ISBN 960-8171-71-7

A & - - ...

Ao &

A T

: & - 2

2001

( )

&

()

2o
: &

2001

,
. , / /
,
. , ...
,
. , . ...
,
. , ...

,
. , / /

,
.
,
. ,
,
, / /

,

,
. , / /

:
,

. ,
,
, . , :
, , .

. ,
, , , ,
.
2
. .
( 1 8)
( 9 10). , .

.
, ,
: ,
, , . , ,
, , .
, Festo Pneumatic,
Technopneumatic AE ydropneumatic Hellas, . .
,
.

.
, 2001

1
............................................... 11
............................................................................................................................................................ 11
1.1 ........................................................................................................................................ 12
1.2 ........................................................................................ 13
1.3 ........................................................................................................................... 14
1 : ................................................................................ 14
2 : ................................................................................................................. 15
............................................................................................................................................................................. 15
1.4 ............................................................................................................... 18
AND ............................................................................................................................................................. 18
OR ............................................................................................................................................................... 18
NOT ............................................................................................................................................................. 19
XOR ............................................................................................................................................................. 19
1.5 ..................................................................................................................................................... 20

2
.............................................. 21
............................................................................................................................................................ 21
2.1 ............................................................................. 22
2.2 GRAFCET ...................................................................................................... 23
2.3 GRAFCET....................................................................................................................... 25
1 : ............................................................................................................................................... 25
2 : ...................................................................................................................................................... 25
3 : ................................................................................................ 26
2.4 GRAFCET ....................................................................................................... 27
2.5 ....................................................................................................................................................... 29
2.6 ..................................................................................... 33

3
............................................................................................. 37
............................................................................................................................................................ 37
3.1 ........................................................................................................................ 38


() .................................................................................................................... 38
3.2 ().............................................. 43
................................................................................................................................ 43
................................................................................................................................ 43
(Move) ................................................................................................................. 44
(Load-Store) ............................................................................................. 44
3.3 ................................................................................ 46

4
......................................................................................... 49
............................................................................................................................................................ 49
4.1 .................................................................................................... 50
4.2 ........................................................................................................................... 53
4.3 (Function) .............................................................................................................. 56

5
- ...........................................................................................59
............................................................................................................................................................ 59
5.1 ............................................................................................................................... 60
....................................................................................................................................... 60
5.2 ..................................................................................................................................... 62
.............................................................................................................................................. 62
.................................................................................................................................................. 62
.............................................................................................................................................. 63
............................................................................................................................................. 64
.......................................................................................................................................... 65
5.3 .......................................................................................................................... 65

6
.................................................................................................. 67
............................................................................................................................................................ 67
6.1 .......................................................................................................................................... 68
: .............................................................................................. 69


6.2 - ................................................................................................................................... 71
.......................................................................................................................................................... 72
6.3 () .............. 74

7
.................................................................................................... 77
............................................................................................................................................................ 77
7.1 ............................................................................................................................................ 78
: ...................................................................................................................................... 79
7.2 ........................................................................................................... 81
....................................................................................................................................................... 83
7.3 () ............... 84

8
................................................................... 87
............................................................................................................................................................ 87
8.1 ................................................................................................................. 88
8.2 ...................................................................................................................................... 89
............................................................................................................... 89
......................................................................................................................... 90
8.3 .................................................................................................. 91
..................................................................................................................................................................................... 91
...................................................................................................................................................................................... 93
8.4 ......................................................................................................................... 95
8.5 ...................................................................................................... 97

9
..................................................................... 101
............................................................................................................................................................ 101
9.1 E .......................................................................................................................................................................... 102
9.2 ............................................................................... 102
9.3 ........................................................................................................... 105
............................................................................................................................................................................... 106


................................................................................................................................................................................ 110
...................................................................................................................................................... 115
............................................................................................................................................................117
.......................................................................................................................................... 118
.............................................................................................................................. 122
............................................. 124

10
..................................................... 127
............................................................................................................................................................ 127
..................................................................................................................................................................................... 128
.................................................................................................................................... 129
............................................................................................................................................................... 131
........................................................................................ 133
- ............................................................................................................ 135

........................................................................... 135
...................................................................................................................................... 139
............................................................................................................................... 147

:
,
:

.

 1
.
.

1.1

. :
, . ,
( 1.1)
, ,
( 1.1).

1.1:
,
:
( .. , , )
,
( ..

).
,
, 1 2,
. , , , ,
.

12

1.2

.
,
. , : 18 .
( ) ( ). , ..
.
, :
.
. :
(TRUE -1) (FALSE 0).
, (Boole).
, :
.
, .

