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GTPLC
GTPLC
GTPLC
I.1 M u
Trong cc h thng sn xut, trong cc thit b t ng v bn t ng, h thng
iu khin ng vai tr iu phi ton b cc hot ng ca my mc thit b. Cc h
thng my mc v thit b sn xut thng rt phc tp, c rt nhiu i lng vt l phi
iu khin c th hot ng ng b hoc theo mt trnh t cng ngh nht nh nhm
to ra mt sn phm mong mun. Tng i lng vt l n l c th c iu khin
bng mt mch iu khin c s dng tng t hay gin on. iu khin nhiu i lng
vt l ng thi chng ta khng th dng cc mch iu khin tng t m phi s dng
h thng iu khin l gc. Trc y cc h thng iu khin l gc c s dng l h
thng l gc r le. Nh s pht trin nhanh chng ca k thut in t, cc thit b iu
khin l gc kh lp trnh PLC (Programmable Logic Controller) xut hin vo nm
1969 thay th cc h thng iu khin r le. Cng ngy PLC cng tr nn hon thin v
a nng. Cc PLC ngy nay khng nhng c kh nng thay th hon ton cc thit b iu
khin lo gc c in, m cn c kh nng thay th cc thit b iu khin tng t. Cc
PLC c s dng rng ri trong cng nghip.
Chc nng chnh ca PLC l kim tra trng thi ca cc u vo v iu khin cc
qu trnh hoc cc h thng my mc thng qua cc tn hiu trn chnh u ra ca PLC.
T hp l gc ca cc u vo to ra mt hay nhiu tn hiu ra c gi l iu khin
l gc. Cc t hp l gc thng c thc hin theo trnh t iu khin hay cn gi l
chng trnh iu khin. Chng trnh iu khin c lu trong b nh ca PLC c th
bng cch lp trnh bng thit b cm tay ni trc tip vi PLC hoc lp trnh trn my
tnh c nhn nh cc phn mm chuyn dng v truyn vo PLC qua mng hay qua cp
truyn d liu. B x l tn hiu, thng l cc b vi x l tc cao, thc hin chng
trnh iu khin theo chu k. Khong thi gian thc hin mt chu trnh iu khin t lc
kim tra cc tn hiu vo, thc hin cc php tnh lo gc hoc i s c c tn hiu
iu khin, cho n khi pht tn hiu n u ra c goi l chu k thi gian qut.
PLC trong cng nghip thng c cu hnh n gin nht, bi v cc chng trnh
trnh iu khin qu trnh cng ngh hay my mc thng c hot ng 24/24 v
khng cn bt c s can thip ca con ngi trong qu trnh iu khin. PLC ch dng
qut chng trnh iu khin khi ngt ngun hoc khi cng tc ngng c kch hot. S
khi n gin ho ca PLC c th hin trn hnh 1.1.
I.1
I.2
Cun ht
Cng tc
M un
Vo
CPU
M un
Ra
n tn hiu
cch xa hng vi trm mt. Cc PLC c th trao i d liu cho nhau v vic iu khin
qua trnh sn xut tr nn d dng hn.
Thit b iu khin kh lp trnh PLC chnh l cc my tnh cng nghip dng cho
mc ch iu khin my, iu khin cc ng dng cng nghip thay th cho cc thit b
cng nh cc r le, cun ht v cc tip im.
Ngy nay chng ta c th thy PLC trong hng nghn ng dng cng nghip.
Chng c s dng trong cng nghip ho cht, cng nghip ch bin du, cng nghip
thc phm, cng nghip c kh, cng nghip x l nc v cht thi, cng nghip dc
phm, cng nghip dt may, nh my in ht nhn, trong cng nghip khai khong,
trong giao thng vn ti, trong qun s, trong cc h thng m bo an ton, trong cc h
thng vn chuyn t ng, iu khin r bt, iu khin my cng c CNC vv. Cc PLC
c th c kt ni vi cc my tnh truyn, thu thp v lu tr s liu bao gm c qu
trnh iu khin bng thng k, qu trnh m bo cht lng, chn on s c trc tuyn,
thay i chng trnh iu khin t xa. Ngoi ra PLC cn c dng trong h thng qun
l nng lng nhm gim gi thnh v ci thin mi trng iu khin trong cc cc h
thng phc v sn xut, trong cc dch v v cc vn phng cng s.
S ra i ca my tnh c nhn PC trong nhng nm tm mi nng cao ng
k tnh nng v kh nng s dng ca PLC trong iu khin my v qu trnh sn xut.
Cc PC gi thnh khng cao c th s dng nh cc thit b lp trnh v l giao din gia
ngi vn hnh v h thng iu khin. Nh s pht trin ca cc phn mm ho cho
my tnh c nhn PC, cc PLC cng c trang b cc giao din ho c th m
phng hoc hin th cc hot ng ca tng b phn trong h thng iu khin. iu ny
c ngha c bit quan trng i vi cc my CNC, v n to cho ta kh nng m phng
trc qu trnh gia cng, nhm trnh cc s c do lp trnh sai. My tnh c nhn PC v
PLC u c s dng rng ri trong cc h thng iu khin sn xut v c trong cc h
thng dch v.
PLC c sn xut bi nhiu hng khc nhau trn th gii. V nguyn l hot
ng, cc PLC ny c tnh nng tng t ging nhau, nhng v lp trnh s dng th
chng hon ton khc nhau do thit k khc nhau ca mi nh sn xut. PLC khc vi cc
my tnh l khng c ngn ng lp trnh chung v khng c h iu hnh. Khi c bt
ln th PLC ch chy chng trnh iu khin ghi trong b nh ca n, ch khng th
chy c hot ng no khc. Mt s hng sn xut PLC ln c tn tui nh: Siemens,
Toshiba, Mishubisi, Omron, Allan Bradley, Rocwell, Fanuc l cc hng chim phn ln
th phn PLC th gii. Cc PLC ca cc hng ny c ng dng rng ri trong cng
nghip s dng cng ngh t ng ho.
Cc thit b iu khin PLC to thm sc mnh, tc v tnh linh hot cho cc h
thng cng nghip. Bng s thay th cc phn t c in bng PLC, qu trnh iu khin
tr nn nhanh hn, r hn, v quan trng nht l hiu qu hn. PLC l s la chn tt hn
cc h thng r le hay my tnh tiu chun do mt s l do sau:
- Tn t khng gian: Mt PLC cn t khng gian hn mt my tnh tiu chun
hay t iu khin r le thc hin cng mt cc nng.
- Tit kim nng lng: PLC tiu th nng lng mc rt thp, t hn c cc
my tnh thng thng.
- Gi thnh thp : Mt PLC gi tng ng c 5 n 10 r le, nhng n c
kh nng thay th hng trm r le.
- Kh nng thch ng vi mi trng cng nghip: Cc v ca PLC c lm
t cc vt liu cng, c kh nng chng chu c bi bn, du m, m,
rung ng v nhiu. Cc my tnh tiu chun khng c kh nng ny.
Hng Siemens c mt s x ri S7-200 l ccloi PLC hng trung bnh. S lng knh vo/
ra ca S-300 c th trong khong t 256 n 1024.
Cc PLC loi ln c nhiu hn 1024 u vo/ra. Loi ny c tc x l rt cao, dung
lng b nh ln v thng c dng trong iu khin cc h thng thit b cng ngh
phc tp. Hng Omron c PLC loai CJ1 trn hnh 1.10, l loi c ti 1280 knh vo/ ra v
loi CJ1H c ti 2560 knh vo/ra.
a,
b,
Hnh 1.13. a, Cu trc ca S7-400; b, S kt ni ca S-400
Cc PLC loi ln thng dng iu khin mc cao. mc thp thng l cc
thit b iu khin tng t, hay thit b iu khin s vi cc PLC loi nh, hay loi
trung bnh. mc thp, ch yu l cc thit b iu khin trc tip cc thit b cng ngh,
cc c cu chp hnh, cc ng c, bm, van, cun ht, n hiu vv. iu khin mc
cao bao gm cc iu khin lin quan n phn qun l h thng v qun l d liu ca
h thng iu khin. mc ny, cc d liu c th c thu thp t cc cc thit b iu
khin mc thp hoc t bn ngoi h thng thng qua mng ni b v mng Internet. Cc
d liu t cc PLC c truyn v cc my tnh trung tm lu tr v x l. Trng hp
cc h thng sn xut t ng c iu khin bng thng k, y chnh l iu khin
mc cao, tng ng vi cu trc qun l ca h thng. Hot ng ca h thng iu khin
8
- Thit b lp trnh
S ca mt b PLC c bn c biu din trn hnh 1.15. Ngoi cc m un chnh
ny, cc PLC cn c cc m un ph tr nh m un kt ni mng, cc m un c bit
x l tn hiu nh m un kt ni vi cc can nhit, m un iu khin ng c bc,
m un kt ni vi encoder, m un m xung vo vv..
u vo
M un
Vo/ Ra
M un
ngun
u ra
CPU
Thit b lp
trnh
M un nh
B x l tn hiu
y l b phn x l tn hiu trung tm hay CPU ca PLC. B x l tn hiu c
th bao gm mt hay nhiu b vi x l tiu chun hoc cc b vi x l h tr cng vi cc
mch tch hp khc thc hin cc php tnh l gc, iu khin v ghi nh cc chc
nng ca PLC. B x l thu thp cc tn hiu vo, thc hin cc php tnh l gc theo
chng trnh, cc php tnh i s v iu khin cc u ra s hay tng ng. Phn ln
cc PLC s dng cc mch logic chuyn dng trn c s b vi x l v cc mch tch hp
to nn n v x l trung tm CPU.
