#1H_12M_18S = 1 gi, 12 pht, v 18 giy.

- Khi hm S_PULSE

- Khi hm S_PEXT

- Khi hm S_ODT

- Khi hm S_ODTS

- Khi hm S_OFFDT

Cc khi hm thi gian ny c chung bng thng s nh sau:

Tham s ting Anh

Tham s ting c


no Nr. T TIMER S th t ca b thi gian

S S I, Q, M, D, L, T, C BOOL u vo kch hot

TV TW I, Q, M, D, L, hoc hng s.

S5TIME Gi tr thi gian t trc (0 n 9999)

R R I, Q, M, D, L, T, C BOOL Xa b thi gian

BI DUAL I, Q, M, D, L WORD Thi gian cn li ( dng s nguyn)

BCD DEZ I, Q, M, D, L WORD Thi gian cn li ( dng BCD)

Q Q I, Q, M, D, L BOOL Trng thi ca b thi gian

Tng quan v h thng Lucas

H thng Lucas l mt dy m hnh chuyn sn xut t ng thu nh, v c iu khin bi b

iu khin PLC thuc h Simatic S7-314. Cc trm trong h thng c xy dng di dng cc module

c th hot ng c lp hay lin kt vi nhau thnh dy chuyn. Vi cu trc nh vy, h thng th

hin ng tnh cht ca mt dy chuyn sn xut cng nghip, gip ngi s dng c c nhng kinh

nghim ging vi khi lm vic trn thc t nh: iu khin ng c, x l tn hiu t cc cm bin t,

c, a quang, iu khin cc van, iu khin PLC v thy c chu trnh hot ng, s phi hp gia

cc c cu trong mt dy chuyn.

H thng Lucas gm c cc trm c lit k di y:

- Trm bng ti

- 2 Trm cp phi

- Trm kim tra

- Trm x l phi

Trong cc trm trn th trm cp phi, trm kim tra v trm x l{ phi cng bao gm c trm bng ti.

Gio trnh ny xy dng 3 bi thc hnh vi cc trm bng ti, trm cp phi v trm x l phi.

Bi thc hnh vi trm bng ti

Trm bng ti bao gm cc thnh phn sau:

- ng c DC dng iu khin bng ti di chuyn sang tri hoc phi thng qua 2 r le ( u ra

nh phn QR, QS)

- 1 r-le iu khin chuyn ng chm ca bng ti theo c 2 hng ( u ra nh phn QS)

- 1 Pallet dng cha, di chuyn phi.

- 2 cm bin hnh trnh ( u ra nh phn IL, IR)

- 1 cm bin xung dng xc nh v tr v tc ca pallet ( u vo nh phn IMP)

- Cc gic cm.

Kt ni c bn gia PLC v trm bng ti:

Bi tp 1. Ch di chuyn c bn ca bng ti

Cho bng k hiu:

K hiu a ch Kiu d liu Ch thch

I_IMS1_TL I1.0 BOOL Nt nhn ch di chuyn sang tri ( tip im thng m)

I_IMS1_TR I1.1 BOOL Nt nhn ch di chuyn sang phi ( tip im thng m)

Q_IMS1_QL Q1.0 BOOL u ra ch di chuyn sang tri

Q_IMS1_QR Q1.1 BOOL u ra ch di chuyn sang phi

a. Vit chng trnh thc hin cc chc nng sau:

- Khi nhn v gi nt I_IMS1_TL s khin bng ti di chuyn sang tri cho n khi nt ny c

nh ra.

- Khi nhn v gi nt I_IMS1_TL s khin bng ti di chuyn sang tri cho n khi nt ny c

nh ra.

b. So snh kt qu vit phn a v cc p n sau chn ra p n ng ( cc tin t

I_IMS1_ v Q_IMS1_ c rt gn):

Bi tp 2. Ch di chuyn ca bng ti c s dng cc cm bin hnh trnh.

