Download - Bai Giang PLC
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BI GING PLC CHO H THNG LUCAS
Trnh Tun Dng KTM
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Tng quan v PLC
1. Tng quan
PLC, Programmable logic controller, hay b iu khin logic kh trnh l mt b iu khin s c
s dng rng ri trong lnh vc c in t, t ng ha. Cc thut ton iu khin c thc hin mt
cch linh hot trn PLC thng qua ngn ng lp trnh, v cc chng trnh iu khin c lu trong b
nh PLC di dng cc khi chng trnh ( OB, FB hoc FC).
Trc khi PLC ra i, cc h thng iu khin c xy dng da trn cc bng mch r le phc tp,
cng knh, tn km chi ph, do cc k s thng phi ni dy li cc r le mi khi mun thay i c
tnh hot ng ca h thng. Do , s ra i ca b iu khin PLC tha mn cc nhu cu sau:
- Nh gn; d dng, thun tin trong vic bo qun, sa cha.
- Lp trnh n gin, ngn ng lp trnh d hc.
- Dung lng b nh ln.
- Hot ng n nh trong mi trng cng nghip.
- Giao tip tt vi cc thit b ngoi vi, module m rng.
- Gi c cnh tranh.
2. Cu trc ca PLC v nguyn l hot ng
2.1. Cu trc c bn ca PLC
Mt b PLC thng thng c cu trc c bn nh sau:
B NH
MODULE RA B X L TRUNG
TM
MODULE VO
NGUN CP
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- B x l trung tm: L module cha vi x l, h iu hnh, b thi gian, b m,... iu khin
cc hot ng bn trong PLC. Module ny s c v kim tra chng trnh c cha trong b
nh, sau s thc hin th t tng lnh trong chng trnh, x l module vo ra v x l cc
giao tip vi thit b bn ngoi.
- B nh: L ni cha cc chng trnh h thng, phn mm iu khin cc hot ng ca h
thng,..B nh bn trong PLC c to bi cc vi mch bn dn, mi vi mch ny c kh nng
cha 2.000 - 16.000 dng lnh, ty theo loi vi mch, v c chia thnh cc loi sau:
RAM (Random Access Memory) l b nh c th np chng trnh, thay i hay xa b ni dung
bt kz lc no, v ni dung ca RAM s b mt nu ngun in nui b mt. V vy, cc PLC u
c trang b mt pin kh, c kh nng cung cp nng lng d tr cho RAM t vi thng n
vi nm. Hin nay, CMOS-RAM c dng ph bin nh kh nng tiu th thp v tui th ln.
EPROM (Electrically Programmable Read Only Memory) l loi b nh ch c th c v khng
ghi ni dung vo c. Ni dung ca EPROM khng b mt khi mt ngun, c nh sn xut
np v cha h iu hnh sn. Nu ngi s dng khng c nhu cu m rng b nh th ch cn
dng thm EPROM gn bn trong PLC.
EEPROM (Electrically Erasable Programmable Read Only Memory) l loi b nh c th c
xa v lp trnh li, tuy nhin s ln lu sa ni dung l c gii hn. Ty nhu cu s dng m
ngi dng c th gn thm cc b nh ngoi cho PLC.
- Module vo/ra: y l module lm nhim v cung cp cc kt ni vt l gia b x l trung tm
v cc thit b ngoi vi. Module vo gm nhiu nt bm, cng tc, cc gic cm c kt ni vi
cc cm bin, mch in t,... o s thay i cc i lng vt l{ nh chuyn ng, mc,
nhit , lu lng hay v tr... Cc thng s ny s c b x l trung tm dng lm d liu
tnh ton, qua thay i cc thng s module u ra, module c kt ni vi cc van, ng
c... Cc PLC cng c phn loi theo s lng u vo, ra. Micro PLC thng c s lng
u vo/ra l khong 32 hoc t hn. Trong khi , PLC c nh c khong 256 u vo/ra, PLC c
va c 1024 v PLC c ln c nhiu hn 1024 u vo/ra.
Ngoi ra, PLC cn c thm cc module m rng nh sau:
- PS (Power Supply): Module ngun nui. C 3 loi: 2A, 5A, 10A.
- SM (Signal Module): Module m rng cng tn hiu vo/ra, bao gm:
DI (Digital Input): Module m rng cc cng vo s.
DO (Digital Output): Module m rng cc cng ra s.
DI/DO: Module m rng cc cng vo/ra s.
AI (Analog Input): Module m rng cc cng vo tng t.
AO (Analog Output): Module m rng cc cng ra tng t.
AI/AO: Module m rng cc cng vo/ra tng t.
- IM (Interface module): Module ghp ni. y l loi module chuyn dng c nhim v ni tng
nhm cc module m rng li vi nhau thnh mt khi v c qun l chung bi mt module
CPU. Cc module m rng c g trn mt thanh rack. Trn mi rack c th g c ti a 8
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module m rng (khng k module CPU v module ngun nui). Mt module CPU S7-300 c th
lm vic trc tip c vi nhiu nht 4 racks v cc racks ny phi c ni vi nhau bng
module IM.
- FM (Function Module): Module c chc nng iu khin ring, v d nh module iu khin
ng c bc, module iu khin ng c servo, module PID, module iu khin vng kn,...
- CP (Communication Module): Module phc v truyn thng trong mng gia cc PLC vi nhau
hoc gia PLC vi my tnh.
2.2. Cu trc b nh ca PLC
Cu trc b nh ca PLC c chia ra lm 3 vng chnh:
1. Vng nh cha chng trnh ng dng, c chia lm 3 min:
- OB: Min cha chng trnh t chc (cc chng trnh ny s c gii thiu mc 1.2.5).