B vi x l s ln lt qut cc trng thi ca u vo v cc thit b ph tr, thc
hin logic iu khin c t ra bi chng trnh ng dng, thc hin cc tnh ton v
iu khin cc u ra tng ng ca PLC. B vi x l nng cao kh nng logic v kh
nng iu khin 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 vv.
B vi x l iu khin chu k lm vic ca chng trnh. Chu k ny c gi l
chu k qut ca PLC, tc l khong thi gian thc hin xong mt vng cc lnh ca
chng trnh iu khin. Chu k qut c minh ho trn hnh 1.16.
10
Bt u chu k
Qut u ra
(Bm, van, cun ht)
Qut u vo
(Cng tc, nt n ..)
Chu k qut
11
12
u vo
u ra
Cun ht
n
ng c
ng
ng
13
i. Cc knh vo / ra s
j. Cc knh vo/ ra tng t
k. Cc mun chuyn dng: iu khin ng c bc, thit b iu khin
PID, b m thi gian cao tc, m un iu khin servo vv.
Cc m un vo/ ra thng ni vi ngun nng lng mc cao nn phi cch in tt vi
m un CPU. Cc knh vo tng t s dng cho vic ly tn hiu t cc cm bin tng
t :
- Cm bin lu lng
- Cm bin m
- Cm bin p xut
- Cm bin nhit
- Cm bin p xut
- Cm bin v tr / tc / gia tc
- Cm bin lc
Cc knh ra tng t thng c ni vi cc c cu chp hnh tng t:
- Cc ng c DC v AC
- Cc van v cc ng c, xi lanh thu kh
- Cc thit b o tng t.
Cc knh vo s thng ni vi cc cm bin hai trng thi dng ng/ ngt (On/Of) nh:
- Cm bin quang in,
- Cm bin tim cn
- Cm bin xung in
- Cc cng tc
Cc knh ra s c th ni vi cc thit b nh:
- Cc cun ht cho van in t
- Cc ng c bc
- Cc c cu ng ngt vv.
Cc dng u vo
Cc tn hiu vo t cc thit b hay t cc cm bin cung cp cc d liu v thng
tin cn thit b x l tn hiu thc hin cc php tnh l gc yu cu quyt nh n
vic iu khin my hoc qu trnh. Cc tn hiu vo c th ly t cc thit b khc nhau
nh nt n, cng tc, can nhit, ten z mt, vv. Tn hiu vo c ni vo cc m un vo
lc tn hiu v chuyn i tn hiu v mc nng lng thp b x l c th s dng
c. u vo c hai dng l u vo dng s v u vo dng tng t. u vo dng s
c kt ni vi cc cu ni knh trn m un vo s, cc knh ny ch c cc tn hiu hai
trng thi 0 hay I. u vo tng t c th l tn hiu in p, dng in t cc cm bin
tng t.
14
a ch knh
Cng tc cao
I/0
O/0
I/1
VAC
I/2
O/1
I/3
VAC
I/4
O/2
I/5
VAC
I/6
O/3
I/7
VAC
I/8
O/4
I/9
VAC
M1
B khi ng bm
K1
Cng tc p lc
Cng tc hnh trnh
Cng tc ph ca
bm
Cng tc nhit
DC com O/5
+24 Vdc
VAC
L
N
L1
120 Vac
N
15
chiu quay ca ng c. u ra cng c hai dng tn hiu l dng tn hiu s hoc tn hiu
tng t.
Cu trc ca cc m un vo ra
PLC c sn xut theo dng m un ho, thay th, b xung hoc sa cha d dng.
Trn hnh 1.19 l cu to c trng ca cc m un vo/ ra. Cc m un ny c cu to l
cc mch in cha trong cc hp tiu chun ho, c knh truyn d liu song song c
th kt ni vi nhau v truyn d liu vo b x l. Mt sau ca cc hp ny l cc cu
ni v ngun in p mt chiu cung cp cho mch in hot ng. Cc hp cha cc m
un vo/ra c th lp ln t iu khin chnh hoc cc t ph nh cc gi tiu chun.
Cc m un vo/ra s (Digital I/O)
Cc knh vo/ra s l nt chung c trng ca phn ln cc h thng iu khin s. Cc
knh ny u c hai trng thi nh ng/ ngt, m/ ng ni qua cc giao din vi b x
l tn hiu. Mi m un vo/ra s u c kch hot bi in p ngun do tn hiu cp,
c th l in p mt chiu: +5VDC, +24VDC hay in p xoay chiu: 110VAC,
220VAC.
16
110Vac
Dy trung tnh
17
Dy trung tnh
110Vac
Vo
B gia nhit
N
1
H1
B gia nhit
1
H2
FV-1
FV-2
B khi ng bm s 3
4
5
B khi ng bm s 4
5
6
P3
P4
6
B khi ng my trn 1
M1
M2
B khi ng my trn 2
7
Dy trung tnh
N
N
Dy u bn ngoi
18
Cc m un chuyn dng
Cc m un s v tng t chim n 80% cc i lng vo/ ra trong cc h thng iu
khin. Mc nhin x l mt s dng tn hiu hoc d liu, h thng iu khin cn cc
m un chuyn dng. Cc m un ny c cc giao din c th x l cc tn hiu vo dng
tn hiu t can nhit, t cc b m xung, hay cc tn hiu khng th dng cc giao din
vo/ra tiu chn. Cc m un chuyn dng ny c th c trang b thm b vi x l
tao ra cc giao din thng minh. Cc m un ny c th thc hin ton b cc chc nng
x l tn hiu c lp vi CPU v chu trnh qut ca chng trnh iu khin. V d l m
un iu khin ng c bc hnh 1.22.b, m un iu khin v tr hnh 1.22.c ca S5100U.
Trong s cc m un chuyn dng c c cc m un truyn thng hnh 1.22.d. Cc m
un ny c th trao i vi h iu khin phn tn, vi mng PLC khc, cc my tnh ch
hoc cc thit b thng minh khc.
a,
b,
c,
Hnh 1.22. Mt s m un c bit ca PLC S5 - Siemens
a, M un ra tng t S5-100U; b, M un iu khin ng c bc;
c, M un iu khin v tr; d, M un kt ni mng
d,
M un ngun
Thng ngun cp cho PLC l ngun in li xoay chiu AC to ra ngun
mt chiu DC cho cc mch bn trong ca PLC. Ngun in li c th l 110 VAC, 220
VAC hay in p khc tu thuc theo yu cu ca ngi s dng. Ngun ny cng dng
cp nng lng ng ngt ng c hay cc cc c cu chp hnh khc nn cn phi
c cch in tt trnh gy nhiu cho m un CPU.
M un ghp ni mng
M un ny cho php ghp ni cc PLC vi nhau, vi my tnh v cc h thng
iu khin s khc thng qua mng ni b.
19
M un ph tr
Cho php ghp ni vi cc thit b bn ngoi nh mn hnh, bm phm, b lp
trnh cm tay (hnh 1.23), my in, thit b m phng, b np EPROM, my tnh dng m
un ho, b x l ho vv. Trong mt s h thng iu khin c cn n mn hnh
m phng hay theo di hot ng ca h thng, ngi ta c th s dng mt trong hai
phng php sau:
- Phng php th nht l ni cc m un vo ra ca PLC vo mt bng iu
khin vi mn hnh mu, c trang b cc n tn hiu v cc b ch th s. Phng
php ny phi kt ni c nh v nu h phi m rng thm s khng s dng
c.
- Phng php th hai l s dng my tnh c nhn, loi dng trong mi trng
cng nghip c trang b phn mm ho mu. Phng php ny c u im l
d dng thay i mn hnh ca qu trnh iu khin, c th thc hin mt s choc
nng cnh bo, lp bo co v son tho phn mm cho PLC.
Vng qut ca
chng trnh
Thc hin cc bc
chng trnh
Chuyn d liu t
vng nh m n u ra
20
Vng qut cng t lnh dng th thc hin cng nhanh. Nu chng trnh hot
ng bnh thng th chu k ca mi vng qut c di nh nhau. Tc qut cng cao
th c th cho php nhp c nhiu s liu gn nh ng thi trong thi gian qut, v
nh vy kh nng iu khin c ng thi nhiu i lng l hon ton c th thc hin
c. Kh nng x l tn hiu trong mt chu trnh iu khin khng c hin tng tr cn
c gi l iu khin trong thi gian thc. Cc PLC v cc PC ngy nay c tc x l
rt cao nn cht lng ca cc h thng iu khin s khng km cht lng ca cc h
thng iu khin tng t. Chu k qut ca PLC thng vo khong t 1 n 25 mi li
giy. Thi gian qut u vo v u ra tng i ngn so vi chu k qut ca PLC. Phn
ln thi gian dng cho vic tnh ton cc hm iu khin.
Thng thng chng trnh c np vo PLC bi b lp trnh cm tay (hnh 1.23), thit
b lp trnh chuyn dng (hnh 1.24) hay my tnh c nhn (hnh 1.25). B lp trnh cm
tay thng dng cho cc PLC r tin, n gin. B lp trnh chuyn dng c trang b
mn hnh v cc phm tng ng vi cc phn t ca s thang tin cho vic lp
trnh. Cc thit b ny cho php kim tra vic thc hin cc lnh ca chng trnh trong
thi gian thc. Ngy nay ta thng s dng cc phn mm lp trnh cho PLC trn my
tnh v sau khi chay th m phng c th np vo PLC thng qua cng RS232.
B np EPROM cho php np chng trnh ghi trn EPROM vo b nh ca PLC. Thit
b m phng thng gn vi cc i t quang in LED hoc cc cang tc th nghim
cc bc ca chng trnh logic.
B x l ho thng dng lm giao din gia h thng m phng v h thng hin
th bng mn hnh.
