I

1.1
1.
2.
3.
4.
1.2
1.
2. I
3. II
4. III
1.3
1. I
2. II
3. III
II
. .

2.1
1. I
2. II
3. PLC?
4.
2.2
1. .
2.
I
3.
II
4.
III
5.
IV
6.
V
2.3
1.
2.
3.
4.
2

7
7
7
8
8
9
9
10
10
11
11
12
12
12
13
14

14
14
15
15
16
17
17
18
19
19
20
21
22
22
23
24
25

5.
6.
2.4
1. I
2. II
3. III
4. IV
5. V
III
.
- . .
3.1

1. ?
2. PLC
3. I
4. II
5. I
6. II
7. III
8. I
9. II
10. embedded ()
11. embedded
12. - Windows CE
13. - RTLinux
14. - QNX
15. VxWorks
3.2 -
1.
2. -
3. - I
4. - II
5. -
6.
7.
3.3
1.
2. I
3. II - PROFIBUS
4. III - CANBUS
5. IV - MODBUS
6. I
3

25
26
28
28
28
29
30
30
31
31
31
32
33
34
34
35
36
37
38
39
39
40
40
41
42
42
43
44
45
45
46
46
47
47
48
49
49
50
51
52

7. II
8. III - ControlNet
9. IV - ControlNet
10.
IV

4.1 IEC 61131-3
1.
2. IEC 61131-3 - I
3. IEC 61131-3 - II
4. IEC 61131-3 - III
5. IEC 61131-3 - IV
4.2 (POU)
1. (POU) I
2. (POU) II
3. (POU) III
4. POU
5. STEP 7
6. STEP 7
4.3

1. IEC 61131-3
2. STEP 7 I
3. STEP 7 II
4. STEP 7 I
5. STEP 7 II
6.
4.4
1. - I
2. - II
3. - III
4. - I
5. - II
6.
4.5
1. AND OR
2. NOT, NAND, XOR NOR
3. SR RS
4. I
5. II
6. III
7.
8. I
4

52
53
53
54
56
56
56
56
57
58
58
59
59
60
60
61
61
62
62
63
63
65
65
66
66
67
67
68
69
70
71
71
72
72
73
74
75
76
76
77
78

9. II
10.
11.
12.
4.6

1. PLC I
2. PLC II
3. (Ladder Diagram - LD) I
4. (Ladder Diagram - LD) II
5. (Ladder Diagram - LD) III
6. (Function Block Diagram - FBD) I
7. (Function Block Diagram - FBD) II
8. (Sequential Function
Chart - SFC) I
9. (Sequential Function
Chart - SFC) II
10. (Instruction List - IL)
11. (Structured Text - ST) I
12. (Structured Text - ST) II
13. (Structured Text - ST) III
14.
V

5.1
1. K I
2. K II
3. I
4. II
5. III
6. IV
7. V
8.
5.2
1.
2. I
3. II
4. III
5. IV
5.3

1.
(Motion Control) I
5

78
79
80
81
82
82
83
83
84
85
86
86
87
88
88
89
90
91
92
92
92
93
93
94
94
95
95
96
97
98
98
99
99
100
100
101
102

2.
(Motion Control) II
3. 1800
4.
5. E GM360
6. CNC
7.
8.
9.
5.4

1.
2.
3.
4.
5.
6. - Allianz AG, Stuttgart,
7. - BKN Strobel, Holm,
8. - Eurotheum ( ), Frankfurt,

1
2

3

4
5 CANopen
6 PLC CoDeSys
7

5.3

103
104
104
105
106
106
107
108
110
110
111
111
112
112
114
115
116
117
118
121
124
127
129
132
138
141
142

 1: .
1.1.
1.1.
:
.
:
1. .
2. .
3. .
4. .
1.


[AutoMatic project 2009-1BG1-LEO05-01640 - 4]
, ,
.
(), ,
(), ,
,
, .
- .
:
- ;
- ;
- , ;
- .
, - ,
, .
, ,
, :
- ;
- ;
- .
7

2.
.

: , , .


. ,
.


.. .
.

.. , -
: ,
,
. -

(), 80%
30% .
3.

,
,
.
,
.
50%
,
,
. , .

 :
- (
);
- ( );
- ( ).
4.
:
- ;
- ,
;
- :
,
.

.
, .

.

,
.
1.2.
1.2.
:
.
:
1. .
2. I.
3. II.
4. III.

1.

,
.
- .

.
, .
, ,
.
:
-
;
-
,
;
- - .
2. I
.

.
,
.
.

:
- ,
- ,
- .
//
. :
- //;
- //.
10

3. II

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

.
(, , .).

.

. -

(
, , ..).



.
4. III
,
. ,
.
.
.
.
(
).
- (.
).
-
(PLC)
.
.

11

 1.3.
1.3.
:
.

:
1. I.
2. II.
3. III.
1. (0)-(2)
( I)
,
, .
(0) A(9)
[AutoMatic project 2009-1BG1-LEO05-01640 - 4].
(0) ,
.
.
1775 ,

.
,
, , .
,
.
(1).
,
, (2).
,
. .
2. (3)-(4)
( II)
A(3)
.
,
, , ,
12

 ; ,
,
-.
(3)
.
A(4)

.
.
3. (5)-(9)
( III)
A(5),
. ,
.
, ,
.
().
:
- : ,
;
- : ;
- : ;
- : .
(6) .
,
.
.
A(7) (),
.
()
( ). (6) (7)
.
(8) (9) .

13

 2: .
. .
2.1.
2.1.
:
(PLC).
:
1. I.
2. II.
3. PLC?
4. .
1. I
, , ,
. . 2.1.
. 20-
(), 20- .

.2.1.

14

 ,
,
" ( ).
60-
20- .