Cho bng k hiu sau:




I_IMS1_ST I1.6 BOOL Cng tc dng ( tip im thng ng)

I_IMS1_IL I1.3 BOOL Cm bin hnh trnh 2 ( tri)

I_IMS1_IR I1.4 BOOL Cm bin hnh trnh 1 ( phi)




- Khi nhn nt I_IMS1_TL, Pallet s di chuyn sang tri cho n khi chm vo cm bin hnh trnh

2.

- Khi nhn nt I_IMS1_TR, Pallet s di chuyn sang phi cho n khi chm vo cm bin hnh

trnh 1.

- Khi nhn nt I_IMS1_ST th bng ti s dng.

b. So snh kt qu vit phn a v cc p n sau chn ra p n ng:

Bi tp 3. Ch di chuyn ca bng ti c s dng cc cm bin hnh trnh v bng ti t ng

o chiu quay khi kt thc mi hnh trnh.

Cho bng k hiu sau:




I_IMS1_ST I1.6 BOOL Cng tc dng ( tip im thng ng)





T_IMS1_Timer1 T0 TIMER Thi gian ch 1 (TON) T_IMS1_Timer2 T1 TIMER Thi gian ch 2 (TON)


- Khi nhn nt I_IMS1_TL, Pallet s di chuyn sang tri cho n khi chm vo cm bin hnh trnh

2. Sau 2 giy, Pallet s t ng di chuyn ngc li n cm bin hnh trnh bn phi.

- Khi nhn nt I_IMS1_TR, Pallet s di chuyn sang phi cho n khi chm vo cm bin hnh

trnh 1. Sau 2 giy, Pallet s t ng di chuyn ngc li n cm bin hnh trnh bn tri.

- Khi nhn nt I_IMS1_ST th bng ti s dng.


Bi tp 4. o v tr ca Pallet

Cho bng k hiu sau:






I_IMS1_IMP I1.5 BOOL Xung tr v t cm bin



C_IMS1_COUNTER C0 COUNTER B m tin v li (CTUD)

a. Gi s Pallet ang tip xc vi cm bin hnh trnh bn tri, vit chng trnh thc hin cc

chc nng sau:

- Khi nhn v gi nt I_IMS1_TR, Pallet di chuyn sang phi, v s xung m c tng ln. Khi

nh nt, ng c dng li.

- Khi nhn v gi nt I_IMS1_TL, Pallet di chuyn sang tri, v s xung m c gim xung. Khi

nh nt, ng c dng li.

- ng c s dng khi Pallet di chuyn n v tr tip xc vi cm bin hnh trnh.


Bi tp 5. iu khin tc ca bng ti.

Vit chng trnh iu khin bng ti c cc ni dung sau:

- Gi s Pallet ang khong v tr gn vi cm bin hnh trnh bn tri (I_IMS1_IL), v chng

trnh o v tr bi tp trc ang hot ng.

- Nu nt TR c nhn, Pallet s chy vi tc ti a cho n v tr chnh gia ca h thng.

Sau , bng ti chy vi tc chm cho n khi n tip xc vi cm bin hnh trnh bn phi (

I_IMS1_IR). Khi n c v tr ny, ng c phi dng t ng.

- Nu nt I_IMS1_TL c nhn v gi, Pallet di chuyn sang bn tri vi tc ti a. Khi Pallet

tip xc vi cm bin hnh trnh 2 th ng c t ng dng.

Bi thc hnh vi trm cp phi

2 Trm cp phi bao gm cc thnh phn sau:

- 1 cm bin t B3 dng o v tr ban u ca xylanh dng.

- 1 cm bin c B4 dng xc nh cn phi trong tch hay khng.

