Automatització

Industrial
Tema 5 – Sequential Function
Chart - GRAFCET

Grau Baquero
Fernando Guirado
 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

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 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

3
 Introduction

Definition
It is a graphical model for sequential automatisms representation. It
describes the functional evolution of the process, showing the
actions to do and the events that made them possible.

This analysis methodology was developed in France, at 1975, by the

Association Francaise pour la Cibernetique Economique et Tecnique
(AFCET) and the Association pour le Developpment de la Production
Automatiseé (ADEPA).
The word GRAFCET stands for the Graphe de Commande Etape-
Transition

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 Introduction

Why must be used the GRAFCET?

§ Ability to represent complex system
§ Independent from the selected technology
§ Easy to develop the final implementation from the
model
§ The process model is simple and easy to
understand
§ It is based on a graphical tool

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 Introduction

Basic Structure

The Grafcet components are:

• Stages that are associated to the actions
• Transitions, which have associated receptivities
• Unions between stages and transitions. They
represent the work flow precedences
• It is not possible to have two or more successive
stages neither two or more successive
transitions.

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 Introduction

Example
Take control on a electrical motor by the switch-on and switch-off buttons.

GRAFCET - Level 1

Hard-wired schema The actions and transitions

explanations can be done literally.
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 Introduction

Example
It is possible to represent symbolically the stages and transitions

GRAFCET - Level 2
In this case it is important to have
a translation table to determine
each symbol meaning

By example:

M = electrical motor - KM
P1 = switch-on button - START
P2 = switch-off button - STOP

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 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

9
 Components

Components
§ Main components:
§ Stages: They represent the different situations in which
the process can be. Each one has associated one or
multiple actions active while the steps are.
§ Transitions: They define the reason why the process
change its stage from the current to the next one.
§ Directed Links: They identify the steps precedence and are
represented by joining steps lines.

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 Stages

Stages
Definition: The stages determine the moment in the process
characterized by a defined and invariable behavior.

• They are represented by a square

and a unique id-number
• The stages have two different
states: Active or inactive
• The enter and exit location of any
stage are located at the top and
bottom of the square
respectively.
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 Stages

Stages
Initial stage: They are the first stages active
initially when the the process is started
They are represented by a double square.
The GRAFCET must have at least one initial
stage.

Normal Stage: They are always linked to an

input and an output transition.
They are active when, being the precedence
stage active, the associated conditions to the
transition are satisfied.

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 Stages

Stages - Actions

• They determine what to do when

the corresponding Stage is active.

• They are described literally or

symbolically form by using one or
more label boxes linked to the
associated stage.

• They can be executed just only

when the associated stage is active.

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 Stages

Stages – Actions: Real vs Virtual

Virtual action
They can be:

• Real actions: Determine the activity to

be done.
Example: Switch-on or Switch-off a
motor, increase a counter, etc.

• Virtual actions: They do not define any

real activity to be done by the system.
In this case the label box can be empty.
Real action

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 Stages

Stages – Actions: Internal vs External

Internal action
They can be:

• Internal actions: They are done inside Counter ++

the PLC.
Example: Counters or Timers,
numerical calculations, etc.

• External actions: They are done on the

process, externally to the PLC.
Example: Switch-on any light, etc.
External action

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 Stages

Stages – Actions: Unconditional vs Conditional

They can be:
• Unconditional actions or continuous accions: They are active
while the associate stage is also active.

• Conditional actions: They requires some other condition than just

only the activation of the associated stage.

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 Stages

Stages – Maintained Actions

These actions must be prolonged during two or more consecutive
stages.

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 Stages

Stages – Memorized Actions

They are activated on a defined stage and they active during two or
more stages. It is used the SET and RESET instructions to determine
their start and finish times.

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 Stages

Stages – Actions: Delayed vs Limited

§ Delayed Actions: They are started some time ago from the starting
moment of the stage. If the delay is greater than the time of the
associate stage, the action is not executed.

§ Limited Actions: They are active during a limited period of time. If

time is greater than the stage execution time, it will be active
during the complete stage.

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 Stages

Stages – Actions: Rising and Falling edge

They are limited to a short period of time defined by a rising or falling
edge on a defined condition ….

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 Transitions

Transitions
They determine the GRAFCET evolution among the stages and are
represented by a cross line over the stages connection lines.
Each transition has one or more
conditions, known as receptivity, which
can be expressed literally or symbolically.
The receptivity can be:
• External events: sensors, buttons,
etc.
• Logical conditions: timers, counters,
etc.

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 Transitions

Transitions states
A transition can be:
• Validate è Each input stage is active
• Non validate è Any input stage, or none are active
A transition is:
• Crossed when being validate and all the receptivity conditions
are accomplished.
When a transition is passed, all steps above are deactivated at
once and then all steps below are activated at once.

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 Transitions

Transitions – Initial vs Final

§ Initial Transitions: They have not any input stage; they only have
output stages

§ Final Transitions: They have not any output stages. They are used
to finish an execution line in the GRAFCET.

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 Transitions

Transitions – Multiple receptivity

The receptivity is defined based on a logical equation.

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 Transitions

Transitions – Delayed
The receptivity associated to the transition is based on a timed event.

Start timer Start timer

Finish time

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 Transitions

Transitions – Unconditional
The receptivity is always true, then they can be always crossed.

* Mainly used to cross AND convergences 26

 Transitions

Transitions – Edged based

The transition can be crossed just only if the receptivity produces the
defined edge (rising or falling)

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 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

28
 Structures

Structures
The GRAFCET structure determines the way in which the sequential
process will be done.
Depending on the number of different execution lines on the
GRAFCET it can be classified as:

§ One execution line: there is an unique way to follow the

process.
§ Multiple execution lines: there are different branches that
can be started after evaluating their receptivities.
§ Simultaneously execution lines: there are multiple
branches launched simultaneously after being evaluated
the receptivity.
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 Structures

Structures – Divergences OR/AND

They allow to start multiple branches
§ OR Divergence: The execution line is selected in function of the
receptivities associated to the transitions. It could be possible
to cross more than one transition.

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 Structures

Structures – Divergences OR/AND

They allow to start multiple branches
§ AND Divergence: It allows to start multiple execution lines
simultaneously. The new execution lines are started at the
same moment and are represented by a double line.

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 Structures

Structures – Convergences OR/AND

They allow to join multiple branches
§ OR Convergence: Two or more execution lines are executed
simultaneously and they arrive to one receptivity that it could
be crossed to continue the execution line.

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 Structures

Structures – Convergences OR/AND

They allow to start or not multiple branches
§ AND Convergence: At the end of multiple execution lines, they
are joined when a predefined transition is crossed. It is
necessary to have all the previous stages active.

Cannot be crossed

Crossed

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 Structures

Structures – OR Example

By using a start button (Inicio)

two sequential actions, A and
B, must be done.
At any moment it is possible
to interrupt the process by
pushing the “Parada” button.

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 Structures

Structures – AND Example

By using the button “Inici”

two different actions are
started simultaneously,
which can have different
duration times.
When both have finished,
action C is started.

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 Structures

Structures – Synchronizing stages

When multiple execution lines are being executed, it could be
possible that they finish in different moment. Thus, in order to ensure
the correct process it is necessary to add synchronizing stages to wait
their finish.

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 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

37
 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

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 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

Rule 1
All GRAFCETs start with at least one
starting stage.

These starting stages determine the

initial process state.

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 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

Rule 2
Any transition can be in
two different states
validate or non validate.

It will be validate when

all its input stages are
active, otherwise will non
validate. 40
 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

Rule 3
A transition is crossed when, being
validate, all its receptivities are
true.

When the transition is crossed, all

its output stages are activated and
the input ones are deactivated.

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 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

Rule 4
Two or more validated transitions
are simultaneously crossed if their
receptivities are true at the same
moment.

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 Evolution Rules

Evolution Rules
The evolution rules determine the way in which transitions must be
evaluated and then they identify the corresponding stages to be
activated.

Rule 5
An stage activated and also
deactivated simultaneously, it must
be maintained activated.

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 Sequential Function Chart - GRAFCET

Contents

1. Introduction
2. Components
3. Structures
4. Evolution Rules
5. Special Structures

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 Special Structures

Special Structures – Exclusive execution lines

They are OR structures in which their receptivities are mutually
exclusive

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 Special Structures

Special Structures – Conditional branch

It allows to modify the sequential evolution of the GRAFCET by
avoiding some stages.

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 Special Structures

Special Structures – Conditional branch

Branch example
There are three different
sequential actions, A and B,
which must be executed in a
typical process.
In some special cases, the process
has to execute just only the C
action.
After finishing the C action, the
process will continue as usual.

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 Special Structures

Special Structures – Loops

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 Special Structures

Special Structures – Conditional branch

Loop example

By using the button “Inicio”

the process starts executing
sequentially the A and B
actins. This process must be
done three times.
After the three iterations, the
system returns to the initial
conditions.

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 Special Structures

Special Structures – Priority Sequences

They are OR configurations in which one of the available execution
lines are prioritized by the combination of the receptivities values.

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 Special Structures

Special Structures – Simultaneous execution lines

The GRAFCET diagram represents sequential execution/process lines that
no are concurrently processed. However, it is also possible to develop
concurrent sequential lines if they are represented by different GRAFCETs.

In this case, it is important to take into account the synchronization among

them to ensure the correct process.

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 Special Structures

Special Structures – Blocked System

In the figure GRAFCET G2 is

blocked when stages E2 and
E8 are simultaneously
blocked.

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 Special Structures

Special Structures – Grant System

GRAFCET G1 grants the

execution of GRAFCET
G2 just only if the
transition #7 has been
crossed.

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