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Created by H. Erfi Ilyas - [email protected]
1
Wilujeng Sumping
di Departemen KetenagalistrikanP4TK Bidang Mesin dan Teknik Industri Bandung
Created by H. Erfi Ilyas - [email protected]
PEMROGRAMAN PLC
Prepared by
Erfi Ilyas
Widyaiswara PPPG Teknologi Bandung
Dosen
ISO 9000 Consultant & Auditor
DIKLAT OTOMASI INDUSTRI DENGAN PLCTanggal 30 September s.d 11 Oktober 2013
Created by H. Erfi Ilyas - [email protected]
Erfi Ilyas Koto
Lahir di Padang Panjang, Sumatera Barat
pada tanggal 24 Juli 1961
Anak pertama dari lima bersaudara
Agama Islam
Alamat Rumah
Komplek Puri Cipageran Indah Blok D 186
Cipageran - Cimahi, 40511
Email : [email protected]
Pekerjaan
Widyaiswara
Dosen
ISO 9000 Consultant
Technical Expert /Auditor ISO 9000
Created by H. Erfi Ilyas - [email protected]
SD Tamat tahun 1973
Pendidikan Formal
Alamat Kantor
P4TK BMTI (PPPG Teknologi) Bandung
Jl. Pasantren Km 2 Cibabat - Cimahi, 40513
Tel (022) 6652326, 6654698
Email : [email protected]
SMP Tamat tahun 1976
SMA Tamat tahun 1980
S1 (FPTK IKIP) Tamat tahun 1984
S2 (STIE-IE) Tamat tahun 1999S3 (Doktor Ilmu Ekonomi Unpar Bandung) Tamat tahun 2013
Created by H. Erfi Ilyas - [email protected]
Tujuan Pembelajaran
Secara umum pembelajaran pada mata diklat ini bertujuan
memberikan bekal pengetahuan dan keterampilan kepada
peserta tentang pemrograman dasar
Programmable Logic Control (PLC)
Created by H. Erfi Ilyas - [email protected]
Tujuan Pembelajaran
1. Mendeskripsikan sistem I/O adressing
2. Menjelaskan jenis-jenis bahasa pemrograman
programmable logic control
3. Membuat program rangkaian dasar (basic circuit)
4. Memprogram berbagai jenis output
5. Memprogram berbagai jenis timer
6. Memprogram berbagai jenis counter
Secara khusus pembelajaran ini bertujuan agar peserta
mampu:
Created by H. Erfi Ilyas - [email protected]
Lingkup materi PLC
1
2
3
I/O Adressing
Ladder Diagram
Function Block Diagram
4 Statement List
5 Basic Circuit
Created by H. Erfi Ilyas - [email protected]
Hubungan PLC dengan Mesin Proses
Input
Processing
Output
Contr
oller
Signal transmitter
Mechanics
Actuators Machin
e p
rocess
Manual Commands
Indicators
Human intervention in the control system
Process influencethe control system
Controller indicates result
Created by H. Erfi Ilyas - [email protected]
Konfigurasi Sistem PLC
Power
Supply
Central
Processing Unit
(CPU)
Memory
Programmer
Program
Output
ModulesInput
Modules
• Motor starters• Lights• Heater• Solenoid valve• Alarms• Relay
• Push button • Switch • Sensor
light, heat temperature position pressure
SENSOR AKTUATOR
PROGRAMMABLE CONTROLLER
• Personal Computer• Programming Terminal• Hand held programmer• Light pen programmer
Created by H. Erfi Ilyas - [email protected]
Format I/O Addressing
Format Penjelasan
I
O
,
y
z
Input
Output
Bit delimiter
Nomor grup (nomor slot dalam rak)
Nomor chanel (nomor terminal)
I y,z
O y,z
Contoh: I ,1 = input nomor satu pada slot nolO ,2 = output nomor 2 pada slot nol