Cc PLC hot ng lin tc t lc c bt ln. Khc vi my tnh thng thng, PLC
khng cn c h iu hnh, khng cn c phn mm no ngoi phn mm ca ngi s
dng v ring i vi cc my CNC hoc r bt c th c thm phn mm ho dng
cho m phng cc qu trnh gia cng hay cc hot ng ca r bt . PLC ln lt c cc
u vo, thc hin tnh ton, xc nh cc tc ng iu khin, trun cc tc ng iu
khin n u ra v lp li. Kt ni vi m un vo l cc i lng vt l. Cc i lng
vo ny c th l c hai dng:
- cc i lng tng t (analog): l cc i lng n t cc cm bin tng t.
- cc i lng l gc: l cc i lng th hin cc trng thi hay cc iu kin
thc hin mt hm l gc hay chnh l cc quyt nh l gc. Cc i lng
ny n t cc cng tc, cm bin s.
Cc m un ra kt ni cc u ra vi cc ng c, cc cun ht, cc n tn hiu vv. Tc
ng ca chng trnh iu khin l cc thao tc khi ng ng c, dng ng c,
bt/tt n, kch hot mt c cu no vv.
Tt c cc PLC u thc hin cc chc nng iu khin v mt bn cht l ging
nhau. Tuy nhin v cch th bng lp trnh c th khc nhau, ph thuc vo nh sn xut
PLC.
Mi u vo ca PLC c ni vi mt hay nhiu thit b m qua dng in b chn lai
hay c cho i qua. Nu c in p trn u vo th u vo c c xem nh ang
trng thi bt. Ngc li nu khng c in p trn u vo, c ngha l u vo ang
trng thi tt.
PLC kim tra trng thi cc u vo v so snh vi chng trnh l gc ng
hay ngt tn hiu in p trn u ra. Cc PLC khng cn bit n cc cc thit b c c
kt ni vo n qua m un vo hay m un ra hay khng, m chng ch n gin l kim
21
22
23
Phn mm lp trnh cho PLC cng cho php PC truy cp trc tip vo chng trnh ang
lu trong b nh ca PLC. Khi ang ch truy cp trc tip (online), chng trnh
trong b nh ca PLC s c hin th ln mn hnh PC. Nu ta ang c mt chng trnh
no m sn khc vi chng trnh ca PLC, th phn mm lp trnh s t ng ng n
li v ch m chng trnh c trong PLC m thi. Trn mn hnh ca phn mm s c ca
s vi tn hiu bo ta ang ch truy cp trc tip. Lc ny ta c th thay i ch
lm vic ca PLC t ch gin tip (offline) sang chng trnh iu khin t xa. Thc
hin vic chy chng trnh iu khin t phn mm lp trnh trn PC, ta c th theo di
c tng bc thc hin trn s thang.
Phn mm lp trnh cn cho php dng chng trnh ang chy trn PLC, khi chuyn
sang ch chng trnh iu khin t xa.
nhn bit tnh nng ca mt PLC no ta phi da vo c tnh k thut ca PLC .
V d PLC Simatic S5 100U ca Siemens c cc c tnh sau:
- Dung lng nh: 1024 lnh
- B nh tnh: EPROM v EEPROM
- Thi gian thc hin mt php tnh nhi phn: 70s
- Thi gian chu k: 300ms
- Bin trng thi : 1024, trong 512 l bin tnh, tc l cc bin c th gi cc
d liu ngay c khi mt in.
- B m gi: 16
- Khong m gi: 0.01 n 9990s
- B m: 16, trong 8 l b m tnh.
- Khong m: 0 n 999 (tng hoc gim)
- Knh Vo/Ra s: 128
- Pin: Lithium (3.4V/850mA-h)
- Tui th ca pin: 5 nm
- Ngun trung tm: 24V/0.8A
-
Cu trc ca cc m un vo s:
o 4/8 knh vo 24V DC/7mA
o 4 knh vo 24 60V DC/7.5mA
o 4/8 knh vo 115V AC/10mA
o 4/8 knh vo 230V AC/15mA
Cu trc ca cc m un ra s:
o 4 knh ra 24V DC/0.5A
o 4 knh ra 24V DC/2A
o 8 knh ra 24V DC/0.5A
o 4 knh ra 24 60V DC/0.5A
o 4 knh ra 115 230V AC/1A
o 8 knh ra 150 230V AC/0.5A
o 4 knh ra r le: 30V DC/230V AC
24
Lnh 1
Lnh 2
..........
Vng qut
..........
..........
..........
Lnh cui
Khi
iu
Chng
trnh
chnh
hnh
Khi
Ph
Khi
ph
.......
Khi
ph
Khi
ph
Khi
ph
.......
Khi
ph
n xung. Chng trnh cng c th ng thi lnh cho thit b iu khin bt n trn t
iu khin khi tip im ph tr ca b khi ng ng c c ng.
Chng trnh c vit bng s t hp cc lnh theo mt trnh t xc nh. Phng
thc t hp cc lnh cng nh dng ca cc lnh u c tun th theo nhng qui nh
chung. Cc qui nh v cc lnh t hp vi nhau to ra ngn ng lp trnh. C bn dng
ngn ng hay c bn hay s dng cho cc PLC th h u tin:
1. Bng lnh (STT)
2. S thang (LAD)
3. S khi hm l gc (FBD)
4. Grafcet
Ngn ng Bng lnh STT:
y l ngn ng lp trnh s dng cc k t thng thng m ho cc lnh ca.
Cu trc ca cc lnh tng t nh ngn ng Assembler dng cho cc b vi x l. Cc
lnh ny bao gm cc a ch ca cc bit m trn cc lnh ny s tc ng ln. Ngn
ng bng lnh STT bao gm mt di rng cc lnh d hiu lp trnh mt chng trnh
iu khin hon chnh. V d PLC Siemens S7 c n 130 lnh STT khc nhau v c mt
di rng cc a ch ph thuc vo kiu PLC c s dng.
Lnh STT c hai cu trc c bn :
- Cu trc th nht ch c lnh n thun, v d NOT.
- Cu trc th hai gm c lnh v a ch.
a ch ca ca mi lnh ch th mt v tr khng thay i trong b nh, ni m lnh
tm thy gi tr v trn s thc hin cc php tnh.
Cc lnh l gc nh phn l cc lnh c bn nht ca bng lnh STT. Cc lnh ny thc
hin cc php tnh l gc trn cc bit n c trong b nh ca PLC. Cc lnh l gc c
bn ca bit gm: AND (A), AND NOT (AN), OR (O), EXCLUSIVE OR (OR),
EXCLUSIVE OR NOT (XN). Cc lnh ny kim tra trng thi tn hiu ca bit a ch
to ra hoc l l gc 1 (bit c kch hot) hoc l gc 0 (bit khng c kch hot). Cc
lnh l gc bit cn c gi l cc lnh l gc r le, bi v chng c th thc hin cc tc
ng iu khin thay th cho cc mch l gc r le. Trn hnh 1.23 l v d v php tnh l
gic AND. Chng trnh bng lnh STT ct bn tri v chng trnh s thang ct
bn phi tin so snh cch din t lnh. Lnh AND lp trnh ni hai tip im ni tip
NO. Ch khi tn hiu cc hai bit a ch bng 1 th trng thi ca bit u ra Q4.0 bng 1,
cun ht c kch hot.
STR X1
AND X2
OUT Y1
X1
a,
X2
b,
26
Y1
27
OUT Y0
Ni dung ca chui lnh ny :
o Chn bin ra Y5
o Thc hin php tnh logic OR gia Y5 v X3
o Thc hin php tnh logic OR gia kt qu php tnh trc vi IR7
o Chun kt qu ti knh ra Y0
y chnh l kt qu ca php tnh sau: Y0 = Y5 + X3 + IR7
Lnh OR NOT: Lnh ny thc hin php cng logic vi mt hay nhiu bin khc,
tip theo l ph nh kt qu.
V d: STR IR13
OR NOT X10
OR NOT X14
OUT IR15
y chnh l thc hin php tnh logic : IR15 = IR13 + X10 + X14 .
Lnh AND : y thc t chnh l php nhn logic gia hai hay nhiu bin logic.
V d: STR NOT X0
AND X1
AND IR7
AND Y3
OUT Y10
Chui lnh ny thc hin cc thao tc sau:
- Gi bin vo X0 v ph nh gi tr ca n.
- Thc hin php nhn AND gia X0 v X1.
- Thc hin php nhn gia IR7 v kt qu php tnh trc.
- Thc hin php nhn gia Y3 vi kt qu ca php tnh trc.
- Chuyn kt qu ra knh ra Y0.
y l kt qu ca php tnh: Y10 = X 0.X1.IR 7.Y3 .
Gia php cng v php nhn logic khng c g khc bit, lnh no theo trnh t
ng trc s thc hin trc.
V d: STR X5
OR X3
AND Y5
OUT Y3
y l php tnh: Y3 = (X5 + X3).Y5 .
STR X5
AND X3
OR Y5
OUT Y3
y l php tnh: Y3 = X5.X3 + Y5
Lnh AND NOT: Lnh ny thc hin php nhn logic gia hai hay nhiu bin v
sau ph nh kt qu.
V d: STR Y6
AND NOT X3
AND NOT IR9
AND NOT X9
OUT IR14
28
Lnh AND STR: l lnh thc hin php nhn logic AND gia hai chui lnh bt
u bng lnh gi STR hay STR NOT.
V d: STR X0
AND NOT X1
STR X2
AND X3
OR NOT Y0
AND STR
OUT Y1
Chui lnh ny thc hin php tnh: Y1 = X0.X1.(X 2.X3 + Y 0)
Lnh m thi gian TMR v lnh m CTR:
Lnh thi gian v lnh m l cc lnh to ra kh nng ng ngt, ko di thi
gian thc hin mt lnh hay mt chui lnh o trong chng trnh. Cc lnh
ny l hm ca thi gian hoc ca s lng xung m tc ng ln u vo ca
chng.
