Bai Giang He Thong Co Dien Tu 1

Bi ging H thng C in t 1
MC LC
Trang
CHNG 1: TNG QUAN V C IN T...........................................................4
1.1. Cc khi nim c bn.........................................................................................4
1.2. Lch s v xu th pht trin................................................................................4
1.2.1. Lch s pht trin........................................................................................4
1.2.2. Xu th pht trin..........................................................................................8
CHNG 2: CC THNH PHN C BN CA H THNG C IN T.....10
2.1. Mun mi trng...........................................................................................10
2.2. Mun tp hp.................................................................................................10
2.3. Mun o lng...............................................................................................10
2.4. H thng kch truyn ng...............................................................................11
2.5. Mun truyn thng.........................................................................................11
2.6. Mun x l.....................................................................................................11
2.6.1. ng truyn bus......................................................................................12
2.6.2. B x l trung tm CPU............................................................................13
2.6.3. B nh.......................................................................................................13
2.7. Mun phn mm............................................................................................13
2.7.1. Ngn ng lp trnh....................................................................................13
2.7.2. Cc tp lnh...............................................................................................14
2.7.3. Lp trnh....................................................................................................14
2.8. Mun giao din...............................................................................................14
CHNG 3. CM BIN V C CU CHP HNH............................................15
3.1. Gii thiu v cm bin v c cu chp hnh....................................................15
3.1.1. Cm bin...................................................................................................15
3.1.2. C cu chp hnh......................................................................................16
3.2. c tnh ca cm bin v c cu chp hnh....................................................17
3.2.1. Di o........................................................................................................17
3.2.2. phn gii..............................................................................................17
3.2.3. nhy.....................................................................................................17
3.2.4. Sai s.........................................................................................................18
3.2.5. Kh nng lp li........................................................................................18
3.2.6. Vng cht..................................................................................................18
3.2.7. Tnh n nh..............................................................................................20
3.2.8. Thi gian p ng.....................................................................................20
3.2.9. Nhit h thng......................................................................................20
Trang 1
3.3. Mt s loi cm bin thng gp.....................................................................21
3.3.1. Cm bin dch chuyn thng v quay.......................................................21
3.3.1.1. Cng tc hnh trnh............................................................................21
3.3.1.2. Tia hng ngoi...................................................................................21
3.3.1.3. Cc b m ha quang hc..................................................................22
3.3.2. o lc........................................................................................................23
3.3.3. Cm bin o khong cch.........................................................................24
3.4. C cu chp hnh.............................................................................................26
3.4.1. Cc ng c in.......................................................................................26
3.4.1.1. ng c DC.......................................................................................26
3.4.1.2. ng c AC.......................................................................................28
3.4.1.3. ng c bc.....................................................................................29
3.4.2. H thng iu khin kh nn.....................................................................31
3.4.2.1. Phn t x l v iu khin................................................................32
3.4.2.1.1. Van o chiu..............................................................................32
3.4.2.1.2. Van chn......................................................................................36
3.4.2.1.3. Van tit lu:.................................................................................36
3.4.2.1.4. Van p sut..................................................................................37
3.4.2.2. C cu chp hnh:..............................................................................38
3.4.2.2.1. Xi lanh.........................................................................................38
3.4.2.2.2. ng c kh nn:.........................................................................39
CHNG 4: IU KHIN LOGIC KH LP TRNH PLC..................................40
4.1. Gii thiu PLC.................................................................................................40
4.1.1. Gii thiu chung........................................................................................40
4.1.2. Hnh dng bn ngoi.................................................................................40
4.1.3. Cc thnh vin h S7-200.........................................................................43
4.1.4. Modul m rng.........................................................................................47
4.2. u ni PLC v modul m rng......................................................................50
4.2.1. PLC s dng ngun nui mt chiu..........................................................50
4.2.2. PLC s dng ngun nui xoay chiu........................................................52
4.2.3. u ni modul m rng............................................................................54
4.3. Ngn ng lp trnh...........................................................................................58
4.3.1. Cch thc hin chng trnh.....................................................................58
4.3.2. Cu trc chng trnh...............................................................................59
4.3.3. Phng php lp trnh...............................................................................60
Trang 2
4.4. Mt s lnh c bn...........................................................................................61
4.4.1. Lnh vo ra................................................................................................61
4.4.2. Cc lnh ghi/xa gi tr cho tip im......................................................62
4.4.3. Cc lnh logic i s Boolean...................................................................62
4.4.4. Cc lnh tip im c bit.......................................................................66
4.4.5. Cc lnh so snh........................................................................................67
4.4.6. Lnh nhy v lnh gi chng trnh con...................................................69
4.4.7. Cc lnh can thip vo thi gian vng qut..............................................71
4.4.8. Cc lnh iu khin Timer........................................................................71
4.4.9. Cc lnh iu khin Counter.....................................................................75
4.4.10. Cc lnh s hc.......................................................................................78
4.4.11. Lnh tng, gim mt n v v lnh o gi tr thanh ghi......................82
4.4.12. Cc lnh dch chuyn ni dung nh.....................................................86
4.5. Son tho chng trnh v chng trnh m phng.........................................87
4.5.1. Son tho chng trnh.............................................................................87
4.5.2. Chng trnh m phng............................................................................87
Trang 3
CHNG 1: TNG QUAN V C IN T.

1.1. Cc khi nim c bn.
Khi nim C in t c m ra t nh ngha ban u ca cng ty
Yasakawa Electric. Trong cc ti liu xin bo h thng hiu ca mnh. Yasakawa
nh ngha C in t nh sau:
Thut ng mechatronics c to thnh bi mecha trong mechanics v
tronics trong electronics. Ni cch khc, cc cng ngh v sn phm c pht
trin s ngy cng c kt hp cht ch v hu c thnh phn in t vo trong cc
c cu v rt kh c th ch ra ranh gii gia chng.
Khi nim c in t tip tc pht trin sau khi Yasakawa a ra nh ngha
u tin. Mt nh ngha khc v c in t thng hay c ni ti do Harashima,
Tomizuko v Fukada a ra nm 1996 nh sau:
C in t l s kt hp cht ch ca k thut c kh vi in t v iu
khin my tnh thng minh trong thit k, ch to cc sn phm v quy trnh cng
nghip.
Nm 1997, Shetty v Kolk li quan nim:
C in t l mt phng php lun c dng thit k ti u cc sn
phm c in.
V gn y, Bolton li xut nh ngha:
Mt h c in t khng ch l s kt hp cht ch cc h c kh, in v n
cng khng ch n thun l mt h iu khin. N l s tch hp y cc h
trn.
1.2. Lch s v xu th pht trin.
1.2.1. Lch s pht trin.
Qu trnh pht trin CT trn th gii chnh thc bt u t nm 1969 vi s
ra i thut ng C in t, sn phm CT ch l s kt hp gia c kh v in t.
Sau , vi s pht trin ca CNTT, cc b vi x l c tch hp vo h thng
C in t.
V o to c in t trn th gii:
Nm 1983 Vin k thut Nht Bn Singapore a vo kha o to k
thut c in t (mechatronics engineering) chng trnh o to 2 nm o to
li k s c kh.
Kha ging u tin mang tn Mechatronics cho k s v hc vin cao hc
c thc hin trng i hc Landcaster trong nm 1984/1985. K t kha o
Trang 4
to v C in t pht trin mnh tt c cc nc cng nghip pht trin v ang
pht trin.
Nhng nm u thp k 90 ca th k XX, 4 trng i hc Bch khoa ca
Singapore c chng trnh o to 3 nm chnh quy k s c in t.
c cng c cc kha o to v cp bng k s theo chuyn ngnh C
in t t nhng nm u 90. Tip theo khng lu l cc trng i hc Curtin v
New South Weles.
chu u, t nm 1980 c cc hot ng c lin quan n o to C in
t, nhng kha hc chnh thc v c in t trong trng i hc th ch bt u t
chng trnh mt nm Cao hc ti trng i hc Katholieke (B) trong nm 1986.
n nm 1989 trng ny m ngnh o to C in t.
Trong nm 1990 mt lot cc trng i hc CHLB c, an Mch, H
Lan,(Chu u) a C in t vo ging dy. T nm 1992 n 1996 Lin minh
chu u ti tr thc hin d n TEMOUS a kha hc C in t vo ging dy
ti cc khoa C kh ca cc trng i hc: TU Brno, CTU, TU Plzeo, University
College Dublin, Loughborough University of Technology,..
Cc trng i hc Anh ging dy C in t bt u t trng Lancaster,
tip theo l trng i hc London, Survey, Dundee, Hull, Brunel, Loughborough,
Manchester v Leeds.
Bc M mc d c rt nhiu trng hot ng trong lnh vc C in t,
nhng cho n nm 1995 vn cha xut hin nhng kha ging dy mang tn C
in t. n nay hu nh cc trng i hc k thut ca M u c khoa ny.
Tnh n nm 1999 trn th gii c khong 90 trng i hc v vin nghin cu
c o to ging dy v nghin cu v c in t
V o to c in t Vit Nam:
Hin nay mt s Trng H tai Vit Nam ao tao chuyn nganh C in
t h ai hoc:
- T nm 1997 HBK TP H Chi Minh m Chuyn nganh C in t tai
khoa C khi.
- T nm 2001 HBK a nng m chuyn nganh C in t tai khoa C khi
vi s lng 58 sinh vin. B mn C in t cng c thnh lp vo nm 2003.
- Nm 2001 H SPKT TP HCM cng m ngnh C in t kha u tin.
- Bt u t nm 2004, H Cng ngh thuc H Quc gia H ni m Chuyn
ngnh C in t ti Khoa C k thut vi s lng ban u khong 20 SV/nm.
Ngoai ra cac trng sau cung a m chuyn nganh C in t ao tao H
- Vin Cng ngh Chu (AIT) tai Ha ni
Trang 5
-
H Cn th
Mt s trng H Dn lp Phng ng, DL Thng Long vv...
o to Cao hc: o to Cao hc trong nc ti trng H Bch khoa
H Ni. H BK Ha Ni hp tac vi H Tng hp ky thut Hannover
(CHLB c) va H Tng hp ky thut Dresden (CHLB c) m lp Cao
hoc quc t.
Vi in t
in t cng sut
Cm bin
C cu chp hnh
Cng
ngh
thng tin
in t
C IN T
M hnh ha
L thuyt h thng
Cng ngh t ng ha
Phn mm
Tr tu nhn to
Cc thnh phn c kh
My
C kh chnh xc
Hnh 1.1. C in t: s tch hp hu c ca nhiu ngnh khc nhau
Trang 6
H c kh thun ty
<1920
ng c mt chiu 1870
ng c xoay chiu 1889
H c kh vi truyn ng in
1920
ng c hi nc 1860
My pht in 1870
Bm tun hon 1880
ng c t chy 1880
My nh ch
My cng c
Rle
Thy lc, kh nn, my
khuych i in
B iu khin PI 1930
1935
H c kh vi khin t ng
Gia tng cc
thnh phn in
My nh ch
bng in
Tuabin hi nc
My bay
Gia tng iu
khin t ng
Tranziton 1948
Thyristor 1955
H c kh vi:
+ iu khin in t tng t
+ iu khin tun t
Thang my iu
khin bng in
1955
My tnh s 1955
My tnh x l 1959
Phn mm thi gian thc 1966
My tnh 1971
T ng ha da trn s ha 1975
H c kh vi:
+ iu khin lin tc s
+ iu khin tun t s
1975
Dng c ct
Robot cng nghip
Nh my cng nghip
Cc a
Vi iu khin 1978
My tnh c nhn 1980
H thng x l bus
C cu truyn ng mi, cm bin
H c kh vi: S tch hp cc thnh phn
+ Tch hp: c kh v phn cng
Robot di ng
in t.
CIM
1985
+ Cc chc nng xc nh bng
m t trng
phn mm
iu khin my t ng
+ Cc hiu qu tng hp
Tng dn iu
khin t ng
dng my tnh x
l v qu trnh thu
nh cu trc.
Tng dn s tch
hp gia cc quy
trnh vi my
tnh.
Bng 1.1. Lch s pht trin ca cc h c hc, in, in t.
Trang 7
1.2.2. Xu th pht trin.
Nm 70 ca th k 20, cc sn phm c in t ch yu tch hp phn c kh
vi cng ngh iu khin tr lc (servo) to nn cc sn phm nh ca t ng, my
t ng bn hng, my nh t ng chnh tiu c (focus). n nhng nm 80, khi
cng ngh thng tin c hnh thnh th cc chip vi x l c nhng vo trong
cc h thng c kh nng cao cc cng nng h thng. Lc ny cc my cng c
iu khin s v robot tr nn hon ho hn, cc t c phn iu khin s
c s dng rng ri. Trong lnh vc qun s, cc h thng v kh thng minh c
iu khin s ra i v pht trin mnh m.
Vo nhng nm 90, khi a cc sn phm c in t vo cng ngh truyn
thng to nn cc sn phm c kh nng kt ni mng. Cng trong giai on ny,
cc vi cm bin v c cu chp hnh siu nh c pht trin v ng dng trong
nhiu sn phm nh cc h thng vi c in t. C th ni rng, chc nng ca cc
my mc v h thng c k thut hin nay ph thuc ch yu vo phn mm (c th
l mt thut ton, mng nron, h m) trong my tnh ca sn phm. Ring iu ny
l mt s khc bit v cht so vi cc sn phm c in cch y 25-30 nm.
Xu th pht trin ca c in t l ngy cng tch hp trong n nhiu cng
ngh cao hn, sn phm ngy cng "thng minh" hn ng thi kch thc cng
ngy cng nh i.
Chin lc pht trin khoa hc v cng ngh Vit Nam n nm 2010 xc
nh mt s lnh vc c in t chuyn su:
- Robot lm vic trong cc mi trng c hi, nguy him, an ninh quc
phng, mt s dy chuyn cng nghip cng ngh cao
- Cc sn phm CT trong mt s lnh vc c kh trng im nh my cng
c, my ng lc, thit b in-in t, c kh t v cc thit b o lng
iu khin...
- Nghin cu vi c in t v nano c in t...
STT
1.
2.
3.
4.
5.
6.
Thit k truyn thng