- 1 xylanh dng ( iu khin bi van M1)

- 1 xylanh dng cp phi ( iu khin bi van M2)

- 1 van M1

- 1 van M2

Kt ni c bn gia PLC v 2 trm cp phi:

Cc u vo ca PLC:

- Trm 1:

K hiu a ch V tr chn trn gic SUB-D

Ch thch ID

I_IMS3_B3 I0.2 3/25 Cm bin t - xc nh xylanh dng v tr ban u

B3

I_IMS3_B4 I0.3 4/25 Cm bin c xc nh phi trong tch.

B4

I_IMS3_SEP I1.0 Nt nhn cp phi ( tip im thng m)

S4

I_IMS3_EMSTOP I1.2 Cng tc dng khn cp ( tip im thng m)

S5

I_IMS3_IL I1.3 1/9 Cm bin hnh trnh 2 - tri

B6

I_IMS3_IR I1.4 2/9 Cm bin hnh trnh 2 phi

B7

I_IMS3_INIT I1.5 Nt nhn khi to ( tip im thng m)

S2

I_IMS3_START I1.6 Nt nhn bt u ( tip im thng m)

S1

I_IMS3_ACK I1.7 Nt nhn xc nhn ( tip im thng m)

S3

- Trm 2:


Ch thch ID

I_IMS4_B3 I0.2 3/25 Cm bin t - xc nh xylanh dng v tr ban u

B3

I_IMS4_B4 I0.3 4/25 Cm bin c xc nh phi trong tch.

B4

I_IMS4_SEP I1.0 Nt nhn cp phi ( tip im thng m)

S4


S5


B6


B7


S2


S1


S3

Cc u ra ca PLC:

- Trm 1:


Ch thch ID

Q_IMS3_M1 Q0.0 14/25 H xylanh dng M1 Q_IMS3_M2 Q0.1 16/25 Cp phi M2

Q_IMS3_QR Q1.0 5/9 Di chuyn sang phi K1 Q_IMS3_QS Q1.2 7/9 Di chuyn chm K3

0V 8/9 in p cung cp

+24V 9/9 in p cung cp 0V 23/25 in p cung cp

+24V 25/25 in p cung cp

- Trm 2:


Ch thch ID

Q_IMS4_M1 Q0.0 14/25 H xylanh dng M1

Q_IMS4_M2 Q0.1 16/25 Cp phi M2 Q_IMS4_QR Q1.0 5/9 Di chuyn sang phi K1

Q_IMS4_QS Q1.2 7/9 Di chuyn chm K3 0V 8/9 in p cung cp


0V 23/25 in p cung cp +24V 25/25 in p cung cp

Hng dn c s khi:

Cho s khi c dng nh sau:

Trong :

- Bc: c ng khung trong vung, bc c thc hin u tin trong chu trnh iu

khin c ng khung bng vung kp. Trong s trn c 3 bc l 1,2 v 3. u ra ca cc

bc ( hay c bo hon thnh bc ) c k hiu l X+Tn bc tng ng ( trong s trn

c 3 u ra l X1, X2, v X3). Khi mt bc c hon thnh, u ra ca bc c gn gi tr

bng 1.

- iu kin chuyn: L iu kin cn chuyn gia cc bc, v c k hiu bng gch ngang

ct ng ni gia cc bc ( trong s trn c cc iu kin chuyn l TRANS12, TRANS23,

v TRANS34). Gi s iu kin chuyn TRANS23 l i 3s sau khi hon thnh bc 2 thc

hin bc 3 th iu kin ny s c k hiu nh sau: 3s/X2.