Lnh TMR: lnh ny s dng hai bin thc hin chc nng m thi gian l
X i v X j . u ra ca lnh thi gian c th l mt bin trung gian hoc mt u
ra.
Lp trnh cho b m thi gian cn mt chui cc lnh sau:
1. Lnh khi ng bin Xi
29
t = 10
30
Y9
t =10
Lnh m CTR: Lnh ny thc hin chc nng ca mt b m vi hai hoc 3
bin. Trng hp th nht l m tng, bin u tin l bin khi ng v bin th
hai l bin m. Trng hp th hai l b m tng/gim, b m ny s dng ba
bin. Bin th nht v bin th ba tng t nh b m tng. Bin th hai l bin
chn kiu m tng hay gim tng ng vi trang thi 0 hay 1.
V d: STR X1
STR X0
CTR 3
10
OUT Y2
Bin Y2 tr thnh 1 sau khi c 10 xung m trn u vo X0, ng thi X1 gi
nguyn trng thi 1 v chuyn v 0 khi X1 chuyn v 0.
Biu thi gian:
X1
X0
12
9 10
Y2
Chui lnh ca b m tng/gim gm :
STR X2
STR X1
STR X0
CTR 4
10
OUT Y3
Biu thi gian:
X2
X1
7 8 9 10 11 12 13 14 15 16
X0
Y3
Trong b m tng gim v d trn ta thy b m m n 10, nhng bin
X1 thay i trng thi t 0 sang 1, gi tr lu trong b m c m gim cho
n khi X1 quay v trng thi 0. Lc ny b m li m tng cho n khi gi tr
lu trong n t gi tr l 10. u ra c kch hot khi b m t gi tr cho
trc (10). u ra ngt khi bin X2 chuyn v trng thi 0.
Cc lnh iu khin:
Cc lnh iu khin nh hng trc tip n vic thc hin cc lnh khc. Tt
nhin PLC c th thc hin chng trnh khng cn n cc lnh ny, nh vy
31
32
I.2
Start
Mc nc thp
Bc 1
R le iu khin 1
CR1
PB1
LSH 1
CR1 (1) (Tip im duy tr)
Bc 2
P1
CR1 (2)
Start
PB
Mc nc thp
I: 010/01
33
Chy bm
O: 000/00
Chy bm
O: 000/00
Chy bm
n bo bm chy
O: 000/00
O: 000/01
34
Xi
Bin NC
Bin trung gian IRi c th l bin , c th l u ra trung gian. Trng hp th nht bin
IRi l bin trung gian th k hiu ca n cng tng t nh k hiu ca cc bin vo Xi.
IRi
IRi
Bin ra Yi:
Yi / IRi
2. Chui logic :
Y0
X0
STR X0
OUT Y0
X0
STR NOT X0
OUT Y0
X2
STR X2
IR7
OR IR1
IR1
OR Y3
Y3
OUT IR7
35
X1
STR NOT X1
Y0
Y3
OR NOT Y0
OR NOT IR12
OUT Y3
IR12
Lnh AND :
Lnh OR v AND :
X0
Y1
IR3
Y0
X0
Y3
IR6
IR0
X1
X6
Y2
STR X0
AND Y1
AND IR3
OUT Y0
Y5
IR0 X7
IR2
STR NOT X0
AND NOT Y3
AND NOT IR6
OUT IR0
STR X1
AND NOT X6
AND Y2
STR IR0
AND X7
AND IR2
OR STR
OUT Y5
TMR
100
Y0
36
STR X0
STRX1
TMR 0
100
OUT Y0
Lnh m CTR
STR X0
STR X1
X0
CTR 3
X1
Y5
STR X2
21
CTR 3
21
OUT Y5
X2
X= A
NOR:
X= A+B
B
A
AND:
A
&
X = A.B
XOR:
B
OR:
=1
X= A. B + A .B
&
X =(A+B). C
X = A+B
A
T hp: B
C
37
X0
X3
Y0
STR NOT X0
OUT Y0
STR X3
1
=
Y4
IR0
X3
Y0
OR Y4
OR IR0
OUT Y0
Y0
STR NOT X3
1
=
Y4
IR0
OR Y4
OR NOT IR0
OUT Y0
Y0
STR X0
AND X1
OUT NOT Y0
X0
&
Y0
X1
STR NOT Y0
AND NOT X0
AND X1
OUT Y1
Y0
X0
X1
&
Y1
STR NOT Y0
AND NOT X0
AND X1
Y0
X0
X1
&
38
Y9
STR IR0
AND NOT X0
AND X1
OR STR
OUT Y9
IR0
X0
X1
&
STR NOT Y0
OR NOT X0
OR X1
Y0
X0
X1
1
&
STR IR0
OR NOT X0
OR X1
AND STR
OUT Y9
IR0
X0
X1
Y9
TMR 0
X0
STR X0
STR X1
TMR 0
OUT Y0
10
=
Y0
X1
CTR 5
X3
10
STR X3
STR X9
CTR 5
10
OUT Y7
Y7
X9
39
CTR 7
STR X3
STR X4
STR X9
CTR 7
10
OUT Y10
X3
10
X4
Y10
X9
Ngn ng Grafcet
y l ngn ng c pht trin bi cc nh khoa hc Php vo nm 1982. Ngn
ng ny c t tn t ch vit tt ca Graphe Fonctionnel de Commande Etapes
Transition ( ho chc nng iu khin giai on chuyn tip) do hai c quan khoa
hc ca Php l AFCET ( Lin hip Php v kinh t v k thut) v ADEPA ( Hip hi v
pht trin nn sn xut t ng) hp tc son tho. Grafcet l cng c biu din cc
hot ng iu khin ca cc h thng t ng. Trong cc hot ng ca cc h thng vt
l th ta c th gp hai dng hot ng: hot ng k tip nhau v hot ng ng thi.
Mi hot ng hay mi trng thi c th hin bng mt khi hnh vung hoc hnh ch
nht. Cc hot ng c lin kt vi nhau bng cc on thng, gia cc on thng ny
c vch bng mt gch phn cch ch trng thi chuyn tip tc l kt thc ca mt
hot ng v cc iu kin bt u cho hot ng tip theo. u vo ca mt khi l iu
kin bt u ca trng thi hay ca hot ng k tip v chnh l kt thc ca mt hay
nhiu hot ng trc .
Ngn ng Grafcet biu din cc hm logic bng s ca cc chui nhim v k tip
nhau. Ngn ng ny rt n gin cho ngi s dng, c bit l i vi nhng ngi
khng am hiu su v PLC. Grafcet l cng c c chun ho theo theo tiu chun ca
Php AFNOR. T Grafcet c th chuyn sang ngn ng my, ngn ng bng lnh, s
thang hay s hm logic.
Mi trng thi ca h thng c k hiu bi mt hnh vung c ch s ca trng thi .
Chuyn tip t trng thi ny sang trng thi kia c xc nh bi tc ng c thc
hin ti trng thi ng trc.
Bt cng tc
n L1
40
i
CT1
CT1
CT2
CTi
CTj
CTi
K
Hnh **
41
Chng 2
Cc h thng u vo v u ra
H thng cc u vo/ra cung cp cc kt ni vt l gia cc thit b bn ngoi v
b x l trung tm CPU. Cc mch giao din c s dng chuyn i tn hiu t cm
bin hay ln ca cc i lng o c nh tc chuyn ng, cao , nhit , p
sut v v tr, thnh cc tn hiu lo gc PLC c th s dng c. Da trn c s ca
cc gi tr cm nhn c hay o c, chng trnh iu khin trong PLC s s dng cc
mch in ra khc nhau hoc cc m un ra kch hot cc thit b nh bm, van, ng
c, bo ng thc hin iu khin my v qu trnh. Cc mch vo I (Input) v cc
mch ra O (Output) hoc cc m un c lp rp trong v ca thit b, trong trng hp
micro-PLC th cc knh I/O l mt phn ca ca v PLC. Phn ln v ca cc PLC c th
ci bt k m un I/O vo mt gic cm I/O no . V ca PLC c thit k tho
cc m un I/O m khng cn tt ngun xoay chiu AC (Alternative Current) hay tho
cc dy ni. a s cc m un I/O s dng cng ngh mch in v cc bng mch u c
gic ni cm vo phch cm bng mch chnh trn gi . Bng mch chnh cng l
mch in c chac cc cng giao tip song song hoc cc knh truyn thng tin n b x
l. Ngun in mt chiu DC (Direct Current) c cp n kch hot mch l gc v
cc mch chuyn i tn hiu trong cc m un I/O.
2.1 Cc u vo s
Cc knh vo s thuc nhm ln nht ca tn hiu bn ngoi trong cc h thng
PLC. Thit b ngoi vi cung cp tn hiu vo s vi hai gi tr khc hn nhau v bn cht,
c trng cho hai trng thi ng/m, hay bt/tt.
Cc thit b gin on thng xut hin phn ln trong cc ng dng iu khin qu trnh
bao gm:
+ Cng tc bnh gt,
+ Cng tc nhit,
+ Cng tc lu lng,
+ Cng tc mc cht lng,
+ Cng tc v tr ca van,
+ Cng tc khi ng t,
+ Cng tc xoay,
+ Nt bm,
+ Cng tc v tr,
+ Cng tc p sut,
+ Cng tc cn gt,
+ Cng tc tim cn,
+ Tip im r le,
+ Cng tc gii hn,
+ Tip im khi ng ng c,
+ Cm bin quang in.
Phn ln cc thit b ny to ra dng tn hiu l ng hoc ngt (ON hay OFF). Ring
cm bin quang in c th c cc tip im r le trn u ra hay tn hiu in p
ON/OFF tng ng vi mc 0 hay 5 VDC.
