PLC Mitubishi Va Cac Tap Lenh

MC LC:
Trang Chng 1: GII THIU CC LOI PLC H FX CA MITSUBISHI................ 5 I. FX0S PLC ....................................................................................................... 5 1. c im ................................................................................................ 5 2. c tnh k thut .................................................................................... 6 3. Cc loi FX0S PLC ................................................................................ 7 II. FX0/FX0N PLC .............................................................................................. 7 1. c im ................................................................................................. 7 2. c tnh k thut ..................................................................................... 8 3. Cc loi FX0/FX0N PLC ......................................................................... 9 III. FX1S PLC .................................................................................................... 10 1. c im .............................................................................................. 10 2. c tnh k thut .................................................................................. 10 3. Cc loi FX1S PLC .............................................................................. 13 IV. FX1N PLC ................................................................................................... 14 1. c im .............................................................................................. 14 2. c tnh k thut .................................................................................. 14 3. Cc loi FX1N PLC ............................................................................. 17 V. FX2N PLC ................................................................................................... 18 1. c im .............................................................................................. 18 2. c tnh k thut .................................................................................. 19 3. Cc loi FX2N PLC ............................................................................. 21 VI. FX2NC PLC ................................................................................................. 23 1. c im .............................................................................................. 23 2. c tnh k thut .................................................................................. 23 3. Cc loi FX2NC PLC ........................................................................... 24
Trang 1
Chng 2: LP TRNH PLC MITSUBISHI VI CC LNH C BN ............ 25 I. nh ngha Chng Trnh ............................................................................. 25 II. Cc thit b c bn dng trong lp trnh ........................................................ 25 III. Ngn ng lp trnh Introduction v Ladder ................................................... 26 IV. Cc lnh c bn ............................................................................................ 26 V. Lp trnh cho cc tc v c bn trn PLC ..................................................... 37 1. Lp trnh s dng R le ph tr ............................................................ 37 2. Lp trnh s dng thanh ghi .................................................................. 38 3. Lp trnh s dng b nh th ................................................................ 42 4. Lp trnh s dng b m ..................................................................... 47 VI. Cc lnh ng dng ........................................................................................ 49 1. Nhm lnh iu khin lu trnh ............................................................ 49 2. Nhm lnh so snh v dch chuyn ....................................................... 54 3. Nhm lnh s l s hc v logic ........................................................... 59 4. Nhm lnh quay v dch chuyn chui bit ............................................ 63 VII. K thut lp trnh iu khin trnh t ............................................................ 69 V d v cc bc th tc tng qut .............................................................. 69 1. iu khin trnh t dng thanh ghi ....................................................... 73 a) Nguyn l c bn iu khin trnh t dng thanh ghi ...................... 73 b) V d v iu khin tay my dng thanh ghi .................................... 74 2. iu khin trnh t dng Stepladder ..................................................... 81 a) Hot ng ca mch trnh t STL ................................................... 81 b) Lnh STL v lp trnh STL ............................................................. 83 c) OR nhnh STL ................................................................................ 85 d) AND nhnh STL (phn nhnh song song) ....................................... 87 e) S kt hp cc loi nhnh STL........................................................ 89 f) S lp li hot ng trnh t ............................................................ 91
Trang 2
Chng 3: CC BI TP NG DNG PLC MITSUBISHI ............................... 94 I. Cc bi tp dng c bn .............................................................................. 94 Bi 1. Bi 2. Bi 3. Bi 4. Bi 5. Bi 6. n v phc v ..................................................................................... 94 Pht hin dng cm bin quang ............................................................ 96 iu khin nh th mch n giao thng .............................................. 99 Phn loi sn phm theo kch c (I) .................................................... 101 Khi ng/ngng bng ti .................................................................. 104 Truyn ng bng ti .......................................................................... 106
II. Cc bi tp dng trung bnh ..................................................................... 108 Bi 1. Bi 2. Bi 3. Bi 4. Bi 5. Bi 6. Tn hiu nt nhn................................................................................ 108 Phn loi sn phm theo kch c ......................................................... 111 Gp sn phm dng cnh tay robot ..................................................... 114 iu khin my khoan ....................................................................... 117 iu khin cung cp sn phm ........................................................... 121 iu khin bng ti............................................................................. 124
III. Cc bi tp dng nng cao ........................................................................ 127 Bi 1. Bi 2. Bi 3. Bi 4. Bi 5. Bi 6. Bi 7. Vn hnh ca t ng ......................................................................... 127 B tr sn khu ................................................................................... 130 Phn phi sn phm ............................................................................ 135 Phn loi cc sn phm b li.............................................................. 142 iu khin bng ti quay thun/nghch ............................................... 146 iu khin thit b nng...................................................................... 153 Tuyn phn loi v phn phi ............................................................. 161
IV. Cc bi tp m rng: ................................................................................. 169 Bi 1. Bi 2. Phn loi sn phm theo mu st ........................................................ 169 iu khin thang my bn tng .......................................................... 172
Trang 3
Chng 4: PH LC ............................................................................................ 173 I. ng dng PLC trong iu khin cng nghip .............................................. 173 1. ng dng PLC trong lnh vc iu khin robot ..................................... 173 2. ng dng PLC trong h thng sn xut linh hot .................................. 176 3. ng dng PLC trong iu khin qu trnh ............................................. 179 4. ng dng PLC trong mng thu nhn d liu ......................................... 182 5. iu khin trnh t my phn loi bi mu .............................................. 187 II. Danh sch cc lnh ng dng ..................................................................... 188 III. Danh sch cc Rle ph tr c bit ........................................................... 193 IV. Danh sch cc thanh ghi d liu c bit .................................................... 197
Trang 4
CHNG 1:
GII THIU CC LOI PLC H FX CA MITSUBISHI
Cc b iu khin lp trnh PLC ca Mitsubishi rt phong ph v chng loi. iu ny i khi c th dn n nhng kh khn nht nh i vi ngi s dng trong vic la chn b PLC c cu hnh ph hp vi ng dng ca mnh. Tuy nhin, mi loi PLC u c nhng u im ring v ph hp vi nhng ng dng ring. Cn c vo nhng c im , ngi s dng c th d dng a ra cu hnh ph hp cho tng ng dng c th. Sau y cc em xin gii thiu mt s loi FX trong tt c cc loi FX ca Mitsubishi, bao gm: FX0S PLC, FX0N PLC, FX1S PLC, FX1N PLC, FX2N PLC, FX2NC PLC. I. FX0S PLC: 1. c im:
y l loi PLC c kch thc tht nh gn, ph hp vi cc ng dng vi s lng I/O nh hn 30, gim chi ph lao ng v kch c panel iu khin. Vi vic s dng b nh chng trnh bng EEPROM cho php d liu chng trnh c lu li trong b nh trong trng hp mt ngun t xut, gim thiu thi gian bo hnh sn phm. Dng FX0 c tch hp sn bn trong b m tc cao v cc b to ngt, cho php x l tt mt s ng dng phc tp. Nhc im ca dng FX0 l khng c kh nng m rng s lng I/O c qun l, khng c kh nng ni mng, khng c kh nng kt ni vi cc M un chuyn dng, thi gian thc hin chng trnh lu (thi gian thc hin cc lnh c bn c 1.6s-3.6s, cc lnh ng dng c vi trm s)
Trang 5
2. MC
c tnh k thut: C IM 8000 bc Ti a 18 ng: X0 X17 Ti a 16 ng: Y0 Y15 S lng: 512 S lng: 11 (tp con) S lng: 56 S lng: 64 S lng: 10 (tp con) S lng: 56 S lng: 24 S lng: 16 S lng: 2 (tp con) S lng: 4 Tn s m t S lng: 14kHz tr xung 3 S lng: Tn s m t 2kHz 3 tr xung *Lu : mi b S lng: m u c cht 3 S lng: 32 S lng: 2 (tp con) S lng: 1 S lng: 27 S lng: 2 S lng: 64 GHI CH S dng b nh EEPROM bn trong Tr FX0S-30M c 16 ng Tr FX0S-30M c 14 ng T M0 M511 T M496 M511 T M8000 M8255 T S0 S63 T S0 S9 T T0 T55 T T32 T55 (khi M8028 = ON) T C0 C15 T C14 C15 T C235 C238 C241, C242, C244 C246, C247, C249 C251, C252, C254 T D0 D31 T D30 D31 D8013 T D8000 D8255 V, Z T P0 P63
Dung lng chng trnh Cu hnh Vo/Ra (I/O) R le ph tr (M) Vo Ra Thng thng Cht
c bit R le trng Thng thng thi (S) Khi to 100 mili giy B nh th Timer (T) 10 mili giy B m (C) Thng thng Cht 1 pha 1 pha hot ng B m tc bng ng vo cao (HSC) 2 pha Pha A/B Thng thng Cht Thanh ghi c iu chnh d liu (D) bn ngoi c bit Ch mc Dng vi lnh Con tr (P) CALL
Trang 6
Dng vi cc ngt S mc lng nhau (N) 3. Dng vi lnh MC/MCR
S lng: 4
100 n 130 (kch cnh ln =1, kch cnh xung =0) T N0 N7
S lng: 8
Cc loi FX0S PLC:
Ng vo FX0S FX0S-10 FX0S-14 FX0S-20 FX0S-30 FX0S-16 FX0S-24 FX0S-10 FX0S-14 FX0S-20 FX0S-30 FX0S-14 FX0S-30 S lng 6 8 12 16 10 14 6 8 12 16 8 16 Loi S lng 4 6 8 14 6 10 4 6 8 14 6 14
Ng ra Loi R le Transistor MRES/UL v MRUA1/UL MT-DSS (Source) MRD12SS (Source)
Ngun cung cp
Kch thc
(Di RngCao)
(mm) 60 90 75
MRES/UL
Sink/Source 24 VDC
MRUA1/UL
110 VAC
75 90 75 100 - 240VAC, +10%, -15%, 50/60 Hz 105 90 75
60 90 47 MR-DS 24 VDC, +10%, -15% 75 90 47 105 90 47 60 90 47 105 90 47
MR-DS v MT-DSS MR-D12S v MTD12SS
Sink/Source 24 VDC
Sink/Source 12 VDC
MR-D12S
12 VDC, +20%, -15%
II. FX0/FX0N PLC: 1. c im: FX0 PLC c c im ging nh FX0S FX0N PLC s dng cho cc my iu khin c lp hay cc h thng nh vi s lng I/O c th qun l nm trong min 10-128 I/O. FX0N thc cht l bc m trung gian gia FX0S vi FX PLC. FX0N c y cc c trng c bn ca dng FX0S, ng thi cn c kh nng m rng tham gia ni mng.
Trang 7
2. c tnh k thut: MC Dung lng chng trnh Cu hnh Vo/Ra (I/O) Vo Ra Thng thng R le ph Cht tr (M) c bit R le trng thi (S) B nh th Timer (T) B m (C) Thng thng Khi to FX0 800 bc (c EEPROM bn trong) T X0 X17 (tr FX0-30M c 16 ng) T Y0 Y15 (tr FX0-30M c 14 ng) T M0 M511 (s lng 512) T M496 M511 (s lng 11) T M8000 M8255 (s lng 56) T S0 S63 (s lng 64) T S0 S9 (s lng 10) T T0 T55 (s lng 56) T T32 T55 (khi M8028=ON) FX0N 2000 bc (c EEPROM bn trong) T X0 X123 T Y0 Y77 Ti a c 128 ng vo/ra
T M0 M511 (s lng 512) T M384 M511 (s lng 128) T M8000 M8255 (s lng 72) T S0 S127 (s lng 128) T S0 S9 (s lng 10)
100 mili giy 10 mili giy 1 mili giy Thng thng Cht 1 pha 1 pha hot B m ng bng tc cao ng vo (HSC) 2 pha Pha A/B Thng thng Cht Thanh ghi d liu Tp tin (D) c iu chnh bn ngoi
T T0 T62 (s lng 63) T T32 T62 (khi M8028=ON) T63 (s lng 1) T C0 C15 (s lng 16) T C0 C31 (s lng 32) T C14 C15 (s lng 2) T C16 C31 (s lng 16) S lng 4: t C235 C238 Tn s m t 5kHz tr xung S lng 3: C241, C242, C244 S lng 3: C246, C247, C249 Tn s m t 2kHz tr xung S lng 3: C251, C252, C254 T D0 D31 (s lng 32) T D0 D255 (s lng 256) T D128 D255 T D30 D31 (s lng 2) (s lng 128) T D1000 D1499 (1500 tp tin), 500 tp tin = 500 bc chng trnh = 1 block S lng 1: D8013 S lng 2: D8013{D8030+RTC}, D8131
Trang 8
c bit
Con tr (P)
Ch mc Dng vi lnh T P0 P63 (s lng 64) CALL Dng vi cc T 100 130 (s lng 4) ngt
T D8000 D8255 (s lng 27) 2 thanh ghi V, Z
T D8000 D8255 (s lng 45) 2 thanh ghi V, Z T P0 P63 (s lng 64) T 100 130 (s lng 4) T N0 N7 (s lng 8)
S mc Dng vi lnh lng nhau T N0 N7 (s lng 8) MC/MCR (N)
3. Cc loi FX0/FX0N:
Ng vo FX0/FX0N FX0-14 FX0-20 FX0-30 FX0N-24 FX0N-40 FX0N-60 FX0N-40 FX0-14 FX0-20 FX0-30 FX0N-24 FX0N-40 FX0N-60 MTE/UL S lng 8 12 16 14 24 36 24 8 12 16 14 24 36 Loi 24 VDC, Sink/Source (Tr E/UL Sink) AC 110V 24 VDC, Sink/Source (Tr MTD/E Sink) S lng 6 8 14 10 16 24 16 6 8 14 10 16 24 MT-DSS (Source) v MTD/E (Sink) Ng ra Loi R le Transistor Ngun cung cp 110 240 VAC, +10%, 15%, 50/60 Hz 24 VDC, +10%, 15% 24 VDC, +20%, 15% 100 240 VAC, +10%, 15%, 50/60 Hz 24VDC, +10%, 15% Ghi ch: y l cc lo i FX0N m rng Kch thc
(Di Rng Cao)
MRES/UL
MRES/UL va MRUA1/UL
MT-E/UL (Sink)
(mm) 100 80 75 130 80 75 170 80 75 130 90 87 150 90 87 185 90 87 185 90 87 100 80 47 130 80 47 170 80 47 130 90 87 150 90 87 185 90 87
MRUA1/UL MR-DS v MT-DSS v MT-D/E
MR-DS
ER-ES/UL FX0N-40 ER-DS ET-DSS FX0N-8EX-ES/UL FX0N-8EX-UA1/UL FX0N-8EYR-ES/UL FX0N-8EYT-ESS/UL FX0N-8ER-ES/UL 4 24 VDC 8 24 VDC Sink/Source AC 110V 24 Sink/Source 16
ERES/UL v ER-DS
ET-DSS
150 90 87
R le 8 4 R le Transistor (Source)
43 90 87
Trang 9
FX0N-16EX-ES/UL FX0N-16EYR-ES/UL FX0N-16EYT-ESS/UL
16
Sink/Source R le 16 Transistor (Source) 70 90 87
III. FX1S PLC: 1. c im:
FX1S PLC c kh nng qun l s lng I/O trong khong 10-34 I/O. Cng ging nh FX0S, FX1S khng c kh nng m rng h thng. Tuy nhin, FX1S c tng cng thm mt s tnh nng c bit: tng cng hiu nng tnh ton, kh nng lm vic vi cc u vo ra tng t thng qua cc card chuyn i, ci thin tnh nng b m tc cao, tng cng 6 u vo x l ngt; trang b thm cc chc nng truyn thng thng qua cc card truyn thng lp thm trn b mt cho php FX1S c th tham gia truyn thng trong mng (gii hn s lng trm ti a 8 trm) hay giao tip vi cc b HMI i km. Ni chung, FX1S thch hp vi cc ng dng trong cng nghip ch bin g, ng gi sn phm, iu khin ng c, my mc, hay cc h thng qun l mi trng. 2. c tnh k thut:
MC X l chng trnh Phng php x l vo/ra (I/O) Thi gian x l lnh Ngn ng lp trnh Dung lng chng trnh
C IM GHI CH Thc hin qut chng trnh tun hon Cp nht u v cui chu k C lnh lm ti ng ra qut (khi lnh END thi hnh) i vi cc lnh c bn: 0,55 0,7s i vi cc lnh ng dng: 3,7 khong 100 s C th to chng trnh Ngn ng Ladder v Instruction loi SFC C th chn ty b nh 2000 bc EEPROM (nh FX1N-EEPROM8L)
Trang 10
S lnh
S lnh c bn: 27 S lnh Ladder: 2 S lnh ng dng: 85
C ti a 167 lnh ng dng c thi hnh
Cu hnh Vo/Ra (I/O) Thng thng Cht c bit R le trng Thng thng thi (S) Khi to R le ph tr (M) 100 mili giy B nh th 10 mili giy Timer (T) 1 mili giy Thng thng Cht 1 pha 1 pha hot ng B m tc bng ng vo cao (HSC) 2 pha
Tng cc ng Vo/Ra c np bi chng trnh x l chnh (Max, total I/O set by Main Processing Unit) S lng: 384 S lng: 128 S lng: 256 S lng: 128 S lng: 10 (tp con) Khong nh th: 0 3276,7 giy S lng: 63 Khong nh th: 0 327,67 giy S lng: 31 (tp con) Khong nh th: 0,001 32,767 giy S lng: 1 Khong m: 1 n 32767 S lng: 16 Khong m: 1 n 32767 S lng: 16 Khong m: -2.147.483.648 n 2.147.483.647 1 pha: Ti a 60kHz cho phn cng ca HSC (C235, C236, C246) Ti a 10kHz cho phn mm ca HSC (C237 C245, C247 C250) 2 pha: Ti a 30kHz cho phn cng ca HSC (C251) Ti a 5kHz cho phn mm ca HSC (C252 C255) T M0 M383 T M384 M511 T M8000 M8255 T S0 S127 T S0 S9 T T0 T62 T T32 T62 (khi M8028 = ON) T63 T C0 C15 Loi: b m ln 16 bit T C16 C31 Loi: b m ln 16 bit T C235 C240
B m (C)
T C241 C245
T C246 C250
Pha A/B
T C251 C255
Trang 11
T D0 D127 Thng thng S lng: 128

Loi: cp thanh ghi lu tr d liu 16 bit dng cho thit b 32 bit
T D128 D255 Cht Thanh ghi d liu (D) S lng: 128

c iu chnh Trong khong: 0 255 bn ngoi S lng: 2 S lng: 256 (k c D8030, D8031) S lng: 16 S lng: 64 S lng: 6
c bit
Ch mc Dng vi lnh CALL Con tr (P) Dng vi cc ngt Dng vi lnh MC/MCR Thp phn (K) Thp lc phn (H)
D liu chuyn t bin tr iu chnh in p t ngoi vo thanh ghi D8030 v D8031 T D8000 D8255 Loi: thanh ghi lu tr d liu 16 bit T V0 V7 v Z0 Z7 Loi: thanh ghi d liu 16 bit T P0 P63 100 n 150 (kch cnh ln =1, kch cnh xung =0) T N0 N7
S mc lng nhau (N) Hng s
S lng: 8
16 bit: -32768 n 32767 32 bit: -2.147.483.648 n 2.147.483.647 16 bit: 0000 n FFFF 32 bit: 00000000 n FFFFFFFF
Trang 12
3. Cc loi FX1S: Ngun AC, u vo 24 VDC Tng cc ng

Vo/Ra FX1S-10MR-ES/UL
Ng vo
S lng
Ng ra
S lng
Kch thc
(Di Rng Cao)
FX1S
Loi
Loi R le
(mm)
10
FX1S-10MT-ESS/UL FX1S-14MR-ES/UL
Sink/Source
Transistor (Source) R le
60 75 90
14
Sink/Source
60 75 90
20
12
Sink/Source
75 75 90
30
FX1S-30MT-ESS/UL FX1S-10MR-DS
16
Sink/Source
14
100 75 90
10
FX1S-10MT-DSS FX1S-14MR-DS
Sink/Source
60 49 90
14
Sink/Source
60 49 90
20
12
Sink/Source
75 49 90
30
FX1S-30MT-DSS
16
Sink/Source
14
Transistor (Source)
100 49 90
Trang 13
IV. 1.
FX1N PLC: c im:
FX1N PLC thch hp vi cc bi ton iu khin vi s lng u vo ra trong khong 14-60 I/O. Tuy nhin, khi s dng cc module vo ra m rng, FX1N c th tng cng s lng I/O ln ti 128 I/O. FX1N c tng cng kh nng truyn thng, ni mng, cho php tham gia trong nhiu cu trc mng khc nhau nh Ethernet, ProfileBus, CC-Link, CanOpen, DeviceNet, FX1N c th lm vic vi cc module analog, cc b iu khin nhit . c bit, FX1N PLC c tng cng chc nng iu khin v tr vi 6 b m tc cao (tn s ti a 60kHz), hai b pht xung u ra vi tn s iu khin ti a l 100kHz. iu ny cho php cc b iu khin lp trnh thuc dng FX1N PLC c th cng mt lc iu khin mt cch c lp hai ng c servo hay tham gia cc bi ton iu khin v tr (iu khin hai to c lp). Nhn chung, dng FX1N PLC thch hp cho cc ng dng dng trong cng nghip ch bin g, trong cc h thng iu khin ca, h thng my nng, thang my, sn xut xe hi, h thng iu ho khng kh trong cc nh knh, h thng x l nc thi, h thng iu khin my dt, 2. c tnh k thut:
MC X l chng trnh Phng php x l vo/ra (I/O) Thi gian x l lnh Ngn ng lp trnh
C IM GHI CH Thc hin qut chng trnh tun hon Cp nht u v cui chu k C lnh lm ti ng ra qut (khi lnh END thi hnh) i vi cc lnh c bn: 0,55 0,7s i vi cc lnh ng dng: 3,7 khong 100 s C th to chng trnh Ngn ng Ladder v Instruction loi SFC
Trang 14
Dung lng chng trnh
8000 bc EEPROM
C th chn ty b nh (nh FX1N-EEPROM8L)
S lnh Cu hnh Vo/Ra (I/O) Thng thng Cht c bit R le trng Cht thi (S) Khi to R le ph tr (M) 100 mili giy
10 mili giy B nh th Timer (T) 1 mili giy duy tr 100 mili giy duy tr Thng thng 16 bit Cht 16 bit B m (C) Thng thng 32 bit Cht 32 bit B m tc 1 pha cao
S lnh c bn: 27 C ti a 177 lnh ng S lnh Ladder: 2 dng c thi hnh S lnh ng dng: 89 Phn cng c ti a 128 ng Vo/Ra, ty thuc vo ngi s dng chn (Phn mm c ti a 128 u vo, 128 u ra) S lng: 384 T M0 M383 S lng: 1152 T M384 M1535 S lng: 256 T M8000 M8255 S lng: 1000 T S0 S999 S lng: 10 (tp con) T S0 S9 Khong nh th: 0 3276,7 giy T T0 T199 S lng: 200 Khong nh th: 0 327,67 giy T T200 T245 S lng: 46 Khong nh th: 0 32,767 giy T246 T249 S lng: 4 Khong nh th: 0 3276,7 giy T250 T255 S lng: 6 Khong m: 1 n 32767 T C0 C15 S lng: 16 Loi: b m ln 16 bit T C16 C199 S lng: 184 Loi: b m ln 16 bit Khong m: -2.147.483.648 T C200 C219 n 2.147.483.647 Loi: b m ln/xung S lng: 20 32 bit Khong m: -2.147.483.648 T C220 C234 n 2.147.483.647 Loi: b m ln/xung S lng: 15 32 bit Khong m: -2.147.483.648 n 2.147.483.647 T C235 C240
Trang 15
(HSC) 1 pha hot ng bng ng vo
2 pha
Pha A/B
1 pha: Ti a 60kHz cho phn cng ca HSC (C235, C236, C246) Ti a 10kHz cho phn mm ca HSC (C237 C245, C247 C250) 2 pha: Ti a 30kHz cho phn cng ca HSC (C251) Ti a 5kHz cho phn mm ca HSC (C252 C255) S lng: 128
T C241 C245
T C246 C250
T C251 C255 T D0 D127
Thng thng
T D128 D7999 Cht S lng: 7872

Thanh ghi d liu (D)
Tp tin
S lng: 7000
c iu chnh Trong khong: 0 255 bn ngoi S lng: 2 S lng: 256 (k c D8030, D8031) S lng: 16 S lng: 128 S lng: 6
c bit
Ch mc Dng vi lnh CALL Dng vi cc ngt Dng vi lnh MC/MCR
T D1000 D7999 Loi: thanh ghi lu tr d liu 16 bit D liu chuyn t bin tr iu chnh in p t ngoi vo thanh ghi D8030 v D8031 T D8000 D8255 Loi: thanh ghi lu tr d liu 16 bit T V0 V7 v Z0 Z7 Loi: thanh ghi d liu 16 bit T P0 P127 100 n 150 (kch cnh ln =1, kch cnh xung =0) T N0 N7
Con tr (P) S mc lng nhau (N)
S lng: 8
Trang 16
Hng s
Thp phn (K) Thp lc phn (H) 3. Cc loi FX1N:
16 bit: -32768 n 32767 32 bit: -2.147.483.648 n 2.147.483.647 16 bit: 0000 n FFFF 32 bit: 00000000 n FFFFFFFF
Ngun AC, u vo 24 VDC Tng cc ng

Vo/Ra FX1N-14MR-ES/UL
Ng vo
S lng
Ng ra
S lng
Kch thc
(Di Rng Cao)
FX1N
Loi
Loi R le
(mm)
14
FX1N-14MT-ESS/UL FX1N-24MR-ES/UL
Sink/Source
90 75 90
24
14
Sink/Source
10
90 75 90
40
24
Sink/Source
16
130 75 90
60
FX1N-60MT-ESS/UL FX1N-14MR-DS
36
Sink/Source
24
175 75 90
14
FX1N-14MT-DSS FX1N-24MR-DS
Sink/Source
90 75 90
24
14
Sink/Source
10
90 75 90
40
24
Sink/Source
16
130 75 90
Trang 17
Transistor (Source) R le 60 36 Sink/Source 24 Transistor (Source) 175 75 90
FX1N-60MT-DSS
V. FX2N PLC: 1. c im:
y l mt trong nhng dng PLC c tnh nng mnh nht trong dng FX. FX2N c trang b tt c cc tnh nng ca dng FX1N, nhng tc x l c tng cng, thi gian thi hnh cc lnh c bn gim xung c 0.08us. FX2N thch hp vi cc bi ton iu khin vi s lng u vo ra trong khong 16-128 u vo ra, trong trng hp cn thit FX2N c th m rng n 256 u vo ra. Tuy nhin, trong trng hp m rng s lng I/O ln 256, FX2N s lm mt li th v gi c v khng gian lp t ca FX2N. B nh ca FX2N l 8Kstep, b nh RAM c th m rng n 16Kstep cho php thc hin cc bi ton iu khin phc tp. Ngoi ra, FX2N cn c trang b cc hm x l PID vi tnh nng t chnh, cc hm x l s thc cng ng h thi gian thc tch hp sn bn trong. Nhng tnh nng vt tri trn cng vi kh nng truyn thng, ni mng ni chung ca dng FX1N a FX2N ln v tr hng u trong dng FX, c th p ng tt cc i hi kht khe nht i vi cc ng dng s dng trong cc h thng iu khin cp nh v trung bnh. FX2N thch hp vi cc bi ton iu khin s dng trong cc dy chuyn sn, cc dy chuyn ng gi, x l nc thi, cc h thng x l mi trng, iu khin cc my dt, trong cc dy truyn ng, lp rp tu bin.
Trang 18
2.
c tnh k thut: C IM GHI CH Thc hin qut chng trnh tun hon Cp nht u v cui chu k C lnh lm ti ng ra qut (khi lnh END thi hnh) i vi cc lnh c bn: 0,08s i vi cc lnh ng dng: 1,52 khong 100 s C th to chng trnh Ngn ng Ladder v Instruction loi SFC bng Stepladder 8000 bc RAM: ti a 16000 C th chn b nh bc RAM/EPROM/EEPROM S lnh c bn: 27 C ti a 298 lnh ng S lnh Ladder: 2 dng c thi hnh S lnh ng dng: 128 Phn cng c ti a 256 ng Vo/Ra, ty thuc vo ngi s dng chn (Phn mm c ti a 256 u vo, 256 u ra) S lng: 500 T M0 M499 S lng: 2572 T M500 M3071 S lng: 256 T M8000 M8255 S lng: 490 T S10 S499 S lng: 400 T S500 S899 S lng: 10 (tp con) T S0 S9 S lng: 100 T S900 S999 Khong nh th: 0 3276,7 giy T T0 T199 S lng: 200 Khong nh th: 0 327,67 giy T T200 T245 S lng: 46 Khong nh th: 0 32,767 giy T246 T249 S lng: 4 Khong nh th: 0 3276,7 giy T250 T255 S lng: 6
MC X l chng trnh Phng php x l vo/ra (I/O) Thi gian x l lnh Ngn ng lp trnh Dung lng chng trnh S lnh Cu hnh Vo/Ra (I/O) Thng thng Cht c bit Thng thng R le trng Cht thi (S) Khi to Khai bo R le ph tr (M) 100 mili giy
10 mili giy B nh th Timer (T) 1 mili giy duy tr 100 mili giy duy tr
Trang 19
Thng thng 16 bit Cht 16 bit B m (C) Thng thng 32 bit Cht 32 bit 1 pha 1 pha hot ng B m tc bng ng vo cao (HSC) 2 pha Pha A/B
Khong m: 1 n 32767 S lng: 100 Khong m: 1 n 32767 S lng: 100 Khong m: -2.147.483.648 n 2.147.483.647 S lng: 35 Khong m: -2.147.483.648 n 2.147.483.647 S lng: 15 Khong m: -2.147.483.648 n 2.147.483.647 1 pha: Ti a 60kHz cho phn cng ca HSC (C235, C236, C246) Ti a 10kHz cho phn mm ca HSC (C237 C245, C247 C250) 2 pha: Ti a 30kHz cho phn cng ca HSC (C251) Ti a 5kHz cho phn mm ca HSC (C252 C255) S lng: 200
T C0 C99 Loi: b m ln 16 bit T C100 C199 Loi: b m ln 16 bit T C200 C219 Loi: b m ln/xung 32 bit T C220 C234 Loi: b m ln/xung 32 bit T C235 C240
T C241 C245
T C246 C250 T C251 C255 T D0 D199

Thng thng
T D200 D7999 Cht Thanh ghi d liu (D) S lng: 7800

Tp tin
S lng: 7000 S lng: 256 (k c D8030, D8031) S lng: 16
c bit
Ch mc
T D1000 D7999 Loi: thanh ghi lu tr d liu 16 bit T D8000 D8255 Loi: thanh ghi lu tr d liu 16 bit T V0 V7 v Z0 Z7 Loi: thanh ghi d liu 16 bit
Trang 20
Dng vi lnh CALL Con tr (P)
S lng: 128
T P0 P127 100 n 150, 16 n 18 v I010 n I060 (kch cnh ln =1, kch cnh xung =0, = thi gian trong 1 mili giy) T N0 N7
Dng vi cc ngt
C 6 ng vo, 3 b nh th, 6 b m
S mc lng nhau (N)
Dng vi lnh MC/MCR Thp phn (K) Thp lc phn (H) im ni
S lng: 8
Hng s
16 bit: -32768 n 32767 32 bit: -2.147.483.648 n 2.147.483.647 16 bit: 0000 n FFFF 32 bit: 00000000 n FFFFFFFF 32 bit: 0. 1,175 1038, 3,403 1038 (d liu khng th nhp vo trc tip)
3. Cc loi FX2N: Tng cc ng

Vo/Ra FX2N-16MR-ES/UL
Ng vo
S lng
Ng ra
S lng
Kch thc
(Di Rng Cao)
FX2N
Loi
Loi R le
(mm)
Sink/Source
FX2N-16MT-ESS/UL FX2N-16MT-E/UL FX2N-32MR-ES/UL FX2N-32MS-E/UL
16
8 Sink Sink/Source Sink
Transistor (Source) Transistor (Sink) R le Triac
130 87 90
32
FX2N-32MT-ESS/UL FX2N-32MT-E/UL
16 Sink/Source Sink
16
Transistor (Source) Transistor (Sink)
150 87 90
Trang 21
FX2N-48MR-ES/UL FX2N-48MS-E/UL
Sink/Source Sink 48 24 Sink/Source Sink 24
R le Triac Transistor (Source) Transistor (Sink) R le 182 87 90
FX2N-48MT-ESS/UL FX2N-48MT-E/UL FX2N-64MR-ES/UL
64
32
Sink/Source
32
220 87 90
80
40
Sink/Source
40
285 87 90
128
FX2N-128MT-ESS/UL FX2N-16MR-DS
64
Sink/Source
64
350 87 90
16
Sink/Source
130 87 90
32
16
Sink/Source
16
150 87 90
Sink/Source 48 24 24
182 87 90
64
32
Sink/Source
32
220 87 90
80
40
Sink/Source
40
285 87 90
Trang 22
FX2N-80MT-DSS FX2N-16MR-UA1/UL FX2N-32MR-UA1/UL FX2N-48MR-UA1/UL FX2N-64MR-UA1/UL
Transistor (Source) 16 32 48 64 8 16 24 32 110 VAC 110 VAC 110 VAC 110 VAC 8 16 24 32 R le R le R le R le 130 87 90 182 87 90 220 87 90 285 87 90
VI. FX2NC PLC: 1. c im:
B iu khin lp trnh vi kch thc siu gn, thch hp cho cc ng dng i hi cao v yu cu tit kim khng gian lp t. FX2NC c y cc tnh nng ca FX2N nhng li tit kim n 27% khng gian s dng. Lnh vc ng dng ch yu ca FX2NC l dng trong cc dy chuyn sn xut thc n, iu khin cc bng ti, cc dy truyn ng gi, trong xy dng, trong cc h thng bm hay cc bi ton iu khin lin quan n mi trng. 2. c tnh k thut:
Ging c tnh k thut ca FX2N
Trang 23
3.
Cc loi FX2NC:
FX2NC
Tng cc ng
Vo/Ra
Ng vo
S lng
Ng ra
S lng
Kch thc
(Di Rng Cao)
Loi Sink/Source Sink/Source
Loi R le Transistor (Source) Transistor (Sink) Transistor (Source) Transistor (Sink) Transistor (Source) Transistor (Sink) Transistor (Source) Transistor (Sink)
(mm) 35 89 90
FX2NC-16MR-T-DS FX2NC-16MT-DSS
16
16
FX2NC-16MT-D/UL FX2NC-32MT-DSS
8 Sink Sink/Source
35 87 90
32
16 Sink Sink/Source
16
35 87 90
64
32 Sink Sink/Source
32
60 87 90
96
FX2NC-96MT-D/UL
48 Sink
48
86 87 90
Trang 24
CHNG 2:
LP TRNH PLC MITSUBISHI VI CC LNH C BN
I. nh ngha Chng Trnh: Chng trnh l mt chui cc lnh ni tip nhau c vit theo mt ngn ng m PLC c th hiu c. C ba dng chng trnh: Instruction, Ladder v SFC/STL. Khng phi tt c cc cng c lp trnh c th lm vic c c ba dng trn. Ni chung b lp trnh cm tay ch lm vic c vi dng Instruction trong khi hu ht cc cng c lp trnh ha s lm vic c c dng Instruction v Ladder. Cc phn mm chuyn dng s cho php lm vic dng SFC.
II. Cc thit b c bn dng trong lp trnh: C 6 thit b lp trnh c bn. Mi thit b c cng dng ring. d dng xc nh th mi thit b c gn cho mt k t: X: dng ch ng vo vt l gn trc tip vo PLC Y: dng ch ng ra ni trc tip t PLC T: dng xc nh thit b nh th c trong PLC C: dng xc nh thit b m c trong PLC M v S: dng nh l cc c hot ng bn trong PLC
Trang 25
Tt c cc thit b trn c gi l Thit b bit, ngha l cc thit b ny c 2 trng thi: ON hoc OFF, 1 hoc 0. III. Ngon ng lap trnh Instruction va Ladder: Ngon ng Instruction, ngon ng dong lenh, c xem nh la ngon ng lap trnh c ban de hoc, de dung, nhng phai mat nhieu thi gian kiem tra oi chieu e tm ra moi quan he gia mot giai oan chng trnh ln vi chc nang no the hien. Hn na, ngon ng instruction cua tng nha che tao PLC co cau truc khac nhau. (ay la trng hp pho bien ) th viec s dung lan lon nh vay co the dan en ket qua la phai lam viec tren tap lenh ngon ng instruction khong ong nhat. Mot ngon ng khac c a chuong hn la Ladder, ngon ng bac thang. Ngon ng nay co dang o hoa cho phep nhap chng trnh co dang nh mot s o mach dien logic, dung cac ky hieu ien e bieu dien cac cong tac logic ngo vao va l le logic ngo ra (hnh 2.1). Ngon ng nay gan vi chung ta hn hn ngon ng Instruction va c xem nh la mot ngon ng cap cao. Phan mem lap trnh se bien dch cac ky hieu logic tren thanh ma may va lu vao bo nh cua PLC. Sau o, PLC se thc hien cac tac vu ieu khien theo logic the hien trong chng trnh. IV. Cac lenh c ban Lenh LD (load) Lenh LD dung e at mot cong tac logic thng m vao chng trnh. Trong chng trnh dang Instruction, lenh LD ln luon xuat hien v tr au tien cua mot dong chng trnh hoac m au cho mot khoi logic (se c trnh bay phan lenh ve khoi). Trong chng trnh dang ladder, lenh LD the hien cong tac logic thng m au tien noi trc tiep vi ng bus ben trai cua mot nhanh chng trnh hay cong tac thng m au tien cua mot khoi logic.
Trang 26
V du: LD X000
OUT Y000 Hnh 2.1: Lenh LD ch khi cong tac thng m vao ng bus trai Ngo ra Y000 ong khi cong tac X000 ong, hay ngo vao X000 = 1. Lenh LDI (Load Inverse) Lenh LDI dung e at mot cong tac logic thng ong vao chng trnh. Trong chng trnh Instruction, lenh LDI luon luon xuat hien v tr au tien cua mot dong chng trnh hoac m au cho mot khoi logic (se c trnh bay sau phan lenh ve khoi). Trong chng trnh ladder lenh LD the hien cong tac logic thng ong au tien noi trc tiep vi ng bus ben trai cua mot nhanh logic hoac cong tac thng ong au tien cua mot khoi logic. V du: LDI X001 OUT Y000
Hnh 2.2: Lenh at mot cong tac thng ong vao ng bus trai Lenh OUT Lenh OUT dung e at mot r le logic vao chng trnh. Trong chng trnh dang ladder, lenh OUT ky hieu bang ( ) c noi trc tiep vi ng bus phai. Lenh OUT se c thc hien khi ieu khien pha ben trai cua no thoa man. Tham so (toan hang bit) cua lenh OUT khong duy tr c trang thai (khong chot); trang thai cua no giong vi trang thai cua nhanh cong tac ieu khien.
Trang 27
V du: LDI X001 OUT Y000
Hnh 2.3 : Lenh OUTat mot r-le logic vao ng bus phai Ngo ra Y000 = ON khi cong tac logic thng ong X001 ong (X001 = 0); ngo ra Y00 = OFF khi cong tac logic thng ong X001 h (X001 = ON). Lenh AND va OR. dang ladder cac cong tac thng m mac noi tiep hay mac song song c the hien dang Instruction la cac lenh AND hay OR. AND LD X000
AND X001 AND X002 OUT Y001
OR LD OR OR X000 X001 X002

Hnh 2.4. Lnh t cng tc ni tip hoc song song
OUT Y001
Lenh ANI va ORI.