, - .
2. II

70- 20- . To

.
.
,
,
.
,
( )
.
80- 20- ,
,
.

.

,
.

.
3. PLC?
" - Programmable
Logical Controller (PLC) .2.2. e
- ,

,
.

15

.2.2.
PLC
.

- Programmable controller (PC).
.
4.
"
1978 . NEMA (National Electrical Manufactures Association).
.
, (
) ( )
,
.

(
).

1968 . General Motors. :
- (
),
;
- , ;
- ;
- .

16


- ,
.
2.2
2.2.
:
.
:
1. .
2. I.
3. II.
4. III.
5. IV.
6. V.
1.

,

,
. , ,
(
)
,
- .
.2.3.
(PLC) .

17

.2.3.
PLC
, PLC
.
2. I


. +5V, 12V +24V.
- ,
( 220V AC) ,

( 24V DC). ,
(Power Down).
(CPU)
.

, .. ,
.

, , ..

18


, AMD2901, 2903 .
.
3. II

PLC
ROM. RAM
.
() PLC RAM,
PII (Process Image Input) .
( )
RAM, PIO (Process Image Output) .

(EEPROM, UVEPROM), PLC
, .

, PLC,
,
PLC.

PLC, () -
.
,

.
4. III
,
- EEPROM,
( - 2 , - 5)
. RAM
.
,
(image registers), .
, ,
, .
RAM EEPROM
.
- (Image
19

Registers),
.

.


,
.
.
5. IV

, - :
- /;
- /;
- ( ) /;
- ;
- (, , ,
.);
- .
[AutoMatic project 2009-1BG1LEO05-01640 - 4] 24 V DC 120/230 V AC.
(. 10 V, 0 10 V
1 5 V) (. 4-20 mA 0-20 mA).

,
. ,
.
(DC AC),
- .
( ) - .
8, 16 32 /
, 2, 4, 6 8
/ .

20

6. V

.
PLC,
- .2.4.

. 2.4. "master"
Master , ,
, . (slave) .

- .
Master PLC - (),
.

21

 2.3.
2.3.
:
.
:
1.
2.
3.
4.
5.
6.
1.

PLC- [AutoMatic project 2009-1BG1LEO05-01640 - 4],
: PLC, PLC,
PLC, PLC ,
, PLC PLC.

PLC
CPU-, ,
. -
/, (
PLC ) HMI.

/. /
PLC add-on ()
. ,
. PLC
. PLC
.
PLC ,
, PLC
. , PLC
22

PLC,
/. PLC Siemens Logo - .2.5.

.2.5. PLC - Siemens Logo

2.

-
. ,
, ,
,
.
DIN
.
,
.
,
(. ).

.
PLC, -
, - ,
.
PLC : , ,
, , , ,
, web- . PLC Siemens S7-300 . 2.6.

23

.2.6. e PLC - Siemens S7-300

3.


.
, PLC - .

. PLC
, HMI-.
, -
- .
PLC e Siemens S7-400 - . 2.7.

.2.7. PLC - Siemens S7-400

24

4.


(OPLC) HMI- ()
. HMI
. .
PLC
, .

, .
e AS-Cxx
- . 2.8.

.2.8. - AS-Cxx

5.

( PC) ,
PC PLC . PLC
( PLC ) PLC (
PLC ).
,
, OPC
/ SQL ( PC-),
, .
PC
/ .
/, PLC .
PC ,
( , ,
.). ,
25

 - .
e A5x - .
2.9.

.2.9. - A5x
6.

,
PLC. PC (
),
PC HMI- / .

( /
).

PLC,
.
PC (Ethernet, COM)
( PC)
/
26

. PLC
. ,
.
,
.
, HMI OPC ,
PLC,
PLC.
PLC Siemens SIMATIC WinAC RTX - . 2.10.

.2.10. PLC - Siemens SIMATIC WinAC RTX

27

 2.4.
2.4.
:
.
:
1. I
2. II
3. III
4. IV
5. V
1. I

[AutoMatic project 2009-1BG1-LEO05-01640 4]. ,
(). PLC
.
, , PLC
.
IEC 61131
, ,
( ) (
),
(POU).
,
.
,
.
.
.. ,
.
2. II
, - ,
- - .
CoDeSys . 2.11.

28

.2.11. CoDeSys
. PLC
(
),
.
- ,
.
, (
) , -
. ,
-
(
).
3. III

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

29

 -
.
. ,
- - .
IEC 61131
, ,
.
4. IV
- , (
) ( -)
. ,
.
- , .
,
- .
-

.
- ( )
- ,
.
-
(, , ),
.
.
5. V
- ,
-
.
- , , -
. .

. PLC
( )
( ) .

, .

30

 3:
. - . .
3.1.

3.1.
:
.

. embedded
. -
embedded .
:
1. ?
2. PLC
3. I
4. II
5. I
6. II
7. III
8. I
9. II
10. embedded ()
11. embedded
12. - Windows CE
13. - RTLinux
14. - QNX
15. VxWorks
1. ?
.
,
,
().
,
.
, ..

31

 ..
.
- - ,
.
,
PLC. , .. ,
,

.
2. PLC

:
- ,
;
- ,
;
- n ms,
;
-


.
PLC .3.1.

.3.1. PLC
32


. -
.

.
, .
3. I

.
.

,

.3.2.

.3.2.

,
.

33


.
4. II
.3.3.
.
,
.

.3.3.

- ,
"
.
,
- (
), .
5. I

. (Statement)
,
.

34

 , ,
.
,
, .
, .
()
, -
.3.4.

.3.4.
SIMATIC S7-200
- .

.
.
6. II

.3.5.

.3.5. SIMATIC S7-200

.
.3.6.
. - .

35

.3.6. SIMATIC S7-200

,
.3.7.