42
44
45
46
- Thit b iu khin ng c,
- Thit b o tng t,
- Thit b ghi ho,
- Thit b iu khin qu trnh
- Dng iu khin b chuyn i kh nn
- Van iu khin bng in
- B iu khin tc .
M un vo tng t
Giao din ca m un vo tng t cha cc mch cn thit c th nhn tn hiu in
p hay dng in tng t t cc thit b bn ngoi. u vo in p hay dng in c
bin i t tn hiu tng t thnh cc gi tr s t l vi tn hiu tng t nh c b
chuyn i tn hiu ADC (Analog to Digital Converter). Gi tr chuyn i i qua knh d
liu ca thit b iu khin v lu trong b nh s dng v sau.
Giao din vo tng t c c trng l c tr khng vo rt cao, iu ny cho php chng
giao din vi thit b bn ngoi khng cn ti tn hiu. ng vo t cc thit b tng t
thng c bc chng nhiu bng hai lp dn in. Cp chng nhiu gim nh hng
ca nhiu t cc ngun bn ngoi i rt nhiu. Giao din ca tng u vo cung cp mch
lc v mch cch in bo v m un t cc trng nhiu ph. Mt s kt ni c
trng minh ho trn hnh 2,. Trong v d ny, m un vo tng t cung cp ngun
in p mt chiu DC yu cu bi cc thit b bin i dng bn ngoi.
Phn ln cc m un c thit k thu nhn n 16 tn hiu dn cc hay 8 tn hiu
tng t lng cc, th hin lu lng, p sut, mc v tng t. Chng sau c
chuyn i thnh cc t t l vi 10 n 15 bit nh phn trong b nh. u vo n cc m
un ring bit ni chung phi l tt c l n cc hoc lng cc. Chn dng tn hiu c
th thc hin bng phn cng hay phn mm. Nu tn hiu qua chuyn i lu trong b
nh ca m un v c gi n b nh ca vi x l trong nhm hay trong khi cc d
liu.
Chng trnh iu khin s dng cu trc d liu trun n m un tng t. Thng tin
v cu trc bao gm la chn min v d +1 n +5 VDC, 4 n 20mA vv. V h s t l
ca tn hiu.
Hnh 2..
M un ra tng t
M un ra tng t nhn d liu t b x l trung tm ca PLC. D liu oc truyn t l
vi in p hay dng in iu khin thit b tng t bn ngoi. D liu s i qua b
chuyn i tn hiu DAC v gi i di dng tng t. Cch in gia mch ra v mch
l gc c m bo bi cu quang in. Cc m un ny thng cn ngun cp ngoi
vi dng in xc nh v in p theo yu cu.
M un chuyn dng
Rt nhiu loau m un chuyn dng c s dng trong cc h PLC. Mt nh sn xut
PLC c trn 120 dng m un vo ra. Chng ta ch quan tm n hai trong cc m un
l: m un ni vi encoder v b m v m un xung vo tc cao.
M un vo ni vi encoder v b m
48
49
50
51
52
53
55
56
Cu trc ca tp
57
58
khin cc bit trong bng d liu, tng ng vi bit thc hay bit vo /ra trong. Chng
trnh iu khin c dch khi b x l thc hin chng trnh iu khin.
Gi tr cc i ca b nh chng trnh ng dng l kh nng m bo hot ng bnh
thng ca chng trnh iu khin tu thuc c ca h thng iu khin. H thng PLC
hng trung hay hng ln, ln ca chng trnh s dng cng thng linh hot. N c
th c thay i bng thay i kch thc bng d liu sao cho c th tm thy cc yu
cu lu tr d liu nh nht. Trong cc PLC nh, ln ca chng trnh ng dng
thng c nh.
Kch c ca b nh ng dng
C ca b nh ng dng l mt thng s quan trong trong thit k h thng iu khin
trn c s PLC. Xc nh c ca nh ng c ht gim gi thnh v trnh mt nhiu thi
gian sau ny. Nu tnh ton c ca b nh chnh xc ta khng cn mua PLC vi dung
lng thp hn hay vt qu.
C ca b nh ng dng c ht m rng n im cc i trong mt s thit b iu
khin, nhng khng th m rng trong mt s cc PLC nh hn. Cc PLC nh hn y
xc nh l cc PLC iu khin t 10 n 64 thit b vo/ra. Thit b iu khin c su
mi t hay nhiu hn cc thit b vo ra thng m rng b nh vi dung lng 1K, 2K,
4K hay tng t. Mi K tng ng vi 1024 t. Trong cc PLC c ln dung lng b
nh thng t 64K tr ln.
C b nh c thng bo ca cc PLC ch mi a ra ch s th ca khng gian nh c
sn cho ngi s dng, bi v mt phn ca b nh phi dng cho cc chc nng bn
trong ca cc thit b iu khin.
Cn tr chnh trong vic xc nh c ca b nh cho ng dng l tnh phc tp ca
chng trnh iu khin cha c xc nh cho n khi mua thit b. Nh vy, thng
ta bit s u vo/ra trong h thng trc khi phn cng c mua. K s thit k h
thng c th d tr c b nh ng dng nhn vi s u vo/ra vi hai mi t nh. v d
nu h thng c khong mt trn im vo/ra, th chng trnh thng cn ni chung c
2K t. Cn ch l c ca chng trnh b nh hng bi mc tinh vi ca chng trnh
iu khin. Nu ng dng yu cu thu thp d liu hay thut ton iu khin phc tp,
nh iu khin PID, th vic b xung thm b nh l cn thit.
Sau khi k s thit k xc nh b nh ti thiu yu cu cho ng dng, cn phi tnh thm
25% n 50% cho trng hp thay i chng trnh hay m rng chng trnh.
Ghi a ch vao/ra
T khi mt trong cc mc tiu chnh l iu khin cc u vo v u ra ca cc thit b
hin trng , cc u vo/ra phi chim ch trong b nh ca b x l tn hiu, ni m
chng c gn a ch trong chng trnh iu khin ca PLC. Mi im u trn m
un vo/ra c th c ni dy n thit b hin trng chim 1 bit trong b nh PLC.
Phn ca b nh cha a ch vo/ra c gi l bng nh vo v bng nh ra.
Bng nh nh vo
Bng nh vo l mng cc bit trong cha trng thi ca cc u vo gin on t qu
trnh cng ngh, m chng c ni n u vo ca PLC. S lng bit trong bng bng
s lng u vo cc i. Mi thit b iu khin c dung lng cc i l 64 u vo s
cn mt bng 64 bit u vo. Mi u vo c ni n c mt bit trong bng u vo
tng ng chnh xc ti im u m u vo c kt ni. Nu u vo trng thi
ON th bit trong bng nh cng l ON hay l gc 1. Trong phn ln cc PLC, u vo
trng thi ON nu in c trn im ni vo. Nu khng c in p, bit tng ng s
60
xo hay chuyn sang trng thi OFF hay l gc 0. Bng u vo tip tc c thay i
phn nh trng thi dng in ca cc thit b u vo c kt ni. Chng trnh iu
khin s dng cc thng tin trng thi xc nh trng thi TRUE hay FALSE ca
cc lnh trong chng trnh.
61
62
64
65
V d : Vit chng trnh bng LAD khi ng v dng bm. Trong ng dng ny,
cng tc thng m ca nt khi ng trn ht iu khin c ni ti a ch bit vo I:
1/1, v tip im thng ng NC ca nt dng c ni n bit vo a ch I: 1/0. R le
khi ng bm c ni n u ra ca PLC O:3/1, v tip im khi ng ph NO c
ni n u vo ca PLC I:1/2.
68
69
Hnh 4.. Chng trnh LAD s dng lnh duy tr v lnh ngng duy tr.
V d tip im thng m ca nt n khi ng v tip im thng ng ca nt bm
dng c ni vo u vo gin on ca PLC. Tip im NC ca nt dng c ni vo
bit u vo I:001/00, v tip im NO ca nt khi ng c ni n u vo I:001/01.
Nu nt khi ng c n, u ra O:003/01 l gi tr ON duy tr. Khi bit khi ng
I:001/01 chuyn sang FALSE, lnh u ra ca bm vn duy tr ON cho n khi bit dng
I:001/00 c n ngng duy tr u ra. Ch rng lnh ngng duy tr u ra c cung
mt a ch nh a ch ca bit duy tr. Chng trnh LAD hnh 4.. l mt phng php
n gin hn to ra chc nng khi ng v dng m sau chng trnh LAD khi
ng/dng ch ra trn hng 4..
Lnh nhy One shot (ONS)
Lnh nhy ONS l lnh u vo v n ly gi tr TRUE cho mt chu trnh qut ca
PLC, nu c s chuyn tictng thi t FALSE sang TRUE trong nhng iu kin trc
y trn bc. Lnh ny ni chung c s dng khi ng cc thao tc c khi
ng ng thi vi hot ng ca nt bm, nh khiPLC t c gi tr t cng tc n
khp hay hin th nhnh d liu LED. Trong Aln Bradley S5 PLC, th a ch bit phi l
mt tp nh phn (B3) hay tp nguyn INTERGER (N7) . Lnh c trung minh ho trn
hnh 4 Trong ng dng ny, khi d liu trn nt n c n, n bt bit u vo I:001/02
ln 1, v iu kin ca bit ONS (B3/04) bc m u ra (B3/05) bt ON cho mt ln qut.
u ra bt OFF quet lin tc cho n khi u vo chuyn t FALSE sang TRUE ln
na.
71
72
B m tng CTU
Gi tr tch lu trong lnh u ra ca b m tng (CTU) s tng ln mt trong
mi ln c trng thi chuyn tip t 0 ln 1 ca l gc u vo. ng dng iu khin c
trng l m bt thit b ln ON hay OFF sau khi mt s lng nht nh c m.
