BI 1:

1.1

GII THIU V PLC

Gii thiu.

K thut iu khin c pht trin trong thi gian rt lu. Trc kia vic
iu khin h thng ch yu do con ngi thc hin. Gn y, vic iu khin
c thc hin nh vo cc ng dng ca ngnh in, thc hin bng vic ng
ngt tip im relay. Cc relay s cho php ng ngt cng sut khng cn dng
cng tc c kh. Ta thng s dng relay to nn cc thao tc iu khin
ng ngt logic n gin. S xut hin ca my tnh in t to mt bc
tin mi trong iu khin K thut iu khin lp trnh PLC. PLC xut hin
vo nhng nm 1970 v nhanh chng tr thnh s la chn cho vic iu khin
sn xut.
1.2

Nhng u im ca cc nh my khi s dng PLC.

Gim gi thnh i vi cc h thng phc tp.

Mm do v d thay th khi cn thay i h thng iu khin.

Kh nng kt hp vi my tnh cho php iu khin cc h thng tinh vi.

Kh nng h tr x l s c lm cho vic lp trnh d dng v nhanh chng.

Kt cu chc chn v chnh xc lm cho h thng hot ng n nh v tin

cy.

1.3

Logic bc thang.

Logic bc thang l phng php lp trnh chnh cho PLC. Logic bc thang c
pht trin thay th cho vic iu khin bng logic relay. Do c s iu
khin bng relay nn khi chn Logic bc thang lm phng php lp trnh chnh
cho PLC th vic hun luyn cho cc k s v ngi s dng s gim i rt
nhiu.
Trang 1

Cc h thng iu khin hin i ngy nay vn cn s dng relay, nhng chng

khng c dng to ra mc logic m hot ng nh mt thit b in t
dng ng m tip im.
Cc relay c dng ng m cc ngun in cng sut ln da vo ngun
nng lng nh, vn gi cch ly cc ngun ny.
H thng iu khin n gin c s dng relay c minh ha trn hnh 1.1.
Relay bn tri s dng tip im thng ng cho dng in qua n khi c
in p cp vo u dy A. Relay gia s dng tip im thng h nn
khng cho dng in qua n khi u dy B c in. Nu dng in qua 2 tip
im ca relay A v B ri vo cun dy ca relay C th s ng tip im u ra
C.

Trang 2

Hnh 1.1: H thng iu khin dng relay.

Mch in c v li dng s logic bc thang bn di trong hnh 1.1.
Trng thi logic c c l: C ng nu A m v B ng.
Hnh 1.1 khng phi l ton b h thng iu khin, ch l s logic. Khi xem
xt mt PLC, ngoi s logic cn c cc ng vo/ra. Hnh 1.2 l mt minh
ha v s logic cng vi ng vo,ng ra ca mt PLC. PLC ny c 2 ng
vo nt nhn, gi s s tc ng cc cun dy relay bn trong PLC, lm ng ra
relay ng cp ngun 115VAC cho n sng.
Lu :
Cc PLC thc t, ng vo khng s dng relay, nhng ng ra c th s dng
relay. Logic bc thang trong PLC thng l cc chng trnh do ngi dng
vit v hiu chnh trn my tnh. C 2 ng vo PLC l nt nhn thng h,
nhng logic bc thang bn trong PLC c th s dng mt thng ng v mt
thng h, khng nht thit logic bc thang ny phi ph hp vi trng thi cc
ng vo/ ra.

Trang 3

Hnh 1.2: PLC c s dng relay

Mt s relay c nhiu ng ra nn c th s dng mt ng ra relay nh mt ng
vo tc thi, to thnh mch duy tr nh trong hnh 1.3.

Hnh 1.3: Mch duy tr ng ra

Trang 4

Trong mch ny, dng in c th chy qua c 2 nhnh l cc cng tc A v B.

Ng vo B ch ng khi ng ra B c in. Nu B mt in, ng ng vo A th
B s c in, lm ng vo B ng. Khi cho d ng vo A m ra nhng B vn
c in nh ng vo B duy tr. Sau khi ng vo B ng th khng th tt in
B c.
1.4

Lp trnh.

Lp trnh l thut ng dng ni n vic con ngi s dng nhng ngn ng

m PLC hiu c giao tip vi n, iu khin n hot ng theo m
ngi lp trnh ra nhm p ng nhng yu cu trong thc tin.
Cc PLC trc kia c lp trnh bng k thut s dng cc s ni dy relay.
Do khng cn phi hng dn nhiu cho cc th in, k thut vin, k s
cch lp trnh trn my tnh, nn y cng l k thut lp trnh thng dng cho
PLC ngy nay. Xt v d trn hnh 1.4.

Hnh 1.4: S logic bc thang n gin

Gi s ngun ni vi ng dy bn tri HOT, gi l dy nng, bn phi l dy
trung tnh. S c 2 nhnh, mi nhnh l mt t hp cc ng vo v ng ra.

Trang 5

Nu cc ng vo ng hoc m th cng sut s chy t dy nng qua cc ng

vo, kt hp vi dy trung tnh cp in cho ng ra.
Ng vo PLC c th c kt ni vi cc cm bin hoc cng tc. Ng ra PLC
s ni vi cc thit b trung gian ng ngt cc ti bn ngoi nh n, ng c.
Trong nhnh trn, cng tc A thng h v B thng ng, ngha l nu A ng
v B m th dng in s chy qua cng tc A v B tc ng n ng ra X, cc
trng thi khc ca A v B s lm X mt in. Tng t nh vy ngi c c
th gii thch tng t cho hot ng ca nhnh bn di.
C nhiu phng php lp trnh khc nhau cho PLC. Mt trong nhng k thut
l s dng lnh gi nh. Cc lnh ny xut pht trc tip t s logic bc
thang v c nhp vo PLC bng mt thit b lp trnh.
Trong v d hnh 1.5, cc lnh c c ln lt t trn xung di.
Dng 00000 c lnh LDN (input load not) cho ng vo 00001. Lnh ny xc
nh mt ng vo ni vi PLC, nu n m th s to mt gi tr 1, v ngc li
s to gi tr 0.
Dng tip theo 00001 s dng lnh LD (input load) xc nh gi tr ng vo,
nu ng vo ny m th to gi tr 0 v ngc li s to gi tr 1.
Lnh AND s dng li 2 s c to ra bn trn, nu chng cng bng 1 th s
to ra gi tr 1, cn c mt ng vo bng 0 th to gi tr 0. Gi tr ny s thay
th cho 2 kt qu trn v lc ny ch cn mt kt qu ca lnh AND c gi
li.
Qu trnh ny s lp li vi cc hng 00003 v 00004, sau khi thc hin xong s
c 3 s c lu li.
Lnh AND trong hng 00005 s AND kt qu ca hng 00003 v 00004, to ra
1 kt qu mi.
Lnh OR trong hng 00006 s OR kt qu ca 2 lnh AND cc hng trn. Lc
ny ch cn 1 kt qu lu li.
Trang 6

Lnh ST (store ouput) trong hng 00007 s lu li kt qu sau cng. Nu kt

qu ny bng 1 th ng ra 00107 s tc ng, nguc li ng ra ny khng tc
ng.
Chng trnh logic bc thang trong hnh 1.5 tng ng vi chng trnh gi
nh va phn tch trn. Thm ch nu ta lp trnh cho PLC bng logic bc
thang th n c th s c chuyn v dng gi nh trc khi c PLC s
dng.

Hnh 1.5: Chng trnh gi nh v S logic bc thang tng ng

1.5

Kt ni PLC.

Khi s dng PLC iu khin mt qu trnh no , ta s dng cc cm bin

ni vi ng vo PLC, ng ra PLC s iu khin cc thit b chp hnh, nh hnh
1.6.

Trang 7

Hnh 1.6: Kt ni PLC

y l qu trnh x l thc, thay i lin tc theo thi gian. Cc thit b chp
hnh s lm h thng thay i sang cc trng thi mi, c ngha l h thng s
c gii hn iu khin bi cc cm bin u vo. Nu 1 ng vo khng tc
ng th b iu khin khng th nhn bit c trng thi h thng.
Vng iu khin ny l 1 chu k lin tc ca PLC(Chu k qut ca PLC), gm
vic c cc d liu u vo, thc hin logic bc thang v lm thay i ng ra
theo ng vo.
V d: V s iu khin relay s dng 3 cng tc iu khin 1 bng n.
Cch 1:

Cch 2:

Trang 8

BI 2:
2.1

CU TRC V HOT NG CA PLC

Cu trc phn cng ca PLC.

PLC c nhiu hng sn xut, nhiu loi v nhiu cu hnh khc nhau. Tuy nhin,
d l ca hng no, loi no, cu hnh no th chng u c chung cc thnh
phn sau:

Hnh 2.1: Cu trc tng qut ca mt PLC

2.1.1 Ngun cung cp.
Ngun c th tch hp sn bn trong PLC hoc lm ring bn ngoi. C nhiu
cp in p khc nhau ty loi PLC, gm 110VAC hoc 220VAC hoc
24VDC(Hin nay c hai cp in p thng c s dng l 24VDCv 220VAC.
2.1.2 CPU (Central Proceesoing Unit).
y l b x l trung tm lm vic nh 1 my tnh, dng lu tr v x l
chng trnh theo yu cu ca ngi lp trnh.
Trang 9

2.1.3 I(Input).
Cc loi cm bin, cng tc, nt nhn a tn hiu vo PLC thng qua
module Input. Ty vo loi tn hiu ca cm bin l s hay tng t m moudle
ng vo ca PLC cng c hai loi l Module s (Digital Module) v Module
tng t (Analog Module).
2.1.4 O(Output).
Cc loi c cu chp hnh nh: Bng n, cun dy, vale, bin tn.. c
iu khin bi PLC thng qua module Output. Ty vo i tng iu khin
cn tn hiu s hay tng t m moudle ng ra ca PLC cng c hai loi l
module s ng ra (Digital Output Module) v module ng ra tng t (Analog
Output Module).
2.1.5 n bo.
Dng ch bo trng thi PLC, gm ngun, chy chng trnh, li h thng.
Cc cnh bo ny rt cn thit trong chn on s c.
2.2

Module ng vo.

Ty vo loi tn hiu ca cm bin l s hay tng t m moudle ng vo ca

PLC cng c hai loi l Module s (Digital Module) v Module tng t
(Analog Module).
2.2.1 Module ng vo s.
Cc loi cm bin, cng tc, nt nhn, encoder. C tn hiu ng ra dng s th
c a vo PLC thng qua module s. Di y trnh by mt s dng ng
vo s ca mt vi PLC.

Trang 10

Hnh 2.2: Mch in ng vo s ca PLC Siemens

Hnh 2.3: Mch in ng vo s ca PLC Rockwell

Trang 11

Hnh 2.3: Mch in ng vo s ca PLC Panasonic

2.2.2 Module ng vo Analog.
Cc loi cm bin, vale, cp nhit, my pht tc. C tn hiu ng ra dng
analog th c a vo PLC thng qua module analog. Di y trnh by mt
s dng module analog ng vo ca mt s PLC.

Hnh 2.4: Module ng vo analog ca PLC Siemens

Trang 12

Hnh 2.5: Module ng vo analog ca PLC rockwell

Hnh 2.6: Module ng vo analog ca PLC Panasonic

Trang 13

2.3

Module ng ra.

Ty thuc vo tng loi c cu chp m tn hiu iu khin n c th l s hay

tng t m PLC cng c loi module ng ra s v module ng ra tng t
tng ng iu khin.
2.3.1 Module ng ra s.
Module ng ra s c nhng kiu tiu biu nh: Ng ra Transistor, ng ra Triac
v ng ra Relay. Khi cn iu khin cc i tng hot ng theo kiu ON-OFF
th ta s dng module ng ra dng s. Tuy nhin ty thuc vo cp in p, tn
s ng ct, dng lm vic m ta chn kiu ng ra no cho ph hp. Cc thng
s v dng, p, tn s ngi s dng nn tham kho manual ca nh sn xut.
Di y s trnh by mt s kiu ng ra ca mt s PLC tiu biu.

Hnh 2.6: Ng ra s ca PLC siemens.

Trang 14

Hnh 2.7: Ng ra s ca PLC rockwell

Hnh 2.8: Ng ra s ca PLC Panasonic

Trang 15

Hnh 2.9: Ng ra Relay ca PLC

Panasonic
2.4 Module ng ra tng t.
Module ng ra tng t c hai kiu tiu biu: Ng ra in p hoc ng ra dng
in. i vi nhng i tng yu cu tn hiu iu khin phi dng analog
nh: Ng vo bin tn, vale tuyn tnh, vale thy lc.. th cch thng s
dng nht l dng module analog ca PLC. c im ca module analog trong
PLC l kt ni n gin, d s dng, khng cn phi kt ni thm cc thit b
bn ngoi. Hnh 2.10 l mt module analog ng ra in hnh ca PLC siemens.

Trang 16

2.5
Hnh 2.10: Module analog ng ra ca PLC Simens.

2.6

Hot ng PLC.

Tt c PLC u hot ng theo chu trnh lp, mi chu trnh hot ng gm 4

giai on: c ng vo, Ethc thi chng trnh, chn on li v kim tra
truyn thng, xut kt qu ra iu khin thit b. 4 giai on ny thng
c gi l 1 chu k qut ca PLC.

Trang 17

Hnh 2.11: Mt chu k qut ca PLC

Read Input (c ng vo): PLC c trng thi ca ton b cc ng vo v
cha vo b m ng vo.
Execute Program (Thc thi chng trnh): PLC da vo cc trng thi ng vo
thc thi theo chng trnh c lu trong b nh m ng ra.
Diagnostics Communications (Chn on v truyn thng): PLC tin hnh
chn on li v kim tra qu trnh truyn thng.
Update Outputs (Xut kt qu): PLC xut kt qu trong vng nh m ng ra
iu khin thit b ngoi vi.
Qu trnh ny c lp i lp li t 10 n 100 ln mi s, nh hnh 2.12.

Trang 18

Hnh 2.12: Thi gian chu k qut ca PLC.

2.7

Trng Thi PLC.

iu d nhn thy PLC l n thiu bn phm v cc thit b vo ra khc. Tuy

nhin gip ngi lp trnh nhanh chng xc nh trng thi, PLC thng c
cc n ch trng thi, bao gm:
n bo ngun.
n chy chng trnh.
n bo s c.
Cc n ny thng dng cho vic sa li.
Ngoi ra phn cng PLC cn c cc nt nhn, ph bin nht l nt chy chng
trnh.
2.8

B Nh.

Cc loi b nh c dng ph bin hin nay bao gm: RAM, ROM, EPROM,
EEPROM. (Tng t nh phn b nh trong K thut s).
Tt c PLC u s dng RAM cho CPU v dng ROM lu h iu hnh cho
PLC.
Khi cp ngun, ni dung ca RAM s c gi li. Nhng vn cn quan tm
l chuyn g xy ra khi b nh ny mt ngun. Cc PLC trc kia s dng
RAM c ngun pin nn d liu RAM khng b mt khi mt in. Phng php
ny vn cn s dng nhng khng nhiu. Ngy nay ngi ta s dng EPROM
lm b nh cho PLC. B nh ny c lp trnh bn ngoi PLC sau t vo
Trang 19

PLC. Khi PLC hot ng chng trnh ny s c np vo PLC v thc hin.

Phng php ny chnh xc nhng vic lp trnh v xa b nh s mt nhiu
thi gian. B nh EEPROM tr thnh mt phn c nh ca PLC, cc chng
trnh lu trong EEPROM tng t nh lu trong EPROM. Hin nay gi thnh
cc b nh gim ng k, v ngi ta cn pht trin thm cc b nh khc
nh Flash ROM.

BI 3: CM BIN
3.1

Gii thiu.

Cm bin l mt thit b dng nhn bit s tn ti hay thay i c tnh ca

mt i tng no . Ty thuc vo thuc tnh ca i tng, cch nhn bit
i tng m ngi ta ch to ra cc loi cm bin khc nhau. Thng thng
th cc cm bin c th nhn bit c mt s hin tng vt l nh sau:

C mt vt kim loi gn hay khng?

Cng tc, nt nhn c tc ng hay khng?

C s thay i mi trng hay khng?

C vt che hoc phn x nh sng hay khng?

in p hay dng in ng vo c thay i khng?

Da vo c im tc ng ca cm bin m chng c phn lm 2 dng

chnh:
Cm bin c ng ra dng s: Cng tc, nt nhn, cm bin in dung,cm bin
in cm, cm bin quang
Cm bin c ng ra dng tng t: Cm bin dng, cm bin p, cm bin
nhit ..

Trang 20

3.2

Cm bin c ng ra dng s.

Cm bin c ng ra dng s c s dng nhn bit c s thay i logic

bo cho b x l(PLC) bit s thay i ny bng cch ng/ ngt mt in p
hoc dng in n PLC. Trong mt s trng hp ng ra ca cm bin s ng
ngt trc tip ti.
Ng ra ca cm bin (ng vo PLC) bao gm:

Cc cng tc ng ngt in p, dng in.

Ng ra cp dng hoc rt dng.

Cm bin in cm.

Cm bin in dung.

Cc tip im relay ng ngt ng ra AC.

Ng ra TTL ch mc logic 0 hoc 5V.

3.2.1 Cng tc hoc tip im relay.

Cng tc, tip im relay c xem l mt cm bin n gin nht, n c s
dng ng ngt in p hoc dng in n ng vo ca PLC.

Hnh 3.1: Cng tc v relay tc kt ni vi

PLC

Trang 21

Hnh v 3.1 gm c cng tc thng h NO (Normal Open) c ni n ng

vo I0.1, cm bin c ng ra relay c cp ngun +/-V.
Ng ra cm bin s tc ng khi xy ra mt hin tng no nh trc. cng
tc bn trong cm bin s ng li cp in p n ng vo I0.6 ca PLC.
3.2.2 Ng ra rt dng v cp dng (Sinking/Sourcing).
Cm bin rt dng cho php dng chy vo cm bin v mass, cn cm bin
cp dng cho php ngun t Vcc trong cm bin chy ra ngoi cm bin.
Ng ra ca cm bin s dng transistor ng ngt (c tn hao in p). Loi
NPN dng cho ng ra rt dng, loi PNP ng ra cp dng. Minh ha trn hnh
v 3.2.

Hnh 3.2: Ng ra Rt dng

Cm bin c b phn u d nhn bit cc hin tng vt l xy ra. Vi
ngun cung cp +/-V, cm bin s nhn bit cc hin tng xy ra v tc ng
vo chn B ca transisotr NPN.
Nu chn B c 0V th transistor ngng dn, nu chn B c in p phn cc th
transitor dn bo ha rt dng bn ngoi vo.
Trang 22

Hot ng tng t cho cm bim cp dng PNP hnh 3.3.

Hnh 3.3: Ng ra Cp dng

3.2.3 Cm Bin Quang.
Cm bin quang c dng rt lu, bao gm mt ngun pht quang v mt b
thu quang. Ngun quang s dng LED hoc LASER pht ra nh sng thy hoc
khng thy ty theo bc sng. B thu quang s dng diode hoc transistor
quang. Ta t b thu v pht sao cho vt cn nhn bit c th che chn hoc
phn x nh sng khi vt xut hin. Cm bin quang thng c 2 dng: Cm
bin quang thu pht chung v cm bin quang thu pht c lp. S s dng
cm bin quang cho trn hnh 3.4.

Hnh 3.4: Cm bin quang

Trang 23

nh sng do LED pht ra c hi t qua thu knh. phn thu nh sng t

thu knh tc ng n transistor thu quang.
Nu c vt che chn th chm tia s khng tc ng n b thu c. Sng dao
ng dng b thu loi b nh hng ca nh sng trong phng. nh sng ca
mch pht s tt v sng theo tn s mch dao ng.
Phng php s dng mch dao ng lm cho cm bin thu pht xa hn v tiu
th t cng sut hn.
3.2.4 Cm Bin in Dung.
Cm bin in dung c th nhn bit cc vt khong cch ln n vi cm.
Cng thc tnh in dung:
C = A.K/D
C: in dung (F)
D: hng s in mi.
A: din tch bn cc.
K: khong cch 2 bn cc.
i vi cm bin in dung th din tch v khong cch 2 bn cc l c nh,
nhng hng s in mi ca mi trng xung quanh 2 bn cc s thay i khi
c cc vt khc nhau n gn. Hnh 3.5 m t mt cm bin in dung.
in dung ca 2 bn cc s c xc nh bi mt trng thay i. Khi c vt
n gn lm thay i in mi gia 2 bn cc s lm thay i in dung n gi
tr t trc nn cm bin s tc ng ng ct ti.

Trang 24

Hnh 3.5: Cm bin in dung

Cc cm bin ny lm vic tt i vi vt cch in v chng c h s in mi

ln nn in dung ln. Chng cng lm vic tt i vi kim loi v cc vt dn
in tt xut hin s ging nh cc bn cc ln hn nn cng lm tng in
dung. Hnh 3.7 minh ha nh hng ca vt cch in v vt dn in i vi
cm bin.

Hnh 3.6: Vt cch in v dn in lm tng in dung

3.2.5 Cm Bin in Cm.
Cm bin in cm s dng cc t trng cm ng nhn bit cc vt kim loi
gn. N s dng cun cm to ra t trng tn s cao nh hnh v 3.7.

Trang 25

Hnh 3.7: Cm bin in cm.

Nu c mt vt kim loi n gn th t trng s thay i to ra dng in qua
vt. Dng in ny to ra t trng mi ngc vi t trng ban u nn lm
thay i cm khng cun dy bn trong cm bin. Bng cch o in cm cm
bin s nhn bit khi c vt kim loi n gn n.
Cm bin loi ny c th dng nhn bit bt k vt kim loi no. Khi cn
nhn bit nhiu vt th ta s dng nhiu cm bin.
3.2.6 Bi tp.
Sinh vin hy tm ti liu, kho st c tnh k thut, v s kt ni cc loi
cm bin sau y vi PLC.
3.2.6.1

Bi tp kt ni Encoder vi PLC.

3.2.6.2

Bi tp kt ni cm bin nhit LM35, LM335 vi PLC.

Trang 26

3.2.6.3

Bi tp kt ni cm bin nhit PT100 vi PLC (Tm o t -

200 n 850 c

3.2.6.4

Bi tp kt ni cm bin mc (Ultrasonic level sensor) vi PLC.

Trang 27

3.2.6.5

Bi tp kt ni Loadcell vi PLC.

Bng 3.1: Thng s k thut ca Loadcell

Trang 28

BI 4: C CU CHP HNH
4.1

Gii thiu.

Thit b chp hnh l cc thit b nhn tn hiu iu khin t ng ra ca PLC v

tc ng n chuyn ng ca cc thit b c kh qu trnh chuyn ha
c/in.
4.1.1 Solenoid.
Solenoid l mt trong nhng thit b chp hnh thng dng nht. Nguyn l
hot ng da vo chuyn ng ca li st (gi l piston) trong lng cun dy.
Thng thng piston c gia bn ngoi cun dy bng l xo. Khi c dng
in chy qua cun dy s to ra t trng ht piston v ko n vo trong cun
dy. Piston c th to ra lc tuyn tnh. Hnh v 4.1 minh ha mt solenoid.

Hnh 4.1: Solenoid

Solenoid cng nghip s dng in p 24VDC to ra dng in vi trm mA.
4.1.2 Valve.
Dng chy ca cht lng v cht kh s c iu khin bng cc Valve, c
ng ngt bng Solenoid. Xem hnh v 4.1.
Solenoid c gn vo mt mt phng. Khi c kch thch n s tc ng n
ng bn tri. Pha trn ca valve c 2 port ni vi cc thit b, nh xy lanh cht
lng. Pha di ca valve c 1 ng p sut tm v 2 ng x 2 bn.
Trang 29

Trong hnh v 4.1, cng sut i qua tm n port phi ca xy lanh. Port tri ca
xy lanh cho php thot qua ng x.
Trong hnh v di, Solenoid v tr mi nn p sut c cp n port tri,
cn port phi dng x.

Hnh 4.2: Solenoid iu khin Valve 5 port, 4 ng , 2 v tr

4.1.2.1

Cc loi Valve thng dng bao gm:

Valve c 2 ng thng ng: 1 ng ra, 1 ng vo, bnh thng valve

ng, khi c in s m. ng dng trong cho php dng chy.
Valve c 2 ng thng m: Dng trong ngt dng chy.
Valve c 3 ng thng ng: 1 vo, 1 ra, 1 ng x, bnh thng port ra ni
vi ng x, khi c in port vo s ni vi port ra.

4.1.2.2

Khi chn Valve cn quan tm cc vn sau:

Kch c ng dn.
Trang 30

Tc dng chy.
p sut vn hnh.
in p Solenoid.
Thi gian p ng. 5-150ms
4.1.3 Xy Lanh.
Xy lanh dng kh hoc cht lng nn p sut to ra lc tuyn tnh, nh
hnh 4.3.
Cht lng c bm vo 1 bn ca xy lanh lm n n ra y piston. Cht lng
s thot t do mt bn kia. Lc do xy lanh to ra t l vi tit din mt ct
ngang ca xy lanh.
Xy lanh n to ra lc khi n ra v c l xo ko piston li.
Xy lanh i to lc c 2 hng.

Hnh 4.3: Mt ct ca xylanh cht lng

Trang 31

4.1.4 ng c DC chi Qut.

ng c DC c b dy qun trn rotor quay bn trong startor. Khi c dng in
chy qua vng dy s to ra mt t trng, nng lng cp cho rotor qua b
chuyn mch v chi qut., nh hnh 4.4.

Hnh 4.4: M hnh ng c DC

iu khin tc quay ca ng c DC thng c 2 phng php: Thay i

in p cun kch t (T trng ca startor), Thay i dng in chy qua cun
dy phn ng (Thay i in p t ln hai u cun dy phn ng). Phng
php s dng ph bin nht l PWM. Tuy nhin ty thuc vo cc yu t nh:

Trang 32

B iu khin, gi thnh sn phm, yu cu cng ngh m ngi s dng thit

k b iu khin no cho ph hp.
Mt s mch thng c s dng iu khin ng c DC.

Trang 33

Trang 34

4.1.5 ng C AC ng B.
ng c ng b c dy qun trn Startor, Rotor lng sc. Lng sc l 1 li
nhm khi t vo t trng thay i s to ra trng ngc li. khi cp ngun
AC n cun dy Startor s to ra mt t trng AC. Lng sc s to ra t
trng ngc li v to ra moment xon lm ng c quay.

Hnh 4.5: Cc b phn ca ng c khng ng b.

ng c gi l ng b v c n quay vi tn s gn bng tn s ngun.
Thc t, ng c t moment quay max nh hn tc ng b.
V d: ng c c 2 cc c tc ng b 2x60x60/2 = 3600 vng/pht nhng
ch t vn tc 3520 vng/pht.
Ngy nay ng c AC thng c ng dng rng ri trong cng nghip. Trong
lnh vc iu khin, i vi nhng ng dng n gin th ng c AC thng
c iu khin hot ng theo cc kiu sau:

Trang 35

4.1.5.1

iu khin ON-OFF, o chiu.

Hnh 4.6: Mch iu khin ON-OFF, o chiu ng c

4.1.5.2

iu khin khi ng sao tam gic.

Hnh 4.7: Mch iu khin o chiu sao tam gic

Trang 36

4.1.5.3

iu khin khi ng tun t.

Hnh 4.8: Mch iu khin khi ng tun t

i vi nhng ng dng i hi tnh k thut cao th phng php iu khin
c s dng ph bin nht l thay i tn s ngun in cp cho ng c.
4.1.5.4

iu khin dng bin tn.

4.1.5.5

Hnh 4.9: Mch iu khin tc dng bin tn

Trang 37

4.1.5.6

iu khin SCR hoc Triac.

Hnh 4.10: Mch iu khin tc dng Transistor

4.1.6 ng C Bc.
ng c bc c thit k trong iu khin nh v tr. Chng di chuyn mi
ln mt bc, thng c gc quay l 1.80 tng ng 200 bc/vng. Nhng
loi khc c gc quay 20, 2.50, 50, 150, 300.
C 2 loi ng c bc: cc n v cc kp nh hnh v 4.8.

Trang 38

Hnh 4.11 : S dy qun ng c bc.

Hnh 4.12 : Cu trc v cch iu khin ng c

bc
Loi n cc s dng cun dy c nhnh r tm v dng ngun n.
Loi cc kp c cu to n gin hn nhng phi dng ngun i, mch iu
khin phc tp hn. ng c bc quay c nh in p lch cc u dy.
Cc gi tr in p khc nhau cp cho ng c n cc minh ha hnh 4.13

Trang 39

Hnh 4.13: Bng m iu khin ng c bc

Gi s ban u cc cun dy c trng thi nh hng 1. ng c quay, ta phi
thay i p theo hng 2, ri hng 3, hng 4 v lp li. Nu o th t ny ng
c s quay theo chiu ngc li. ng nng ca ng c v ti s gii hn tc
cc i ca cc chuyn mch ng ngt in p cc u dy. Thng thng
khong vi ngn bc mi giy.
Khi khng thay i, in p cc u dy s gi ng c 1 v tr no .
ng c bc khng cn b phn hi tip, tr khi s dng trong cc ng dng
c tin cy rt cao.
ng c bc s b lch khi moment gi b vt hoc khi n tng tc qu
nhanh. Khi ng c b lch n s quay mt gc no khng xc nh t v tr
hin ti, mun xc nh gi tr ny cn c h thng hi tip v tr.
Do cu trc ca ng c bc c bn l ging nhau nn cc mch cng sut
iu khin cng c nhng nt ging nhau. Di y trnh by mt s mch iu
khin ng c bc thng c s dng.

Trang 40

Hnh 4.14 : iu khin ng c bc dng PIC

Hnh 4.15: Mch iu khin dng Transistor

Trang 41

BI 5:
5.1

THIT K CHNG TRNH THEO LU

Gii thiu.

Lu l mt s m t ton b qu trnh x l ca mt h thng iu khin.

N gip ngi lp trnh kim tra tnh kh thi ca vic lp trnh, nhanh chng
a ra nhng gii thut vit chng trnh mt cch nhanh chng v hiu qu.
Mt qu trnh c cc bc x l tun t s thch hp khi s dng lu thit
k chng trnh. Cc bc trong lu c thc hin theo mt trnh t n
gin.
Cc k hiu dng trong lu bao gm:

5.1: K hiu dng trong lu

Trang 42

Trong cc khi trn th khi thc thi chng trnh (Operation) v khi quyt
nh(Decision) thng c s dng nhiu nht trong cc ng dng lp trnh
ca PLC, cc khi khc ch c s dng trong mt s trng hp nht nh.
Cc khi c ni vi nhau bng cc mi tn nhm ch ra cc bc thc hin
tun t.
Chng trnh PLC lun bt u bng khi Start, k n l cc khi, kim tra, x
l v a ra kt qu. Thng th chng trnh c thc hin mt cch tun t,
lin tc. Tuy nhin trong qu trnh thc hin, chng trnh cng kim tra khi
Stop dng chng trnh khi cn thit.
5.2

Lu iu khin.

thun tin cho vic tm hiu ta hy xt mt lu iu khin bn nc nh

hnh 5.2.

Trang 43

Hnh 5.2: M t lu ca h thng iu khin mt bn nc.

trng thi RESET h thng th nc c x ra bi Outlet Valve v ng
ng vo bi Inlet Valve.
Khi nhn nt Start, bn bt u cho nc vo v tt ng chy ra.
Khi bn y nc, hoc nhn nt Stop s m ng chy ra v ng ng
chy vo. Qu trnh bt u t sau khi Reset h thng. u tin l m van ng
Trang 44

ra v ng van ng vo. Tip theo, khi Decision s ch xem c nt no c

nhn khng. Nu c nt c nhn, theo nhnh Yes s m van vo v ng van
ra. Tip theo n mt vng gm hai khi Decision ch n khi bn y hoc
nhn nt Stop. Nu mt trong hai trng hp xy ra th ng van vo v m van
ra. H thng s quay li kim tra trng thi nt Start ln na.
5.2.1 Nhng c im cn ch khi vit lu :

M t c qu trnh hot ng ca h thng.

Xc nh cc hot ng chnh, v thnh cc khi.

Xc nh tun t vn hnh, v bng cc mi tn.

Mi khi thc thi trong lu phi c t bng mt tn nht nh.

Khi tun t ny thay i th s dng cc khi Decision r nhnh.

Gii thch hot ng theo lu sa cha, b sung v hon thin lu

trc khi bt u vit chng trnh.

Mt lu c th c vit bng nhiu ngn ng khc nhau. Vic la chn

ngn ng no vit l ty thuc vo s thnh tho ca ngi lp trnh. Trong
phm vi ti liu ny, ngn ng LAD c s dng vit chng trnh cho lu
.
5.2.2 Mt s c im cn lu khi vit chng trnh theo lu .

Qu trnh ch c chuyn t khi ny n khi khc ch c thc hin khi

tha mn mt s yu cu nht nh.

Khi chuyn n khi hin ti th phi xa trng thi khi trc .

Chng trnh thng c vit thnh 2 on: on chng trnh chuyn

trng thi gia cc khi v on chng trnh thc thi trong tng khi tc
ng ng ra.

Di y s trnh by cch vit chng trnh cho lu iu khin bn nc.

Trang 45

5.2.3 on chng trnh chuyn trng thi gia cc khi cho lu H 5.2.

5.3: Chng trnh chuyn trng thi gia cc khi.

5.2.4 on chng trnh thc thi ca cc khi tc ng ng ra.

5.4: Chng trnh tc ng ti ng ra.

Trang 46

BI 6:
6.1

PLC S7 200

Gii thiu v PLC S7 200.

.
Hnh dng bn ngoi ca PLC S7-200 c m t nh hnh 6.1.

7-200
6.1.1 Thng s k thut ca PLC S7-200 (CPU 22X).
Cc loi CPU khc nhau thng c vng nh, module m rng v mt s chc
nng khc nhau. Bng 6.1 trnh by s khc bit ny.

Trang 47

Bng 6.1: Thng s k thut ca PLC S7200

6.1.2 Cc n bo.
SF (System Failure):

RUN:
.
STOP:

6.1.3 Tn hiu ng vo.

500ms.
: 24 VDC, 7mA.
5 VDC, 1mA.

0,2ms.
500VAC.
6.1.4 Cc ng ra.
.
28.8VDC.
Trang 48

; 8A/common.
.
100 M .
10ms.

.
200 m .
.
6.1.5 Ngun cung cp.
24.8VDC
24VDC

24 VDC
: 2A, 250V
6.1.6 Ch lm vic.
:
RUN: C
sang ST

STOP: C
STOP.
TERM: C
STOP.
6.1.7 Cng truyn thng.
-

(Point to
300 38.400 bauds.
Trang 49

S chn cng truyn thng v trn hnh 6.2.

Trang 50

6.1.8 Kt ni S7 200 vi my tnh PC.

-

232 sang RS485, theo hnh v 6.3.

6.1.9 Cc module m rng.

C th m rng ng vo/ra ca PLC bng cch ghp ni thm vo PLC cc
module m rng v pha bn phi ca CPU. CPU 224 c th ghp nhiu nht 7
module theo hnh 6.4.
Cc module m rng Digital hay Analog u chim ch trong b m, tng
ng vi s u vo/ ra ca cc module.
Ngoi ra cn c th thm cc module khc dng kt ni mng Profibus v
AS-Interface.

Trang 51

Hnh 6.4: Cch xc nh a ch cc modue m rng

6.2

Nguyn l hot ng ca PLC.

6.3.1 n v x l trung tm CPU.

.
6.3.2 H thng BUS.

song:
Address Bus
Data Bus

.
.

Trang 52

Control Bus

1 byte, cn gi l truyn song song 8 bit.

PLC.

g.
6.3.3 B nh.
:

/O.

, thanh
ghi.

Trang 53

. Trong
t

khng

.
, EPROM

khe Cartridge.
6.3

Cu trc b nh.
. Hnh v 6.4 m t

b nh trong v ngoi ca PLC.

Trang 54

Hnh 6.4: Cc vng nh ca PLC S7 200

:M
.
,

:M
.
:

,
Ghi
.

:
V:

Variable memory

I:

Input image register

Trang 55

O:

Output image register

M:

Internal memory bits

SM: Special memory bits

: Timer, counter,
.

(AC).

.
Phn chia vng nh v cc ton hng tng ng cho tng loi PLC cho bng
6.2:

Bng 6.2: Phn chia vng nh v ton hng trong PLC

Trang 56

6.3.4 Phng thc truy cp b nh.

:T

(+)

:T
:T

.
.
.

: Tn

Trang 57

Bng 6.3: Phng php truy cp vng nh PLC S7-200.

6.4

Lp trnh cho PLC S7 200.

6.4.1 Hot ng c bn ca PLC bao gm cc bc:

CPU c trng thi cc ng vo.

Thc hin chng trnh logic cha trong b nh.

CPU xut d liu n ng ra.

lnh
.

Quan h gia chng trnh PLC v cc ng vo, ng ra nh hnh 6.6.

Trang 58

6.4.2 Cc kiu ngn ng lp trnh.

Cc CPU S7-200 h tr nhiu loi lnh khc nhau cho php ta ngi lp trnh
s dng gii quyt nhiu cng vic t ng ha. Vic la chn ngn ng
no lp trnh l ty thuc vo kinh nghim, kh nng v s thch ca tng
ngi. Cc kiu lnh m S7 200 h tr bao gm:

Ladder Logic (LAD).

Function Block Diagram (FBD).

Statement List ( STL).

6.4.3 Ngn ng lp trnh LAD (Ladder Loic)

Ngn ng LAD cho php ta vit chng trnh tng t nh mch tng ng
ca s ni dy mch in. Rt nhiu ngi lp trnh v cc nhn vin k
thut chn la s dng phng php ny.
Chng trnh LAD cho php CPU m phng di chuyn ca dng in t ngun,
qua mt lot cc iu kin ng vo tc ng n ng ra.

Trang 59

Hnh 6.7:Chng trnh LAD ca PLC S7-200

Cc lnh khc nhau c biu din bng cc k hiu ha, gm c cc dng
c bn:
: Biu din cc iu kin logic ng vo, nh cc cng tc, nt nhn,
trng thi ca cm bin,

(coil):

biu din cho kt qu logic ng ra, nh n, ng c,

cun dy ca relay,
(Box): B
gm

.
Cc vn chnh cn quan tm khi s dng ngn ng LAD:

LAD thch hp cho ngi mi bt u lp trnh.

Trang 60

Biu din ha d hiu v thng dng hn.

Lun chuyn t dng LAD sang STL.

6.4.4 Ngn ng FBD (Function Block Diagram)

Ngn ng FBD cho php ta xem cc lnh nh l cc hp logic, tng t nh s
cng logic. Khng c cc tip im v cun dy, nhng s c cc hp.
Chng trnh logic s c to ra bng vic kt ni cc hp, ng ra lnh ny s
tc ng n ng vo lnh kia to thnh chng trnh iu khin logic. Phng
php kt ni ny cho php ta gii quyt c nhiu bi ton logic khc nhau.

Hnh 6.8:Chng trnh FBD ca PLC S7-200.

Lun chuyn i t chng trnh FBD sang STL.
6.4.5 Ngn ng lp trnh STL (Statement List)
Son tho chng trnh theo phng php STL cho php ta vit chng trnh
iu khin bng cc lnh gi nh. Ni chung son tho bng STL ph hp cho
ngi c kinh nghim lp trnh v quen vi PLC cng nh cch lp trnh
logic.
Son tho bng ngn ng STL cng cho php ta to ra cc chng trnh m cc
ngn ng LAD v FBD khng thc hin c. V STL l cch lp trnh theo
ngn ng t nhin ca CPU, trong khi cc phng php khc l lp trnh
ha.
V d vit chng trnh theo ngn ng STL nh sau:
Trang 61

Hnh 6.9: Lp trnh s dng ngn ng STL

Chng trnh ny tng t nh lp trnh bng ngn ng Assembler. CPU thc
hin chng trnh bng cch chy cc lnh t trn xung di, ri lp li.
Cc im chnh cn quan tm khi chn ngn ng lp trnh STL:

STL thch hp cho nhng ngi lp trnh kinh nghim.

STL cho php ta gii quyt cc iu khin phc tp m LAD v FBD khng
thc hin c.

STL ch thc hin vi tp lnh SIMATIC.

C th chuyn t chng trnh STL sang LAD v FBD nhng ngc li th

s b gii hn.

Trang 62

Hnh 6.10: Ngn xp logic ca PLC

Trang 63

TP LNH S7 200

BI 7:
7.1

Nhm lnh v tip im.

Load (LD) : Lnh LD np gi tr logic ca mt tip im vo trong bit u tin

ca ngn xp, cc gi tr cn li trong ngn xp b y li xung mt bit.
Ton hng gm I, Q, M, SM, V, C, T.
Dng LAD : Tip im thng m I0.0 s ng nu ng vo PLC c a ch
I0.0 tc ng.

Dng STL :

LD

I0.0

Load Not (LDN) : Lnh LDN np gi tr logic ca mt tip im vo trong bit

u tin ca ngn xp, cc gi tr cn li trong ngn xp b y li xung mt
bit.
Ton hng gm : I, Q, M, SM, V, C, T.
Dng LAD : Tip im thng ng s m khi ng vo PLC c a ch I0.0 tc
ng.

Dng STL :

LDN

I0.0

OutPut(=): Lnh sao chp ni dung ca bit u tin trong ngn xp vo bit
c ch nh trong lnh. Ni dung ngn xp khng b thay i.
Ton hng bao gm : I,Q,M,SM,T,C (bit)
M t lnh OUTPUT bng LAD :
Nu tip im I0.0 ng th cun dy Q0.0 s c cp in (lm cho ng ra
ca PLC c a ch Q0.0=1)

Trang 64

Dng STL : Gi tr logic I0.0 c a vo bit u tin ca ngn xp, v bit

ny c sao chp vo bit ng ra Q0.0 .
LD

I0.0

Q0.0

V d: Lp trnh PLC iu khin o chiu ng c.

S kt ni PLC vi cc thit b :

Lp trnh dng LAD :

Ch thch :
I0.0 : nt nhn dng
I0.2 : nt nhn m my thun
I0.3 : nt nhn m my nghch
Q0.0 : ng ra ni vi cun dy
Kt.
Q0.1 : ng ra ni vi cun dy
Kn.

Trang 65

SET (S) : Lnh dng ng cc im lin tc c chn trc. Trong

LAD, logic ng ra s iu khin ng dng iu khin n cc cun dy u ra.
Khi dng iu khin n cc cun dy th cc cun dy ng cc tip im.
Trong STL, lnh truyn trng thi bit u tin ca ngn xp n cc im thit
k. Nu bit ny c gi tr bng 1, cc lnh S s ng 1 tip im hoc mt dy
cc tip im (gii hn t 1 n 255). Ni dung ca ngn xp khng b thay i
bi cc lnh ny.
Dng LAD : Khi tip im I0.0 ng lnh SET s ng mt mng gm n cc
tip im k t a ch Q0.0.
Ton hng bao gm I, Q, M, SM,T, C,V (bit)

Dng STL: Ghi gi tr logic vo mt mng gm n bit t a ch Q0.0

LD

I0.0

Q0.0, 5

RESET (R): Lnh dng ngt cc im lin tc c chn trc. Trong

LAD, logic ng ra s iu khin ngt dng in cc cun dy u ra. Khi dng
iu khin n cc cun dy th cc cun dy m cc tip im. Trong STL,
lnh truyn trng thi bit u tin ca ngn xp n cc im thit k. Nu bit
ny c gi tr bng 1, cc lnh R s ngt 1 tip im hoc mt dy cc tip im
(gii hn t 1 n 255). Ni dung ca ngn xp khng b thay i bi cc lnh
ny.
Dng LAD : Ngt mt mng gm 10 cc tip im k t tip im c a ch
Q0.0. Ton hng bao gm I, Q, M, SM,T, C,V (bit)
Trang 66

Dng STL : Xa mt mng gm 10 bit k t a ch Q0.0.

LD

I0.0

Q0.0, 10

Lnh i s Bool.
Cc lnh tip im i s Bool cho php to lp cc mch logic (khng c nh).
Trong LAD cc lnh ny c biu din thng qua cu trc mch, mc ni tip
hay song song cc tip im thng ng hay cc tip im thng m.
AND (A) :
Dng LAD :

Dng STL :
LD

I0.0
A

I0.1

Q0.0

AND NOT(AN) :
Dng LAD :

Dng STL :

LD

I0.0

AN

I0.1

Q0.0

Trang 67

OR (O):
Dng LAD :

Dng STL :

LD

I0.0

I0.1

Q0.0

OR NOT (ON):
Dng LAD :

Dng STL :

LD

I0.0

OR

I0.1

Q0.0

V d :
Vit chng trnh iu khin m my ng c bng PLC.
Lp trnh LAD

Ghi ch :
I0.0 : Nt nhn dng
I0.1 : Nt nhn m
Q0.0 : Cun dy KT
Q0.0 : Tip im duy tr

Lnh Tip im c bit.

Tip im o, tc ng cnh xung, tc ng cnh ln :

NOT

P
Trang 68

C th dng cc lnh tip im c bit pht hin s chuyn tip trng thi
ca xung (sn xung) v o li trng thi ca dng cung cp (gi tr nh ca
ngn xp). LAD s dng cc tip im c bit ny tc ng vo dng cung
cp. Cc tip im c bit khng c ton hng ring ca nn ta phi t chng
pha trc cun dy hoc hp u ra. Tip im chuyn tip dng/m (cc
lnh sn trc v sn sau) c yu cu v b nh, bi vy i vi CPU 214 c
th s dng nhiu nht l 256 lnh.
V d minh ha:
Dng LAD :

Dng STL :

Trang 69

Biu thi gian :

Tip im trong vng nh c bit :

SM0.0 : Ngc li vi SM0.1, vng qut u tin th m nhng t vng qut
th hai tr i th ng.
SM0.1 : Vng qut u tin tip im ny ng, k t vng qut th hai th m
ra v gi nguyn trong sut qu trnh hat ng.
SM0.4 : Tip im to xung vi nhp xung vi chu k l 1 pht.
SM0.5 : Tip im to xung vi nhp xung vi chu k l 1s
7.2

Nhm lnh v Timer.

Timer l b to thi gian tr gia tn hiu vo v tn hiu ra nn trong iu khin

thng c gi l khu tr. Nu k hiu tn hiu (logic) vo l x(t) v thi gian
tr to ra bng Timer l

th tn hiu u ra ca Timer s l x(t )

S7-200 c 64 b Timer (vi CPU 212) hoc 128 Timer (vi CPU 214) c
chia lm 3 loi khc nhau:
Timer ng chm khng c nh (On-Delay Timer), k hiu l TON.
Timer m chm khng nh (Off Delay Timer), k hiu TOF.
Timer ng chm c nh (Retentive On-Delay Timer), k hiu TONR.

Trang 70

Ba loi Timer ca S7-200 phn bit vi nhau phn ng ca n i vi trng

thi logic u vo.
C hai Timer kiu TON v TONR cng bt u m thi gian k t thi im
c sn ln tn hiu u vo, u vo chuyn trng thi logic t 0 ln 1, c
gi l thi gian Timer c kch. Khi gi tr thi gian ca Timer ln hn hoc
bng gi tr t trc th tip im ca Timer s ng li. Lc ny Timer vn
tip tc m thi gian cho n gi tr max.
Khi u vo c gi tr logic bng 0, TON t ng reset cn TONR th khng.
Timer TON c dng to thi gian tr trong mt khong thi gian (min
lin thng), cn vi TONR thi gian tr s c to ra trong nhiu khong thi
gian khc nhau.

Trang 71

Timer TOF dng m chm mt ng ra sau thi gian t trc no , k t

khi logic ng vo chuyn t 1 xung 0. Khi ng vo Timer ln 1, tip im ca
n ng ngay lp tc v t gi tr thi gian bng 0. Khi ng vo xung 0,
Timer s m thi gian cho n gi tr t trc th tip im Timer s m ra.
Timer TON, TOF v TONR u c 3 loi vi 3 phn gii khc nhau, phn
gii 1ms, 10ms v 100ms. Thi gian tr

c to ra chnh l tch ca phn

gii ca b Timer c chn v gi tr t trc cho Timer. V d Timer c

phn gii 10ms v gi tr t trc 50 th thi gian tr l 500ms.
phn gii cc loi Timer ca S7-200, c trnh by trong bng 7.1.

Timer

TON, TOF

TONR

phn gii

Gi tr cc i

S hiu Timer

1 ms

32,767 s

T32 v T96

10 ms

327,67 s

T33 T36, T97 T100

100 ms

3276,7 s

T37 T63, T101 T127

1 ms

32,767 s

T0 v T64

10 ms

327,67 s

T1 T4, T65 T68

100 ms

3276,7 s

T5 T31, T69 T95

Bng 7.1: phn gii ca cc Timer

Trang 72

7.2.1 Khai bo s dng Timer.

Khi s dng Timer TONR, gi tr m tc thi c lu li v khng b thay

i trong khong thi gian khi tn hiu u vo c logic 0. Gi tr ca T-bit
khng c nh m hon ton ph thuc vo kt qu so snh gia gi tr m
tc thi v gi tr t trc.
Khi Reset mt b Timer, T-word v T-bit ca n ng thi c xa v c gi
tr bng 0, nh vy gi tr m tc thi c t v 0 v tn hiu u ra cng c
trng thi logic 0.

Trang 73

7.2.2 Mt s v d v Timer.
V d 1: S dng Timer kiu TON

V d 2: S dng timer kiu TONR

Trang 74

V d 3: S dng timer kiu TOF

V d 4:
Lp trnh logic cho PLC iu khin dy chuyn sn xut gm 3 ng c hot
ng theo yu cu sau :
Nhn nt khi ng cho ng c 1 chy, sau 5s cho php vn hnh 2.
Nhn nt khi ng cho ng c 2 chy ng thi lc ny ng c 1 ngng,
sau 10s th cho php vn hnh ng c 3.
Nhn nt khi ng cho ng c 3 chy ng thi ng c 2 ngng.
Nhn nt dng th bt k ng c no chy cng phi ngng.
S kt ni PLC :

Trang 75

7.3

Lnh Counter.

Counter l b m thc hin chc nng m sn xung, trong S7-200 cc b

m c chia lm 3 loi : B m ln (CTU), b m xung (CU) v b m
ln/xung (CTUD).

Trang 76

7.3.1 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. S xung m c ghi vo thanh ghi 2 byte ca b
m, gi l thanh ghi C-word. Ni dung ca thanh ghi C-word, gi l gi tr
m tc thi ca b m, lun c so snh vi gi tr t trc ca b m,
c k hiu l PV. Khi gi tr m tc thi bng hoc ln hn gi tr t trc
ny th b m bo ra ngoi bng cch t gi tr logic 1 vo mt bit c bit
ca n, gi l C-bit. Trng hp gi tr m tc thi nh hn gi tr t trc th
C-bit c gi tr logic l 0.
Trang 77

7.3.2 B m ln/xung CTUD:

m ln khi gp sn ln ca xung vo cng m ln, k hiu l CU hoc bit
th 3 ca ngn xp trong STL, v m xung khi gp sn ln ca xung vo
cng m xung, k hiu l CD trong LAD hoc bit th 2 ca ngn xp trong
STL.
Khc vi cc b Timer, cc b m CTU v CTUD u c chn ni vi tn hiu
iu khin xa thc hin vic t li ch ban u (reset) cho b m, c
k hiu bng ch ci R trong LAD, hay c qui nh l trng thi logic ca bit
u tin ca ngn xp trong STL. B m c reset khi tn hiu xo ny c
mc logic 1 hoc khi lnh R (reset) c thc hin vi C-bit. Khi b m c
reset, c C-word v C-bit u c gi tr 0.
B m ln CTU c min gi tr m tc thi t 0 n 32.767. B m
ln/xung CTUD c min gi tr m tc thi t 32.768 n 32.767.
7.3.3 B m xung CTD:
m xung t gi tr t trc khi c sn ln tc ng vo cng m xung.
Khi gi tr m bng 0 th dng m v tip im ca n s ng. Khi chn
Load LD tc ng th b m xung s m tip im v np gi tr t trc
vo.

Trang 78

7.3.4 Mt s v d v Counter
V d 5: S dng b m CTU :

LD

I0.0

LD

I0.1

CTU

C40, +5

Trang 79

Gin thi gian :

V d 6: S dng b m CTD:

Trang 80

V d 7: S dng b m CTUD :

Trang 81

7.4

Nhm lnh so snh.

Khi lp trnh, nu cc quyt nh v iu khin c thc hin da trn kt qu

ca vic so snh th c th s dng lnh so snh theo Byte, Word, DWord v
Real ca S7-200. Nhng lnh so snh m PLC h tr: So snh bng, ln hn
hoc bng, nh hn hoc bng, ln hn, nh hn.

Mi php ton u h tr i vi kiu d liu Byte, Word, Double word v

Real.

Cch thc thc hin lnh so snh: Ly gi tr ng vo IN1 so snh vi ng

vo IN2. Nu tha mn php ton trong cu lnh th tip im so snh s c
ng li.
V d 8 : S dng lnh v Timer v So snh, Vit chng trnh iu khin n
giao thng ti ng 4 theo yu cu: Xanh 4s, Vng 1s, 5s. C 2 nt nhn
ch bnh thng v u tin.
Thc hin tng t vi lnh Counter.
7.5

Nhm lnh v cng Logic.

Ngoi nhng lnh ghp ni tip, song song v tng hp cc tip im th tp

lnh ca S7-200 cn cung cp cc cng logic AND, OR, EXOR thc hin i

Trang 82

vi byte (8 bit hay 8 tip im), word (16 bit hay 16 tip im) v double word
(32 bit hay 32 tip im). Sau y l chi tit ca tng cng:
Lnh AND:
PLC h tr lnh AND 2 Byte, AND 2 Word, AND 2 Double Word. C php
lnh AND, OR v WXOR vit trong LAD v FBD va ton hng h tr trong
cu lnh c trnh by nh hnh 7.1.

Hnh 7.1: Ln AND v cc ton hng h tr ng vo, ng ra

ngha:
Lnh thc hin php AND tng bit ca hai Byte, hai Word hoc hai Double
Word ng vo IN1 v IN2, kt qu c ghi vo 1 byte, 1 Word hay 1 Double
Word ng ra OUT, a ch ng ra c th ging ng vo.

Trang 83

V d: Lnh AND 2 Byte:

Kt qu

7.6

Lnh OR:

PLC h tr lnh OR 2 Byte, OR 2 Word, OR 2 Double Word. C php lnh

AND, OR v WXOR vit trong LAD v FBD v cc php ton h tr trong cu
lnh c trnh by hnh 7.1.
ngha:
Lnh thc hin php OR tng bit ca hai Byte, hai Word hoc hai Double
Word ng vo IN1 v IN2, kt qu c ghi vo 1 byte, 1 Word hay 1 Double
Word ng ra OUT, a ch ng ra c th ging ng vo.
V d: Lnh OR hai Byte:

Trang 84

Kt qu
7.7

Nhm lnh v cc php ton logic.

Cc lnh ton hc trong PLC gm c: Lnh cng , lnh tr, lnh nhn, lnh
chia. Cc lnh ton hc ny u h tr vi kiu d liu Word, Double Word v
Real.

Hnh 7.3: Cc lnh ton hc

Trang 85

7.7.1 Lnh Cng s nguyn 16 bit.

Dng LAD :

Dng STL :

+I

VW0, VW2

ngha :
Lnh thc hin cng cc s nguyn 16 bit IN1 v IN2 , kt qu l s nguyn 16
bit c ghi vo OUT, IN1 + IN2 = OUT, IN2 v OUT c th cng a ch,
thuc cc vng nh sau
IN1, IN2 :

VW,T ,C, IW, QW, MW, SMW, AC, AIW, const.

OUT :

VW,T ,C, IW, QW, MW, SMW, AC, AIW

Cc lnh cng vi s nguyn 32 bit v s thc cng c thc hin tng

t.
7.7.2 Lnh tr s nguyn 16 bit.
Dng LAD :

Dng STL :

+I

VW0, VW2

ngha :

Trang 86

Lnh c thc hin php tr cc s nguyn 16 bit IN1v IN2 , kt qu l s

nguyn 16 bit v c ghi vo OUT, tc l : IN1 IN2 = OUT, a ch thuc
cc vng nh sau
IN1, IN2 :

VW,T ,C, IW, QW, MW, SMW, AC, AIW, const.

OUT :

VW,T ,C, IW, QW, MW, SMW, AC, AIW.

Cc lnh tr vi s nguyn 32 bit v s thc cng c thc hin tng t.

7.7.3 Lnh nhn s nguyn 16 bit.
Dng LAD :

Dng STL.

MUL

VW0, VD0

ngha :
Lnh thc hin php nhn 2 s nguyn 16bit IN1 v IN2. Kt qu 32 bit cha
trong t kp OUT (4 byte).
7.7.4 Lnh chia s nguyn 16 bit .
Dng LAD :

Dng STL :

MOVW VW0, VW6

DIV

VW2, VD4

ngha :

Trang 87

Lnh thc hin php chia s nguyn 16 bit IN1 cho s nguyn 16 bit IN2. Kt
qu 32 bit cha trong t kp OUT (4 byte) gm thng s ghi trong mng 16 bit
t bit 0 n bit 15 (t thp) v phn d cng 16 bit ghi trong mng t bit 16 n
bit 31 (t cao).
Trong lnh ny c s dng cc bit nh c bit sau bo trng thi.
Kt qu

SM1.0 SM1.1

SM1.2

SM1.3

tnh
=0
Bo trn

1
1

S m

Mu = 0

7.8

Nhm lnh di chuyn v trao i d liu.

Cc lnh di chuyn thc hin vic di chuyn hoc sao chp d liu t vng ny
sang vng khc trong b nh. Lnh dch chuyn thc hin vic di chuyn hay
sao chp ni dung mt byte, mt t n, hoc mt t kp t vng ny sang vng
khc trong b nh.
Lnh trao i ni dung ca hai byte trong mt t n thc hin vic chuyn ni
dung ca byte thp sang byte cao v ngc li chuyn ni dung ca byte cao
sang byte thp ca t .
7.8.1 Lnh di chuyn d liu.(MOV).
Lnh di chuyn d liu t vng nh ny sang vng nh khc. Lnh MOV h tr
cho cc kiu d liu Byte, Word, Double Word v Real.

Trang 88

MOV_B :
Dng LAD

Dng STL

MOVB VB0, VB0

ngha:
Lnh sao chp ni dung ca byte a ch ng vo IN sang byte c a ch
ng ra OUT. a ch ca byte ng vo IN v a ch byte ng ra OUT c th
ging nhau, thuc cc vng sau:
IN :

VB, IB, QB, MB, SMB, AC, const

OUT: VB, IB, QB, MB, SMB, AC,

V d :
Dng LAD

Dng STL

LD

I0.0

MOVB 0, VB0
LD

I0.1

MOVB 12, VB0

Gii thch:
Nu tip im I0.0 ng th ly gi tr 0 ghi vo byte VB0 (xa VB0)
Trang 89

Tip theo ng tip im I0.1 th ly s 12 ghi vo VB0. Kt qu a ch byte

VB0 c gi tr bng 12 (nh phn).
MOV_W:
Dng LAD

Dng STL

MOVW VW0, VW0

ngha :
Lnh sao chp ni dung ca Word a ch ng vo IN sang Word c a ch
ng ra OUT, a ch ng ra c th ging ng vo, nm trong cc vng sau:
IN:

VW, IW, QW, MW, SMW, AC, const

OUT: VW, IW, QW, MW, SMW, AC

MOV_DW :
Dng LAD

Dng STL

MOVDW VD0, VD0

Trang 90

 ngha :
Lnh sao chp ni dung ca DWord a ch ng vo IN sang DWord c a
ch ng ra OUT, a ch ng ra c th ging ng vo, nm trong cc vng sau:
IN:

VD, ID, QD, MDW, SMD, AC, const

OUT: VD, ID, QD, MD, SMD, AC

MOV_R :
Dng LAD

Dng STL

MOVR VD0, VD0

ngha :
Lnh sao chp ni dung ca s thc cha trong double word c a ch ng
vo IN sang double word c a ch ng vo OUT, a ch ng ra c th ging
ng vo, thng nm trong cc vng sau:
IN:

VD, ID, QD, MD, SMD, AC, const

OUT: VD, ID, QD, MD, SMD, AC

D liu c ghi vo trong cc a ch ny theo nguyn tc sau :
Phn nguyn ghi vo word thp
Phn thp phn ghi vo word cao
V d :

Trang 91

Gii Thch :
Tip im I0.0 ng th xa double word 0 (VD0), tip im I0.1 ng th ghi
s thc 30,2 vo double word VD0, kt qu nh sau :

VW2 (word cao)

VW0 (word thp)

20 (nh phn)

30 (nh phn)

7.8.2 Lnh tng gim d liu.

Lnh Tng Byte.
Tng gi tr ng vo(IN) ln 1 v a kt qu sang ng ra(OUT).
Dng LAD :

Dng STL :

INCB VB0

ngha :

Trang 92

Lnh ny c tc dng cng s nguyn 1 n v vi ni dung ca byte c a ch

ng vo IN, kt qu c ghi vo byte c a ch ng ra OUT. Byte IN v
byte OUT c th cng a ch. Lnh ny c s dng cc bit nh c bit SM1.0,
SM1.1, SM1.2 bo trng thi kt qu php tnh theo nguyn tc nh sau :
Kt qu

SM1.0 SM1.

tnh
=0

1
1

S m
> byte

SM1.2

1
1

V d :
Dng LAD :

Dng STL :
MOVB 10, VB0

INCB

VB0

Gii thch :
Tip im I0.0 ng th s 10 c ghi vo VB0, tip im I0.1 ng th ni
dung ca VB0 tng ln 1 n v v kt qu c lu li VB0. Lc ny VB0 =
11.
Tng t nh vy ngi hc c th th cho lnh tng Word, tng Double Word.
Trang 93

Lnh Gim Byte.

Lnh tr ni dung ca byte ng vo(IN) bt 1 n v sau lu kt qu t
c vo ng ra OUT.
Dng LAD :

Dng STL :

DECB

VB0

ngha :
Lnh ny c tc dng ly ni dung ca byte c a ch ng vo IN tr i 1
n v , kt qu c ghi vo byte c a ch ng ra OUT , byte IN v byte
OUT c th cng a ch v lnh ny cng s dng cc bit nh c bit
SM1.0, SM1.1, SM1.2 bo trng thi kt qu php tnh theo nguyn tc nh
sau :
Kt qu

SM1.0 SM1.

tnh
=0

S m
> byte

SM1.

1
1

Tng t nh lnh gim byte, ngi hc t kim tra lnh gim Word v Double
Word.
Trang 94

7.9

Lnh Chuyn i.

7.9.1 Chuyn i s nguyn sang m led 7 on:

Dng LAD :

Dng STL :
1.1.1

SEG

VB0, VB0

ngha:
Lnh ny c tc dng chuyn i cc s trong h thp lc phn t 0 n F (dng
nh phn) cha trong 4 bit thp ca byte c a ch ng vo IN thnh gi tr
BIT cha trong 8 bit ca byte c a ch ng ra OUT tng ng vi thanh led
7 on CK, a ch ng ra c th ging ng vo, nm trong nhng vng sau:
IN:

VB, IB, QB, MB, SMB,AC, const

OUT: VB, IB,AB,MB,SMB,AC

Hnh 7.4: Bng m 7 on cho led loi Catot Chung

Trang 95

V d :

Gii thch: Gi s trc khi chuyn i VB48 c gi tr bng 05H, sau khi
chuyn i s cho kt qu l 6DH.
7.9.2 Lnh chuyn i m BCD sang s nguyn:
Dng LAD :

Dng STL :

BCDI VW0

ngha.
Lnh ny thc hin php bin i mt s dng m BCD 16 bit cha trong word
c a ch ng vo IN sang s nguyn dng nh phn 16 bit cha trong word
c a ch ng ra OUT, a ch ng ra c th ging ng vo, thng nm trong
cc vng sau :
IN:

VW, T, C, IW, QW, MW, SMW, AC, AIW, const

OUT: VW, T, C, IW, QW, MW, SMW, AC.

Trang 96

7.10 Lnh v ng h thi gian thc.

Trong thit b iu khin lp trnh PLC S7-200 k t CPU 214 tr i th trong
CPU c mt ng h ghi gi tr thi gian thc gm cc thng s v Nm, thng,
ngy, gi, pht, giy v ngy trong tun. ng h ny c cp in lin tc
bi ngun pin 3V.
Khi thc hin lp trnh cho cc h thng t ng iu khin cn cp nht gi tr
ng h thi gian thc ny ta s dng 2 lnh sau :
Lnh c thi gian thc:
Dng LAD :

Dng STL :

TODR VB0

ngha :
Lnh ny c ni dung ca ng h thi gian thc ri chuyn sang m BCD v
lu vo b m 8 byte lin tip nhau theo th t nh sau:

Trang 97

Trong byte u tin c ch nh bi ton hng T trong cu lnh, byte 7 ch

s dng 4 bit thp lu gi tr cc ngy trong tun.
Lnh t thi gian thc:
Dng LAD :

Dng STL :

TODW VB0

ngha :
Lnh ny c tc dng ghi ni dung ca b m 8 byte vi byte u tin c ch
nh trong ton hng T vo ng h thi gian thc. Trong T thuc 1 trong
nhng vng nh sau : VB, IB, QB, MB, SMB.
Nu cn iu chnh cc thnng s v nm, thng, ngy, gi, pht, giy, ngy
trong tun th iu chnh cc byte nh sau :

Trang 98

V d :
iu chnh gi tr ngy ta lm nh sau :
Dng LAD

Dng STL

Trang 99

BI 8:
8.1

TN HIU ANALOG

Tn hiu analog v b A/D

Khc vi tn hiu s, ng vo v ng ra ch c hai trng thi l ON hoc OFF

(mc 1 hoc 0), tn hiu analog c bin lin tc theo thi gian.

Hnh 8.1: S khc bit gia tn hiu s v tn hiu tng t

Phn ln nhng hin tng xy ra trong thc t u dng analog. Cc cm
bin ng c tn hiu ra dng analog nh: Cm bin nhit , cm bin p sut,
cm bin dng chy, cm bin mc.. Nhng c cu chp hnh c tn hiu
iu khin dng analog: Vale tuyn tnh, bin tn.....
8.2

Thi gian ly mu, tn s ly mu.

i vi ng vo ca PLC hay my tnh, tn hiu analog khng c c lin tc

m s c ly mu vo nhng khong thi gian nht nh. Sau tn hiu
analog c chuyn i sang tn hiu s nh b A/D. Trong mt khong thi
gian nht nh, nu s mu ly cng nhiu th chnh xc cng tng. Tuy nhin
mi b A/D ch c th thu thp c mt s mu nht nh trong mt giy. i
vi PLC th tn s ly mu c th t 20hZ.

Trang 100

Hnh 8.2: Cch ly mu tn hiu tng t

8.3

Cc thng s ca b A/D.

Mt b A/D c nh gi da vo cc thng s nh: S bit chuyn i, thi

gian ly mu, tc chuyn i, sai s chuyn i, tm in p hoc dng in
m b A/D c th chuyn i. Cc thng s ny thng c cho bi nh sn
xut. Hnh 8.3th hin cc thng s ca b A/D.

Trang 101

Hnh 8.3: Cc thng s cn quan tm ca b A/D

Trang 102

Hnh 8.4: Quan h gia cc thng s trong b A/D

Ghi ch:
Cng thc 1: Quan hn gia s lng bit v phn gii ca timer
Cng thc 2: Sai s lng t.
Cng thc 3: Quan h gia gi tr s nguyn ca b A/D vi V in, Vmin, Vmax,
Vmin, R.
Cng thc 4: Quan h gia in p a vo vi N , Vmax, Vmin, R.
8.4

A/D trong PLC S7 200.

i vi PLC th b chuyn i A/D thng s dng 8 bit, 12 bit, 16 bit. Ty

theo yu cu k thut, chnh xc, tnh kinh t m ngi lp trnh chn b
A/D no cho ph hp.
8.4.1 Cu trc d liu ca b A/D trong PLC S7 200.
Module analog trong S7 200 thng s dng loi 12 bit. Tn hiu vo ca
module analog dng in p hoc dng in, in p c th dng hoc m,
d liu chuyn i c th dng n cc hoc lng cc. Ty thuc vo dng

Trang 103

chuyn i m cch sp xp cc bit d liu cng c s khc nhau. Hnh .

Trnh by cch sp xp cc bit d liu dng n cc v lng cc.

Hnh 8.5: Cch nh dng cc bit d liu trong module analog ca S7 200
8.4.2 Mt s module analog ca S7 200 thng c s dng.
8.4.2.1

Module analog EM231

Cc thng s k thut.

Trang 104

Cch kt ni ng vo.

Switch chn gi tr ng vo v phn gii.

Trang 105

Lu :
Dng in ng vo: 0 n 20mA.
phn gii: 5uA hay t 1,25mV n 2,5mV.
Gi tr s ng vo: -32000 n 32000(lng cc) hay t 0 n 32000(n cc).
Mch ng vo ca Module EM231.

8.4.2.2

Module analog EM235

Cc thng s k thut.

Trang 106

Cch kt ni ng vo, ng ra.

Switch chn gi tr ng vo v phn gii.

Trang 107

Lu :
phn gii: 5uA hay t 12,5uV n 5mV.
Gi tr s ng vo: -32000 n 32000 hay t 0 n 32000.
Mch ng vo ca Module EM235.

Trang 108

8.4.2.3

Module analog EM232

Cc thng s k thut.

Trang 109

Mt vi thng s chi tit.

Cch kt ni ng ra.

Trang 110

8.4.3 Hiu chnh gi tr analog.

Module analog thng c nhiu tm o khc nhau, tn hiu ng vo c th l
dng in hoc in p. Vic chuyn i t tm o ny sang tm o khc th kt
qu chuyn i thng c nhng sai s nht nh do cu trc ca mch chuyn
i. Do vy thng thng khi s dng module analog, ngi lp trnh cn phi
hiu chnh trc khi s dng kt qu chuyn i c chnh xc hn. Di
y trnh by vic hiu chnh cho ng vo l in p, tm o 10V, ng vo
chuyn i l AIW0.

Cp in cho module analog hot ng khong 10 pht.

Chn in p vo l 10V ( phn gii 2,5mV)

Chnh bin tr ti ng vo AIW0 ng vo t gi tr 0V.

Dng chng trnh c gi tr analog vo v quan st gi tr. Nu cha bng

khng th hiu chnh li (Gain) t gi tr = 0.

Chnh bin tr ti ng vo AIW0 ng vo t gi tr 10V.

Dng chng trnh c gi tr analog vo v quan st gi tr. Nu cha bng

32000 th hiu chnh li (Gain) t gi tr = 32000.

8.5

Bi tp ng dng:

8.5.1 Bi tp v cm bin nhit LM35.

Mt cm bin nhit LM 35 c thng s k thut nh sau:
Tm o t -55 C n 150 C.
T l chuyn i t nhit sang in p: 10mV/ C.
Cm bin ny c s dng o nhit ca mt l sy.
Dng PLC S7 200 v module analog EM231 c c tn hiu ca LM35 v
iu khin hot ng ca l. Bit rng l c iu khin ti ng ra Q0.0
Yu cu:
V s kt ni phn cng.
Trang 111

Vit chng trnh iu khin: Khi nhit nh hn 50 C th m l. Khi nhit

ln hn 60 C th tt l.
Vit chng trnh hin th nhit ca l theo C v lu kt qu vo vng
nh MW0.
8.5.2 Bi tp v Loadcell.
Mt Load cell c thng s k thut nh sau:
Tm o t 0 n 1000 kg.
in p kch thch: 12-24V.
nhy: 1,96mV/V.
Cm bin ny c s dng o khi lng ca mt b nc.
Dng PLC S7 200 v module analog EM231 c c tn hiu ca Loadcell
ny v iu khin hot ng ca 1 bm. Bit rng bm c iu khin ti ng
ra Q0.0
Yu cu:
V s kt ni phn cng.
Vit chng trnh iu khin: Khi khi lng nc trong b nh hn 600kg th
bm, khi khi lng nc trong b ln hn 800kg th ngng bm .
Vit chng trnh hin th khi lng nc ca b theo kg v lu kt qu vo
vng nh MW0.
8.5.3 Bi tp iu khin cng sut l nhit.
Mt b iu khin cng sut ca l nhit c ng vo t 0 n 10V tng ng
vi cng sut ca l t 0 n 100%. Hy v s khi kt ni, vit chng
trnh thc hin yu cu trn.

Trang 112

BI 9: HOT NG NGT TRONG PLC

9.1

Gii thiu v ngt trong PLC.

Ngt l qu trnh m PLC dng chng trnh ang thc thi thc hin chng
trnh ngt khi c nhng s kin ngt xy ra. Nhng s kin gy ra ngt c th l
t bn ngoi(ngt ngoi) hay t bn trong PLC(Ngt xy ra bn trong PLC). Khi
mt s kin ngt xut hin th chng trnh chnh ngay lp tc b dng li
thc thi chng trnh ngt(trnh phc v ngt). Sau khi thc hin xong chng
trnh ngt th PLC s quay v chng trnh chnh v thc hin tip ti v tr
trc khi xy ra ngt.
Khi c nhiu yu cu ngt xy ra ng thi th cc ngt s thc hin theo th t
u tin. Ngt c mc u cao c thc hin trc, ngt c mc u tin thp hn
thc hin sau. Tuy nhin khi mt ngt ang thc thi th n vn tip tc thc hin
cho n khi hon thnh bt chp cc ngt khc c mc u tin cao hn ang
yu cu.
Cc ngt trong PLC thng tp trung vo 3 nhm chnh: Ngt truyn thng,
Ngt I/O, Ngt nh thi.
9.2

Hot ng ngt trong PLC S7 200.

Cng ging nh cc PLC khc, S7 200 cng h tr cc ngt v truynt thng,

ngt I/O v ngt nh thi. Ty thuc vo loi CPU m s lng ngt cng nh
s kin ngt c khc nhau.

Hnh 9.1: S lng v s kin ngt trong S7 200

Trang 113

9.3

Cc s kin gy ra ngt trong S7 200.

Hnh 9.2: Cc s kin ngt trong S7 200

Trang 114

9.4

Th t u tin ngt trong PLC S7 200

Khi c nhiu ngt xy ra ng thi th chng trnh s xy ra theo th t u

tin. Di y l th t u tin ca cc ngt trong PLC S7 200.

Hnh 9.3: Th t u tin ngt trong S7 200

Trang 115

9.5

Cc lnh s dng khi lp trnh iu khin ngt.

Lnh cho php ngt ton cc

Lnh cm ngt ton cc
Lnh thot khi chng trnh ngt.

Lnh gn chng trnh ngt vi s

kin ngt tng ng.

Lnh loi b chng trnh ngt

vi s kin ngt tng ng.

Hnh 9.4: Cc lnh s dng khi lp trnh vi ngt

Trang 116

Lu :
Mt chng trnh ngt c th c gi bi nhiu s kin ngt, Tuy nhin mt s
kin ngt th khng th gn cho nhiu chng trnh ngt.
9.6

Lp trnh khi s dng ngt.

Tt c cc ngt phi c khi to trc khi lm vic. Vic khi to cc ngt

ch thc hin mt ln trong chng trnh, ch khi no cn thay i cc thng
s(chng trnh ngt, s kin ngt) th mi khi to li. V vy thng thng
chng trnh khi to c vit trong mt chng trnh con v c gi mt ln
(SM0.1) khi chy chng trnh.
Khi s dng ngt, ngi lp trnh cn xc nh cc c im sau y.
Loi ngt:

Ngt truyn thng, ngt I/O hay ngt nh thi.

iu kin ngt: Khi no s kin ngt xy ra, chun b cc iu kin ngt xy

ra.
Khi to ngt: Gn chng trnh ngt v s kin ngt tng ng, cho php
ngt, Lp trnh cho chng trnh ngt.
Lu : Chng trnh vit trong chng trnh ngt phi theo nguyn tc Cng
ngn gn cng hiu qu
Mi ngt u c cch khi to ring, di y s trnh by vic khi to
mt s ngt c bn.
9.6.1 Khi to ngt cnh ln ti I0.0 (S kin 0).
Chng trnh chnh.(Gi chng trnh con khi to ngt).

Trang 117

Chng trnh con KhoitaoI0: ( Gn chng trnh ngt vi s kin ngt

tng) ng, cho php ngt).

Chng trnh ngt ngatI0:

Chng trnh ngt:

Mi ln c cnh ln ti I0.0 th chng trnh ngt c gi. Trong v d ny,
chng trnh ngt c nhim v tng gi tr QB0 thm 1.
Tng t nh trn, ngi lp trnh c th khi to ngt cho cc ng vo cn li.
9.6.2 Khi to ngt nh thi 0: Timed interrupt0
Chng trnh chnh.(Gi chng trnh con khi to ngt).

Trang 118

Chng trnh con KhoitaoTimer0: ( Np thi gian gy ra ngt, gn chng

trnh ngt vi s kin ngt tng ng, cho php ngt).

Chng trnh ngt ngatTimer0: Sau mt khong thi gian 200mS th chng
trnh ngt c gi. Trong v d ny, chng trnh ngt c nhim v gim gi
tr QB0 thm 1.

Tng t nh trn, ngi lp trnh c th khi to ngt cho Timer1

Trang 119

BI 10: B M TC CAO
(HSC: HIGH SPEED COUNTER).
10.1 Gii thiu v HSC.
B m thng: B m thng trong PLC nh m ln (CTU), m
xung(CTD), m ln xung(CTUD), ch m c cc s kin xy ra vi tn
s thp (Chu k xut hin ca s kin nh hn chu k qut ca PLC).
HSC l b m tc cao c kh nng m c nhng s kin xy ra vi tn
s ln m cc b m thng thng trong PLC khng m c.
VD: Tn hiu xung t encoder, tn hiu xung t ng c servo
10.2 S lng b m HSC c trong PLC v tn s ti a cho php.
Ty thuc vo loi CPU m s lng b m HSC v tc ti a cho php
khc nhau.
B m Ng vo

Tn s cho php

Loi CPUs

HC0

I0.0

30 kHz

221,222,224,224XP,226

HC1

I0.6

30 kHz

221,222,224,224XP,226

HC2

I1.2

30 kHz

221,222,224,224XP,226

HC3

I0.1

30 kHz

221,222,224,224XP,226

HC4

I0.3

200 kHz

224XP

HC5

I0.4

200 kHz

224XP

Khi s dng HSC, ngi lp trnh cn lu mt s c im sau y.

Tn s m ca HSC ph thuc vo loi HSC v loi CPU.

Ch c mt s ng vo c bit mi nhn c xung tn s cao.

Thng th PLC ca hng no cng c HSC. Tuy nhin c hng th tch hp

HSC sn trong CPU, c hng th thit k theo kiu tng module ring.

10.3

Vng nh c bit s dng lp trnh cho HSC.

Trang 120

Mi HSC c mt vng nh c bit ring, vng nh ny c s dng khai

bo chn mode m, t gi tr, lu gi tr m cho HSC tng ng.
STT B m

Vng nh khai bo

Ch thch

HSC0

SMB36 n SMB45

Mi HSC s dng 10 byte

HSC1

SMB46 n SMB55

HSC2

SMB56 n SMB65

HSC3

SMB136 n SMB145

HSC4

SMB146 n SMB155

HSC5

SMB156 n SMB165

Mi HSC c h tr 10 byte khai bo thng s. Tuy nhin cc byte tng

ng ca cc HSC u c chc nng c bn l ging nhau. V vy ngi lp trnh
ch cn tm hiu k cch s dng mt HSC l c th s dng c cc b m
khc.
10.4 Cc Mode m ca b m:
Mi b m u c nhng Mode m khc nhau. Ty vo tng ng dng c th
m ngi lp trnh la chn Mode m cho ph hp. Bng 10.1 m t cc mode
m ca HSC.

Trang 121

Bng 10.1: Cc mode m ca HSC

Lu :
Mi mode m khc nhau thng c khc nhau mt vi c im nh: Ng
vo nhn xung, iu khin hng m, tc ng reset, tc ng start, m lch
pha Ngi lp trnh phi ch c im ny trnh nhm ln khi s dng.
10.5 Chc nng cc bit trong byte trng thi ca cc b HSC.
10.5.1 Byte trng thi ca HSC0.
SM36.0

Khng s dng

SM36.1

Khng s dng

SM36.2

Khng s dng

SM36.3

Khng s dng

SM36.4

Khng s dng

Trang 122

SM36.5

Chiu ang m, 1:m ln, 0:m xung.

SM36.6

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV = PV

SM36.7

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV > PV

10.5.2 Byte trng thi ca HSC1.

SM46.0

Khng s dng

SM46.1

Khng s dng

SM46.2

Khng s dng

SM46.3

Khng s dng

SM46.4

Khng s dng

SM46.5

Chiu ang m, 1:m ln, 0:m xung.

SM46.6

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV = PV

SM46.7

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV > PV

10.5.3 Byte trng thi ca HSC2.

SM56.0

Khng s dng

SM56.1

Khng s dng

SM56.2

Khng s dng

SM56.3

Khng s dng

SM56.4

Khng s dng

SM56.5

Chiu ang m, 1:m ln, 0:m xung.

Trang 123

SM56.6

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV = PV

SM56.7

Kt qu so snh tc thi, 0:Nu CV

PV, 1:Nu CV > PV

10.6 ngha cc bit ca byte iu khin ca cc b HSC.

10.6.1 Byte iu khin ca HSC0
SM37.0

Khng s dng

SM37.1

Khng s dng

SM37.2

Khng s dng

SM37.3

Chiu m: 0 m li, 1 : m ln

SM37.4

Cho php i chiu m, 0: khng cho php,

1: cho php.

SM37.5

Cho php sa i gi tr t trc.0: khng cho php.

1: cho php

SM37.6

Cho php sa i gi tr m tc thi, 0: khng cho

php, 1: cho php

SM37.7

1- Cho php kch HSC0, 0:Khng cho php HSC0

10.6.2 Byte iu khin ca HSC1.

SM47.0

Kiu reset cho tn hiu xa ti cng I1.0

SM47.1

Kiu start cho tn hiu kch ti cng I1.1

SM47.2

Tn s m ca HSC1

Trang 124

SM47.3

Chiu m: 0 m li, 1 : m ln

SM47.4

Cho php i chiu m, 0: khng cho php, 1: cho php

SM47.5

Cho php sa i gi tr t trc, 0: khng cho php,

1: cho php

SM47.6

Cho php sa i gi tr m tc thi, 0: khng cho php,

1: cho php

SM47.7

1- Cho php kch HSC1, 0:Khng cho phpHSC1

10.6.3 Byte iu khin ca HSC2.

SM57.0

Kiu reset cho tn hiu xa ti cng I1.0

SM57.1

Kiu start cho tn hiu kch ti cng I1.1

SM57.2

Tn s m ca HSC2

SM57.3

Chiu m: 0 m li, 1 : m ln

SM57.4

Cho php i chiu m, 0: khng cho php, 1: cho php

SM57.5

Cho php sa i gi tr t trc, 0: khng cho php,

1: cho php

SM57.6

Cho php sa i gi tr m tc thi, 0: khng cho php,

1: cho php

SM57.7

1- cho php kch HSC2, 0 cho php hy HSC2

10.6.4 Chn kiu Reset, Start v tn s m cho HSC

Trang 125

HSC1

HSC2

Ghi ch

SM47.0

SM57.0

0: Reset mc cao

1: Reset mc thp

SM47.1

SM57.1

0: Start mc cao

1: Start mc thp

SM47.2

SM57.2

0: 4X gi tr m

1: 1X gi tr m

Lu : Kiu m 4X ch c gi tr i vi mode m 9,10,11.