Cc thnh phn thm vo
To ln
Kt cu phc tp
Vn v dy dn
Cc thnh phn kt ni
iu khin n gin
Cu trc cng nhc
iu khin truyn thng, tuyn tnh
Thit k C in t
Tch hp cc thnh phn (phn cng)
Nh gn
Kt cu n gin
Truyn thng khng dy hoc bus
Cc thit b t tr
Tch hp bi x l thng tin
Cu trc mm do, phn hi
iu khin phn hi kh lp trnh
Trang 8
7.
8.
9.
10.
chnh xc nh dung sai hp

chnh xc nh o lng v phn hi
Cc i lng khng o c thay iu khin cc i lng khng o c
i ty tin
bng cch c lng
Theo di n gin
Gim st vi chn on li
Kh nng c nh
Kh nng t hc
Bng 1.2. Cc thuc tnh ca thit k truyn thng v thit k C in t.
Trang 9
CHNG 2: CC THNH PHN C BN CA H THNG C

IN T
2.1. Mun mi trng.
Mun mi trng lin quan n cc thng s bn ngoi nh phm vi nhit
, cc yu t ti trngs tc ng n hot ng ca sn phm ng b. Trong
cc thit k tng th, cc tham s ny thit lp lot iu kin bin m sn phm phi
tn ti v hot ng trong .
Mun mi trng hnh thnh t iu kin hoc cc tiu chun, quy tc thc
t v chc nng thc hin ca h thng. Mun mi trng va ng vai tr u vo,
va ng vai tr u ra ca c h thng buc h thng c cc chc nng thc hin,
phc v mt mc ch c th no .
Mun mi trng khng hin din trong sn phm c in t, tuy nhin v c
in t lin quan c n vic thit k sn phm nn trong nghin cu sn phm c
in t, mun mi trng cn c quan tm ng mc.
2.2. Mun tp hp.
Mun tp hp l ton b h thng c kh, th hin kt cu hnh dng c s
cc sn phm. N bao gm chi tit, cm c kh, trong c bit l cc khung b lp
rp cho cc mun khc, cc chi tit s dng lm vt lin kt, vt trung gian ghp
niMi mt sn phm c mt cch th hin hnh dng khc nhau, lin quan n
mc ch s dng sn phm. Thng cc chi tit thnh phn c thit k v ch to,
sau c lp rp theo bn v lp ghp. Cng nh cc sn phm c kh khc, sn
phm c in t cn c mt hnh dng mang tnh thm m.
2.3. Mun o lng.
Mun o lng l h thng c s dng rt ph bin trong cc sn phm c
in t v thng c cu to t 3 thnh
phn:tn hiu
Gia cng
i lng ang c
Cm bin
o
Hin th
C kh
Gi tr i
lng
Hnh 2.1. H thng o lng v cc thnh phn.

Cm bin: Cm nhn i lng ang c o bng cch sinh ti u ra ca n
mt tn hiu tng ng.
Gia cng tn hiu: y l khu thu thp, gia cng tn hiu sau cc chuyn i
s cp. Tn hiu t cm bin ca mt h thng o thng c x l theo mt
Trang 10
phng php ph hp vi giai on hot ng tip theo. Tn hiu c th c
khuch i ln, loi nhiu, chnh lu, chuyn i t tn hiu s sang tng t v
ngc li
H thng hin th: Ni tn hiu ra t b gia cng tn hiu c th hin di
dng con s (hin th s) hoc dng biu (hin th tng t).
2.4. H thng kch truyn ng.
H thng kch truyn ng l thnh phn ca sn phm c in t, thc hin
chuyn i u ra t mun x l thnh cc hnh ng iu khin trn mt my mc
hoc thit b.
Phn ny s c tm hiu k chng 3.
2.5. Mun truyn thng.
Trong sn xut, ch to vi cc thit b c s iu khin, gi c nhp sn
xut gia cc thit b, gia chng cn c s trao i thng tin. Cc thit b c th gi
v c thng tin theo nhng cch khc nhau.
S trao i, truyn thng tin, d liu gia cc my tnh ty theo phm vi s
dng c yu cu c th l:
iu khin trung tm: l s dng mt my tnh trung tm iu khin ton
b dy chuyn. Trong trng hp ny, nu my tnh trung tm c s c, ton b dy
chuyn s ngng hot ng. y l dng iu khin nhng nm 1970.
H iu khin phn cp: Cc my tnh thc hin cng vic thng nht b
gim st bi cc my tnh c vai tr quyt nh ln hn. Cng vic c chia cho cc
my tnh theo chc nng ca chng (chuyn mn ha).
H thng iu khin phn quyn: Cc my tnh c thc hin cng vic
tng t nhau. Trng hp c s c hoc mt my qu ti, cng vic c th c
chuyn sang my khc. Cng vic c tri ra tt c cc my do vy mi my cn
truy cp c tt c cc my trong h thng.
2.6. Mun x l.
Mun x l, x l thng tin do mun giao din v mun o lng cung
cp. Thnh phn chnh ca mun ny l b iu khin. Ngy nay cc b vi x l
ng vai tr quan trng trong cc b iu khin.
B vi x l c chia thnh 3 vng:
- B x l trung tm (CPU) nhn bit v thc hin cc lnh ca chng
trnh.
- Giao din nhp-xut qun l v truyn thng gia b x l v th gii
bn ngoi.
- B nh lu gi chng trnh v d liu.
Trang 11
Tn hiu s di chuyn t khu vc ny sang khu vc khc dc theo ng

truyn bus. Bus l h thng dy ni truyn d liu t b phn ny n b phn
khc trong my tnh. Ni mt cch v von, bus ging nh con ng cao tc, cng
rng cng truyn c nhiu d liu i vi tc cao.
D liu lin quan n chc nng x l ca CPU c truyn bi ng
truyn d liu (data bus). Thng tin v a ch ca mt v tr xc nh trn b nh
truy cp cc d liu lu c ti bi bus a ch (address bus). Nhng tn hiu lin
quan n hnh ng iu khin c ti bi bus iu khin (control bus).
2.6.1. ng truyn bus.
Bus d liu (data bus): Dng mang thng tin gia CPU v b nh cng nh
gia CPU v cc thit b nhp xut. Mi dy trong bus truyn mt tn hiu nh phn 0
hoc 1. Nh vy mt bus 4 dy ang truyn t 1010. Cc bit c truyn nh sau:
T
0 (bit thp)
1
0
1 (bt cao)
Dy bus
Dy bus d liu u tin
Dy bus d liu th 2
Dy bus d liu th 3
Dy bus d liu th 4
Kch thc ca bus, c hiu nh rng ca ng cao tc, l yu t quan

trng quyt nh lng d liu c chuyn i mi ln. V d: bus 4 bit, 8 bit, 16 bit,
32 bit c th truyn tng d liu mt ln.
Nu mt bus d liu c chiu di 4 bit, s lng cc gi tr s l 24 = 16. B vi
x l 4 bit ngy nay hay s dng cho chi, my git. Loi ph thng hay dng cho
cc h iu khin nht l loi 8, 16, 32 v 64 bit.
Bus a ch (address bus): Thng tin v a ch ca mt v tr xc nh trn b
nh. Khi mt a ch c th c chn, th ch mi v tr ny c m thng vi
CPU. Hu ht cc my tnh nh c t 16 n 32 ng a ch v c kh nng truy
xut 2n v tr nh. Mt bus a ch 16 bit c kh nng truy xut 216 = 65536 = 64K v
tr nh. Mt bus a ch 20 bit c kh nng truy xut 1M v tr nh, mt bus a ch 32
bit c kh nng truy xut n 4G v tr nh. B nh cng ln cha c nhiu d liu
v s dng c cc chng trnh ln hn, phc tp hn.
Bus iu khin (control bus): l mt hn hp cc tn hiu, mi mt tn hiu c
mt vai tr ring trong vic iu khin c trt t hot ng ca h thng. Qua bus
iu khin tn hiu c gi ng b cc thnh phn ring l.
Trang 12
2.6.2. B x l trung tm CPU.
CPU qun l tt c cc hot ng v thc hin tt c cc thao tc trn d liu.
Hu ht cc CPU ch bao gm mt tp cc mch logic thc hin lin tc hai thao tc:
tm np lnh v thc thi lnh. CPU c kh nng hiu v thc thi cc lnh da trn
mt tp cc m nh phn, mi mt m nh phn biu th mt thao tc n gin. cc
lnh ny thng l cc lnh s hc (cng, tr, nhn, chia), cc lnh logic (AND, OR,
NOT), cc lnh di chuyn d liu hay cc lnh r nhnh c biu th bi mt tp
cc m nh phn v c gi l tp lnh.
2.6.3. B nh.
B nh ROM (Read Only Memory): l b nh cha cc d liu vnh vin. Cc
con ROM c lp trnh trong lc cc mch ny c ch to. Cc d liu ch c th
c c v s dng cho cc chng trnh c nh.
B nh EPROM (Erasable and Programable): Cc chip s dng loi b nh
ny c th xa v lp trnh li c.
B nh RAM (Random Access Memory): c gi l b nh truy cp ngu
nhin, n c nhim v lu d liu tm thi ang thc hin, n c th c v ghi d
liu vo. Ton b d liu ca b nh RAM s b mt nu mt ngun cung cp in.
2.7. Mun phn mm.
Cc mun phn mm c xy dng trn c s s dng cc ngn ng lp
trnh lp thut ton ph hp theo nhim v ca cc thit b ngoi vi c iu
khin. Mc ch sao cho b x l hiu, sau x l v a ra tn hiu iu khin ph
hp mc tiu ra. mun phn mm tng thch vi b vi x l, chng ta phi
tng thch vi m hnh lp trnh ca CPU tng ng.
2.7.1. Ngn ng lp trnh.
Cc thng tin vo buc b vi x l thc hin mt hnh ng c th c gi
l cc lnh (instruction), tp hp cc lnh m b vi x l nhn bit gi l b lnh
(instruction set). Dng thc ca b lnh ph thuc vo b vi x l c lin quan. Lot
cc lnh cn thit thc hin mt cng vic c th no ta gi l mt chng
trnh (program).
B x l lm vic vi h nh phn. Cc chng trnh vit theo h nh phn
c gi l m my. Vit chng trnh theo dng ny i hi k tht cao v thng
b mc li nhiu. Mt ngn ng thng c s dng l hp ng (Assembly
language). Tuy nhin trnh hp ng vn phi chuyn thnh m my nu mun b x
l hiu c chng trnh trn. S chuyn i ny c th thc hin th cng khi s
dng ti liu ca nh sn xut. Tuy nhin, thng c cc chng trnh my tnh thc
hin chuyn i ny gi l chng trnh dch hp ng (assembler programs). Bn
Trang 13
cnh ta cn dng cc ngn ng bc cao lp trnh nh: BASIC, C, C++,
FORTRAN, PASCALTt c nhng ngn ng ny u phi chuyn sang ngn ng
my th b vi x l mi c th s dng c.
2.7.2. Cc tp lnh.
Tp lnh (instruction set) l danh sch t kha m t tt c cc hot ng hoc
cc tc v m n v x l trung tm (CPU) c th thc hin c. Cc b vi x l
khc nhau c cc lnh khc nhau nhng nhn chung cc lnh c th phn chia thnh
nhng nhm lnh sau:
- Chuyn d liu.
- Thc hin s hc.
- Thc hin logic.
- iu khin chng trnh.
2.7.3. Lp trnh.
Thng phng php lp trnh c s dng pht trin chng trnh gm
cc bc sau:
- Xc nh vn , bt u t vic lm r chng trnh phi thc hin nhng
chc nng g, yu cu nhp xut, dung lng nh
- Quyt nh thut ton s dng. Thut ton l tun t cc bc xc nh
mt phng php gii quyt vn .
- Th hin thut ton thng qua lu . Biu din cc biu tng chun
th hin lu . Mi mt bc ca thut ton th hin bng mt hoc hn
mt biu tng v ni vi nhau bi ng th hin lung chng trnh.
- Chuyn i lu thut ton thnh cu lnh m b x l c th thc hin.
Tc l vit cc cu lnh theo ngn ng lp trnh.
- Chy th v sa li chng trnh.
2.8. Mun giao din.
Mun giao din l mt phn quan trng trong h thng C in t. Cc thit
b ngoi vi (b cm bin, bng iu khin) thng khng c ni trc tip vi h
thng vi x l do thiu tng thch v mc v dng tn hiu. Do vy cn phi c mt
mch ghp ni gi l mch giao din ni thit b ngoi vi v b vi x l.
Thit b ngoi vi
Mch giao din
B vi x l
Hnh 2.2. Giao din.
Trang 14
CHNG 3. CM BIN V C CU CHP HNH

3.1. Gii thiu v cm bin v c cu chp hnh.
Cm bin v c cu chp hnh l hai thnh phn c bn ca mi h c in t.
Mt h c in t in hnh nh trn hnh 3.1 gm mt khi cm bin, mt khi iu
khin v mt khi c cu chp hnh.
Khi cm bin c th n gin l mt cm bin n l hoc c th gm cc
thnh phn b sung nh b lc, b khuch i, b iu ch v cc b bin i tn
hiu khc.
Khi iu khin nhn thng tin t khi cm bin, a ra quyt nh da trn
thut ton iu khin v cc lnh ti khi c cu chp hnh.
Khi c cu chp hnh bao gm c cu chp hnh c th thm mt b ngun
v mt c cu ghp ni.
Kho
i ca
m
bie
n
HETHO
NG
C
IE
U
KHIE
N
BOIE
U KHIE
N
Kho
i c ca
u
cha
p ha
nh
Hnh 3.1. H C in t thng gp.

