PDF

Hc nhiu hn v PLC, HMI v Bin tn ti: http://unlockplc.
com
MC LC:
Trang
Chng 1: GII THIU CC LOI PLC H FX CA MITSUBISHI ................5
I. FX0S PLC ...........................................................................................................5
1. c im ....................................................................................................5
2. c tnh k thut........................................................................................6
3. Cc loi FX0S PLC ...................................................................................7
II. FX0/FX0N PLC ..................................................................................................7
1. c im .....................................................................................................7
2. c tnh k thut .........................................................................................8
3. Cc loi FX0/FX0N PLC............................................................................9
III. FX1S PLC ........................................................................................................10
1. c im ..................................................................................................10
2. c tnh k thut......................................................................................10
3. Cc loi FX1S PLC .................................................................................13
IV. FX1N PLC .......................................................................................................14
1. c im ..................................................................................................14
2. c tnh k thut......................................................................................14
3. Cc loi FX1N PLC .................................................................................17
V. FX2N PLC .......................................................................................................18
1. c im ..................................................................................................18
2. c tnh k thut......................................................................................19
3. Cc loi FX2N PLC .................................................................................21
VI. FX2NC PLC.....................................................................................................23
1. c im ..................................................................................................23
2. c tnh k thut......................................................................................23
3. Cc loi FX2NC PLC ..............................................................................24
Trang 1
unlockplc123@gmail.com
Hc nhiu hn v PLC, HMI v Bin tn ti: http://unlockplc.com
Chng 2: LP TRNH PLC MITSUBISHI VI CC LNH C BN.............25

I. nh ngha Chng Trnh ................................................................................25
II. Cc thit b c bn dng trong lp trnh ..........................................................25
III. Ngn ng lp trnh Introduction v Ladder .....................................................26
IV. Cc lnh c bn ................................................................................................26
V. Lp trnh cho cc tc v c bn trn PLC ........................................................37
1. Lp trnh s dng R le ph tr ..............................................................37
2. Lp trnh s dng thanh ghi .....................................................................38
3. Lp trnh s dng b nh th ..................................................................42
4. Lp trnh s dng b m ........................................................................47
VI. Cc lnh ng dng ...........................................................................................49
1. Nhm lnh iu khin lu trnh ...............................................................49
2. Nhm lnh so snh v dch chuyn .........................................................54
3. Nhm lnh s l s hc v logic .............................................................59
4. Nhm lnh quay v dch chuyn chui bit ..............................................63
VII. K thut lp trnh iu khin trnh t...............................................................69
V d v cc bc th tc tng qut ................................................................69
1. iu khin trnh t dng thanh ghi ..........................................................73
a) Nguyn l c bn iu khin trnh t dng thanh ghi .......................73
b) V d v iu khin tay my dng thanh ghi .....................................74
2. iu khin trnh t dng Stepladder .......................................................81
a) Hot ng ca mch trnh t STL ......................................................81
b) Lnh STL v lp trnh STL ................................................................83
c) OR nhnh STL ...................................................................................85
d) AND nhnh STL (phn nhnh song song) .........................................87
e) S kt hp cc loi nhnh STL ..........................................................89
f) S lp li hot ng trnh t...............................................................91
Trang 2
Chng 3: CC BI TP NG DNG PLC MITSUBISHI .................................94

I. Cc bi tp dng c bn .................................................................................94
Bi 1. n v phc v ........................................................................................94
Bi 2. Pht hin dng cm bin quang ...............................................................96
Bi 3. iu khin nh th mch n giao thng ................................................99
Bi 4. Phn loi sn phm theo kch c (I) ..................................................... 101
Bi 5. Khi ng/ngng bng ti .................................................................... 104
Bi 6. Truyn ng bng ti ............................................................................ 106
II. Cc bi tp dng trung bnh ....................................................................... 108
Bi 1. Tn hiu nt nhn .................................................................................. 108
Bi 2. Phn loi sn phm theo kch c .......................................................... 111
Bi 3. Gp sn phm dng cnh tay robot ...................................................... 114
Bi 4. iu khin my khoan ......................................................................... 117
Bi 5. iu khin cung cp sn phm ............................................................. 121
Bi 6. iu khin bng ti ............................................................................... 124
III. Cc bi tp dng nng cao .......................................................................... 127
Bi 1. Vn hnh ca t ng ........................................................................... 127
Bi 2. B tr sn khu ...................................................................................... 130
Bi 3. Phn phi sn phm .............................................................................. 135
Bi 4. Phn loi cc sn phm b li ............................................................... 142
Bi 5. iu khin bng ti quay thun/nghch ................................................ 146
Bi 6. iu khin thit b nng........................................................................ 153
Bi 7. Tuyn phn loi v phn phi .............................................................. 161
IV. Cc bi tp m rng: ................................................................................... 169
Bi 1. Phn loi sn phm theo mu st .......................................................... 169
Bi 2. iu khin thang my bn tng ............................................................ 172
Trang 3
Chng 4: PH LC ............................................................................................... 173

I. ng dng PLC trong iu khin cng nghip ............................................... 173
1. ng dng PLC trong lnh vc iu khin robot...................................... 173
2. ng dng PLC trong h thng sn xut linh hot ................................... 176
3. ng dng PLC trong iu khin qu trnh .............................................. 179
4. ng dng PLC trong mng thu nhn d liu .......................................... 182
5. iu khin trnh t my phn loi bi mu ............................................... 187
II. Danh sch cc lnh ng dng ....................................................................... 188
III. Danh sch cc Rle ph tr c bit............................................................. 193
IV. Danh sch cc thanh ghi d liu c bit...................................................... 197
Trang 4
CHNG 1:
GII THIU CC LOI PLC H FX CA MITSUBISHI
Cc b iu khin lp trnh PLC ca Mitsubishi rt phong ph v chng loi. iu ny

i khi c th dn n nhng kh khn nht nh i vi ngi s dng trong vic la chn
b PLC c cu hnh ph hp vi ng dng ca mnh. Tuy nhin, mi loi PLC u c nhng
u im ring v ph hp vi nhng ng dng ring. Cn c vo nhng c im , ngi
s dng c th d dng a ra cu hnh ph hp cho tng ng dng c th.
Sau y cc em xin gii thiu mt s loi FX trong tt c cc loi FX ca Mitsubishi,

bao gm: FX0S PLC, FX0N PLC, FX1S PLC, FX1N PLC, FX2N PLC, FX2NC PLC.
I. FX0S PLC:
1. c im:
y l loi PLC c kch thc tht nh gn, ph hp vi cc ng dng vi s lng I/O

nh hn 30, gim chi ph lao ng v kch c panel iu khin. Vi vic s dng b nh
chng trnh bng EEPROM cho php d liu chng trnh c lu li trong b nh trong
trng hp mt ngun t xut, gim thiu thi gian bo hnh sn phm. Dng FX0 c
tch hp sn bn trong b m tc cao v cc b to ngt, cho php x l tt mt s ng
dng phc tp.
Nhc im ca dng FX0 l khng c kh nng m rng s lng I/O c qun l,

khng c kh nng ni mng, khng c kh nng kt ni vi cc M un chuyn dng, thi
gian thc hin chng trnh lu (thi gian thc hin cc lnh c bn c 1.6s-3.6s, cc lnh
ng dng c vi trm s)
Trang 5
2. c tnh k thut:
MC C IM GHI CH
S dng b nh
Dung lng chng trnh 8000 bc
EEPROM bn trong
Tr FX0S-30M c 16
Cu hnh Vo Ti a 18 ng: X0 X17
ng
Vo/Ra
Tr FX0S-30M c 14
(I/O) Ra Ti a 16 ng: Y0 Y15
ng
Thng thng S lng: 512 T M0 M511
R le ph T M496 M511
Cht S lng: 11 (tp con)
tr (M)
c bit S lng: 56 T M8000 M8255
R le trng Thng thng S lng: 64 T S0 S63
thi (S) Khi to S lng: 10 (tp con) T S0 S9
100 mili giy S lng: 56 T T0 T55
B nh th
T T32 T55 (khi
Timer (T) 10 mili giy S lng: 24
M8028 = ON)
B m Thng thng S lng: 16 T C0 C15
(C) Cht S lng: 2 (tp con) T C14 C15
S lng:
1 pha T C235 C238
4 Tn s m t
1 pha hot ng S lng: 14kHz tr xung
C241, C242, C244
B m tc bng ng vo 3
cao
S lng: Tn s m t 2kHz
(HSC) 2 pha C246, C247, C249
3 tr xung
*Lu : mi b
S lng: m u c cht
Pha A/B C251, C252, C254
3
Thng thng S lng: 32 T D0 D31
Cht S lng: 2 (tp con) T D30 D31
Thanh ghi c iu chnh
S lng: 1 D8013
d liu (D) bn ngoi
c bit S lng: 27 T D8000 D8255
Ch mc S lng: 2 V, Z
Dng vi lnh
Con tr (P) S lng: 64 T P0 P63
CALL
Trang 6
100 n 130 (kch

Dng vi cc
S lng: 4 cnh ln =1, kch cnh
ngt
xung =0)
S mc
Dng vi lnh
lng nhau S lng: 8 T N0 N7
MC/MCR
(N)
3. Cc loi FX0S PLC:
Ng vo Ng ra Kch thc
Ngun cung
FX0S S S Loi (Di RngCao)
Loi cp (mm)
lng lng R le Transistor
FX0S-10 6 4
MR- 60 90 75
FX0S-14 MR- 8 Sink/Source 6
ES/UL 24 VDC ES/UL
FX0S-20 12 8 75 90 75
100 - 240VAC,
FX0S-30 16 14 v +10%, -15%,
FX0S-16 10 6 50/60 Hz 105 90 75
MR-
110 VAC MR-
FX0S-24 UA1/UL 14 10 UA1/UL
FX0S-10 6 4
60 90 47
FX0S-14 MR-DS 8 Sink/Source 6 MT-DSS 24 VDC,
MR-DS
FX0S-20 v 12 24 VDC 8 (Source) +10%, -15% 75 90 47
MT-DSS
FX0S-30 16 14 105 90 47
FX0S-14 MR-D12S 8 6 MR- 60 90 47
Sink/Source 12 VDC,
v MT- MR-D12S D12SS
FX0S-30 16 12 VDC 14 +20%, -15% 105 90 47
D12SS (Source)
II. FX0/FX0N PLC:
1. c im:
FX0 PLC c c im ging nh FX0S
FX0N PLC s dng cho cc my iu khin c lp hay cc h thng nh vi s lng

I/O c th qun l nm trong min 10-128 I/O. FX0N thc cht l bc m trung gian gia
FX0S vi FX PLC. FX0N c y cc c trng c bn ca dng FX0S, ng thi cn c
kh nng m rng tham gia ni mng.
Trang 7
2. c tnh k thut:
MC FX0 FX0N
800 bc (c EEPROM bn 2000 bc (c EEPROM bn
Dung lng chng trnh
trong) trong)
T X0 X17 (tr FX0-30M c
Cu hnh Vo T X0 X123 Ti a c
16 ng)
Vo/Ra 128 ng
T Y0 Y15 (tr FX0-30M c
(I/O) Ra T Y0 Y77 vo/ra
14 ng)
Thng thng T M0 M511 (s lng 512) T M0 M511 (s lng 512)
T M496 M511 T M384 M511
R le ph Cht
(s lng 11) (s lng 128)
tr (M)
T M8000 M8255 T M8000 M8255
c bit
(s lng 56) (s lng 72)
R le Thng thng T S0 S63 (s lng 64) T S0 S127 (s lng 128)
trng thi
(S)
Khi to T S0 S9 (s lng 10) T S0 S9 (s lng 10)
B nh 100 mili giy T T0 T55 (s lng 56) T T0 T62 (s lng 63)
th Timer 10 mili giy T T32 T55 (khi M8028=ON) T T32 T62 (khi M8028=ON)
(T) 1 mili giy T63 (s lng 1)
B m Thng thng T C0 C15 (s lng 16) T C0 C31 (s lng 32)
(C) Cht T C14 C15 (s lng 2) T C16 C31 (s lng 16)
1 pha S lng 4: t C235 C238
1 pha hot Tn s m t
B m
ng bng S lng 3: C241, C242, C244 5kHz tr xung
tc cao
ng vo
(HSC)
2 pha S lng 3: C246, C247, C249 Tn s m t
Pha A/B S lng 3: C251, C252, C254 2kHz tr xung
Thng thng T D0 D31 (s lng 32) T D0 D255 (s lng 256)
T D128 D255
Cht T D30 D31 (s lng 2)
(s lng 128)
Thanh ghi T D1000 D1499 (1500 tp
d liu Tp tin tin), 500 tp tin = 500 bc
(D) chng trnh = 1 block
c iu
S lng 2:
chnh bn S lng 1: D8013
D8013{D8030+RTC}, D8131
ngoi
Trang 8
T D8000 D8255 T D8000 D8255

c bit
(s lng 27) (s lng 45)
Ch mc 2 thanh ghi V, Z 2 thanh ghi V, Z
Dng vi lnh
T P0 P63 (s lng 64) T P0 P63 (s lng 64)
Con tr CALL
(P) Dng vi cc
T 100 130 (s lng 4) T 100 130 (s lng 4)
ngt
S mc
Dng vi lnh
lng nhau T N0 N7 (s lng 8) T N0 N7 (s lng 8)
MC/MCR
(N)
3. Cc loi FX0/FX0N:
Ng vo Ng ra Ngun Kch thc

FX0/FX0N S S Loi cung (Di Rng Cao)
Loi
lng lng R le Transistor cp (mm)
FX0-14 8 6 100 80 75
MT-
FX0-20
E/UL
12 24 VDC, 8 110 130 80 75
FX0-30 MR- 16 Sink/Source 14 MR- 240 170 80 75
FX0N-24 ES/UL 14 (Tr E/UL 10 ES/UL va MT-E/UL VAC, 130 90 87
FX0N-40 24 Sink) 16 MR- (Sink) +10%, - 150 90 87
FX0N-60 36 24 UA1/UL 15%, 185 90 87
MR- 50/60 Hz
FX0N-40 24 AC 110V 16 185 90 87
UA1/UL
FX0-14 8 6 24 VDC, 100 80 47
FX0-20 MR-DS 12 24 VDC, 8 MT-DSS +10%, - 130 80 47
FX0-30 v 16 Sink/Source 14 (Source) 15% 170 80 47
MR-DS
FX0N-24 MT-DSS v 14 (Tr MT- 10 v MT- 24 VDC, 130 90 87
FX0N-40 MT-D/E 24 D/E Sink) 16 D/E (Sink) +20%, - 150 90 87
FX0N-60 36 24 15% 185 90 87
100 240
VAC,
ER-ES/UL +10%, -
ER-
15%,
FX0N-40 24 Sink/Source 16 ES/UL v ET-DSS 150 90 87
50/60 Hz
ER-DS
ER-DS 24VDC,
+10%, -
ET-DSS
15%
24 VDC
FX0N-8EX-ES/UL Ghi ch:
8 Sink/Source
y l
FX0N-8EX-UA1/UL AC 110V
cc lo i
FX0N-8EYR-ES/UL R le 43 90 87
FX0N
8 Transistor
FX0N-8EYT-ESS/UL m
(Source)
rng
FX0N-8ER-ES/UL 4 24 VDC 4 R le
Trang 9
FX0N-16EX-ES/UL 16 Sink/Source
FX0N-16EYR-ES/UL R le
70 90 87
16 Transistor
FX0N-16EYT-ESS/UL
(Source)
III. FX1S PLC:

1. c im:
FX1S PLC c kh nng qun l s lng I/O trong khong 10-34 I/O. Cng ging nh
FX0S, FX1S khng c kh nng m rng h thng. Tuy nhin, FX1S c tng cng thm
mt s tnh nng c bit: tng cng hiu nng tnh ton, kh nng lm vic vi cc u vo
ra tng t thng qua cc card chuyn i, ci thin tnh nng b m tc cao, tng cng 6
u vo x l ngt; trang b thm cc chc nng truyn thng thng qua cc card truyn
thng lp thm trn b mt cho php FX1S c th tham gia truyn thng trong mng (gii
hn s lng trm ti a 8 trm) hay giao tip vi cc b HMI i km. Ni chung, FX1S
thch hp vi cc ng dng trong cng nghip ch bin g, ng gi sn phm, iu khin
ng c, my mc, hay cc h thng qun l mi trng.
2. c tnh k thut:
MC C IM GHI CH
X l chng trnh Thc hin qut chng trnh tun hon
Phng php x l vo/ra Cp nht u v cui chu k
C lnh lm ti ng ra
(I/O) qut (khi lnh END thi hnh)
i vi cc lnh c bn: 0,55 0,7s
Thi gian x l lnh
i vi cc lnh ng dng: 3,7 khong 100 s
C th to chng trnh
Ngn ng lp trnh Ngn ng Ladder v Instruction
loi SFC
C th chn ty b nh
Dung lng chng trnh 2000 bc EEPROM (nh FX1N-EEPROM-
8L)
Trang 10
S lnh c bn: 27
C ti a 167 lnh ng
S lnh S lnh Ladder: 2
dng c thi hnh
S lnh ng dng: 85
Tng cc ng Vo/Ra c np bi chng trnh x l

Cu hnh Vo/Ra
chnh
(I/O)
(Max, total I/O set by Main Processing Unit)

R le ph
Cht S lng: 128 T M384 M511
tr (M)
c bit S lng: 256 T M8000 M8255
R le trng Thng thng S lng: 128 T S0 S127
Khong nh th: 0 3276,7
100 mili giy giy T T0 T62
S lng: 63
B nh th T T32 T62 (khi
10 mili giy giy
Timer (T) M8028 = ON)
S lng: 31 (tp con)
Khong nh th: 0,001
1 mili giy 32,767 giy T63
S lng: 1
Khong m: 1 n 32767 T C0 C15
Thng thng
B m S lng: 16 Loi: b m ln 16 bit
(C) Khong m: 1 n 32767 T C16 C31
Cht
S lng: 16 Loi: b m ln 16 bit
Khong m: -2.147.483.648
1 pha n 2.147.483.647 T C235 C240
1 pha: Ti a 60kHz cho phn
cng ca HSC (C235, C236,
1 pha hot ng C246) T C241 C245
B m tc bng ng vo Ti a 10kHz cho phn
cao mm ca HSC (C237 C245,
(HSC) C247 C250)
2 pha 2 pha: Ti a 30kHz cho phn T C246 C250
cng ca HSC (C251)
Ti a 5kHz cho phn
Pha A/B mm ca HSC (C252 C255) T C251 C255
Trang 11
T D0 D127
S lng: 128 Loi: cp thanh ghi lu tr
Thng thng
d liu 16 bit dng cho
thit b 32 bit
T D128 D255
Loi: cp thanh ghi lu tr
Cht S lng: 128
thit b 32 bit
Thanh ghi D liu chuyn t bin
d liu (D) c iu chnh Trong khong: 0 255 tr iu chnh in p t
bn ngoi S lng: 2 ngoi vo thanh ghi
D8030 v D8031
T D8000 D8255
S lng: 256 (k c D8030,
c bit Loi: thanh ghi lu tr
D8031)
d liu 16 bit
T V0 V7 v Z0 Z7
Ch mc S lng: 16 Loi: thanh ghi d liu
16 bit
Dng vi lnh
S lng: 64 T P0 P63
CALL
Con tr (P) 100 n 150 (kch
Dng vi cc
ngt
xung =0)
S mc
Dng vi lnh
MC/MCR
(N)
Thp phn 16 bit: -32768 n 32767
(K) 32 bit: -2.147.483.648 n 2.147.483.647
Hng s
Thp lc phn 16 bit: 0000 n FFFF
(H) 32 bit: 00000000 n FFFFFFFF
Trang 12
3. Cc loi FX1S:
Ngun AC, u vo 24 VDC
Tng Ng vo Ng ra
cc Kch thc
FX1S (Di Rng Cao)
ng S lng Loi S lng Loi (mm)
Vo/Ra
FX1S-10MR-ES/UL R le
10 6 Sink/Source 4 60 75 90
Transistor
FX1S-10MT-ESS/UL
(Source)
14 8 Sink/Source 6 60 75 90
Transistor
FX1S-14MT-ESS/UL
(Source)
20 12 Sink/Source 8 75 75 90
Transistor
FX1S-20MT-ESS/UL
(Source)
30 16 Sink/Source 14 100 75 90
Transistor
FX1S-30MT-ESS/UL
(Source)
FX1S-10MR-DS R le
10 6 Sink/Source 4 60 49 90
Transistor
FX1S-10MT-DSS
(Source)
FX1S-14MR-DS R le
14 8 Sink/Source 6 60 49 90
Transistor
FX1S-14MT-DSS
(Source)
FX1S-20MR-DS R le
20 12 Sink/Source 8 75 49 90
Transistor
FX1S-20MT-DSS
(Source)
FX1S-30MR-DS R le
30 16 Sink/Source 14 100 49 90
Transistor
FX1S-30MT-DSS
(Source)
Trang 13
IV. FX1N PLC:

1. c im:
FX1N PLC thch hp vi cc bi ton iu khin vi s lng u vo ra trong khong

14-60 I/O. Tuy nhin, khi s dng cc module vo ra m rng, FX1N c th tng cng s
lng I/O ln ti 128 I/O. FX1N c tng cng kh nng truyn thng, ni mng, cho
php tham gia trong nhiu cu trc mng khc nhau nh Ethernet, ProfileBus, CC-Link,
CanOpen, DeviceNet, FX1N c th lm vic vi cc module analog, cc b iu khin
nhit . c bit, FX1N PLC c tng cng chc nng iu khin v tr vi 6 b m tc
cao (tn s ti a 60kHz), hai b pht xung u ra vi tn s iu khin ti a l 100kHz.
iu ny cho php cc b iu khin lp trnh thuc dng FX1N PLC c th cng mt lc
iu khin mt cch c lp hai ng c servo hay tham gia cc bi ton iu khin v tr
(iu khin hai to c lp).
Nhn chung, dng FX1N PLC thch hp cho cc ng dng dng trong cng nghip ch
bin g, trong cc h thng iu khin ca, h thng my nng, thang my, sn xut xe hi,
h thng iu ho khng kh trong cc nh knh, h thng x l nc thi, h thng iu
khin my dt,
2. c tnh k thut:
MC C IM GHI CH
C lnh lm ti ng ra
i vi cc lnh c bn: 0,55 0,7s
Thi gian x l lnh
C th to chng trnh
loi SFC
Trang 14
C th chn ty b nh
Dung lng chng trnh 8000 bc EEPROM (nh FX1N-EEPROM-
8L)
S lnh c bn: 27
C ti a 177 lnh ng
dng c thi hnh
S lnh ng dng: 89
Phn cng c ti a 128 ng Vo/Ra, ty thuc vo ngi
Cu hnh Vo/Ra
s dng chn
(I/O)
(Phn mm c ti a 128 u vo, 128 u ra)
R le ph
Cht S lng: 1152 T M384 M1535
tr (M)
c bit S lng: 256 T M8000 M8255
R le trng Cht S lng: 1000 T S0 S999
S lng: 200
B nh th S lng: 46
Timer (T) Khong nh th: 0 32,767
1 mili giy duy
giy T246 T249
tr
S lng: 4
100 mili giy
giy T250 T255
duy tr
S lng: 6
Thng thng Khong m: 1 n 32767 T C0 C15
16 bit S lng: 16 Loi: b m ln 16 bit
T C16 C199
Cht 16 bit S lng: 184
Loi: b m ln 16 bit
B m Khong m: -2.147.483.648 T C200 C219
Thng thng
(C) n 2.147.483.647 Loi: b m ln/xung
32 bit
S lng: 20 32 bit
Khong m: -2.147.483.648 T C220 C234
Cht 32 bit n 2.147.483.647 Loi: b m ln/xung
S lng: 15 32 bit
B m tc Khong m: -2.147.483.648
1 pha T C235 C240
cao n 2.147.483.647
Trang 15
(HSC) 1 pha: Ti a 60kHz cho phn

1 pha hot ng cng ca HSC (C235, C236,
C246) T C241 C245
bng ng vo
Ti a 10kHz cho phn
mm ca HSC (C237 C245,
2 pha C247 C250) T C246 C250
cng ca HSC (C251)
Pha A/B Ti a 5kHz cho phn T C251 C255
mm ca HSC (C252 C255)
T D0 D127
Thng thng
thit b 32 bit
T D128 D7999
Cht S lng: 7872
thit b 32 bit
T D1000 D7999
Thanh ghi Tp tin S lng: 7000 Loi: thanh ghi lu tr
d liu d liu 16 bit
(D) D liu chuyn t bin
c iu chnh Trong khong: 0 255 tr iu chnh in p t
bn ngoi S lng: 2 ngoi vo thanh ghi
D8030 v D8031
T D8000 D8255
S lng: 256 (k c D8030,
D8031)
d liu 16 bit
T V0 V7 v Z0 Z7
16 bit
Dng vi lnh
S lng: 128 T P0 P127
CALL
Con tr
100 n 150 (kch
(P) Dng vi cc
ngt
xung =0)
S mc
Dng vi lnh
MC/MCR
(N)
Trang 16
Thp phn 16 bit: -32768 n 32767