T lc m tng gi tr tch lu ch khi u vo l gc ca b m thc hin t o ln 1.
73
Khi iu kin ca bc phi i t TRUE sang FALSE v ngc li v TRUE trc khi
bc m tip theo c ghi nhn.
Khi gi tr tch lu t gi tr cho trc, bit m xong bt ln 1. Khng nh lnh
m thi gian, lnh m tip tc m tng gi tr tch lu sau khi t gi tr cho
trc. Nu gi tr tch lu vt qu min m cao nht, mt bit trn OV (overflow) c
bt ln
B m gim CTD (counter down)
Lnh ra ca b m gim s tnh li mt n v mi ln khi c trng thi chuyn
tip t FALSE sang TRUE ca l gc u vo ca b m. Trong mt s ng dng, b
m gim c s dng chung vi b m tng, to ra b m tng/gim. V d trn hnh
4.. l b m tng /gim ca Allen Bradley PLC S5. Cng mt a ch C5:0 c s dng
cho c hai b m.
74
75
76
Cc php tnh s hc
Cc php tnh l gc gm bn php tnh c bn l: cng, tr, nhn v chia. Cc
lnh ny s dng ni dung trong v tr ca hai t thc hin chc nng yu cu. Cc
lnh s hc l cc lnh ra, m chng c th hay khng c th lnh vo l gc. Cc lnh
ny s dng hoc mt hay hai t d liu lu kt qu. Lnh cng hay tr s dng mt
t. Lnh nhn hay chia cn hai t tnh kt qu. Chng ta s ni v tng lnh cc mc
tip theo.
Php tr SUB
77
Lnh tr thc hin php tnh tr ca hai s trong hai a im ngun A v ngun
B. Nh trong php cng, nu iu kin cho php thc hin php tr bt ln 1, kt qu
c a n b ghi trn ch n. Quan st trn bc 1 ca hnh 4.. , nu bit vo ti a
ch I:000/02 c bt ln 1, s trn a ch N7:4 c tr i s trn a ch N7:3 v kt
qu a vo b ghi N7:5.
Php nhn MUL
Lnh nhn c s dng nhn mt gi tr (ngun A) vi mt gi tr khc
(ngun B) v kt qu a vo ch n. Ngun A v ngun B c th l gi tr hay a ch.
Lnh nhn c trung MUL c minh ho trn hnh 4.. , nu bit vo I:000/03 trn bc 0 l
TRUE, b x l s nhn gi tr trong N7:3 vi gi tr trong N7:4 v lu kt qu trong
N7:20.
Php chia DIV
Lnh chia c s dng chia mt gi tr (ngun A) bi mt gi tr khc (ngun
B) v lu kt qu trn ch n. Ngun A v ngun B c th l gi tr hay a ch. Trong
lnh chia nh trn v d 4.., nu bit vo I:000/02 trn bc 1 l TRUE, b x l s chia gi
tr trong N7:0 cho gi tr trong N7:1 v kt qu lu trong N7:21.
Hng 4..
Cc php so snh d liu
Ni chung vic di chuyn d liu s dng cc lnh s thang gy ra s s dng
ca mt b ghi n so snh ni dung ca hai b ghi. Trong ngn ng s thang,
chng c ba lnh so snh l bng, nh hn hay ln hn. Ph thuc vo kt qu ca php
so snh ln hn, nh hn hay bng, mt u ra c th c bt ln (ON) hay tt (OFF)
hay mt php tnh khc c th c thc hin.
So snh bng EQU
Lnh ny c dng kim tra hai gi tr bng nhau hay khng. Ngun A v
ngun B c th l gi tr hay a ch cha cc gi tr. V d trn bc 0 ca hnh 4.., nu s
bng nhau l TRUE, th u ra c kch hot.
So snh nh hn LES
78
Cc lnh iu khin
Cc hm ca chng trnh iu khin thc hin mt chui cc lnh nhy c iu kin
hay khng c iu kin v lnh kh hi. Cc lnh ny cho php chng trnh thc hin
ch mt s on ca l gc iu khin nu tp hp c nh cc iu kin c m bo.
Cc lnh ny din t trm cc phn tip theo.
Lnh iu khin r le ch MCR
Lnh r le ch c dng theo cp kch hot hay dng thc hin ca nhm hay mt
vng ca cc bc thang. Lnh iu kin MCR c dng cng vi lnh cun ht MCR
khng iu kin a hng ro xung quanh mt nhm cc bc. V d, trn hnh 4.., nu
u vo I:000/03 l ng (TRUE), cun ht MCR c iu kin trn bc 0 s c kch
hot v l gc bn trong ca vng ny s c thc hin tng ng vi l gc trn tng
bc trong vng MCR. Nu lnh MCR c iu kin tt (OFF), tt c cc u ra khng lu
bn trong vng ny s b tt.
Cc bc bn trong vng MCR cn c qut, nhng thi gian qut ca PLC cs gim, bi
v trng thi sai ca cc u ra khng lu. Cc u ra khng lu c bt li khi bc ca
chng n sai (FALSE).
79
80
81
82
Tp s hc v l gic
Lnh tp FAL thc hin cp pi, cc php tnh s hc v cc hm trn d liu lu
trn tp. Lnh FAL l mt lnh u ra, thc hin cc php tnh nh ngha bi a ch
ngun v cc php tnh lit k bi ngi lp trnh trong trng th hin. Lnh ny ghi kt
qu n a ch ch. Lnh FAL bin i dng d liu trn a ch ngun thnh dng d
liu m n xc nh trn a ch ch n. Lnh FAL thc hin cc php tnh nh xo mt
tp, cp pi d liu t mt tp sang tp khc, thc hin tnh ton s hc v l gc trn d
liu lu trong tp, v tch tp m li mi ln hin th ln mn hnh. Bng 4.. lit k cc
php tnh thc hin bi lnh FAL trn A-B PLC 5.
83
84
Tp tm v so snh FSC
Lnh tm kim v so snh l lnh u ra m n so snh gi tr trong tp ngun, t
vi t, thc hin php tnh xc nh trn hnh thc th hin. Khi b x l tm ra s so
snh ng TRUE, n bt bit tm thy FD (found) vghi nhn v tr, ni m s so snh
ng c tm thy. Bit ngn IN (inhibit) c to ra ngn s tm kim tp ny trong
tng lai.
Lnh FSC c s dng thc hin cc php tnh nh t ch bo ng mc
cao v mc thp cho qu trnh cng ngh vi nhiu u vo tng t v so snh cc khi
bin vi tp tham chiu trc khi bt u php tnh khi. Lnh FSC thc hin cc php so
snh lit k trn bng 4.. tnd liu ca tp tng ng vi phng trnh c k trong
phn ca hnh thc th hin ca lnh. B x l so snh cc tp ca cc dng d liu khc
nhau bi bin i d liu bn trong thnh d liu nhi phn tng ng trc khi so snh.
85
Lnh cp pi tp COP
Lnh ny l lnh u ra m n cp pi gi tr trn tp ngun vo tp ch. Tp
ngun gi khng thay i. Lnh COP khng dng bit trng thi. Lnh COP khng ghi
chng ln ranh gii ca tp, nh vy d liu trn s b mt. Cng vy, khng c chuyn
i d liu nn tp ngun v tp ch s dng dng dng d liu.
Trn hnh 4.. ch ra v d ca chng trnh LAD s dng lnh COP. Trong v d
ny bit vo I:000/03 l TRUE, b x l s cp pi 10 t u tin ti tp N50:0 n 10 u
tin ca tp N60:0
86
Lnh in tp FLL
Lnh FLL l lnh ra m n in cc t ca tp vi gi tr ngun. Tp ngun gi
khng thay i. Ging nh lnh COP, lnh FLL khng dung bit trng thi. Lnh FLL s
khng ghi ln l, v nh vy d liu trn s b mt. Cng nh vy, khng c s chuyn i
d liu, d liu ngun v d liu ch l cng mt dng.
Trn hinhg 4.. lag minh ho ca lnh FLL. Khi bit vo I:000/03 l TRUE, b x
l copy 10 t bt u t ti tp N50:0 n 10 t u tin ca tp N60:0.
Cc lnh chuyn b ghi
Cc lnh chuyn b ghi c s dng theo di chuyn ng hay dng ca cc phn v
thng tin trong cc ng dng cng nghip. Cc lnh ny gm: bit chuyn tri BSL, bit
chuyn phi BSR, np u tin vo u tin ra FFL, xo u tin vo u tin ra FFU.
Lnh dch chuyn bit BSR v BSL c s dng np bit vo, bit dch chuyn qua v bit
xo t mng bit vi mt bit b xo mi ln. Mt ng dng l dng theo di cc chai trn
dy chuyn ng chai, trong mi bit th hin mt chai. Lnh dch chuyn ghi v xo
FFL v FFU c dng ghi v xocc gi tr trn cng mt th t. Tng t nh vy l
c th ng dng theo di cc chi tit trn dy chuyn lp rp, ni m chi tit c th
hin bng gi tr xc nh bi s ca chi tit v m lp rp.
Cc lnh dch chuyn bit
Lnh dch chuyn dch tt c cc bit trong mt a ch xc nh bi mt v tr bit
sau mi ln bc thang chuyn trng thi t FALSE sang TRUE. C hai lnh dch chuyn
l dch chuyn mt bit sang tri BSL v dch chuyn mt bit sang phi BSR. Trn hnh 4..
ch ra cu trc ca lnh dch chuyn bit sang tri BSL vi cc tham s ca n trong tp,
iu khin, bit a ch v di.
Tn tp l a ch ca mng bit s c dch chuyn. Mng ny bt u t l ca
ca t mi su bit. V d bit 0 ca t s 1, 2, 3 v vv. Mng c th kt thc ti mt bit s
n 15,999. Mc d vy, cc bit cn li trong t cui cng ca mng khng th c s
dng bi v lnh ny khng c c gi tr i vi chng.