3.1.1. Cm bin.
Cm bin l mt thit b m khi c mt hin tng vt l tc ng vo (nhit
, lc, nh sng,) s to ra tn hiu u ra (in, c hc, t,) t l.
Cm bin c phn loi thnh 2 dng tng t hoc s da trn dng tn hiu
u ra. Cm bin tng t cung cp tn hiu lin tc t l vi tham s cn o v cn
s bin i tng t thnh s trc khi chuyn cho b iu khin s. Trong khi ,
cm bin s cung cp u ra s c th trc tip ghp ni vi b iu khin s.
Mt s loi cm bin thng gp:
Cm bin dch chuyn thng v quay.
Cm bin gia tc.
Trang 15
Cm bin lc.
Cm bin o mmen v cng sut.
Cm bin lu lng.
Cm bin nhit .
Cm bin o khong cch.
Cc cm bin nhn bit nh sng, hnh nh v nhn dng.
Tiu chun la chn.
Di o: Chnh lch gia gi tr ln nht v gi tr nh nht ca
tham s cn o.
phn gii: Thay i nh nht m cm bin c th phn bit
c.
chnh xc: Sai khc gia gi tr o c v gi tr thc.
Tnh chnh xc: Kh nng lp li kt qu o vi chnh xc
cho trc.
nhy: L t s ca thay i u ra trn mt n v thay i
ca u vo.
Thi gian p ng: tr gia u vo v u ra.
Nhit hot ng: Khong nhit m ti cm bin hot
ng c.
Vng cht: Di u vo m trong di s khng c u ra.
Vic chn cm bin tha mn tt c cc c tnh k thut trn l khng thc
t. V d vic tm cm bin v tr vi phn gii m trong khong mt mt gn nh
khng p ng c vi hu ht cc loi cm bin. Do vy ty theo h C in t
thit k m ta la chn cm bin cho ph hp.
Khi cc h s chc nng trn c tha mn, ngi ta c th a ra mt danh
sch cm bin. S la chn cui cng s ph thuc vo kch c, tin cy, bn
vng, kh nng bo dng v gi thnh cm bin.
3.1.2. C cu chp hnh.
V c bn, cc c cu chp hnh l phn pha sau mt h c in t, nhn lnh
iu khin (hu ht l dng tn hiu in) v gy ra mt s thay i trong h vt l
bng cch to lc, chuyn ng, nhit, dng chyThng thng cc c cu chp
hnh c s dng kt hp vi ngun nui v mt c cu ghp ni nh trn hnh 3.2.
Trang 16
Hnh 3.2. Thit b chp hnh thng thng.

Phn loi:
C cu chp hnh c th phn loi da trn dng nng lng.V c bn c cc
dng: in, in c, in t, thy lc v kh nn.
C cu chp hnh cng c th phn loi thnh dng nh phn v lin tc da
trn s lng u ra trng thi n nh. Mt rle vi hai trng thi n nh l mt v
d in hnh ca c cu chp hnh dng nh phn. Tng t, mt ng c bc l
mt v d in hnh cho c cu chp hnh dng lin tc.
3.2. c tnh ca cm bin v c cu chp hnh
3.2.1. Di o.
Chnh lch gia gi tr ln nht v gi tr nh nht ca tham s cn o. Di o
thng c quy nh bi nh sn xut cm bin.
3.2.2. phn gii.
phn gii ca cm bin l khong nh nht ca u vo m cm bin c
th o c. phn gii cng c th c hiu l s m nh nht ca cm bin.
V d mt b m ha 1024 ppr (xung/vng) c phn gii l:
360 o = 0.3516 o
1024 xung
xung
3.2.3. nhy.
nhy ca cm bin c nh ngha l t s gia thay i u ra trn mt
n v thay i u vo. nhy ca cm bin thng lin quan mt thit n
phn gii. Mt cm bin c c tnh tuyn tnh th c nhy khng i trn ton b
di u vo. Cc cm bin c c tnh phi tuyn th c nhy tng hoc gim khi
u vo thay i nh hnh 3.3.
Trang 17
Hnh 3.3. nhy ca cm bin.

3.2.4. Sai s.
Sai s l sai khc gia gi tr o c v gi tr thc ca u vo. C hai
loi sai s l sai s h thng v sai s ngu nhin. Sai s h thng c tt c cc php
o c thc hin vi cm bin. Cc dng ca sai s h thng:
Sai s lch khng: l dng ph bin ca sai s h thng khi gi
tr u ra khc khng vi u vo bng khng.
Sai s ti: do thm cm bin vo h o lm thay i h.
Sai s do nhy ca cm bin thay i khng ging nh mong
mun.
3.2.5. Kh nng lp li.
Kh nng lp li l kh nng thu c u ra ging nhau vi u vo ging
nhau ca mt cm bin. Sai s ngu nhin lm gim kh nng lp li. Sai s ngu
nhin c th khc phc bng cch ly trung bnh ca mt s php o. Nhiu cng lm
gim kh nng lp li.
3.2.6. Vng cht.
Vng cht l mt vng u vo gn im khng m u ra vn gi gi tr
khng. Khi u vo dch ra khi vng cht th u ra s thay i theo u vo (hnh
3.4).
Trang 18
u ra
Tuyn tnh
Vng cht
thc
u vo
Hnh 3.4. Vng cht.

Vng cht thng c dng trong b n nhit gia nh v cc b iu khin
qu trnh.
u ra
Vng cht
bt
tt
im t
nhit
Hnh 3.5. Vng cht ca b n nhit.

V d v b n nhit gia nh c m t trn hnh 3.5.
Khi nhit t im t (gi tr mong mun) trn b n nhit, u ra vn gi
trng thi tt. Ngay khi nhit trong phng tng ln ti gi tr im t cng mt
na gi tr vng cht th u ra h thng lm mt s bt hon ton.
Khi phng lnh i, u ra s gi trng thi bt n khi nhit trong phng
t im t tr i mt na gi tr vng cht, u ra h thng lm lnh s tt hon
ton.
Trang 19
3.2.7. Tnh n nh.
Thut ng tnh n nh c nhiu nh ngha v cch dng khc nhau nhng
nh ngha ph bin nht l nh ngha lin quan n cn bng. Mt h cn bng s
gi c trng thi khng i khi khng c nhiu tc ng. Mt h n nh s tr li
trng thi cn bng nu c nhiu nh lm dch chuyn h thng khi trng thi ban
u. Mt h khng n nh s khng tr li v tr cn bng v thng dch chuyn xa
v tr cn bng.
C ma st
Khng n nh
n nh
Khng ma st
Bin gii n nh
Hnh 3.6. Tnh n nh ca h thng.

Hnh 3.6 cho thy ba iu kin n nh vi mt h n gin gm: qu bng v
i. Trong mi trng hp, v tr cn bng c xc nh d dng trn nh i
hoc di y. Trong trng hp n nh, mt dch chuyn nh ca qu bng ra khi
v tr cn bng, n s quay tr v v tr cn bng, c th sau mt vi dao ng. Trong
trng hp th ba, trng hp khng c ma st lm qu bng dao ng lin tc
quanh v tr cn bng sau khi c mt chuyn ng nh. Trng hp c bit ny gi
l bin n nh do h thng khng bao gi thc s tr li v tr cn bng.
Hu ht cc cm bin v c cu chp hnh vn n nh. Tuy nhin, vic
thm cc h iu khin ch ng c th lm h cc thit b n nh tr thnh khng
n nh. Cn phn tch v kim tra cn thn m bo rng mt h c in t hot
ng trong trng thi n nh.
3.2.8. Thi gian p ng.
L thi gian tr gia u vo v u ra. Cm bin cng tt th thi gian p
ng cng nh.
3.2.9. Nhit h thng.
L khong nhit m ti cm bin cn c th hot ng c.
Trang 20
3.3. Mt s loi cm bin thng gp.
3.3.1. Cm bin dch chuyn thng v quay.
Hu ht cc chuyn ng ph bin nht trong cc h thng c kh l chuyn
ng thng dc theo mt trc c nh v quay mt gc quanh trc c nh. Nhng
chuyn ng phc tp hn thng c to ra bi vic kt hp nhng chuyn ng
n gin . Trong phn ny chng ta s gii thiu tm tt mt s cng ngh sn c
o cc chuyn ng thng v chuyn ng quay quanh mt trc.
3.3.1.1. Cng tc hnh trnh.
Loi n gin nht ca cm bin dch chuyn l mt cng tc hnh trnh, n
gi tr mt bit thng tin: chm hoc khng chm. Mt cng tc hnh trnh in hnh
bao gm mt n by, khi n c tc ng n s to ra mt tip xc c kh bn
trong cng tc, t to ra mt mch in kn (hnh 3.7). C th s dng cng tc
ny nh l nhng cm bin va chm.
Hnh 3.7. Cng tc hnh trnh.

3.3.1.2. Tia hng ngoi.
Tia hng ngoi c th c s dng o cc dch chuyn thng hoc dch
chuyn quay. Thng thng cc it pht tia hng ngoi (LED) hoc l n pht
quang (Thit b pht) c dng nh mt ngun pht sng v mt thit b cm nhn
hng ngoi c dng pht hin tia sng (thit b thu).
Nu thit b pht v thit b thu t i din nhau th chng c th c s
dng nh mt b ngt tia pht hin bt k vt g i qua chng. Thit b ny c
gi l thit b ngt quang (hnh 3.8).
Hnh 3.8. B ngt quang dn QVA11234

Trang 21
Nu thit b pht v thu di chuyn t do theo ng thng ni chng, th
cng ca tn hiu nhn c c th c s dng o khong cch gia chng.
Tuy nhin thit b thu tia hng ngoi cng c th nhy cm vi c nh sng ca mi
trng xung quanh. Do vy trong qu trnh thit k ta phi n hin tng ny
lm cho cm bin chng nhiu mt cch tt nht.
Mt b pht sng v b d t cng hng v mt pha c th o th khong
cch ti mt b mt gn nh cng ca tia phn x sau khi va vo b mt.
Thit b c gi l thit b phn x quang (hnh 3.9). Mt cm bin nh vy c
th c dng cho cc robot di ng pht hin cc vt cn mt khong cch cho
trc.
Hnh 3.9. Cm bin phn x quang bn dn QRB1114.

Cc thit b ngt quang v cc thit b phn x quang c th c ng gi sn
hoc ch to ring bit t mt LED hng ngoi v mt it quang hoc tranzito
quang, sau khi chc chn rng thit b thu nhy cm vi bc sng sinh ra bi LED
pht hng ngoi.
3.3.1.3. Cc b m ha quang hc.
Mt b m ha quang s dng mt b ngt quang bin chuyn ng thnh
mt chui xung in. Nhng chui xung ny m ha chuyn ng v cc xung
c m hoc c gii m bi mt mch in a ra s o dch chuyn.
Chuyn ng c th l thng hoc quay, nhng chng ta tp trung vo cc b m ha
quang quay thng thng.
C hai b m ha quang quay c bn l: m ha tng i v b m ha tuyt
i. Trong b m ha tng i, mt a (a chia vch) c gn vo mt trc quay
trn gia hai b ngt quang hc (hnh 3.10). V vy khi trc quay th cc vch ny s
ngn hoc cho tia sng hng ngoi ti thit b d quang hc. Cc dy xung thu c
t cc b d ny c tn s tng ng vi vn tc gc ca a. Nhng tn hiu ny
c k hiu l A v B. Hai tn hiu A v B ny lch pha nhau chu k.
Trang 22
Hnh 3.10. B m ha tng i.