(K) 32 bit: -2.147.483.648 n 2.147.483.647
Hng s
3. Cc loi FX1N:
Ngun AC, u vo 24 VDC
Tng Ng vo Ng ra
cc Kch thc
FX1N (Di Rng Cao)
Vo/Ra
FX1N-14MR-ES/UL R le
14 8 Sink/Source 6 90 75 90
Transistor
FX1N-14MT-ESS/UL
(Source)
24 14 Sink/Source 10 90 75 90
Transistor
FX1N-24MT-ESS/UL
(Source)
40 24 Sink/Source 16 130 75 90
Transistor
FX1N-40MT-ESS/UL
(Source)
60 36 Sink/Source 24 175 75 90
Transistor
FX1N-60MT-ESS/UL
(Source)
FX1N-14MR-DS R le
14 8 Sink/Source 6 90 75 90
Transistor
FX1N-14MT-DSS
(Source)
FX1N-24MR-DS R le
24 14 Sink/Source 10 90 75 90
Transistor
FX1N-24MT-DSS
(Source)
FX1N-40MR-DS 40 24 Sink/Source 16 R le 130 75 90
Trang 17
Transistor
FX1N-40MT-DSS
(Source)
FX1N-60MR-DS R le
60 36 Sink/Source 24 175 75 90
Transistor
FX1N-60MT-DSS
(Source)
V. FX2N PLC:
1. c im:
y l mt trong nhng dng PLC c tnh nng mnh nht trong dng FX. FX2N c
trang b tt c cc tnh nng ca dng FX1N, nhng tc x l c tng cng, thi gian
thi hnh cc lnh c bn gim xung c 0.08us. FX2N thch hp vi cc bi ton iu khin
vi s lng u vo ra trong khong 16-128 u vo ra, trong trng hp cn thit FX2N
c th m rng n 256 u vo ra. Tuy nhin, trong trng hp m rng s lng I/O ln
256, FX2N s lm mt li th v gi c v khng gian lp t ca FX2N. B nh ca FX2N
l 8Kstep, b nh RAM c th m rng n 16Kstep cho php thc hin cc bi ton iu
khin phc tp. Ngoi ra, FX2N cn c trang b cc hm x l PID vi tnh nng t chnh,
cc hm x l s thc cng ng h thi gian thc tch hp sn bn trong. Nhng tnh nng
vt tri trn cng vi kh nng truyn thng, ni mng ni chung ca dng FX1N a
FX2N ln v tr hng u trong dng FX, c th p ng tt cc i hi kht khe nht i vi
cc ng dng s dng trong cc h thng iu khin cp nh v trung bnh. FX2N thch hp
vi cc bi ton iu khin s dng trong cc dy chuyn sn, cc dy chuyn ng gi, x
l nc thi, cc h thng x l mi trng, iu khin cc my dt, trong cc dy truyn
ng, lp rp tu bin.
Trang 18
2. c tnh k thut:
MC C IM GHI CH
C lnh lm ti ng ra
i vi cc lnh c bn: 0,08s
Thi gian x l lnh
C th to chng trnh
loi SFC bng Stepladder
8000 bc RAM: ti a 16000 C th chn b nh
Dung lng chng trnh
bc RAM/EPROM/EEPROM
S lnh c bn: 27
C ti a 298 lnh ng
dng c thi hnh
S lnh ng dng: 128
Phn cng c ti a 256 ng Vo/Ra, ty thuc vo ngi
Cu hnh Vo/Ra
s dng chn
(I/O)
(Phn mm c ti a 256 u vo, 256 u ra)
R le ph
Cht S lng: 2572 T M500 M3071
tr (M)
c bit S lng: 256 T M8000 M8255
Thng thng S lng: 490 T S10 S499
R le trng Cht S lng: 400 T S500 S899
Khai bo S lng: 100 T S900 S999
S lng: 200
B nh th S lng: 46
Timer (T) Khong nh th: 0 32,767
1 mili giy duy
giy T246 T249
tr
S lng: 4
100 mili giy
giy T250 T255
duy tr
S lng: 6
Trang 19
Thng thng Khong m: 1 n 32767 T C0 C99

16 bit S lng: 100 Loi: b m ln 16 bit
Khong m: 1 n 32767 T C100 C199
Cht 16 bit
S lng: 100 Loi: b m ln 16 bit
B m Khong m: -2.147.483.648 T C200 C219
Thng thng
(C) n 2.147.483.647 Loi: b m ln/xung
32 bit
S lng: 35 32 bit
Khong m: -2.147.483.648 T C220 C234
Cht 32 bit n 2.147.483.647 Loi: b m ln/xung
S lng: 15 32 bit
Khong m: -2.147.483.648
1 pha n 2.147.483.647 T C235 C240
cng ca HSC (C235, C236,
1 pha hot ng
C246) T C241 C245
B m tc bng ng vo Ti a 10kHz cho phn
cao
mm ca HSC (C237 C245,
(HSC)
C247 C250)
2 pha T C246 C250
cng ca HSC (C251)
Ti a 5kHz cho phn
Pha A/B T C251 C255
mm ca HSC (C252 C255)
T D0 D199
Thng thng
thit b 32 bit
T D200 D7999
Cht S lng: 7800
Thanh ghi thit b 32 bit
d liu T D1000 D7999
(D) Tp tin S lng: 7000 Loi: thanh ghi lu tr
d liu 16 bit
T D8000 D8255
S lng: 256 (k c D8030,
D8031)
d liu 16 bit
T V0 V7 v Z0 Z7
16 bit
Trang 20
Dng vi lnh
S lng: 128 T P0 P127
CALL
100 n 150, 16
Con tr n 18 v I010 n
(P) Dng vi cc C 6 ng vo, 3 b nh th, 6 I060 (kch cnh ln =1,
ngt b m kch cnh xung =0,
= thi gian trong 1
mili giy)
S mc
Dng vi lnh
MC/MCR
(N)
Thp phn 16 bit: -32768 n 32767
(K) 32 bit: -2.147.483.648 n 2.147.483.647
Hng s
32 bit: 0. 1,175 1038, 3,403 1038
im ni
(d liu khng th nhp vo trc tip)
3. Cc loi FX2N:
Tng Ng vo Ng ra
cc Kch thc
FX2N (Di Rng Cao)
Vo/Ra
Sink/Source
Transistor
FX2N-16MT-ESS/UL 16 8 8 130 87 90
(Source)
Transistor
FX2N-16MT-E/UL Sink
(Sink)
FX2N-32MR-ES/UL Sink/Source R le
FX2N-32MS-E/UL Sink Triac

32 16 16 150 87 90
Transistor
FX2N-32MT-ESS/UL Sink/Source
(Source)
Transistor
FX2N-32MT-E/UL Sink
(Sink)
Trang 21
FX2N-48MR-ES/UL Sink/Source R le
FX2N-48MS-E/UL Sink Triac

48 24 24 182 87 90
Transistor
FX2N-48MT-ESS/UL Sink/Source
(Source)
Transistor
FX2N-48MT-E/UL Sink
(Sink)
64 32 Sink/Source 32 220 87 90
Transistor
FX2N-64MT-ESS/UL
(Source)
80 40 Sink/Source 40 285 87 90
Transistor
FX2N-80MT-ESS/UL
(Source)
128 64 Sink/Source 64 350 87 90
Transistor
FX2N-128MT-ESS/UL
(Source)
FX2N-16MR-DS R le
16 8 Sink/Source 8 130 87 90
Transistor
FX2N-16MT-DSS
(Source)
FX2N-32MR-DS R le
32 16 Sink/Source 16 150 87 90
Transistor
FX2N-32MT-DSS
(Source)
FX2N-48MR-DS Sink/Source R le
48 24 24 182 87 90
Transistor
FX2N-48MT-DSS
(Source)
FX2N-64MR-DS R le
64 32 Sink/Source 32 220 87 90
Transistor
FX2N-64MT-DSS
(Source)
FX2N-80MR-DS 80 40 Sink/Source 40 R le 285 87 90
Trang 22
Transistor
FX2N-80MT-DSS
(Source)
FX2N-16MR-UA1/UL 16 8 110 VAC 8 R le 130 87 90
VI. FX2NC PLC:
1. c im:
B iu khin lp trnh vi kch thc siu gn, thch hp cho cc ng dng i hi cao
v yu cu tit kim khng gian lp t. FX2NC c y cc tnh nng ca FX2N nhng
li tit kim n 27% khng gian s dng. Lnh vc ng dng ch yu ca FX2NC l dng
trong cc dy chuyn sn xut thc n, iu khin cc bng ti, cc dy truyn ng gi,
trong xy dng, trong cc h thng bm hay cc bi ton iu khin lin quan n mi
trng.
2. c tnh k thut:
Ging c tnh k thut ca FX2N
Trang 23
3. Cc loi FX2NC:
Tng Ng vo Ng ra
cc Kch thc
FX2NC (Di Rng Cao)
Vo/Ra
FX2NC-16MR-T-DS 16 8 Sink/Source 8 R le 35 89 90
Transistor
FX2NC-16MT-DSS Sink/Source
(Source)
16 8 8 35 87 90
Transistor
FX2NC-16MT-D/UL Sink
(Sink)
Transistor
(Source)
32 16 16 35 87 90
Transistor
(Sink)
Transistor
(Source)
64 32 32 60 87 90
Transistor
(Sink)
Transistor
(Source)
96 48 48 86 87 90
Transistor
(Sink)
Trang 24
CHNG 2:
LP TRNH PLC MITSUBISHI VI CC LNH C BN
I. nh ngha Chng Trnh:

Chng trnh l mt chui cc lnh ni tip nhau c vit theo mt ngn ng m
PLC c th hiu c. C ba dng chng trnh: Instruction, Ladder v SFC/STL. Khng
phi tt c cc cng c lp trnh c th lm vic c c ba dng trn. Ni chung b lp
trnh cm tay ch lm vic c vi dng Instruction trong khi hu ht cc cng c lp trnh
ha s lm vic c c dng Instruction v Ladder. Cc phn mm chuyn dng s cho
php lm vic dng SFC.
II. Cc thit b c bn dng trong lp trnh:

C 6 thit b lp trnh c bn. Mi thit b c cng dng ring. d dng xc nh
th mi thit b c gn cho mt k t:
X: dng ch ng vo vt l gn trc tip vo PLC
Y: dng ch ng ra ni trc tip t PLC
T: dng xc nh thit b nh th c trong PLC
C: dng xc nh thit b m c trong PLC
M v S: dng nh l cc c hot ng bn trong PLC
Trang 25
Tt c cc thit b trn c gi l Thit b bit, ngha l cc thit b ny c 2 trng

thi: ON hoc OFF, 1 hoc 0.
III. Ngon ng lap trnh Instruction va Ladder:
Ngon ng Instruction, ngon ng dong lenh, c xem nh la ngon ng lap trnh c
ban de hoc, de dung, nhng phai mat nhieu thi gian kiem tra oi chieu e tm ra moi
quan he gia mot giai oan chng trnh ln vi chc nang no the hien. Hn na, ngon
ng instruction cua tng nha che tao PLC co cau truc khac nhau. (ay la trng hp pho
bien ) th viec s dung lan lon nh vay co the dan en ket qua la phai lam viec tren tap
lenh ngon ng instruction khong ong nhat.
Mot ngon ng khac c a chuong hn la Ladder, ngon ng bac thang. Ngon ng
nay co dang o hoa cho phep nhap chng trnh co dang nh mot s o mach dien logic,
dung cac ky hieu ien e bieu dien cac cong tac logic ngo vao va l le logic ngo ra
(hnh 2.1). Ngon ng nay gan vi chung ta hn hn ngon ng Instruction va c xem nh
la mot ngon ng cap cao. Phan mem lap trnh se bien dch cac ky hieu logic tren thanh ma
may va lu vao bo nh cua PLC. Sau o, PLC se thc hien cac tac vu ieu khien theo
logic the hien trong chng trnh.
IV. Cac lenh c ban
Lenh LD (load)
Lenh LD dung e at mot cong tac logic thng m vao chng trnh. Trong
chng trnh dang Instruction, lenh LD ln luon xuat hien v tr au tien cua mot dong
chng trnh hoac m au cho mot khoi logic (se c trnh bay phan lenh ve khoi).
Trong chng trnh dang ladder, lenh LD the hien cong tac logic thng m au tien noi
trc tiep vi ng bus ben trai cua mot nhanh chng trnh hay cong tac thng m au
tien cua mot khoi logic.
Trang 26
V du:
LD X000
OUT Y000
Hnh 2.1: Lenh LD ch khi cong tac thng m vao ng bus trai
Ngo ra Y000 ong khi cong tac X000 ong, hay ngo vao X000 = 1.
Lenh LDI (Load Inverse)
Lenh LDI dung e at mot cong tac logic thng ong vao chng trnh. Trong
chng trnh Instruction, lenh LDI luon luon xuat hien v tr au tien cua mot dong
chng trnh hoac m au cho mot khoi logic (se c trnh bay sau phan lenh ve khoi).
Trong chng trnh ladder lenh LD the hien cong tac logic thng ong au tien noi trc
tiep vi ng bus ben trai cua mot nhanh logic hoac cong tac thng ong au tien cua
mot khoi logic.
V du:
LDI X001
OUT Y000
Hnh 2.2: Lenh at mot cong tac thng ong vao ng bus trai
Lenh OUT
Lenh OUT dung e at mot r le logic vao chng trnh. Trong chng trnh
dang ladder, lenh OUT ky hieu bang ( ) c noi trc tiep vi ng bus phai. Lenh
OUT se c thc hien khi ieu khien pha ben trai cua no thoa man. Tham so (toan hang
bit) cua lenh OUT khong duy tr c trang thai (khong chot); trang thai cua no giong vi
trang thai cua nhanh cong tac ieu khien.
Trang 27
V du:
LDI X001
OUT Y000
Hnh 2.3 : Lenh OUTat mot r-le logic vao ng bus phai
Ngo ra Y000 = ON khi cong tac logic thng ong X001 ong (X001 = 0); ngo ra
Y00 = OFF khi cong tac logic thng ong X001 h (X001 = ON).
Lenh AND va OR.
dang ladder cac cong tac thng m mac noi tiep hay mac song song c the
hien dang Instruction la cac lenh AND hay OR.
AND
LD X000
AND X001
AND X002
OUT Y001
OR
LD X000
OR X001
OR X002
OUT Y001 Hnh 2.4. Lnh t cng tc ni tip hoc song song
Lenh ANI va ORI.
Trang 28
dang ladder cac cong tac logic thng ong mac noi tiep hay song song c the
hien dang Instruction la cac lenh ANI hay ORI.
NAND
LDI X000
ANI X001
ANI X002
OUT Y000
NOR
LDI X000
ORI X001
ORI X002
OUT Y001
Hnh 2.5: Lp trnh cho cc cng tc logic thng ng

hay thng m mc song song
Cong logic EXCLUSIVE-OR

Cong logic nay khac vi cong OR cho la no cho logic 1 khi mot trong hai ngo vao
co logic 1, nhng khi ca hai ngo vao eu co logic 1 th no cho logic 0. logic nay co the
c thc hien bang hai nhanh song song, moi nhanh la mach noi tiep cua mot ngo vao va
ao cua ngo con lai. V khong co lenh the hien cho logic nay nen no c bieu dien bang
to hp cac logic c ban nh tren.
Trang 29
EX-OR
LD X000
ANI X001
LDI X000
AND X001
ORB
OUT Y000
Hnh 2.6: Lp trnh cho cng logic EXCLUSIVE-OR
Lu y:Trong trng trnh Instruction co dung lenh ORB (OR Block).Ban au lap
trnh cho nhanh au tien, sau o la nhanh ke tiep. Luc nay CPU hieu rang a co hai khoi
va no se oc lenh ke tiep ORB. Lenh nay thc hien OR hai khoi tren vi nhau; lenh OUT
se kch ngo ra tng ng.
Lenh ORB
Lenh ORB (OR Block)khong co tham so. Lenh nay dung e tao ra nhieu nhanh
song song phc tap gom nhieu khoi logic song song vi nhau. Lenh ORB c mo ta ro
nhat khi mot chuoi cac cong tac bat au bang lenh LD (LDI)song song vi mot nhanh
trc o.
V du:
LD X002
ANI M10
AND X003
LD Y000
ORI M10
AND M11
AND X004
ORB
OUT Y000 Hnh 2.7: Mc song song hai khi logic
Trang 30
Ngo ra Y000 co logic 1 khi:

Hoac X002 va X003 la ON va M10 co logic 0
Hoac Y000, M1 va X004 co logic 1
Hoac M11 va X004 la ON va M10 co logic 0
Lenh ANB
Lenh ANB (AND block) khong co tham so. Lenh ANB c dung e tao ra cac
nhanh noi lien tiep phc tap gom nhieu nhanh noi tiep vi nhau. Lenh ANB c mo ta ro
nhat khi thc hien noi tiep nhieu khoi co nhieu cong tac mac song song.
V du 1 :
LD X000
ORI X001
LD X002
OR X003
AND
OUT Y000
Hnh 2.8 (a): V du ANB vi hai khoi n gian
Th t lap trnh la quan trong. Cong tac thng m X000 c nhap au tien, sau
o la cong tac thng ong X001. Hai cong tac nay thng mac song song theo lenh ORI
tao thanh mot khoi co hai cong tac song song. Hai cong tac X002 va X003 cung c lap
trnh tng t tao thanh mot khoi khac. Hai khoi mi hnh thanh tren cung c noi tiep
lai vi nhau bang lenh ANB va ket qua c noi qua ngo ra Y000.
Trang 31
LD X000
AND X001
OR Y000
LD X002
AND X004
LDI X000
AND X003
ORB
ANB
OUT Y000
Hnh 2.8(b) V du ANB vi hai khoi phc tapap5
Lenh SET
Lenh SET dung e at trang thai cua tham so lenh ( ch cho phep toan hang bit) len
logic 1 vnh vien (chot trang thai 1). Trong chng trnh dang Ladder, lenh SET luon luon
xuat hien cuoi nahnh , pha ben phai cua cong tac cuoi cung trong nhanh, va c thi
hanh khi ieu kien logic cua to hp cac cong tac ben trai c thoa man.
V du:
LD X000
SET M10
LD M10
OUT Y000
Hnh 2.9 Dung lenh SET e chot trang thai Y000
Khi ngo vao X000 co logic 1 th c M10 c chot trang thai 1 va c duy tr
trang thai o, M10, sau o c dung e kch thch ngo ra Y000. Nh vay, ngo ra Y000
c kch len logic 1 va duy tr o du ngo vao X000 a chuyen sang trang thai logic 0.
Lenh RST (ReSet)
Trang 32
Lenh RST dung e at trang thai cua tham so lenh (ch co phep toan hang bit) ve
logic 0 vnh vien ( chot trang thai 0 ). Trong chng trnh dang Ladder, lenh RSt luon luon
xuat hien cuoi nhanh , pha ben phai cua cong tac cuoi cung trong nhanh, va c thi
hanh khi ieu kien logic cua to hp cac cong tac ben trai c thoa man. Tac dung cua
lenh RST hoan toan ngc vi lenh SET.
V du:
LD X000
ANI X001
SET M10
LD X001
ANI X000
RST M10
LD M10
OUT Y000
Hnh 2.10:So sanh tac dung gia lenh SET va RST
Ngo ra Y000 co logic 1 khi X000 co logic 1, trang thai Y000 la 0 khi X001 co logic
1. Cong tac thng ong X000 va X001 co tac dung khoa lan tranh trng hp ca hai cong
tac X000 va X001 eu ON, ngha la ca lenh SET va RST eu c thc hien. Gia s
trng hp nay xay ra (khong co mach khoa lan) th trang thai cua Y000 la 0 v PLC thc
hien trang thai ngo ra cuoi chu k quet.
Lenh MPS, MRD va MPP
Cac lenh nay dung e thc hien viec re nhanh cho cac tac vu pha ben phai cua
nhanh phan thi hanh . oi vi ngon ng Instruction , ngon ng dong lenh trnh bien dch
can phai hieu s re nhanh cho cac tac vu , do o can co 1 quy che e ghi nhan (nh) v tr
hien hanh cua con tro lap trnh trong mach ladder tng ng. C che re nhanh cho phan
Trang 33
thi hanh c thc hien qua cac lenh MPS, MRD va MPP. V du sau minh hoa cho viec s
dung ba lenh tren :
V du
LD X0 ANB
MPS OUT Y1
LD X1 MPP
OR X2 AND Y7
ANB OUT Y2
OUT Y0 LD X10
MRD OR X11
LD X3 ANB
AND X4 OUT Y3
LD X5
AND X6
ORB
Hnh 2.11 Minh hoa viec s dung lenh MPP va MPS, MRS va MPP e re nhanh ngo ra
Lenh PLS(Pulse) va PLF (PuLse Falling)

Trong trng hp mot tac vu c thc hien khi co canh len cua tn hieu ngo vao,
khong hoat ong theo mc th lenh PLS la mot lenh rat hu dung.
V du :
LD X000
PLS M0
LD M0
ALT Y000
Hnh 2.12: Kch hoat lenh bang canh len cua xung vao
Trang 34
Chu y : lenh ng dung ALT co tac dung tuan t thay doi trang thai ngo ra Y000 khi
leng nay c kch hoat. Neu ngo vao X000 kch trc tiep lenh ALT th Y000 se co mot
trang thai khong xac nh khi co tn hieu X000. Lenh PLS c thc hien e tao mot xung
MO, ngha la MO = 1 ch trong chu ky quet hien hanh ma thoi, do o, lenh ALT ch c
kch hoat mot lan, trong chu ky quet hien hanh bat chap thi gian ton tai trang thai 1 cua
X000, ngo ra Y000 se tuan t thay oi trang thai khi co canh len cua X000. M0 c goi
la r-le logic phu tr.
Hnh 2.13 Lap trnh mach phat hien canh xuong
Mach nay xuat ra mot xung M8 co o rong xac nh bang vi chu k quet cua
chng trnh . Trong hnh 2.13, mot xung M8 xuat hien tng ng vi trng hp co canh
xuong cua ngo vao X0.
Trang 35
S dung cac cong tac logic trong chng trnh PLC

Cac cong tac logic trong chng trnh ladder the hien cac logic ieu kien cac
chng trnh. Cac cong tac phai luon luon c lap trnh ket hp vi cac thiet b bit logic
tng t nh ngo vao, ngo ra, r-le logic ngoai ra, nhieu cong tac logic co the ket hp
vi cung mot thiet b bit logic nao o. Trong hnh 2.14, ngo vao X000 va X001 xuat hien
hai cong tac logic minh hoa mot trong nhng iem ac trng cua lap trnh PLC la cac
thiet b bit logic minh hoa mot trong nhng iem ac trng cua lap trnh PLC la cac thiet
b c lap trnh ket hp vi nhieu cong tac, ke ca cac cong tac co logic khac nhau nh v
du di (X000 c s dung ket hp vi cong tac thng m va thng ong).
Hinh 2.14 S dung cac cong tac ket hp nhioeu lan vi X000 va Y001
Mach nh
Cac mach nh, mach chot, rat thng c s dung trong cac he thong ieu khien
logic. No c dung khi can ghi nhan va nh tn hieu xuat hien tc thi.
Mach nh c trnh bay trong hnh 2.15. Bao gom ngo ra Y001 s dung ket hp
vi mot cong tac logic mac song song vi cac cong tac khi tao (cong tac moi). Nh vay,
khi cac cong tac khi tao (X000 va X001) ong th Y001 co logic 1 va thc hien vai tro
cua mot cong tac thay the cac cong tac khi tao. Neu mot trong hai cong tac khi tao h
th Y001 van duy tr trang thai 1. Ngo ra Y001 ch b reset khi tac ong vao cong tac
thng ong X002 hay X002 co logic 1.
Trang 36
Hnh 2.15 Mach nh
Chi tiet ve cac lenh c ban xin xem So tay hng dan lap trnh cac bo ieu khien
lap trnh ho FX chng 2: Cac lenh c ban.
V. Lap trnh cho cac tac vu c ban tren PLC:
Ngoai cac cong tac logic c mac noi tiep va song song cho go vao va kch hoat
cac r-le logic, hau het cac he thong ieu khien con oi hoi phai co r-le phu tr, thanh
ghi va cac chc nang nh th, em. Tat ca cac chc nang o eu c ap ng vi cac
thiet b logic chuan san co trong PLC: bo nh th logic (timer), bo em logic (counter) r-
le logic phu tr (auxilary relay) va thanh ghi logic (register), va de dang s dung vi ngon
ng Ladder va ngon ng Instruction.
Cac thiet b tren khong phai la cac thiet b vat ly ma chung c gia lap trong PLC.
Do o, ve mat thuat ng c s dung trong tai lieu nay, r-le phu tr logic, thanh ghi
logic, bo nh th logic va bo em logic, c goi la r-le phu tr, thanh ghi, bo nh th
em tng ng ng. Moi chc nang tren co the c lap trnh ket hp vi cac cong tac
logic e sau o ieu khien cac phan t trong chng trnh. Cac thiet b logic tren co so
lng tuy thuoc loai PLC va nha san xuat va c cung cap qua bang ch tieu ky thuat i
kem vi PLC hay cac catalog gii thieu ve loai PLC o.
1. Lap trnh s dung r-le phu tr
R-le phu tr, con c goi la c theo thuat ng lap trnh, co tac dung nh r-le
vat ly c gia lap trong bo nh PLC, bo nh 1 bit, c dung e ket h p vi nhieu
cong tac trong chng trnh e ghi nhan logic cua mach ladder ieu khien no.
Trang 37
C c ky hieu M va c anh so thap phan. V du: M0, M9, M100.