- Lnh: L cc lnh c thc thi tng ng vi cc bc. Cc lnh c ng trong khung hnh

ch nht. C 2 loi lnh nh sau:

+ Lnh khng c lu: L loi lnh m hiu lc ca n ch c tc dng khi bc tng ng vn

tn ti ( trong s trn l cc lnh Q2 v Q3). Loi lnh ny c ng khung trong hnh ch

nht bnh thng, v c th c biu din nh sau:

+ Lnh c lu: L loi lnh m hiu lc ca n tn ti qua nhiu bc, v ch mt tc dng khi

b ci t li bi mt cu lnh c lu tng ng ( trong s trn l lnh Q1). Loi lnh ny

c ng khung trong hnh ch nht i km vi mi tn, v c th c biu din nh sau:

Cc bc trong s khi trn c hiu nh sau:

- Nu bc 1 c thc hin ( X1=1), v iu kin TRANS12 tha mn th thc hin tip bc 2

v xa bc 1 ( X2=1 v X1=0)

- Tng t vi bc 2 v bc 3...

Cc lnh trong s khi trn c hiu nh sau:

Bi tp 1. Vit chng trnh iu khin hot ng ca van Q_ IMS3_M2 thng qua nt nhn

I_IMS3_SEP.

Vi bng k hiu c cho nh sau:


Q_IMS3_SEP I1.0 BOOL Nt nhn cp phi ( tip im thng m)

Q_IMS3_M2 Q0.2 BOOL Cp phi

Bi tp 2. Vit chng trnh thc hin chc nng cp phi.

a. Vit chng trnh thc hin chc nng cp phi c ni dung sau:

Chu trnh iu khin bao gm 6 bc. Sau bc th 6, chu trnh c lp li t bc 1. Chu trnh

phi tha mn cc yu cu di y:

- iu kin chuyn t bc 6 n bc 1: Pallet tip xc vi cm bin hnh trnh bn phi (

I_IMS3_IR=1)

Lnh trong bc 1: Khng

- iu kin chuyn t bc 1 n bc 2: Pallet tip xc vi cm bin hnh trnh bn tri (

I_IMS3_IL=1) v cm bin B4 bo cn phi ( I_IMS3_B4=1), y l v tr bt u. Bm nt bt u

(I_IMS3_START=1), chu trnh chuyn qua bc 2.

Lnh trong bc 2: Kch hot ch di chuyn sang phi bng mt lnh khng c lu v kch

hot xylanh dng bng mt lnh c lu.

- iu kin chuyn t bc 2 n bc 3: 1s sau khi kch hot bc 2, thc hin bc 3.

Lnh trong bc 3: Tip tc di chuyn sang phi, kch hot v duy tr ch di chuyn chm.


Lnh trong bc 4: Kch hot v duy tr ch cp phi (Q_IMS3_M2).


Lnh trong bc 5: a xylanh dng tr v v tr ban u bng mt lnh c lu

(Q_IMS3_M1)

- iu kin chuyn t bc 5 n bc 6: Nu cm bin B3 c kch hot (I_IMS_B3=1) v sau

khi thi gian i 1s kt thc, tin hnh bc 6.

Lnh trong bc 6: Di chuyn sang phi (Q_IMS3_QR=1).

b. So snh kt qu va vit c trong cu a v chn ra p n ng trong cc p n sau:

Bi tp 3. S dng bng cc u vo, u ra ca PLC trm cp phi 2 vit chng trnh cho

trm cp phi 2 c ni dung tng t nh trong bi tp 1, bi tp 2 trn.

Bi thc hnh vi trm x l phi

Trm x l phi bao gm cc thnh phn sau:

- 1 cm bin t B3 dng xc nh xylanh dng v tr ban u.

- 1 cm bin t B4 dng xc nh tay robot v tr 0o.

- 1 cm bin t B5 dng xc nh tay robot v tr 0o.

- 1 cm bin B6 dng xc nh p sut.

