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Industrial Automation: (Sequential Function Chart)
Industrial Automation: (Sequential Function Chart)
Industrial Automation: (Sequential Function Chart)
Industrial Automation
(Automação de Processos Industriais)
GRAFCET
(Sequential Function Chart)
http://users.isr.ist.utl.pt/~jag/courses/api1415/api1415.html
Syllabus:
Chap. 3 – PLC Programming languages [2 weeks]
...
...
Chap. 5 – CAD/CAM and CNC Machines [1 week]
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API Chap. 4 - GRAFCET
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Homepage: http://www.lurpa.ens-cachan.fr/grafcet/
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GRAFCET History
• 1979 – Dissemination in schools and adopted as research area for the implementation
of solutions of automation in the industry.
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Simple (1) R1
1 Directed
Inactive
Arc
2 Joint (2) R2
Active (parallel junction)
Initial 3
Fork (3) R3
(parallel branch)
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Definition of State: 1
(1) R1
The set of markings of a
GRAFCET constitutes its state.
.2 3 Action A
Question: (2) R2
4.
How does the state
of a GRAFCET evolve? (3) R3
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• Rule 2a:
All active Transitions are transposed immediately.
• Rule 4:
Simultaneously active Transitions are transposed simultaneously.
. 1
. 2 .5 8
.
a a (3) (5) c
(1) (2) b (4) b
.3 .4 .6 .
7 .
9
.
10
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OR Divergences: OR Convergences:
If Step 1 active and a TRUE If Step 1 active and a TRUE then deactivate Step 1
then deactivate Step 1 and activate Step 2. and activate Step 3 (state of Step 2 remains unchanged).
The same happens for Step 2 and b.
If a and b TRUE and Step 1 active
(PL7) then deactivate Step 1 and activate Steps 2 & 3 (PL7) If both Steps 1 and 2 are active and a and b are TRUE
(Unity) then deactivate Step 1 and activate Step 2 then Steps 1 and 2 are deactivated and Step 3 is activated.
Note: to make Unity Pro similar to PL7 the option “allow multiple tokens” has to be enabled.
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GRAFCET
Example: 1
(1) R1
GRAFCET state evolution
2 3 Action A
(2) R2
4
Level activated Action. Actions can also be
activated during transitions - see next.
(3) R3
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GRAFCET .
1
.
2
Modelling problem:
t1 t2
3 4
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GRAFCET .
1
.2
t1 t2
Other modelling problem:
OR
THEN
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GRAFCET
There exist Conflicts when the validation of a Transition depends on the same Step or when
more than one receptivity functions can become true simultaneously.
Solutions:
1
1 1
(1) a b (2) ab
(1) a (2) ba (1) a (2) b ab
(3)
2 3 2 3
2 3
Three mutually
Transition 1
exclusive
prioritary
hypotheses
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GRAFCET
(1) m
m 2 Right
load
a b (2) b
left
3 Load
right
(3) p
p
4 Left
(4) a
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GRAFCET
fp- fp+ * Effector pushes parts with commands P+ e P-. Limit switches
fp+ and fp- indicate max and min pushing positions.
fv+
* The output conveyor is always ON.
fv-
* Conveyors A e B are commanded by other automata,
independent of this workcell.
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← Solution
fp- fp+
fv+
fv-
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GRAFCET
Objective: reservoir
m
fill 1&2, empty 1&2
refill only after both empty
Sensors:
m = ON/OFF
V1 V2
b1, h1, b2, h2 = level
h1 h2
Actuators: b1 b2
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GRAFCET
1
(1) m 4 7
2 V1 5 V2 (1) m
(2) h1 (4) h2
2 V1 5 V2
3 W1 6 W2
(2) h1 (4) h2
(3) b'1 (5) b'2
3 W1 6 W2
4 7
(3) b'1 (5) b'2
(6) =1
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GRAFCET
1
4 7
(1) m
(1') m.X7 (1'') m.X4
2 5 2 V1 5 V2
V1 V2
(2) h1 (4) h2
(2) h1 (4) h2
3 6 34 if b1
W1 se 67 W2 if
se b2
W1 W2
(3) b'1 (5) b'2 b'1 . b'2
(6)
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(a) Events ↑f and ↓f obtained from a condition f (b) Event ↑a.b obtained from event ↑a and condition b
(c) Event (↑a . ↑ b) obtained from events ↑a and ↑ b (d) Event (↑a + ↑b) obtained from events ↑a and ↑ b
Grafcet: a powerful tool for specification of logic controllers, R. David, IEEE Trans. on
Control Systems Tech., 1995 v3n3 pp253-268 Page 24
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Macro-steps E10
15 V2 (1) m
2 V1 5 V2
h2
h1 h2
16 3 W1 6 W2
M10
b'1 b'2
4 7
=1
17 V1
S8
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Pseudo Macro-steps
Macro Actions
• Force actions
• Enable actions
• Mask actions
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Steps
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Macro-steps
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Arcs/Connectors
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PL7
(changed
in Unity)
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PL7
(changed
in Unity)
GRAFCET
GRAFCET Section Structure
LD, IL, ST
GRAFCET
LD, IL, ST
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GRAFCET
GRAFCET Section Initialization
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GRAFCET
GRAFCET Section Reset
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