Mot ng duung cua c la trong trng hp co qua nhieu cong tac tham gia vao logic ieu
khien th ta phai ket hp logic t nhieu mach ladder, ngha la cac logic co lien he vi nhau
c a vao mot nhanh ladder ieu khien c nao o. Tap hp cac c cua nhieu mach
logic c s dung e ieu khien.
V du trong hnh 2.16 hai cong tac X001 va X002 ieu khien c M100 va cong tac
M100 c mac song song vi X001 tao thanh mach duy tr cho X001. tai v tr khac trong
chng trnh, cac cong tac M100 tham gia vao nhanh ladder ieu khien ngo ra Y000.
Viec dung c va cac cong tac cho phep ket noi cac phan chng trnh lai vi nhau
e n gian, de oc va tranh viec dung qua nhieu cong tac trong mot nhanh logic.
Hnh 2.16 Dung c M100 Va M101 e ket hp hai nhanh logic kch ngo ra Y000
2. Lap trnh s dung thanh ghi

Ngoai viec dung c e nh thong tin dang bit, mot loai bo nh khac trong PLC cho
phep lu cung luc nhieu bit gi lieu goi la thanh ghi, thng la 16 bit hay 32 bit.
Thanh ghi c ky hieu D va anh so thap phan. V du: D0, D9, D128.
Thanh ghi rat quan trong khi x ly d lieu so c thap phan ben ngoai. V du: d
lieu t cac cong tac chon nhan (thumbwheel swiche), bo chuyen oi A/Dco the th bo
c oc vao thanh ghi, x ly va sau o a lai cho cac ngo ra ieu khien, man hnh hien
Trang 38
chuyen oi D/A.. v du minh hoa viec s dung thanh ghi c trnh bay trong so tay
lap trnh cho cac bo ieu khien ho FX. Chng 5 cac lenh ng dung.
Ngoai ra thanh ghi co the c bieu dien bang mot chuoi bit ri rac. Cach bieu dien
thanh ghi t cac bit rieng c minh hoa qua v du sau.
K1Y20 bieu dien thanh ghi co 4 bit bat au t Y20, ngha la thanh ghi Y23, Y22, Y21,
Y20 trong o:
Y20 la bit au tien cua thanh ghi
K1 la hang so ch so nhom 4 bit lien tiep ke t bit au tien
K2X20 bieu dien thanh ghi co 8 bit bat au t X20, ngha la thanh ghi X27, X26, X25,
X24, X23, X22, X21, X20.
ng dung cua thanh ghi.
Thanh ghi dch chuyen (shift register) la vung bo nh lu tr dung a vao chuoi
lien tiep cac bit gi lieu rieng biet ng vao cua no. D lieu c dch chuyen doc theo
thanh ghi theo chieu xac nh. Thanh ghi co kch thc xac nh, boi so cua 4 va bit cuoi
cung trong thanh ghi se dch chuyen ra ngoai b mat.
Thanh ghi dch chuyen thng c dung trong cac ng dung ieu khien trnh t
thong qua cac ngo ra c ket hp vi tng bit thanh ghi o la viec ong m cac ngo ra o
tuy thuoc vao trang thai tng bit tng ng trong thanh ghi dch chuyen.
Trong PLC, thanh ghi dch chuyen thng c tao thanh t nhom c. S cap phat
nay c thc hien t ong trong tham so cua lenh dch chuyen thanh ghi. Hnh 2.17 trnh
bay mot mat ien hnh ve tac vu dch chuyen thanh ghi. Trong mach nay sau khi dch
chuyen va quay cac c trong thanh ghi th trang thai cua tng bit trong thanh ghi c
dung e kch hoat trc tiep cac ngo ra ieu khien cac thiet b ben ngoai. Trong o mot so
Trang 39
trng hp, viec dung thanh ghi dch chuyen co the tiet kiem c dung lng chng
trnh ang ke so vi chng trnh c lap theo cach truyen thong dung mach khoa lan.
Mot ng dung pho biet va n gian ta dung thanh ghi dch chuyen e giam sat
ng i cua thanh pham tren bang tai trong he thong san xuat t ong, hnh 2.18(a).
trong hnh cho thay cac thanh pham c di chuyen doc theo bang tai, vi mot te bao
quang ien PH1 phat hien thanh pham b h hong can loai ra ngoai. S kien nay a 1 bit
vao thanh ghi dch chuyen oi vi mot phe pham. Cong tac hanh trnh LS1, gan tren c
cau bang tai, dung e gi 1 xung ve PLC thc hien lenh dch chuyen thanh ghi moi khi co
san pham (tot hay xau) di chuyen qua no tren bang tai. Yeu cau la cac phe pham (phat
hien bi PH1) se b ri vao thung ng phe pham pha di qua mot ca. V the thanh ghi
dch chuyen phai do theo vet cua phe pham doc theo bang tai va m ca loai bo phe
pham ung luc. C cau ca loai bo phe pham m lam cho cong tac M101 khong hoat
ong. Them mot te bao quang ien PH2 phat hien co phe pham ri vao thung se ngat
mach c cau ca thong qua M101 e bao rang thanh pham tot pha sau khong ri tiep.
C M101 c chot e bao am ca van ong cho du X3 (PH2) ch nhan c mot xung
rat ngan.
Hnh 2.17: ng dung lenh dch chuyen thanh ghi

Trang 40
Cong tac hanh trnh LS1 ieu khien 2 c M100 va M102 vi lenh PLS. anh hng
cua cong tac thng ong M100 nhanh au tien dung e ngan tn hieu t cam bien
quang PH1 khi viec dch chuyen ang c thc hien nham tranh loi co the xay ra. Cong
tac M102 tren nhanh ieu khien M101 la bao am viec ong ca trong khoang khong gian
gia hai thanh pham lien tiep. Cong tac X2 dung e at lai thanh ghi nay, chuye n tat ca
c sang trang thai 0 va bo qua bat ky s dch chuyen nao hay nhan tn hieu ngo vao.
Trang 41
Hnh 2.18. Dng thanh ghi d vt ca ph phm

(a) S nguyn l
(b) Chng trnh Ladder
3. Lap trnh s dung bo nh th.

Bo nh th ve ban chat la mot bo em xung co chu ky xac nh (c trnh bay
sau). Khi c kch hoat, bo nh th thc hien viec em xung cho en khi u so xung
tng ng vi thi gian can nh th. Trong PLC co lenh kch hoat bo nh th rat n gian
ve lap trnh va s dung.
Bo nh th c ky hieu C va c anh so thap phan. V du: C0, C32, D63.
C che hoat ong cua bo nh th nh sau: (gia s dung bo nh th T0)
Khi T0 cha c kch hoat th T0 co logic 0; khi T0 c kch hoat th T0 van co
logic 0 cho en khi hoan tat thi gian nh th th T0 co logic 1.
Trang 42
Chu y: ieu kien kch hoat bo nh th phai c duy tr trong suot thi gian nh
th. Neu ieu kien nay khong c thoa man th bo nh th ngng c kch hoat, ngha la
khong nh th.
Phng phap lap trnh cho bo nh th thng la xac nh khoang thi gian va cac
ieu kien e kch hoat hay dng bo nh th. Trong hnh 2.19 ieu kien kch hoat bo nh
th co the la cac tn hieu ben trong hoac ben ngoai PLC. Trong v du nay bo nh th T0
c kch hoat bi cong tac Y000. v vay, T0 ch bat au nh th khi Y000 co logic 1.
trong khi o, Y000 c kch hoat bi cong tac thng m X000 va thng ong X001.
khi b kch hoat, bo nh th em xuong t gia tr nh trc, trong trng hp nay la 3
giay, en khi bang 0: khi o cac cong tac ket hp vi bo nh th o se hoat ong.
Nh vi moi cong tac khac trong PLC, cong tac c ieu khien bi bo nh th cung c
s dung v tr nao trong chng trnh ladder. Trong trng hp nay cong tac TO ieu
khien ngo ra Y001. mach logic dung e kch hoat bo nh th cung la mach logic dung e
dng bo nh th. ay la trng hp thng s dung tren cac PLC loai nho. Mach kch
hoat bo nh th co the nhieu cong tac co lien he vi nhau hoac ch mot cong tac.
Hnh 2.19 mach c ban ve bo nh th

Thong so gia tr nh th thay oi tuy thuoc loai PLC cua tng hang, thng ta nhap
vao hang so ( K ) vi n v la giay, 10 miligiay hay 100 miligiay. Thi gian nh th
khong co nh v tuy thuoc vao o phan giai cua bo nh th s dung, o phan giai thap th
thi gian nh th ln nhng cap chnh xac nho, o phan giai cao th thi gian nh th nho,
Trang 43
cap chnh xac cao. Gia tr toi a cho hang so thi gian nh la K32767. ta co ban so sanh
sau.
o phan giai Thi gian nh th toi a o phan giai

100 miligiay 3276,7 giay 100 miligiay
10 miligiay 327,67 giay 10 mili giay
1 miligiay 32,767 giay 1 miligiay
Do thi gian nh th co gii han nen e co the nh th c thi gian ln hn ta co

the s dung nhieu bo nh th noi tiep.
Bo nh th T0 c ac gia tr nh th 19 giay. Khi X000 la 1 ( nhan nut ) th Y001 = 1
thgc hien viec duy tr cho cong tac X000. trong khi o, cong tac thng ong X000 h v
X000 van la 1, khong cho phep bo nh th hoat ong cho an khi khong tac ong vao nut
nhan na. X000 = 0. bo nh th T0 se nh th 19 giay. Khi het en thi gian nh th,
cong tac T0 nhanh au tien h, ngat ng hoat ong cho Y000 va T0 ( hnh 2.20 ).
Hnh 2.20 : Mach nh th loai Off delay

(a ) Mach ladder Trang
( b ).Gia
44 n o thi gian.
Mach nh th Long time

Dung hai bo nh th noi tiep e nh th thi gian ln hn. Trong v du hnh 2.21,
o phan giai cua T0 va T1 la 100 mili giay. Nh vay, tong thi gian nh th la
3200 + 3200 = 6400 giay = 106,67 phut.
Hnh 2.21: Mach nh th long time
Mach Flicker
Trong hnh 2.22, mach nh th dc kch va ong m lien tuc cho en khi X000= 0
lam h mach. Hoat ong c giai thch: khi X000 = 1 lam ong cong tac thng m
X000, no kch bo nh th T0 ( 1 giay ). Khi at en thi gian inh th, cong tac T0 ong
lam kch hoat bo nh th T1 ( 1.5 giay ) nhanh ke. Sau 1.5 giay, T1 = 1, cong tac thng
lam khi ong lai T1. Cong tac T1 ong lam kch hoat lai T0. qua trnh tren lap lien tuc
cho en khi cong tac X000 h, tc X000 = 0.
Hnh 2.22: Mach Ficker phat chuoi xung dung hai bo nh

th. Trang 45
Hoat ong cua mach tren co the c thay ro hn t s do thi gian ben di. S o
nay cho thay mach tren thc hien viec phat xung 1.5 giay ON/1 giay OOF nhan c
nhanh T1 hay nhanh song song Y000.
Mach One shot mc cao
Khi X000 = 1, ngo ra Y0 =1; 8 giay sau th ngo ra Y0 = 0.
Hnh 2.23 Mach One-shot mc cao
Mach One shot mc thap

Mach One shot dung e nhan c xung co chieu rong nh trc phu thoc vao
thi gian tac ong vao mot cong tac. Hnh 3.24 trnh bay bo nh th One-shot cho mc
Hnh 2.24: Mach One-shot mc thap

4. Lap trnh s dung bo em
Trong lap trnh PLC co san lenh e kch hoat bo em. Ve cach thc hoat ong, bo
em c lap trnh tng t nh bo nh th, nhng them vao mach nhan tn hieu em s
kien. Hau het bo em tren PCL la bo em xuong hoac em len tuy vao ieu khien chieu
em. Trong hnh 2.17, bo em C0 c khi ong lai (reset) khi cong tac X002 ong. Bo
Trang 46
em em xung t ngo vao X003. Trang thai cua bo em C0 la 1 sau khi nhan c 8 xung
t ngo vao X003, khi o cong tac bo em C0 ong lam ngo ra Y00 ong. Neu cong tac
X002 ong trong trang khi ang em th bo em se b khi ong lai.
Hnh 2.25 Lap trnh c ban bo em

Trng hp mat nguon cung cap ien, ta thng phai dung bo em co kha nang nh
(c nuoi bang pin) nham tranh trng hp mat d lieu quan trong.
Cac mach ng dung cua bo em trnh bay trong cac hnh 2.26 va 2.27. Trong hnh
2.26 c M100 va M101 c kch bi cung ngo X000, va c M001 c kch sau M100.
Do o, tac dung M101 la lam cho M100 = 1 ch trong mot chu ky quet hien hanh ma thoi
khi X000 =1. Tn hieu M100 c dung lam tn hieu em cho C0. nh vay, moi lan cong
tac X0 ong; bo em se tang 1.
Bo em C0 c at gia tr 5, va khi em u so xung M100 th se tac ong cac
cong tac ket hp vi bo em nay. Trong hnh 2.27, co hai cong tac ket hp vi C0: mot
cong tac C0 at mach ieu khien Y0 va mach song song vi no gom cong tac Y0 va
cong tac thng ong M100 co tac dung duy tr ngo ra Y0 khi bo em C0 b khi ong lai
va ngo ra Y0 = 1 cho en khi lai co mot xung M100 do cong tac X0 ong, va mot cong tac
th hai mac song song vi cong tac X1 trong mach khi ong lai bo em C0.
X1 hoat ong nh mot cong tac khi ong lai cho bo em va X1 hoat ong nh la
mot cong tac cho phep viec kch ngo ra Y0.
ng dung bo em tao mach nh th Long time
Trang 47
Mach trong hnh 3.27 em so lan time out (at en thi gian nh th la 3276.7
giay) cua bo nh th T0. Bo em C0 c at gia tr 3, va nh vay se em 3 lan cua
3276.7 giay tc 9830.1 giay = 2.73 gi. C M56 reset bo nh th T0 sau khi moi lan time-
out. Ngo ra Y0 c dung e reset bo nh T0 vi ieu kien X1=1. Mot qua trnh nh th
mi se c thc hien khi X1 la OFF va c bat ON tr lai.
LD X000
ANI M101
OUT M100
LD X000
OUT M101
LD C0
OR X1
RST C0 K5
LD Y000
ANI M100
OR C0
ANI X002
OUT Y000
Hnh 2.26: Mach ng dung bo em.
Trang 48
Hnh 2.27: Dung bo em tao mach nh th Long-time
Hoat ong mach em sau khi mat nguon.

Trong cac ng dung thc te ta can bo em co kha nang lu lai trong bo nh cac
thong tin em c khi mat nguon cap ien cho PLC e viec ieu khien co the hoat ong
tiep tuc theo ung trnh t mong muon khi c cap ien tr lai. Cach giai quyet la ung
theo bo em va bo nh th co nguon pin nuoi (neu co) goi la bo em chot. e xac nh bo
em nao la bo em chot ta xem trong bang ch tieu ky thuat cua tng loai PLC s dung
tng ng.
VI. Cac lnh ng dung
1. Nhom lenh ieu khien lu trnh
Lenh CJ.
Toan hang
Ten lenh Chc Nang
D
CJ Nhay en v tr con tro Con tro ch hp le
(Conditional Jump) ch xac nh (P0 P63)
Trang 49
Trong lap trnh truyen thong tren may tnh, mot trong cac chc nang mach la kha
nang nhay en v tr khac trong chng trnh tuy thuoc vao mot so ieu kien nao o. ieu
nay cho phep la chon cac hoat ong tng ng phu thuoc vao ket qua kiem tra ieu kien.
Lenh nay co hieu qua rat ln trong mot chng trnh ieu khien co nhieu s la cho hoat
ong khac nhau, va c goi la lenh nhay co ieu kien. Giong nh cac tac vu khac, ieu
kien nhay co the la mot nhanh logic n gian hay phc tap.
Hoat ong
Khi lenh CJ c kch hoat th con tro lenh nhay en v tr xac nh trong chng
trnh, bo qua mot so bc chng trnh nao o. Nh vay, mot so bc lenh khong c x
ly trong chng trnh, lam tang toc o quet chng trnh.
Lu y:
Nhieu lenh CJ co the dung chung mot con tro ch
Cac lenh nhay co the c lap trnh long nhau.
Moi con tro ch phai co duy nhat mot con so. Dung con tro P63 tng ng vi
viec nhay ti lenh END
Bat ky oan chng trnh nao b nhay qua se khong c cap nhat trang thai cac
ngo ra khi co s thay oi trang thai ngo vao. Xem chng trnh hnh di: neu X1
la ON va lenh CJ c thi hanh th ngo vao X1 va ngo ra Y b bo qua, v lenh CJ buoc
Trang 50
con tro lenh nhay ti con tro ch P0; khi lenh CJ khong con tac dung na th X1 se
ieu khien Y1 nh bnh thng.
Lenh CJ co the c dung e nhay qua het chng trnh, v du: nhay en lenh END
hay tr ve bc 0. Neu nhay tr ve th can phai chu y khong c vt qua thi
gian cai at trong bo nh th watchdog, neu khong PLC se bao loi.
Lenh CALL
Toan hang
Ten lenh Chc Nang
D
Con tro chng trnh con
CALL co gia tr t 0-62so mc
Goi chng trnh con
(Call Subroutine) long5 ke ca lenh CALL
ban dau
Mot chc nang oi hoi can thc nhieu lan trong chng trnh th co the to chc viet
chng trnh con va no se c goi khi can thiet nham tranh viec viet lai oan chng
trnh o. Do o, ta co the tiet kiem c bo nh va thi gian lap trnh. Th ng chng
trnh con c viet sau chng trnh chnh.
Khi mot chng trnh con c goi ieu khien c chuyen t chng trnh chnh
vao chng trnh con o khi hoan tat viec thi hanh chng trnh con. ieu khien c
chuyen ve lenh ke tiep sau lenh goi chng trnh con trong chng trnh chnh khi gap
Trang 51
lenh RET(RETURN) cuoi oan chng trnh con. Cac ket qua g tr d lieu se c lu
trong cac thanh ghi d lieu va sau o co the c dung trong chng trnh chnh. Ta co the
truyen tham so khac nhau moi khi goi chng trnh con.
Hoat ong
Khi lenh CALL c kch hoat oan chng trnh con se c thi hanh tai v tr con
tro c goi tng ng lenh CALL phai dung vi lenh FEND va SRET. Xet oan chng
trnh ben di, chng trnh con P10 (sau lenh FEND) c thi hanh cho en khi gap lenh
SRET va tr ve dong chng trnh ngay sau lenh CALL
Lu y
Nhieu lenh CALL co the dung chung mot chng trnh con
Con tro chng trnh con phai duy nhat. Con tro chng trnh con co the t P0 en P63.
Con tro chng trnh con va con tro ch dung trong lenh CJ khong c trung nhau.
Chng trnh con sau lenh FEND c x ly nh bnh thng. Khi chng trnh
c goi chu y khong vt qua thi gian a at trong bo watchdog
Trang 52
Lenh FOR, NEX
Toan hang
Ten lenh Chc Nang
S
K, H, KnX, KnY, KnM,
Xac nh v tr bat au va
FOR KnS, T, C, D, V, Z
so lan lap cua vong lap
Khong co
Lu Y: vong FOR-NEXT
Xac nh v tr cuoi cung
NEXT co the nong 5 mc ngha
vong lap
la lap trnh c 5 vong
lap FOR_NEXT
Hoat ong:
Cac lenh FOR va NEXT cho phep mot chng trnh c lap lai S lan.
Lu y:
V lenh FOR hoat ong che o 16bt, cho nen gia tr cua toan hang S co the nam
trong mot khoang 1 en 32,767. Neu gia tr S nam trong khoang 32.768 va 0 th no
t ong c thay the bang gia tr 1, ngha la vong lap FOR- NEXT thc hien mot lan.
Lenh NEXT khong co toan hang.
Cac lenh FOR-NEXT phai lap trnh i cap vi nhau, ngha la moi khi co lenh FOR
th phai co lenh NEXT theo sau va ngc lai. Cac lenh FOR-NEXT cung phai c lap
trnh theo th t nh vay. Viec chen lenh FEND gia lenh FOR-NEXT ngha la FOR-
Trang 53
FEND-NEXT cung khong cho phep. ieu o tng ng vi vong lap khong co
NEXT, sau lenh o la FEND va mot vong lap co NEXT va khong co FOR.
Mot vong lap FOR-NEXT lap vi mot so lan c at trc khi chng trnh chnh
ket thuc lan quet hien hanh.
2. Nhom lenh so sanh va dch chuyen
Lenh CMP
Toan hang
Ten lenh Chc Nang
S1 S2 D
Y, M, S
Lu Y: ba
So sanh hai
K, H, KnX, KnY, KnM, KnS, toan hang ke
CMP gia tr d lieu
T, C, D, V, Z tiep nhau t
(Compare) cho ket qua <,
ong c s
= hoac >
dung e lu
ket qua.
Cac lenh so sanh thng c dung e so sanh gia tr so c nhap t ben ngoai
cho bo nh th hay bo em vi gia tr lu trong thanh ghi d lieu. Tuy thuoc vao cac
lenh so sanh s dung ln hn, nho hn hay bang cac lenh nay se tra ve ket qua so
sanh. V du nhiet o do c trong lo nau thuy tinh c a ve di dang ien ap analog
bieu dien nhiet o trong lo. Gia tr ien ap nay c chuyen sang dang digital bang
modun A/D (Analog Digital Coverter) gan vi PLC. o, no c oc vao bang lenh
oc d lieu a c lap trnh t trc va lu vao thanh ghi D10. qua trnh x ly so lieu oc
vao nh sau:
Neu nhiet o nho hn 2000C th lo nung phai khong hoat ong v khong u nhiet.
Neu nhiet o ln hn 2000C va nho hn 2500C th lo hoat ong vi toc o bnh
thng (ngha la moi me nung trong 5 phut).
Trang 54
Neu nhiet o gia 2500C - 2800C th thi gian nau mot me giam xuong con 3 phut
25 giay.
Neu nhiet o qua 2800C th lo tam dng hoat ong.
Ngoai ra cac ng dung khac nh kiem tra gia tr cua bo em va bo nh oi vi hoat
ong can x ly khi bo em at gia tr gia chng nao o.
Hoat ong
S1 c so sanh vi S2, ket qua so sanh c the hien qua 3 bit a ch au D:
Neu S2 nho hn (<) S1 th D = 1
Neu S2 bang (=) S1 th D + 1 = 1;
Neu S2 ln hn (>) S1 th D+2 = 1.
Chu y: trang thai logic cua D se c duy tr ngay ca khi lenh CMP khong con c thc
hien. Ngoai ra, phep so sanh tren ap dung c cho so co dau, v du 10 nho hn +2
Trang 55
Lenh ZCP
Toan hang
Ten lenh Chc Nang
S1 S2 S3 D
So Sanh K, H, KnX, KnY,
mot gia tr KnM, KnS, T, C, Y, M, S
ZCP
vi khoang D, V, Z Lu Y: ba toan hang ke tiep
(Zona
gia tr cho Lu Y: S1 phai nhau t ong c s dung e
Compare)
ket qua <, nho hn S2 lu ket qua.
= hoac >
Hoat ong
Hoat ong giong nh lenh CMP ch khac la gia tr (S3) c so sanh vi mot khoang gia
tr (S1 S2)
Neu S3 nho hn (<) S1 va S2 th bit D =1
Neu S3 ln hn hay bang (>+) S1 va nho hn hay bang (<=) S2 th bit D+1 = 1
Neu S3 ln hn (>) S2 th bt D+2 = 1.
Trang 56
Lenh Mov
Toan hang
Ten lenh Chc Nang
S D
K, H, KnX, KnY,
Gan gia tr tng KnM, KnS, T, C, KnY, KnM, KnS,
MOV
vung nh nay en D, V, Z T, C, D, V, Z
(Move)
vung nh khac
Cac hoat ong ve sao chep dung nh cung c dung e tang cng cac chc nang
san co, v du cho phep thay oi ca gia tr xac lap cho bo nh th hay bo em. Cac loai ng
dung nay rat bo bien, cho phep ngi ieu khien nhap cac gia tr tham so khac nhau trc
khi hoac trong luc PLC hoat ong.
Noi dung toan hang nguon S c gan vao thiet b ch D khi lenh c khch hoat.
Lenh BCD
Toan hang
Ten lenh Chc Nang
S D
K, H, KnX, KnY,
BCD KnM, KnS, T, C, KnY, KnM, KnS,
Chuyen oi so nh
(Binary Coded D, V, Z T, C, D, V, Z
phan sang BCD
Decimal)
Toan bo hoat ong tnh toan cua CPU trong PLC eu da vao so nh phan, trong
khi PLC giao tiep vi ngi dung th can nhap xuat d lieu dang thap phan. Do do, so
Trang 57
BCD la dang trung gian trong viec chuyen oi nay va ho tr thong qua cac lenh chuyen
oi tren PLC lenh BCD dung e chuyen oi so dang nh phan sang dang BCD va lenh
BIN dung e chuyen oi so dang BCD sang dang nh phan. oi vi cac d lieu san dang
nhi phan nh cac gia tr analog. c thong qua cac mo-un chuyen dung A/D hay D/A,
cac gia tr nay c oc trc tiep vao thanh ghi va co the x ly ngay.
Hoat ong
Gia tr nh phan cua toan hang nguon S c chuyen oi thanh BCD tng ng va
ket qua chuyen oi lu vao toan hang ch D. Neu so BCD vt qua day hoat ong en 0
en 9.999 oi vi hoat ong 16 bit hoac 0 en 99.999.999 oi vi hoat ong 32 bit th se
gay loi lenh nay co the c dung e xuat so lieu trc tiep cho en 7 oan.
Lenh BIN
Toan hang
Ten lenh Chc Nang
S D
K, H, KnX, KnY,
Chuyen oi so KnM, KnS, T, C, KnY, KnM, KnS,
BIN
BCD sang nh D, V, Z T, C, D, V, Z
(Binary)
phan tng ng
Hoat ong
Toan hang nguon BCD c chuyen oi thanh dang nh phan tng ng va ket qua
chuyen oi c lu vao toan hang ch D. Lenh nay c dung e oc trc tiep so lieu t
bo nhan (thumbwheel switch).
Trang 58
3. Nhom lenh x ly so hoc va logic