9.6.3 Byte trng thi v byte iu khin ca HSC3,HSC4,HSC5
B m

Byte trng thi

Byte iu khin

HSC3

SMD136

SMD137

HSC4

SMD146

SMD147

HSC5

SMD156

SMD157

Ghi ch

Chc nng cc bit ca byte trng thi v byte iu khin ca HSC3, HSC4,
HSC5 v c bn cng tng t nh HSC0, HSC1, HSC2 trnh by trn.
Gi tr m tc thi, gi tr t cho cc b HSC.
B m

Gi tr m tc

Gi tr t

Ghi ch

thi
HSC0

SMD38

SMD42

HSC1

SMD48

SMD52

HSC2

SMD58

SMD62

HSC3

SMD148

SMD142

HSC4

SMD158

SMD152

HSC5

SMD168

SMD162

Trang 126

10.7 Cc bc khi to b m HSC.

Khc vi cc lnh thng thng. HSC ch hot ng sau khi n c khi to
v cho php bng phn mm. Di y s trnh by mt gi cho vic khi to
b m HSC.

Dng chu k qut u tin(SM0.1) gi chng trnh con khi to. Trong
chng trnh con khi to thc hin cc cng vic sau y.

Np gi tr cho byte iu khin.

Gn b m vi Mode m tng ng dng lnh HDEF

Np gi tr m tc thi.

Np gi tr t trc.

Gn chng trnh ngt vi s kin ngt dng lnh ATCH nu s dng ngt.

Cho php ngt dng lnh ENI.

Chn b m thc thi dng lnh HSC.

Lu : Ton b cc bc trn u c thc hin trong mt chng trnh con

khi to HSC0. Vic khi to ny ch thc hin mt ln, khi no cn thay i
gi tr, ch lm vic th mi khi to li.
10.8 Mt vi v d khi to HSC.
10.8.1 Khi to b m HSC0 hot ng Mode 0.
Chng trnh chnh.

Chng trnh con khi to.

Trang 127

Lu :
Mt b m c th c mt hoc nhiu mode m. S dng mode m no l ty
thuc vo tng yu cu c th ca tng ng dng. Khi ngi lp trnh mun b
HSC hot ng theo mode no th ch cn dng lnh HDEF gn b m
vi mode m tng ng l c.
Ngi hc c th i chiu vi cc vng nh khai bo cho HSC hiu v
ngha ca tng cu lnh.
10.8.2 Khi to b m HSC1 hot ng Mode 0.
Chng trnh chnh.
Trang 128

Chng trnh con khi to.

Trang 129

10.9 Bi tp ng dng.
10.9.1 Lp trnh vi HSC0.
Vit chng trnh khi to b m HSC0 hot ng Mode 0. Xut kt qu
m ra vng nh QW2.
To xung CK c tn s 1hZ ti Q0.0 cp vo ng vo xung Clock, quan st
trng thi ng ra ti QW2 khi HSC0 hot ng Mode 0.
V s kt ni phn cng v vit li on chng trnh khi HSC0 hot ng
Mode 0
10.9.2 Lp trnh vi HSC1.
Vit chng trnh khi to b m HSC1 hot ng Mode 1, ch 1X, xut
kt qu m ra vng nh QW2.
To xung CK c tn s 1hZ ti Q0.0 cp vo ng vo xung Clock, quan st
trng thi ng ra ti QW2 khi HSC1 hot ng Mode 1. Trong qu trnh hot
ng, tc ng chn Reset kim tra vic xa b m.
V s kt ni ng vo xung CK.
10.9.3 Lp trnh vi HSC2.
Vit chng trnh khi to b m HSC2 hot ng Mode,2,3,4,5. Xut kt
qu m ra vng nh QW2. Trong mi trng hp, tc ng xung
Clock,Reset,Start dng cc Switch kim tra kt qu ti ng ra.
To xung CK c tn s 0.5hZ ti Q0.0 cp vo ng vo xung Clock, quan st
trng thi ng ra ti QW2 khi HSC2 hot ng Mode 4.
V s kt ni phn cng khi HSC2 hot ng Mode 4.
10.9.4 Lp trnh vi HSC3.
Vit chng trnh khi to b m HSC3 hot ng Mode 4,5,6. Xut kt qu
m ra vng nh QW2. Trong mi trng hp, tc ng xung Clock,Reset,Start
dng cc Switch kim tra kt qu ti ng ra.

Trang 130

To xung CK c tn s 0.5hZ ti Q0.0 cp vo ng vo xung Clock, quan st

trng thi ng ra ti QW2 khi HSC3 hot ng Mode 5.
V s kt ni phn cng khi HSC3 hot ng Mode 5

BI 11: B PHT XUNG

V IU CH RNG XUNG
11.1 Gii thiu v PLS v PWM.
PLS(Pulse): Lnh pht xung ng ra c s dng pht xung ng ra PTO
(Pulse Train Output). PTO pht xung vung, c rng lun bng na chu k.

PTO c ng dng trong nhng trng hp cn tn hiu iu khin dng xung

tn s cao. Nhng i tng thng c iu khin bi PTO nh: ng c
bc, ng c servo..
im c ni bt ca PTO l kh nng pht nhiu on xung lin tip c tn
s pht khc nhau. V vy khi ngi lp trnh cn to ra nhng chui xung c
tn s thay i iu khin i tng iu khin th s dng PTO l mt trong
nhng la chn hiu qu nht.
PWM (Pulse Wide Modulation): iu ch rng xung c s dng khi
ngi lp trnh cn pht chui xung vi chu k v rng c th thay i c.

Trang 131

PWM thng c ng dng iu khin s thay i tc ca ng c, iu

khin thi gian ng m cp in cho l nhit, iu khin tc quay cho
bin tn(Bin tn ca panasonic)..
Cc loi PLC ni chung thng c h tr chc nng PLS v PWM. Tuy nhin
c PLC th tch hp sn chc nng ny trong CPU, c loi th thit k theo kiu
module ring.
11.2 PTO v PWM trong S7 200.
S7 200 h tr 2 ng ra Q0.0 v Q0.1 pht xung PLS/PWM vi tn s ln (c
th ln n 100khZ). Vi tn s ny th cc ng ra bnh thng, hot ng ph
thuc vo chu k qut ca PLC khng th pht c.
PLS: iu khin pht xung vung(PTO) vi chu k thay i t 50uS n
65535uS hay t 2mS n 65535mS. S lng xung pht nm trong khong t 1
n 4,294,967,295.
PLS c th pht on xung n (single segment hoc nhiu on xung k tip
nhau (Multiple segment).
PWM: Pht xung vi chu k v rng xung c th thay i c.
Chu k: T 50uS n 65535uS hay t 2mS n 65535mS.
rng xung: T 0 n 65535uS hay t 0 n 65535mS.
Cng ging nh cc chc nng c bit khc trong PLC. PLS v PWM ch s
dng c sau khi c khai bo v khi to. Vic khai bo v khi to c
thc hin bng vic np gi tr cho vng nh c bit trong PLC.
11.3 Vng nh c bit c s dng khi lp trnh iu khin PTO v
PWM.
11.3.1

Byte iu khin.

Trang 132

Ty thuc vo vic s dng ng ra Q0.0 hay Q0.1 ch PTO hay PWM v

tn s mong mun m ngi lp trnh np cc gi tr thch hp vo byte iu
khin SMB67 hay SMB77.
11.3.2

Cc vng nh c bit khc.

11.3.3
Mt s gi tr np cho byte iu khin v kt qu thc thi ca
lnh PLS.

Trang 133

11.4 Khi to pht mt on xung n (single segment).

S dng chu k qut u tin gi chng trnh con khi to PLS. Trong
chng trnh con khi to thc hin cc cng vic sau.

Np gi tr cho byte iu khin chn ch pht theo yu cu.

Np gi tr thi gian chn chu k.

Np gi tr chn s lng xung pht.

Gn chng trnh ngt vi s kin ngt tng ng.

Cho php ngt.

Thc hin lnh PLS pht xung.

11.4.1

V d: Khi to PTO pht 10 xung vung, tn s 1hZ.

Chng trnh chnh.

Trang 134

Chng trnh con khi to.

16#8D

11.5 Khi to PTO pht nhiu on xung (Multiple segment).

Bn cnh vic pht mt on xung nh trnh by trn th PTO c th pht
nhiu on xung lin tip nhau (Ti thiu l 1 v ti a l 255 on). PTO pht
nhiu on xung lin tip vi tn s khc nhau c ngha rt quan trong trong
Trang 135

mt s ng dng thc tin. Chng hn nh vic iu khin ng c bc hay

servo motor quay nhanh dn khi khi v gim dn tc khi chun b dng
11.5.1 Mt s c im cn ch khi lp trnh pht nhiu chui xung.
Vic khi to pht nhiu on xung lin c mt s khc bit so vi pht mt
on xung. V vy, ngi hc trnh cn ch mt s c im sau y khi lp
trnh pht nhiu on xung.

Vng nh s dng khai bo thng s cho cc chui xung l vng nh V.

Mi chui xung s dng 8 byte khai bo thng s.

a ch bt u ca vng nh V ty thuc vo a ch offset. a ch offset

c np trong vng nh c bit(SMW168: Q0.0 v SMW178: Q0.1).

Byte u tin trong vng nh V c s dng np s chui cn pht.

Di y l v d pht 3 on xung lin tip ti ng ra Q0.0, bng khai bo

thng s v chng trnh vit cho PLC s7 200.

Trang 136

Khai bo thng s.

Lp trnh cho PLC.

Chng trnh chnh.

Chng trnh con khi to.

Trang 137

Trang 138

11.6 Khi to b pht xung PWM.

S dng chu k qut u tin gi chng trnh con khi to PWM. Trong
chng trnh con khi to thc hin cc cng vic sau.

Np gi tr cho byte iu khin chn ch pht theo yu cu.

Np gi tr thi gian chn chu k.

Np gi tr thi gian chn rng xung.

Thc hin lnh PLS pht xung.

V d: Khi to pht xung vung tn s 1hZ ti ng ra Q0.1 dng PWM.

Chng trnh chnh

Trang 139

Chng trnh con khi to

11.7
11.7.1

Bi tp ng dng.
Vit chng trnh iu khin PTO pht xung theo yu cu:

Mi ln nhn START, pht 20 xung tn s 1hZ ti ng ra Q0.0.

11.7.2

Vit chng trnh iu khin PTO pht xung theo yu cu:

Mi ln nhn START, pht 20 xung tn s 1hZ ti ng ra Q0.1.

11.7.3

Vit chng trnh iu khin PTO pht xung ti Q0.0 theo yu

cu.

Nhn START: Pht xung PTO c chu k 1000ms ti Q0.0

Mi ln nhn Up: Chu k tng thm 100ms, ti a khng qu 10000ms.
Trang 140

Mi ln nhn Down: Chu k gim bt 100ms, ti thiu khng nh hn 100ms.

Symbol

Address

START

I0.0

Up

I0.1

Down

I0.2

PULSE

Q0.0

11.7.4

comment

Vit chng trnh iu khin Q0.0 hot ng theo 2 Mode.

Mode 1: Pht xung vung tn vi Cycle = 1 giy, duty = 0,5 giy.

Mode 2: Cycle = 1 giy.

S dng Module analog, chn tm in p vo t 5V. Dng bin tr chnh
duty: Khi in p vo bng 0V th duty = 0, khi in p vo bng 5V th duty =
1giy.
Bng m t a ch
Symbol

Address

Mode1

I0.0

Mode2

I0.1

PULSE

Q0.0

comment

Trang 141

11.7.5

Vit chng trnh iu khin Q0.0 v Q0.1 hot ng nh hnh v

sau. Bit rng tn s pht ra tai Q0.0 v Q0.1 l 2hZ.

11.7.6

Vit chng trnh pht xung ti ng ra Q0.0 theo s hnh sau:

Trang 142

11.7.7

Vit chng trnh thc hin yu cu sau:

Pht chui xung ti Q0.1 tn s 10khZ gi lp xung ca mt encoder c gn

trn trc ng c.
Khi to HSC1 hot ng Mode 2 m s xung ti Q0.0.
Khi to ngt ca Timer c s xung m c trong khong thi gian ly
mu Ts.
Gi s encoder c thng s 1000 xung/vng. Hy vit chng trnh tnh tc
ng c ra vng/pht.

Trang 143

Trang 144