- 1 xylanh dng quay cnh tay robot ( iu khin bi van M1)

- 1 xylanh dng (iu khin bi van M2)

- 1 xylanh dng di chuyn c cu ht (iu khin bi van M3)

- 1 h thng vi ht ( iu khin bi van M4)

Kt ni c bn gia PLC v h thng x l phi:

Cc u vo ca PLC:


Ch thch ID

I_IMS7_B3 I0.2 2/25 Cm bin t - xylanh dng v tr ban u

B3

I_IMS7_B4 I0.3 3/25 Cm bin c tay robot v tr 0o

B4

I_IMS7_B5 I0.4 4/25 Cm bin c tay robot v tr 90o

B5

I_IMS7_B6 I0.5 5/25 Cm bin gim st p sut

B6

I_IMS7_B7 I0.6 6/25 Cm bin c c cu ht v tr trn cao

B7


S5


B6


B7


S2


S1


S3

Cc u ra ca PLC:


Ch thch ID

Q_IMS7_M1 Q0.0 14/25 Xoay tay robot t v tr 0o n 90o

M1

Q_IMS7_M2 Q0.1 15/25 H xylanh dng M2

Q_IMS7_M3 Q0.2 16/25 H c cu ht M3 Q_IMS7_M4 Q0.3 17/25 Ht M4

Q_IMS7_QR Q1.0 5/9 Di chuyn sang phi K1 Q_IMS7_QS Q1.2 7/9 Di chuyn chm K3

0V 8/9 in p cung cp

+24V 9/9 in p cung cp 0V 23/25 in p cung cp


Bi tp 1. Vit chng trnh thc hin nhim v x l phi c cc ni dung sau:

Chu trnh iu khin bao gm 8 bc. Sau bc th 8, chu trnh c lp li t bc 1. Chu trnh

phi tha mn cc yu cu di y:

- iu kin chuyn t bc 8 n bc 1: Pallet tip xc vi cm bin hnh trnh bn phi (

I_IMS7_IR=1)

Lnh trong bc 1: Thit lp li Q_IMS7_M1 v Q_IMS7_M4 v cc thng s ban u.

- iu kin chuyn t bc 1 n bc 2: Pallet tip xc vi cm bin hnh trnh bn tri (

I_IMS7_IL=1) v cm bin B4 bo tay robot v tr 0o, xylanh dng trng thi ban u

(I_IMS7_B3=1), c cu ht v tr trn cao (I_IMS7_B7=1) y l v tr bt u. Bm nt bt u

(I_IMS7_START=1), chu trnh chuyn qua bc 2.

Lnh trong bc 2: Kch hot ch di chuyn sang phi bng mt lnh khng c lu (

Q_IMS7_QR=1) v kch hot xylanh dng bng mt lnh c lu ( Q_IMS7_M2=1).

- iu kin chuyn t bc 2 n bc 3: 1.5s sau khi kch hot bc 2, thc hin bc 3.

Lnh trong bc 3: Quay tay robot t v tr 0o n 90o bng mt lnh c lu ( Q_IMS7_M1).

- iu kin chuyn t bc 3 n bc 4: Tay robot quay n v tr 90o ( I_IMS7_B5).

Lnh trong bc 4: Kch hot ch ht ( Q_IMS7_M4), v h c cu ht xung ( Q_IMS7_M3).

- iu kin chuyn t bc 4 n bc 5: Cm bin B6 (I_IMS7_B6) c kch hot.

Lnh trong bc 5: Khng

- iu kin chuyn t bc 5 n bc 6: C cu ht v tr trn cao ( I_IMS7_B7=1).

Lnh trong bc 6: Thit lp li tay robot v v tr ban u (Q_IMS7_M1).

- iu kin chuyn t bc 6 n bc 7: Tay robot quay v v tr 0o (I_IMS7_B4).

Lnh trong bc 7: H c cu ht xung (Q_IMS7_M3).

- iu kin chuyn t bc 7 n bc 8: Ch 1s.

Lnh trong bc 8: Thit lp li ch ht (Q_IMS7_M4), di chuyn sang bn phi (

Q_IMS7_QR), thit lp li xylanh dng v v tr ban u (Q_IMS7_M2).

Bi tp 2. Chn ra p n ng v s khi ch iu khin x l{ phi trong cc p n sau:

Documents

Bai Giang PLC