Lenh ADD
Toan hang
Ten lenh Chc Nang
S1 S2 D
Cong hai gia
KnY, KnM,
tr d lieu, ket K, H, KnY, KnM, KnS, T, C,
ADD KnS, T, C, D,
qua lu vao D, V, Z
(Addition) V, Z
toan hang
ch
Hoat ong
Noi dung toan hang nguon S1 va S2 c cong lai va tong cua chung c lu vao
toan hang ch D.
Chu y:
Phep cong tren ap dung c cho so co dau ngha la 5+ (-8) = - 3
Neu toan hang ch nho hn ket qua tnh c th ch co phan ket qua va u vi
toan hang ch c ghi; ngha la, neu ket qua la 25 (thap phan) c lu vao K1Y4 th
ch co Y4 va Y7 co gia tr 1. Khi xet theo he nh phan so hang nay tng ng vi 9 thap
phan b cat bt so vi ket qua thc la 25
Trang 59
Lenh SUB
Toan hang
Ten lenh Chc Nang
S1 S2 D
Tr hai gia tr
KnY, KnM,
d lieu, ket K, H, KnY, KnM, KnS, T, C,
SUB KnS, T, C, D,
qua lu vao D, V, Z
(Subtract) V, Z
toan hang
ch
Hoat ong
Noi dung toan hang nguon S2 b tr i noi dung cua toan hang nguon S1, ket qua
c lu vao toan hang ch D.
Lenh MUL
Toan hang
Ten lenh Chc Nang
S1 S2 D
KnY, KnM,
Nhan hai gia KnS, T, C, D,
tr d lieu, ket K, H, KnY, KnM, KnS, T, C, V, Z
MUL
qua lu vao D, V, Z Lu Y :
(Multiplication)
toan hang Z(V)khong
ch dung he 32
bit
Hoat ong
Trang 60
Noi dung toan hang nguon S1 c nhan vi noi dung toan hang nguon S2, va ket
qua c lu vao toan hang ch D.
Chu y:
Trng hp noi dung MUL vi hoat ong 16 bit c nhan vi nhau cho ket qua la
32 bit. Ket qua 32 bit o c lu vao cap thanh ghi D va D+1. v du, 5 (D0) x 7 (D2) =
35, gia tr 35 (32bit) oc lu vao cap thanh ghi (D4, D5)
Trng hp dung lenh MUL vi hoat ong 32 bit th 2 gia tr 32 bit c nhan vi
nhau cho ket qua 64 bit o c lu vao 4 thanh ghi D, D +1, D+2 va D+3
Lenh DIV
Toan hang
Ten lenh Chc Nang
S1 S2 D
Chia hai gia tr d KnY, KnM, KnS, T,
K, H, KnY, KnM,
DIV lieu, ket qua lu C, D, V, Z
KnS, T, C, D, V, Z
(Division) vao toan hang Lu Y : Z(V)khong
ch dung he 32 bit
Hoat ong
Noi dung toan hang nguon S1 c chia cho noi dung toan hang nguon S2 va ket
qua c lu vao toan hang ch D: D lu ket qua nguyen va D+1 lu so d cua phep
chia.
V du: 51(D0) : 10 (D2) = 5 (D4) 1 (D5), ngha la 5x10 =51
Trang 61
Chu y
Khi dung lenh DIV vi hoat ong 32 bit, hai gia tr 32 bit c chia cho nhau cho
ket qua 32 bit. Ket qua nguyen cua phep chia se lu vao bon thanh ghi: D; D+1 lu
thng so va D+2, D+3 lu so d. Neu gia tr thiet b nguon S2 la 0 (Zero) th mot loi
hoat ong se thc thi va lenh DIV b xoa bo.
Lenh INC
Toan hang
Ten lenh Chc Nang
D
INC Tang noi dung toan hang KnY, KnM, KnS, T, C,
(Increment) ch mot n v D, V, Z
Hoat ong
Khi lenh nay c thc hien th noi dung toan hang ch D tang len 1
oi vi hoat ong 16bit, khi ket qua at en + 32.767 th lenh INC tiep theo se ghi
gia tr 32768 vao toan hang ch D.
oi vi hoat ong 32 bit, khi ket qua at en +2.147.483.647 th lenh INC tiep theo
se ghi gia tr -2.147.483.648 vao toan hang ch D.
Lenh DEC
Trang 62
Toan hang
Ten lenh Chc Nang
D
DEC Tang noi dung toan hang KnY, KnM, KnS, T, C,
(Decrement) ch mot n v D, V, Z
Hoat ong
Khi lenh nay c thc hien th noi dung toan hang ch D tang len.
oi vi hoat ong 16 bit, khi ket qua at en 32.768 th lenh DEC tiep tuc se ghi
gia tr 32.767 vao toan hang ch D.
oi vi hoat ong 32 bit, khi ket qua at en -2.147.483.6478 th lenh
DEC tiep theo se ghi gia tr -2.147.483.647 vao toan hang ch D.
4. Nhom lenh quay va dch chuyen chuoi bit

Lenh ROR
Toan hang
Ten lenh Chc Nang
D n
KnY, KnM,
K,H
KnS,T,C,D,V,Z
ROR Quay chuoi bit Lu y:
Lu y:
(Rotation Right) sang phai nv tr Hoat ong 16 bit n16
Hoat ong16 bit Kn=k4
Hoat ong32 bit n32
Hoat ong32bit Kn=k8
Hoat ong
Trang 63
Chuoi bit cua toan hang ch D c dch chuyen sang phai n bit khi lenh nay c
kch hoat. Bit cuoi cung c a tr lai bit au tien cua chuoi va c sao chep vao nh
M8022 (carry flag). Trong v du ben di minh hoa noi dung cua D0 bieu dien chuoi bit.
Lenh ROL
Toan hang
Ten lenh Chc Nang
D n
KnY, KnM,
K,H
KnS,T,C,D,V,Z
ROL Quay chuoi bit Lu y:
Lu y:
(Rotation Left) sang trai nv tr Hoat ong 16 bit n16
Hoat ong16 bit Kn=k4
Hoat ong32 bit n32
Hoat ong32bit Kn=k8
Hoat ong
Trang 64
Chuoi bit cua toan hang ch D c quay sang trai n bit khi lenh nay c th
hien. Bit cuoi cung c sao chepvao c nh M8022(carry flag). Trong v du ben di
minh hoa noi dung cua D0 bieu dien chuoi bit.
Lenh RCR
Toan hang
Ten lenh Chc Nang
D n
KnY, KnM,
K,H
RCR Quay chuoi bit KnS,T,C,D,V,Z
Lu y:
(Rotation Right sang trai nv tr Lu y:
Hoat ong 16 bit n16
with Carry) trung gian M8022 Hoat ong16 bit Kn=k4
Hoat ong32 bit n32
Hoat ong32bit Kn=k8
Hoat ong
Trang 65
Chuoi bit cua thiet b ch c quay sang phai n bit qua trung gian M8022khi
lenh nay c thc hien.Bit cc phai c chuyen vao c nh M8022 (carry flag) va trang
thai trc o cua M8022 c chuyen vao bit cuoi cua toan dang ch D.
Lenh RCL
Toan hang
Ten lenh Chc nang
D n
KnY, KnM,
K,H
KnS,T,C,D,V,Z
Quay chuoi bit Lu y:
RLC Lu y:
sang trai n vi tr Hoat ong 16 bit
(Rotation left with Hoat ong16 bit
qua trung gian n16
carry) Kn=k4
M8022 Hoat ong32 bit
Hoat ong32bit
n32
Kn=k8
Hoat ong
Trang 66
Chuoi bit cua thiet b ch c quay sang trai n bit qua trung gian M8022khi
lenh nay c thc hien.Bit cc trai c chuyen vao c nh M8022(carry flag)va trang
thai trc o cua M8022c chuyen vao bit au tien cua toan dang ch D.
Lenh SFTR
Toan hang
Ten Lenh Chc Nang
S D n1 n2
Dch
K,H
SFTR chuyen
Lu y :
(Bit shift chuoi bit X,Y,M,S Y,M,S
FX:n2 n11024
right) sang phai
FX0,Fx0N: n2 n1512
nv tr
Hoat ong
Trang 67
Lenh nay sao chep trang thai (bit) cua toan hang n2 vao ngan xep bit co chieu dai
n1 va n2 bit d lieu hien co trong ngan xep c dch chuyen sang phai n2 bit neu bit nao
vt qua gii han n1 th se b mat.
Lenh SFTL
Toan hang
Ten Lenh Chc Nang
S D n1 n2
Dch
K,H
SFTL chuyen
Lu y :
(Bit shift chuoi bit X,Y,M,S Y,M,S
FX:n2 n11024
left) sang trai
FX0,Fx0N: n2 n1512
nv tr
Hoat ong
Lenh nay sao chep trang thai (bit) cua toan hang n2 vao ngan xep bit co chieu dai
n1 va n2 bit d lieu hien co trong ngan xep c dch chuyen sang trai n2 bit neu bit nao
vt qua gii han n1 th se b mat.
Trang 68
VII. KY THUAT LAP TRNH IEU KHIEN TRNH T

V du ve cac bc thu tuc tong quat
Trong bai toan ieu khien trnh t, e thc hien co he thong cac cong viec ieu
khien va tranh toi a thieu sot ,nham lan trong qua trnh thc hien ,ngi can bo ky thuat
can thc hien mot so bc co tnh chat ky thuat nh sau:
Bc 1: Xay dng s o phoi hp thao tac cong nghe cua may hoac he thong thiet b
can ieu khien
ay la cong viec co yeu cau tng t nh khi bat tay vao viec thiet ke mot may mi.
Ngui thc hien phai can c vao yeu cau hoat ong cua may e t o hnh dung va phan
tch trnh t cac bc thao tac that chi tiet cua tng khau chap hanh hoac tng bo phan
chap hanh cua may cung nh s phoi hp cac hoat ong gia chun.
Qua trnh phan tch va phoi hp cac chuyen ong hoac cac thao tac thng c thc
hien di dang mot s o phoi hp. S o c thc hien di dang cac dai hnh ch nhat
ke tiep nhau. Moi dai tng trng cho dien bien theo thi gian qua trnh hoat ong cua
Trang 69
mot khau chap hanh hoac mot bo phan chap hanh nham thc hien mot thao tac cong nghe
nao o.
S o trang ben minh hoa viec phan tch va dien bien cua qua trnh hoat ong trnh
t tren mot tram tron betong t ong.
S o phoi hp cac thao tac cong nghe cho phep ngi thiet ke hnh dung toan bo
qua trnh hoat ong cua may hoac cua he thong thiet b bao gom trnh t cac thao tac va
thi iem bat au cung nh ket thuc thc hien cua tng thao tac. S o phoi hp nao se
lam c c cho viec soan thao chng trnh ieu khien PLC cung ong thi la tai lieu goc
cho viec hieu chnh s lam viec cua may hoac he thong ve sau.
Trang 70
Trang 71
Bc 2 :Lap s o khoi ieu khien trnh t

Can c vao s phoi hp cac hoat ong hoac cac thao tac cua cac bo phan chap hanh
tren may thiet ke, ngi can bo ky thuat se thc hien mot cong viec tng t tiep theo la
lap s o khoi ieu khien trnh t (dang lu o flowchart hoac s o chc nang
function-chart). Cong viec nay la mot bc tiep can hn na cua qua trnh ieu khien. Tuy
theo mc o quen cach s dung mc ieu khien e mo ta chuoi tuan t cac thao tac cong
nghe cung nh cac tnh hieu ieu kien cho tng thao tac.
Bc 3: Chuan b phan cng va ac ta tham so vao/ra
Cong viec la chon cac c cau tac ong chap hanh nh la chon cac ong c, xy lanh
kh nen hay xy lanh dau ep, lua chon cac loai van ieu khien, co lien quan mat thiet vi
qua trnh ieu khien a tong hp do nhieu yeu to nh ac tnh ky thuat c cau tac ong co
phu hp vi may thiet ke hay khong,ket cau co phu hp hay khong, khong gian co cho
phep bo tr loai c cau tac ong o hay khong; va mot yeu to quan trong co tnh chat
quyet nh la thi gian va toc o cua c cau tac ong c lua chon co phu hp thoa man
vi yeu cau phoi hp thao tac tren may hay khong.
Ngi thiet ke phai chon ky e tm kiem cac c ca u tac ong phu hp nhat va mo ta
ay u cac thong so ky thuat cua c cau tac ong, chang han nh cac gia tr ien ap hay
dong ien tac ong vao ong c ien hay tac ong vao cac van ien t ieu khien cac xy
lanh kh nen. Cac tnh hieu co lien quan mat thiet vi cac tiep iem ngo ra cua PLC.
Tng t, cac tn hieu t cac cam bien; phan anh trang thai c cau tac ong, c a en
cac ngo vao PLC.
Thong qua viec lua chon va ac ta cac tham so vao/ra nay, ngi thiet ke se cung
cap cac so lieu can thiet cho viec thiet ke mach giao tiep gia PLC vi mach cong suat
cua c cau lao ong, xac nh ngo vao/ra e la chon PLC thch hp.
Trang 72
Bc 4: Lap trnh
Vi ay u d lieu c cung cap t cac bc thc hien tren, cong viec tiep theo cua
ngi lap trnh la soan thao chng trnh ieu khien cho PLC e thc hien viec ieu khien
may hay he thong ung theo chng trnh a thiet ke. Tuy theo kha nang quen s dung
loai ngon ng lap trnh tren PLC nao ma ngi lap trnh se chon la e soan thao chng
trnh. Vi cac chng trnh n gian,cac phan mem cua cac hang cho phep bien dch c
chng trnh c viet theo ngon ng nay hay ngon ng khac.
Bc 5: Chay th va hoan chnh chng trnh
ay la cong viec het sc t nhien phai thc hien sau khi lap trnh. Viec chay th
chng trnh c thc hien trong hai che o :
Che o gia lap (che o offline): cho chay chng trnh va theo doi ap ng cua cac
ngo ra thong so thong qua en led.en led ngo ra cu the se hien th cho tn hieu xuat
ngo ra cho c cau tac ong va ap ng chung .
Che o thc (che o online):sau khi chay th va ieu chnh chngtrnh trong che
o gia lap hoan hao .Chuyen che o hoat ong tren
PLC va noi mach giao tiep vi mach cong suat e ieu khien maychay trong che
o thc .Trong che o nay ,vi cac ap ng thc cua cac c cau tac ong khi khong tai va
khi co tai se giup cho ngi lap trnh hieu chnh chng trnh lan cuoi trc khi a vao
van hanh thc s trong san xuat.
1. ieu khien trnh t dung thanh ghi
a) Nguyen ly c ban iu khin trnh t dng thanh ghi:
+ Thanh ghi phai co so bit t nhat bang vi so bc trong tac vu ieu khien va moi bit se
the hien mot bc .
Trang 73
+ Logic 1 c a vao bit au tien khi bat au qua trnh ieu khien, bang cach dung 1
mach logic kch dong OUT
+ Logic 1 se chuyen dch t bit nay sang bit khac tren thanh ghi kch hoat bc tng ng
vi bit 1 o va vo hieu bit trc o.
+ Bit nay dch chuyen tren suot thang ghi bang lenh dch chuyen thanh ghi, lenh SFTL
+ Khi hoan tat chu ky trnh t, toan bo noi dung thanh ghi se c at gia tr 0 bang lenh
RST, khi ieu khien c thoa man .
b) V du ve ieu khien tay may dung thanh ghi
Yeu cau: Kch hoat cac c cau tac ong bang van solenoid cho cac hoat ong LEN,
XUONG, PHAI, TRAI theo trnh t trong hnh 2.28 (a)
Trang 74
Hnh 2.28 (b). S chc nng trnh t iu khin tay my
Trang 75
Tai v tr ban au, khi nhan nut CHAY, tay may di chuyen xuong (XUONG) en
khi cham cong tac LS2, di chuyen len (LEN) en khi cham cong tac LS3, di chuyen sang
phai (PHAI) en cham cong tac LS4, di chuyen xuong (XUONG) en khi gap LS2 va en
khi cham LS3, di chuyen sang trai (TRAI) en khi cham LS5 va tr ve v tr ban au.
Lu o s o chc nang (hnh 2.28 (b)) cho thay cac ngo vao/ra s dung va trnh t hoat
ong cua tay, may. Theo s o tren, mot so cong tac hanh trnh c s dung lai trong qua
trnh ieu khien, nhng tai cac thi iem khac nhau cua chu trnh hoat ong tay may. Neu
chng trnh ieu khien tay may hoan toan da tren s ket hp logic cua cac ngo vao th
hoat ong se khong trnh t. Qua trnh ieu khien co tnh chat theo mot trnh t nao o; do
o, ta phai can nh cac bc hien hanh e t o kch hoat bc ke tiep khi thoa man ieu
kien chuyen bc. Co the thay ro rang tai mot thi iem ch co mot van soleniod hoat
ong.
Hnh 2.29. S ni dy cc ng vo/ra

Trang 76
Viec ieu khien trnh t tren co the thc hien bang cach dung thanh ghi. Vi lenh
dch chuyen thanh ghi bc se c dch chuyen tng ng vi bit tren thanh ghi va xuat
tn hieu cho ngo ra. Nh vay, khi chuoi d lieu 1001 c a vao thanh ghi, chuoi o se
c chuyen doc theo thanh ghi, xem bang sau
Noi dung cua thanh ghi khi dch chuyen
Xung kch hoat dch chuyen D lieu a vao Noi dung thanh ghi
0 0 0000 0000
0 1 1000 0000
1 0 0100 0000
2 0 0010 0000
3 1 1001 0000
4 0 0100 0000
5 0 0010 0000
6 0 0001 0000
7 0 0000 1001
Dong lenh RST se at thanh ghi ve gia tr 0 khi co xung kch hoat. Thng dung
thanh ghi tao thanh tng bit rieng biet, goi la c, moi c co the s dung nh cong tac logic
trong chng trnh. Trong v du tren, cac c M100 en M107 tao thanh 1 thanh ghi 8 bit
(hnh 2.30). Cac bit tren thanh ghi dung e kch cac nhanh ngo ra tng ng vi cac cuon
soleniod (Y30 en Y34) va di dang cong tac logic thng m hay thng ong trong
nhanh lenh dch chuyen thanh ghi.
Hoat ong
Trong hnh 2.28 en 2.30 thong qua cong tac LS3 va LS5 noi tiep vi cac cong tac
logic thng ong M101 en M107 kch lenh Out M100. Mach nay dung e a logic 1
vao M100 ch khi tay may v tr goc. cac bc khac, mach tren b h nen M100=0 co
tac dung a logic 0 vao thanh ghi. C M100 la On khi ang v tr ban au, va ieu o
Trang 77
c nhan biet thong qua Y30. Nut nhan CHAY (ngo vao X1) co tac dung dch chyen
thanh ghi, lam cho bit 1 dch chuyen t M100 en M101; do o, M101 la 1, M100 thanh 0.
C M101 la 1 co tac dung kch hoat cuon soleniod i xuong (DOWN) thong qua mach
cong tac logic M101 va Y001. Lu y rang nhanh song song au tien, M100 noi tiep X001
bay gi khong con tac dung.
S chuyen bc
Viec dch chuyen t bit 1 t c nay sang c ke tiep khong co van e thi gian chuyen
bc, v bt 1 ra khoi c nay se dch chuyen sang c ke tiep. Trong v du nay cac c
M100-M106 tao thanh mach cong tac khoa lan tren nhanh lenh dch chuyen thanh ghi
SFTL. Cac c nay lai noi tiep vi cac ieu kien chuyen bc, cong tac PBO va cac cong
tac hanh trnh t LS1 en LS5. S khoa lan nay am bao ch co mot bc c thc hien
tai mot thi iem.
Lu y rang ieu kien thoat khoi mot bc cung la ieu kien thc hien bc ke tiep.
V du, ieu kien ra khoi bc ban au la M100 va X001va ay cung la ieu kien e thc
hien bc 1 (M101). Viec s dung thanh ghi khong co kha nang chot la ieu can thiet v
cac bit trong thanh ghi duy tr trang thai khi chung c at lai (reset) hay khi thc hien
dch chuyen thanh ghi.
Khi dch chuyen en M107 ,no kch hoat lenh RST. C M107 khong kch mot ngo ra
vat ly nao ca, va no c s dung nhanh lenh OUT va lenh RST thanh ghi. V vay,
M107 co tac dung a thanh ghi ve gia tr 0 va kch tay may khi v tr goc. Khi o, logic
1 cua M107 cung c at lai, va ieu o lam cho M100 lai co logic 1 khi may v tr
goc. Qua trnh ieu khien bat au chu trnh mi .Mot cach khac e at lai thanh ghi la
dung nut nhan ngo vao X0 va cong tac X0 c noi song song vi M107.
Trang 78
oan chng trnh con lai se c trnh bay chi tiet chng trnh sau, thiet ke
chng trnh
Hnh 2.30. Chng trnh Ladder iu khin tay my dng thanh ghi dch chuyn
Trang 79
Thiet ke chng trnh