. .
. .
- , 1.2. ,
(
). .

1.2:

13

1.3
. :

1 :
.
() . ,
. . , O,
Output (.. Q,
0). , O1, O2, O3
Q1, Q2, Q3 .
, , , . ,
.
. , Input. , I1,
I2, I3 I1, I2, I3 .

- , 1.3.

1.3: -

14



. ,
(0 1)
. ,

. ;
.

2 :

. , : 1 0.
, .
, . , , ... , 2 . .
, 1.3 23=8 ,
3+2=5 ,
( ) .
1.4 (
).
1

1.4: 1.3

,
, .
( ) .
, .

15

 1
.
.
, . , ().

1.5:

( ):
. ,
( ). , .
, ,
:
. ,
( ) . , .
, , 1.6.
. .. (2)

(1) . ,
.

.
, , .

16

1.6:
,
. , 22=4
.
,
, .
( )
:
) .
. ,

( ) .
) . , .
, . , ( 0)
1.7 .
1

1.7:

17

1.4

. : (AND), (OR)
(NOT). (XOR). .

AND
AND ()
(). ,
. AND ()
( ), .
AND AND, 1.8.

1.8: AND

OR
OR ()
().
. OR ()
.

18



OR OR, 1.9.

1.9: OR

NOT
NOT () ().
,
. NOT ()
()
.
NOT NOT, 1.10.

1.10: NOT

XOR
XOR () (). ()
, . XOR
, .

19

 1
XOR XOR, 1.11.

1.11: XOR

1.5
, AND, OR, XOR, NOT , ,
. , AND . ,
, 1 2
.
.
.
, ,
.. =1.(2+3).4.
.
, .
, .
:
.= . AND
+=+ OR
A.(B+C)=A.C+A .C
A.(B.C)=(A .B).C=A.B.C AND
A+(B+C)=(A+B)+C=A+B+C OR

de Morgan

20

:
,
:

GRAFCET

.

 2
GRAFCET.

2.1

. ,
,
, : .
, , .
2.1
() START STOP.

2.1:
: START
- STOP , .
..
. ,
, .
, .
, ,
.
,
. ().
2.2,
.

22

2.2:

2.2 GRAFCET
: , ,
, , .

-,
.
GRAFCET (GRAphe Fonctionnel de Commande Etape Transition).
GRAFCET
(AFCET) .
, .
GRAFCET, 2.3, :
. .
, . (
). 2.3 (3 8) ( ).
. .
,
. ,
. 2.3
3 8.

23

 2
. . , , . . 2.3,
, PRESS .

2.3: GRAFCET
2.4 GRAFCET.

2.4: GRAFCET

24

2.3 GRAFCET
GRAFCET : (). ()
( ).

. , GREFCET,
.

1 :
, . , ,
, 2.5.

2.5:

2 :
, . , .

25

 2
2.6 . ()
2/3 ( ), 2
. () , 2
, . () ,
: 2
. () :
2 3 .

2.6:

3 :
,
.
. 2.7
2 3.

2.7: 2/3

26

2.4 GRAFCET
GRAFCET OR AND.
OR
.
2.8 . 5 6 (
) 7 ( )
.

2.8: OR
, OR ,
. 2.9 . 10 , 8 (
) , 9 ( ).

2.9: OR

27

 2
GRAFSET . 2.10
OR.

2.10: OR
AND ,
. 2.11, AND
. , ,
6 7 8.

2.11: AND

28



AND,
.
2.12 . 8 6 7
.

2.12: AND

2.5
,
. . 2.13
, 15 , , 15 .

2.13:

29

 2
. 2.14
. , 15
. .
C condition ().

2.14:
, GRAFCET . 2.15,
2 15. D Delay ().

2.15:

30



.
2.16, 15
15 , .
L Length ().

2.16:
.
2.17, 15
. , 15 , .
(counter).
P Pulse ().

2.17:

31

 2

. , flip-flop.
2.18, 20 ()
20. 32.
S Set ( ) R Reset.

2.18: - flip/flop

32

2.6

().
,
. ,
15 - . , . 2.19 .

2.19: -

33

 2
GRAFCET
. 2.20 1-4 .
. 2 ..
.
.. .

2.20: GRAFCET
. 2.21.

34

2.21: GRAFCET
2.21 . 2.22
:
= .
S1 S2 = , .
KM1, KM2 =
.
1 = ( ).

2.22:

35

:
,
:



.

 3
.
. ,
.

3.1
()
1.2,
, . ,

. , () () .
() . , ( ) .
, .
(
). , 3.1,
. 1 . 1 , 1.
1 , 0.