- FC: (Function): min cha chng trnh con c t chc thnh hm c bin hnh thc trao
i d liu vi chng trnh gi n.
- FB: (Function Block): Min cha chng trnh con, c t chc thnh hm v c kh nng trao
i d liu vi bt c mt khi chng trnh no khc. Cc d liu ny phi c xy dng
thnh mt khi d liu ring (gi l DB-Data block).
2. Vng cha cc tham s ca h iu hnh v chng trnh ng dng, c phn chia thnh 7
min khc nhau, bao gm:
- I (Procees image input): min b m cc d liu cng vo s. Trc khi thc hin chng
trnh, PLC s c gi tr logic ca tt c cc u vo v ct gi chng trong vng nh I. Thng
thng chng trnh ng dng khng c trc tip trng thi logic ca cng vo s m ch ly
d liu ca cng vo t b m I.
- Q (Process image output): min b m cc cng ra s. Kt thc giai on thc hin chng
trnh s chuyn gi tr logic ca b m ti cc cng ra s. Thng thng PLC khng trc tip
gn gi tr ti tn cng ra m ch chuyn chng vo b m Q.
- M: Min cc bin c. Chng trnh ng dng s dng vng nh ny lu gi cc tham s cn
thit v c th truy cp n theo bit (M), byte (MB), t (MW) hay t kp (MD).
- T: Min nh phc v b thi gian (TIME) bao gm vic lu gi gi tr thi gian t trc (PV-
preset value), gi tr m thi gian tc thi (CV- Curren value) cng nh cc gi tr logic u
ra ca b thi gian.
- C: Min nh phc v b m (counter) bao gm vic lu gi gi tr t trc (PV), v gi tr m
tc thi (CV) v gi tr logic u ra ca b m.
- PI: Min a ch cng vo ca cc modul tng t. Cc gi tr tng t ti cng vo ca modul
tng t s c c v chuyn t ng theo nhng a ch. Chng trnh ng dng c th truy
nhp min nh PI theo tng byte (PIB), tng t (PIW) hoc theo t kp (PID).
- PQ: min a ch cng ra cho cc modul tng t. Cc ga tr theo nhng a ch ny c modul
tng t chuyn ti cc cng ra tng t. Chng trnh ng dng c th truy cp min nh PQ
theo tng byte (PQB), tng t (PQW) hay tng t kp (PQD).
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3. Vng cha cc khi d liu, c chia lm hai loi:
- DB (Data block): min cha cc d liu c t chc thnh khi. Kch thc cng nh s lng
do ngi s dng qui nh, ph hp vi tng bi ton iu khin. Chng trnh c th truy cp
min ny theo tng bit (DBX), byte (DBB), t (DBW) hoc t kp (DBD).
- L (Local data block) : min gi liu a phng, c cc khi chng trnh OB, FB, FC t chc v
s dng cho cc bin nhp tc thi v trao i gi liu ca bin hnh thc ca chng trnh vi
nhng khi chng trnh gi n. Ni dung ca mt s d liu trong min nh ny s b xo
khi kt thc chng trnh tng ng trong OB, FB, FC. Min ny c th truy cp t chng trnh
theo bit (L), byte (LB), t (LW) hay t kp (LD).
2.3. Nguyn l hot ng ca PLC
B vi x l s ln lt qut cc trng thi ca u vo v cc thit b ph tr, thc hin chng
trnh, cc tnh ton v iu khin cc u ra tng ng ca PLC. Cc PLC th h cui cho php thc hin
cc php tnh s hc v cc php tnh logic, b nh ln hn, tc x l{ cao hn v c trang b giao din
vi my tnh, vi mng ni b.v.v. B vi x l{ iu khin chu kz lm vic ca chng trnh. Chu kz ny
c gi l chu kz qut ca PLC, tc l khong thi gian thc hin xong mt vng cc lnh ca chng
trnh iu khin. Chu kz qut c minh ha hnh sau :
Khi thc hin qut cc u vo, PLC kim tra tn hiu t cc thit b vo nh cng tc, cm bin,Trng
thi ca tn hiu vo c lu tm thi vo mt mng nh. Trong thi gian qut chng trnh, b x l
qut ln lt cc lnh ca chng trnh iu khin, s dng cc trng thi ca tn hiu vo trong mng
nh xc nh cc u ra p ng hay khng. Kt qu l cc trng thi ca u ra c ghi vo mng
nh, PLC s cp hoc ngt in cho cc mch ra iu khin cc thit b ngoi vi. Chu kz qut ca PLC
c th ko di t 1 n 25 mili giy. Thi gian qut u vo v u ra thng ngn so vi chu kz qut
ca PLC.
Thng tin gia CPU, b nh v h thng I/O c truyn thng qua h thng Bus, gm nhiu ng tn
hiu song song:
- Address Bus: Bus a ch dng truyn a ch n cc Modul khc nhau.
- Data Bus: Bus dng truyn d liu.
- Control Bus: Bus iu khin dng truyn cc tn hiu nh th v iu khin ng b cc hot
ng trong PLC.
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3. Gii thiu v lp trnh cho PLC
3.1. Cc phng php lp trnh cho PLC
C 2 phng php lp trnh cho PLC l lp trnh tuyn tnh v lp trnh c cu trc:
- Lp trnh tuyn tnh.
Trong cch lp trnh ny, ch c duy nht khi OB1 c thc hin trc tip theo vng qut. N
c h iu hnh gi theo chu kz lp vi khong thi gian khng cch u nhau m ph thuc vo
di ca chng trnh, cc loi khi chng trnh khc khng tham gia vo vng qut. Vi cch lm nh
vy th ton b chng trnh ng dng c th ch cn vit trong OB1 l nh hnh v sau.
