(P.L.C.

.
, 2005


Bauer D., R. Bourgeois, M. Jakubowicz. Memotech - Technologie Industrielle. Ed.
Casteilla, Paris 1998.
Le standard GRAFCET. Norme Francaise NF C 03-190, 1956.
Morris Mano M. . . , , 1992

Berger Hans. Automating with the SIMATIC S5-115U. Siemens, Berlin, 1989
Berger Hans. Automating with STEP 7 in STL. Siemens, Berlin, 1998
Melore Phil. The PLC Tutor. http://www.plcs.net, 2001
. PLC . . , , 1993.
. PLC. . . , , 1998
. . . ,
, 1989
., . , . .
. , 1996
. SIMATIC S7, , , 2000
-
Auslander David, C. Kempf. -
. . . , 1998
Histand Michael, D. Alciatore. Introduction to mechatronics and measurement
systems. Ed. McGraw-Hill, 1998
Stiffler Kent. Design with microprocessors for mechanical engineers. Ed. McGraw-
Hill, 1992
1.


.

.

1.1

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

1.1:
,
:

(.. , ,
)
,

(..
).

-1-
1.2
.
,
.
,
: 18
. ( )
( ). , ..

. ,
:
.

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

,
.

.
.
.

.
-
, 1.2.
,
(
).
.

-2-
 1.2:

-3-
1.3

.
:

1 :

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

-
, 1.3

1.3: -

-4-

. ,
(0 1)
. ,

.
;
.

2 :

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

1 2 3 1 2
0 0 0 0 1
0 0 1 1 0
0 1 0 1 0
1 0 0 0 1
0 1 1 1 1
1 1 0 0 1
1 0 1 0 0
1 1 1 0 1

1.4: 1.3

, ,

-5-
 . (
) .
,
.
.
.

, .
,
().

1.5:

( ):
. ,

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

(1)
. ,
.

.
,

-6-
 ,
.

1.6:

,
. ,
22=4
.
,
,
. ( )

:
) .
.
,

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

-7-
 1 1 1 2


0 0 0 0
0 1 0 1
1 0 1 0
1 1 0 1
1.7:

-8-
1.4

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

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

1.8: AND

OR
OR ()
().
. OR
()
.
OR OR,
1.9.

-9-
 1.9: OR

NOT
NOT ()
(). ,

. NOT ()

() .
NOT NOT,
1.10.

1.10: NOT

XOR
XOR ()
().
() ,
. XOR
, .
XOR XOR,
1.11.

- 10 -
 1.11 XOR

- 11 -
1.5
, AND, OR, XOR, NOT
, ,
. , AND
. ,
,
1 2 .
.
.
,
,
.. =1*(2+3)*4.
.
,
.
, .
:
*=* AND
+=+ OR
A*(B+C)=A*C+A*C
A*(B*C)=(A*B)*C=A*B*C AND
A+(B+C)=(A+B)+C=A+B+C OR

de Morgan

- 12 -
2

GRAFCET.

2.1
.
,
,
, :
.
, ,

. 2.1

() START STOP.

2.1:
:
START -
STOP , .

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

().
2.2,

.

-1-
 2.2:

-2-
2.2 GRAFCET
:
, , , ,
.

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

. 2.3
3 8.
. .
,
, .
. 2.3,
, PRESS .

2.3: GRAFCET

-3-
 2.4
GRAFCET.

2.4: GRAFCET

-4-
2.3 GRAFCET
GRAFCET :
().
()
( ).

. ,
GREFCET, .

1 :
,
.
, ,
, 2.5.

2.5:

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

-5-
 2.6:

3 :
,

.
. 2.7
2 3.

2.7: 2/3

-6-
2.4 GRAFCET
GRAFCET
OR AND. OR

. 2.8
. 5 6 (
) 7 (
) .

2.8: OR
, OR ,

. 2.9 .
10 , 8 (
) , 9 (
).

2.9: OR

GRAFSET .
2.10
OR.

-7-
 2.10: OR
, AND ,

. 2.11, AND
. ,
, 6 7 8.

2.11: AND
AND,

. 2.12
. 8 6 7
.

2.12: AND

-8-
2.5
,
. .
2.13 , 15
, , 15 .

2.13:

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

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

-9-
 2.15:

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

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

- 10 -
 2.17:

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

2.18: flip/flop

- 11 -
2.6
().
,
.
,
15 - . ,
. 2.19
.

2.19: - .

- 12 -
 GRAFCET
. 2.20
1-4 .

.
2 .. .

.. .

2.20: GRAFCET


. 2.21 .