3.1:

38


. , , . 3.2
().

3.2:
(0 1). Bit ( binary digit).
, 3.3.

3.3: Bit, Byte, Word

39

 3
Bit Byte ( 3.3). Byte
.
byte Kbyte (kilobyte).
.. 128 KByte. byte, Mbyte (megabyte) .. ( )
2 MByte.
Bytes . ,
Bytes. (address)
Bytes, Bytes Byte , .. . 3.4 Bytes
64 KBytes.

Byte

00000

0010 1010

00001

0001 0010

00002

1110 1001

...

...

...

...

65533

0001 0010

65534

1011 0010

65535

0011 0101

3.4:
Byte Bit . Bit 2 Byte 8 Bit, 28,
256 .

40


Byte , 0
255 . 3.5
103 ( 01100111) Byte.

Bits Byte

128

64

32

16

64

32

103

3.5: Byte
, Byte , 0 99
BCD (Binary Coded Decimal). BCD
bits. 3.6
67 ( BCD 01100111) Byte.
0

Bits Byte

2 ( )

( )

( )

10

10

60

67

3.6: BCD Byte

41

 3
, Byte 256 (,
, ), .
ASCII (American Standard Code for Information Interchange), 3.7.
Char

Code

Char

Code

Char

Code

<space>
!

#
$
%
&

(
)
*
+

.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?

32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63

@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
-

64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95

a
b
c
d
e
f
g
h
i
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
<delete>

96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
123
124
125
126
127
128

3.7: ASCII
Byte .
,
Byte (Word). Word 28=16 bits. Byte Word 65536
, 0-65535.
Word 216=32
Bits, (Double Word). Double Word 4.294.967.296=2321, Double Word
4 .

42

3.2
()

.
,
(.. ).
,
3.8:

3.8:

, , .
L (Load) ,
. , Load
Bit.

, .
( = )
, .
Load, Bit.
. , :
. .

43

(Move)
,
. Move
MOV. Move
() . ,
: MOV,
. 3.9 Move
ladder. Move
() ().

3.9: Move
, 3.1 () MOVW
(word) ()
130 142. W
(MOVW MOV)
Word. , DW (Data Word)
Word.

. .. MOVD
double word .

(Load-Store)
.
- - (register).
,
. Load,
LD.
, .
Store
ST.
Load+Store ()

44


. ,
: LD ST, .
3.10 ladder.
() ().

3.10: , Load-Store
, 3.1 (), LDA,
(word) ()
130 . A
(LDA LD L)
A .
, STA,
142. A STA
ST) A .

45

 3
. DW130 DW142.
Move,
.
Byte, Word Double Word
.
3.10 LDA 325
DW130 . ,
DW142. , , .

3.3

. , :
,
, ..
,
,
.

, , . .
3.11 . Word ( Bytes). ,
. 14
16 Bits.
Bit . Bits
3 . 12 Bits
BCD.
0, 2 5. , 25 ,
2,5 sec.

46


Word
Byte 2

Byte 1

BCD

15 14 13 12 11 10 9

0
0

s/10

25

3.11:
3.12 . ( 5 ) Word.
. 10 16 Bits.
Bits ,
,
.. , .
Bits .
, 39.
5
Word
Byte 2

Byte 1

15 14 13 12 11 10 9

39
3.12:

47

:
,
:

.

 4

. .

4.1

. .
, .
(..
).
, .
. ,
200 250 . - (sub-programme)
(sub-routine) (programme block).
, . , -
.
- :
(Organization Block) OB .. OB01, OB03,
29 .
(Programme Block) PB ..
PB02, PB4, PB25 .
(Function Block) FB .. FB03,
FB24 .
, , . , - ,
- . ,
- .
4.1 .

50

4.1:

. ( END)
.
, END BE Block End (
). (
) (02 ).

.
, ,
. 4.2 .
1 .
2, ( ).
END 2,
. END 1,
( ).

51

4.2:
1 ,
1
2. , , (, )
2 1.
.
,
(, 4.2). : . . ,
. , ()
01 00.
,
. ,
4.3 ( ). ,
...
.

52

4.3:

4.2
,
, . unconditional
jump unconditional call , JU, .

53

 4
4.4 ,
PB08.

4.4:
(Load I3.2
) JU PB08.
PB08 ( Set M1.0 ). ( END PB08),
( Load I2.6 ) END
. .
, . conditional jump conditional call
JC .
( ) . ,
.
4.5
PB12 AND
.

4.5:

54


(Load I3.2
) JC PB12.
, (I1.1 AND M2.3).
1 (TRUE), 1 ,
. 0 (FALSE),
2, ( Load I2.6 )
END . , , PB12 .
4.6 GRAFCET.

4.6: CRAFCET JC

55

4.3 (Function)

, , . , .. 4.7,
.
...
#1

#2

#3

#4

#5

L I 1.1

L I 1.7

L I 1.5

L I 2.1

L I 2.3

S Q 2.1

S Q 2.7

S Q 2.6

S Q 2.2

S Q 2.5

LN I 1.2

LN I 1.4

LN I 2.2

LN I 2.4

LN I 1.3

R Q 2.1

R Q 2.7

R Q 2.6

R Q 2.2

R Q 2.5

4.7: ()
4.8 .
Start, Stop, Relay, . ,

( ).
...
#1

#2

#3

#4

#5

Start

I 1.1

I 1.7

I 1.5

I 2.1

I 2.3

Stop

I 1.2

I 1.4

I 2.2

I 2.4

I 1.3

Relay

Q 2.1

Q 2.7

Q 2.6

Q 2.2

Q 2.5

L Start
S Relay
LN Stop
R Relay
4.8: ()

56


- ,
(function blocks).
, (formal parameters). ,
, .
, .
4.9
.
FB 24

NAME: ONOFF
PARAM01: START
PARAM02: STOP
PARAM03: RELAY

L START
S RELAY
LN STOP
R RELAY
END
4.9:

.
.

57

 4
4.10
FB24 . 1
2.

4.10:

58

:
,
:


.

 5

(.. )
(.. ).

.

5.1
,
.. ,
, . ,
.
(counters). , :
(up counters).

(down counters)

- (up-down counters) .
, ,
.
( Bytes)
. :

,

,
.
( )
.

bit
.
C ( counter ),
-

60

 -
. .. C56
.
5.1 . .
12 16 bits.
bits . 12 Bits
BCD. 2, 1 5. ,
215.
C34
Byte 2

Byte 1

BCD

15 14 13 12 11 10 9

1
2

215
5.1:

0-999. ,
bit . 5.2 .

( )

0 999
-500 499

854
-40

0 9999
-5000 4999

1234
-2567

0 1023
-512 511

678
-456

(12 bit)

0-4095
-2048 2047

38567
-1753

(16 bit)

0-65535
-32768 32767

38567
-1753

BCD,
bit ( 12 bit)
BCD,
bit ( 16 bit)
(10 bit)

5.2: ,

61

5.2
.

( ) .
R ( reset)
RESET flip-flop . ,
46 ( - !).
R C46
5.3 ( ),
C46. .
C46

BCD

15 14 13 12 11 10 9

215 ( BCD)

0 ()
5.3:

.
,
.
, .
LOAD . ,
(),
, .
, 215. KC
. -

62

 -
,
, , , .
LDA KC215
.
STORE .
C46 .
STA C46
5.4 (
) C46.
.
15 14 13 12 11 10 9

LDA
1

16 bit
LDA
1

215 ( BCD)
C46 STA

0 (.. )
C46 STA
0

215 ( BCD)
5.4:

.
CU ( Counter Up). ,
46.
CU C46
5.5 ( )
C46.
.

63

 5
C46

BCD

15 14 13 12 11 10 9

215 ( BCD)

216 ( BCD)
5.5:

.
CD ( Counter Down). ,
46.
CD C46
5.6 ( )
C46.
.
C46

BCD

15 14 13 12 11 10 9

215 ( BCD)

214 ( BCD)
5.6:

64

,
. ,
..
. .
C46 DW187.
MOV C46 DW187

: (), ()
. , C46
Q3.4.
A C46
S Q3.4

5.3

. ..
.
(comparators).
, :

<>

>

>=

<

<=

. . .
: ,
, , .
DW165
DW274 , , Q3.2.
LDA DW165

LDB DW274

<=?

S Q3.2
65

 5
, DW165. ,
DW274. ,
. ,
, .

.
,
. 5.6 .

=?

<>?

>?

>=?

<?

<=?

, LDA, LDB, LDC

., LD .
,
. ,
. ,

. , , ,
:
LD DW165
LD DW274
<=?
S Q3.2
,
LD DW274. DW274 (
). LD DW165.
.
.

66

:
,
:

 6

.

6.1
.
-
. , :
, .
, ,
. ,
, , .
TRUE/FALSE bit.
. ()
- .
6.1 .
(.. )
.

6.1:
.
(sensor) .
,
.
(amplifier)
,
. ,
( ) .

68


- (analog to digital converter)
, .