.3.7. SIMATIC S7-300

7. III

. ,
.
.
:
- - (bit);
- - (byte);
- W - (word);
- D - (double word);
- R - , (real).

. ,
SIMATIC
, .3.8.

36

.3.8. SIMATIC
8. I

,

.

.

, .
,
.

.
-
, .
,
. , ,
.
- LIFO.

37

9. II
.3.9.

.3.9.
,
1.
0 " (RLO).
,
, .
ALU,
, ().
,
.
. .3.10
.

.3.10. : ) ; ) -

38

10. embedded ()
-
embedded .
( )
, ,
.
-
. PC
(Personal Copmuter) , 86
, MAC Apple PowerPC SYN
Sparc.

:
- ;
- ;
- ;
- ;
-
;
-
Linux, Windows, OS X .
11. embedded
Embedded
,
.
embedded ,
- ,
. embedded ()
, - -
( embedding)
.
embedded
,
.
.
.
, embedded :

39

- ;
- ;
- ;
- ;
- ;
- RT Linux,
Windows CE, RTOS-32, WxWorks, QNX, Symbian .
12. - Windows CE
Windows CE
Windows CE Microsoft
,
. Bluetooth,
802.1x, IPv6, OBEX (OBject EXchange) , MediaSense RTC/SIP
(Real Time Communication/Session Initiation Protocol). Windows CE
KSP (Kerberos Security Protocol) SSL (Secure Sockets Layers).
256 , ,
200kB
.
Windows CE / ARM720T,
ARM920T, ARM1020T, StrongARM, XScale, MIPS II/32 with FP, MIPS II/32
without FP, MIPS16, SH-3, SH-3 DSP, SH-4, 486, 586, Geode Pentium I
IV. (wizzard),

, ,
, Internet PDA
(Personal Digital Assistant).
Windows CE
10% Win32API ,
Windows 2000. POSIX (Portable Operating System Interface -
)
Windows CE.
13. - RTLinux
Linux
Linux - .
, .
,
(RTLinux). RTLinux ,
40

Linux .
Linux. RTLinux ,
.
,
Linux
-.
, , RTLinux
Linux. ,
. ,
,
.
, RTLinux, ,
: Linux .
(dual kernel approach).
RTLinux ,

( ) .
- RTLinux
.
14. - QNX
QNX
QNX Software Systems
QNX Neutrino RTOS.
embedded 20 .
,
, , ,
.
/,
x86/Pentium, PowerPC, ARM, StrongARM, XScale, MIPS SH-4. QNX
Neutrino
IEEE 1003.1b. - QNX
,

.
. Qnet, QNX

.
QNX ,
QNX Photon microGUI
Internet ,
41

. USB, , PCI,
, IDE SCSI . QNX Neutrino
.
15. - VxWorks
VxWorks
VxWorks Wind River
, , , CNC
. VxWorks
, .
VxWorks ,
(), ,
, , , ,
, .
VxWorks POSIX. Tornado,
VxWorks ,
.
Tornado
-
(TCP/UDP ).
200 BSP (Board Support Packages)
, RISC, CISC ,
Motorola/IBM PowerPC, Motorola 68K/CPU32, Intel Pentium ,
Intel StrongArm ARM.
3.2. -
3.2.
: -
.
:
1.
2. -
3. - I
4. - II
5. -
6.
7.
42

1.

- , -
. ,

.
-

(backplane) . PLC
"- ", PLC 90 -
"producerconsumer" (. PLC ControlLogix Allen-Bradley).

, PLC .3.11

PLC .

.3.11. PLC

43

2. -

:
(SM - Signal Modules)
- -
( - ).
, - 24V DC, 120/230V
AC, (
) - .3.12.

.3.12.
, ,

. , ,
,

( , 70130 %
)
.
.3.13.

.3.13.

44

3. - I
- -
( ).

(, MOS ),
.3.14.

.3.14.

-
PLC .
.

.

/ .
.
PLC
.
4. - II

PLC
.
. .
,
,
.


.
45

 ,
, ,
.

.
.
- 16 (2 ).
5. -
- - ,

. no (, ,
) , ,
.
, ,
.

(, PT100, .).
- - ,
-
() . , PLC
.
.

, ,
.
6.
(IM - Interface Modules).
- .
. ,
,
.
(FM - Function Modules).

(, , , .).
.
,
.

46

7.
( - Communication Processors).

. ,
:
- Point-to-point - ;
- ASi-bus -
,
,
;
- Modbus, Profibus, Berges . -
;
- Industrial Ethernet -
,
.
.

-
.
,
.
.
3.3.
3.3.
:

.
:
1.
2. I
3. II - PROFIBUS
4. III - CANBUS
5. IV - MODBUS
6. I
7. II
47

8. III - ControlNet
9. IV - ControlNet
10.
1.

.

[AutoMatic project 2009-1BG1LEO05-01640 - 5] .3.15:
- :
, , ;
- : -
,
;
- : ;

.3.15.

48

2. I


(,
, .).
: CAN, DeviceNet, Foundation Fieldbus, Profibus-DP .

.3.16.

.3.16.

, , ,
.
3. II - PROFIBUS


.
- PROFIBUS - Siemens, Bosch
Klockner-Moeller
EN50170 EN50254.
Profibus
.
Profibus
49

 ,
, - .

,
.
Profibus multimaster , ,

.
4. III - CANBUS
- CANBUS - Controller Area Network (CAN bus)
1 Mbps
.
ISO 11898 ISO
11519.
(OKI, MICROCHIP, MOTOROLA
.). .3.17.

.3.17.
CAN ,

. ,
,
- .
,
, .
50

 , CAN
, .
(acknowledgment).
, ,
.
5. IV - MODBUS
- MODBUS -
"-".
.
, RS-485, RS-422, RS-232 TCP/IP (Modbus TCP)
.3.18.