Trong khi khi OB1 c gi lin tc theo vng qut th cc khi OB khc c gi bng nhng tn hiu
bo ngt nh: tn hiu bo ngt khi c s c ngun nui, c s c chp mch cc modul m rng, tn
hiu bo ngt theo chu kz thi gian,... V mi loi tn hiu bo ngt nh vy cng ch c kh nng gi
mt khi OB nht nh. Mi khi xut hin tn hiu bo ngt h thng s dng cng vic ang thc hin
li, chng hn nh tm dng vic thc hin chng trnh trong OB1, v chuyn sang thc hin chng
trnh x l ngt tong cc khi OB tng ng. Cch t chc chng trnh vi ch mt khi OB1 duy nht
nh vy c gi l lp trnh tuyn tnh.
- Lp trnh cu trc.
Vi kiu lp trnh c cu trc th khc v ton b chng trnh iu khin c chia nh thnh cc
khi FC v FB mang mt nhim v c th ring v c qun l chung bi nhng khi OB. Kiu lp trnh
ny rt ph hp cho nhng bi ton phc tp, nhiu nhim v v li rt thun li cho vic sa cha sau
ny. Chng trnh trong cc khi c lin kt vi nhau bng cc lnh gi khi, chuyn khi.
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3.2. Ngn ng lp trnh
C nhiu loi ngn ng khc nhau c s dng lp trnh cho PLC nh: LAD, FBD, STL,...Gio trnh
ny s s dng phn mm Step7 v ngn ng FBD trong vic lp trnh.
3.2.1. Kiu d liu:
Mt chng trnh trong S7-300 c th s dng cc kiu d liu sau:
- BOOL: vi dung lng l 1 bit v c gi tr l 0 hoc 1 (ng hoc sai). y l kiu d liu bin c
hai gi tr.
- BYTE: gm 8 bits, thng c dng biu din mt s nguyn dng trong khong t 0 n
255 hoc m ASCII ca mt t. V d: B#16#14 ngha l s nguyn 14 vit theo h m c s
16 c di 1 byte.
- WORD: gm 2 byte, biu din s nguyn dng t 0 n 65535 (216 -1).
- DWORD: L t kp c gi tr l: 0 n 232-1.
- INT: cng c dung lng l 2 bytes, dng biu din mt s nguyn trong khong -32768 ( -
215) n 32767 hay (215-1).
- DINT: gm 4 bytes, dng biu din s nguyn t -2147483648 (-231) n 2147483647 (231-1).
- REAL: gm 4 bytes, dng biu din mt s thc du phy ng c gi tr l: -3,4e38.....3,4e38.
V d: 1.234567e13
- S5t (hay S5Time): khong thi gian, c tnh theo gi/pht/giy: (-231 231-1 ms). V d:
S5t#2h_3m_0s_5ms. y l lnh to khong thi gian l 2 ting ba pht v 5 mili giy.
- TOD: Biu din gi tr tc thi tnh theo Gi/pht/giy.V d: TOD#5:30:00 l lnh khai bo gi
tr thi gian trong ngy l 5 gi 30 pht.
- DATE: Biu din thi gian tnh theo nm / ngy / thng. V d: DATE#2003-6-12 L lnh khai bo
ngy12 thng 6 nm 2003.
- CHAR: biu din mt hoc nhiu k t (nhiu nht l 4 k t) (ASCII - code). V d: ABCD
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3.2.2. Cc khi hm c bn
STEP7 FBD c cc nhm khi hm v logic, so snh , chuyn i kiu d liu, b m, b thi gian,
cc khi hm ton hc, cc php ton vi bit...Gio trnh ny ch cp n 4 loi nhm khi hm quan
trng nht, phc v cho vic lp trnh vi h thng LUCAS l: Nhm khi hm logic, nhm khi hm so
snh, nhm khi hm b m v nhm khi hm thi gian.
3.2.2.1. Nhm khi hm Logic
- u vo v u vo nghch o nh phn
Tham s Min b nh Kiu d liu Ch thch
I, Q, M, T, C, D, L BOOL Cung cp u vo hoc u vo nghch o cho cc khi khi hm.
- Khi hm AND
Tham s Min b nh Kiu d liu Ch thch
I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 s bng 1 khi ng thi I0.0 v I0.1 = 1
- Khi hm OR
Tham s Min b nh Kiu d liu Ch thch
I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 s bng 1 khi t nht I0.0 hoc I0.1 = 1
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- Khi hm XOR
Tham s Min b nh Kiu d liu Ch thch
I0.0, I0.1 I, Q, M, T, C, D, L BOOL Q4.0 = 1 khi I0.0 khc I0.1
- Khi hm SET
Tham s Min b nh Kiu d liu Ch thch
I, Q, M, D, L BOOL
Khi u vo bng 1 th s c thit lp bng 1. Khi u vo bng 0 th khng b nh hng.
- Khi hm RESET
Tham s Min b nh Kiu d liu Ch thch
I, Q, M, T,C, D, L BOOL TIMER COUNTER
Khi u vo bng 1 th s c xa v 0. Khi u vo bng 0 th khng b nh hng.
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- Khi hm RS
Tham s Min b nh Kiu d liu Ch thch
I, Q, M, D, L BOOL a ch bit s c thit lp hoc xa.
S I, Q, M, T,C, D, L BOOL S =1 s thit lp Q R I, Q, M, T,C, D, L BOOL R =1 s xa Q
Q I, Q, M, D, L BOOL Trng thi ca
Ch : Nu c R v S u bng 1, Q s bng 1.
- Khi hm SR
Tham s Min b nh Kiu d liu Ch thch
I, Q, M, D, L BOOL a ch bit s c thit lp hoc xa.