87
Cu trc ca php tnh dch chuyn phi BSR c minh ho nh trn hnh 4.. vi
cc tham s ca tp, iu khin, a ch ca bit v di. Lnh ny hot ng tng t
nh lnh dch chuyn bit sang tri., ch c khc l cc bit dch sang phi. Khi bc thang
88
cha lnh BSR i t FALSE sang TRUE, b x l bt bit EN. Sau n dch chuyn
mi su bit trong tp bit B3 sang phi (n s bit thp hn) mt v tr, bt u t bit 31.
Bit cui cng l bit 16 b dch ra ngoi vo b ghi iu khin UL, bit (R6:0/10). Bit ngun
n t I:000/10 v dch chun vo v tr bit cao nht, bit 31 ca tp B3.
Sau khi b x l hon tt php dch chuyn trong mt vng qut chng trnh, khi bc
thang ca bit iu khin I:000/03 tr thnh FALSE, lnh ny bt li tt cc cc bit trng
thi: bit EN, bit ER (nu c bt) v bit DN. ng gi php tnh, a ch ca
ngun c gn cng a ch nh a ch ca bit cao nht (nm ra ngoi).
Cc lnh vo u tin ra u tin FIFO
C hai lnh thuc nhm ny l lnh np FIFO dng nh FFL v lnh di chuyn
FIFO c s dng nh FFL. Hai lnh ny c s dng theo cp lu v ly d liu theo
mt trt t cho trc. Khi s dng theo cp, chng to ra mt b ghi dch chuyn khng
ng b hay b ghi dn.
Hai lnh ny phi s dng cng mt tp v cng mt a ch iu khin, di, v
gi tr v tr nh trn hnh 4..
D liu c np bt u trn t s 0 v tng dn cho n t s n. D liu c b
i t t s 0, v tt cc cc t c dch chuyn ln mt v tr hng vo t s 0.
Tham s ngun l a ch m n s lu cc gi tr vo tip theo ca b ghi dn.
Lnh FIFO-FFL ly gi tr t a ch ngun v np vo t tip theo ca b ghi dn. Tham
s ch n l a ch m n lu gi tr c trong b ghi dn.
FIFO l a ch c nh ch s ca b ghi dn. Cng mt a ch FIFO ny
c s dng cho c lnh FFL v FFU. Tham s iu khin l a ch ca cu trc iu
khin (bn mi tm bit hay ba t mi su bit) trong min iu khin ca b nh. Cu
trc iu khin lu cc bit trng thi ca lnh, di ca b ghi dn, v v tr sn sng k
tip (con tr) trong b ghi dn.
Tham s di xc nh s lng t ln nht cha trong b ghi dn. Tham s
di c ghi a ch bng cch thm t .LEN trong b nh vo trong a ch iu
khin (b ghi R).
89
Cc u ra cun ht ca cc lnh FIFO l bit cho php np EN, bit cho php chuyn d
liu EU, bit xo EM (empty) v bit hon thnh DN. Cc bit ny c cng mt a ch t
nh phn t iu khin ca lnh (R). B x l t ng bt a ch ca cc bit trng thi
khi ngi lp trnh nhp a ch iu khin. Bit cho php np EN c dng trong lnh
FFL c bt khi c trng thi chuyn tip ca bc thang t FALSE sang TRUE. iu
ny ch th rng lnh ny c php thc hin. Bit cho php dch chuyn EU c dng
trong lnh dch chuyn FFU khi bc thang chuyn trng thi t FALSE sang TRUE. Bit
ny ch th rng lnh c php thc hin. Bit hon thnh DN c bt ch th rng
b ghi dn y. Bit DN ngn np tip vo b ghi dn cho n khi n c ch. Bit xo
EM c bt bi b x l ch th rng b ghi dn c xo. Lnh iu khin dch
chuyn FIFO s khng cho php thc hin nu bit EM c bt. V d minh ho trn
hnh 4..
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91
m un
ra ca Aln Bradley PLC5, trn gi s1, nhm ra O s 4. Lnh SQO bc qua tp k
tip vi cc t mi su u ra m cc bit c bt iu khin cc thit b u ra
khc nhau ni trn m un ra gin on. Khi bc thang i t FALSE sang TRUE, lnh
92
ny tng ln bc tip theo (t tip theo) trong tp k tip: #N7:1. T 7:1 l v tr home
hay bc 0, v N7:2 l t cho bc 1. Khi chui kt thc, n li bt u lp li t bc 1.
D liu trong tp k tip c dch chuyn qua mt n c nh (F0F0,HEX) ti a ch
ch O:014. D liu tc thi c ghi n phn t dch cho mi chu k qut trong lc bc
thang duy tr gi tr TRUE.
Lnh chuyn khi
Trong cc h PLC c ln, cc khi d liu ln phi c truyn gia B x l ca PLC
gim st v b x l t xa trn mng truyn thng cao tc. Trong PLC5 ca Allen
Bradley, s di chuyn cc khi d liu c thc hin bng s dng lnh khi ghi dch
chuyn BTW (Block Transfer Write) v lnh khi BTR (Block Transfer Read).
B x l c s trong PLC 5 ca Allen Bradley ch qut c th truyn ti su mi t
t mi ln n hay i t m un truyn khi (BT) trong cc gi ti ch hay hay t xa.
M un BT c trng l m un u vo ni vi cc can nhit, cc m un vo/ra, cc m
un vo ra BCD, cc b m xung. S khi ca cc lnh BT c minh ho trn hnh
4.. Cc khi d liu c truyn t m un BT g trn gi t xa v PLC gim st trong
ch qut. Cc m un t xa ca Allen Bradley PLC5 c mt m un kt ni tng
thch ABS -17, m m un ny c th trao i vi cc m un bng knh truyn d liu
trn gi .
PLC ca Allen Bradley c th truyn ti su mi t t trong mi ln truyn gia qu
trnh c gim st vi b x l thng qua ch qut v m un ABS. Trong ng dng,
c hai b x l thc hin ng thi cc lnh truyn khi nhng ngc nhau.
93
kin cho trc thng m NO c dng bn tri ca hai tip im ca bit cho cho php.
Cc bit iu kin cho trc ny cho php cc cc lnh truyn c thc hin theo thi
gian hay theo s kin.
94
95
96
ng dng ca Grafcet
97
98
Chng 6
Ngn ng dng son tho cu trc ST v ngn ng bng lnh
stl
y l ngn ng lp trnh bc cao thit k cho t ng ho cc qu trnh phc tp. Ngn
ng ny ch yu dng thc hin cc qu trnh phc tp m cc ngn ng ho nh
LAD, FBD, hay ngn ng n gin kiu bng lnh STT kh din t c. Ngn ng
son tho cu trc ST cng c s dng thc hin cc bc ca qu trnh v cc iu
kin chuyn tip trong cc hm nhim v k tip. Mt chng trnh ST l danh cc lnh
lp trnh. Mi lnh kt thc bng du cch (;). Cc tn c dng trong m ngun, nh
cc cc bin nhn dng, cc hng s, v cc t kho ca ngn ng, c tch ra bi cc
du cch th ng nh du cch trng, du ht dng, du chm. Cc lnh thng c
tch ring bng cc du cch tc ng v d du < hay du >. Ngi lp trnh c th
chn cc ghi ch cho ngi c c th hiu c. Phn ch thch phi bt u bng hai
k t (* v kt thc bng hai k t *). Mi lnh kt thc bng du ; (du cch).
Cc lnh c bn ca chng trnh ST l:
1. Lnh gn tn bin (Assignment)
variable:=expression (bin:=hm din t)
2. Lnh gi cc hm hay chng trnh con : Subprogram or functions call
3. Lnh gi hm khi: C function block call
4. Lnh chn iu kin: Selection statement (IF, THEN, ELSE, CASE, ..)
5. Lnh lp : Iteration statement (FOR, WHILE, REPEAT,)
6. Lnh iu khin: Control statement (RETURN, EXIT,)
7. Cc lnh c bit c th lin kt vi cc ngn ng khc.
Ngi lp trnh c th chn tu cc du cch th ng gia cc du cch tc ng, gia
cc din t hng s, cc bin nhn dng gip ci thin kh nng c cho chng trnh.
Cc du cch th ng ca ngn ng ST l du trng, du tabs, v du ht dng. Khng
ging nh cc ngn ng hnh thc nh bng lnh STL, kt thc dng c c nhp vo
bt k ca chng trnh. iu ny nng rt cao kh nng c ca chng trnh khi s
dng cc du cch th ng. Mt s qui tc cn nh khi lp trnh l:
1. Khng vit lnh di qu mt dng.
2. S dng du cch tabs lm cc lnh phc hp li vo.
3. Chn cc ch thch c c cc dng lnh.
V d v mt on chng trnh trong ngn ng ST:
(*imax: s vng lp*)
(*i: ch s ca lnh vng FOR*)
(*cond: bin iu khin t qu trnh cng ngh*)
imax:=max_ite;
cond:=X12
if not(cond(*bo ng*))
then return;
end_if
(* Vng lp ca qu trnh cng ngh*)
for i (*ch s*):=1 to max_ite
do if 1<>2 then
SPcall();
99
End_if;
End_for;
Ngn ng son tho cu trc ST hay ngn ng lp trnh bc cao ca PLC khng khc
nhiu so vi cc ngn ng lp trnh cho my tnh.
Ngn ng bng lnh tiu chun
i vi cc PLC ca hng Siemens th ngi ta hay dng ngn ng bng lnh STL cho c
cc th h PLC mi nht PLC S7-300 v S7-400. Ngn ng ny l ngn ng ng lp trnh
bng cc cu lnh c cu trc tng t nh ngn ng my ASSEMBLER. Cc lnh
thng i vi a ch, ch ra ni m cc lnh s thc hin. Ngn ng bng lnh STL
cha mt mng cc lnh d hiu c th to ra mt chng trnh iu khin hon chnh.