.3.18. Modbus TCP

Modbus
OSI. Modbus -
, , .
(master)
(slaves).
(
).
.
51


.
.
.
6. I
(Automation and Control Level)

.

, , ,
[AutoMatic project 2009-1BG1-LEO05-01640 5]. ,

. ,
PLC.

, ,
.


.
ControlNet Profibus, -
Ethernet/IP.
7. II
-
peer-to-peer
,
, - (HMI Human Machine
Interface), , (Supervisory Control).
,
.

,
.

,
.

52

 .
,
,
. ,

.
8. III - ControlNet
- ControlNet - DeviceNet
Common Industrial Protocol (CIP). 3.19
CIP, ControlNet OSI . ControlNet
Concurrent Time Domain Multiple Access (CTDMA),

.

.3.19. CIP, ControlNet OSI

9. IV ControlNet
ControlNet RG-6
( 1000 m) BNC .

53

.
( 30 km
) .
5Mbps
Manchester. 16
. ..
.
.
, -.
ControlNet , ,
, , -
. ControlNet

,
- .
10.


[AutoMatic project 20091BG1-LEO05-01640 - 5].
.
,
. -
,
Ethernet .3.20.

54

.3.20. ,


.
.

55

 4: .
4.1. IEC 61131-3
4.1.
: PLC IEC 61131-3.
:
1.
2. IEC 61131-3 - I
3. IEC 61131-3 - II
4. IEC 61131-3 - III
5. IEC 61131-3 - IV
1.


.

. -

,
.
PLC ,
.
IEC 61131
.
, ,
- .
2. IEC 61131-3 - I
PLC e .
, , ,
, .

,
.

56

 1993 . PLC IEC

61131-3.
PLC
. -
,
, .4.1.

.4.1. PLC IEC

61131-3
3. IEC 61131-3 - II
(PLC)
, , /
.
,
.. , .
,
/ .
,
,
.

.

(FB), .

57

4. IEC 61131-3 - III

. ,
(
).
.
(FB) ,
- .

, , , , ,
, , , , .
IEC 61131, ,
(Program
Organization Units - POU).
5. IEC 61131-3 - IV
IEC 61131-3 ,
, .
: , , , , ,
, (BYTE, WORD,
DWORD, LWORD), ,
. ,
.
( )
.

(retentive variables).
" " PLC.
" "
.
/ ,
.
(, PLC
). PLC, -
:
- (Instruction List - IL);
- (Structured Text - ST);
- (Ladder Diagram - LD);
- (Function Block Diagram - FBD);
58

- (Sequential Function Chart SFC).

4.2. (POU)
4.2.
:
.
.
:
1. (POU) I
2. (POU) II
3. (POU) III
4. POU
5. STEP 7
6. STEP 7
1. (POU) I
IEC 61131-3 ,
POU (Program Organization Units). IEC

. ADD (ADDition ),
ABS (ABSolute ), SQRT (SQare RooT
), SIN, COS ..

. POU , (FUN),
(FB) (PRG).
- ,
. ,
,
.
, .. ,
.
- ,
.
. .
.
PLC

59

- . PID-
.
2. (POU) II
,
,
.
.
, IEC61131-3, C.
.

, .
-
, .
, .
POU, .

.
3. (POU) III
.4.2. POU.

.4.2. POU

60

4. POU
POU
-,
. .. -.
( POU),
-
. POU ,
.

.


. ,

.
,
.
,
.


( ) ,
,
.
5. STEP 7
S7-300 S7-400 Siemens
, STEP 7 [AutoMatic project 2009-1BG1LEO05-01640 - 4]. STEP 7 POU . ,
(Data Block, DB),
IEC 61131-3.
, IEC 61131-3, STEP 7
(Organization Block, OB).


. OB
.
.

61

 ,
.
( RUN)
OB 100 OB101.
OB.
6. STEP 7
(FB) STEP 7
,
.
a STEP 7 FB
(DB). FB
. ,
(OB, FB FC), STEP 7 (SFB, SFC SDB),
,
.
,

.
. (FC)
(), DB
. FC .
STEP 7 FB, FC FB, FC OB.
. 999.
STL 2000 .
4.3. ,

4.3.
: ,
IEC 61131-3.
:
1. IEC 61131-3
2. STEP 7 I
3. STEP 7 II
4. STEP 7 I
5. STEP 7 II
6.
62

1. IEC 61131-3
,
.
,

. ,
.4.1.
.4.1. IEC 61131-3

2. STEP 7 I
[AutoMatic project 2009-1BG1-LEO0501640 - 4], STEP 7
.4.2.
IEC 61131-3 STEP 7.

. STEP 7
, ,
FC FB.

63

.4.2. STEP 7

64

3. STEP 7 II

4. STEP 7 I

.
-
[AutoMatic project 2009-1BG1-LEO05-01640 - 4].

. STEP 7
.
,
.
(OB, FC
FB).
.
S7-300

65

 /
. 4 ,
/ .
(Digital Input, DI) 4 0.
5. STEP 7 II
, 16-
/ .
4.
S7-300 .4.3.

.4.3. Siemens S7-300

6.
:
- (
, ),
.

, ,
, ..

66

 :
-
;
-
.
4.4.
4.4.
:
.
:
1. - I
2. - II
3. - III
4. - I
5. - II
6.
1. - I
,
.
,
, .
- - On-Delay Timer.
.4.4.
, ,
. .

.4.4. - TON, TIM, TMR

67

- - Off-Delay Timer.

.4.5. ,
. ,

.

.4.5. - TOF
2. - II
- ( ) - .

.
- .4.6.

.4.6. - RTO, TMRA

,
. .4.7 .

68

.4.7.
3. - III
PV
(1ms, 10ms, 100ms, 1s).
( )
. ,
. ,
. ,
, 1,
0.
:
- (Current value), 16-
Integer ;
- (Timer bit),
1, .