S I, Q, M, T,C, D, L BOOL S =1 s thit lp Q
R I, Q, M, T,C, D, L BOOL R =1 s xa Q Q I, Q, M, D, L BOOL Trng thi ca
Ch : Nu c R v S u bng 1, Q s bng 0.
3.2.2.2. Nhm khi hm so snh
C cc dng khi hm so snh dnh cho s nguyn 16 bits, s nguyn 32 bits v s thc sau:
Khi hm so snh K hiu
So snh bng nhau == So snh khc nhau
So snh ln hn > So snh nh hn <
So snh ln hn hoc bng >=
So snh nh hn hoc bng
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- So snh s nguyn 16 bits
Tham s Min b nh Kiu d liu Ch thch
IN1 I, Q, M, D, L hoc hng s
INT Gi tr so snh th nht
IN2 I, Q, M, D, L hoc hng s
INT Gi tr so snh th hai
Output I, Q, M, D, L BOOL Kt qu ca php so snh
- So snh s nguyn 32 bits
Tham s Min b nh Kiu d liu Ch thch
IN1 I, Q, M, D, L hoc hng s
DINT Gi tr so snh th nht
IN2 I, Q, M, D, L hoc hng s
DINT Gi tr so snh th hai
Output I, Q, M, D, L BOOL Kt qu ca php so snh
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- So snh s thc
Tham s Min b nh Kiu d liu Ch thch
IN1 I, Q, M, D, L hoc hng s
REAL Gi tr so snh th nht
IN2 I, Q, M, D, L hoc hng s
REAL Gi tr so snh th hai
Output I, Q, M, D, L BOOL Kt qu ca php so snh
3.2.2.3. Nhm khi hm b m
- S_CUD: Gn gi tr v m tin/li
Tham s ting Anh
Tham s ting c
Min b nh Kiu d liu Ch thch
no Nr. C COUNTER S th t ca b m
CU ZV I, Q, M, D, L BOOL m tin CD ZR I, Q, M, D, L BOOL m li
S S I, Q, M, D, L, T, C BOOL u vo thit lp b m
PV ZW I, Q, M, D, L hoc hng s
WORD
Gi tr m nm trong khong 0 n 999. Hoc nhp di dng C# di dng BCD
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R R I, Q, M, D, L, T, C BOOL Xa b m
CV DUAL I, Q, M, D, L WORD Gi tr m hin thi ( h thp lc phn)
CV_BCD DEZ I, Q, M, D, L WORD Gi tr m hin thi ( h BCD)
Q Q I, Q, M, D, L BOOL Trng thi ca b m
- S_CU: Gn gi tr v m tin
Tham s ting Anh
Tham s ting c
Min b nh Kiu d liu Ch thch
no Nr. C COUNTER S th t ca b m
CU ZV I, Q, M, D, L BOOL m tin
S S I, Q, M, D, L, T, C BOOL u vo thit lp b m
PV ZW I, Q, M, D, L hoc hng s
WORD
Gi tr m nm trong khong 0 n 999. Hoc nhp di dng C# di dng BCD
R R I, Q, M, D, L, T, C BOOL Xa b m
CV DUAL I, Q, M, D, L WORD Gi tr m hin thi ( h thp lc phn)
CV_BCD DEZ I, Q, M, D, L WORD Gi tr m hin thi ( h BCD)
Q Q I, Q, M, D, L BOOL Trng thi ca b m
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- S_CD: Gn gi tr v m li
Tham s ting Anh
Tham s ting c
Min b nh Kiu d liu Ch thch
no Nr. C COUNTER S th t ca b m
CD ZR I, Q, M, D, L BOOL m li
S S I, Q, M, D, L, T, C BOOL u vo thit lp b m
PV ZW I, Q, M, D, L hoc hng s
WORD
Gi tr m nm trong khong 0 n 999. Hoc nhp di dng C# di dng BCD
R R I, Q, M, D, L, T, C BOOL Xa b m
CV DUAL I, Q, M, D, L WORD Gi tr m hin thi ( h thp lc phn)
CV_BCD DEZ I, Q, M, D, L WORD Gi tr m hin thi ( h BCD)
Q Q I, Q, M, D, L BOOL Trng thi ca b m
3.2.2.4. Nhm khi hm thi gian
C 5 loi b thi gian m ngi s dng c th la chn da trn tnh cht ca tng loi nh sau:
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Khi hm thi gian Ch thch
S_PULSE Thi gian ln nht m u ra gi gi tr 1 bng vi thi gian c lp trnh t. Khong thi gian ny s nh i khi tn hiu u vo chuyn sang 0.
S_PEXT
u ra s lun gi gi tr bng 1 trong khong thi gian bng vi thi gian c lp trnh, khng k n vic tn hiu u vo bng 1 trong bao lu.
S_ODT Tn hiu u ra s chuyn t 0 sang 1 khi thi gian c lp trnh ht v tn hiu u vo vn ang l 1.
S_ODTS Tn hiu u ra s chuyn t 0 sang 1 khi thi gian c lp trnh ht, khng k n vic tn hiu u vo bng 1 trong bao lu.
S_OFFDT
Tn hiu u ra s chuyn t 0 sang 1 khi tn hiu u vo chuyn sang 1 hoc b thi gian ang hot ng. Thi gian t c bt u t khi tn hiu vo chuyn t 1 sang 0.
Gi tr thi gian s c thit lp theo cu trc nh sau:
S5T#aH_bM_cS_dMS
Vi: H ch gi, M ch pht, S ch giy, v MS ch mili giy; a, b, c, d l cc gi tr do ngi dng t.