Trong hau het cac yeu cau logic cho cac dong lenh dch chuen ,reset va a d lieu
vao thanh ghi dch chuyen la de hieu ,khong can bc thiet ke chng trnh. Tuy nhien
bieu thc logic co the quyet nh tac ca cac logic ieu khien chng trnh. oi vi v du
tren, bieu thc ieu khien nh sau:
Chng trnh ngon ng Instruction nh sau :
Trang 80
2. ieu khien trnh t dung Stepladder

Stepladder, goi tat la STL, la cong cu ieu khien rat hieu qua. Ky thuat lap trnh
nay tng t vi s s o bieu dien s o chc nang cua hoat ong trnh t, thay the
phng phap dung to hp logic truyen thong. Lap trnh Stepladder co ac iem lam
cho viec ieu khien trnh t c n gian nh sau:
Kha nang gi c trang thai hien hanh h dung c co kha nang chot.
T ong vo hieu (reset)trang thai trc o khi chuyen vao trang thai hien
hanh .
De dang phan nhanh song song ca dang OR va AND.
Ky thuat lap trnh nay c ho tr thong qua c trang thai S.
Trc khi khao sat lap trnh Stepladder,ta can xem qua mot v du cho thay moi
quan he gia stepladder vi s o chc nang hnh 2.31. S o chc nang hnh
2.31 (a) mo ta trnh t cac bc hoat ong (trang thai ). No cho thay c trnh t cac
bc, hoat ong tng bc va cac ieu kien chuyen bc trong chuoi trnh t. Va
trnh t nay co the thc hien bang lap trnh stepladder .
a) Hoat ong ca mach trnh t STL
Trang thai S10, trang thai khi tao,c kch hoat khi cong tac X0 ong. S10
kch ngo ra Y0 va co cong tac chuyen trang thai X1. Khi cong tac X1 ong (do kch
Y0) trang thai S11 c kch hoat va t ong vo hieu trang tha trc o S10, khi o,
S11 c chot va tr thanh trang thai hoat ong. Tung t S11 cung co cong tac ieu
khien chuyen trang thai S12. Viec vo hieu va chot trang thai c thc hien t ong
bi c che ieu khien STL. Th t STL la tuy chon, v du, c trang thai S20 co the
thay the cho S10 trong v du tren .
Phan sau se trnh bay chi tiet hn ve ky thuat lap trnh STL
Trang 81
V du ve ieu khien trnh t dung Stepladder
Hnh 2.31. (a) Biu din s chc nng mt chng trnh n gin
(b) Chng trnh dng Stepladder
Trang 82
b) Lenh STL va lap trnh STL

Lenh STL (Stepladder)
Lenh STL the hien di dang cong tac STL cho phep ong hay m cac trang thai theo
trnh t. Hnh 2.32 (a) trnh bay mach Stepladder c ban; hnh 2.32 (b) la mach thc hien
chc nang tng ung bang cach dung lenh c ban
Trong hnh 2.32 ngo ra Y1 c kch hoat khi cong tac Sa va Sb ong. Sau o, neu
cong tac Xc ong, trang thai Sd tr thanh hoat ong va cong tac tung ng se at xuong
(reset) trang thai Sa. ieu nay lam h cong tac Sa ban au, va trang thai ban au b vo
hieu. Tuy nhien, lenh SET Y1 va SET Sd co tac dung t chot Y1 va Sd, chung se gi trang
thai hoat ong tr khi no c vo hieu bi lenh RST au o trong chng trnh. Tac ong
o thc te xay ra oi voi Y1: khi c M105 la ON, cuoi chng trnh khi co canh len cong
tac Sd ,do lenh PLS, no thc hien at au chng trnh thong qua mach cong tac M105.
Ly y ve c Master Control, M106, hnh 2.32 (b). Khi lenh MC M106 hoat ong, oan
chng trnh gia gap lenh MC M106 va MCR M106 se hoat ong bnh thng.
Trang 83
Hnh 2.32: C che Stepladder (a): Mach c ban STL;

(b): Mach tng ng dung lenh c ban
Nh vay, mach STL c phat trien t c ieu khien MC va MCR. No cho phep trang
thai hoat ong thanh trang thai hien hanh, thc hien tac vu trong trang thai o va chuyen
trang thai khi thoa ieu kien. Cac ac iem nay lam cho ky thuat lap trnh STL la cong cu
chuyen dung cho he thong ieu khien trnh t.
Lap trnh dung STL
Hnh 2.33 cho thays ng dung c STL ieu khien trnh t hai bc. Sau cong tac STL,
cong tac thng ong va thng m c s dung e bieu dien logic trong bc hien hanh.
Tng t ap dung cho cac trang thai tiep theo. Ket thuc oan chng trnh STL bang lenh
RET.
Trang 84
Hnh 2.33. Chng trnh STL
c) OR nhanh STL (chon nhanh song song )

Hnh 2.34 s o chc nang va chng trnh ladder e chon gia hai nhanh a va b, tuy
thuoc ieu kien vao nhanh, X1 hay X4. Ca hai nhanh ieu co chung trang thai ra la S16.
Trang 85
Hnh 2.34:Chon nhanh hoat ong trong chng trnh STL
Trang 86
Phan nhanh
Lap trnh chon nhanh bang cach OR cac ieu kien sau trang thai S11. V the, neu
X1 la ON sau S11, trang thai S12 kch hoat va nhanh A c chon. Tng t, neu X4
len ON, trang thai S14 c kch hoat va nhanh B c chon. Trang thai trc o S11
t ong vo hieu khi S12 hay S14 c kch hoat.
Hp nhanh
Trang thai chung S16 c kch hoat t trang thai S13 thuoc nhanh A hay S15
thuoc nhanh B. Trang thai trc o, S13 hay S15 b vo hieu t ong t S16 bi c che
ieu khien STL. Viec hp nhanh c thc hien bang cach lap chng trnh cac ieu
kien X3 va X6. Thc hien tng t nh them cac nhanh khac.
d) AND nhanh STL (phan nhanh song song )
Hnh 2.35 minh hoa cau truc a nhanh A va B, viec thc hien vao nhanh va ra
nhanh c thc hien ong thi nh la thc hien nhanh n. Khi ang trang thai
S11, ieu kien X1 thoa, se kch ong thi ca hai trang thai S12 va S14, vo hieu S11;
hai nhanh A va B c thc hien ong thi.
Trang 87
Hnh 2.35. Phn nhnh AND v hp nhnh trong lp trnh STL
Trang 88
Hp nhanh
Viec chuyen vao trang thai chung S16 ch co the co the thc hien c khi cac
trang thai S13 (thuoc nhanh A) va S15 (thuoc nhanh B) ang hoat ong, va thoa ieu
kien X4. Ngha la: S16 = S13.S15.X4
e) S ket hp cac loai nhanh STL

Nhieu qua trnh ieu khien cong nghiep co dang mot hoat ong tnh trang
luon luon c thc hien, va, neu thoa mot ieu kien nao o, hoat ong song song th
hai c thc hien ong thi. Loai hoat ong nay co the c lap trnh dung k thuat
STL trong hnh 2.36
Hoat ong
Trong v du nay, nhanh s ly chnh gom trang thai S10, S11 va S13. Trang thai
S11 co mot nhanh song song S12. ieu kien bnh thng khi X1 = ON, trang thai
S11 c kch hoat va nhanh co S12 ch c kch hoat khi co them ieu kien X3=ON
Hp nhanh
Trang thai S13 c kch hoat t trang thai S11 hay S12 khi go vao X2 hay X4
thoa tng ng. Khi ch S11 hoat ong, hoat ong nay la bnh thng. Tuy nhien, neu
nhanh song song cung hoat ong th ng vao trang thai S13 ton tai oi vi ca hai
nhanh, bat chap hoat dong cua nhanh con lai hoan tat hay cha:
S11.X2 + S12.X4
Ta khong muon co tnh trang nay v cac hoat ong cua hai nhanh co S11 va S12
kho co the c hoan tat cung luc, va can xem xet lai e bao am rang qua trnh hoat
ong khong the tiep tuc khi co mot nhanh cha hoan tat. Trang thai S13 vo hieu trang
thai gay ra s chuyen trang thai o, ngoai ra co the vo hieu trang thai au tien gay ra
Trang 89
s chuyen trang thai, gia s S11, mot thi gian sau khi co s chuyen trang thai t S12
lam kch hoat trang thai S13 mot lan na va trang thai S12 b vo hieu. C che hoat
ong nay ch co the c thc hien neu khong co s chuyen trang thai tai S13 trc khi
ca hai nhanh c hoan tat. e am bao rang s chuyen trang thai S13 sang S14 ch co
the xay ra khi ca hai trang thai S11 va S12 hoan tat (S11 = 0 va S12 = 0), van e nay
c giai quyet bang cach:
Trang 90
Hnh 2.36. S dng kt hp cc nhnh song song
f) S lap lai hoat ong trnh t

Thng ta can lap lai mot phan cua trnh t hoat ong vi mot so lan nao o, khi
hoat ong nay bang tay (manual mode) hay t ong(automatic mode). Trong v du
hnh 2.37, bo em c s dung phoi hp vi hoat ong trnh t minh hoa ieu nay.
Trang 91
Hoat ong
Bo em c kch hoat (tang 1) moi khi trang thai S14 hoat ong. Gia tr cua bo
em co the c nhap bang bo cong tac chon nhan ( thumbwhell switch) c noi
ngo vao cua bo ieu khien hoac c xac nh trong chng trnh. Trong v du nay, bo
em c gan gia tr 8. Khi xuong en trang thai S14 la hoat ong trnh t bnh
thng, sau trang thai S14 co s la chon gia S15 va S12 tuy thuoc vao ieu kien
chuyen trang thai
Nh vay khi bo em CO cha at en gia tr nh trc la 8, ieu kien co the
chuyen vao trang thai S15 khong thoa v cong tac CO h, xem bieu thc (b). Bieu thc
logic (a) ung neu bo em b kch hoat t hn 8 lan va cong tac X5 ong. ieu nay co
tac dung lap lai 8 lan qua trnh t S12 en S14 v bo em tang len 1 moi khi S14 hoat
ong. Khi bo em vt gia tr 8, trang thai S15 c kch hoat, thay v S12. Bo em
cung c at lai (reset) thong qua cong tac thng S15 e chuan b cho chu ky hoat
ong tiep theo
Trang 92
Hnh 2.37. Lp trnh lp li hot ng bng b m
Trang 93
CHNG 3:
CC BI TP NG DNG PLC MITSUBISHI
I. Cc bi tp dng c bn:
Bi 1. n v phc v:
1. M hnh hot ng:
2. Bng khai bo thit b:

Dng a ch thit b Tn thit b S hot ng
X0 Nt nhn N1 ON/OFF tc thi
Ng vo X1 Nt nhn N2 ON/OFF tc thi
X2 Nt nhn OFF ON dng hot ng
Y0 n bo 1 Sng khi Y0 ON
Ng ra
Y1 n bo 2 Sng khi Y1 - ON
3. Mc ch iu khin:
iu khin n v phc v trong nh hng bng cc lnh c bn
Trang 94
4. Nhng c tnh iu khin:

Khi nt nhn N1 trn bn c nhn, n bo 1 Y0 trn tng s bt
sng. Nu th nt nhn N1, n bo 1 Y0 vn sng
Khi nt nhn N2 trn bn c nhn, n bo 2 Y1 trn tng s bt
sng. Nu th nt nhn N2, n bo 2 Y0 vn sng.
Khi c 2 n bo 1 Y0 v n bo 2 Y1 bt sng th n bo hiu
3 Y2 trn bng iu khin bt sng
Khi nt nhn OFF c nhn, c 2 n bo 1 Y0, n bo 2 Y1 v
n bo hiu 3 Y2 tt
5. S nguyn l:
Trang 95
6. Chng trnh Ladder mu:
Bi 2. Pht hin dng cm bin quang:

1. M hnh hot ng:
Trang 96

ON khi pht hin c ngi
X0 Vo cng (ngi)
vo
Ng vo X1 Ra cng (ngi) ON khi pht hin c ngi ra
X2 Vo cng (xe) ON khi pht hin c xe vo
X3 Ra cng (xe) ON khi pht hin c xe ra
n xanh 1
Y0 Bt sng khi Y0 - ON
(ngi)
Ng ra Y2 n xanh 2 (xe) Bt sng khi Y2 ON
Y3 n 3 (xe) Bt sng khi Y3 ON
Y7 Ci bo Ku ln khi Y7 ON
3. Mc ch iu khin:
Bt tia sng ln khi pht hin c ngi hay xe i qua. S dng cc lnh c bn v
b nh th.
Pha ngi:
Khi cm bin vo cng X0 pht hin c ngi vo th n xanh Y0 bt ln.
Khi cm bin ra cng X1 pht hin c ngi i qua th sau 5s n xanh Y1
tt.
Pha xe:
Khi cm bin vo cng X2 pht hin c xe vo th n xanh Y2 c bt ln.
Khi cm bin ra cng X3 pht hin c xe i qua th sau 5s n xanh Y2 tt.
Nu xe khng bng qua vng gia cm bin vo cng X2 v ra cng X3
trong 10s, n Y3 bt sng v ci bo Y7 vang ln
Trang 97
Ngay khi xe bng qua cm bin ra cng X3 th n Y3 tt v ci bo Y7

ngng.
5. S nguyn l:
Trang 98
Bi 3. iu khin nh th mch n giao thng:

1. M hnh hot ng:

Ng vo X0 Nt nhn ON ON: qu trnh hot ng
Y0 n Bt sng khi Y0 ON
Ng ra Y1 n vng Bt sng khi Y1 - ON
Y2 n xanh Bt sng khi Y2 - ON
3. Mc ch iu khin:
iu khin n giao thng thay i ti cc khong thi gian ch nh. S dng cc
lnh c bn v b nh th
Khi nt nhn X0 c nhn, qu trnh bt u hot ng.
u tin, n Y0 sng trong 10s.
Sau n Y0 tt, ng thi n vng Y1 sng trong 5s.
Trang 99
Sau n vng Y1 tt, ng thi n xanh Y2 sng trong 10s.

Sau n xanh Y2 tt v qu trnh c lp li t bc 2.
5. S nguyn l:
Trang 100
Bi 4. Phn loi sn phm theo kch c (I):

1. M hnh hot ng:

ON khi sn phm c
X0 Cm bin trn
pht hin
ON khi sn phm c
X1 Cm bin gia
pht hin
ON khi sn phm c
X2 Cm bin di
Ng vo pht hin
ON khi pht hin sn
X4 Cm bin cui
phm cui bng ti
X5 Nt START ON qu trnh hot ng
Bng ti di chuyn khi X6
X6 Cng tc
ON
Bng ti chy v Bng ti chy v pha
Ng ra Y0
pha trc trc khi Y0 ON
Trang 101
Khi Y1 ON, 1 sn phm

Y1 Lnh cung cp
c cung cp
Y2 n 1 Bt sng khi Y2 ON
3. Mc ch iu khin:
Phn loi 3 sn phm c kch c khc nhau v c mang trn bng ti

Khi nt nhn START X5 c nhn trn bng iu khin, lnh cung cp
Y1 cho robot chuyn sang ON. Khi th nt nhn START, lnh cung cp Y1
chuyn sang OFF.
Khi cng tc X6 c bt sang ON trn bng iu khin, bng ti Y0 di
chuyn v pha trc. Khi cng tc X6 chuyn sang OFF, bng ti Y0
ngng.
Sn phm ln, trung bnh, nh trn cc bng ti c phn loi bng cc
cm bin X0, X1, X2 v sau n tng ng bt sng.
Sn phm ln n 1 (Y2)
Sn phm trung bnh n 2 (Y3)
Sn phm nh n 3 (Y4)
n bo c bt sng tc th sau khi cc cm bin (X0, X1, X2) phn bit
kch c sau tt khi sn phm i qua cm bin X4.
Trang 102
5. S nguyn l:
Trang 103
Bi 5. Khi ng/ dng bng ti:

1. M hnh hot ng:

X0 Nt nhn START ON qu trnh hot ng
Ng vo
X1 Nt nhn STOP ON qu trnh ngng hot ng
Y0 n vng Bt sng khi Y0 ON
Y1 Ci bo Vang ln khi Y1 ON
Ng ra Bng ti chy v
Y2 Bng ti chy khi Y2 ON
pha trc
Y3 n xanh Bt sng khi Y3 ON
3. Mc ch iu khin:
Khi ng/ dng bng ti ty theo trnh t nh trc
Khi nt nhn START c nhn trn bng iu khin, n vng Y0 bt sng v
ci bo Y1 vang ln trong 5s, n vng Y0 vn sng.
Trang 104
Sau khi n vng Y0 tt v ci bo Y1 ngng, bng ti Y2 di chuyn v pha

trc. n xanh Y3 bt sng trong khi bng ti Y2 hot ng.
Khi nt nhn STOP c nhn trn bng iu khin, hot ng trong bc 1 v
bc 2 ngng. Hot ng c lp li khi qu trnh m t trong bc 1 c thi hnh.
5. S nguyn l:
Trang 105
Bi 6. Truyn ng bng ti:

1. M hnh hot ng:

X0 Cm bin bng ti trn ON khi pht hin sn phm
X1 Cm bin bng ti gia ON khi pht hin sn phm
Ng vo X2 Cm bin bng ti di ON khi pht hin sn phm
X3 Cm bin cui ON khi pht hin sn phm
X4 Nt nhn ON ON qu trnh hot ng
Bng ti trn chy v
Y0 Khi Y0 ON, bng ti di chuyn
pha trc
Bng ti gia chy v
Ng ra Y1 Khi Y1 ON, bng ti di chuyn
pha trc
Bng ti di chy v
Y2 Khi Y2 ON, bng ti di chuyn
pha trc
Trang 106
Mt sn phm c cung cp,

Y3 Lnh cung cp
mt tin trnh bt u
3. Mc ch iu khin:
Vn hnh bng ti ty theo tn hiu cm bin.
Khi nt nhn ON c nhn trn bng iu khin, lnh cung cp Y3 cho robot
chuyn sang ON nu robot ang v tr bt u. Khi th nt nhn ON, lnh cung
cp Y3 c t gi cho n khi robot quay tr v v tr bt u.
Khi cm bin X0 pht hin sn phm, bng ti trn chy v pha trc, Y0 bt ln
ON.
Khi cm bin X1 pht hin sn phm, bng ti gia chy v pha trc, Y1 bt ln
ON v bng ti trn Y0 ngng.
Khi cm bin X2 pht hin sn phm, bng ti di chy v pha trc, Y2 bt ln
ON v bng ti gia Y1 ngng.
Khi cm bin X3 pht hin sn phm, bng ti di Y2 ngng.
Khi cm bin X3 bt ln ON, lnh cung cp Y3 cho robot chuyn sang ON v mt
sn phm mi c cung cp nu robot ang v tr bt u.
5. S nguyn l:
Trang 107
II. Cc bi tp dng trung bnh

Bi 1. Tn hiu nt nhn
1. M hnh hot ng:
Trang 108
Dang a ch thiet b Ten thiet b S hoat dong

Sang khi Y0
Y0 en o
ON
Ngo ra Y1 en vang Sang khi Y1 ON
Y2 en xanh Sang khi Y2 ON
3. Mc ch iu khin:
Chuyn i tn hiu n giao thng t 1 nt nhn
- en tn hieu o (Y0) nhap nhay trong khoang 1-2 giay (sang trong 1s va tat
trong 1s).
- Khi nut nhan X10 tren bng ieu khien c nhan , tn hieu ch th Y10 tren
ban van hanh se sang. Neu tha nut nhan Y10, tn hieu ch th Y10 van sang .
- Sau khi tn hieu ch th Y10 sang c 5s, s hoat ong cac tn hieu thay oi
nh mo ta t bc 4 en bc 7 :
- au tien tn hieu o Y0 nhap nhay trong 5s trong khi tn hieu ch th Y10 van
sang.
- en tn hieu o Y0 tat. en tn hieu vang Y1 sang trong 5s.
- Sau khi en tn hieu vang Y1 tat, en tn hieu xanh Y2 sang trong 10s.
- Sau khi en tn hieu xanh Y2 tat, en tn hieu o Y0 nhap nhay trong khoang
1-2 giay (sang trong 1s va tat trong 1s). S hoat ong cac tn hieu la lai t bc 1.
5. S nguyn l:
Trang 109
Bi 2. Phn loi sn phm theo kch c (II)
Trang 110
1. M hnh hot ng:

a ch
Dang Ten thiet b S hoat dong
thiet b
X0 iem bat au ON khi Robot v tr xuat phat.
X1 Tren ON khi san pham kch c ln dc phat hien.
ON khi san pham kch c trung bnh dc phat
X2 Gia
hien.
X3 Thap ON khi san pham kch c nho dc phat hien.
Ngo vao ON khi san pham c phat hien cuoi bang
X4 Cam bien
chuyen phai
ON khi san pham c phat hien cuoi bang
X5 Cam bien
chuyen phai
Mot san pham c cung cap khi Y0 la ON. Mot
Y0 Lenh cung cap tien trnh bat au theo th t cac xilanh :ln, nho,
nho, ln va nho.
Bang tai chay
Y1 thuan Khi Y1 la ON _ bang tai di chuyen ve pha trc.
Ngo ra (ve pha trc)
Bang tai chay
Y2 thuan Khi Y2 la ON _ bang tai di chuyen ve pha trc.
(ve pha trc)
Trang 111
Y5 Can phan loai Di chuyen ra pha trc khi Y5 la ON.
3. Mc ch iu khin:
Phn loi sn phm n v tr c kch c tng ng

- Khi cong tac X24 tren bang ieu khien bang tai di chuyen ve pha trc. Khi
X24 tren bang ieu khien c chuyen sang OFF, cac bang tai ngng hoat ong.
- Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap san pham
Y0 cho robot hoat ong.
Lenh cung cap san pham Y0 c chuyen sang OFF khi robot dy chuyen
khoi iem bat au (robot se hoan thanh chu trnh gap san pham).
- Robot se cung cap cac san pham co kch c ln, trung bnh hoac nho.
- San pham ln c dan en bang chuyen pha sau (i qua cam bien X5).
- San pham nho c dan en bang chuyen pha trc (i qua cam bien X4).
Kch c san pham c nhan dang bang cac tn hieu Tren X1, Gia X2, Thap X3 c
dat tren bang chuyen.
5. S nguyn l:
Trang 112
Trang 113
Bi 3. Phn loi sn phm

1. M hnh hot ng:

Dang a ch Ten thiet b S hoat dong
Trang 114
thiet b
X1 San pham tren ban ON khi san pham ang nam tren ban.
Ngo vao S hoat ong cua
X2 ON khi s hoat ong cua robot hoan tat.
robot hoan tat.
Ch th tren man hnh bat sang khi Y0_ON. Luc
Y0 Lenh cung cap.
o ngi van hanh cung cap san pham.
Bang tai chay
Y1 Khi Y1_ON bang tai dy chuyen ve pha trc.
Ngo ra thuan.
Lenh gap san Robot gap san pham en khay ng khi Y2_ON.
Y2
pham. Mot tien trnh bat au.
3. Mc ch iu khin:
Truyn lnh cho robot di chuyn sn phm n v tr mi

- Ngi van hanh cung cap san pham en bang chuyen va bat sang en ch th
(nguon cung cap cho phep). Neu en ch th luon c bat sang, ngi van hanh cung
cap san pham lien tuc.
- Bang tai luon di chuyen ve pha trctrong khi PLC trang thai RUN.
- Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap san pham
Y0 chuyen sang ON va en bao ch th (nguon cung cap cho phep) bat sang, Ngi van
hanh cung cap san pham. Sau khi tha nut nhan X20, en bao ch th tat. Tuy nhien lenh
cung cap san pham Y0 se khong chuyen sang ON_en bao ch th (nguon cung cap cho
phep) khong bat sang neu van con 1 san pham tren ban.
- Khi cam bien san pham tren ban X1 trong robot chuyen sang ON, lenh gap
san pham Y2 c bat len ON. Khi cam bien s hoat ong robot hoan tat X2 chuyen
sang ON (khi san pham a dat tren khay), lenh gap san pham Y2 c chuyen ve
OFF. Lenh gap san pham Y2 c bat len ON ch nkhi nao robot v tr bat au.
Trang 115
5. S nguyn l:
Trang 116
Bi 4. iu khin my khoan
1. M hnh hot ng:
Trang 117
a ch
thiet b
X0 ang khoan ON trong khi ang khoan.
San pham di may
X1 ON Khi san pham di may khoan.
khoan
ON Khi san pham c khoan ung. Khi viec
X2 a khoan ung.
khoan bat au th ket qua trc o se b xoa.
ON Khi san pham khong c khoan ung.
Ngo vao X3 a khoan sai. Khi viec khoan bat au th ket qua trc o se
b xoa.
ON khi phat hien co san pham cuoi bang
X5 Cam bien.
chuyen phai.
Khi Y0_ON, mot san pham c cung cap.
Y0 Lenh cung cap.
Mot tien trnh bat au: khoi kim loai ln.
Bang tai chay ve pha
Y1 Khi Y1_ON, bang tai dy chuyen ve pha trc.
trc.
Ngo ra
Khi Y1_ON, bat au khoan (Mot tien trnh
Y2 Bat au khoan.
khong the b dng gia chng).
3. Mc ch iu khin:
iu khin my khoan v cc thit b khc

- Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap Y0 cho
pheu chuyen sang ON. Khi tha nut nhan X20, lenh cung cap Y0 chuyen sang OFF. Khi
lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham.
- Khi cong tac X24 tren bang ieu khien c chuyen len ON, bang tai di
chuyen ve pha trc. Khi X24 tren bang ieu khien c chuyen sang OFF, bang tai
ngng.
* ieu khien cac qua cam :
Trang 118
- Khi cam bien co san pham di may khoan X1 at trong may khoan chuyen
sang ON, bang tai ngng.
- Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien
ang khoan X0 bat On th Y2 c chuyen sang OFF.
- Khi bat au khoan Y2 c chuyen sang ON, cam bien a khoan ung X2
lan a khoan sai X3 eu c bat len ON sau khi may khoan a van hanh mot chu ky
hoan tat (May khoan khong the b dng gia luc van hanh).
- Sau khi cam bien a khoan ung X2 lan a khoan sai X3 c xac nh, san
pham se c mang i va at tren khay ben phai. Khi ten cac san pham b khoan
nhieu lo, cam bien a khoan sai X3 c bat len ON. Trong bai tap nay khong co cach
ieu khien ac biet cho san pham b loi.
5. S nguyn l:
Trang 119
Trang 120
Bi 5. iu khin cung cp sn phm

1. M hnh hot ng:

a ch
thiet b
X1 Hop tren bang tai. ON khi hop di bo phan cung cap cam.
X2 Cam a cung cap. ON khi cam c phat hien (dung cho viec em).
Ngo vao
ON khi phat hien co san pham cuoi bang chuyen
Cam bien.
phai.
Khi Y0_ON, 1 san pham c cung cap. Mot tien
Y0 Lenh cung cap.
trnh bat au: hop ln.
Bang tai chay ve
Y1 Khi Y1_ON, bang tai dy chuyen ve pha trc.
Ngo ra pha trc.
Y2 Lenh cap cam. Khi Y1_ON, cam c cung cap.
3. Mc ch iu khin:
t cc qu cam theo l thuyt vo hp trn bng ti
Trang 121

* ieu khien chung :
- Khi cong tac X24 tren bang ieu khien c chuyen len ON, bang tai di
chuyen ve pha trc. Khi X24 tren bang ieu khien c chuyen sang OFF, bang tai
ngng.
robot chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF, khi robot dy chuyen khoi
v tr bat au . Khi lenh cung cap Y0 c chuyen sang ON, robot cung cap hop.
* ieu khien may khoan :
- Khi cam bien co hop tren bang tai X1 at trong bo phan cung cap cam
chuyen sang ON, bang tai ngng.
- Trong hop c at 5 qua cam. Cac hop at 5 qua cam c mang en khay
ben phai.
- Cam c cung cap khi lenh cap cam Y2 bat len ON va so cam cung cap
c em khi cam bien cam a cung cap bat len ON.
5. S nguyn l:
Trang 122
Trang 123
Bi 6. iu khin bng ti
1. M hnh hot ng:

a ch
thiet b
ON khi phat hien san pham cuoi bang chuyen
X10 Gii han trai.
trai.
ON khi phat hien san pham cuoi bang chuyen
Ngo vao X11 Gii han phai.
phai.
X12 Cam bien dng. ON khi phat hien san pham.
Khi Y10_ON, san pham c cung cap. Mot
Y10 Lenh cung cap.
tien trnh bat au.
Bang tai chay
Y11 Khi Y11_ON bang tai dy chuyen ve pha trc.
Ngo ra thuan.
Bang tai chay
Y12 Khi Y12_ON, bang tai dy chuyen ngc lai.
nghch.
3. Mc ch iu khin:
Di chuyn bng ti chy thun hay nghch da theo c tnh iu khin

pheu chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF, khi tha tay nhan X20. Khi
lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham.
Trang 124
- Khi nut nhan X21 tren bang ieu khien c nhan, bang tai van hanh theo
th t c mo ta trong bc 3 en bc 6 di ay. Neu tha tay nhan X21, th t
van hanh tiep tuc.
- Bang tai bat au dy chuyen khi ngo ra bang tai chay thuan Y11 c bat len
ON va dng khi cam bien phat hien san pham gii han phai X11 chuyen sang ON.
- Khi ngo ra bang tai chay nghch Y12 c bat len ON, bang tai dy chuyen
ngc lai cho en khi cam bien phat hien san pham gii han trai X10 chuyen sang
ON.
- San pham gii han trai trong 5 giay.
- 5 giay sau, ngo ra bang tai chay thuan Y11 c bat len ON va bang tai dy
chuyen cho en khi cam bien dng X12 chuyen sang ON.
5. S nguyn l:
Trang 125
Trang 126
III. Cc bi tp dng nng cao

Bi 1. Vn hnh ca t ng
X0 Gii hn di ON khi ca en gii han di
X1 Gii hn trn ON khi ca den gii han tren
X2 Cam bien vao cong ON khi i tng n gn ca
Ng vo Cam bien ra khoi
X3 ON khi i tng ra khi ca
cong
Y0 Ca nang len Khi Y0_ON,ca c nng ln
Khi Y1_ON,ca c h
Y1 Ca ha xuong xung
Ng ra
Y2 en bao Khi Y2_ON,n bo bt sng
KhiY3_ON,ci ku ln (n
Y3 Coi bao trn man hnh bt sng).
2. Mc ch iu khin:
iu khin ca m hay ng khi pht hin c i tng

iu khin t ng:
Khi cm bin vo cng X2 nhn bit c i tng th ca di chuyn ln trn .
Khi cm bin ra khi ca X3 nhn bit c ii tng ra khi ca th ca di chuyn
xung.
Ca ngng di chuyn ln trn khi cm bin Gii hn trn X1 chuyn ln ON.
Ca ngng di chuyn xung di khi cm bin Gii hn di X0 chuyn ln ON.
Trong khi vn cn nm trong gii hn gia cm bin vo cng X2, cm bin ra
khi cng X3 th ca khng di chuyn xung v n bo Y2 bt sng .
iu bng tay:
Khi nhn nt [ Ca nng ln] X4 th ca s c di chuyn ln trn.
Khi nhn nt [ Ca h xung ] X5 th ca s c h xung.
Trang 127
4. S nguyn l:
Gii thch s nguyn l:

Khi tac ong vao S0 th cuon day Rle RL1 co ien, th no se tac ong vao tiep
iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC .
Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m
RL2 se co ien. T o, a ch X001 cua PLC se nhan c tn hieu.
Khi tac ong vao S2 th cuon day Rle RL3 se co ien, th no se tac ong vao
tiep iem thng m RL3 .T o ,a ch X002 cua PLC se nhan c tn hieu.
tiep iem thng m RL5. T o, a ch X004 cua PLC se nhan c tn hieu.
Trang 128
Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng
m cua R1 se ong lai. T o, cuon K1 se co ien.
Trang 129
Bi 2. B tr sn khu
Dng a ch thit b Ten thit b S hot ng
Ben trong ON khi man ca ong hoan
X0
(man ca trai) toan.
gia
X1 ON khi man ca v tr gia.
(man ca trai)
Ben ngoai ON khi man ca m hoan
X2
(man ca trai) toan
Ben trong ON khi man ca ong hoan
X3
(man ca phai) toan.
Ng vo gia
X4 ON khi man ca v tr gia .
(man ca trai)
Ben ngoai ON khi man ca m hoan
X5
(man ca trai) toan
Gii han tren cua ON khi san khau en gii han
X6
san khau tren .
Gii han di cua ON khi san khau en gii han
X7
san khau di.
Khi Y0_ON man ca m.Khi
Y0 Lenh m man ca
Y0_OFF ,man ca dng.
Khi Y1_ON ,man ca
Lenh ong man
Y1 ong.Khi Y1_OFF,man ca
ca
dng.
Khi Y2_ON, san khau di
Y2 San khau i len chuyen len tren. Khi
Y2_OFF, san khau dng.
Khi Y3_ON san khau di
Ng ra
Y3 San khau i xuong chuyen xuong .Khi Y3_OFF,
san khau dng.
Khi Y4_ON, coi keu len (en
Y4 Coi bao
tren man hnh bat sang).
2. Mc ch iu khin:
iu khin vic b tr sn khu ty theo c tnh iu khin
Trang 130

Van hanh t ong :
Khi nut nhan [START] X10 c nhan tren bng iu khin, coi bao Y4 keu
trong 5s. Nut nay ch co tac dung khi man ca c ong hoan toan va san khau v
tr gii han di.
Khi coi ngng, lenh m man ca Y0 chuyen sang ON va man ca c m cho
en khi chung en gii han ben ngoai (X2 vaX5).
Sau khi man ca a m hoan toan, san khau bat au di chuyen len tren khi Y2
chuyen sang ON va dng lai khi Gii han tren cua san khau X6 chuyen sang ON.
Khi nut nhan [STOP] X11 c nhan tren ban van hanh, lenh ong man ca Y1
c chuyen sang ON va man ca ong lai cho en khi chung en gii han ben trong
(X0 va X3).
Van hanh bang tay:
Man ca ch c m khi nut nhan X12 tren bng iu khin ang c nhan.
Man ca dng cho en khi en gii han ben ngoai (X2 va X5).
Man ca ch co the c ong khi nut nhan X13 tren bng iu khin ang c
nhan. Man ca ong cho en khi en gii han ben trong (X0 va X3).
Khi nhan nut X14 th san khau se di chuyen len tren va no dng khi ung cam
bien gii han tren X6.
Khi nhan nut X15 th san khau se di chuyen xuong va no dng khi ung cam bien
gii han di X7.
Trang 131
4. S nguyn l:
Gii thch s nguyn l:

Khi tac ong vao S0 th cuon day Rle RL1 co ien, th no se tac ong vao tiep
tiep iem thng m RL3. T o ,a ch X002 cua PLC se nhan c tn hieu.
RL4 se co ien .T o, a ch X003 cua PLC se nhan c tn hieu.
Trang 132
Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao
Trang 133
m cua R4 se ong lai. T o, uon K4 se co ien.
m cua R5 se ong lai.T o ,cuon K5 se co ien.
m cua R1 se ong lai .T o ,cuon K1 se co ien.
m cua R2 se ong lai .T o,cuon K2 se co ien.
Trang 134
Bi 3. Phn phi sn phm

Dang a ch thiet b Ten thiet b S hoat ong
X0 iem bat au ON khi robot v tr bat au
ON khi san pham c phat
X1 Tren
hien
X2 Gia
hien
X3 Di
hien
Trang 135

X4 Cam bien
hien tren mat nghieng
Ngo vao ON khi san pham c phat
X5 Cam bien
X6 Cam bien
X7 Cam bien
hien cuoi bang tai ben phai
Phat hien san ON khi san pham c phat
X10
pham hien trc vat ay
X11
X12
Khi Y0_ON ,1 san pham c
cung cap .Mot tien trnh c
bat au:san pham go c lap
Y0 Lenh cung cap lai theo th t Trung
bnh_Nho_Ln_Trung
bnh_Trung
bnh_Ln_Nho_Nho_Ln_Ln.
Bang tai di
Khi Y1_ON, bang tai di chuyen
Y1 chuyen ve pha
ve pha trc
Ngo ra trc
Bang tai di
Khi Y2_ON , bang tai di
Y2 chuyen ve pha
chuyen ve pha trc
trc
Bang tai di
Y3 chuyen ve pha
chuyen ve pha trc
trc
Bang tai di
Y4 chuyen ve pha
chuyen ve pha trc
trc
Duoi ra khi Y5_ON va thu lai
Y5 C cau ay khi Y5-OFF.C cau ay khong
the dng gia hanh trnh.
Trang 136
Duoi ra khiY6_ON va thu lai

Y6 C cau ay khi Y6_OFF. C cau ay khong
Duoi ra khi Y7_ON va thu lai
Y7 C cau ay khiY7_OFF. C cau ay khong
2. Mc ch iu khin:
Phn phi cc sn phm l thuyt theo kch c

Khi nhan nut X14 tren bng iu khin, lenh cung cap Y0 cho robot chuyen len
ON.
Lenh cung cap Y0 chuyen sang OFF khi robot di chuyen san pham hoan tat va
quay tr ve iem ban au.
Khi cong tac X14 tren bng iu khin chuyen sang ON, cac bang tai di chuyen
ve pha trc. Khi cong tac X14 chuyen sang OFF, cac bang tai dng.
San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam
bien ngo vao Tren X1, Gia X2, Di X3 va sau o c a en cac khay ng san.
Khi cam bien phat hien san pham trc c cau ay X10, X11, X12 chuyen sang
ON th cac bang tai dng va san pham c ay len khay nh cac c cau ay: Y5, Y6,
Y7.
Khi so lng san pham trong cac khay la:san pham ln:3 ; san pham trung
bnh:2 ; san pham nho:2 th cac c cau ay se bo qua cac san pham tha. Cac san
pham nay se ri xuong cuoi bang ta ben phai.
Trang 137
4. S nguyn l:
Gii thch s nguyn l:

Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep
iem thng m RL1 .T o no se tac ong vao a ch X000 cua PLC .
RL2 se co ien .T o ,a ch X001 cua PLC se nhan c tn hieu.
Trang 138
Trang 139
Trang 140
Trang 141
Bi 4. Phn loi cc sn phm b li


X0 ang khoan ON trong khi ang khoan
X1 San pham di ON khi san pham di may
may khoan khoan
X2 ON khi san pham c khoan
a khoan ung ung.Khi viec khoan bat au
th ket qua trc o b xoa.
X3 ON khi san pham khong c
khoan ung.Khi viec khoan
a khoan sai
bat au th ket qua trc o b
xoa.
X4 ON khi phat hien co san pham
Cam bien
cuoi bang chuyen trai
Ngo vao X5 ON khi phat hien co san pham
Cam bien
cuoi bang chuyen phai
X6 Cam bien phat ON khi phat hien san pham
hien san pham trc c cau ay.
Y0 Khi Y0_ON ,1 san pham c
Lenh cung cap
cung cap:khoi kim loai ln
Y1 Bang taichay ve Khi Y1_ON bang tai di
pha trc chuyen ve pha trc
Ngo ra Y2 Bat au khoan Khi Y2_ON bat au khoan
Y3 Bang tai chay ve Khi Y3_ON bang tai di
pha trc chuyen ve pha trc
Y5 Duoi ra khi Y5_ON va thu lai
khi Y5_OFF .C cau ay
C cau ay
khong the b dng gia hanh
trnh.
2. Mc ch iu khin:
Trang 142
Phan biet cac san pham b loi va san pham tot bang tn hieu cua chung va phan
phoi chung sao cho phu hp.

ieu khien chung:
Khi nut nhan X7 c nhan tren bng iu khin, Lenh cung cap Y0 cho pheu
chuyen sang ON. Khi tha nut nhan X7, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh
cung cap Y0 chuyen sang ON th pheu cung cap san pham.
Khi cong tac X10 c bat sang ON th bang tai di chuyen ve pha trc. Khi
cong tac nay bat sang OFF th bang tai dng.
ieu khien may khoan:
Khi cam bien cosan pham di maykhoan X1 chuyen sang ON th bang tai
dng.
Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien
ang khoan X0 bat sang ON th Y2 chuyen sang OFF.
Khi bat au khoan Y2 _ON th cam bien a khoan ung X2 va khoan sai X3
eu c bat sang ON sau khi may khoan a hoan tat mot chu k .
Khi co san pham loi, th cam bien phat hien san pham X10 trong c cau ay
se bat sang ON. Khi o bang tai se dng va c cau ay Y5 se chuyen sang ON, san
pham se b ay xuong khay ng san pham b loi.
Neu la san pham tot th c di chuyen en khay OK c at cuoi bang
chuyen phai.
4. S nguyn l:
Trang 143
Gii thch s nguyn l:

Trang 144
Trang 145
Bi 5. iu khin quay thun/ nghch

ON Khi san pham c
X0 Tren
phat hien
ON Khi san pham c
X1 Gia
phat hien
ON Khi san pham c
X2 Di
phat hien
Trang 146
ON Khi san pham c

X3 Phat hien san pham phat hien trc c cau
ay
ON Khi robot v tr bat
X4 iem bat au
au
ON Khi san pham tren
X5 San pham tren ban
ban
Hoat ong cua robot ON Khi hoat ong cua
X6
hoan tat robot hoan tat
Ngo vao ON Khi san pham c
X7 Cam bien phat hien mat phang
nghieng
ON Khi san pham c
X10 Cam bien phat hien cuoi bang
chuyen phai
ON Khi san pham c
chuyen trai
ON Khi san pham c
chuyen phai
Khi Y0_ON ,1 san pham
c cung cap:san pham
go c lap lai theo th
Y0 Lenh cung cap
t:Ln_Trung
bnh_Nho_Trung
bnh_Nho_Ln.
Ngo ra Bang tai chay ve Khi Y1_ON th bang tai
Y1
pha trc di chuyen ve tc.
Bang tai chay ve Khi Y2_ON bang tai di
Y2
pha trc chuyen ve phatrc.
Duoi ra khi Y3_ON va
thu lai khi Y3_OFF.C
Y3 C cau ay
cau ay khong the b
dng gia hanh trnh.
Robot gap san pham en
Y4 Lenh gap san pham khay ng khi Y4_ON
.Mot tien trnh bat au.
Trang 147
Bang tai chay thuan Bang tai chay ve trc

Y5
(ve pha trc) khi Y5_ON
Bang tai chay Bang tai chay ve pha
Y6
nghch(ve pha sau) sau khi Y6_ON
2. Mc ch iu khin:
Phat hien kch c moi san pham va phan phoi chung sao cho phu hp.

Khi nut nhan X13 c nhan tren bng iu khin, Lenh cung cap Y0 cho pheu
chuyen sang ON th pheu se cung cap san pham. Khi tha nut nhan X13, lenh cung cap
Y0 chuyen sang OFF .
Khi cong tac X14 c bat sang ON, cac bang tai di chuyen ve pha trc
(Y1_ON; Y2_ON). Khi cong tac X14 bat sang OFF th cac bang tai dng.
bien ngo vao: Tren X0, Gia X1, Di X2 va sau o c a den cac khia ng san.
Khi san pham ln va nho c phat hien bi cam bien X0, X2 va cam bien
trc c cau ay X3 chuyen sang ON th bang tai dng. Khi o san pham c phan
phoi neu la:
San pham ln :c ay en bang chuyen thap hn va c mang en
khay ben phai.
San pham nho: c ay en bang chuyen thap hn va c mang en
khay ben trai.
Khi la san pham trung bnh th c mang den khay ng bi robot.
Trang 148
Khi cam bien phat hien san pham tren ban X5 trong robot chuyen sang ON th
lenh gap san pham Y4 bat len ON. Khi cam bien hoat ong robot hoan tat X6 chuyen
sang ON, lenh gap Y4 chuyen ve OFF.
Khi cong tac X15 c bat sang ON th mot san pham mi c cung cap t
ong tai thi iem sau:
Khi robot bat au mang san pham trung bnh
Khi san pham nho hay ln c at vao trong khay.
4. S nguyn l:
Gii thch s nguyn l:

Trang 149
Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng
m RL4 se co ien. T o, a ch X003 cua PLC se nhan c tn hieu.
Khi tac ong vao S10 th cuon day Rle RL11 se co ien ,th no se tac ong
vao tiep iem thng m RL11. T o, a ch X012 cua PLC se nhan c tn hieu.
Trang 150
Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem
thng m cua R5 se ong lai. T o, cuon K5 se co ien.
thng m cua R6 se ong lai. T o, cuon K6 se co ien.
Trang 151
Trang 152
Bi 6. iu khin c cu nng
X0 Trn ON khi sn phm c pht hin
X1 Gia ON khi sn phm c pht hin
X2 Di ON khi sn phm c pht hin
Sn phm trn ON khi sn phm trn c cu
X3
c cu nng nng
V tr nng thp ON khi c cu nng v tr thp
X4
hn
X5 V tr nng gia ON khi c cu nng v tr gia
V tr nng cao ON khi c cu nng v tr cao
X6
hn
Cm bin ON khi pht hin c sn phm
Ng vo X10
cui bng chuyn tri
X11
cui bng chuyn phi
X12
cui bng chuyn tri
X13
cui bng chuyn phi
X14
cui bng chuyn tri
X15
cui bng chuyn phi
Trang 153
Lnh cung cp Khi Y0 ON, 1 sn phm c

cung cp: xylanh kim loi c
Y0
lp li theo th t Nh-Ln-
Trung bnh-Ln-Trung bnh-Nh
Y1 Bang tai chay Khi Y1-ON, bang tai di chuyen ve

ve pha trc pha trc
Lenh cho c cau C cau nang di chuyen len tren khi
Y2 nang len Y2-ON.C cau nang dng lai khi
Y2-OFF
Lenh cho c cau C cau nang di chuyen xuong khi
Y3 ha xuong Y3-ON.C cau nang dng lai khi
Ng ra
Y3-OFF
Lenh cho c cau C cau quay e chuyen san pham
Y4 quay en bang tai khi Y4-ON.C cau
quay ve v tr ban au khi Y4-OFF
Bang tai thap Bang tai chay ve pha trc khi Y5-
Y5 chay thuan ON
(ve pha trc)
Y6 chay thuan ON
(ve pha trc)
Y7 chay thuan ON
(ve pha trc)
2. Mc ch iu khin:
S dng c cu nng a cc sn phm n 3 v tr khc nhau.
Khi cam bien X3 trong Cow cau nang chuyen sang ON, san pham c
mang en 1 trong cac bang tai sau tuy theo kch c cua no:
- San pham ln : bang tai tren
- San pham trung bnh: bang tai gia
- San pham nho: bang tai thap
Trang 154
Lenh cho c cau nang len Y2 va Lenh cho c cau ha xuong Y3 c ieu
khien tuy theo v tr cua c cau nang c phat hien bi cac cam bien sau:
- Tren: X6
- Gia: X5
- Thap: X4
Khi 1 san pham c t c cau nang en bang tai, lenh cho c cau quay
Y4 bat len ON.
Sau khi san pham c chuyen qua, c cau nang quay ve v tr ban au
va ch.

a> ieu khien chung:
Khi nut nhan X7 c nhan tren bng iu khin, Lenh cung capY0 cho pheu
chuyen sangON. Khi tha nut nhan PB1-X20, Lenh cung cap Y0 chuyen sang OFF. Khi
Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham .
Khi cong tac X8 c bat sang ON tren bang ieu khien, cac bang tai di chuyen
ve pha trc. Khi cong tac X8 bat sang OFF, cac bang tai ngng.
Sau khi cac cam bien X10, X12, X14 ben trai cua bang tai phat hien co san
pham, bang tai tng ng bat len ON va a cac san pham en khay cuoi bang
chuyen phai. Bang tai ngng trong 3s sau khi san pham qua cac cam bien X11, X13,
X15 ben phai bang tai.
bien ngo vao Tren X0, Gia X1, Di X2.
b> Nguyen l lam viec:
Trang 155
Khi cong tac X8 tren bang ieu khien c bat sang ON , cac bang tai di
chuyen ve pha trc (Y1, Y5, Y6, Y7 chuyen sang ON).
Sau khi nhan cong tac X7. Lenh cung cap san pham chuyen sang ON ( San
pham c cung cap va lap lai theo th t :Nho-Ln-Trung bnh-Ln-Trung bnh
Nho)
Qua trnh phan loai san pham nh sau:
San pham nho: San pham nho qua cam bien di X20 kch Rle M4
chuyen sang ON.Khi san pham en c cau nang ,X3 chuyen sang ON lenh cho c cau
nang len (Y2 ON). ong thi tai v tr nang thap X4 ket hp M4 va X3 lenh cho c cau
quay Y4 chuyen san pham en bang tai thap va RLe M0 chuyen sang ON lenh cho
c cau nang Y2 dng.
San pham trung bnh : San pham trung bnh qua cam bien di X2,gia
X1 trang thai ON, lam RLe M5 chuyen sang ON. Khi san pham en c cau nangX3
ON lenh cho c cau nang Y2 ON nang san pham len. Khi san pham en v tr nang
gia X5, ket hp vi X3 va RLe M5 lenh cho c cau quay Y7 ON, san pham c
a ti bang tai gia va RLe M0 ieu khien c cau nang Y2 OFF.
San pham ln: San pham ln qua cam bien tren X0, gia X1, di X2
kch RLe M6 hoat ong Khi san pham c a en c cau nang X3, lenh cho c cau
nang Y7 a san pham len .Tai v tr nay , san pham c a den v tr nang cao hn
X6,dong thi ket hp vi X3, va RLe M6 lenh cho Y4 chuyen sang ON. San pham
c a ti bang tai tren va RLe M0 ieu khien c cau Y2 dng.
Khi cac cam bien X10, X12, X14 tac dung canh xung xuong, phat hien co
san pham i qua lenh cho Y3 chuyen sang ON, ha c cau xuong en v tr thap hn X4
ON, kch RLe M2 chuyen sang ON , lenh cho c cau ha xuong Y3 va dng lai.
Trang 156
Khi san pham qua cac cam bien X11, X13, X14 kch RLe M3 va bo
nh th T0 chuyen sang ON. Rle M3 co nhiem vu dng cac bang chuyen
(Y1,Y5.Y6,Y7) va ReSet cac ngo vao cam bien phan loai san pham (M4, M5, M6).
Sau 3s, bo nh th T0 khoa Rle M3, lenh cho cac bang tai hoat ong tr lai.
4. S nguyn l:
Gii thch s nguyn l:

Trang 157
Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep
iem thng m RL3. T o, a ch X002 cua PLC se nhan c tn hieu.
Khi tac ong vao S4 th cuon day Rle RL5 se co ien, th no se tac ong vao tiep
iem thng m RL8 . T o, a ch X007 cua PLC se nhan c tn hieu.
Trang 158
m cua R2 se ong lai . T o, cuon K2 se co ien.
m cua R3 se ong lai . T o, cuon K3 se co ien.
Trang 159
Trang 160
Bi 7. Tuyn phn loi v phn phi

a ch
Dang Ten thiet b S hoat ong
thiet b
V tr bat au
X0 ON khi robot cung cap v tr bat au
(nguon cung cap)
X1 Tren ON khi san pham c phat hien
X2 Gia ON khi san pham c phat hien
X3 Di ON khi san pham c phat hien
Ngo vao ON khi phat hien co san pham cuoi bang
X4 Cam bien
chuyen phai
ON khi phat hien co san pham cuoi bang
X5 Cam bien
chuyen phai
ON khi phat hien co san pham trc c cau
X6 Phat hien san pham
ay
X10 V tr bat au (gap hang) ON khi robot gap hang v tr au
X11 San pham tren ban ON khi san pham nam tren ban
X12 Hoat ong robot hoan tat ON khi hoat ong robot hoan tat
Khi Y0_ON,1 san pham c cung cap:
Y0 Lenh cung cap xylanh kim loai c lap lai theo th t Nho-
Trung bnh-Ln-Nho-Ln_Trung bnh
Bang tai chay ve pha Khi Y1-ON, bang tai di chuyen ve pha
Y1
trc trc
Y2
trc trc
Y3 Can phan loai Di chuyen ra pha trc khi Y3 la ON
Ngo ra Bang tai chay ve pha Khi Y4-ON, bang tai di chuyen ve pha
Y4
trc trc
Y5
trc trc
Duoi ra khi Y6-ON va thu lai khi Y6-
Y6 C cau ay OFF.C cau ay khong the b dng gia
hanh trnh
Robot gap san pham en khay ng khi Y7-
Y7 Lenh gap san pham
ON.Mot tien trnh bat au
2. Mc ch iu khin:
Trang 161
Phan loai moi san pham en v tr tng ng tuy theo kch c

San phan ln : Khi can phan loai Y3 cua bang tai nhanh re bat len ON,
san pham ln c dan ti bang tai pha sau va sau o ri xuong cuoi bang tai ben
phai.
San pham trung bnh : Khi can phan loai Y3 cua banh tai nhanh re
chuyen xuong OFF, san pham trung bnh c dan ti bang tai pha trc va sau o
duy chuyen len khay bi robot
San pham nho : Khi can phan loai Y3 cua bang tai nhanh re bat len ON,
San pham nho c dan ti bang tai pha sau. Khi cam bien phat hien san pham X6
trong bang tai nhanh re chuyen sang ON, bang tai ngng va c duy chuyen len
khay.

a) ieu khien chung :
Khi nut nhan X13 c nhan tren bang ieu khien , Lenh cung cap Y0 cho pheu
chuyen sang ON. Khi tha nut nhan X13 Lenh cung cap Y0 chuyen sang OFF. Khi lenh
cung cap Y0 chuyen sang ON, pheu cung cap san pham.
Khi cong tac X14 c bat sang ON tren bang ieu khien, cac bang tai di
chuyen ve pha trc . Khi cong tac X14 bat sang OFF cac bang tai ngng .
San pham ln , trung bnh , nho tren cac bang tai c phan loai bang cac cam
bien ngo vao Tren X1 , Gia X2, Di X3 va c mang den cac khay nh san .
Khi cam bien san pham tren ban X11 trong robot chuyen sang ON , lenh gap
san pham Y7 bat len ON. Khi cam bien hoat ong robot haon tac X12 chuyen sang ON
( khi san pham c at tren khay), lenh gap san pham chuyen sang OFF,
Trang 162
Khi cong tac X15 c bat sang ON tren ban van hanh, Mot san pham mi se
c cung cap t ong tai thi iem sau:
- Khi robot bat au mang san pham trung bnh.
- Khi san pham nho c at vao khay haoc khi san pham ln ri t cuoi bang tai
ben phai.
Cac en nhay c bat nh sau:
- en o : Sang trong khi robot ang cung cap san pham
- en xanh : Sang trong khi bang tai ang di chuyen
- en vang : Sang trong khi bang tai dng.
b) Nguyen l hoat ong :
Ban au khi cong tac X24 tren bang ieu khien bat sang ON, cac bang tai di
chuyen ve pha trc (Y1, Y2, Y4, Y5, Y11 ON)
Sau khi nhan nut X13 tren bang ieu khien, lenh cung cap san pham Y6 cho
phep chuyen sang ON (san pham c cung cap va lap lai theo th t t Nho -Trung
bnh-Ln-Nho-Ln-Trung bnh):
Khi san pham nho qua cam bien di (X3 ON) tac dung vao Rle M2.
Rle M2 bat sang ON lam cho can phan loai di chuyen ra pha trc (Y3 ON). San
pham nho c dan en bang tai pha sau, Khi gap cam bien phat hien co san pham
trc c cau ay, X6_ON ket hp vi Rle M2_ON lam c cau ay Y6 chuyen sang
trang tha ON , ong thi kch Rle phu M3 hoat ong va en vang Y11 bat ON. Tiep
diem rle M3 co tac dung khoa ngng hoat ong cac bang tai (Y1,Y2,Y4, Y5, Y11).
Khi c cau Y6 ay san pham xuong khay ng th cam ng X6 chuyen sang OFF, cac
hoat ong tr lai ban au .
Trang 163
San pham ln qua cam bien tren , gia, di (X1, X2, X3 bat ON ), tac
dung Rle M0 bat ON , M0 tac dung lam can phan loai Y3_ON duy chuyen ra pha
trc . San pham ln c dan ti bang tai pha sau. Khi gap cam bien phat hien san
pham X6_ON , nhng tai ay khong co tn hieu phan loai san pham nen c cau ay
Y6_OFF khong hoat ong . San pham ln c bang tai duy chuyen tiep va ri xuong
cuoi bang tai ben phai .
San pham trung bnh qua cam bien di , gia (X3, X4_ON) tac dung
vao Rle M1(M1_ON ) . Cac tiep 9iem Rle M1 Co tac dung Reset cac ngo vao cam
bien phan loai san pham ln nho ( M0, M2 _ OFF), lam cho can phan loai re nhanh
chuyen ra pha sau (Y3_OFF) . San pham trung bnh c dan ti bang tai pha trc .
Khi cam bien phat hien san pham tren ban (X11_ON) lenh cho c cau gap san pham
len , Khay ng hoat ong (Y7_ON) , ong thi kch Rle M6_ON lam bang tai ngng
hoat ong . Khi hoat ong cua cac robot hoan tat X6_ON tac dung vao Rle M4_ON
lam xoa lenh gap san pham (Y7_OFF) . Cac hoat ong tr lai bnh thng .
Bat cong tac SW-2S , san pham se c cap t ong tr lai khi ket thuc
mot hanh trnh.
4. S nguyn l:
Trang 164
Gii thch s nguyn l:

Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao
tiep iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC .
m RL2 se co ien. T o ,a ch X001 cua PLC se nhan c tn hieu.
Trang 165
vao tiep iem thng m RL10 . T o ,a ch X011 cua PLC se nhan c tn hieu.
vao tiep iem thng m RL11. T o ,a ch X012 cua PLC se nhan c tn hieu.
thng m cua R1 se ong lai. T o ,cuon K1 se co ien.
Trang 166
thng m cua R5 se ong lai.T o ,cuon K5 se co ien.
Trang 167
Trang 168
IV. Cc bi tp m rng:
Bi 1. Phn loi sn phm theo mu st:
X0 Cm bin ON khi pht hin sn phm
ON khi pht hin sn phm
X1 Cm bin mu sc
mu vng
Ng vo
ON khi pht hin sn phm
X2 Cm bin mu sc
mu xanh
X3 Nt nhn START ON Qu trnh hot ng
Bng ti chy v
Y0 Bng ti hot ng khi Y0 ON
trc
Y1 Piston vng Piston y khi Y1 ON
Ng ra
Y2 Piston xanh Piston y khi Y2 ON
ON sn phm c cung
Y3 Lnh cung cp
cp
2. Mc ch iu khin:
a sn phm c cng mu sc n cng mt v tr
Khi nhn nt START th bng ti Y0 chy v trc, sau 3s lnh cung cp Y3
chuyn sang ON, mm cp phi hot ng, sn phm c cung cp.
Cm bin X0 nm u bng ti m tng sn phm c cung cp. Khi X0
m c 20 sn phm th mm cp phi dng, tc Y3 chuyn sang OFF v bng ti
dng, kt thc mt qu trnh. Mun thc hin qu trnh mi th nhn nt START.
Khi cm bin mu vng X1 pht hin sn phm mu vng th sau 3s piston vng
Y1 chuyn sang ON, y sn phm mu vng vo khay ng.
Trang 169
Khi cm bin mu xanh X2 pht hin sn phm mu xanh th sau 5s piston xanh
Y2 chuyn sang ON, y sn phm mu xanh vo khay ng.
Sn phm mu khc s i thng v n cui bng ti ri vo khay ng.
4. S nguyn l:
Trang 170
Trang 171
Bi 2. iu khin thang my bn tng:
Trang 172
CHNG 4:
PH LC
I. ng dng PLC trong iu khin cng nghip:

PLC ngoai kha nang ieu khien thiet b rat linh hoat con c s dung trong
cac ng dung cao cap. Do o chng nay liet ke mot so ng dungcua PLC trong lnh
vc san xuat cong nghiep. Lam noi bac kha nang cua PLC ve ieu khien logic, ieu
khien trnh t, ieu khien tac vu chuyen dung va truyen thong bao gom:
ng dung PLC trong lnh vc ieu khien robot
ng dung PLC trong he thong san xuat linh hoat
ng dung PLC trong ieu khien qua trnh
ng dung PLC trong mang thu nhan d lieu
ng dung ieu khien trnh t may phan loai
ng dung PLC trong ieu khien giam sat
Trong cac ng dung mc ieu khien mot thiet b thong thng, cac em ch nhac
lai mot so ac iem khi lap trnh. Trong trng hp ng dung bo ieu khien lap trnh
tam mc cao hn , ben canh nhng ac iem can lu yve phan lap trnh, noi dung cua
chng con lu y gii thieu cac phan cng co lien quan e thc hien cac tac vu.
1. ng dung PLC trong lnh vc ieu khien robot
PLC co hai kha nang ng dung chnh trong lnh vc ieu khien robot:bo ieu
khien robot, bo ieu khien giam sat toan bo he thong san xuat co nhieu robot
Bo ieu khien robot thng dung may vi tnh. Trong thc te, may vi tnh la s la
chon hp l oi vi viec ieu khien theo quy ao lien tuc va lu tr d lieu ve ng i
hoac oi vi nhng chng trnh ieu khien can ngon ng lap trnh cap cao va bo nh
Trang 173
ln e x l d lieu cho nhng chng trnh ieu khien phc tap. Thong thng, may vi
tnh 16 bit la u ve toc o x l e ieu khien c cau tac ong trong cong nghiep
c thiet ke co nhieu ngo ra/vao, PLC thc hien nhng logic n gian tren ngo
vao va kch hoat cac ngo ra tng ng. mot so ln trng hp, hoat ong o cho
phep s dung PLC loai nho ieu khien chuyen ong cua robot theo mot trnh t t
iem nay en iem khac (point to point) va thc hien cac hoat ong khoa lan gia
robot vi cam bien rat n gian .
Trong loai ng dung nay may PLC thay the cho nhng r-le va cong tac dang
ien c, thng dung e ieu khien hoat ong cua c cau tac ong theo tnh hieu t
cac cong tac hanh trnh da ve trong qua trnh hoat ong trnh t. Hn na PLC co the
thc hien chng trnh trnh t len en hang tram bc va khi can thiet co the c
thay oi nhanh chong e robot hoat ong theo mot trnh t khac. Cong tac logic trong
chng trnh ladder c ong m thong qua cong tac hanh trnh noi vi ngo vao tng
ng va r-le vat ly c kch trc tiep t PLC thong qua ngo ra (hnh 4.1)
Robot thng dung e gap va at san pham (phoi hoac ban thanh pham) t
may nay en may khac trong san xuat tng chiec ; v du: robot gap phoi t bang taiva
at vao ban gia cong cua may CNC. ay la cach n gian e lien ket tat ca cac may
thanh phan trong he thong san xuat, cho phep mot may truyen tn hieu en may khac
e thc hien s ong bo hoat ong cua toan he thong
Trang 174
Hnh 4.1. H thng iu khin trnh t dng PLC
Lay v du, mot he thong gom bang tai chuyen pit-tong en robot gap-at (hnh
4.2). Khi pit-tong v tr xac nh th cam bien phat mot tn hieu cho PLC kch dng
bang tai va robot gap pit-tong at vao thung cha. Chng trnh PLC co trnh t thay
oi t ong da tren thong tin nhan c t nhng thiet b trong he thong. Nh vay, khi
phat hien co pit-tong ln tren bang tai th PLC ap ng bang cach cho phep oan
chng trnh x ly vi pit- tong ln, ngha la m gap ln hn va at pit-tong vao thung
khac. Neu ta can nhng thong tin khac nh so lng tng loai pit-tong th PLC de dang
c lap trnh e phat ra mot tn hieu xung bao ket thuc tac vu cua tng loai pit-tong
cho may tnh hay PLC ang giam sat he thong
Trang 175
Cam bien phat hen

Cam bien Chng trnh con Chng trnh con phat hien
pit-tong nho pit-tong ln
pit- tong nho
pit-tong ln
Hnh 4.2:S la chon chng trnh ieu khien trong PLC
2. ng dung PLC trong he thong san xuat linh hoat

He thong san xuat linh hoat, FMF - Flexible Manufacturing System, gom
nhieu may hoat ong theo chng trnh c ket hp lai thanh cum san xuat co kha
nang san xuat nhieu chung loai san pham di s ieu khien hoan toan t ong.Mot
cum san xuat tieu bieu co the gom :
May tien CNC va may phay CNC co c cau thay dao
Hai robot;
He thong bang tai;
May vi tnh master va PLC
Trang 176
Hnh 4.3. He thong san xuat linh hoat
Trong hnh 4.3 chng trnh ieu khien cho may CNC, robot va c cau khac c
tai xuong t may tnh master. Khi co tn hieu bao co s thay oi san pham. PLC c
s dung e tao s ong bo gia tat ca cac may trong he thong. Nh vay,FMS co tac
dung cai thien ang ke phan chuan b va lap ke hoach san xuat trong nha may. Hn
na, PLC loai ln iei khien vao/ra xa(remote I/O) thng c dung e giam sat va
ieu khien mot nhom gom nhieu cum san xuat theo cau truc ieu khien phan cap.
ng dung trong t ong hoa nha may san xuat khung xe
Nha may gom nhieu cong oan t khau cung cap nguyen lieu cho en thanh
pham,van chuyen ban thanh phan qua t cong oan ,quan sat trc tiep tren tng cong
oan ke ca giam sat chat lng c thc hien t ong.
He thong ieu khien phan cap c s dung trong trng hp nay va c bieu
dien theo cau truc hnh thap nh sau
Trang 177
1
Plant
2
Centers
3
Cells
4
Stations
5
Machinery
Cap 1: cap nha may s dung may tnh ln (nainframe comfuter), x ly d lieu
trong nha may nhu lap lch san xuat, giao dch vi khach hang va nhng chc nang
quan ly khac.
Cap2: cap giam sat he thong-cap nay trc tiep nhan lnh t cap 1 theo yeu cau
san xuat va giam sat tat ca PLC cap 3 the thc hien s lap rap khung xe t cac bo
phan ri. He thong mang LAN c s dung the truyen thong gia cap 2 va cap3, cho
phep viec truyen nhan d lieu gia cap 2, cap 3 va PLC ngang cap.
Cap3: cap cum san xuat s dung may tnh lam may tnh trung tam cua he thong
phan cap gom nhieu tram .
Cap 4: Cap tram s dung PLC ieu khien trc tiep cac may moc trong nha may.
PLC am nhan toan bo vieu ieu khien va giam sat thiet b trong phan xng. PLC
c lap at cap nay gom nhieu loai, t loai nho en cac PLC a s ly vi nhieu
moun chuyen dung.
Cap 5: Cap may moc - toan bo may moc hoat ong theo qua trnh rieng nh
robot, bang tai, bang tai chuyen dau, may han t ong
Trang 178
3. ng dung PLC trong ieu khien qua trnh

Mot v du ve ieu khien qua trnh la mot n v san xuat s dung day chuyen ma
ien e x ly mot day chi tiet hp kim co o chnh xac cao oi hoi qua nhieu chu trnh
x ly khac nhau (hnh 4.4). Cac chi tiet thng i tng lo, so lng t, vi gia tr cua
tng chi tiet cao. Day chuyen x ly gom nhieu bon, moi bon cha mot loai hoa chat,
e thc hien kh axit, ma va lam sach be ngoai. He thong can truc pha tren dung e
chuyen nhng chi tiet t bon nay qua bon khac, nang len hoac ha xuong nhng moc
trut thong qua s ieu khien cua con ngi .
Cac can moc c moc vao chi tiet va c dch chuyen doc theo day chuyen s
ly. Co the co nhieu moc cung hoat ong ong thi. Day chuyen nay c ieu khien
bang tay, trong o ngi ieu khien phai thc hien mot so tac vu nh sau:
Di chuyen moc t bon nay sang bon khac theo yeu cau s ly cho chi tiet;
at chi tiet vao moi bon trong khoang thi gian xac nh vi o chnh xac
nghiem ngat;
Do ng va s ly ung cho nhieu chi tiet x ly cung luc.
Trnh t tieu bieu bao gom nang thanh moc ra khoi bon; a no vao bon A trong n
giay; chuyen en bon C trong m giay vi dong ien ma 10A; chuyen ti bon ra
B.mot thanh khac se c a vao sau thanh au tien khi co the.
Trang 179
Hnh 4.4. Cac bon x ly hoa hoc (tong cong 24 bon)
De thay rang day chuyen can t ong hoa e nang cao nang suat va chat lng
san pham. Nhng yeu cau cho day chuyen gom:
Cho phep 12 chu trnh hoat ong khac nhau;
S ly ong thi 3 chi tiet hay nhieu hn;
Giao tiep vi ngi s dung de dang va co cha o hoat ong tay;
Cho phep them vao chu trnh mi trong tng lai.
PLC c s dung khong nhng cung cap cac chc nang ieu khien can thiet ma
con thc hien giao tiep vi ngi s dung. e co thong tin can thet ve chu trnh, tnh
trang cua cac bon, oi hoi chu trnh PLC tinh vi giai quyet cac van e bao gom trnh t
hoat ong, nh th cho cac chu trnh rat khac nhau, ca vec giai quyet s ong do
bon b chiem bi mot thanh khac trong chu trnh hoat ong .
He thong co hai che o hoat ong: che o t ong va che do tay. ac diem cua
he thong la chc nang ieu khien tay c noi cap oc lap vi PLC, khong thong qua
PLC. ieu co am bao rang khi co s co tren PLC th hoat ong cua he thong di
Trang 180
chuyen van co the c ieu khien bang tay. Tng t, he thong dng khan cap cung
c thiet ke khong thong qua PLC. V tr cua he thong di chuyen c phat hien bang
cong tac hanh trnh at tren c cau di chuyen.
Neu he thong ang che o t ong, viec chuyen sang che o tay co the thc
hien bang cong tac xoay. Che o ieu khien tay se co tac dung ngay sau khi thc hien
xong qua trnh di chuyen hien hanh cua che o t ong.
Loi c thong bao bang loa va en. Bo hien th led 7 oan dung e hien th s di
chuyen cua bo phan chuyen tai, v tr cua bo phan chuyen tai va nhng bnh b chiem
gi.
Nhiem vu ieu khien toan he thong c chia thanh nhieu modun chng trnh e
co the thiet ke va phat trien oc lap. Sau o, chung c noi ket lai thanh chng trnh
ay u chc nang. Cac modun c phan chia gom:
1). Modun ie khien thiet b cho tng bon, s dung bo nh th va c e ch th
trnh trang bon ang co thanh c nhung hay khong. Bon can co tn hieu ien ap h
mach xac nh trc khi chi tiet c nhun vao hay mot dong ien xac nh c
truyen qua chat long.
2). Modun ieu khien thiet b cho tng moc.
3). Modun ieu khien truyen tai, ieu khien toc o di chuyen thanh moc va nh
v bon tren day chuyen. Modun cung nhan yeu cau phuc vu t modun ieu khien
thiet b.
4). Mot mach khoa lan c s dung e ngan chi tiet c a vao bon ang b
chiem bi chi tiet khac, va tnh hieu bao ong se c phat ra. Mach nay c lap
trnh trong che o t ong.
Trang 181
4. ng dung PLC trong mang thu nhan d lieu

Hnh 4.5 trnh bai day chuyen ong goi hat polyethylen trong nha may san xuat
hoa chat bao gom mot so phieu ong m bang van cho phep cac vien polyethylen ri
vao tng bao tren may ong goi. May nay can tng goi 25Kg, tha tng lo vao mot cai
bao khac c lay lien tuc t cuon bao. Bao c van chuyen tren bang tai e kiem tra
trong lng va ong dau len tng bao .
Thiet b c ieu khien oc lap nh sau:
May ong goi PLC A
May in may vi tnh
May kiem tra trong lng may vi tnh
Bang tai 1 PLC B
Bang tai 2 PLC C
May rut bao R-le
Hnh 4.5. S o day chuyen ong bao
Trang 182
He thong co 1 so ac iem sau:

Hoat ong cua he thong thu nhan d lieu khong lam cham day chuyen ong
goi, at biet la may ong goi, may ong mot bao trong 3s
Trong tng lai co the them yeu cau cho day chuyen mot so chc nang ieu
khien t may tnh giam sat (s dung phng thc ieu khien giam sat-SCADA).
Tac ca PLC eu co modun tuyen thong chop phep truyen d lieu qua cong noi
tiep.Cac thiet b dung bo x ly co chc nang truyen thong eu co the ket noi vi he
thong qua cong noi tiep .
Can thiet thu nhan d lieu t tac ca PLC tren day chuyen e tao he thong thong
tin quan ly da tren may vi tnh . Nhng thong tin nay c dung e :
Giam sat/phan tch qua trnh san xuat
Chuan oan loi
Giam sat loi va o tin cay trong hoat ong cua cac thiet b
Quan ly kho nguyen lieu
Nhap vao he thong ke hoach san xuat nha may
Muc cuoi cung can nhng tap tin d lieu x ly tren may tnh ln (mainframe)cua
nha may va s tng thch o tao kha nang lien ket cac may tnh trong nha may vi
nhau. Ngoai ra, trong tng lai nha may can tch hp hai day chuyen ong goi na vao
he thon g .
e xat nh va lap at he thong truyen thong co kha nang ap ng nhng nhu
cauhien tai va trong tng lai (co the bao gom ieu khien toan nha may t cac cap
quan ly ).
May moc trong nha may c ieu khien bi cac PLC khac nhau va may vi tnh
co thu tuc truyen thong khac nhau ,du tac ca chung eu ho tr chc nang truyen thong
Trang 183
RS232C hay current loop.May vi tnh (lu d lieu )c at cach hn 150m vi day
chuyen san xuat ,trong mot khu vt khac
S dung he thong mang PLC chuyen dung:2 trong so 5 thiet b dung bo vi x ly la
cung hang san xuat; khong co tram nao co kha nang ap ng ay u c nhng yeu
cau truyen thong. Tat ca giai phap eu da tren mang PLC chuan nen can co them
PLC giam sat. PLC nay se truyen vi tng thiet b trong nha may thong qua cac nut
tren mang. Tuy nhien, nhu cau cua PLC giam sat co cong suat cao lam cho no co gia
thanh cao .
Ket noi tap trung :he thong s dung bo phan phoi kenh ho tr truyen thong
RS232C. Tieu bieu, 6 hoac 8 nguon d lieu cung chia se mot kenh noi tiep e trao oi
d lieu vi mot tram trung tam (hnh 4.6).
Phng phap nay la giai phap ay u cho nhu cau hien tai, nhng khong de dang
m rong them nhieu nguon, ma ieu nay that s rat can thiet . Tng t, viec chuyen
ieu khien xuong thiet b phan xng co the phc tap do a hp cac tn hieu
handsaking.Cuoi cung, nhiem vu cua may tnh giam sat la giai a hp dong d lieu tap
trung .Hn na, viec quan ly d lieu tren tram giam sat phai thc hien viec ieu phoi
tn hieu tap trung , tao Ram cho tng kenh truyen d lieu ,lu d lieu tren kenh vao tap
tin tren a va chay nhng ng dung tng ng .V nhng ly do tren ma cau truc kenh
tap trung b thay the bang cau truc mang cuc bo.
Trang 184
Can
Cac thiet b dung
May ong goi cong noi tiep RS232
Cap RS232
May kiem tra

trong lng
Bo a hp
8 vao 1 ra
May in
May chat goi May vi tnh
Kho lu tr
Bang tai
Hnh 4.6. Ket noi tap trung qua cong noi tiep
Mang cuc bo (LAN): mang cuc bo cong nghiep c s dung e ket noi cac tram
vi nhau, he thong nh vay de dang m rong va tiet kiem chi ph (hnh 4.7) va khac
phuc c nhc iem trong he thong trc :a hp nhieu cong noi tiep. Vi mang
LAN moi may c ket noi vao ng day cap chung dang vong. Khi mot kuc c
ket noi vao he thong ,nuc o co the c at bac ky v tr nao tren ng cap chung.
Cap co the c keo dai, len en vai km gia cac nut e noi ket c nhieu nut hn .
Cac thiet b truyen thong qua cong noi tiep
Trang 185
Hnh 4.7. Mang LAN cong nghiep
Moi thiet trong nha may c noi vi mot nut tren mang thong qua cap
RS232N24. Moi nut c cau hnh e ap ng yeu cau thu tuc truyen thong cu the cho
tng thiet b. Cac nut eu co bo vi x ly thc hien deu khien va phan cng tng
ngbo dem RAM ,cho phep lu tr tam thi en 255 byte d lieu se dc gi en tram
server, giam bt thi gianieu khien phan phoi truyen thong.so lng nut co the noi
vao he thong mang la 125.
Mang LAN dung cap xoan doi, hoat dong toc o truyen 19.2kbps cho 12 kenh
gia lap, truyen tn hieu den 3km. Moi trng truyen thong khong co nhiem ien cam
va khong oi hoi phai che chan e dung trong moi trng cong nghiep. Dung mang
LAN loai nay giam bt ganh nang tren may tnh giam sat ve phan mem deu khien
kenh va nghi thc truyen thong, hau het c thc hien tai cac nut. Hn na mang
Trang 186
LAN rat ly tng de thay doi qua trnh hoat ongt may tnh. Phan mem van can thiet
de cau hnh mang, cung vi cac chng trnh con x ly tap tin nh a e cap.
He thong nay nang cao kha nang m rong cho nhng thu tuc truyen thong khac va
dang d lieu truyen thong cua nhieu loai may moc.
5. ieu khien trnh t may phan loai bi mau
Mot pheu cha bi co hai mau khac nhau. Yeu cau tach hon hp nay ra va da vao
hai thung qua mot mang phan phoi b chan bang hai solenoid va hai sensor (hnh 4.8)
solenoid 4 can bi ngay di phieu cho phep cam bien mau phat hien mau vien bi ang
nam tai o, bang cach o o phan xa anh sang tren be mat. Mot cam bien th hai c
at pha di e phat hien vien bi i qua. Cuoi cung solenoid 3 c at ngay mang re
phan loai bi. Neu solenoid 3 khong hoat dong th bi se ri xuong bnh hai; neu
solenoid 3 hoat ong th bi se ri xuong bnh mot. Tat ca cam bien phai c at lai
trang thai 0 sao moi lan hoat ong. Ngoai ra, co the co them chuong bao thung ay hay
pheu rong.
ay la ng dung thuoc bai toan deu khien trnh t. Trong khi viet chng trnh
PLC, ieu can thiet la th cac gia tr nh th khac nhau e tm ra mot gia tr thch hp
nhat.
Trc khi cai at cho ng dung thc te, ngoai oan chng trnh chnh th chung
can phai c them vao cac oan chng trnh an toan, ieu khien tay ,va cac ch th
trang thai. Tng t, cac mach em co the de dang c lap trnh them e em so
lng bi hai thung.
Trang 187
Hnh 4.8. C cau phan loai bi mau
II. Danh sach cac lenh ng dung:
S K Php thi
Lnh
Tn lnh chc hiu Chc nng hnh
32 bit
nng lnh lnh PLS
Nhy n 1 v tr con tr ch
00 CJ
nh
Gi chng trnh con hot
01 CALL
ng
Tr v t chong trnh con
iu khin 02 SRET
hot ng
lu trnh
Dng ch cui khi
06 FEND
chng trnh chnh
Xc nh v tr bt u v s
08 FOR
ln lp ca vng lp
09 NEXT Xc nh v tr cui vng lp
Dch So snh 2 gi tr d liu cho
10 CMP
chuyn/So kt qu <, = v ln
Trang 188
snh So snh 1 dy d liu vi 1

11 ZCP gi tr d liu cho kt qu <,
= v >
Di chuyn d liu t vng
12 MOV
nh ny n vng nh khc
Ly cc phn t ca s thp
13 SMOV phn 4 ch s v chn vo v
tr mi c 4 ch s
Sao chp v nghch o chui
14 CML
bit ngun sang ch
Sao chp 1 khi nhiu phn
15 BMOV
t d liu n ch mi
Sao chp 1 d liu n n
16 FMOV
dy ch mi
Hon i d liu trong thit
17 XCH
b xc nh
Chyn i s nh phn sang
BCD hay chuyn i d liu
18 BCD
du chm ng sang dng
khoa hc
Chuyn i cc s sang nh
phn tng ng hay chuyn
19 BIN
i d liu khoa hc sang
dng thp phn
Cng 2 d liu ngun, kt
20 ADD
qu lu thit b ch
Tr 2 d liu ngun, kt qu
21 SUB
lu thit b ch
Nhn 2 d liu ngun, kt
22 MUL
qu lu thit b ch
X l s hc Chia d liu ngun cho d
v logic 23 DIV liu ngun khc, kt qu lu
thit b ch
Thit b ch c tng ln 1
24 INC
mi khi dng lnh ny
Thit b ch c gim
25 DEC xung 1 mi khi dng lnh
ny
Trang 189
Thc hin logic AND trn 2

26 WAND thit b ngun, kt qu lu
thit b ch
Thc hin logic OR trn 2
27 WOR thit b ngun, kt qu lu
thit b ch
Thc hin logic XOR trn 2
28 WXOR thit b ngun, kt qu lu
thit b ch
Thc hin i du ni dung
29 NEG
thit b ch
Chui bit ca thit b ch
30 ROR c quay phi n v tr mi
khi thi hnh lnh ny
Chui bit ca thit b ch
31 ROL c quay tri n v tr mi
khi thi hnh lnh ny
Ni dung ca thit b ch
32 RCR c quay phi n v tr mi
khi thi hnh lnh ny
Ni dung ca thit b ch
33 RCL c quay tri n v tr mi
khi thi hnh lnh ny
Lnh quay v Trng thi ca thit b ngun
dch chuyn 34 SFTR c sao chp vo ngn xp
chui bit bit v di chuyn qua phi
Trng thi ca thit b ngun
35 SFLT c sao chp vo ngn xp
bit v di chuyn qua tri
36 WSFR c sao chp vo ngn xp
word v di chuyn qua phi
37 WSFL c sao chp vo ngn xp
word v di chuyn qua tri
Lnh ny to 1 ngn xp
38 SFWR FIFO c di n phi dng
km vi lnh SFRD FNC 39
Trang 190
c v loi b ngn xp
39 SFRD FIFO c di n phi dng
km vi lnh SFRD FNC 38
40 ZRST Thc hin Reset dy thit b
Gi tr d liu ngun Q s
41 DECO SET bit th Q ca thit b
ch
V tr bit hot ng ca thit
42 ENCO b ngun xc nh gi tr ca
thit b ch
S lng cc bit bng 1 rong
43 SUM dy ch nh c lu trong
thit b ch
Trng thi ca bit xc nh
44 BON c biu th bng cch kch
X l d liu hot bit c c chn
Tnh gi tr trung bnh
45 MEAN
(nguyn) dy thit b
Lnh ny khi ng 1 b
nh th. Khi vt qu thi
46 ANS
gian nh th s kch hot c
trng thi tng ng
RESET c trng thi mc
47 ANR
thp nht
48 SQR Thc hin php ton cn s
Dng chuyn i du liu
49 FLT sang dng du chm ng v
ngc li
Thit lp h thng iu khin
60 IST
a ch dng STL
To 1 danh sch thng k v
61 SER cc gi tr c tm thy
Lnh khc trong 1 (stack) d liu
Kch hot nhiu ng ra ty
62 ABSD
thuc gi tr b m
Kch tun t tng ng ra ty
63 INCD
thuc gi tr b m
Trang 191
Gim st khong thi gian

ca tn hiu v t d liu ca
64 TTMR
thi gian vo thanh ghi d
liu
Cung cp b nh th loi off-
65 STMR delay, one shot v b nh th
nhp nhy
Thit b ch tun t thay i
66 ALT trng thi mi khi lnh ny
hot ng
To 1 gi tr trn ng dc
67 RAMP
gia 2 gi tr d liu c nh
Sp th t d liu trong 1
bng theo vng c chn
69 SORT
trong khi vn duy tr ton vn
mu tin
1 chui ch s c chuyn
76 ASC
thnh m ASC II
D liu c c t b nh
78 FROM m ca cc khi chc nng
chuyn dng gn vo
D liu c ghi t b nh
79 TO m ca cc khi chc nng
chuyn dng gn vo
Chuyn i gi tr d liu
82 ASCI
thp lc phn sang ASC II
Chuyn i gi tr d liu t
83 HEX ASC II thnh dng thp lc
phn
110 ECMP Float Compare
111 EZCP Float Zone Compare
118 EBCD Float to Scientific
119 EBIN Scientific to Float
120 EADD Float add
Float Decimal
121 ESUB Float subtract
Point
122 EMUL Float Multiplication
123 EDIV Float division
127 ESQR Flloat Square root
129 INT Float to integer
130 SIN Sine
Trang 192
131 COS Cosine

132 TAN Tangent
147 SWAP Float to Scientific
160 TCMP Time Compare
161 TZCP Time Zone Compare
Vn hnh
162 TADD Time Add
Clock
163 TSUB Time Subtract
166 TRD Read RTC data
170 GRY Decimal to Gray Code
Lnh khc
171 GBIN Gray code to Decimal
224 LD= So snh LoaD
225 LD> So snh LoaD
226 LD< So snh LoaD
228 LD<> So snh LoaD
229 LD<= So snh LoaD
230 LD>= So snh LoaD
232 AND= So snh AND
233 AND> So snh AND
Lnh so snh 234 AND< So snh AND
cng tc 236 AND<> So snh AND
237 AND<= So snh AND
238 AND>= So snh AND
240 OR= So snh OR
241 OR> So snh OR
242 OR< So snh OR
244 OR<> So snh OR
245 OR<= So snh OR
246 OR>=C So snh OR
III. Danh sach cac Rle phu tr ac biet:
Thit b
Tn Hot ng
chn on
Dng vi cng tc NO bo PC OFF: STOP
M8000
ang RUN ON: RUN
Trang 193
Dng vi cng tc NC bo PC OFF: STOP

M8001
dang Run ON: RUN
Dng vi cng tc NO, bo PC
M8002 Chu k qut 1 ON sau khi RUN
chuyn t OFF sang ON
Dng vi cng tc NC, bo PC
M8003 Chu k qut 1 OFF sau khi RUN
chuyn t OFF sang ON
M8004 Bo c li
M8011 Xung clock 10 mili giy 5ms 5ms
M8012 Xung clock 100 mili giy 50ms 50ms
M8013 Xung clock 1 giy 0,5s 0,5s
M8014 Xung clock 1 pht 30s 30s

Khi ng h thi gian thc On
M8018 C RTC
c ci t
Set khi kt qu ca php ADD
M8020 Z r
hay SUB l 0
Set khi kt qu ca php ADD t
M8021 C mn
hn s m min
Set khi c nh xut hin trong
sut php ADD (FNC 20) hay khi
M8022 C Carry
qu ti xut hin nh kt qu ca
php chuyn dch d liu
OFF: c
M8024 Hot ng ch o BMOV
ON: vit
OFF: gi tr ng ra RESET
M8026 Hot ng ch gi RAMP
ON: gi tr ng ra c gi
OFF: ang thi hnh
M8029 Hon tt vic x l
ON: Vic thi hnh hon tt
OFF: gi
M8031 Xa tt c vng nh khng cht
ON: xa
Bo lu b nh khi PC ch OFF: gi
M8033
STOP ON: xa
OFF: ng ra
M8034 V hiu ha mi ng ra
ON: ng ra v hiu
OFF: chuyn i c th
M8040 V hiu ha trng thi STL
ON: chuyn i v hiu
M8041 Bt u chuyn trng thi OFF: chuyn i v hiu
Trang 194
ON: stop
M8042 Xung bt u ON: lnh bt u IST
V hiu ha vic RESET tt c OFF: reset c th
M8045
ng ra ON: reset v hiu
M8046 Bo trng thi STL l ON ON: tnh trng STL kch hot
ON: D8040 n D8047 gim st
M8047 Cho php gim st STL
bc STL hot ng
ON cho php hin th c hiu
M8048 mn (M8049) v c 1 c hiu ON: c hiu c hin th M8049
ang hot ng
OFF: D8049 khng th
M8049 Cho php hin th c hiu
ON: D8049 c th
OFF: khng c li
M8067 Li tc v
ON: li tc v
M8068 Cht li tc v S xut hin ca M8067 c gi
Chn tc v XCH hon i 2 OFF: bit thng
M8160
byte trong 1 word d liu ON: s chuyn i 8 bit
Chn cc tc v 8 bit cho cc S la chn php vn hnh 8 bit
M8161 lnh ASC, RS, ASCI, HEX, cho cc lnh ng dng ASC,
CCD RS,ASCI, HEX, CCD
Khi ON, gi tr trong D8164
M8164 c s dng nh 1 s ca im Lnh chuyn i
trao i FROM/TO
Chn ch BCD dng vi
M8168 Chuyn i s vi n v 4 bit
lnh SMOV
ON: C200_ b m xung
M8200 iu khin b m ln/xung
OFF: C200_ b m ln
ON: C201_ b m xung
OFF: C201_ b m ln
ON: C202_ b m xung
OFF: C202_ b m ln
ON: C203_ b m xung
OFF: C203_ b m ln
ON: C204_ b m xung
OFF: C204_ b m ln
ON: C205_ b m xung
OFF: C205_ b m ln
ON: C206_ b m xung
OFF: C206_ b m ln
M8207 iu khin b m ln/xung ON: C207_ b m xung
Trang 195
OFF: C207_ b m ln
ON: C208_ b m xung
OFF: C208_ b m ln
ON: C209_ b m xung
OFF: C209_ b m ln
ON: C210_ b m xung
OFF: C210_ b m ln
ON: C211_ b m xung
OFF: C211_ b m ln
ON: C212_ b m xung
OFF: C212_ b m ln
ON: C213_ b m xung
OFF: C213_ b m ln
ON: C214_ b m xung
OFF: C214_ b m ln
ON: C215_ b m xung
OFF: C215_ b m ln
ON: C216_ b m xung
OFF: C216_ b m ln
ON: C217_ b m xung
OFF: C217_ b m ln
ON: C218_ b m xung
OFF: C218_ b m ln
ON: C219_ b m xung
OFF: C219_ b m ln
ON: C220_ b m xung
OFF: C220_ b m ln
ON: C221_ b m xung
OFF: C221_ b m ln
ON: C222_ b m xung
OFF: C222_ b m ln
ON: C223_ b m xung
OFF: C223_ b m ln
ON: C224_ b m xung
OFF: C224_ b m ln
ON: C225_ b m xung
OFF: C225_ b m ln
ON: C226_ b m xung
OFF: C226_ b m ln
M8227 iu khin b m ln/xung ON: C227_ b m xung
Trang 196
OFF: C227_ b m ln
ON: C228_ b m xung
OFF: C228_ b m ln
ON: C229_ b m xung
OFF: C229_ b m ln
ON: C230_ b m xung
OFF: C230_ b m ln
ON: C231_ b m xung
OFF: C231_ b m ln
ON: C232_ b m xung
OFF: C232_ b m ln
ON: C233_ b m xung
OFF: C233_ b m ln
ON: C234_ b m xung
OFF: C234_ b m ln
IV. Danh sach cac thanh ghi d lieu ac biet:
Thit b
Tn Hot ng
chn on
D8000 B nh th Watchdog 200ms (*1)
D8001 Loi PLC 24000
D8002 Dung lng b nh 8000
Ni dung ca thanh ghi ny l ****
D8004 Cha s k hiu c li M**** xc nh c li hin hot ng. Vd:
**** = 8060 th l M8060
L mc in p thp nht c pht
D8006 Pht hin thp p
hin
Chu k tc v hin hnh/ thi gian
D8010 Thi gian qut hin hnh
qut tnh bng n v 0,1ms
Chu k tc v nh nht/ thi gian
D8011 Thi gian qut nh nht
Chu k tc v ln nht/ thi gian
D8012 Thi gian qut ln nht
D8013 D liu giy D liu giy ca hp RTC (0-59)
D8014 D liu pht D liu pht ca hp RTC (0-59) (*2)
D8015 D liu gi D liu gi ca hp RTC (0-23) (*2)
D8016 D liu ngy D liu ngy ca hp RTC (1-31)
Trang 197
(*2)
D liu thng ca hp RTC (1-12)
D8017 D liu thng
(*2)
D liu nm ca hp RTC (00-99
D8018 D liu nm hay 1980-2079, c th c chn)
(*2)
D8019 D liu ngy trong tun
Gi tr hin hnh ca thanh ghi ch Gi tr hin hnh ca thanh ghi ch
D8028
mc Z0 mc Z0
Gi tr hin hnh ca thanh ghi ch Gi tr hin hnh ca thanh ghi ch
D8029
mc V0 mc V0
D8040 Bc STL hot ng thp nht Bc STL hot ng thp nht
D8041 Trng thi STL hot ng th 2 Trng thi STL hot ng th 2
D8049 Bo hiu ca trng thi thp nht Bo hiu ca trng thi thp nht
D8067 M li v tc v M li v tc v
D8068 S th t ca bc c li tc v S th t ca bc c li tc v
S th t ca bc tm thy li tng S th t ca bc tm thy li tng
D8069
ng vi cc c M8065 n M8067 ng vi cc c M8065 n M8067
D8102 Dung lng b nh 8000
D8164 S ca im trao i FROM/TO S ca im trao i FROM/TO
D8182 Gi tr ca thanh ghi chuyn dch Z1 Gi tr ca thanh ghi chuyn dch Z1
D8183 Gi tr ca thanh ghi chuyn dch V1 Gi tr ca thanh ghi chuyn dch V1
Trang 198

(*1): Gi tr khi to l 200ms. C th vit li nhng lnh kim tra WDT khng c thc hin.
(*2): ng h thi gian trong my tnh c hin th trn mn hnh.
Trang 199
Ti liu PLC Mitsubishi v cc tp lnh c bn

Ti liu PLC Mitsubishi ting Vit
Tm hiu PLC Mitsubishi.
Website: http://unlockplc.com
Trang 200

PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

PDF

Uploaded by

Copyright:

Available Formats

Hc nhiu hn v PLC, HMI v Bin tn ti: http://unlockplc.

Chng 2: LP TRNH PLC MITSUBISHI VI CC LNH C BN.............25

Chng 3: CC BI TP NG DNG PLC MITSUBISHI .................................94

Chng 4: PH LC ............................................................................................... 173

GII THIU CC LOI PLC H FX CA MITSUBISHI

Cc b iu khin lp trnh PLC ca Mitsubishi rt phong ph v chng loi. iu ny

Sau y cc em xin gii thiu mt s loi FX trong tt c cc loi FX ca Mitsubishi,

y l loi PLC c kch thc tht nh gn, ph hp vi cc ng dng vi s lng I/O

Nhc im ca dng FX0 l khng c kh nng m rng s lng I/O c qun l,

100 n 130 (kch

3. Cc loi FX0S PLC:

II. FX0/FX0N PLC:

FX0 PLC c c im ging nh FX0S

FX0N PLC s dng cho cc my iu khin c lp hay cc h thng nh vi s lng

T D8000 D8255 T D8000 D8255

Ng vo Ng ra Ngun Kch thc

III. FX1S PLC:

Tng cc ng Vo/Ra c np bi chng trnh x l

Thng thng S lng: 384 T M0 M383

IV. FX1N PLC:

FX1N PLC thch hp vi cc bi ton iu khin vi s lng u vo ra trong khong

(HSC) 1 pha: Ti a 60kHz cho phn

Thp phn 16 bit: -32768 n 32767

Thng thng Khong m: 1 n 32767 T C0 C99

FX2N-32MS-E/UL Sink Triac

FX2N-48MS-E/UL Sink Triac

FX2N-32MR-UA1/UL 32 16 110 VAC 16 R le 182 87 90

FX2N-48MR-UA1/UL 48 24 110 VAC 24 R le 220 87 90

FX2N-64MR-UA1/UL 64 32 110 VAC 32 R le 285 87 90

VI. FX2NC PLC:

Ging c tnh k thut ca FX2N

LP TRNH PLC MITSUBISHI VI CC LNH C BN

I. nh ngha Chng Trnh:

II. Cc thit b c bn dng trong lp trnh:

Tt c cc thit b trn c gi l Thit b bit, ngha l cc thit b ny c 2 trng

Lenh ANI va ORI.

Hnh 2.5: Lp trnh cho cc cng tc logic thng ng

Cong logic EXCLUSIVE-OR

Ngo ra Y000 co logic 1 khi:

Lenh PLS(Pulse) va PLF (PuLse Falling)

Hnh 2.13 Lap trnh mach phat hien canh xuong

S dung cac cong tac logic trong chng trnh PLC

Hnh 2.15 Mach nh

C c ky hieu M va c anh so thap phan. V du: M0, M9, M100.

2. Lap trnh s dung thanh ghi

Hnh 2.17: ng dung lenh dch chuyen thanh ghi

Hnh 2.18. Dng thanh ghi d vt ca ph phm

3. Lap trnh s dung bo nh th.

Hnh 2.19 mach c ban ve bo nh th

o phan giai Thi gian nh th toi a o phan giai

10 miligiay 327,67 giay 10 mili giay

1 miligiay 32,767 giay 1 miligiay

Do thi gian nh th co gii han nen e co the nh th c thi gian ln hn ta co

Hnh 2.20 : Mach nh th loai Off delay

Mach nh th Long time

Hnh 2.21: Mach nh th long time

Hnh 2.22: Mach Ficker phat chuoi xung dung hai bo nh

Hnh 2.23 Mach One-shot mc cao

Mach One shot mc thap

Hnh 2.24: Mach One-shot mc thap

Hnh 2.25 Lap trnh c ban bo em

Hnh 2.26: Mach ng dung bo em.

Hnh 2.27: Dung bo em tao mach nh th Long-time