,
,
- .
69

4. - I
,
.

.
:
- (CTU, CTN, CTR);
- (CTD);
- (UDC CTUD).
(
- CU CD),
R PV. ,
:
- (Current value), 16-
Integer . ;
- (Counter bit),
1, PV.

70

5. - II
.4.8 .
, -
- .
-
, (HSC ).

.4.8.
6.
,
- ( sin,
., log .).
.

,
.

71

 SR/SL
/, RR/RL /, SHRB
, ATT
, LIFO/FIFO - (
, - ,
), BCDI/IBCD
, ENI/DISI /
, INT, RETI - , PLS -
, XMT - .
4.5.
4.5.
:
.
:
1. AND OR
2. NOT, NAND, XOR NOR
3. SR RS
4. I
5. II
6. III
7.
8. I
9. II
10.
11.
12.
1. AND OR

- AND OR
AND ( )
1 AND-
1. 0,
0. .4.9
. AND .
72

.4.9.
OR ( )
1 , OR 1. 0
0. .4.10
. OR
.

.4.10.
2. NOT, NAND, XOR NOR
-
NOT
. ,
1 0
. .4.11
.

.4.11. NOT
73


AND OR. AND
NAND, OR NOR.
- (XOR)
XOR (Exclusive-OR, )
1,
. , 1,
0, XOR 1. .4.12
XOR.

.4.12. XOR
3.SR RS
SR RS
SR RS [AutoMatic project 2009-1BG1-LEO05-01640 -
4] ,
, . SR RS
.
- SR S (Set) 1, R (Reset)
0, Q 1
(). S
Q, 1. Q ,
R 1,
S. SR
.
- RS R 1, S 0,
Q 0 ,
1. 1, S
1, R.
1.
74

 S Q, 1,
R 0.
4. I


[AutoMatic project 2009-1BG1-LEO05-01640 - 4].
( 0 1)
, ( 1 0)
. ()
.4.13.

.4.13.

,
.
.
AND SR/RS .

75

5. II

0 1 IO .4.14.

.4.14. AND SR

IO RLO

( EO).
0 RLO 1, RLO 1
() IPO 1
. RLO
IPO 0. RLO

.
6. III

1 0 IO
.4.15.

.4.15. AND SR

76

 RLO
IO
( EO).
1 RLO 0, RLO 1 ()
IPO 1
. RLO
IPO 0. RLO

.
IEC 61131 R_TRIG (
) F_TRIG ( )
.
7.
()
/
[AutoMatic project 2009-1BG1-LEO05-01640 - 4].
.
1, () 0,
. IEC 61131 ,
.4.16.

.4.16. IEC 61131

, ()
. BOOL,
BYTE, WORD DWORD, (
) .

77

8. I



.
.

,
.
IEC 61131 .4.17.
: SHL (shift left, ), SHR (shift
right, ), ROL (rotate left, ) ROR (rotate
right, ).

.4.17.
9. II

( N)
.
N
0 15,
double integer 0 31.
.
.

78

 integer double integer

.

( integer 15, double integer 31).
0 ( ),
. , 1,
.
()
.
.
,
- -
.
10.

IEC 61131 :
(ADD), (SUB), (MUL), (DIV),
(MOD) (EXPT).
STEP 7 [AutoMatic project 20091BG1-LEO05-01640 - 4]
(INT), double integer (DINT) (REAL)
/, INT, DINT
REAL. , , .
INT (DIV_I) DINT (DIV_DI)
. DINT
, MOD_DI.
STEP 7
.4.3.
,
.

79

.4.3. STEP 7

11.

[AutoMatic project
2009-1BG1-LEO05-01640 - 4]. IEC 61131
: (ABS), (SQRT),
(LN), (LOG), (EXP),
(SIN), (COS), (TAN), (ASIN),
(ARCOS) (ARTAN). IEC 61131
.

REAL. ,
INT DINT. STEP 7
, IEC 61131
.
- LN ( =
2.718282) (IN).
- EXP ( )
.
- SIN, COS TAN ,
, .
- ASIN, ACOS ATAN ,
. .

80

- ABS , SQR
, SQRT
. SQRT ,
- .
12.


. BCD
.
INT REAL.
.
BCD ,
BCD . .4.4
IEC 61131.
.4.4. IEC 61131

INT DINT
() INT, DINT, REAL BCD
INT_TO_BCD, INT_TO_DINT, DINT_TO_BCD, DINT_TO_INT
DINT_TO_REAL. INT DINT
INT_TO_DINT. 15
81

 INT 15
DINT. ( 15) ,
15 31 DINT.
4.6.
(PLC)
4.6.
:
PLC. e .
:
1. PLC I
2. PLC II
3. (Ladder Diagram - LD) I
4. (Ladder Diagram - LD) II
5. (Ladder Diagram - LD) III
6. (Function Block Diagram - FBD) I
7. (Function Block Diagram - FBD) II
8. (Sequential Function Chart SFC) I
9. (Sequential Function Chart SFC) II
10. (Instruction List - IL)
11. (Structured Text - ST) I
12. (Structured Text - ST) II
13. (Structured Text - ST) III
14.
1. PLC I

().
( -
).

.
PLC
.
:

82

 :
- (, PLM, BASIC, PASCAL);
- - (
),

- GRAFSTEP Telemecanique, HIGHGRAPH Siemens,
JARUS ..
() .
.
2. PLC II
:
- - ;
- ;
- ;
- .

. ,
PLC, .
1993 . IEC 61131-3
(Allen Bradley, Eberle, KloecklerMoeler, Omron, Pepper & Fuchs, Shettcontrol, Telemecanique .) e
.
PLC ,
. IEC 61131-3 PLC,
.
, ..
.
3. (Ladder Diagram - LD) I
(Ladder Diagram - LD)
PLC,

. ""
-
.
,
83

"".
-" " (examine if close -| |- ) "
" (examine if open -|/|- ).
" " "
".
-
.
- ,
,
,
(
) .. "".

