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Chapter 9: GRAFCET and Ladder Diagram
Chapter 9: GRAFCET and Ladder Diagram
The GRAFCET is a tool for describing the specifications of the control unit of an
automated system.
Transitions
step 0
Directed Links
input 1
step 1 output 1
input 2
step 2 output 2
input 3 Actions
step 3 output 3
input 4
step 4 output 4
input 5
step 5
input 6
OPERATOR
INSTRUCTIONS
PILOT LIGHTS
COMMANDS
CONTROL OPERATIVE
UNIT UNIT
INFOMATION
Transitions
start
1 extend cylinder A
2 extend cylinder B
cylinder B extended
retract cylinder A
3
retract cylinder B
cylinder A retracted cylinder B retracted
Two Actions
Transitions In One step
(AND operation)
These are sensors !
Simultaneous Activation :
indicated by transition followed
by a double horizontal line.
3 ACTIONS 6 ACTIONS
Simultaneous De-activation :
9 indicated a double horizontal line
followed by transition.
Labelled Connector :
1 indicating where control is going
to (destination Connector).
(But then there will be 2 active steps: step_1 and 1st_cycle_bit Step-1
step_2.We want to have only one active step. Therfore,
when step_2 becomes active, step_2 should de-activate Step-1 Step-2
(kill-off) step_1.
Step-2 Stop
Similarly, the step after step_2, that is step_1, should be
used to de-activate (kill-off) step-2.
Step-1 Start Step-2
Provision must be made to go back to step_1 again when
Step_2 is active and stop_PB is pressed.(This is to loop
Step-2 Step-1
back).
To kill Step 2
when Step 1
is active
1 ON RED
1. Now that we have got the sequence, (sequence
Ensures that step_1 and start_PB goes to step_2,
And step_2 and stop_PB goes back to step_1, START
And so on) we can determine the outputs (i.e.
What happens at each step).
2 ON GREEN
OR
We can decide to turn on the buzzer in step_2 and turn on both the lights in step_1.
So that when start_PB is pressed, the red_light and green_light will turn on.
(Remember : still no change in sequence, only the output).
Work the
Outputs from
right to left
Step-1 ON RED
ON RED
1 ON GREEN
ON GREEN
START
Step-2 ON BUZZER
2 ON BUZZER
STOP
Other examples.
Step-1 ON GREEN
ON RED
1 ON GREEN
Step-2 ON BUZZER
START
Step-1 ON RED
2 ON RED
ON BUZZER
Step-2
STOP
Outputs may be
in any order
Inputs may
be repeated
Outputs
Step-1 ON RED
ON RED
1 ON BUZZER Step-2 ON GREEN
START
Step-1 ON BUZZER
Step-2
2 ON GREEN
ON BUZZER
STOP
No Repeated
Outputs !!
RAISE STAMP
3
Stamp
LOWER DIE
4
Die
( outputs / actions )
EVACUATE PART
5
Stamp
Evacuation completed
RAISE DIE
6
Die
1st_cycle_bit Step-1
Step-6 Die-High
Step-1 Step-2
Step-2 Step-3
Step-3 Step-4
Step-4 Step-5
Step-5 Step-6
Step-6 Step-1
OUTPUT
Step-2
Lower Stamp
Step-3
Raise Stamp
Step-4
Lower Die
Step-5
Evacuate part
Step-6
Raise Die
GRAFCET & Ladder Diagram
Project 1 - Moving a Wagon
Start PB
1
Right Side
reached
Move Wagon to the Left
3
Left Side
reached
OUTPUT
SEQUENCE
Step-3 Left-side
Step-2 Step-3
Step-3 Step-1
Use On Red
Use A+
Sequence Output
1
System initialization :
Retract Cylinder A
Run & System initialised Retract Cylinder B
Off Green Light
2 On Green Light
Extend Cylinder A
Cylinder A extended
3 Extend Cylinder B
Cylinder B extended
4 Lower Drill
5 Raise Drill
Drill_ high
6 Retract Cylinder A
Retract Cylinder B
Cylinder A retracted . Cylinder B retracted
sensors
Drill-high
Drill
Cylinder A Cylinder B
A+ B+
A- sensors B-
SEQUENCE OUTPUT
Step-3 Step-4
Step-4 Step-5
Step-4
Step-5 TIM
Step-4 Tim001 Drill-Low
001
Step-5 Step-6
3s
Step-6 Step-1
The system incorporates a diffuse sensor to detect the the presence of a pair of hands. When a pair
of hands are placed just below the the Automatic Hand Dryer, heated air flow is turned on. When
the person has completed drying his hands, the removal or absence of hands will be detected. The
heated air will continue to flow for a further 3 seconds before the heated air flow is turned off.