Cc PLC S7 ca Siemens s dng hn 130 lnh STL c bn cng vi mt min rng cc
a ch sn c ph thuc vo kiu PLC. Phn ln cc nh sn xut PLC cng s dng th
h tng t ca ngn ng STL.
Cu trc ca lnh STL
Lnh STL c hai cu trc c bn. Cu trc th nht l lnh khng cn a ch, v d nh
lnh ph nh NOT. Cu trc th hai l lnh c km theo a ch. y l loi lnh dng
nhiu nht.
a ch ca lnh ch th mt hng s hay mt v tr nh m trn lnh tm c gi tr
thc hin mt php tnh. a ch c th c tn bng k hiu hay mt v tr nh c nh.
a ch c th ch n s ca phn t no nh mt hng s, bit trng thi, tn bng k
hiu, khi d liu nh vv.
Cc PLC S7 ca Siemens s dng t 32 bit, k hiu t o n 31.
100
101
102
103
104
105
106
107
Php tr s nguyn
Php nhn s nguyn
Php chia s nguyn
Cc lnh ton c du phy
Lnh cng s thc
Lnh tr
Lnh nhn
Lnh chia
Cc lnh so snh
So snh s nguyn n
So snh s nguyn kp
So snh s thc
Chng 7
ngn ng lp trnh bng s hm l gc tiu chun
Gii thiu
109
110
111
112
113
114
115
116
117
118
Phn t v cu trc hp
Cc lnh bit l gic
Lnh AND
Lnh OR
Lnh EXCLUSIVE OR
Ph nh bit vo
Lnh gn
Lnh ra
Lnh duy tr lnh ra
ng dng ca cc lnh bit
Cc lnh thi gian
Cu trc t ca b nh thi gian
Cu hnh ca S khi ca b m thi gian
B m xung thi gian S5
B m xung m rng S5
B m thi gian tr S5
B m tr c nh
B m sm S5
Cc lnh m
Cu trc t ca b m
Cu hnh ca S khi ca b m
B m tng/gim
B m tng
B m gim
Cc lnh tnh s nguyn
Cc lnh tnh vi s thc
Cc lnh so snh
So snh s nguyn
So snh s thc
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
Z1
Z2
C
M1
M2
P1
P2
PLC
Hnh 1***
H thng iu khin hot ng khi bt u cng tc ngun trn PLC c bt v trng
thi khi ng c kch hot. u ra Z1 v Z2 ang trng thi tt. Nu nt n P1 cha
c n, xe nguyn trng thi khi ng. Khi nt n P1 chuyn t trng thi 0 sang 1,
thit b iu khin thay i trng thi bn trong n v u ra Z1 c kch hot. Ti B, khi
xe n th cng tc mini M2 chuyn t 0 sang 1, Z1 c tt v Z2 c kch hot. Xe
chuyn ng v A. Nu nt P2 khng c n, xe chy v n A, cng tc mini M1
chuyn trng thi t 0 sang 1, xe dng ti v tr khi ng. Nu nt P2 c n trc khi
134
Z 2 = ( M 2 + M 1 ).P2 .Z 1
Chng trnh iu khin ca h thng vit bng ngn ng bng lnh c bn s c dng:
STR M1
AND P1
STR NOT M1
AND M2
OR STR
STR NOT Z2
AND P2
OR STR
OUT Z1
STR M2
OR NOT M1
AND NOT P2
AND NOT Z1
OUT Z2
Chng trnh iu khin vit trong ngn ng LAD:
M1
IR2
IR0
IR0
P1
M2
IR0
Z1
M2
IR1
IR1
P2
IR1
M2
IR2
IR2
IR2
M1
IR1
Z2
135
Chuyn ng n
B : Z1 =1, Z2=0
M2 = 1
P2 = 1
Chuyn ng v
A: Z2 = 1, Z1=0
M1 = 1
136
Ngun sng
Sn phm
Ca x
Bng ti
Cm bin quang
X1
X2
M
X2
PLC
X1
Hnh **. H thng phn loi sn phm
Nh vy ta thy rng khi khi ng h thng th X1=0 v X2=0. Nu sn phm i qua cc
cm bin th c th X1=1, sau X2=1. Nu X1=1 khi X2 chuyn t 0 thnh 1, th sn
phm ny di hn yu cu. ng c dng khi X2=0
Chng trnh trong ngn ng bng lnh c bn s c dng:
STR X1
AND X2
OUT Z
Chng trnh bng ngn ng Grafcet:
1
2
X2=0
137
Bng ti
Cm bin tip xc MS1
R bt
C2, R2, R3
My CNC
C3, C4
K
hiu
M t
Trn
g
thi
1
2
3
4
5
6
7
MS1
R1
C1
R2
R3
C2
R4
1
1
1
1
1
1
1
Phi n
Qut m vch
ng loi phi
G lp phi
Tho chi tit
R bt ang bn
y tm chn ra
8
9
C3
C4
Cm bin tip xc
u ra ca cm bin m vch
u vo ca cm bin m vch
u ra ca r bt
u ra ca r bt
u vo ca r bt
u ra ca c cu y tm
chn
u vo t my CNC
u vo t my CNC
1
1
My CNC ang bn
Gia cng xong
2. iu khin thang my
3. iu khin my ra xe
4. iu khin l hi
138
Ch thch
GL = PP
XV 1 = BS1
XV 2 = BS 2
XV 3 = LSL + TSL + DPSH + PSL + BS1 + BS 2
Qui c cc bin vo/ra c th hin trn bng sau:
STT
1
2
3
4
5
6
7
8
9
10
11
12
13
Tn bin
LSL
TSL
DPSH
PSL
PSH
BS1
BS2
PP
XV1
XV2
XV3
GL
RL
139
Y1
X1
X2
X3
X5
X6
X5
Y2
X6
Y3
Y1
Y4
X4
Y1
Y5
Y1
Y6
140
5. iu khin ga ra t ng
C mt ga ra t ng iu khin bng PLC. Ga ra ny c dung lng cha l 10 xe. Trn
u vo v u ra ca ga ra c hai ba ri iu khin bng hai ng c M1 v M2. Mi ba
ri u c hai cm bin t pha trc v pha sau ca ba ri bo c xe pha trc hay
xe i qua ba ri (S1, S2, S3 v S4). Khng bao gi ng thi c S1 v S2 hoc S3 v S4
u c bt ng thi. Trn u ra c mt cm bin S5 kim sot v ra. H thng
iu khin ca ga ra s iu khin cc hot ng sau:
1. ng v m ba ri t ng. Ba ri vo s m nu trong ga ra c t hn 10
xe v cm bin S1 = 1, bo c xe vo trc ba ri . Khi xe i qua ba ri s
ng li nu cm bin S2 chuyn trng thi t 1 sang 0. Ba ri ra s m
nu S5 bt v S3 chuyn trng thi t 0 sang 1. V ba ri ra ng li khi
S4 chuyn t trng thi 1 sang 0, bo xe i qua.
2. Trn u vo ca ga ra nu n xanh bt, bo hiu ga ra ang cn ch.
3. Nu trn u vo c n , bo hiu ga ra y.
H thng iu khin c cc u vo sau:
- Nt khi ng M: t khi ngun c cp vo PLC, khng c mt xe no c
vo hay ra khi cha n nt ny.
- Nt dng P: nu nt ny c bt, khng xe no c vo hay ra khi cha n
li nt M. Trng hp c hai nt P v M n ng thi, th nt P c u tin.
- Nt n R: t li s ca b m xe khi PLC c bt ln.
Cm bin S4
M2
Ba ri ra
Cm bin S3
Ra
P
Cm bin S5
M
R
Vo
Cm bin S2
RL
M1
Ba ri vo
GL
Cm bin S1
Hnh **..
141
Y3 = X 5 .CTR
Do cn s dng b m, cho nn ta phi s dng cc bin trung gian to xung v to
cc mch duy tr cc trng thi ca cc bin vo. Trong chng trnh ny s dng 6 bin
trung gian t IR0 n IR6.
Chng trnh PLC bng ngn ng bng lnh c bn ca h thng iu khin c th hin
nh sau:
STR
X5
OR
IRO
( To mch duy tr)
AND NOT X6
OUT
IR0
STR
OR
AND NOT
AND
AND NOT
OUT
X0
Y0
IR2
IR0
Y3
Y0
STR
OR
AND NOT
AND
OUT
STR NOT
X1
IR1
IR2
Y0
IR1
X1
142
AND
OUT
IR1
IR2
STR
OR
AND NOT
AND
OUT
X4
IR3
IR5
IR0
IR3
STR
AND
OR
AND NOT
OUT
IR3
X2
Y1
IR5
Y1
STR
AND
OR
AND NOT
AND
OUT
STR NOT
AND
OUT
X3
Y1
IR4
IR5
IR0
IR4
X3
IR4
IR5
STR
AND
STR
STR
OR
CTR
X7
Y1
IR5
IR2
IR5
45
10
Y3
OUT
STR
AND NOT
OUT
END
IR0
Y3
Y2
( To tn hiu n xanh)
143
X5
X6
IR0
IR0
X0
IR2
IR0
Y3
Y0
IR2
Y0
IR1
IR1
IR2
Y0
X1
IR1
X1
X4
IR5
IR0
IR3
IR3
IR3
X2
IR5
Y1
Y1
IR5
Y1
X3
IR0
IR4
IR4
X3
X7
IR4
IR5
IR0
CTR 45
IR5
10
IR2
Y3
IR5
IR0
Y3
144
Y2