, .
4. (Ladder Diagram - LD) II
- ,
(
) /
,
- "" ,
.
"" ,
" " (power line), -
.
"" ()
" ", - " ".
"" "" (
),
()
"".
,
( ) ""
( ) .., RLO (Result of logic operation) = 1
.

.

84

5. (Ladder Diagram - LD) III

.4.18

.

.4.18.


1 2, . 1
, 2 .

.0 .1,
Q0.0
- " " (examine if closed).
.4.19
.

.4.19.
85

6. (Function Block Diagram - FBD) I

(Function Block Diagram - FBD)

,
(Logic boxes) .
PLC.

(Logical Segment).
,
.
, , (AND,
OR, XOR) ,
IEEE Std. 91-1984.
.4.20
.

.4.20.
7. (Function Block Diagram - FBD) II

.

.
. RLO
10.0.
86

 ( 10.2).
RLO
.

" " (Binary Logic Instruction).
.
(Assignment, =).
FBD :
- .
-
.
- () ,
.
8. (Sequential Function Chart SFC) I
(Sequential Function Chart,
SFC)

-
[AutoMatic project 2009-1BG1-LEO05-01640 -
4].
PLC .
SFC
. -
(. , ) ,
-.

IEC 61131-3.
SFC .
SFC , ,
. . ,
.
,
. TRUE
, .

87

9. (Sequential Function Chart SFC) II

/
, .

. .2.21
SFC.

.2.21.
10. (Instruction List - IL)
(Instruction List - IL)
(Instruction List, IL) -
, .
,
. IL ,
. , ,
. , .4.22.

88

.4.22. IL

, .
, . .
, .
(* *).
STEP 7 // .
,
.
11. (Structured Text - ST) I
(Structured Text - ST)

.

(Flowchart).
- ,
,
.

, (Literal Phrases).
- , .
- (Action Phrase)
.
,
( ).
.
.4.23.

89

.4.23. ST
12. (Structured Text - ST) II
- (Condition Phrase)
.
If, Then, Else
.4.24.

.4.24. ST
- (Iterative Phrase)
,
. For ... Next
While ... Do .4.25.

90

.4.25. ST
13. (Structured Text - ST) III

, ,
.
- ,
,
.
IL
,
() .
IL, ST
.

( ++), .

91

14.
,
. .4.26
, , IEC 61131.

.4.26.
IEC 61131
5: .
5.1.
5.1.
:
.
:
1. K I
2. K II
3. I
4. II
5. III
6. IV
7. V
8.
92

1.K I
:
- - ,
,
- , , ,
, ;
- (
, ()
);
- , / (
),
, ;
- -
, ,
- ( ,
, );
2.K II
- ;
- -
, , ,
,
,
,
( ,
,
, ),
, (),
(, -),
- , ,
watch-dog ;
- -

, ,
, .., ;
- , ,
.

93

3. I
a ,
, ,

.


.

,
,

.

. IN, PRG, OUT, COM H&O ca
.

.
4. II
.5.1
-
Tocmax.

.5.1. -

,
IN .
,
,
.
94


.
5. III
,

- .
.5.2

. ,
"
.

.5.2.

,
,
. ()

. ,
-
.
6. IV


.5.3,


:

95

.5.3.
,
.
, - .
.. ",
- . .5.4 .

.5.4. "

7. V
,
,
. ,
.

.

.
,
(Interrupt Function).
, .
(
96

) ( ,
.).
,
.
,
.

, ..
,
.
.
,
.

.
8.
..
.5.5. To

. o-ope
,
, .. :

.5.5.

97

 5.2.
5.2.
:
.
:
1.
2. I
3. II
4. III
5. IV
1.

.
.
(/ , ,
, , .)
PLC
( , ,
.).
-...,

,
, ..


. ()
()
, /
.
PLC ,
.

,
.

98

2. I

watchdog.
.

.
.

.
.
().
,
,
. PLC


.
,
.

2006/42/, 2004/108/
2006/95/.
,
.
3. II
[AutoMatic project 20091BG1-LEO05-01640 - 4]
:
- ,
;
-
( , ,
)
, ;
-
;

99

-
.
-
.

(
).
PLC,
;
4. III
- Fail-safe ( Siemens) ,
Stop .
, 1,
,
,
0 ;
-
.
, (
)
, .
,
;
- . -
(, , .)
.


, (
),
;
5. IV
-
( /)
( /);
- 0 1

.
.
100

 ,

;
-
, ..
( ), ( )
(, );
- Start ,
, , ;
- Stop
Start.

.

.
5.3.

5.3.
:
.
:
1. (Motion
Control) I
2. (Motion
Control) II
3. 1800
4.
5. E GM360
6. CNC
7.
8.
9.

101

1.
(Motion Control) I
PLC ,

.
.
,
.

, ,
.5.6. , ,
- .
,
, ,
.
-.

.5.6.

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

102

2.
(Motion Control) II

.5.7.

.5.7.

,
.
.

, .
.

PLC .5.8.

.5.8. PLC
103

3. 1800
1800

.
,
.
.
.
, , .
,
.
:
- 4 s.
-
,
.
- 20 100 .
: Lepene etiketi kylbeta- 022-emp 1800.mov
: KMPlayer, QuickTime Player.
4.