V d:
-
- S5T#4S = 4 giy
- S5T#2H_15M = 2 gi, 15 pht
- S5T#1H_12M_18S = 1 gi, 12 pht, v 18 giy.
- Khi hm S_PULSE
- Khi hm S_PEXT
- Khi hm S_ODT
- Khi hm S_ODTS
-
- Khi hm S_OFFDT
Cc khi hm thi gian ny c chung bng thng s nh sau:
Tham s ting Anh
Tham s ting c
Min b nh Kiu d liu Ch thch
no Nr. T TIMER S th t ca b thi gian
S S I, Q, M, D, L, T, C BOOL u vo kch hot
TV TW I, Q, M, D, L, hoc hng s.
S5TIME Gi tr thi gian t trc (0 n 9999)
R R I, Q, M, D, L, T, C BOOL Xa b thi gian
BI DUAL I, Q, M, D, L WORD Thi gian cn li ( dng s nguyn)
BCD DEZ I, Q, M, D, L WORD Thi gian cn li ( dng BCD)
Q Q I, Q, M, D, L BOOL Trng thi ca b thi gian
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Tng quan v h thng Lucas
H thng Lucas l mt dy m hnh chuyn sn xut t ng thu nh, v c iu khin bi b
iu khin PLC thuc h Simatic S7-314. Cc trm trong h thng c xy dng di dng cc module
c th hot ng c lp hay lin kt vi nhau thnh dy chuyn. Vi cu trc nh vy, h thng th
hin ng tnh cht ca mt dy chuyn sn xut cng nghip, gip ngi s dng c c nhng kinh
nghim ging vi khi lm vic trn thc t nh: iu khin ng c, x l tn hiu t cc cm bin t,
c, a quang, iu khin cc van, iu khin PLC v thy c chu trnh hot ng, s phi hp gia
cc c cu trong mt dy chuyn.
H thng Lucas gm c cc trm c lit k di y:
- Trm bng ti
-
- 2 Trm cp phi
-
- Trm kim tra
- Trm x l phi
Trong cc trm trn th trm cp phi, trm kim tra v trm x l{ phi cng bao gm c trm bng ti.
Gio trnh ny xy dng 3 bi thc hnh vi cc trm bng ti, trm cp phi v trm x l phi.
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Bi thc hnh vi trm bng ti
Trm bng ti bao gm cc thnh phn sau:
- ng c DC dng iu khin bng ti di chuyn sang tri hoc phi thng qua 2 r le ( u ra
nh phn QR, QS)
- 1 r-le iu khin chuyn ng chm ca bng ti theo c 2 hng ( u ra nh phn QS)
- 1 Pallet dng cha, di chuyn phi.
- 2 cm bin hnh trnh ( u ra nh phn IL, IR)
- 1 cm bin xung dng xc nh v tr v tc ca pallet ( u vo nh phn IMP)
- Cc gic cm.
-
Kt ni c bn gia PLC v trm bng ti:
Bi tp 1. Ch di chuyn c bn ca bng ti
Cho bng k hiu:
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K hiu a ch Kiu d liu Ch thch
I_IMS1_TL I1.0 BOOL Nt nhn ch di chuyn sang tri ( tip im thng m)
I_IMS1_TR I1.1 BOOL Nt nhn ch di chuyn sang phi ( tip im thng m)
Q_IMS1_QL Q1.0 BOOL u ra ch di chuyn sang tri
Q_IMS1_QR Q1.1 BOOL u ra ch di chuyn sang phi
a. Vit chng trnh thc hin cc chc nng sau:
- Khi nhn v gi nt I_IMS1_TL s khin bng ti di chuyn sang tri cho n khi nt ny c
nh ra.
- Khi nhn v gi nt I_IMS1_TL s khin bng ti di chuyn sang tri cho n khi nt ny c
nh ra.
b. So snh kt qu vit phn a v cc p n sau chn ra p n ng ( cc tin t
I_IMS1_ v Q_IMS1_ c rt gn):
-
Bi tp 2. Ch di chuyn ca bng ti c s dng cc cm bin hnh trnh.
Cho bng k hiu sau:
K hiu a ch Kiu d liu Ch thch
I_IMS1_TL I1.0 BOOL Nt nhn ch di chuyn sang tri ( tip im thng m)
I_IMS1_TR I1.1 BOOL Nt nhn ch di chuyn sang phi ( tip im thng m)
I_IMS1_ST I1.6 BOOL Cng tc dng ( tip im thng ng)
I_IMS1_IL I1.3 BOOL Cm bin hnh trnh 2 ( tri)
I_IMS1_IR I1.4 BOOL Cm bin hnh trnh 1 ( phi)
Q_IMS1_QL Q1.0 BOOL u ra ch di chuyn sang tri
Q_IMS1_QR Q1.1 BOOL u ra ch di chuyn sang phi
a. Vit chng trnh thc hin cc chc nng sau:
- Khi nhn nt I_IMS1_TL, Pallet s di chuyn sang tri cho n khi chm vo cm bin hnh trnh
2.
- Khi nhn nt I_IMS1_TR, Pallet s di chuyn sang phi cho n khi chm vo cm bin hnh
trnh 1.
- Khi nhn nt I_IMS1_ST th bng ti s dng.
-
b. So snh kt qu vit phn a v cc p n sau chn ra p n ng:
-
Bi tp 3. Ch di chuyn ca bng ti c s dng cc cm bin hnh trnh v bng ti t ng
o chiu quay khi kt thc mi hnh trnh.