Step 3 / Timer5 / 3s
Inputs Outputs
Presence of Hands Off Hand Dryer
Absence of Hands On Hand Dryer
SEQUENCE
1st_cycle_bit Step-0
Step-0 Step-1
Step-2 Tim005
Presence
Step-0 DIF Step-1
Step-1 Step-2
Absence
Step-1 DIF Step-2
Step-2 Step-0
Step-0
OFF HAND DRYER
Step-1
ON HAND DRYER
Step-2
Step-2 Timer5
3s
Example:
x y z
6 Action A 8 Action C 9
a c b
7 Action G 10 Action D
g d
11 Action E
The above GRAFCET consists of a switch which allow to select one out of three
possible sequences depend on the transition conditions x, y and z. The different
transitions corresponding with their conditions x, y and z may be enable
simultaneously and they could be cleared simultaneously if the transition conditions
x, y and z were true at the same time. In order to avoid this from happening, the
transition conditions must be mutually exclusive. It is also possible to introduce the
priorities among the different sequences.
12
The transition 12-13 has higher
priority than 12-14: the
a a.b
transition 12-13 will be cleared
if both a and b are true at the
same time. 13 14
12 Action E 16 Action K
k
f.e f.e
13 Action G 17 Action L
g l
14 Action H 18 Action M
h n.m
n.m
15 Action J 19 Action P
j p
Step-7 Step-11
Step-11 E
Step-5 y Step-8
Step-8 Step-11
Step-5 z Step-9
Step-9 Step-10
Step-9 b Step-10
Step-10 Step-11
Step-7 g Step-11
Step-8 c
Step-10 d
Step-11 Step-12
TOSS
1
COIN
HEAD TAIL
ON ON
2 3
GREEN RED
STEP-2-3/ Timer7 / 3s
Input Output
Label Addr Label Addr IO Listing or
Head X1 TOSS COIN Y1 IO Address Assignment Table
Tail X2 GREEN Y2
RED Y3
SEQUENCE OUTPUT
Step-3
Step-3 ON RED
Step-2
Step-1 Head
Step-2
Timer7
Step-2 Step-1
Step-3
3s
Step-3
Step-1 Tail
Step-3 Step-1
START
PASS FAIL
EXTEND EXTEND
3 PASS-PUSHER 4 FAIL-PUSHER
PASS-PUSHER-EXT FAIL-PUSHER-EXT
LOAD NEXT
5 COMPONENT
The counter serves only to show the number of clasps on each box that
passes by. No other action need to be taken by the system based on the
number of clasps detected.
The counter is reset (RESET_CTR) for every new box that arrives.
TB
PLC INCR_CTR
IND RESET_CT
R
(inputs) (outputs)
Counter
Note : The control of filling level through glass gauge makes use of the laws of refraction. The
fluid, being the optically denser medium, breaks the light beam. Without the fluid the sensor is
activated.
TB_Top On Valve
PLC
TB_Bottom Off Valve
(inputs) (outputs)
Emitters Detectors
TB_Top
TB_Bottom