- 13 -
 2.21: GRAFCET
2.21
.
2.22 :
=
S1 S2 = ,
.
KM1, KM2 =
.
1 = ( )

2.22:

- 14 -
3

.

.
,
.

3.1
1.2,
,
. ,

.
,

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

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

-1-
 3.1:

.
, ,
. 3.2
().

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

-2-
 3.3: Bit, Byte, Word.

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

-3-
 Byte
00000 0010 1010
00001 0001 0010
00002 1110 1001
... ...

... ...
65533 0001 0010
65534 1011 0010
65535 0011 0101
3.4:

Byte
Bit . Bit 2 Byte
8 Bit, 28, 256
.
Byte ,
0 255 .
3.5 103
( 01100111) Byte.

0 1 1 0 0 1 1 1 Bits Byte

7 6 5 4 3 2 1 0 2

128 64 32 16 8 4 2 1

0 64 32 0 0 4 2 1

103

3.5: Byte

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

-4-
0 1 1 0 0 1 1 1 Bits Byte

3 2 1 0 3 2 1 0 2 ( )

8 4 2 1 8 4 2 1 ( )

0 4 2 0 0 4 2 1 ( )

6 7

1 0 10

10 1

60 7

67

3.6: BCD Byte

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

-5-
 3.7: ASCII
Byte
.
, Byte
(Word). Word 28=16 bits.
Byte
Word 65536 ,
0-65535.
Word
216=32 Bits, (Double Word).
Double Word
4.294.967.296=2321, Double Word
4 .

-6-
3.2

.
,

(.. ).
,
3.8:

3.8:

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

, .

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

-7-
 (Move)
,
.
Move
MOV. Move
()
. , :
MOV, .
3.9 Move
ladder. Move
() ().

3.9: Move

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

. ..
MOVD
double word .

(Load-Store)
.
-
- (register). ,

. Load,
LD.

-8-
 ,
. Store
ST.
Load+Store
()
. , :
LD ST, .
3.10
ladder.
() ().

3.10: , Load-Store

, 3.1 (),
LDA,
(word) () 130
. A
(LDA LD L)

A .
, STA,
142. A
STA ST)

-9-

A .

.
DW130 DW142.
Move,

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

- 10 -
3.3

. ,
:
,
, ..

,

, .

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

Word
Byte 2 Byte 1
BCD

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1
3 0 2 5
s/10 25
3.11:

3.12
.

- 11 -
( 5 ) Word.

.
10 16 Bits.
Bits ,
,
..
, .
Bits
. ,
39.

5
Word
Byte 2 Byte 1

.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 1 1 1 0 0 0 0 0 0 1 0 0 1 0 1
39
3.12: .

- 12 -
4

.


.

4.1

.

.
,
.
(..
).
,
.

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

-1-
 4.1
.

4.1:

. ( END)

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

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

-2-
 4.2:

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

.
,
(, 4.2).

: .

. ,

.
,
() 01 00.
,
.
, 4.3 ( ).
,
...
.

-3-
 4.3:

-4-
4.2

, ,
. unconditional jump unconditional call
, JU,
.
4.4
, PB08.

4.4:

(Load I3.2 ) JU
PB08.
PB08 ( Set M1.0 ).
( END PB08),
( Load I2.6
) END
. .
,
.
conditional jump conditional call
JC
.
(
) . ,

.

-5-
 4.5
PB12
AND .

4.5:

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

-6-
 4.6: CRAFCET JC

-7-
4.3 (Function)

,
, . ,

. . 4.7,

.

...
#1 #2 #3 #4 #5
L I 1.1 L I 1.7 L I 1.5 L I 2.1 L I 2.3
S Q 2.1 S Q 2.7 S Q 2.6 S Q 2.2 S Q 2.5
LN I 1.2 LN I 1.4 LN I 2.2 LN I 2.4 LN I 1.3
R Q 2.1 R Q 2.7 R Q 2.6 R Q 2.2 R Q 2.5
4.7: ()

4.8
.
Start, Stop, Relay, .
,

( ).

...
#1 #2 #3 #4 #5
Start I 1.1 I 1.7 I 1.5 I 2.1 I 2.3
Stop I 1.2 I 1.4 I 2.2 I 2.4 I 1.3
Relay Q 2.1 Q 2.7 Q 2.6 Q 2.2 Q 2.5
L Start
S Relay
LN Stop
R Relay
4.8: ()

-
,
(function blocks).

,

-8-
(formal parameters). , ,
.
,
. 4.9

.

FB 24

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

L START
S RELAY
LN STOP
R RELAY
END
4.9:

.

.

4.10
FB24 .
1
2.

4.10:

-9-
5 -

(..
)
(.. ).

.

5.1

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


(down counters)


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

,

,
.
( )

.

bit .

-1-
 C
( counter ),

. .. C56
.
5.1 .

.
12 16 bits.
bits . 12 Bits
BCD.
2, 1 5. ,
215.

C34
Byte 2 Byte 1
BCD
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 1 0 0 0 0 1 0 1 0 1
2 1 5
215
5.1:

0-
999. ,
bit .
5.2
.

( )
0 999 854
BCD, bit -500 499 -40
( 12 bit)
0 9999 1234
BCD, bit -5000 4999 -2567
( 16 bit)
(10 bit) 0 1023 678
-512 511 -456
(12 bit) 0-4095 38567
-2048 2047 -1753
(16 bit) 0-65535 38567
-32768 -1753
32767
5.2: ,

-2-
5.2

.

( )
. R (
reset) RESET
flip-flop . ,
46 (

- !)
R C46
5.3 (
), C46.
.

C46
BCD
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 1 0 0 0 0 1 0 1 0 1
215 ( BCD)

0 0 0 0 0 0 0 0 0 0 0 0
0 ()
5.3:

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

-3-
 .
,
,
, ,
.
LDA KC215

. STORE
.
C46 .
STA C46
5.4
( ) C46.

.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
LDA
1 0 0 1 0 0 1 0 1 0 1 1 0 1 0 1
16 bit
LDA
1 0 0 1 0 0 1 0 0 0 0 1 0 1 0 1
215 ( BCD)
C46 STA
0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1
0 (.. )
C46 STA
0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1
215 ( BCD)
5.4:

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

-4-
 C46
BCD
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 1 0 0 0 0 1 0 1 0 1
215 ( BCD)

0 0 1 0 0 0 0 1 0 1 1 0
216 ( BCD)
5.5:

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

C46
BCD
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 1 0 0 0 0 1 0 1 0 1
215 ( BCD)

0 0 1 0 0 0 0 1 0 1 0 0
214 ( BCD)
5.6:

,
.
,
..
.

-5-
 .
C46 DW187.
MOV C46 DW187

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

-6-
5.3

. ..

.

(comparators). ,
:
=
<>
>
>=
<
<=

.
.
.
: ,
, , .
DW165
DW274 , ,
Q3.2.
LDA DW165
LDB DW274
<=?
S Q3.2
,
DW165. ,
DW274. ,
.
, ,
.

.

,
. 5.6
.

-7-

=?

<>?

>?

>=?

<?

<=?

,
LDA, LDB, LDC ., LD
.
,
. ,

. ,

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

.

-8-
6


.

6.1

. -

. ,
: ,
.
, ,
. ,
,
, .
TRUE/FALSE
bit.

.
()
- .
6.1 .

(.. )
.

6.1:

.
(sensor)
. ,

.
(amplifier)
,
.
,

-1-
 ( )
.
- (analog to digital converter)
,
.

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

6.2:

(.. ),
6.3.

6.3:

-2-
 ,
. ,
( 50)
( ) . ,
5 Volt.

.
6.3
.
. ,

5.
,
.

. 6.4
. -
: , -
, , . , ,

. ,
. ,
,
( )
.

-3-


[kg/m3] [V]
[Pa] [A]
[m,
rad] [m3/s] []
[m/s] [F]
[m/s, rad/s] [cSt]
() [H]
[N/m]
[m/s2, rad/s2]

[Hz] [/m]
[N, Nm]
[Wb]



[oC] [Cd]
[mole/m3]
[W]
[rad] [PH]

() [W]
[Bq] [V]
[rad]

() [W]
6.4: [ ]

-4-
6.2 -

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

.
.

-
.
V- V+ .
: .
.

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

6.5.

6.5:

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


.

-5-


. 5 0 V,
True False .

-
, .
(flash conversion),
.

. 6.6

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

6.6: - bit

-6-
 .
Ve.

. ,

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

6.7:

6.7
( 00 11).
S0, S1 S2 b1
b0, 6.8.
6.6.

Ve/Vref S2 S1 S0 b1 b0
0 - 1/4 0 0 0 0 0
1/4 1/2 0 0 1 0 1
1/2 3/4 0 1 1 1 0
3/4 - 1 1 1 1 1 1
6.8:

-

(s).
.
, ,
( bit
),

-7-
 .
bit 2-1 2 .
Byte 255
256 !

-8-
6.3

.
(),
.
.


.
.
,
,
6.9.
,

. ,
-
bit.

50mV
500mV
1V
5V
10V
20 mA
4-20mA
6.9:
6.10 ,
,
- (bit).

-9-
 6.10:

.
- (function blocks)
.
:

()
.
-
.. ,
.
-

.
, 1.3, ..
LDA PW125
,

. -
.
6.11
. , 13
bits: bit 12 .
8192 13 bit. bit

, .. (
)
.

Word PW125 - Accumulator

- 10 -
 Byte 2 Byte 1

( )
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0
- 260 2
6.11:

- 11 -
7


.

7.1
,

.
.
, ,
:
, , , ..
.

. ,

. ,
/
/ .
(..
)

.
,
, .
()

.
7.1 .


(.. )
(..
).

7.1:

-1-
 .
- (digital to analog converter)
.
(amplifier)
- .
, ,
. , ,
( / )
.
(actuator)
.

.

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

7.2: - IL

RL
(12 V ) .

-2-

.
R. (
),
.
, ,
.
IL
7.2.

. 7.3

(Watt).

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

-3-


..
Peltier


..


LASER

7.4: ()

-4-
7.2

, .
,
.
7.5 .

Rf (feedback).
-
Rin.

7.5:
,

( ).
,
. -
V+ , V-
( ).
Rf Vout,
Vout = If . Rf
Rin
Vin:
Vin = Iin. Rin
,
.

:
If = Iin

, :
Vout = - Vin . Rf / Rin
7.5, ,
Rf/Rin, (

-5-
 ).


, .

. 7.6
V1 V2.

7.6:
,
:

,

( Rf/RN).
7.6 .
,
, .

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

-6-
 7.7: - Bit

,
7.7 :

, 7.8

1011 ( 11).

(bit) b3 b2 b1 b0
1 0 1 1
(V) -5 0 -5 -5
Rf/RN 8 4 2 1
40 0 10 5
- (V) 55
7.8: 1001

0 V (
0000) 75 V (
1111). , ,
75 V 0 V
.

-7-
7.3

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7.9.
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bit,
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50mV
500mV
1V
5V
10V
50V
100V
20 mA
4-20mA
7.9:
7.10 ,
,
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bit 0-75 V.

-8-
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STA PW127


PW127, .
-
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.
7.11
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11 bits: bit 10
. bit
( ).

-9-
 Word PW127 - Accumulator
Byte 2 Byte 1
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

( )

1 0 0 0 0 1 0 0 0 1 0
+ 34

7.11:

- 10 -
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S1 S2
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S1 0 12 V (..) (12
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(0 V)

S2 0 12 V (..) (12
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(0 V)

8.4: S1 S2

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8.5:
8.6 S3
S4
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S3 0 12 V (..) (12
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S3 . (0 V)

S4 0 12 V (..) (12
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S4 . (0
V)
8.6: S3 S4

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8.8
TMP .

TMP 0 10 V
20 220
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0.05 volt
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8.11

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K1 0 24 V ,




K1 0 24 V ,




K3 0 24 V ,

220 V ..


8.11: 1, 2 3

-9-
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(GRAFCET).
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- 10 -
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- 11 -

1 , 1/2

S1 S2
2 , 2/3
2/4
1 S4
3 , 3/5 TMP
70
3
4 4/5
20
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5 , 5/1

2 S3
8.13: GRAFCET

- 12 -
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8.14
S1, S2, S3 S4
1 .
0 12 V .

( ), 4.
, 0 10 V
bit, 0 255.
,
20 , 0,1 V 200 .
70 (70-20) 0,05 = 2,5 V.
2552,5/10=64.
1 2 .
0 24 V
( 250 mA).
3, ,
,
3 .

- 13 -
 /
I1.1 S1 0 12 V ( #1)
I1.2 S2 0 12 V ( #1)
I1.3 S3 0 12 V ( #1)
I1.4 S4 0 12 V ( #1)
DW4.2 TMP 0 255 ( bit
),
0-10 V (
#4)
Q2.1 K1 0 24 V, 250 mA (
#2)
Q2.2 K2 0 24 V, 250 mA( #2)
Q3.1 K3 0 24 V, 100 mA( #3)
1 - 0 100 sec
8.14:

- 14 -

.

-----------------------------------------------
A I1.1
A I1.2
A I1.3
S Q2.1
-----------------------------------------------
A I1.4
S Q3.1
-----------------------------------------------
I1.4
KT 20S 20 second
SD 1 1
-----------------------------------------------
L T1
S Q2.2
R Q3.1
-----------------------------------------------
L DW4.2
L KD64 64
>=?
S Q2.2
R Q3.1
-----------------------------------------------
A I1.3
R Q2.2

- 15 -