Cho bng k hiu sau:
K hiu a ch Kiu d liu Ch thch
I_IMS1_TL I1.0 BOOL Nt nhn ch di chuyn sang tri ( tip im thng m)
I_IMS1_TR I1.1 BOOL Nt nhn ch di chuyn sang phi ( tip im thng m)
I_IMS1_ST I1.6 BOOL Cng tc dng ( tip im thng ng)
I_IMS1_IL I1.3 BOOL Cm bin hnh trnh 2 ( tri)
I_IMS1_IR I1.4 BOOL Cm bin hnh trnh 1 ( phi)
Q_IMS1_QL Q1.0 BOOL u ra ch di chuyn sang tri
Q_IMS1_QR Q1.1 BOOL u ra ch di chuyn sang phi
T_IMS1_Timer1 T0 TIMER Thi gian ch 1 (TON) T_IMS1_Timer2 T1 TIMER Thi gian ch 2 (TON)
a. Vit chng trnh thc hin cc chc nng sau:
- Khi nhn nt I_IMS1_TL, Pallet s di chuyn sang tri cho n khi chm vo cm bin hnh trnh
2. Sau 2 giy, Pallet s t ng di chuyn ngc li n cm bin hnh trnh bn phi.
-
- Khi nhn nt I_IMS1_TR, Pallet s di chuyn sang phi cho n khi chm vo cm bin hnh
trnh 1. Sau 2 giy, Pallet s t ng di chuyn ngc li n cm bin hnh trnh bn tri.
- Khi nhn nt I_IMS1_ST th bng ti s dng.
b. So snh kt qu vit phn a v cc p n sau chn ra p n ng:
-
Bi tp 4. o v tr ca Pallet
Cho bng k hiu sau:
K hiu a ch Kiu d liu Ch thch
I_IMS1_TL I1.0 BOOL Nt nhn ch di chuyn sang tri ( tip im thng m)
I_IMS1_TR I1.1 BOOL Nt nhn ch di chuyn sang phi ( tip im thng m)
I_IMS1_IL I1.3 BOOL Cm bin hnh trnh 2 ( tri)
I_IMS1_IR I1.4 BOOL Cm bin hnh trnh 1 ( phi)
I_IMS1_IMP I1.5 BOOL Xung tr v t cm bin
Q_IMS1_QL Q1.0 BOOL u ra ch di chuyn sang tri
Q_IMS1_QR Q1.1 BOOL u ra ch di chuyn sang phi
C_IMS1_COUNTER C0 COUNTER B m tin v li (CTUD)
a. Gi s Pallet ang tip xc vi cm bin hnh trnh bn tri, vit chng trnh thc hin cc
chc nng sau:
- Khi nhn v gi nt I_IMS1_TR, Pallet di chuyn sang phi, v s xung m c tng ln. Khi
nh nt, ng c dng li.
- Khi nhn v gi nt I_IMS1_TL, Pallet di chuyn sang tri, v s xung m c gim xung. Khi
nh nt, ng c dng li.
- ng c s dng khi Pallet di chuyn n v tr tip xc vi cm bin hnh trnh.
b. So snh kt qu vit phn a v cc p n sau chn ra p n ng:
-
Bi tp 5. iu khin tc ca bng ti.
Vit chng trnh iu khin bng ti c cc ni dung sau:
- Gi s Pallet ang khong v tr gn vi cm bin hnh trnh bn tri (I_IMS1_IL), v chng
trnh o v tr bi tp trc ang hot ng.
- Nu nt TR c nhn, Pallet s chy vi tc ti a cho n v tr chnh gia ca h thng.
Sau , bng ti chy vi tc chm cho n khi n tip xc vi cm bin hnh trnh bn phi (
I_IMS1_IR). Khi n c v tr ny, ng c phi dng t ng.
- Nu nt I_IMS1_TL c nhn v gi, Pallet di chuyn sang bn tri vi tc ti a. Khi Pallet
tip xc vi cm bin hnh trnh 2 th ng c t ng dng.
-
Bi thc hnh vi trm cp phi
2 Trm cp phi bao gm cc thnh phn sau:
-
- 1 cm bin t B3 dng o v tr ban u ca xylanh dng.
- 1 cm bin c B4 dng xc nh cn phi trong tch hay khng.
- 1 xylanh dng ( iu khin bi van M1)
- 1 xylanh dng cp phi ( iu khin bi van M2)
- 1 van M1
- 1 van M2
Kt ni c bn gia PLC v 2 trm cp phi:
-
Cc u vo ca PLC:
- Trm 1:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
I_IMS3_B3 I0.2 3/25 Cm bin t - xc nh xylanh dng v tr ban u
B3
I_IMS3_B4 I0.3 4/25 Cm bin c xc nh phi trong tch.
B4
I_IMS3_SEP I1.0 Nt nhn cp phi ( tip im thng m)
S4
I_IMS3_EMSTOP I1.2 Cng tc dng khn cp ( tip im thng m)
S5
I_IMS3_IL I1.3 1/9 Cm bin hnh trnh 2 - tri
B6
I_IMS3_IR I1.4 2/9 Cm bin hnh trnh 2 phi
B7
I_IMS3_INIT I1.5 Nt nhn khi to ( tip im thng m)
S2
-
I_IMS3_START I1.6 Nt nhn bt u ( tip im thng m)
S1
I_IMS3_ACK I1.7 Nt nhn xc nhn ( tip im thng m)
S3
- Trm 2:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
I_IMS4_B3 I0.2 3/25 Cm bin t - xc nh xylanh dng v tr ban u
B3
I_IMS4_B4 I0.3 4/25 Cm bin c xc nh phi trong tch.