Thng qua vic m s lng cc xung v s lng cc vch trn a bit,
ta c th o c tc quay ca trc. Hng quay c xc nh da trn quan h
pha ca cc chui xung A v B. V d A tng khi B = 1 ta c th ni rng chuyn
ng ca a l chuyn ng quay ngc chiu kim ng h. Ngc li A tng khi B
= 0 th chuyn ng ca a l chuyn ng quay cng chiu kim ng h.
3.3.2. o lc.
Lc l mt i lng vect, c nh ngha nh l tc nhn gy ra gia tc
hoc phn ng c th ca mt vt. Trong phn ny chng ta s gii thiu cc phng
php c ng dng xc nh ln ca nhng lc ny.
Nhn xt chung: Nu cc lc tc dng ln mt vt m khng sinh ra gia tc,
chng phi c mt dng h lc cn bng. H ny c xem nh l mt h cn bng
tnh. Cc lc tc dng ln vt c th chia lm hai loi: ni lc do cc phn t ring
bit ca vt tc dng ln nhau v ngoi lc.
(a)
(b)
(c)
Hnh 3.11. Vt b ko dc trc (a), nn dc trc (b), bin dng (c).

Trong k thut o hin c, mt nhm c gi l cm bin ti. Nhn chung
cm bin ti gm mt khung cng, mt mi trng o cc lc t vo v mt u
Trang 23
o. Cc cm bin ti c s dng o cc lc ln, tnh hoc bin thin chm vi
lch rt t v tng i chnh xc. C th p dng cc phng php khc nhau
o cc lc ty thuc vo thit k ca cm bin ti. V d hnh 3.12 minh ha cm
bin ti thy lc. Cm bin ti dng o cc lc tng i ln vi gi thnh thp.
Cm bin ti thy lc dng mt khung rt cng vi mt khoang trong cha y cht
lng. Khi c ti, p lc ca du tng, v mt u o chnh xc s c gi tr ny.
Hnh 3.12. Cm bin ti thy lc.

3.3.3. Cm bin o khong cch.
Cm bin ny c s dng o khong cch t mt im tham chiu ti
mt i tng. Rt nhiu cng ngh khc nhau c ng dng pht trin cc
loi cm bin ny, tiu biu l nh sng/quang hc, hnh nh, vi sng v siu m.
Cm bin o khong cch c th c phn lm hai loi: Tip xc v khng tip xc.
Ta ch yu cp n loi khng tip xc.
Cm bin o khong cch khng tip xc l loi cm bin o khong cch
thc t im tham chiu ti mt i tng khng qua tip xc vt l. C th c
phn lm hai loi l: ch ng (pht mt s dng nng lng vo khu vc cn quan
tm) v b ng (da trn nng lng pht ra t cc i tng trong khu vc quan
tm).
Vi cc loi cm bin ch ng (phn x), khong cch o hiu qu ph thuc
khng ch vo mc nng lng pht ra m cn ph thuc vo cc c tnh sau ca i
tng:
Din tch tit din ngang: xc nh lng nng lng pht ra tc
ng vo i tng.
H s phn x: xc nh lng nng lng truyn ti c phn
x so vi lng nng lng b hp th hoc xuyn qua.
tp trung: xc nh kh nng phn b li ca nng lng
phn x.
Rt nhiu cm bin khng tip xc hot ng da trn hin tng truyn sng.
Sng c pht ra ti mt im tham chiu, khong cch c xc nh bng cch o
thi gian truyn t im tham chiu ti vt hoc suy gim ca cng khi sng
Trang 24
truyn ti vt v quay tr li im tham chiu. Thi gian truyn sng thng c o
bng phng php thi gian truyn (TOF_Time of flight).
Phng php thi gian truyn:
Phng php thi gian truyn c minh ha trong hnh 3.13 v 3.14. Mt b
pht sng (pht ra vi chu k) c pht ra v phn x t vt v b thu c v tr gn
b pht. B pht v b thu c th c tch hp trn cng mt cm bin. B thu cng
c th c gn trn vt. TOF l thi gian t khi bt u pht n khi c tn hiu tr
v. Khong cch c xc nh bng cng thc d = c.TOF/2 (khi b pht v b thu
cng mt v tr ) v d = c.TOF (khi b thu c gn trn vt).
Hnh 3.13. Sng c pht v phn x li t vt
Hnh 3.14. nh ngha thi gian truyn sng.

chnh xc ca phng php ny c th c tng ln bng phng php d
bin cc i (hnh 3.15)
Trang 25
Hnh 3.15. TOF tnh theo bin ln nht ca tn hiu phn x

Sai s ca phng php thi gian truyn c th do cc nguyn nhn sau:
S thay i tc truyn sng: c bit l vi cc h thng m thanh ta
phi ch ti s thay i ny. V tc m thanh chu nh hng r
rt ca nhit v m.
Khng xc nh c chnh xc thi gian n ca xung phn x.
Sai s ca mch nh thi s dng o thi gian truyn.
S tng tc ca sng ti b mt i tng cn o khong cch: Khi
nh sng, m thanh hoc sng radio tc ng vo i tng, tn hiu
phn hi o c ch th hin mt phn nh ca tn hiu ban u. Nng
lng cn li phn x theo cc hng khc nhau v c th c hp
th hoc xuyn qua i tng, ph thuc vo c tnh i tng v gc
ti ca chm sng.
3.4. C cu chp hnh.
3.4.1. Cc ng c in.
3.4.1.1. ng c DC.
Trn hnh 3.16 khi cho in p mt chiu U vo hai chi in A v B, trong
dy qun phn ng c dng in chu lc tc dng tng h ln nhau to nn momen
tc dng ln rto, lm rto quay. Chiu lc tc dng c xc nh theo qui tc bn
tay tri (hnh 3.16a).
Trang 26
Hnh 3.16. Nguyn l lm vic ca ng c mt chiu.

Khi phn ng quay c na vng, v tr thanh dn ab, cd i ch nhau (hnh
3.16b), nh c phin gp i chiu dng in, nn dng in mt chiu bin i thnh
dng in xoay chiu a vo dy qun phn ng, gi cho chiu lc tc dng khng
i, do lc tc dng ln rto cng theo mt chiu nht nh, m bo ng c c
chiu quay khng i.
IU CHNH TC :
ng vi mi ti khc nhau ta cn c tc khc nhau. V vy ph hp vi
ti, cn phi iu chnh tc ng c lc c ti.
Ta c phng trnh in p mch phn ng l:
U = E + RI
E = U - RI
Thay tr s E = KE n ta c phng trnh tc l:
n=
U R u Iu
K E
Nhn vo phng trnh trn, ta thy rng mun iu chnh tc ta c cc

phng php sau:
a. Mc in tr iu chnh vo mch phn ng.
Khi mt thm in tr ph vo mch phn ng, in tr R tng ln c tnh
c dc xung, tc ng c gim dn. Do dng in phn ng ln nn tn hao
cng sut trn in tr iu chnh ln. Phng php ny ch s dng ng c cng
sut nh.
b. Thay i in p U.
Dng ngun in mt chiu iu chnh in p cung cp cho ng c.
Phng php ny c s dng nhiu.
c. Thay i t thng.
Thay i t thng bng cch thay i dng in kch t.
Trang 27
Khi iu chnh tc , ta kt hp vi cc phng php trn. V d phng
php thay i t thng, kt hp vi phng php thay i in p th phm vi iu
chnh rt rng, y l u im ln ca ng c in mt chiu.
3.4.1.2. ng c AC.
a. ng c khng ng b.
Nguyn l lm vic:
Khi t in p xoay chiu ba pha c tn s f1 vo dy qun stato, trong dy
qun stato s c h thng dng ba pha chy qua, dng in ny s to ra t trng
quay p i cc, quay vi tc n1 =
60 f
. T trng quay ct cc thanh dn ca dy
p
qun rto v cm ng cc sc in ng. V dy qun rto ni ngn mch, nn sc

in ng cm ng s sinh ra dng trong cc thanh dn rto. Lc tc dng tng h
gia t trng quay ca my vi thanh dn mang dng in rto, ko rto quay theo
chiu vi t trng quay vi tc n.
minh ha, ta xt t trng quay B ca stato ang quay theo chiu kim
ng h vi tc n1 (hnh 3.11).
Khi xc nh chiu sc in ng cm ng theo quy tc bn tay phi, ta cn c
vo chiu chuyn ng tng i ca thanh dn vi t trng. Nu coi t trng
ng yn, th chiu chuyn ng tng i ca thanh dn ngc vi chiu n1, t
p dng quy tc bn tay phi xc nh c chiu sc in ng nh hnh v.
Chiu lc in t xc nh theo quy tc bn tay tri, trng vi chiu quay n1.
chnh lch gia tc t trng quay v tc ca my gi l tc
trt n2:
n2 = n1 n
H s trt ca tc l
Hnh 3.11. Qu trnh to momen
n 2 n1 n
S = = quay ca ng c khng ng b
n1
n1
Khi roto ng yn (n = 0), h s trt s = 1. Khi roto quay nh mc s = 0,02

0,06. Tc ng c l:
n = n1 (1 - s) =
60 f
(1 s) vg/p
p
b. ng c ng b.
Nguyn l lm vic:
Khi cho dng in ba pha vo dy qun stato, dng in ba pha dy qun
stato s sinh ra t trng quay vi tc :
Trang 28
n1 =
60 f
p
Nu rto ang ng yn (hnh 3.12), cc Nam S ca rto b cc Bc N stato

ko v n c xu hng quay theo chiu kim ng h. Nhng do qun tnh v cc Bc
stato qut qua n qu nhanh, trong khi n cha quay ti th sau na chu k n i
din vi cc Nam stato v b y li, ngha l rto c xu hng quay theo chiu
ngc li. Kt qu l moment (m my) trung bnh bng khng v rto khng quay
c.
Tuy nhin nu chng ta quay trc rto vi tc ng b cc cc t rto b
kha cht vo cc t stato tri du. Khi khng ti, t trng stato v rto cng
quay vi tc ng b n1 v trc ca chng trng nhau ( = 0). Lc c ti trc t
trng rto i chm sau trc t trng stato mt gc , ti cng nng gc cng
ln, nhng c hai vn cng quay vi tc ng b n1.
3.4.1.3. ng c bc.
a. Gii thiu v ng c bc.
Hnh
3.12. c
S b
to phn
ra momen
trong
ng c bc c bn l mt ng c in
khng
o mch
c dy
ngng
b. vai tr
(chi than). Thng thng ng c bc c nhiu hn ng
2 cun
stator (phn tnh). Rotor (phn ng) vn l mt nam chm vnh cu hoc l
nhng khi c rng (kha) lm bng vt liu nh c t tnh (trng hp ng c
bc bin t tr). S o mch cho dng in trong cun dy c thc hin
bng mch in iu khin bn ngoi. Thng thng, mch iu khin ny cn c
thm chc nng iu khin ng c quay ti, lui hoc gi nguyn v tr xc nh.
Hnh 3.17. Phn bit ng c bc v ng c in thng thng.
Trang 29
Hnh 3.18. Cu to bn trong ng c bc.
Hnh 3.19. Hnh dng bn ngoi ca ng c bc.

ng c bc thuc loi ng c ng b, chng khng th quay t do,
lin tc m hot ng theo nguyn l quay tng bc, mi bc ng c s
quay c mt gc (v d 1,80/bc). Mt vng quay ca n gm nhiu bc
ni tip nhau. Khi kt hp vi mch iu khin bn ngoi, chng c th quay n
v dng li ti mt v tr xc nh mt cch chnh xc.
b. Cc loi ng c bc.
Da vo cu to, ta c ba loi ng c bc chnh l: ng c bc nam
chm vnh cu, ng c bc bin t tr v ng c bc hn hp (ng c lai).
Ngoi ra cn c cch phn loi da vo mch iu khin nh ng c bc n
cc, lng cc.
ng c bc nam chm vnh cu.
ng c bc nam chm vnh cu c rotor l mt nam chm vnh cu,
khng chia thnh nhiu rng, cng c nhiu cun dy nh loi bin t tr. C hai
loi thng dng l ng c bc n cc (cn gi l c cc unipolar) v lng
cc (bipolar).
ng c bc bin t tr:
Trang 30
ng c bc bin t tr (hay cn gi l ng c bc phn khng)
khng dng nam chm vnh cu lm rotor m dng mt khi c rng lm bng
vt liu nh c t tnh. Phn stator l 3 n 5 cun dy c ni chung vi nhau.
Hnh 3.20. ng c bin t tr.

ng c bc hn hp.
ng c bc hn hp (hay cn gi l ng c bc cm ng) kt hp u
im ca hai loi ng c trn, ngha l chng c rotor l nam chm vnh cu,
c nhiu rng, stator l nhng cun dy. ng c hn hp thng dng l loi c
200 rng v c bc 1,80.
Hnh 3.21. ng c bc hn hp.

