Api I C3 2 Il PDF

IST / DEEC / API
Industrial Automation
(Automação de Processos Industriais)
PLC Programming Languages

Instruction List
http://users.isr.ist.utl.pt/~jag/courses/api1213/api1213.html
Slides 2010/2011 Prof. Paulo Jorge Oliveira

Rev. 2011-2013 Prof. José Gaspar
IST / DEEC / API Industrial Automation
Syllabus:
Chap. 2 – Introduction to PLCs [2 weeks]
...
Chap. 3 – PLC Programming languages [2 weeks]

Standard languages (IEC-61131-3):
Ladder Diagram; Instruction List, and Structured Text.
Software development resources.
...
Chap. 4 - GRAFCET (Sequential Function Chart) [1 week]
Page 2
IST / DEEC / API Chap. 3 - PLC Programming languages
PLC Programming languages

(IEC 61131-3)
Ladder Diagram Structured Text
If %I1.0 THEN
%Q2.1 := TRUE
ELSE
%Q2.2 := FALSE
END_IF
Instruction List Sequential Function Chart

1
(GRAFCET)
(1) m
LD %M12 2 Direita
AND %I1.0 (2) b
ANDN %I1.1 3 Carrega
OR %M10 (3) p
ST %Q2.0 4 Esquerda
(2) a
Page 3
Instruction list
Antique PLC
AI1 AI3 LDV50

A( =P9 =CSW9
OI2 NO PE
O( OM1 ...
ANC9 OI4
AQ9 =Z9
) NO
) AC9
=Q9 =M1
... ...
Page 4
Instruction list Reference – see Unity Pro dev. environment
Page 5
Instruction list
Reference
– Unity Pro
Help
Page 6
Instruction list Reference – Unity Pro Help
PLC Program = {Sections}, Section = {Sequences}

One sequence is equivalent to one or more rungs in ladder diagram.
Each section can be programmed in Ladder, Instruction List, or Structured Text.
IL is a so-called accumulator orientated language, i.e. each instruction uses or

alters the current content of the accumulator (a form of internal cache). IEC
61131 refers to this accumulator as the "result". For this reason, an instruction
list should always begin with the LD operand ("Load in accumulator
command").
An Instruction list (IL) is composed of

a series of instructions. Each instruction
begins on a new line and consists of:
- an Operator,
- if necessary with a Modifier and
- if necessary one or more Operands
Page 7
Instruction list
%I1.0 %Q2.0 I1.0
Basic Instructions P t
Q2.0
Load t
Open contact: contact is active (result is 1)

LD while the control bit is 1.
Close contact: contact is active (result is 1)
LDN while the control bit is 0.
Contact in the rising edge: contact is active during a scan cycle

LDR P
where the control bit has a rising edge.
Contact in the falling edge: contact is active during a scan cycle

LDF N
where the control bit has a falling edge.
Page 8
Instruction list %I1.0 %Q2.0 I1.0

N S t
Basic Instructions Q2.0
t
Store
The result of the logic function activates the coil.

ST
STN The inverse result of the logic function activates the coil.
The result of the logic function energizes the relay

S S
(sets the latch).
The result of the logic function de-energizes the relay

R R
(resets the latch)..
Page 9
Instruction list %I1.0 %I1.0 %Q2.0 I1.0

N P S t
Basic Instructions Q2.0
t
AND
AND of the operand with the result of the previous
AND logical operation.
ANDN AND of the operand with the inverted result of the

previous logical operation.
P
AND of the rising edge with the result of the previous
ANDR logical operation.
AND of the falling edge with the result of the previous

ANDF N
logical operation.
Page 10
Instruction list
Basic Instructions
OR
OR of the operand with the result of the previous
OR logical operation.
ORN OR of the operand with the inverted result of the previous

logical operation.
OR of the rising edge with the result of the previous

ORR P logical operation.
OR of the falling edge with the result of the previous

ORF logical operation.
N
Page 11
Instruction list
Example:
Page 12
Instruction list
Basic Instructions
XOR
...
LD %I1.1
XOR %M1
ST %Q2.3
LD %M2
XOR %I1.2
ST %Q2.2
...
Page 13
Instruction list Temporized Relays or Timers (pneumatic)
The instantaneous contacts change state as soon as the timer coil is powered.
The delayed contacts change state at the end of the time delay.
Page 14
Instruction list
Example:
Page 15
Instruction list Characteristics:
Identifier: %TMi 0..63 in the TSX37

Temporized Relays
or Timers (PL7) Input: IN to activate
Mode: TON On delay

TOFF Off delay
TP Monostable
%TMi Time basis: TB 1mn (def.), 1s,
IN Q 100ms, 10ms
MODE: TON Programmed value: %TMi.P 0...9999 (def.)

TB: 1mn period=TB*TMi.P
TM.P: 9999 Actual value: %TMi.V 0...TMi.P
MODIF: Y (can be real or tested)
Modifiable: Y/N can be modified from

the console
Page 16
Instruction list
Temporized Relays
or Timers (PL7)
Page 17
Instruction list
Temporized Relays
or Timers (Unity)
Page
Page
18 18
Instruction list
Counters
Some applications...
Page 19
Instruction list
Counters in PL7
Example:
Page 20
Ladder diagram
Counters in Unity Pro
CU "0" to "1" => CV is incremented by 1

CU "0" to "1" => CV is incremented by 1 CD "0" to "1" => CV is decremented by 1
CV ≥ PV => Q:=1 CV ≥ PV => QU:=1

CV ≤ 0 => QD:=1
R=1 => CV:=0
R=1 => CV:=0 LD=1 => CV:=PV
R has precedence over LD
NOTE: counters are saturated such that no overflow occurs

Page 21
Ladder diagram
Counters in Unity Pro
Page 22
Instruction list
Numerical Processing
Algebraic and Logic Functions (PL7)
Page 23
Instruction list
Arithmetic Functions
Page 24
Instruction list
Example:
Arithmetic functions
PL7:
Page 25
Instruction list
Example:
Arithmetic functions
PL7:
Use of a system variable:
%S18 – flag de overflow
Page 26
Instruction list
Logic Functions
Page 27
Instruction list
Example:
Logic functions PL7:
Page 28
Instruction list
Priorities on the execution of the operations
Page 29
Instruction list
Structures for Control of Flux
Subroutines
Call and Return
CAL
PL7
Unity Pro
Page 30
IST / DEEC / API
Page 31
Instruction list
JUMP instructions:
Conditional and unconditional
Page 32
Instruction list
Example:
Use of jump instructions
Attention to:
• INFINITE LOOPS ...
• It is not a good style of

programming!...
• Does not improove the legibility

of the proposed solution.
Page 33
Instruction list
Halt
Stops all processes!
Events masking
Page 34
Instruction list
There are other advanced instructions (see manual)
• Monostable
• Registers of 256 words (LIFO ou FIFO)
• DRUMs
• Comparators
• Shift-registers
...
• Functions to manipulate floats
• Functions to convert bases and types
Page 35
Instruction list
Numerical Tables
PL7:
Page 36
IST / DEEC / API Chap. 3 – Old PLCs
DOLOG80
PLC AEG A020 Plus:
Inputs:
• 20 binary with opto-couplers
• 4 analogs (8 bits, 0-10V)
Outputs:
• 16 binary with relays of 2A
• 1 analogs (8 bits, 0-10V)
Interface for progr.: RS232
Processador:
• 8031
• 2 Kbytes de RAM
• 2 Kbytes EEPROM => 896 instructions
• Average cycle time: 6.5 ms
Page 37
PLC AEG A020 Plus

DOLOG80
OPERANDS
• I1 to I20 Binary inputs
• Q1 to Q16 Binary outputs
• M1 to M128 Auxiliary memory
• T1 to T8 Timers (base 100ms)
• T9 to T16 Timers (base 25ms)
• C1 to C16 16 bits counters
Page 38
DOLOG80 (cont.)
Example:
AI1 AI3 LDV50

A( =P9 =CSW9
OI2 NO PE
O( OM1
ANC9 OI4
AQ9 =Z9
Legend: Stop = I1
) NO Start = I2
) AC9 Proximity Sensor = I3
=Q9 =M1 Reset = I4
Counter= C9
... ... Internal relay = M1
Motor = Q9
Page 39

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IST / DEEC / API

PLC Programming Languages

Slides 2010/2011 Prof. Paulo Jorge Oliveira

Chap. 3 – PLC Programming languages [2 weeks]

PLC Programming languages

Instruction List Sequential Function Chart

AI1 AI3 LDV50

Instruction list Reference – see Unity Pro dev. environment

Instruction list Reference – Unity Pro Help

PLC Program = {Sections}, Section = {Sequences}

IL is a so-called accumulator orientated language, i.e. each instruction uses or

An Instruction list (IL) is composed of

Open contact: contact is active (result is 1)

Contact in the rising edge: contact is active during a scan cycle

Contact in the falling edge: contact is active during a scan cycle

Instruction list %I1.0 %Q2.0 I1.0

The result of the logic function activates the coil.

The result of the logic function energizes the relay

The result of the logic function de-energizes the relay

Instruction list %I1.0 %I1.0 %Q2.0 I1.0

ANDN AND of the operand with the inverted result of the

AND of the falling edge with the result of the previous

ORN OR of the operand with the inverted result of the previous

OR of the rising edge with the result of the previous

OR of the falling edge with the result of the previous

Instruction list Temporized Relays or Timers (pneumatic)

Instruction list Characteristics:

Identifier: %TMi 0..63 in the TSX37

Mode: TON On delay

MODE: TON Programmed value: %TMi.P 0...9999 (def.)

Modifiable: Y/N can be modified from

Counters in Unity Pro

CU "0" to "1" => CV is incremented by 1

CV ≥ PV => Q:=1 CV ≥ PV => QU:=1

NOTE: counters are saturated such that no overflow occurs

Counters in Unity Pro

Algebraic and Logic Functions (PL7)

Use of a system variable:

%S18 – flag de overflow

Logic functions PL7:

Priorities on the execution of the operations

Structures for Control of Flux

Call and Return

Structures for Control of Flux

Conditional and unconditional

Structures for Control of Flux

Use of jump instructions

• INFINITE LOOPS ...

• It is not a good style of

• Does not improove the legibility

Structures for Control of Flux

Stops all processes!

There are other advanced instructions (see manual)

Interface for progr.: RS232

PLC AEG A020 Plus

• I1 to I20 Binary inputs

• Q1 to Q16 Binary outputs

• M1 to M128 Auxiliary memory

• T1 to T8 Timers (base 100ms)

• T9 to T16 Timers (base 25ms)

• C1 to C16 16 bits counters

AI1 AI3 LDV50

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