B4
I_IMS4_SEP I1.0 Nt nhn cp phi ( tip im thng m)
S4
I_IMS4_EMSTOP I1.2 Cng tc dng khn cp ( tip im thng m)
S5
I_IMS4_IL I1.3 1/9 Cm bin hnh trnh 2 - tri
B6
I_IMS4_IR I1.4 2/9 Cm bin hnh trnh 2 phi
B7
I_IMS4_INIT I1.5 Nt nhn khi to ( tip im thng m)
S2
I_IMS4_START I1.6 Nt nhn bt u ( tip im thng m)
S1
I_IMS4_ACK I1.7 Nt nhn xc nhn ( tip im thng m)
S3
Cc u ra ca PLC:
- Trm 1:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
Q_IMS3_M1 Q0.0 14/25 H xylanh dng M1 Q_IMS3_M2 Q0.1 16/25 Cp phi M2
Q_IMS3_QR Q1.0 5/9 Di chuyn sang phi K1 Q_IMS3_QS Q1.2 7/9 Di chuyn chm K3
0V 8/9 in p cung cp
+24V 9/9 in p cung cp 0V 23/25 in p cung cp
+24V 25/25 in p cung cp
-
- Trm 2:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
Q_IMS4_M1 Q0.0 14/25 H xylanh dng M1
Q_IMS4_M2 Q0.1 16/25 Cp phi M2 Q_IMS4_QR Q1.0 5/9 Di chuyn sang phi K1
Q_IMS4_QS Q1.2 7/9 Di chuyn chm K3 0V 8/9 in p cung cp
+24V 9/9 in p cung cp
0V 23/25 in p cung cp +24V 25/25 in p cung cp
Hng dn c s khi:
Cho s khi c dng nh sau:
Trong :
-
- Bc: c ng khung trong vung, bc c thc hin u tin trong chu trnh iu
khin c ng khung bng vung kp. Trong s trn c 3 bc l 1,2 v 3. u ra ca cc
bc ( hay c bo hon thnh bc ) c k hiu l X+Tn bc tng ng ( trong s trn
c 3 u ra l X1, X2, v X3). Khi mt bc c hon thnh, u ra ca bc c gn gi tr
bng 1.
- iu kin chuyn: L iu kin cn chuyn gia cc bc, v c k hiu bng gch ngang
ct ng ni gia cc bc ( trong s trn c cc iu kin chuyn l TRANS12, TRANS23,
v TRANS34). Gi s iu kin chuyn TRANS23 l i 3s sau khi hon thnh bc 2 thc
hin bc 3 th iu kin ny s c k hiu nh sau: 3s/X2.
- Lnh: L cc lnh c thc thi tng ng vi cc bc. Cc lnh c ng trong khung hnh
ch nht. C 2 loi lnh nh sau:
+ Lnh khng c lu: L loi lnh m hiu lc ca n ch c tc dng khi bc tng ng vn
tn ti ( trong s trn l cc lnh Q2 v Q3). Loi lnh ny c ng khung trong hnh ch
nht bnh thng, v c th c biu din nh sau:
+ Lnh c lu: L loi lnh m hiu lc ca n tn ti qua nhiu bc, v ch mt tc dng khi
b ci t li bi mt cu lnh c lu tng ng ( trong s trn l lnh Q1). Loi lnh ny
c ng khung trong hnh ch nht i km vi mi tn, v c th c biu din nh sau:
Cc bc trong s khi trn c hiu nh sau:
- Nu bc 1 c thc hin ( X1=1), v iu kin TRANS12 tha mn th thc hin tip bc 2
v xa bc 1 ( X2=1 v X1=0)
- Tng t vi bc 2 v bc 3...
-
Cc lnh trong s khi trn c hiu nh sau:
Bi tp 1. Vit chng trnh iu khin hot ng ca van Q_ IMS3_M2 thng qua nt nhn
I_IMS3_SEP.
Vi bng k hiu c cho nh sau:
-
K hiu a ch Kiu d liu Ch thch
Q_IMS3_SEP I1.0 BOOL Nt nhn cp phi ( tip im thng m)
Q_IMS3_M2 Q0.2 BOOL Cp phi
Bi tp 2. Vit chng trnh thc hin chc nng cp phi.
a. Vit chng trnh thc hin chc nng cp phi c ni dung sau:
Chu trnh iu khin bao gm 6 bc. Sau bc th 6, chu trnh c lp li t bc 1. Chu trnh
phi tha mn cc yu cu di y:
- iu kin chuyn t bc 6 n bc 1: Pallet tip xc vi cm bin hnh trnh bn phi (
I_IMS3_IR=1)
Lnh trong bc 1: Khng
- iu kin chuyn t bc 1 n bc 2: Pallet tip xc vi cm bin hnh trnh bn tri (
I_IMS3_IL=1) v cm bin B4 bo cn phi ( I_IMS3_B4=1), y l v tr bt u. Bm nt bt u
(I_IMS3_START=1), chu trnh chuyn qua bc 2.
Lnh trong bc 2: Kch hot ch di chuyn sang phi bng mt lnh khng c lu v kch
hot xylanh dng bng mt lnh c lu.
- iu kin chuyn t bc 2 n bc 3: 1s sau khi kch hot bc 2, thc hin bc 3.
Lnh trong bc 3: Tip tc di chuyn sang phi, kch hot v duy tr ch di chuyn chm.
- iu kin chuyn t bc 3 n bc 4: 1s sau khi kch hot bc 3, thc hin bc 4.
Lnh trong bc 4: Kch hot v duy tr ch cp phi (Q_IMS3_M2).
- iu kin chuyn t bc 4 n bc 5: 1s sau khi kch hot bc 4, thc hin bc 5.
Lnh trong bc 5: a xylanh dng tr v v tr ban u bng mt lnh c lu
(Q_IMS3_M1)
- iu kin chuyn t bc 5 n bc 6: Nu cm bin B3 c kch hot (I_IMS_B3=1) v sau
khi thi gian i 1s kt thc, tin hnh bc 6.