Nh ta thy trong hnh, rotor ca ng c bc hn hp gm hai a b tr
so le nhau. Mi a c nhiu rng ng vi cc cc.
3.4.2. H thng iu khin kh nn.
iu khin l qu trnh ca mt h thng, trong di tc dng ca mt hay
nhiu i lng vo, cc i lng ra thay i theo mt quy lut nht nh ca h
thng .
Mt h thng iu khin bao gm:
Trang 31
Phn t a tn hiu
- Cng tc, nt bm.
- Cng tc hnh trnh.
- Cm bin.
Phn t x l v
iu khin
-
Van o chiu.
Van chn.
Van tit lu.
Van p sut.
Phn t khuch i.
C cu chp hnh
- Xilanh.
- ng c kh nn.
Trong phn ny ta ch xt n 2 phn: Phn t x l v iu khin v c cu

chp hnh.
3.4.2.1. Phn t x l v iu khin.
3.4.2.1.1. Van o chiu.
Van o chiu c nhim v iu khin dng nng lng bng cch ng m
hay thay i v tr cc ca van thay i hng ca dng kh nn.
a. K hiu ca van o chiu.
Trang 32
TN THIT B
K HIU
Van o chiu 2/2
Van o chiu 4/2
Van o chiu 5/2
b. Tn hiu tc ng:
Tn hiu tc ng vo van o chiu c 4 loi l: tc ng bng tay, tc ng
bng c hc, tc ng bng kh nn v tc ng bng nam chm in.
Tn hiu tc ng t 2 pha (i vi van o chiu khng c v tr khng)
hay ch t 1 pha (i vi van o chiu c v tr khng).
Tc ng bng tay:
TN THIT B
K HIU
K hiu nt nhn tng qut
Nt bm
Trang 33
Tay gt
Bn p
Tc ng bng kh nn:
TN THIT B
K HIU
Trc tip bng dng kh nn vo

Trc tip bng dng kh nn ra
Trc tip bng dng kh nn vo vi
ng knh 2 u nng van khc nhau
Gin tip bng dng kh nn vo qua van
ph tr
Tc ng bng c.
TN THIT B
K HIU
u d
C chn bng con ln, tc ng 2 chiu
C chn bng con ln, tc ng 1 chiu
L xo
Nt nhn c rnh nh v
Tc ng bng nam chm in

Trang 34
TN THIT B
K HIU
Trc tip
Bng nam chm in v van ph tr
Tc ng theo cch hng dn c th
c. Van o chiu c v tr khng.

Van o chiu c v tr khng l loi van tc ng bng c l xo ln nng
van v k hiu l xo nm ngay v tr bn cnh vung pha bn phi ca k hiu van.
Tc ng ln pha i din nng van l tn hiu tc ng bng c, kh nn hay bng
in. Khi cha c tn hiu tc ng, v tr ca cc ca ni c biu din trong
vung pha bn phi i vi van o chiu 2 v tr. Cn i vi van o chiu 3 v tr
th v tr khng nm gia.
V d: Van o chiu 2/2 tc ng bng nam chm in.
0 R 1
1
Y
P
Van c 2 ca P v R, 2 v tr 0 v 1. Ti v tr 0, ca P v R b chn. Khi cun
Y c in, t v tr 0 van chuyn sang v tr 1, ca P ni vi ca R. Khi cun Y mt
in, do tc ng ca l xo pha i din, van s quay tr v v tr ban u.
d. Van o chiu khng c v tr khng.
Khi khng c tn hiu tc ng ln u nng van na, th v tr ca van vn
c gi nguyn i tn hiu tc ng t pha nng van i din. V tr tc ng k
hiu a , b, c,
Tn hiu tc ng c th l:
- Tc ng bng tay hay bn p.
- Tc ng bng dng kh nn iu khin vo hay ra t 2 pha nng van.
- tc ng trc tip bng in t hay gin tip bng dng kh nn i qua van
ph tr.
V d: Van o chiu 3/2 tc ng bng nam chm in.
a
b
Y2
Y1
P R
Trang 35
Khi cun Y1 c in th ca P ni vi ca A, ca R b chn. Khi cun Y2 c

in th ca A ni vi ca R cn ca P b chn.
3.4.2.1.2. Van chn.
Van chn l loi van ch cho dng kh nn i qua mt chiu, chiu cn li b
chn. Van chn gm c cc loi sau:
- Van 1 chiu.
- Van Logic OR.
- Van Logic AND.
- Van x kh nhanh.
TN THIT B
Van mt chiu.
Van mt chiu c tc dng ch cho
dng kh nn i qua mt chiu (t A qua B),
chiu ngc li b chn.
Van logic OR.
Khi c dng kh nn vo t P1 th
ca P2 b chn v ca P1 ni vi ca A.
Ngc li khi dng kh nn vo P2 th ca
P1 b chn, ca P2 ni vi ca A.
Van logic AND.
Khi c dng kh nn vo P1 th P1 b
chn, v ngc li khi c dng kh nn vo
P2 th P2 b chn. Ch khi no c P1 v P2
c dng kh nn vo th mi c kh nn qua
ca A.
K HIU
B
P1
A
P2
A
P1
P2
Van x kh nhanh.
A
Khi dng kh nn vo ca P, chn
ca R, ca P ni vi ca A. Khi dng kh
P
R
nn vo t A, ca P b chn, ca A ni vi
ca R, kh c x nhanh ra ngoi.
3.4.2.1.3. Van tit lu:

Van tit lu c nhim v thay i lu lng dng kh nn, c ngha l thay i
vn tc ca c cu chp hnh.
Trang 36
TN THIT B
K HIU
Van tit lu c tit din khng i:

Khe h ca van c tit din khng thay
i, do lu lng dng chy khng thay
i.
Van tit lu c tit din thay i:

Lu lng dng chy qua van thay i
c nh vo mt vt iu chnh lm thay i
tit din ca khe h.
Van tit lu mt chiu iu chnh
bng tay:
Tit din Az thay i bng cch iu
chnh vt bng tay. Khi dng kh nn t A
sang B, l xo y mng chn v dng kh nn
ch qua tit din Az. Khi dng kh nn t B
sang A, mng chn b y ln v dng kh i
qua khong h gia mng chn v mt ta
mng chn, lu lng khng c iu chnh.
Van tit lu mt chiu iu chnh

bng c chn:
Nguyn l hot ng tng t nh van
tit lu mt chiu iu chnh bng tay. Dng
kh nn ch c th i mt chiu t A sang B,
ty vo v tr ca c chn m tit din ca khe
h ca van thay i, lm cho lu lng dng
chy thay i.
3.4.2.1.4. Van p sut.
Trang 37
TN THIT B
Van an ton.
Bnh thng khi p sut nh hn
hoc bng p sut cho php, ca R b
chn, nhng khi p sut ln hn p sut
cho php, ca R m ra, kh nn t ca P
theo ca R thot ra ngoi.
Van trn.
Nguyn tc hat ng tng t
nh van an ton, nhng ch khc ch
l khi p sut bng hoc ln hn p sut
cho php th ca P ni vi ca A, ni
vi h thng iu khin.
K HIU
A
X
Van p sut iu chnh t xa :
Khi c tn hiu p sut tc ng,
th ca P ni vi ca A. Tn hiu tc
ng c th trc tip ln van o chiu,
hay tn hiu gin tip qua van trn.
R
A
3.4.2.2. C cu chp hnh:

C cu chp hnh c nhim v bin i nng lng kh nn thnh nng lng
c hc. C cu chp hnh c th thc hin chuyn ng thng (xilanh) hoc chuyn
ng quay (ng c kh nn).
3.4.2.2.1. Xi lanh.
Trang 38
TN THIT B
K HIU
Xilanh tc dng n (xilanh tc

dng mt chiu).
p lc kh nn ch tc dng vo
mt pha ca xilanh, pha cn li l do
ngoi lc hay l xo tc dng.
Xilanh tc dng 2 chiu (xilanh
tc dng kp).
p sut kh nn c dn vo 2
pha ca xilanh, do yu cu iu khin
m xilanh s i vo hay i ra ty thuc
vo p lc kh nn vo pha no.
3.4.2.2.2. ng c kh nn:
ng c kh nn c nhim v bin i nng lng ca kh nn thnh nng
lng c hc (chuyn ng quay).
ng c kh nn c nhng u im sau:
- iu chnh c momen quay v s vng quay.
- S vng quay cao v iu chnh v cp
- Khng h hng khi qu ti
- Gi thnh bo dng thp
Nhc im.
a.
b.
- Gi thnh nng lng cao.
a. ng c quay mt chiu
- S vng quay thay i theo ti trng.
b. ng c quay hai chiu.
- Gy ting n ln khi x kh.
Hnh 3.22. K hiu ng c kh nn
Trang 39
CHNG 4: IU KHIN LOGIC KH LP TRNH PLC

4.1. Gii thiu PLC.
4.1.1. Gii thiu chung.
PLC vit tt ca Programmable Logic Controllers. L thit b iu khin logic
lp trnh c, cho php thc hin linh hot cc thut ton iu khin logic thng qua
mt ngn ng lp trnh.
S pht trin ca PLC em li nhiu thun li v lm cho cc thao tc
my tr nn nhanh, nhy, d dng v tin cy hn. N c kh nng thay th hon
ton cho cc phng php iu khin truyn thng dng rle (loi thit b phc tp
v cng knh); kh nng iu khin thit b d dng v linh hot da trn vic lp
trnh trn cc lnh logic c bn; kh nng nh thi, m, gii quyt cc vn ton
hc v cng ngh, kh nng to lp gi i, tip nhn nhng tn hiu nhm mc ch
kim sot s kch hot hoc nh ch nhng chc nng ca my hoc mt dy chuyn
cng ngh.
Nh vy nhng c im lm cho PLC c tnh nng u vit v thch hp
trong mi trng cng nghip:
Kh nng khng nhiu rt tt.
Cu trc dng modul rt thun tin cho vic thit k, m rng, ci to
nng cp...
C nhng modul chuyn dng thc hin nhng chc nng c bit hay
nhng modul truyn thng kt ni PLC vi mng cng nghip hoc
mng Internet...
Kh nng lp trnh c, lp trnh d dng.
Yu cu ca ngi lp trnh khng cn gii v kin thc in t m ch
cn nm vng cng ngh sn xut v bit chn thit b thch hp l c th
lp trnh c.
Thuc vo h sn xut linh hot do tnh thay i c chng trnh
hoc thay i trc tip cc thng s m khng cn thay i li chng
trnh.
4.1.2. Hnh dng bn ngoi.
Trang 40
Hnh 4.1. Hnh dng bn ngoi ca mt PLC

M t cc n bo trn S7-200:
SF: n SF bo hiu h thng b hng. n SF sng ln khi PLC c
hng hc.
RUN: n xanh RUN ch PLC ang ch lm vic v thc hin
chng c np vo trong PLC.
STOP: n vng STOP ch nh rng PLC ang ch dng. Dng
chng trnh ang thc hin li.
Ix.x: n xanh cng vo ch nh trng thi tc thi ca cng Ix.x . n
ny bo hiu trng thi ca tn hiu theo gi tr logic ca cng.
Trang 41
Qy.y: n xanh cng ra bo hiu trng thi tc thi ca cng Qy.y. n
ny bo hiu trng thi ca tn hiu theo gi tr logic ca cng.
Cng truyn thng:
S7-200 s dng cng truyn thng ni tip RS485 vi phch ni 9 chn
phc v cho vic ghp ni vi thit b lp trnh hoc vi cc trm PLC khc.
Ch thch:
1.
t
2.
24 VDC
3.
Truyn v nhn d liu
4.
Khng s dng
5.
t
6.
5 VDC
7.
24 VDC
8.
Truyn v nhn d liu
9.
Khng s dng.
Hnh 4.2. S chn ca cng truyn thng
Ghp ni S7-200 vi my tnh PC qua cng RS232 cn c cp ni PC/PPI vi
b chuyn i RS232/RS485.
Hnh 4.3. S kt ni gia PLC v my tnh thng qua cp PC/PPI
Trang 42
Hnh 4.4. Hnh dng v kch thc ca cp PC/PPI
Cng tc chn ch lm vic cho PLC