12
.
- ,
. DT.
,
(PLC)
.
PLC ,
.
PLC
,
.
104

 , .
PLC
5 85.
30
.
:
- 1500 min-1.
- 20 300 8
.
- , 6 12 (6+6)
.
- .
: Kardena-AK12.mov
: KMPlayer, QuickTime Player.
5.E GM360
E GM360
GM360
PET 360 () PVC
Hotmelt. T
,
.
, , ,

. ,

.
-
.
.
:
- 7000 /.
- . 380 (400) V; 50 z.
- 5.5 W.
- 150 mm.
- 460 mm.
105

- 24 V.
- 6 atm.
: GM-GM360E.mov
: KMPlayer, QuickTime Player.
6. CNC
CNC
CNC
.
, CNC ,
.
, ,
, CNC, PLC,
. ,
.
.
. 5 , - X, Y Z
- , - Sp B - . B .
.
:
- - 1m.
- 20 m/min.
- 6000 min-1.
- : 80 mm, Y 160 mm, Z 120 mm.
: CNC-Center.mov
: KMPlayer, QuickTime Player.
7.

.5.9
( ) (
) .

, .

106

 ,
40 m. 4
- ().

, AS-C12T-1.
,
.
:
- 40 m.
- 3,1 m.
- 2,5 m.

.5.9.
8.

.5.10

.
.
,
107

- . :

.
0 2000 min1
0,01 min1. ( 2100-2200 min1)
,
.
10,8 239,4 / PI
, .
:
- 0-2500 min 1.
- 0,01 min1.
- 3 66,5 m/s (10,8 239,4 km/h).

.5.10.
9.

.5.11
TWIST-OFF ,
, . , , .


.
,

108

 .
,
1000 1000 mm.
:
- 160 min-1;
- 0,5 s(0,3 s 0,2 s
);
- 0,8 m/s, 10 m/s2;
- X Y 0,01 mm;
- 100 ;
- : ,
, X Y,
, ,
.

.5.11.

109

 5.4.

5.4.
:
.
:
1.
2.
3.
4.
5.
6. - Allianz AG, Stuttgart,
7. - BKN Strobel, Holm,
8. - Eurotheum ( ), Frankfurt,
1.
,


, ,
.
()
Building Automation (BA) -

,
- , ,
, ,
.
-
,

.
(distributed control systems
- DCS), -
(data acquisition systems),

. ,

110

 ,
.
2.
-
, -
.

. ,
, , ,
(conference calls), (distance
learning/trainings rooms), ,
.
.
- ,
,
, , ,
, ,
.

.
3.
() home automation systems
(HAS), 1980 , 8 ,

.

(smart home)
,
, ,
,
.


, , ,
,
,
,
..
111


,
( ,
..)
.
4.
,
-.
, , ,
, , ,
, , ,
, ,
.
, ,
(occupancy/vacancy sensors) .

(PLC) .5.12,
. ,
(
, )
.

.5.12.

5.

, , ,
.
, ,
112

 .
.5.13 IEC - 61131-3 PLC
.

.5.13. PLC
.5.14
- ,
.

.5.14. PLC

113

6. - Allianz AG, Stuttgart,

Allianz AG, Stuttgart, .5.15.

.5.15. Allianz AG, Stuttgart,

:
- CPU: BC3100/BC9000;
- HMI: TwinCAT OPC/hercon (customer specific);
- I/O: Ethernet and Profibus 20,000 ( ).
:
-
.
- ,
.
- Ethernet .
- .

114

7. - BKN Strobel, Holm,

, ,
.5.16
60,000 .

.5.16. BKN Strobel, Holm,

:
- CPU: IPC C6250 BC2000;
- HMI: TwinCAT OPC;
- I/O: Ethernet/ ;
- Lightbus 59 BK2010 BK2020 Bus Couplers, FC2001 PCI ;
- 1,000 I/Os.
:
- .
- .
- /.
-
.
- -

.

115

8. - Eurotheum ( ), Frankfurt,

.5.17.

.5.17. Eurotheum ( ), Frankfurt,

:
- CPU: 40 C6130, P III, 128 MB;
- HMI: TwinCAT OPC, hercon ( ).
:
- , ,
.
- ,
.
- .
- L .

116

117

 No 1
: .
I. .
1. .

,
, -
,
-
.
2. .

.

,
(). e ,
:
- - ;
- -
;
- - ;
- (DC) ;
- - - .

. ,
, , .

:
- (V/Hz) ;
- ( )
;

118

- ( ).
-
(Pulse Width Modulate-PWM ) .
.
+/- (DC)
-
. PWM

, ,
.
,
+/- DC
PWM .
- PWM
- , - .
3. .
3.1. .

.
,
, ,
- .
,


.
3.2. ( ) .

,
:
- ();
- ().

-
119


. ,
,
,
.

.
,
.

.
. -
.
3.3. ( ) .
,

.

, .
,
,
.

. :
-
;
- .

.

120

 No 2
:

I. .
1. .

, .
-
.
, ,
.
.

.
- -

. ,
.
:
DT;
DS.
DT
.
,

. e DT,
. 1.

121

.1. D
DS
, , ,
.
. e
DS .2.

.2. DS

II. .
1.
.

.
.
122

No

Nmax

Tr

9
10
11
12
13
14
15
2. (RF)
.

(ID32796).
RF ,
AIPEX Startup :

RF
RF (ID32978);

RF ID32904.
3. .


.
ID 116, ID32953,
ID32775.

123

No

1
2
3
4
5
6

III. .

No 3
:
I. .
1. .

, -
, .
,
,

.
, ,

(DC Bus)
.
- ,
, ,
.
, .
,
(
).

.
.

124

1.1. /W
e c (
): (KE) (KW).
KE 32
. KW
. ,
.
.
, ,
, /, PLC

.
:
;
;
.
.1.

.1. KE,KW
1.2.2. () - KU
.
KU ,
. KU [2]
, .
, ,
125

 /,
.
, :
;
;
;
;
;
;
.
.2.

.2. KU
KU ,
,
KU
.
.
PLC KU ,
PLC,
.