:
(LDR, Light-Dependent Resistor) - ( )
. , .
6.2 .

6.2:
(..
), 6.3.

6.3:
,
. , ( 50)

69

 6
( ) . ,
5 Volt.
.
6.3 .
.
,
5.
, .
.
6.4 .
- : , , , . , , . ,
. ,
,
( ) .



[m, rad]

[m/s, rad/s]

[m/s2, rad/s2]

[Hz]
[N, Nm]

[oC]
[W]

() [W]

[kg/m3]
[Pa]
[m3/s]
[m/s]
[cSt]
[N/m]

[V]
[A]
[]
[F]

() [H]

[/m]
[Wb]

[Cd]

[rad]
[Bq]
[rad]

() [W]

[mole/m3 ]
[PH]
[V]

6.4: [ ]

70

6.2 -

, . (OpAmp,
operational amplifier) 10 5 .
. ,
105 1 V 100 V!

.
. .
V- V+ .
: .
.
.
6.5.
3 +5 Volt. , Vin=V+-V-
. , Vin=-1 mV
50 V , , ,
3 V .
6.5..

6.5:
6.5.
Vin . , V+>V- 5 V V+ <V- 3 V.
.

71

 6

. 5 0 V, True False .

- ,
. (flash conversion),
.

. 6.6
0 Vref ,
(bit b1 bit b0].
bit 22=4 (
/ ). Vref
, .
. Vref/4
. Vref/4, Vref/2 3Vref/4.

6.6: - bit

72


. Ve.
. ,
.
6.7 S0, S1, S2 .
Ve /Vref.

6.7:
6.7
( 00 11). S0, S1 S2
b1 b0, 6.8. 6.6.
Ve/Vref

S2

S1

S0

b1

b0

0 - 1/4

1/4 1/2

1/2 3/4

3/4 - 1

6.8:
-
(s).
.
, ,
( bit ),
. bit 2-1 2 .
Byte 255 256 !

73

6.3
()
. (),
.
.

.

. ,
, 6.9.
, . , -
bit.

50mV
500mV
1V
5V
10V

20 mA
4-20mA

6.9:
6.10 ,
, - (bit).

74

6.10:
. - (function blocks)
. :
() ,
- ..
, .
-
.
, 1.3, ..
LDA PW125
,
.
- .

75

 6
6.11 .
, 13 bits: bit 12
. 8192 13 bit.
bit , ..
( )
.
Word PW125 - Accumulator
Byte 2

Byte 1

( )

15

14 13 12 11 10 9

260
6.11:

76

:
,
:


.

 7

.

7.1
, . . , ,
: , , , .. .

. ,
. , / / . (..
) .
, ,
. ()
.
7.1 .

(.. ) (.. ).

7.1:
.
- (digital to analog converter)

78


.
(amplifier) - . , , . , ,
( / )
.
(actuator)
.
.

:
()
.
. .
,
. ,
. .
, , .
7.2 ,
.

7.2: - I L
RL (12
V ) .

79

 7
.
R. ( ),
.
, ,
. IL
7.2.
. 7.3
(Watt).

7.3:
7.3, ( ) ( ).
.
, . 7.4
. , . ,
, , ,
.
, , .
(LED) ,
.

80

..

Peltier

..

LASER

7.4: ()

7.2

, . , .
7.5 .
R f (feedback). - Rin.

7.5:
,
( ).
,
. - V+
, V- ( ).
Rf Vout,
Vout = If . Rf

81

 7
Rin Vin:
Vin = Iin . Rin

,
.
:
If = Iin

,
:
Vout = - V in . Rf / Rin

7.5, , Rf/Rin, ( ).
,
.
.
7.6 V1 V2.

7.6:
, :
R

R
Vout = F V1+ F V2
R2
R1

, , :

R
R
R
Vout = F V1+ F V2 + ... + F VN
R2
RN

R1

82


,

( Rf/RN). 7.6 . ,
, .

- ,
.
, bit . 7.7
- , (bit b3, b2, b1 b0), 0 75 V.
5 V, bit.

7.7: - Bit
,
7.7 :
200
200
200
200

V b3 +
Vb2 +
Vb1 +
Vb0
Vout =
25
200
50
25

Vb = 0, -5V

83

 7
, 7.8
1011 ( 11).
(bit)

b3

b2

b1

b0

(V)

-5

-5

-5

Rf/RN

40

10

- (V)

55

7.8: 1001
0 V (
0000) 75 V ( 1111). ,
, 75 V
0 V .

7.3
()

. ()
.
.

.

. , , , 7.9.
, , . bit,
.

84

50mV
500mV
1V
5V
10V
50V
100V

20 mA
4-20mA

7.9:
7.10 ,
, - bit 0-75 V.

7.10:

85

 7
.
- (function blocks)
. :
() .
- ..
, .
,
.
, 1.3, ..
STA PW127

PW127,
. -
( ) .
7.11
. , 11 bits: bit 10
. bit
( ).
Word PW127 - Accumulator
Byte 2
15 14 13 12 11

Byte 1
10

1
+

( )
0

0
34

7.11:

86

:
,
:

.

 8
()
. ,
,
.

8.1
. ,
, :

.. ,
, .
.. , ,
, .
. . , , , .

.
.
1) .
2) .
3) .
4) .

. , ,
, .

88

8.2
, .
, , . :
.

. ,
.
(.. , )
(.. ). (.. ), .
8.1 . . ,
. ( )
. ,
. , .

- .

8.1:

89

 8
, ,
, , .

. ,
, . , , .

.
1)
.
20 . .
2) 70 0C.
.
3) , ,
. ,
.
8.2,
.

8.2:

90

8.3
,
, .
. ,

.
, :
,( ),
(
).

.
,
. , , (.. )
. , ,
(.. ).
,
. 8.3
.
. ,

.

8.3:
, ( ) . , ,

91

 8

. 8.4 S1 S2
.

S1

0 12 V ..

(..) (12 V),

.
(0 V)

S2

0 12 V ..

(..) (12 V),

.
(0 V)

8.4: S1 S2
() , 8.5.
.

8.5:
8.6 S3 S4

.

S3

,
S3

0 12 V ..

(..) (12 V),

.
(0 V)

S4

,
S4

0 12 V ..

(..) (12 V),

.
(0 V)

8.6: S3 S4

92

,
( ), 8.7. , ,
.

8.7:
8.8 TMP
.

TMP

0 10 V

20
220 .

0.05 volt .

8.8: TMP

,
. ,
,
. ,
, ( )
.
(.. ).
,
. 8.9
.

93

 8
( ).
,
.
, .

8.9:
, . , ().
8.10 .
, 1
.
2 . 3
H. ( 1 )
.

94

8.10:
8.11
.

K1

0 24 V

0 24 V

0 24 V

, 220 V ..

K1

K3

8.11: 1, 2 3

8.4
,
.
,
.

. , .

95

 8

. 70
20 ,
. .
, .
8.12 (GRAFCET).
.

8.12:

96

. , 8.13
,
.

1/2

S1 S2

,
1

2/3
2/4

S4

,
3

3/5

TMP
70

20 ,

4/5

20

,
2

5/1

S3

8.13: GRAFCET

8.5
( ),
.
, , ,
.
8.14 ,
.
,
(.. 1.2).
( ) (.. S2). ()
.
8.14 S1, S2, S3
S4 1 .
0 12 V .
( ), 4. ,
0 10 V bit, 0 255.

97

 8
, 20 ,
0,1 V 200 . 70 (7020) 0,05 = 2,5 V. 2552,5/10=64.
1 2 .
0 24 V (
250 mA). 3, ,
, 3 .

I1.1

S1

0 12 V ( #1)

I1.2

S2

0 12 V ( #1)

I1.3

S3

0 12 V ( #1)

I1.4

S4

0 12 V ( #1)

DW4.2

TMP

0 255 ( bit ),
0-10 V
( #4)

Q2.1

K1

0 24 V, 250 mA ( #2)

Q2.2

K2

0 24 V, 250 mA( #2)

Q3.1

K3

0 24 V, 100 mA( #3)

0 100 sec

8.14:
.
A

I1.1

I1.2

I1.3

Q2.1

I1.4

Q3.1

I1.4

KT

20S

20 second

SD

98

T1

Q2.2

Q3.1

DW4.2

KD64 64

>=?

Q2.2

Q3.1

I1.3

Q2.2

99

:
,
:





.

9.1 E

.. . 1,5 12 .
,
, , , , , , , , .
:





:

,

:

,

, 1-2 M/s, 4000
2

,
.

9.2

(compressor).

102

, , .
Nl/min () m3/min
= Kp/cm2. , 6 Kp/cm2. 3 Kp/cm2 15 Kp/cm2.

9.1:
:


.
. , . ,
.
, .

.
, mm
, . , , , , Teflon, , , (ALPE). .
.

103

9.2:
,
,
, , .
.
.
, , ,
, . . , . .

9.3: : , , ,
,
,
.
:

104

9.4:

9.3
, ,
. ,
. ,
.
, :
.
.
,
.
,
.
10 bar,
.

105

 9
P=.R.T

:
= (N/m2)
= (Kgr/m 3)
R = (287 J/Kgr 0K)
= (0K) = 273 +t (0C)

,
, , , , ,
. .

9.5:

9.6:
1.
2.
3. ,
4. ,
5. ,
6. , , (Tandem Cylinder)

106

:
.
.
.

9.7:
.
. .
.. , .
.

9.8: , 1 2 , 3 , 4
, 5
107

 9
1 2.
. ,
.
.
. ()
.
.
.
,
, 200 mm
100 mm.
,
.

9.9:
.
, . . , .
.
Tandem ,
, . ,
.
,
, . ,
. ,
12 .

108

9.10:

1.
, ,
, . .
F=(P1-P2) A, P 1-P2= .
(f) (L). :
(P1-P2) A=f+L

= D2/4
:
(P1-P 2) D2/4=L+ f

:
D = (cm)
A = (cm2)
1 = (Kp/ cm2)
2 = (Kp/ cm2)
f = ( P)
L = (P)
:
(P1-P2). = L = D2/4
. (P1-P2) A=L
(P1-P2) D2/4=L
(P1-P2) /4 (D 2-d2) =L

109

 9
2.
O ,
: 1) 2) 3) .
.
.

Q = Nl/min
q = cm
= cm
=
:
(1,013 + p/cm2)/1,013

:
Q = q l/min

:
Q = 2 q l/min

3.
: 1) , 2)
, 3) , 4) .
, , .
4.
, ,
,
, .

. .

110

.
, .
(3/2) (3) (2)
3/2.
, , .

9.11:
1-4 . ,
( ) 1-2 () 12
, 1-2, .
2-3 .
:

9.12:
.
1
2
3 R

111

 9
.

9.13:
.
, .
3/2 ,
. 3/2 :
(POPPET)
(SPOOL)
(MIXED)

112

(POPPET)

(SPOOL)

(MIXED)

5 4

9.14: ,
,
,
.
.
.
5/2 .
:

9.15: 5/2

113

 9
1
2, 4 ,
3 R
12
3 5 .
:




, ..
.

9.16: 5/2 1
:




.
.
4/2
. 9.14 .
4/2 5/2
.
.

114

9.17: 3
, . : 1/8, 1/4, 3/8, 1/2, 3/4, 1. , .

.

,
. ,
. () .
(.. ), (.. ),
(.. ), (.. ), ..
, , .
, .
.
, .
. . ,
.
:




, 9.18 -

115

 9
, . ,
, (SPOOL).

1 , , 2

, , 2

SPOOL 90, ,

9.18:
, 9.19 ,
.
() .

116

, ,

9.19:

.
, . , .
, , , ..
.
0 30 sec 10-180
sec. 9.20 .

9.20: ,
. .

, ) ) . , ,
. , ,
, .

117

M
. ,
(.. ), .
(DD), (OR), OXI (NOT)
: - (NAND) - (NOR). , . ,
, .
, , .
:
(ND)
(OR)
()
, .

9.21:
:

118

1) (AND)
.
2) (OR) .
3) 3/2, ,
.
- (NAND)
- (NOR).
NAND NOR

9.22:

119

 9
:
-, .
-, .
, 1 2.
,
.

9.23:

.
.
.
1. , .

2. , .

, , C, D, E +
. ,
.

120

H .
. 1, 2, 3, 4
, , C, D, E.
. 5
.
:
. ,
. .

121

:
. , .
:

9.24
3/2 , R.
, . R,
.

:
. .
:

9.25

122

4/2 5/2.
4/2 :
R. R.
. 5/2 : R.
S.
.
(AND)
:
3/2.
: ) ( D)

9.26
) 1.2 1.4
(1.6) .
: )

: )

9.27

9.28

123

 9
) 1.2 1.4
.
) 1.2 1.4. 1.6
(AND). 1.6 1.2
1.4 1.6.

. 9.29 .

9.29
.
. ,
. . C .
C , .

124

:


:

125

 9
9.30 .

9.30
.
. .
:


:

126

 10

:
,
:

 10

,
. , , :
.
. .

, .

10.1:

, ( ), ,
:
.
.
.
.
.
.
.
.

128

.
. 3/2

10.2:
3/2-

10.3:
3/2

. .
, .
, 1-2. , ,
.
3/2 10.4.

10.4: 3/2,

129

 10
. 5/2 5/3

10.5:
5/2

10.6:
5/3

10.5,
. 5/2
, . 5/2 3/2 , 5/2
.
10.6, 5/3 .
. P ,
R S . , SA SB, . .
10.7 .
.