RUN: Cho php PLC thc hin chng trnh trong b nh, khi chng
trnh gp li hoc gp lnh STOP th PLC s t ng chuyn sang ch
STOP mc d cng tc vn ch RUN (nn quan st trng thi thc
ti ca PLC theo n bo).
STOP: Khi chuyn sang ch STOP, dng cng bc chng trnh
ang chy, cc tn hiu ra lc ny u v off. ch STOP PLC cho php
hiu chnh li chng trnh hoc np mt chng trnh mi.
TERM: cho php my lp trnh t quyt nh chn mt trong hai ch
lm vic cho PLC RUN hoc STOP.
Vt chnh nh tng t: Mi CPU c t 1 n 2 vt chnh nh tng t,
c th xoay c mt gc 270, dng thay i gi tr ca bin s dng trong
chng trnh.
Pin v ngun nui b nh: Khi nng lng ca t b cn kit, ngun pin t
ng chuyn sang trng thi tch cc, PLC s s dng nng lng t pin. Vic thay
th ny lm cho d liu trong b nh khng b mt i.
4.1.3. Cc thnh vin h S7-200.
Cc thng s c bn ca cc thnh vin h S7-200 c m t tm tt bng
sau:
Thng s
Kch thc
B nh
chng
trnh
B nh
D liu
Cng vo
Cng ra
Modul m
rng
Cng truyn
thng
D tr b
nh (gi)
B nh
thi
CPU221
90x80x62
4096 bytes
CPU222
90x80x62
4096 bytes
CPU224
120.5x80x62
8912 bytes
CPU226
190x80x62
8912 bytes
CPU226XM
190x80x62
1634 bytes
2048 bytes
2048 bytes
5120 bytes
5120 bytes
1024 bytes
6
4
0
8
6
2 Modules
14
10
7 Modules
24
16
7 Modules
24
16
7 Modules
RS-485
RS-485
RS-485
RS-485
RS-485
50
50
190
190
190
256 b nh thi: 4 b 1ms, 16 b 10 ms, 236 b 100ms
Trang 43
Cc loi
B m
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
DC/DC/DC
AC/DC/RL
C0-C255
Bng 4.1. Cc thng s c bn ca cc thnh vin h S7-200
Trang 44
Trang 45
Bng 4.2. Cc loi CPU S7-200.
Bng 4.3. Kch thc v trng lng.
Bng 4.4. Mt s thng s k thut.
Trang 46
4.1.4. Modul m rng.
Cu trc modul ca S7-200 to s linh hot ti a gii quyt cc bi ton,
n cho php chng ta chn s u vo ra ti u v mt kinh t. Chng ta c th tng
thm s cng vo ra cho bng cch ni thm cc modul m rng.
Cc modul m rng ny c cm ni tip nhau vo bn phi CPU lm thnh

mt mc xch.. a ch cc u vo ra trn cc modul m rng c xc nh bng
kiu vo, ra v v tr ca modul trong mc xch.
Hnh 4.5. Ghp ni CPU 224 vi cc modul m rng
Trang 47
Bng 4.5. Cc loi modul m rng
Bng 4.6. Cc thng s c bn ca modul m rng s
Trang 48
Bng 4.6. Cc loi modul m rng s.
Bng 4.7. Cc thng s c bn ca cc loi modul m rng analog.
Trang 49
Hnh 4.6. Kch thc ca cc loi PLC v modul m rng

4.2. u ni PLC v modul m rng.
4.2.1. PLC s dng ngun nui mt chiu.
Hnh 4.7. Cch u dy CPU 221 DC/DC/DC

Trang 50
Trang 51

4.2.2. PLC s dng ngun nui xoay chiu.
Hnh 4.11. Cch u dy CPU 221 AC/DC/RELAY
Trang 52
Trang 53

4.2.3. u ni modul m rng.
Hnh 4.15. Cch u modul m rng EM 221 Digital Input 8x24 VDC
Trang 54
Hnh 4.16. Cch u modul m rng EM 222 Digital Output 8
Hnh 4.17. Cch u modul m rng EM 223 24VDC 4 Inputs/4 Outputs
Trang 55
Hnh 4.18. Cch u modul m rng EM 223 24VDC 4 Inputs/4 Relay Outputs
Trang 56
Trang 57
4.3. Ngn ng lp trnh.
4.3.1. Cch thc hin chng trnh.
PLC thc hin chng trnh theo chu trnh lp. Mi vng lp c gi l vng
qut (scan). Mi vng qut c bt u bng giai on c d liu t cc cng vo
vng m o, tip theo l giai on thc hin chng trnh. Trong tng vng qut,
chng trnh c thc hin bng lnh u tin v kt thc ti lnh kt thc. Sau giai
on thc hin chng trnh l giai on truyn thng ni b v kim tra li. Vng
qut c kt thc bng giai on chuyn cc ni dung ca b m o ti cc cng
ra.
Hnh 4.23. Cu trc mt vng qut trong PLC
Trang 58
Nh vy ti thi im thc hin lnh vo/ra, thng thng lnh khng thc
hin hin lnh trc tip vi cng vo/ra m ch thng qua b m o ca cng trong
vng nh tham s. Vic truyn thng gia b m o vi ngoi vi do CPU qun l.
Khi gp lnh vo/ra th ngay lp tc h thng s cho dng mi cng vic khc, ngay
c chng trnh x l ngt, thc hin lnh ny mt cch trc tip vi cng vo/ra.
Chng trnh x l ngt ch c thc hin trong vng qut khi xut hin tnh
hiu bo ngt v c th xy ra bt c im no trong vng qut.
4.3.2. Cu trc chng trnh.
Cu trc ca mt chng trnh c to thnh t 3 thnh phn c bn: 1
chng trnh chnh (main Program), c th c mt hay nhiu chng trnh con
(subroutines), cc chng trnh con x l ngt (interrupt routines) c th c hoc
khng.
Chng trnh chnh bao gm cc lnh iu khin ng dng. Cc lnh ny
c thc hin tun t mt cch lin tc, c mi vng qut mt ln. Chng trnh
chnh c kt thc bng lnh kt thc chng trnh (MEND hoc END).
Chng trnh con l mt b phn ca chng trnh. N c th c hoc khng,
ch c thc hin khi c lnh gi n t chng trnh chnh. Cc chng trnh con
phi c vit sau lnh kt thc chng trnh chnh (MEND hoc END).
Cc chng trnh con x l ngt (c th c hoc khng) khi xy ra s kin
ngt tng ng. S kin c th l s thay i mc mt u vo, b nh thi
m hay nhn c d liu trn cng truyn thng.Chng trnh x l ngt
cng phi c vit sau lnh kt thc chng trnh chnh (MEND hoc END).
Cc chng trnh con thng c nhm li thnh mt nhm ngay sau
chng trnh chnh. Sau n ngay cc chng trnh x l ngt. Bng cch vit nh
vy, cu trc chng trnh c r rng v thun tin hn trong vic c chng
trnh sau ny. Cng c th t do trn ln cc chng trnh con v chng trnh x l
ngt ng sau chng trnh chnh.
Trang 59
Hnh 4.24. Cu trc mt chng trnh ca PLC

4.3.3. Phng php lp trnh.
Lp trnh cho S7 200 v cc PLC khc ca hng Siemens da trn 3 phng
php c bn:
- Phng php hnh thang (Ladder logic _ LAD).
- Phng php khi hm (Function Block Diagram _ FBD).
- Phng php lit k cu lnh (Statement List _ STL).
Thng thng chng ta ch dng 2 phng php l LAD v STL. Nu
chng trnh c vit theo kiu LAD, thit b lp trnh s t to theo kiu STL
tng ng. Ngc li khng phi mi chng trnh c vit theo kiu STL cng
u c th chuyn sang c dng LAD.
nh ngha v LAD: LAD l ngn ng lp trnh bng ha. Nhnh thnh
phn c bn dng trong LAD tng ng vi nhng thnh phn c bn dng trong
bng mch rle. Trong chng trnh LAD cc phn t c bn dng biu din lnh
logic nh sau:
- Tip im c hai loi: Thng ng
; thng h
- Cun dy (coil):
- Hp (box): M t cc hm khc nhau, n lm vic khi c dng in a
n hp. C cc nhm hp sau: hp cc b nh thi, hp cc b m, hp di
chuyn d liu, hp cc hm ton hc....
Trang 60
- Mng LAD: L ng ni cc phn t thnh mt mch hon chnh, i
t ng ngun bn tri sang ng ngun bn phi. Ngun in c hai ng
chnh, mt ng bn tri th hin dy nng, mt ng bn phi l dy trung ha
(neutral) hay l ng tr v ngun cung cp. ng ngun bn phi khng
c th hin trn giao din lp trnh.
nh ngha v STL: L phng php th hin chng trnh di dng tp
hp cc cu lnh. Khc vi hai ngn ng kia l dng ha. Chnh v th trong STL
c th vit nhng chng trnh m trong hai ngn ng cn li khng th vit c.
Bi v n st vi ngn ng my hn, khng b gii hn bi cc quy tc ha. STL
thng dnh cho lp trnh vin giu kinh nghim.
STL c th gii quyt c mt s vn khng th gii quyt d dng
trong Lad v FBD, STL ch c th s dng tp lnh SIMATIC, mi chng trnh
vit bng LAD hay FBD c th xem v sa trong STL nhng khng phi tt c
nhng chng trnh vit trong STL u c th xem bng LAD hay FBD.
to ra mt chng trnh bng STL, ngi lp trnh cn phi hiu r
phng thc s dng 9 bit trong ngn xp (stack) logic ca S7-200.
Ngn xp l mt khi 9 bit chng ln nhau t S0 n S8, nhng tt c cc
thut ton lin quan n ngn xp u lm vic vi bit u tin v bit th hai (S0 v
S1) ca ngn xp. Gi tr logic mi c th c gi hoc ni thm vo ngn xp. Hai
bit S0 v S1 phi hp vi nhau th ngn xp c ko ln mt bit.
4.4. Mt s lnh c bn.
4.4.1. Lnh vo ra.
STL
LD
A
O
LDN
AN
ON
LDI
AI
OI
LDNI
AIN
OIN
= bit
LAD
M t
Ton hng
bit
Tip im thng m s c bit: I, Q, M, SM,

ng khi bit = 1.
T, C, V.
bit
Tip im thng ng s c bit: I, Q, M, SM,

m khi bit = 1.
T, C, V.
bit
Tip im thng m s ng
bit: I
tc thi khi bit = 1.
bit
bit
Tip im thng ng s m
tc thi khi bit = 1.
bit: I
Cun dy u ra trng thi ON bit: I, Q, M, SM,
Trang 61
=I bit
bit
khi c dng in iu khin i

T, C, V.
qua.
Cun dy u ra trng thi ON
tc khi c dng in iu khin bit: Q
i qua.
4.4.2. Cc lnh ghi/xa gi tr cho tip im.

Lnh ny dng ng v ngt cc im gin on c thit k. Khi
dng iu khin n cc cun dy th cc cun dy ng hoc m cc tip im
(hoc mt dy cc tip im).
STL
LAD
S bit, n
R bit, n
SI bit, n
RI bit, n
bit
S
n
bit
R
n
bit
SI
n
bit
RI
n
M t
Ton hng
Set 1 mng gm n tip im,

tnh t tip im "bit" bit: I, Q, M, SM, T,
C, V
(n<=128 tip im).
n: IB, QB, MB, SMB,
Reset 1 mng gm n tip VB, AC, Hng s,
im, tnh t tip im "bit" *VD, *AC
(n <= 128 tip im).
Set tc thi 1 mng gm n
tip im, tnh t tip im
bit: Q
"bit" (n <= 128 tip im).
n: IB, QB, MB, SMB,
VB, AC, Hng s,
Reset tc thi 1 mng gm n
*VD, *AC
tip im, tnh t tip im
"bit" (n <= 128 tip im).
4.4.3. Cc lnh logic i s Boolean.

Cc lnh ny c biu din trong LAD v STL c tm tt trong bng sau.
Chng s dng bit nh c bit SM1.0 thng bo v trng thi kt qu php tnh
c thc hin. SM1.0 l bit nh 0 (C gi tr logic bng 1 khi kt qu ca php tnh
l 0)
Biu din trong STL
Trang 62
STL
ANDW IN1, IN2
ORW IN1, IN2
XORW IN1, IN2
ANDD IN1, IN2
ORD IN1, IN2
XORD IN1, IN2
M t
Lnh thc hin php logic
AND gia cc bt tng
ng ca hai t IN1 v IN2.
Kt qu c ghi li vo
IN2.
OR gia cc bt tng ng
ca hai t IN1 v IN2. Kt
qu c ghi li vo IN2.
XOR gia cc bt tng
ng ca hai t IN1 v IN2.
Kt qu c ghi li vo
IN2.
AND gia cc bt tng
ng ca hai t kp IN1 v
IN2. Kt qu c ghi li
vo IN2.
OR gia cc bt tng ng
ca hai t kp IN1 v IN2.
Kt qu c ghi li vo
IN2.
XOR gia cc bt tng
ng ca hai t kp IN1 v
IN2. Kt qu c ghi li
vo IN2.
Ton hng
IN1: VW, T, C, IW, QW,

SMW, AC, AIW, *VD,
*AC, Hng s.
SMW, AC, AIW, *VD,
*AC
IN1: VD, ID, QD, MD,

SMQ, AC, HC, *VD,
*AC, Hng s.
SMD, AC, *VD, *AC
Trang 63
Biu din trong LAD.
LAD
M t
Lnh thc hin php logic AND
gia cc bt tng ng ca hai
t IN1 v IN2. Kt qu c
ghi li vo OUT.
Lnh thc hin php logic OR
ghi li vo OUT.
Lnh thc hin php logic XOR
ghi li vo OUT.
Lnh thc hin php logic AND
t kp IN1 v IN2. Kt qu
c ghi li vo OUT.
Lnh thc hin php logic OR
c ghi li vo OUT.
Ton hng
SMW, AC, AIW, *VD,
*AC, Hng s.
SMW, AC, AIW, *VD,
*AC
OUT: VW, T, C, IW, MW,
QW, SMW, AC, *VD,
*AC

SMQ, AC, HC, *VD,
*AC, Hng s.
SMD, AC, *VD, *AC
Lnh thc hin php logic XOR

OUT: VD, ID, QD, MD,
SMD, AC, *VD, *AC
c ghi li vo IN2.
Trang 64
V d: Vit trong LAD
Vit trong STL

NETWORK 1
LD I4.0
ANDW AC1 AC0
ORW AC1 VW100
XORW AC1 AC0
Kt qu.
Trang 65
4.4.4. Cc lnh tip im c bit.
C th dng lnh tip im c bit pht hin s chuyn tip trng thi ca
xung (sn xung) v o li trng thi dng cung cp (gi tr ca nh ngn xp).
LAD s dng cc tip im c bit tc ng vo dng cung cp. Cc tip im
c bit khng c ton hng ring. V vy phi t chng vo v tr pha trc ca
cun dy hoc hp u ra.
Cc lnh tip im c bit c biu din trong LAD:
LAD
NOT
M t
Ton hng
Tip im o trng thi ca dng cung
cp. Nu dng cung cp c tip im o
Khng c
th n b ngt mch, nu khng c tip
im o th n thng mch.
Tip im chuyn i dng, cho php
thng mch trong mt vng qut khi sn Khng c
xung iu khin chuyn t 0 ln 1.
Tip im chuyn i m, cho php thng
mch trong mt vng qut khi sn xung Khng c
iu khin chuyn t 1 xung 0.
Cc lnh tip im c bit c biu din trong STL:

STL
NOT
EU
ED
M t
Lnh o gi tr bit u tin trong ngn xp.
Lnh nhn bit s chuyn tip trng thi t 0 ln 1
trong mt vng qut ca nh ngn xp. Khi nhn c
s chuyn tip nh vy nh ngn xp s c gi tr bng
1 trong mt vng qut.
Lnh nhn bit s chuyn tip trng thi t 1 xung 0
trong mt vng qut ca nh ngn xp. Khi nhn c
s chuyn tip nh vy nh ngn xp s c gi tr bng
1 trong mt vng qut.
Ton hng
Khng c
Khng c
Khng c
Trang 66
4.4.5. Cc lnh so snh.
LAD
IN1
==B
IN2
IN1
==I
IN2
IN1
==D
IN2
IN1
==R
IN2
IN1
<> B
IN2
IN1
<> I
IN2
IN1
<> D
IN2
IN1
<> R
IN2
IN1
<B
IN2
IN1
<I
IN2
IN1
<D
IN2
IN1
<R
IN2
M t
Lnh so snh gi tr ca hai

gi tr IN1 v IN2.
Tip im ng khi
IN1=IN2
B = Byte
I = Integer
D = Double Integer
R = Real
Ton hng
IN1, IN2 (Byte): IW, QW,

MW, VW, SMW, SW, LW,
AC, Constant, *VD, *AC,
*LD
IN1, IN2 (Integer): IW,

QW, MW, VW, SMW, SW,
LW, AC, Constant, VD,
Lnh so snh gi tr ca hai *AC, *LD
gi tr IN1 v IN2.
Tip im ng khi
IN1<>IN2
B = Byte
I = Integer
D = Double Integer
R = Real
IN1, IN2 (Double Integer):

ID, QD, MD, SD, SMD, VD,
LD, AC, Constant, *VD,
*LD, *AC
Lnh so snh gi tr ca hai IN1, IN2 (Real): ID, QD,

gi tr IN1 v IN2.
Tip im ng khi MD, SD, SMD, VD, LD,
AC, Constant, *VD, *LD,
IN1<IN2
*AC
B = Byte
I = Integer
D = Double Integer
R = Real
Trang 67
IN1
<= B
IN2
IN1
<= I
IN2
IN1
<= D
IN2
IN1
<= R
IN2
IN1
>B
IN2
IN1
>I
IN2
IN1
>D
IN2

gi tr IN1 v IN2.
Tip im ng khi
IN1<=IN2
B = Byte
I = Integer
D = Double Integer
R = Real

gi tr IN1 v IN2.
Tip im ng khi
IN1>IN2
B = Byte
I = Integer
D = Double Integer
R = Real
IN1
>R
IN2
Trang 68
IN1
>= B
IN2
IN1
>= I
IN2
IN1
>= D
IN2
IN1
>= R
IN2

gi tr IN1 v IN2.
Tip im ng khi
IN1>=IN2
B = Byte
I = Integer
D = Double Integer
R = Real
4.4.6. Lnh nhy v lnh gi chng trnh con.

Cc lnh ca chng trnh, nu khng c nhng lnh iu khin ring, s
c thc hin theo th t t trn xung di trong mt vng qut. Lnh iu khin
chng trnh cho php thay i th t thc hin lnh. Chng cho php chuyn th t
thc hin, ng l ra l lnh tip theo, ti mt lnh bt c no khc ca chng trnh,
trong ni iu khin chuyn n phi c nh du trc bng mt nhn, ch
ch. Thuc nhm lnh iu khin chng trnh gm: lnh nhy, lnh gi chng
trnh con. Nhn ch ch, hay gi n gin l nhn phi c nh du trc khi thc
hin lnh nhy hay lnh gi chng trnh con.
Vic t nhn cho lnh nhy phi nm trong chng trnh. Nhn ca chng
trnh con, hoc ca chng trnh x l ngt c khai bo u chng trnh. Khng
th dng lnh nhy JMP chuyn iu khin t chng trnh chnh vo mt nhn
bt k trong chng trnh con hoc trong chng trnh x l ngt. Tng t nh vy
cng khng th t mt chng trnh con hay chng trnh x l ngt nhy vo bt c
mt nhn no nm ngoi cc chng trnh .
Lnh gi chng trnh con l lnh chuyn iu khin n chng trnh con.
Khi chng trnh con thc hin xong cc php tnh ca mnh th vic iu khin li
c chuyn tr v lnh tip theo trong chng trnh chnh nm ngay sau lnh gi
chng trnh con. T mt chng trnh con c th gi c mt chng trnh con
khc trong n, c th gi nh vy nhiu nht l 8 ln trong S7-200.
Trang 69
STL
JMP n
LAD
M t
Lnh nhy thc hin vic chuyn iu
khin n nhn n trong mt chng
trnh.
LBL n
Lnh khai bo nhn n trong mt chng

trnh.
CALL SBR_0
Lnh gi chng trnh con, thc hin

php chuyn iu khin n chng
trnh con c nhn l SBR_0.
CRET
Lnh tr v chng trnh gi chng

trnh con.
V d v lnh nhy:
Trang 70
4.4.7. Cc lnh can thip vo thi gian vng qut.
Gm cc lnh: END, STOP, NOP.
Cc lnh ny c dng kt thc chng trnh ang thc hin, v ko di
khong thi gian ca mt vng qut.
Lnh END dng kt thc chng trnh chnh hin hnh.
Lnh STOP kt thc chng trnh, n chuyn iu khin chng trnh n ch
STOP. Nu gp lnh STOP trong chng trnh chnh hoc trong chng trnh con
th chng trnh ang thc hin s c kt thc ngay lp tc. Nu gp lnh STOP
trong chng trnh x l ngt th chng trnh x l ngt s kt thc ngay lp tc v
tt c cc tn hiu ngt ang ch x l sau u b b qua v khng thc hin.
Lnh rng NOP khng c tc dng g trong vic thc hin chng trnh.
STL
END
STOP
NOP n
LAD
M t
Lnh kt thc chng trnh chnh hin
hnh c iu kin.
Lnh STOP kt thc chng trnh
hin hnh v chuyn sang ch
STOP.
Lnh NOT khng c hiu lc trong
chng trnh hin hnh. Ton hng n
l mt s nm trong khong 0-255
Ton hng
Khng c
n: t 0 n
255
4.4.8. Cc lnh iu khin Timer.

PLC S7-200 c 3 loi b nh thi:
- B ng tr (ON Delay Timer) TON
- B ng tr c nh (Retentive ON Delay Timer) TONR
- B ngt tr (OFF Delay Timer) TOF
K hiu:
LAD:
Trang 71
STL: TON Txxx, PT
TONR Txxx, PT
TOF Txxx, PT
Cc b ng tr v ng tr c nh bt u m thi gian khi c u vo IN

c mc 1. Lc gi tr m c ln hn hoc bng gi tr t trc ti u vo PT
(Preset time) th bit trng thi c t bng 1. iu khc nhau gia 2 b ng tr l:
- B ng tr bnh thng TON s b RESET (c gi tr ang m ln bit
trng thi u b xa v 0) khi u vo IN bng 0. Cng c th reset b
nh thi ny bng lnh reset.
- B ng tr c nh TONR lu li gi tr khi u vo IN bng 0 v tip tc
m nu u vo IN bng 1. Loi b nh thi ny c th xa gi tr ang
m bng lnh RESET.
B ngt tr dng a gi tr u ra v 0 tr mt khong thi gian sau khi
u vo IN v 0. Khi u vo IN c t bng 1 th bit trng thi ca b ngt tr
cng bng 1 ng thi gi tr m ca n cng b xa v 0. Khi u vo IN v 0 b
nh thi bt u m v m cho n khi t gi tr t trc PT. Lc bit trng
thi ca b ngt tr s v 0 ng thi n cng ngng m. Nu u vo IN ch bng 0
trong khong thi gian ngn hn gi tr t trc PT ri quay li bng 1 th trng thi
ca b nh thi vn gi nguyn bng 1. B ngt tr ch bt u m khi c sn
thay i t 1 thnh 0 u vo IN.
Trang 72
V d v cc loi b nh thi v biu thi gian.
Trang 73
Hnh 4.25. B nh thi TON v biu thi gian.
Hnh 4.26. B nh thi TONR v biu thi gian.

Trang 74
Hnh 4.27. B nh thi TOF v biu thi gian.

4.4.9. Cc lnh iu khin Counter.
Counter l b m hin chc nng m sn xung trong S7-200. Cc b m
ca S7-200 c chia ra lm 3 loi: b m ln (Count Up), b m xung (Count
Down) v loi b m c th va m ln va m xung (Count Up/Down).
B m ln CTU m s sn ln ca tn hiu logic u vo, tc l m s
ln thay i trng thi logic t 0 ln 1 ca tn hiu. B m ln m cho gi tr ti a
ca n (32767). Khi gi tr m (Cxxx) ln hn hoc bng gi tr t trc PV th bit
trng thi (Cxxx) s c gi tr 1 (ON). B m c th b xa (Reset) bi mc 1 u
vo reset (R), lc c gi tr m ln bit trng thi s b xa v 0.
B m xung CTD m t gi tr t trc (PV) mi khi c sn ln u
vo. Khi gi tr m (Cxxx) bng 0, bit trng thi Cxxx bng 1 ng thi b m
Cxxx ngng m. Mc cao u vo LD xa bit trng thi v 0 v ti gi tr t
trc PV vo gi tr m.
Trang 75
B m va m ln va m xung m ln khi c sn ln u vo m
ln (CU) v m xung khi c sn ln u vo m xung (CD). Khi gi tr m
(Cxxx) ln hn hoc bng gi tr t trc PV th bit trng thi (Cxxx) s c gi tr 1
(ON). Ngc li th bit trng thi (Cxxx) s c gi tr 0 (OFF). B m c th b xa
(RESET) bi mc 1 u vo reset (R), lc c gi tr m ln bit trng thi s b
xa v 0.
S hiu cc b m Cxxx t C0 n C255.
Lnh khai bo s dng b m trong LAD v STL
NETWORK 1
LD I0.0
LD I0.1
CTD C1, +3
NETWORK 2
LD C1
= Q0.0
Hnh 4.28. B m CTD v biu thi gian.
Trang 76
NETWORK 1
LD I0.0
LD I0.1
LD I0.2
CTUD C48, +4
NETWORK 2
LD C48
= Q0.0
Hnh 4.29. B m CTUD v biu thi gian.
Trang 77
4.4.10. Cc lnh s hc.
C php dng lnh cng v tr hai s nguyn 16 bit trong LAD v STL nh sau:
STL
LAD
+I IN1, IN2
-I IN1, IN2
M t
L lnh thc hin php cng cc
s nguyn 16-bit IN1 v IN2.
Trong LAD kt qu l mt s
nguyn 16-bit c ghi vo OUT,
tc l:
IN1 + IN2 = OUT.
Cn trong STL, kt qu cng l
mt gi tr 16-bit nhng c ghi
vo IN2, tc l:
IN1 + IN2 = IN2.
L lnh thc hin php tr cc s
nguyn 16-bt IN1 v IN2.
nguyn 16-bt c ghi vo OUT,
tc l:
IN1 - IN2 = OUT.
mt gi tr 16-bt nhng c ghi
vo IN2, tc l:
IN1 - IN2 = IN2.
Ton hng
IN1, IN2: VW,

IW, QW, MW,
SW, SMW, T, C,
AC, LW, AIW,
Constant, *VD,
*LD, *AC.
OUT: VW, IW,

QW, MW, SW,
SMW, T, C, LW,
AC, *VD, *LD,
*AC.
C php dng lnh cng v tr hai s nguyn 32 bit trong LAD v STL nh sau:
STL
+DI IN1, IN2
-DI IN1, IN2
LAD
M t
tc l:
IN1 + IN2 = OUT.
vo IN2, tc l:
IN1 + IN2 = IN2.
Ton hng
IN1, IN2: VD, ID,