0
0
1. Input-Output Adressing
Created by H. Erfi Ilyas - [email protected]
I/O Adressing berbagai Merek PLC
Input
Output
Bit delimiter
Tele
mecaniq
ue
Modic
on
Allen B
radle
y
Sie
mens S
7
Om
ron
0O ,5
0I ,1 Contoh penulisan
%i1.1
%q2.1
I:1/1
O:6/1
00.01
10.01
0I .1
0Q .5
I i I I 000
O O Qq 010
, . ./
Mitsubis
hi/
LG
X
Y
X1
Y1
Created by H. Erfi Ilyas - [email protected]
1
2
3
Ladder Diagram (LAD)
Instruction List (IL)
Statement List (STL)
Instruction Set (IS)
Function Block Diagram (FBD)
Function Block Language (FBL)
Bahasa Pemrograman PLC (IEC 61131-3)
4 Sequential Function Chart (SFC)
5 Structured Text (ST)
Created by H. Erfi Ilyas - [email protected]
1. Ladder Diagram
1.1. Graphic Test Symbol
Links Horizontal
Menghubungkan elemen program secara seri
(input, function block, output)
Vertical
Menghubungkan elemen program secara paralel
(input, function block, output)
Input Normally
Open
Conductive bila sinyal kontrol pada state (keadaan) 1
Normally Closed
Conductive bila sinyal kontrol pada state (keadaan) 0
Created by H. Erfi Ilyas - [email protected]
1.2. Graphic Action Symbol
Output Direct Aktif bila sinyal kontrol pada state (keadaan) 1
Inverse Tidak aktif bila sinyal kontrol pada state (keadaan) 1
Latched Set output
Men-set bit ke state 1
Unlatched Reset output
Me-reset bit ke state
Jump Bila output ini aktif, maka eksekusi program akan melompat ke label yang diprogramkan pada output ini
( )
( )
( S )
( R )
( J )
0
1. Ladder Diagram
Created by H. Erfi Ilyas - [email protected]
Simbol output berbagai Merek PLC
Direct
Inverse
Latched
Tele
mecaniq
ue
Modic
on
Allen B
radle
y
Sie
mens
Om
ron
Unlatched
Jump
( )
( )
( S )
( R )
( J )
( )
( )
( S )
( R )
-->>
( )
( L )
( U )
(JMP)
( )
( S )
( I )
( R )
SET
RSET
JMP(JMP)
Mitsubis
hi
( )
[ SET ]
[ RST ]
[ CJ ]
Created by H. Erfi Ilyas - [email protected]
1.3. Function Block
1
2
3
4
5
Timer
Monostable
Counter
Drum Controller
Register
1. Ladder Diagram
Created by H. Erfi Ilyas - [email protected]
E
C
D
R
Ti,v
T
Ti,v
P :
E
C
D
R
Timer – Telemecanique & Modicon
C : input untuk memulai proses timimgE : input untuk memungkinkan preset
time valueD : output bit yang menandakan timer
bekerjaR : output bit yang menandakan timer
mulai berjalan
Timing Diagram
Simbol
Created by H. Erfi Ilyas - [email protected]
E
C
D
R
Ti,v
T
Ti,v
P :
E
C
D
R
Timer – Telemecanique & Modicon
C : input untuk memulai proses timimgE : input untuk memungkinkan preset
time valueD : output bit yang menandakan timer
bekerjaR : output bit yang menandakan timer
mulai berjalan
Timing Diagram
Simbol
Created by H. Erfi Ilyas - [email protected]
Timer - Siemens S7
I 0.1T 37
IN TON
PT
LAD STL
LD I 0.1
TON T 37,5
5
Timing Diagram
T 37 (bit)
T 37
(current)
I 0.1
PT=5PT=5
Created by H. Erfi Ilyas - [email protected]
Timer - Siemens S7
I 0.1T 5
IN TONR
PT
LAD STL
LD I 0.1
TON T 5,5
5
Timing Diagram
T 5 (bit)
T 5
(current)
I 0.1
PT=5
Created by H. Erfi Ilyas - [email protected]
Timer - Omron
LAD STL
Timing Diagram
TIM 001
# 0050
(current)
000.01
PT=5PT=5
000.01
TIM
001
# 0050
Created by H. Erfi Ilyas - [email protected]
Timer - Mitsubishi
Timing Diagram
T1
K50
(current)
X1
PT=5PT=5
X1
I IK50
(T1 )
Created by H. Erfi Ilyas - [email protected]
Timer On-Delay (TON) – Allen Bradley
TON
TIMER ON DELAY
Timer T4:0
Time Base 1.0
Preset 10
Accum 0
(EN)
(DN)
This Bit
accumulated value is equal
to or greater than the preset
value
Is Set WhenAnd Remains Set Until One
of the following
Timer Done Bit DNrung conditions go false
rung conditions are true and
the accumulated value is less
than the preset value
Timer Timing Bit TTrung conditions go false or
when the done bit is set
Timer Enable Bit EN rung conditions are true rung conditions go false
Using Status Bit
Created by H. Erfi Ilyas - [email protected]
Timer Off-Delay (TOF) – Allen Bradley
TOF
TIMER OFF DELAY
Timer T4:0
Time Base 1.0
Preset 10
Accum 0
(EN)
(DN)
This Bit
rung conditions are true
Is Set WhenAnd Remains Set Until One
of the following
Timer Done Bit DN
rung conditions go false and
the accumulated value is
greater than or equal to the
preset value
rung conditions are false and
the accumulated value is less
than the preset value
Timer Timing Bit TTrung conditions go false or
when the done bit is set
Timer Enable Bit EN rung conditions are true rung conditions go false
Using Status Bit
Created by H. Erfi Ilyas - [email protected]
T
Ti,v
P :
S R
Monostable – Telemecanique & Modicon
S : input untuk memulai monostabelR : output bit yang menandakan
monostabel running
Timing Diagram
Simbol
S
R
Mi,v
Created by H. Erfi Ilyas - [email protected]
Counter – Telemecanique
R : input untuk me-reset counter ke nol
P : input untuk mem-preset nilai hitung
(count value)
U : input untuk menjalankan upcounting
D : input untuk menjalankan downcounting
E : output yang menandakan counter empty
D : output yang menandakan counter bekerja
(done)
F : output yang menandakan counter full
Simbol
C0
TB: 1s
P:5
E
D
F
R
P
U
D
Created by H. Erfi Ilyas - [email protected]
Counter – Modicon
R : input untuk me-reset counter ke nol
S : input untuk mem-preset nilai hitung
(count value)
CU : input untuk menjalankan upcounting
CD : input untuk menjalankan downcounting
E : output yang menandakan counter empty
D : output yang menandakan counter bekerja
(done)
F : output yang menandakan counter full
Simbol
C0
TB: 1s
P:5
E
D
F
R
S
CU
CD
Created by H. Erfi Ilyas - [email protected]
Counter – Siemens Step 7
CTUDCU
CD
R
PV
I 0.1
I 0.2
I 0.3
4
C48
LAD
LD I 0.1 //Count Up Clock
LD I 0.2 //Count Down Clock
LD I 0.3 //Reset
CTUD C48,4
STL
Created by H. Erfi Ilyas - [email protected]
I 0.2
Down
I 0.1
Up
I 0.3
Reset
0
1
2
3
4
5
4
3
4
5
C48(Current)
C 48
(bit)
0
Timing Diagram
Counter – Siemens Step 7
Created by H. Erfi Ilyas - [email protected]
Counter – Omron
000.02
CNT 001 010.01
000.01
CNT
001
# 0005
Created by H. Erfi Ilyas - [email protected]
X1
I IK5
(C1 )
Counter – Mitsubishi
C1
I I (Y1 )X2
I I [RST C1 ]
Created by H. Erfi Ilyas - [email protected]
Count Up (CTU) – Allen Bradley
CTU
COUNT UP
Counter C5:0
Preset 10
Accum 0
(CU)
(DN)
Using Status Bit
This Bit
rung conditions are true
Is Set WhenAnd Remains Set Until One
of the following
Timer Done Bit DN
rung conditions go false and
the accumulated value is
greater than or equal to the
preset value
rung conditions are false and
the accumulated value is less
than the preset value
Timer Timing Bit TTrung conditions go false or
when the done bit is set
Timer Enable Bit EN rung conditions are true rung conditions go false
Created by H. Erfi Ilyas - [email protected]
Drum Controller – Telemecanique
DR
U
FR : input untuk kembali ke step U : input untuk naik ke step berikutnyaF output yang menandakan cycle selesai
(finish)
0
Column F … 4 3 2 1 0
Command bit
Step 0 0 1 0 0 1
1 1 0 0 1 0
2
3
4
0O ,1 0O ,2 0O ,30O ,4 0O ,5
L=5
Created by H. Erfi Ilyas - [email protected]
Drum Controller – Modicon
DR
U
FR : input untuk kembali ke step U : input untuk naik ke step berikutnyaF output yang menandakan cycle selesai
(finish)
0
Step 0 1 2 3 4 Command
BIT 0 1 0 0 %q2.1
1 0 1 0 %q2.2
2 0 0 1 %q2.3
3 0 0 0 %q2.4
L=5
Created by H. Erfi Ilyas - [email protected]
SQO
SEQUENCER OUTPUT
File #N7:1
Mask OFOF
Dest O:6.0
Control R6:0
Length 4
Position 0
(EN)
(DN)
Sequencer Output (SQC) – Allen Bradley
Destination O:6.0
0000 0101 0000 1010
0000 1111 0000 1111
15 8 7 0
Mask Value OFOF
15 8 7 0
Sequencer output File #N7:1
0000 0000 0000 0000
1010 0010 1111 0101
1111 0101 0100 1010
0101 0101 0101 0101
0000 1111 0000 1111
Word
N7:1
2
3
4
5
Step
0
1
2
3
4
External Outputs
Associated with O:6
00
01 ON
02
03 ON
04
05
06
07
08 ON
09
10 ON
11
12
13
14
15
Current Step
Created by H. Erfi Ilyas - [email protected]
Register – Telemecanique & Modicon
R : input untuk me-reset register ke nol
I : input untuk memasukkan word ke register
O : input untuk mengeluarkan word dari register
F : output yang menandakan register full
E : output yang menandakan register empty
Simbol
RF
E
R
I
O
Created by H. Erfi Ilyas - [email protected]
Basic Circuit
1. Rangkaian YES
I0,1
I IO0,1
( )
Circuit Diagram Ladder Diagram
Tabel Kebenaran
Input
I 0,1
Output
O 0,1
0 0
1 1
S1
K1
Created by H. Erfi Ilyas - [email protected]
Basic Circuit
2. Rangkaian NOT
I0,2
I/IO0,2
( )
Circuit Diagram Ladder Diagram
Tabel Kebenaran
Input
I 0,3
Output
O 0,3
0 1
1 0
S2
K2
Created by H. Erfi Ilyas - [email protected]
Basic Circuit
3. Rangkaian AND
Circuit Diagram Ladder Diagram
Tabel Kebenaran
Input
I 0,3
Input
I 0,4
Output
O 0,3
0 0 0
0 1 0
1 0 0
1 1 1
S3
S4
K3
I0,3 I0,4
I I I I O0,3
( )
Created by H. Erfi Ilyas - [email protected]
Basic Circuit
4. Rangkaian OR
Circuit Diagram Ladder Diagram
Tabel Kebenaran
Input
I 0,5
Input
I 0,6
Output
O 0,4
0 0 0
0 1 1
1 0 1
1 1 1
S5 S6
K4
I0,5
I I O0,4
( )I0,6
I I
Created by H. Erfi Ilyas - [email protected]
Latihan 1.1
Circuit Diagram Ladder Diagram
I0,1 I0,2
O0,1
I0,3
I0,1
I I O0,1
( )I0,2
I I
I0,3
I I
Created by H. Erfi Ilyas - [email protected]
Latihan 1.2
Circuit Diagram Ladder Diagram
I0,4 I0,5
O0,2
I0,6
O0,2
I0,7
I0,4
I I O0,2
( )I0,5
I I
I0,6
I/I
O0,2
I I
I0,7
I/I
Created by H. Erfi Ilyas - [email protected]
Latihan 1.3
Circuit Diagram Ladder Diagram
O0,3
I0,8
I0,9
I0,10 I0,11
I0,12
I0,10
I I O0,3
( )
I0,12
I I
I0,8
I/I I0,9
I/I I0,11
I/I
Created by H. Erfi Ilyas - [email protected]
Circuit Diagram Ladder Diagram
I0,13
I0,14
O0,4 O0,5
I0,13 I0,14
I I I I O0,4
( )
O0,5
( )
Latihan 1.4
Created by H. Erfi Ilyas - [email protected]
2. Function Block Diagram (FBD)
Basic Element
No Designation Simbol dan
Logic Equation Tabel
Kebenaran Keterangan
Identity(YES)
x A
A = x 1
x A
0 0
1
Output A akan logic 1 bila input x logic 1
1
Negation(NOT)
x A
0 1
1 0
Output A akan logic 1 bila input x logic 0 dan sebaliknya
2 x A
A = x
Created by H. Erfi Ilyas - [email protected]
Basic Element
No Designation Simbol dan
Logic Equation Tabel
Kebenaran Keterangan
AND Output A hanya akan logic 1 bila kedua input x dan y logic 1
3 x A
0 0
0 0
y
1
01
0
0
1 1 1
xA
A = x y
y&
OR Output A akan logic 1 bila salah satu atau kedua input x dan y logic 1
4 x A
0 0
0 1
y
1
01
0
1
1 1 1
xA
A = x V y
y 1
2 Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Basic Element
No Designation Simbol dan
Logic Equation Tabel
Kebenaran Keterangan
Exclusion Output A hanya akan logic 1 bila input x logic 1 dan input y logic 0
5 x A
0 0
0 0
y
1
01
0
1
1 1 0
Inclusion Output A hanya akan logic 0 bila input x logic 0 dan input y logic 1
6 x A
0 1
0 0
y
1
01
0
1
1 1 1
yA
A = x y
x&
yA
A = x V y
x 1
2. Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Basic Element
No Designation Simbol dan
Logic Equation Tabel
Kebenaran Keterangan
NAND Output A hanya akan logic 0 bila kedua input x dan y logic 1
7 x A
0 1
0 1
y
1
01
0
1
1 1 0
NOR Output A hanya akan logic 1 bila kedua input x dan y logic 0
8 x A
0 1
0 0
y
1
01
0
0
1 1 0
xA
A = (xy)
y&
xA
A = (xVy)
y 1
2. Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Stop
Start
K1
K1
I0.1
I0.2
O0.1
O0.1
I0.2
O0.1 1
I0.1
O0.1&
Circuit Diagram Function Block Language
2. Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Function Block Language PLC Lucas Nulle
= Q1 MOTOR
1
&
I 2 START
Q 1 MOTOR
I 1 STOP
Stop
Start
K1
K1
I0.1
I0.2
Q0.1
Q0.1
Circuit Diagram
2. Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Function Block Language PLC Klockner-Moeller
1
&I 0.1
Q 0.1
I 0.2 Q 0.1
Stop
Start
K1
K1
I0.1
I0.2
O0.1
O0.1
Circuit Diagram
2. Function Block Diagram (FBD)
Created by H. Erfi Ilyas - [email protected]
Function Block Language PLC Siemens (STEP 7-Micro/Win 3.2
OR
I 0.1
Q 0.1
I 0.2 Q 0.1
Stop
Start
K1
K1
I0.1
I0.2
O0.1
O0.1
Circuit Diagram
2. Function Block Diagram (FBD)
AND
Created by H. Erfi Ilyas - [email protected]
Latihan 2.1
Created by H. Erfi Ilyas - [email protected]
Latihan 2.2
Created by H. Erfi Ilyas - [email protected]
3. Instruction List (IL)
Adress Seluruh instruksi yang diberikan akan
menerima nomor lokasi memory (adress).
PLC melaksanakan instruksi sesuai dengan
adress yang diminta. Adress ini biasanya
dinyatakan dalam angka dan menggunakan
tiga digit
Misal: 000 instruksi pertama001 instruksi kedua002 instruksi ke tiga
dan seterusnya
Created by H. Erfi Ilyas - [email protected]
Operation Operation memberitahukan pada PLC apa yang harus
dilakukan, membaca status sinyal, penentuan tipe
rangkaian seri atau paralel atau penetapan lokasi hasil dari
rangkaian
Misal: LI0.1 Load status sinyal dari input 0.1 ke dalam
working register
OI0.2 Input 0.2 terhubung paralel dengan
input 0.1 (rangkaian OR)
=Q0.1 Lokasi hasil rangkaian adalah pada
output 0.1
Jenis-jenis operation yang lain diantaranya adalah:
L : Load
A : AND
O : OR
XO : Exclusive OR
= : Allocation
3. Instruction List (IL)
Created by H. Erfi Ilyas - [email protected]
Operand Kalau operation menyatakan apa yang harus
dilakukan, maka operand menyatakan dengan
apa instruksi itu harus dilaksanakan. Dari contoh
di atas yang menjadi operand adalah input 0.1,
input 0.2 dan output 0.1. Untuk mengidentifikasi
jenis operand digunakan notasi sebagai berikut:
… N : Negation
I : Input
Q : Output
M : Marker
3. Instruction List (IL)
Created by H. Erfi Ilyas - [email protected]
Adress
(lokasi memory)
Diagram Instruksi Instruction List (IL)
Operation Operand
Instruksi
(isi lokasi memory)
Identifikasi
Tipe Operand Parameter
No Operand
Program
terdiri dari
6 instruksi
L = Load
atau baca
status input
I = Input Nomor
unit/slot
Nomor
terminal
005 L I 0.1
Created by H. Erfi Ilyas - [email protected]
Notasi IL berbagai Merek PLC
Load
OR
AND
Klo
cner
MPS3
AEG
BBC –
Pr
b
Sie
me
ns S
7
Om
ron
=
N Negation N
=
N
=
AND
NNOT
OUT
L U ! LOAD LD
O / ORO OR
A U AND&
Mitsubis
hi
Modic
on
=
Input
Output
I
Q
E
A
E
A
X
Y
LD
ST
I
Q
O
A
N
=
I
Q
LD
OR
AND
NOT
OUT
000
010
Created by H. Erfi Ilyas - [email protected]
Contoh Pemograman dengan Instruction List
K1
Stop I0.2
Q0.1
Start K1I0.1
Q0.1
Circuit Diagram
Klockner Moeller
L I 0.1
O Q0.1
AN I 0.2
= Q0.1
A E G
U E1
O A1
UN E2
= A1
B B C
! E02,01
/ A07,01
&N E02,02
= A07,01
Mitsubishi
LD X001
OR Y030
ANDI X002
= Y030
Statement List
Created by H. Erfi Ilyas - [email protected]
Contoh Pemograman dengan Instruction List
K1
Stop I0.2
O0.1
Start K1I0.1
O0.1
Circuit Diagram
Modicon
LD % I1.1
OR %Q2.1
ANDN % I1.2
ST %Q2.1
Siemens
LD I0.1
O Q0.1
AN I0.2
= Q0.1
Omron
LD 000.01
OR 010.01
ANDNOT 000.02
OUT 010.01
Statement List
Created by H. Erfi Ilyas - [email protected]
Latihan 3.1
Circuit Diagram Statement List
I1.1 I1.2
Q2.1
I1.3
Q2.1
I1.4
ModiconLD %I1.1OR %I1.2OR %Q2.1ANDN %I1.3ANDN %I1.4ST %Q2.1
SiemensNetwork //Percb 1LD I0.1O I0.2O Q0.1AN I0.3AN I0.4= Q0.1Network //Akhir ProgMEND
OmronLD 000.01OR 000.02OR 010.01ANDNOT 000.03ANDNOT 000.04OUT 010.01END
Created by H. Erfi Ilyas - [email protected]
Latihan 3.2
Circuit Diagram Statement List
O0,3
I0,8
I0,9
I0,10 I0,11
I0,12
Created by H. Erfi Ilyas - [email protected]
TERIMAKASIH
اَلُم َعَلْيُكْم َورَْحَمُة اهلِل َوبَ رََكاتُهُ ْالسَّ
Created by H. Erfi Ilyas - [email protected]
Let me do it
And I will understand
Tell me and I forgot
Show it to me and I will remember
(Confuzius)