Lnh trong bc 6: Di chuyn sang phi (Q_IMS3_QR=1).
b. So snh kt qu va vit c trong cu a v chn ra p n ng trong cc p n sau:
-
Bi tp 3. S dng bng cc u vo, u ra ca PLC trm cp phi 2 vit chng trnh cho
trm cp phi 2 c ni dung tng t nh trong bi tp 1, bi tp 2 trn.
-
Bi thc hnh vi trm x l phi
Trm x l phi bao gm cc thnh phn sau:
- 1 cm bin t B3 dng xc nh xylanh dng v tr ban u.
- 1 cm bin t B4 dng xc nh tay robot v tr 0o.
- 1 cm bin t B5 dng xc nh tay robot v tr 0o.
- 1 cm bin B6 dng xc nh p sut.
- 1 xylanh dng quay cnh tay robot ( iu khin bi van M1)
- 1 xylanh dng (iu khin bi van M2)
- 1 xylanh dng di chuyn c cu ht (iu khin bi van M3)
- 1 h thng vi ht ( iu khin bi van M4)
-
Kt ni c bn gia PLC v h thng x l phi:
Cc u vo ca PLC:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
I_IMS7_B3 I0.2 2/25 Cm bin t - xylanh dng v tr ban u
B3
I_IMS7_B4 I0.3 3/25 Cm bin c tay robot v tr 0o
B4
I_IMS7_B5 I0.4 4/25 Cm bin c tay robot v tr 90o
B5
I_IMS7_B6 I0.5 5/25 Cm bin gim st p sut
B6
-
I_IMS7_B7 I0.6 6/25 Cm bin c c cu ht v tr trn cao
B7
I_IMS7_EMSTOP I1.2 Cng tc dng khn cp ( tip im thng m)
S5
I_IMS7_IL I1.3 1/9 Cm bin hnh trnh 2 - tri
B6
I_IMS7_IR I1.4 2/9 Cm bin hnh trnh 2 phi
B7
I_IMS7_INIT I1.5 Nt nhn khi to ( tip im thng m)
S2
I_IMS7_START I1.6 Nt nhn bt u ( tip im thng m)
S1
I_IMS7_ACK I1.7 Nt nhn xc nhn ( tip im thng m)
S3
Cc u ra ca PLC:
K hiu a ch V tr chn trn gic SUB-D
Ch thch ID
Q_IMS7_M1 Q0.0 14/25 Xoay tay robot t v tr 0o n 90o
M1
Q_IMS7_M2 Q0.1 15/25 H xylanh dng M2
Q_IMS7_M3 Q0.2 16/25 H c cu ht M3 Q_IMS7_M4 Q0.3 17/25 Ht M4
Q_IMS7_QR Q1.0 5/9 Di chuyn sang phi K1 Q_IMS7_QS Q1.2 7/9 Di chuyn chm K3
0V 8/9 in p cung cp
+24V 9/9 in p cung cp 0V 23/25 in p cung cp
+24V 25/25 in p cung cp
Bi tp 1. Vit chng trnh thc hin nhim v x l phi c cc ni dung sau:
Chu trnh iu khin bao gm 8 bc. Sau bc th 8, chu trnh c lp li t bc 1. Chu trnh
phi tha mn cc yu cu di y:
- iu kin chuyn t bc 8 n bc 1: Pallet tip xc vi cm bin hnh trnh bn phi (
I_IMS7_IR=1)
Lnh trong bc 1: Thit lp li Q_IMS7_M1 v Q_IMS7_M4 v cc thng s ban u.
- iu kin chuyn t bc 1 n bc 2: Pallet tip xc vi cm bin hnh trnh bn tri (
I_IMS7_IL=1) v cm bin B4 bo tay robot v tr 0o, xylanh dng trng thi ban u
(I_IMS7_B3=1), c cu ht v tr trn cao (I_IMS7_B7=1) y l v tr bt u. Bm nt bt u
(I_IMS7_START=1), chu trnh chuyn qua bc 2.
Lnh trong bc 2: Kch hot ch di chuyn sang phi bng mt lnh khng c lu (
Q_IMS7_QR=1) v kch hot xylanh dng bng mt lnh c lu ( Q_IMS7_M2=1).
-
- iu kin chuyn t bc 2 n bc 3: 1.5s sau khi kch hot bc 2, thc hin bc 3.
Lnh trong bc 3: Quay tay robot t v tr 0o n 90o bng mt lnh c lu ( Q_IMS7_M1).
- iu kin chuyn t bc 3 n bc 4: Tay robot quay n v tr 90o ( I_IMS7_B5).
Lnh trong bc 4: Kch hot ch ht ( Q_IMS7_M4), v h c cu ht xung ( Q_IMS7_M3).
- iu kin chuyn t bc 4 n bc 5: Cm bin B6 (I_IMS7_B6) c kch hot.
Lnh trong bc 5: Khng
- iu kin chuyn t bc 5 n bc 6: C cu ht v tr trn cao ( I_IMS7_B7=1).
Lnh trong bc 6: Thit lp li tay robot v v tr ban u (Q_IMS7_M1).
- iu kin chuyn t bc 6 n bc 7: Tay robot quay v v tr 0o (I_IMS7_B4).
Lnh trong bc 7: H c cu ht xung (Q_IMS7_M3).
- iu kin chuyn t bc 7 n bc 8: Ch 1s.
Lnh trong bc 8: Thit lp li ch ht (Q_IMS7_M4), di chuyn sang bn phi (
Q_IMS7_QR), thit lp li xylanh dng v v tr ban u (Q_IMS7_M2).
Bi tp 2. Chn ra p n ng v s khi ch iu khin x l{ phi trong cc p n sau: