Programabilni logiki kontroleri PLC program i primeri primene

Industrijski sistemi i protokoli predavanje 3

Ver 2011.1

Sadraj
1. Osnove kontaktorskih ema (mirno i radno, tasteri, kontakti i PLC bitovi 2.Lestviasti (ladder) dijagram za programiranje PLC 3. Blokovi ladder dijagrama 4. Primeri Ladder dijagrama 5. Primena u elektromotornim pogonima

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Normalno otvoren (radni) i zatvoren (mirni)? Tasteri

ta je radno stanje, akcija, nenormalno stanje kod tastera? To je pritisak na taster! Radni tester vodi u radnom stanju, a normalno (kada ga ne pritiskamo) je otvoren normalno otvoren. Tako mu definie i sam grafiki simbol i NO. Mirni tester vodi u neradnom stanju, koje je normalno jer ga ne pritiskamo , on je normalno zatvoren. Tako mu definie i sam grafiki simbol i NC.
Sutina ovde je da su vas pogreno uili 1) da je normalno da ne radimo. 2) da smo mirni samo kad ne radimo.
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Normalno otvoren (radni) i zatvoren (mirni)? Rele

A1 1 12 radni (NO) 13 mirni (NC) A2 2 3

Kontaktor
A1 1 3 5 13 21

A2

14

22

namotaj elmagneta (pulna)

glavni kontakti

pomoni kontakti
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PLC Industrijski sistemi i protokoli

Normalno otvoren (radni) i zatvoren (mirni)? Moderni kontaktori

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Normalno otvoren (radni) i zatvoren (mirni)? Princip rada kontaktora

Nema napona na namotaju, el. magnet ne radi, nema privlaenja kotve, kontakti razdvojeni.

Napon na namotaju ,elmagnet Privlai se kotva, kontakti zatvoreni

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Normalno otvoren (radni) i zatvoren (mirni)? Kontakti releja ili kontaktora

ta je radno stanje, akcija, nenormalno stanje kod releja/kontakotora? To je napon na pulni ! Radni kontakt vodi u radnom stanju, a normalno (kada nema komande) je otvoren normalno otvoren. Tako mu definie i sam grafiki simbol i NO. Mirni kontakt vodi u neradnom stanju, koje je normalno jer kad nema napona, on je normalno zatvoren. Tako mu definie i sam grafiki simbol i NC.
pomoni radni (NO, 34) Eneg. ka mrei pulna(komanda)

Energ. ka potroau
PLC Industrijski sistemi i protokoli

pomoni mirni (NC,12)

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Normalno otvoren (radni) i zatvoren (mirni)? Bitovi u PLC

ta je radno stanje, akcija, neaktivno, nenormalno stanje kod bitova ? To je stanje 1, stanje ON ! Radni bit vodi u radnom stanju (1), a normalno (kada nije 1) je otvoren normalno otvoren kontakt.

Mirni bit vodi u neradnom stanju (0),normalnom stanju on je normalno zatvoren kontakt.

Bit moe biti ulaz (na primer I0.0) koji je 1 ako je napon na ulazu, ili izlaz (na primer Q0.0) koji je 1 ako je napon na izlazu, ili ak i samo bit iz memorije (na primer M0.0) koji je 1 ako je prethodno setovan ili 0 ako je prethodno resetovan.
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Primeri sa PLC Ladder dijagramima

Nain programiranja PLC Siemens S7

Lestviasta logika (ladder logic) je nain crtanja el. logikih ema. To je grafiki jezik, veoma popular kod PLC. Originalno je izmiljen da zameni relejnu logiku. Ime je dobio jer program podsea na merdevine.

Alternativa STL (statment list) - Instruction List language LD O A = start_taster izlaz stop_taster izlaz
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PLC Industrijski sistemi i protokoli

Nain programiranja PLC Siemens S7

Stara relejna ema (napajanje, ice, pulne, mirni i radni kontakti releja) Lestviasti PLC programi koji zamenjuju ovu emu

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PLC S7-200 ciklus izvrenja programa

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PLC: Osnovni blokovi Ladder dijagrama

PLC S7 - tipovi podataka , bitovi i bajtovi

Informativno

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PLC S7 - tipovi podataka , word i double word

Informativno

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PLC S7 osnovni Ladder blokovi - Kontakti

The Normally Open contact is closed (on) when the bit is 1. The Normally Closed contact is closed (on) when the bit is 0. Rade sa ulaznim bitovima I0.0 .. Izlaznim bitovima Q0.0.. i memorisanim bitovima M0.0 ...

PLC Industrijski sistemi i protokoli

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PLC S7 osnovni Ladder blokovi set/reset

Radi sa Izlaznim bitovima Q0.0.. i memorisanim bitovima M0.0 ...

The Set (S) and Reset (R) instructions set (turn on) or reset (turn off) the specified number of points (N), starting at the specified address (Bit). Tipically, N=1. You can set or reset from 1 to 255 points. If the reset specifies either a timer bit (T) or counter bit (C), the instruction resets the timer or counter bit and clears the current value of the timer or counter.

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PLC S7 osnovni Ladder blokovi MOV

Dodela vrednosti , MOV instrukcija
Informativno

The Move Byte (MOVB) instruction moves the input byte (IN) to the output byte (OUT) without changing the original value.

The Move Word (MOVW) instruction moves the input word (IN) to the output word (OUT) without changing the original value.

Ove dve instrukcije ete esto koristiti da podesite neki komunikacioni modul povezan sa , ili unutar PLC ! Na primer registar za baud rate postavi na 9600 ! IN poveemo sa 9600 i povuemo liniju ka EN (dozvolimo upis)
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PLC S7 osnovni Ladder blokovi FOR and NEXT

Kontrola toka programa , FOR and NEXT
Informativno

The FOR (FOR) instruction executes the instructions between the FOR and the NEXT. You specify the index value or current loop count (INDX), the starting value (INIT), and the ending value (FINAL). The NEXT (NEXT) instruction marks the end of the FOR loop, and sets the top of the stack to 1.

PLC Industrijski sistemi i protokoli

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PLC S7 osnovni Ladder blokovi JMP and LBL

Kontrola toka programa , JMP and LBL
Informativno

The Jump to Label (JMP) instruction performs a branch to the specified label (n) within the program. When a jump is taken, the top of stack value is always a logical 1. LBL is the program jump point.

PLC Industrijski sistemi i protokoli

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PLC S7-200 podprogram (subroutine)

Informativno When the main program calls the subroutine for execution, the subroutine carries out its program to its end. Then, the system returns control to the main program at the network from which the subroutine was called.

Call Parameter Type Description IN Parameters are passed into the subroutine. If direct address (such as VB10), the value at the specified location is passed into the subroutine. If data constant (16#1234), or an address (&VB100), the constant or address value is passed into the subroutine. IN_OUT The value at the specified parameter location is passed and the result value from the subroutine is returned to the same location. OUT The result value from the subroutine is returned to the specified parameter location. TEMP Any local memory that is not used for passed parameters may be used for temporary storage within the subroutine.
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PLC S7-200 Prekid (interrupt)

Informativno
S7-200 PLCs incorporate instructions for use with interrupts. Interrupts are used to initiate a specific, short PLC program segment, called an interrupt routine, when an internal or external event occurs. After the interrupt routine has been executed, control is returned to the main program. Three types of interrupts are supported by S7-200 PLCs, communication port interrupts, I/O interrupts, timebased interrupts. Communication port interrupts are used to control a communication port operated in Freeport mode. I/O interrupts are used to respond quickly to high-speed I/O transitions, such as those associated with high-speed counters or pulse train outputs. Time-based interrupts allow the user program to execute an interrupt routine on a cyclic basis.
Each of these types of interrupts has an associated priority that determines which interrupt is processed first in the event that two or more interrupts are requested at the same time. Communication port interrupts have the highest and time-based have the lowest priority.
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PLC S7-200 Prekid (interrupt)

Informativno

1. Prekid (interrupt, u PLC svetu esto zvan dogaaj ili event) se opsluuje nezavisno od periodinog PLC ciklusa skeniranja. 2. Kod prekida treba definisati dve stvari Izvor prekida Podprogram koji treba izvriti kada se desi prekid 3. Te dve stvari treba spojiti, ATTACH blok ! ATTACH blok kae pridrui ovaj podprogram (interrupt routine) sa onim interuptom ili dogaajem (event) 4. Ponekad treba redefinisati akciju , onda prvo moramo razdvojiti rutine od dogaaja, za to slui DTCH blok Naravno, dogaaj (prekid) treba dozvoliti (ENI ) ili po potrebi zabraniti (DISI). U startu je veina zabranjena.
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PLC S7-200 Prekid (interrupt)

ATCH trai i ime podprograma za izvrenje, koji treba povezati sa tim dogaajem

Informativno

The Enable Interrupt (ENI) instruction globally enables processing of all attached interrupt events. The Disable Interrupt (DISI) instruction disables processing of ATCH trai broj dogaaja tj all interrupt events.
prekida

The Attach Interrupt (ATCH) instruction associates an interrupt event (EVNT) with an interrupt routine number (INT), and enables the interrupt event. The Detach Interrupt (DTCH) instruction disassociates an interrupt event (EVNT) from all interrupt routines, and disables the interrupt event.
PLC Industrijski sistemi i protokoli

DTCH odvaja dogaaja od svih rutina. Ne mora da zna koja je bila priljuena tom dogaaju, sve ubija !

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PLC S7-200 Prekid (interrupt)

Informativno

Tabela Event-a za PLC S200 (nepotpuna)

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PLC S7-200 Osnovni blokovi Ladder dijagrama

Floating point matematika

IN1 + IN2 = OUT

IN1 - IN2 = OUT (nije prikazano)

IN1 * IN2 = OUT

IN1 / IN2 = OUT Itd..

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PLC: Timer and Counter

PLC S7-200 tajmerski blokovi

The On-Delay Timer (TON)
instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON. The On-Delay timer current value is cleared when the enabling input is OFF.

This timer continues counting after the Preset is reached, and it stops counting at the maximum value of 32767. TON, TONR, and TOF timers are available in three resolutions. The resolution is determined by the timer number as shown in the chart below. Each count of the current value is a multiple of the time base. For example, a count of 50 on a 10-ms timer represents 500 ms. Timer Type TONR Resolution Maximum Value 1 ms 32.767 s 10 ms 327.67 s 100 ms 3276.7 s 1 ms 32.767 s 10 ms 327.67 s 100 ms 3276.7 s Timer Number T0, T64 T1-T4, T65-T68 T5-T31, T69-T95 T32, T96 T33-T36, T97-T100 T37-T63, T101-T255
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TON, TOF

PLC Industrijski sistemi i protokoli

PLC S7-200 tajmerski blokovi

The On-Delay Timer (TON)
instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON. The On-Delay timer current value is cleared when the enabling input is OFF.

The On-Delay Timer (TON) time diagram

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PLC S7-200 tajmerski blokovi

The Retentive On-Delay Timer (TONR)
instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON.The current value of the Retentive On-Delay timer is maintained when the input is OFF. You can use the Retentive On-Delay timer to accumulate time for multiple periods of the input ON. A Reset instruction (R) is used to clear the current value of the TONR.

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PLC S7-200 tajmerski blokovi

The Off-Delay Timer (TOF)
is used to delay turning an output OFF for a fixed period of time after the input turns OFF. When the enabling input turns ON, the timer bit turns ON immediately, and the current value is set to 0. When the input turns OFF, the timer counts until the elapsed time reaches the preset time. When the preset is reached, the timer bit turns OFF and the current value stops counting. If the input is OFF for a time shorter than the preset value, the timer bit remains ON. The TOF instruction must see an ON to OFF transition to begin counting.

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PLC S7-200 brojaki blokovi (counter Down)

The Count Down (CTD)
counts down from the current value of that counter each time the count down input CD makes the transition from off to on. When the current value Cxxx is equal to zero, the counter bit (Cxxx) turns on. The counter resets the counter bit (Cxxx) and loads the current value with the preset value (PV) when the load input (LD) turns on. The Down Counter stops counting when it reaches zero, and the counter bit Cxxx turns on. Counter Down time diagram

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PLC S7-200 brojaki blokovi (counter)

The Count UP Down (CTUD)
counts up each time the count-up input CU makes the transition from off to on, and counts down each time the countdown input CD makes the transition from off to on. The current value Cxx of the counter maintains the current count. The preset value PV is compared to the current value each time the counter instruction is executed. Upon reaching maximum value (32,767), the next rising edge at the count-UP input causes the current count to wrap around to the minimum value (-32,768). On reaching the minimum value (32,768), the next rising edge at the count-DOWN input causes the current count to wrap around to the maximum value (32,767). When the current value Cxx is greater than or equal to the preset value PV, the counter bit Cxx turns on. Otherwise, the counter bit turns off. The counter is reset when the Reset (R) input turns on.
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PLC S7-200 brojaki blokovi (counter)

The Count Up (CTU)
instruction counts up from the current value each time the count-up input CU makes the transition from off to on. When the current value (Cxxx) is greater than or equal to the Preset Value (PV), the counter bit (Cxxx) turns on. The counter is reset when the Reset (R) input turns on, or when the Reset instruction is executed. The counter stops counting when it reaches the maximum value (32,767).

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Zasto brojaci ? - Senzori sa impulsnim izlazom

Senzor
Elektronsko Prilagodno kolo

Velicina koju merimo

R, C, L ...
Element na ije parametre merna veliina utie

Izlaz V, I, f ...

PLC R El. kolo v(t) A/D

C El. kolo

v(t)

broja

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Klasina veza senzora sa PLC ili mikroprocesorom

Analogni signal + AD konvertor (analogni PLC ulaz)

Analogni pretvoren u impulsni signal + brojaki PLC ulaz

Izvorno impulsni signal + brojaki PLC ulaz

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Primer prostih impulsnih senzora

Princip rada impulsnih svetlosnih senzora Predajnik, svetlosni izvor, alje svetlost u pravcu prijemnika. Prijemnik menja stanje izlaza svaki put kada se svetlosni snop prekine.

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Optiki senzori primeri primene

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Primer slozenih impulsnog senzora

Incremental encoder

Inkrementi poloaja
dsPIC A B index
PLC Industrijski sistemi i protokoli

Quadrature Encoder

n m = 2 N

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Primeri Ladder dijagrama

PLC S7-200 samodranje

Pritisnut normalno otvoren start_taster i nepritisnut normalno zatvoren stop_taster ukljuuju izlaz. Zatim , izlaz samog sebe dri sve dok neko ne pritisne

stop_taster Ovo vai u sluaju da se koriste dva radna tastera. 24 V start_taster

I0.1

stop_taster
I0.2
PLC Industrijski sistemi i protokoli

PLC

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PLC S7-200 samodranje industrija

Pritisnut normalno otvoren start_taster i nepritisnut (ali provodan) normalno otvoren stop_taster ukljuuju izlaz. Zatim , izlaz samog sebe dri sve dok neko ne pritisne

stop_taster
Ovo vai u sluaju da se za stop koriste mirni taster! Na primer, podnaponska sklopka dok ima napona dri stop provodnim, ako napon nestane, stop izbacuje pogon.

24 V

start_taster
I0.1

stop_taster
I0.2
PLC Industrijski sistemi i protokoli

PLC

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Primena PLC u pogonima

Primena PLC pri kontroli motora

bimetal kontaktor ema pre pojave PLC Logika je reena relejima, pulnama i pomonim kontaktima kontaktora (svi na razliitim naponima) koji su povezani velikim brojem napon ica. Promena logike funkcije i proirenja su bila gotovo nemogua. CR rele (pulna i kontakt) M kontaktor-motor starter (pulna i trofazni energetski kontakti) OL trofazni bimetal i Start pomoni mirni kontakt) taster
PLC Industrijski sistemi i protokoli

Rele
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Primena PLC pri kontroli motora

Ovoga se neemo reiti ni sa PLC 1. Motor starter, aktuator, prenosi snagu 2. Tasteri (HMI)

ALi, elimo da sve ostalo ( i mnogo vie) radi PLC

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Primena PLC pri kontroli motora

snaga

Komanda (za novu komandu treba nam samo novi taster)

Logika (lako se menja i proiruje po potrebi)

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Primena PLC pri kontroli motora

Tipovi lokalnih komanda ka PLC
Radni taster Normalno otvoren Mirni taster Normalno zatvoren Normalno otvoren prekida Normalno zatvoren prekida Radni kontakt Normalno otvoren Mirni kontakt Normalno zatvoren
PLC Industrijski sistemi i protokoli

+24V
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Primena PLC pri kontroli motora

Motor radi, Q0.0 se samodri, stop i bimetal nisu aktivni

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Proirenje aplikacije svetlosni indikatori

snaga Dodatni svetlosni indikatori

Komanda (za novu komandu treba nam samo novi taster)

Logika (lako se menja i proiruje po potrebi)

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Proirenje aplikacije svetlosni indikatori

Prosto reenje. Novi kod i dve nove linije iz PLC

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Motor starter

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Druge aplikacije kontaktora i PLC

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