II. .
1. .

.
,
126

 .
.
: ID32800, ID32796, ID32904, ID32780, ID32781,
ID82, ID83, ID80, ID36, ID40, ID51, ID47.
2. .
AIPEX
KU .
: ID32800, ID100, ID101, ID102.

III. .

No 4
:
I. .
1.
(ID104).
Kv (ID104)
.1.

.1. Kv.
,
Kv
. Kv :

127

LA- (ID116).
II. .
1. .
-
:
ID100 = 200; ID101 = 10ms
3 0 RF (ID32978
= 32904)
3 1
(ID32979 = 33713)
3 2
(ID32780 = 33714)
:
o
100 /sec2 (ID136 = ID137 = 100)
o
1000 (ID222 =
1000)
o
10 (ID180 = 10 * ID116)
o
0 (ID153 = 0)
AIPEX 5
:
(ID47)
(ID51)
(ID40)
(ID84)
(ID32824)
2. Kv
.

(ID32824)
Kv (ID104).
No ID104 ID32824
1
2
3
4
5

128

3.
.
-
:
ID32808 = 3004

(ID32824).
.
No
1
2
3
4
5

ID104

ID32824

III. .

No 5
: CANopen
I. .
1. CAN bus .
CAN bus ,
2 (), RS-485.
1980. Bosch . -
c
.
:
DeviceNet;
CANopen;
.

Standard Can in Automation CAN 2.0B:

11Bit-.

CANopenStandard CiADS 301 Version 4.01:

NMT (Network ManagemenT)- ;
Node Guarding- Slave - ;

129

 Life Guarding Master- ;

/ PDO (Process Data Object)
;
Client/Server SDOs(Service Data Object) ;
Emergency Object- ;
.
ACC (AMK CAN Communication) = CANopen + AMK

: Slave-
.
< 1s.
.

II. .
1. .
-
:
CAN- (ID34023).
MASTER (ID34025
= 2), SLAVE (ID34025 = 1).
, MASTER
, SYNC (ID34026 =
8). , SLAVE ,
SYNC MASTER.

1ms (ID2 = 1000).
MASTER (ID34036, 0 = 4).

(API),
SAK 32- (ID32800 =
3C0604h).
2. SLAVE- MASTER.
.
SLAVE-, MASTER.

, MASTER-.

130

ID34142=

CAN
.
:
MASTER:

SLAVE:

3. Aipex.
,
MASTER- (API- diActPosition)
SLAVE- (API diMainSetpoint). .
RF
SLAVE- MASTER.
:

MASTER- (ID32864 = 0, ID32865 ID32868 = 0).
, SLAVE-
(API-
bySystemOut) MASTER- (API bySystemOut). .

SLAVE-.

131

PLC .
:

III. .

No 6
: PLC CoDeSys
I. .
1. CoDeSys?
CoDeSys (Cntroller Dvelopment SYStem)
PLC 3S GmbH.
:
PLC ;
;
;

;
.
2. CoDeSys PLC.
CoDeSys PLC e .1.

132

.1. CoDeSys PLC.

3. PLC .
PLC e .2.

.2. PLC .
4. POU?
POU (Program Organization Unit) ,
, .

133

 CoDeSys ,
PLC_PRG, ( main
C.
POU:
(Function):
, ,
.
(Function block):
, .
()
.
(Program):
.
().
5. , IEC61131-3:
ST Structured Text
IL Instruction List
FBD Function Block Diagram
SFC Sequencial Function Chart
LD LaDder
PLC CoDeSys,

- .

II. .
1. PLC :

4 (ST, IL, LD, FBD):

3 L,
/;
134

 S1 ;
S2 S3
( ,
).
:
L S1.((S 2.S 3) (S 2.S 3))

.
ST:
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
IL:
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
135

.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................

:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
LD:
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
136

.................................................................................................................................
.................................................................................................................................
FBD:
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
:
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................

III. .
1.
:
:
-
?
?
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
137

.................................................................................................................................
.................................................................................................................................
.................................................................................................................................
.................................................................................................................................

No 7
:

I. .
1. POU:
,
;

CoDeSys;
PLC
( Know How);
CoDeSys , C
;
CoDeSys
(standard.lib) ,
, , ..
2. :
LEN ;
LEFT
;
RIGHT -
;

138

 MID
;
CONCAT ;
INSERT
; DELETE
;
REPLACE
;
FIND ,
.
3. :
R_TRIG (FALSE -> TRUE);
F_TRIG (TRUE -> FALSE).
4. :
CTU (
);
CTD - (
);
CTUD (
.
5. :
TP ;
TON - ;
TOF - ;
6. :
(arrays);
:

arr1 : ARRAY [1..5] OF INT := 1,2,3,4,5;

(structures);
(enumerations).
139

II. .
1. - PLC .
SFC,
:

;
2s;
;
1s;
2 .
0,5s;
.

.
2. -.
( FBD),
:

;
CAM_PROF,
, VGEN_A ( Master)
.
.

III. .

140

 5.3
5.3 YouTube :
1. https://www.youtube.com/watch?v=twNduj1NbbI&feature=youtu.be - CNCCenter .mov
2. https://www.youtube.com/watch?v=IyKKoCEn2s0&feature=youtu.be GM-GM360E.mov
3. https://www.youtube.com/watch?v=6qtHJMv7gg8&feature=youtu.be Kardena-AK12.mov
4. https://www.youtube.com/watch?v=56DiE7_hkS8 - Lepene etiketi kylbeta022-emp 1800.mov
--------------------------------------------------------------------------------------------
.
- :
.
-
.
- ,
.

141



-
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.

-.
-. .
-.
.
.
IEC61131-3. PLC CoDeSys.
(POU).
.
. .
CoDeSys.
CoDeSys. .
: 5 11 .

142