QD, MD, SMD,
SD, LD, AC, HC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
Trang 78
nguyn 32-bit IN1 v IN2.
tc l:
IN1 - IN2 = OUT.
QD, MD, SMD,
SD, LD, AC,
*VD, *LD, *AC.
vo IN2, tc l:
IN1 - IN2 = IN2.
C php dng lnh cng v tr hai s thc trong LAD v STL nh sau:
STL
+R IN1, IN2
-R IN1, IN2
LAD
M t
s thc 32-bit IN1 v IN2.
Trong LAD kt qu l mt s thc
32-bit c ghi vo OUT, tc l:
IN1 + IN2 = OUT.
mt gi tr thc 32-bit nhng c
ghi vo IN2, tc l
IN1 + IN2 = IN2
thc 32-bit IN1 v IN2.
IN1 - IN2 = OUT.
ghi vo IN2, tc l:
IN1 - IN2 = IN2
Ton hng
IN1, IN2: VD, ID,

QD, MD, SD,
SMD, LD, AC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
QD, MD, SD,
SMD, LD, AC,
*VD, *LD, *AC.
Trang 79
C php dng lnh nhn v chia hai s nguyn 16 bit trong LAD v STL:
STL
LAD
*I IN1, IN2
/I IN1, IN2
M t
L lnh thc hin php nhn cc
tc l:
IN1 * IN2 = OUT.
vo IN2, tc l:
IN1 * IN2 = IN2.
L lnh thc hin php chia cc
tc l:
IN1/IN2 = OUT.
vo IN2, tc l:
IN1/IN2 = IN2.
Ton hng
IN1, IN2:
IW, QW,
SW, SMW,
LW, AC,
Constant,
*LD, *AC.
VW,
MW,
T, C,
AIW,
*VD,
OUT: VW, IW,

QW, MW, SW,
SMW, LW, T, C,
AC, *VD, *LD,
*AC.
C php dng lnh nhn v chia hai s nguyn 32 bit trong LAD v STL:
STL
*DI IN1, IN2
/DI IN1, IN2
LAD
M t
tc l:
IN1 * IN2 = OUT.
vo IN2, tc l:
IN1 * IN2 = IN2.
L lnh thc hin php chia cc
Ton hng
IN1, IN2: VD, ID,

QD, MD, SMD,
SD, LD, HC, AC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
QD, MD, SMD,
Trang 80
tc l:
IN1/IN2 = OUT.
SD, LD, AC,
*VD, *LD, *AC.
vo IN2, tc l:
IN1/IN2 = IN2.
C php dng lnh nhn v chia hai s thc trong LAD v STL nh sau:
STL
*R IN1, IN2
/R IN1, IN2
LAD
M t
s thc 32-bit IN1 v IN2.
IN1 * IN2 = OUT.
ghi vo IN2, tc l
IN1 * IN2 = IN2
L lnh thc hin php chia cc s
thc 32-bit IN1 v IN2.
IN1/IN2 = OUT.
ghi vo IN2, tc l:
IN1/IN2 = IN2
Ton hng
IN1, IN2: VD, ID,

QD, MD, SMD,
SD, LD, AC,
Constant,
*VD,
*LD, *AC.
OUT: VD,
ID,
QD, MD, SMD,
SD, LD, AC,
*VD, *LD, *AC.
Trang 81
C php dng lnh cn bc hai trong LAD v STL nh sau:
STL
LAD
SQRT IN, OUT
M t
Ton hng
L mt lnh thc hin ly

cn bc hai ca s thc
32-bt IN. Kt qu cng
l mt s 32-bt c ghi
vo t kp OUT.
IN: VD, ID, QD, MD,

SMD, SD, LD, AC,
Constant, *VD, *LD,
*AC.
OUT: VD, ID, QD, MD,
SMD, SD, LD, AC, *VD,
*LD, *AC.
Nhng bit nh c bit c ni dung b nh hng bi cc lnh s hc:

SM1.0 = 1 nu kt qu bng 0.
SM1.1 = 1 nu trn.
SM1.2 = 1 nu kt qu m.
SM1.3 = 1 nu chia cho 0.
4.4.11. Lnh tng, gim mt n v v lnh o gi tr thanh ghi.
Cc lnh tng, gim v o gi tr thanh ghi s dng nhng nh c bit
SM1.0 n SM1.3 thng bo trng thi kt qu php tnh. Tn lnh v nhng
nh c bit m lnh s dng c trnh by trong bng sau:
Lnh
INV_B
INV_W
INV_D
INC_B
INC_W
INC_D
DEC_B
DEC_W
DEC_D
SM1.0
(Kt qu 0)
C
C
C
C
C
C
C
C
C
SM1.1
(Bo trn)
Khng
Khng
Khng
C
C
C
C
C
C
SM1.2
(Kt qu m)
Khng
Khng
Khng
C
C
C
C
C
C
SM1.3
(Chia cho 0)
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Khng
Trang 82
C php dng lnh tng mt gi tr trong LAD v STL nh sau:
STL
LAD
INCB OUT
INCW OUT
INCD OUT
M t
Thm mt n v t mt
Byte c nh a ch
u vo IN. Kt qu c
lu vo Byte c nh a
ch u ra OUT.
[IN] + 1 = [OUT]
Thm mt n v t mt t
n c nh a ch
u vo IN. Kt qu c
lu vo t n c nh
a ch u ra OUT.
[IN] + 1 = [OUT]
Thm mt n v t mt t
kp c nh a ch
u vo IN. Kt qu c
lu vo t kp c nh
a ch u ra OUT.
[IN] + 1 = [OUT]
Ton hng
IN: VB, IB, QB, MB, SB,
SMB, LB, AC, Constant,
*VD, *LD, *AC
OUT: VB, IB, QB, MB, SB,
SMB, LB, AC, *VD, *LD,
*AC
IN: VD, ID, QD, MD, SD,
SMD, LD, AC, HC, Constant,
*VD, *LD, *AC
OUT: VD, ID, QD, MD, SD,
SMD, LD, AC, *VD, *LD,
*AC
*VD, *LD, *AC
*AC
C php dng lnh gim mt gi tr trong LAD v STL nh sau:

STL
DECB OUT
DECW OUT
DECD OUT
LAD
M t
Gim mt n v t mt
Byte c nh a ch
u vo IN. Kt qu c
lu vo Byte c nh a
ch u ra OUT.
[IN] - 1 = [OUT]
Gim mt n v t mt t
n c nh a ch
u vo IN. Kt qu c
lu vo t n c nh
a ch u ra OUT.
[IN] - 1 = [OUT]
Gim mt n v t mt t
kp c nh a ch
Ton hng
*VD, *LD, *AC
*AC
*VD, *LD, *AC
*AC
Trang 83
u vo IN. Kt qu c
lu vo t kp c nh
a ch u ra OUT.A
[IN] - 1 = [OUT]
*VD, *LD, *AC

*AC
C php dng lnh o gi tr thanh ghi trong LAD v STL nh sau:

STL
LAD
M t
INVB OUT
Lnh o gi tr tng bit

ca byte IN u vo. Kt
qu c lu vo byte
OUT u ra.
INVW OUT
Lnh o gi tr tng bit

ca t n IN u vo.
Kt qu c lu vo t
n OUT u ra.
INVD OUT
Lnh o gi tr tng bit

ca t kp IN u vo.
Kt qu c lu vo t
kp OUT u ra.
Ton hng
*VD, *AC, *LD
*AC
*VD, *LD, *AC
*AC
*VD, *LD, *AC
*AC
Trang 84
V d: V lnh tng gim mt gi tr.
V d: V lnh o gi tr thanh ghi.
Trang 85
4.4.12. Cc lnh dch chuyn ni dung nh.
STL
MOVB IN, OUT
MOVW IN, OUT
MOVD IN, OUT
MOVR IN, OUT
LAD
M t
Lnh sao chp ni
dung ca byte IN
sang byte OUT.
Lnh sao chp ni
dung ca t n
IN sang t n
OUT.
Lnh sao chp ni
dung ca t kp
IN sang t kp
OUT.
Lnh sao chp ni
dung ca s thc
IN sang s thc
OUT.
Ton hng
IN: VB, IB, QB, MB, SB, SMB,
LB, AC, Constant, *VD, *LD,
*AC.
SMB, LB, AC, *VD, *LD, *AC.
IN: VW, IW, QW, MW, SW,
SMW, LW, T, C, AIW, Constant,
AC, *VD, *AC, *LD.
OUT: VW, T, C, IW, QW, SW,
MW, SMW, LW, AC, AQW,
*VD, *AC, *LD.
IN: VW, IW, QW, MW, SW,
SMW, LW, T, C, AIW, Constant,
AC, *VD, *AC, *LD.
OUT: VW, T, C, IW, QW, SW,
MW, SMW, LW, AC, AQW,
*VD, *AC, *LD.
IN: VD, ID, QD, MD, SD, SMD,
LD, AC, Constant, *VD, *LD,
*AC.
SMD, LD, AC, *VD, *LD, *AC.
Trang 86
4.5. Son tho chng trnh v chng trnh m phng
4.5.1. Son tho chng trnh.
4.5.2. Chng trnh m phng.
Trang 87

Bai Giang He Thong Co Dien Tu 1

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Bai Giang He Thong Co Dien Tu 1

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Bi ging H thng C in t 1

CHNG 1: TNG QUAN V C IN T.

Hnh 1.1. C in t: s tch hp hu c ca nhiu ngnh khc nhau

Bng 1.1. Lch s pht trin ca cc h c hc, in, in t.

Thit k truyn thng

chnh xc nh dung sai hp

CHNG 2: CC THNH PHN C BN CA H THNG C

Hnh 2.1. H thng o lng v cc thnh phn.

Tn hiu s di chuyn t khu vc ny sang khu vc khc dc theo ng

Kch thc ca bus, c hiu nh rng ca ng cao tc, l yu t quan

Mch giao din

Hnh 2.2. Giao din.

CHNG 3. CM BIN V C CU CHP HNH

Hnh 3.1. H C in t thng gp.

Hnh 3.2. Thit b chp hnh thng thng.

Hnh 3.3. nhy ca cm bin.

Hnh 3.4. Vng cht.

Hnh 3.5. Vng cht ca b n nhit.

Hnh 3.6. Tnh n nh ca h thng.

Hnh 3.7. Cng tc hnh trnh.

Hnh 3.8. B ngt quang dn QVA11234

Hnh 3.9. Cm bin phn x quang bn dn QRB1114.

Hnh 3.10. B m ha tng i.

Hnh 3.11. Vt b ko dc trc (a), nn dc trc (b), bin dng (c).

Hnh 3.12. Cm bin ti thy lc.

Hnh 3.13. Sng c pht v phn x li t vt

Hnh 3.14. nh ngha thi gian truyn sng.

Hnh 3.15. TOF tnh theo bin ln nht ca tn hiu phn x

Hnh 3.16. Nguyn l lm vic ca ng c mt chiu.

Nhn vo phng trnh trn, ta thy rng mun iu chnh tc ta c cc

qun rto v cm ng cc sc in ng. V dy qun rto ni ngn mch, nn sc

Khi roto ng yn (n = 0), h s trt s = 1. Khi roto quay nh mc s = 0,02

Nu rto ang ng yn (hnh 3.12), cc Nam S ca rto b cc Bc N stato

Hnh 3.17. Phn bit ng c bc v ng c in thng thng.

Hnh 3.18. Cu to bn trong ng c bc.

Hnh 3.19. Hnh dng bn ngoi ca ng c bc.

Hnh 3.20. ng c bin t tr.

Hnh 3.21. ng c bc hn hp.

Trong phn ny ta ch xt n 2 phn: Phn t x l v iu khin v c cu

Van o chiu 2/2

Van o chiu 4/2

Van o chiu 5/2

K hiu nt nhn tng qut

Trc tip bng dng kh nn vo

Tc ng bng nam chm in

c. Van o chiu c v tr khng.

Khi cun Y1 c in th ca P ni vi ca A, ca R b chn. Khi cun Y2 c

3.4.2.1.3. Van tit lu:

Van tit lu c tit din khng i:

Van tit lu c tit din thay i:

Van tit lu mt chiu iu chnh

3.4.2.1.4. Van p sut.

3.4.2.2. C cu chp hnh:

Xilanh tc dng n (xilanh tc

CHNG 4: IU KHIN LOGIC KH LP TRNH PLC

Hnh 4.1. Hnh dng bn ngoi ca mt PLC

Hnh 4.3. S kt ni gia PLC v my tnh thng qua cp PC/PPI

Cng tc chn ch lm vic cho PLC

256 b nh thi: 4 b 1ms, 16 b 10 ms, 236 b 100ms

Bng 4.1. Cc thng s c bn ca cc thnh vin h S7-200

Bng 4.2. Cc loi CPU S7-200.

Bng 4.3. Kch thc v trng lng.

Bng 4.4. Mt s thng s k thut.

Cc modul m rng ny c cm ni tip nhau vo bn phi CPU lm thnh