10.7:

130

.
.
, ( ).
,
.

10.8:
,
.
.
.
10.9 .

10.9:

131

 10
,
.
.

89/392
.
() .
3 (C) , , .

10.10:
. , ,
.

132

( )
.
.

10.11
:
S1 S2 , 1 .
(3/2 4/2)
. , 1,
.

133

 10
( )
.
.

10.12
:
S1 S2 , . 1
. . S1 S2
1.
.

134

DIN/ISO 1219

135


- ()

136

137

138


10

Absolute Pressure

Accumulator

( )

.C. Power Supply

..

Actuator

Amplifier

Analog to digital conversion

Annular area

Atmospheric pressure

Automatic, Auto

By-pass

C
Call

Central processing unit, CPU

, ...

Chamber

Changeover contact (CO)

Check valve

Clock-wise, (CW)

Comparator

140

Contactor

Control circuit

Counter

Counter balance valve

Counter clock-wise, (CCW)

Cylinder

D
D.C. Power Supply

..

Decompression

Differential cylinder

Digital logic

Digital technology

Digital to analog conversion

Direct current (dc)

(..)

Directional valve

Download

Driver

E
Electric load

F
Filter

141

Fitting

Flash conversion

Float switch

Flow control valve

Flow rate

Force

Function block

H
Hardware

()

Hose

I
Input circuit

Input module

Interface

()

I / O modules

L
Ladder, LAD

Ladder
( )

Limit switch

Liquid flow switch

Liquid level switch

Load

142

Main contact

Manual

Mili-Ampere (mA)

Ampere (10-3 )

N
Normally closed contact (NC)
Normally open contact (NO)

O
Operational amplifier

Optocoupler

Output module

P
Photoelectric switch

Pilot lamp, indicator light

Pilot valve

Piston

Port

Pressure

Pressure switch

Programmable logic

controller, (PLC)

, ()

Programme block

143

Programmer

Proximity

Pulse function

Pump

Reciprocation

Register

Relay

()

( )

Relay output

Relief valve

Return

Rotations per minute (rpm)

(...)

S
Sensor

Sequential control

Set point value

Software

Solenoid

Solid state relay

Solid state technology

()

Spool

144

Start

Statement list, STL

, STL

( )

Step

Stop

Store

Subroutine

Switch

T
Timed contact,

delayed contact

Time relay, timer

Time switch

Truth table

V
Vacuum

Valve

Vent

145


10

1. Bauer D., R. Bourgeois, M. Jakubowicz: Memotech - Technologie Industrielle, Ed. Casteilla, Paris 1998.
2. Crater Kenneth: State language for machine control a white paper, Control dot com, 1993.
3. EC1131 Part 3-93: Programmable controllers: Programming Language, International Electrotechnical
Commission, Geneva 1993.
4. EC 848: Etablissement de diagrammes fonctionnels pour systemes de commande, International
Electrotechnical Commission, Geneva 1988.
5. Morris Mano M.: , , 1992.

6. Berger Hans: Automating with the SIMATIC S5-115U, Siemens, Berlin 1989.
7. Berger Hans: Automating with STEP 7 in STL, Siemens, Berlin 1998.
8. Melore Phil. The PLC Tutor. http://www.plcs.net, 2001.
9. ., ., .: , , 1996.
10. ., . , . : - ,
. , 1999.
11. .: SIMATIC S7, , 2000.
12. .: PLC , , 1993.
13. .: PLC, . , 1998.
14. .: , , 1989.

-
15. Auslander David, C. Kempf: - , .
, 1998.
16. Histand Michael, D. Alciatore: Introduction to mechatronics and measurement systems, Ed. McGrawHill, 1998.
17. Stiffler Kent: Design with microprocessors for mechanical engineers, Ed. McGraw-Hill, 1992.

18. Bieder Klaus: H , , 1998.
19. Festo Didactic: , .
20. Festo Didactic: .

148


21. Herwig Braun ( ): , , 1996.
22. Schutz-Diere Fritz: , ,
1994.
23. Webb John, Greshock Kevin: Industrial Control Electronics, Prentice Hall, 1993.
24. . : , . , 1982.
25. : , . .
26.
. Festo pneumatic
. Hydropneumatik Hellas, .
. Schneider Electric
. Technopneumatic
. .
27. : , 1971.
28. -: , , 1996.
29. ., .: , , 1986.
30. ..: , .
31. . .: , , 1992.
32. ..: , , 1992.
33. ..: : - , .

149

 2.3.2: ... ...

:
l

...

o :
,

:
,

- :
...