Trang 28
dang ladder cac cong tac logic thng ong mac noi tiep hay song song c the hien dang Instruction la cac lenh ANI hay ORI.
NAND LDI X000 ANI X001 ANI X002 OUT Y000
NOR LDI X000 ORI X001 ORI X002 OUT Y001

Hnh 2.5: Lp trnh cho cc cng tc logic thng ng hay thng m mc song song
Cong logic EXCLUSIVE-OR Cong logic nay khac vi cong OR cho la no cho logic 1 khi mot trong hai ngo vao co logic 1, nhng khi ca hai ngo vao eu co logic 1 th no cho logic 0. logic nay co the c thc hien bang hai nhanh song song, moi nhanh la mach noi tiep cua mot ngo vao va ao cua ngo con lai. V khong co lenh the hien cho logic nay nen no c bieu dien bang to hp cac logic c ban nh tren.
Trang 29
EX-OR LD X000 ANI X001 LDI X000 AND X001 ORB OUT Y000
Hnh 2.6: Lp trnh cho cng logic EXCLUSIVE-OR
Lu y:Trong trng trnh Instruction co dung lenh ORB (OR Block).Ban au lap trnh cho nhanh au tien, sau o la nhanh ke tiep. Luc nay CPU hieu rang a co hai khoi va no se oc lenh ke tiep ORB. Lenh nay thc hien OR hai khoi tren vi nhau; lenh OUT se kch ngo ra tng ng. Lenh ORB Lenh ORB (OR Block)khong co tham so. Lenh nay dung e tao ra nhieu nhanh song song phc tap gom nhieu khoi logic song song vi nhau. Lenh ORB c mo ta ro nhat khi mot chuoi cac cong tac bat au bang lenh LD (LDI)song song vi mot nhanh trc o. V du: LD X002 ANI M10 AND X003 LD Y000 ORI M10 AND M11 AND X004 ORB OUT Y000
Hnh 2.7: Mc song song hai khi logic
Trang 30
Ngo ra Y000 co logic 1 khi: Hoac X002 va X003 la ON va M10 co logic 0 Hoac Y000, M1 va X004 co logic 1 Hoac M11 va X004 la ON va M10 co logic 0
Lenh ANB Lenh ANB (AND block) khong co tham so. Lenh ANB c dung e tao ra cac nhanh noi lien tiep phc tap gom nhieu nhanh noi tiep vi nhau. Lenh ANB c mo ta ro nhat khi thc hien noi tiep nhieu khoi co nhieu cong tac mac song song. V du 1 : LD X000 ORI X001 LD X002 OR X003 AND OUT Y000 Hnh 2.8 (a): V du ANB vi hai khoi n gian Th t lap trnh la quan trong. Cong tac thng m X000 c nhap au tien, sau o la cong tac thng ong X001. Hai cong tac nay thng mac song song theo lenh ORI tao thanh mot khoi co hai cong tac song song. Hai cong tac X002 va X003 cung c lap trnh tng t tao thanh mot khoi khac. Hai khoi mi hnh thanh tren cung c noi tiep lai vi nhau bang lenh ANB va ket qua c noi qua ngo ra Y000.
Trang 31
LD X000 AND X001 OR Y000 LD X002 AND X004 LDI X000 AND X003 ORB ANB OUT Y000 Hnh 2.8(b) V du ANB vi hai khoi phc tapap5
Lenh SET Lenh SET dung e at trang thai cua tham so lenh ( ch cho phep toan hang bit) len logic 1 vnh vien (chot trang thai 1). Trong chng trnh dang Ladder, lenh SET luon luon xuat hien cuoi nahnh , pha ben phai cua cong tac cuoi cung trong nhanh, va c thi hanh khi ieu kien logic cua to hp cac cong tac ben trai c thoa man.
V du: LD SET LD OUT X000 M10 M10 Y000 Hnh 2.9 Dung lenh SET e chot trang thai Y000
Khi ngo vao X000 co logic 1 th c M10 c chot trang thai 1 va c duy tr trang thai o, M10, sau o c dung e kch thch ngo ra Y000. Nh vay, ngo ra Y000 c kch len logic 1 va duy tr o du ngo vao X000 a chuyen sang trang thai logic 0.
Trang 32
Lenh RST (ReSet) Lenh RST dung e at trang thai cua tham so lenh (ch co phep toan hang bit) ve logic 0 vnh vien ( chot trang thai 0 ). Trong chng trnh dang Ladder, lenh RSt luon luon xuat hien cuoi nhanh , pha ben phai cua cong tac cuoi cung trong nhanh, va c thi hanh khi ieu kien logic cua to hp cac cong tac ben trai c thoa man. Tac dung cua lenh RST hoan toan ngc vi lenh SET. V du: LD ANI SET LD ANI RST LD OUT X000 X001 M10 X001 X000 M10 M10 Y000 Hnh 2.10:So sanh tac dung gia lenh SET va RST
Ngo ra Y000 co logic 1 khi X000 co logic 1, trang thai Y000 la 0 khi X001 co logic 1. Cong tac thng ong X000 va X001 co tac dung khoa lan tranh trng hp ca hai cong tac X000 va X001 eu ON, ngha la ca lenh SET va RST eu c thc hien. Gia s trng hp nay xay ra (khong co mach khoa lan) th trang thai cua Y000 la 0 v PLC thc hien trang thai ngo ra cuoi chu k quet. Lenh MPS, MRD va MPP Cac lenh nay dung e thc hien viec re nhanh cho cac tac vu pha ben phai cua nhanh phan thi hanh . oi vi ngon ng Instruction , ngon ng dong lenh trnh bien dch can phai hieu s re nhanh cho cac tac vu , do o can co 1 quy che e ghi nhan (nh)
Trang 33
v tr hien hanh cua con tro lap trnh trong mach ladder tng ng. C che re nhanh cho phan thi hanh c thc hien qua cac lenh MPS, MRD va MPP. V du sau minh hoa cho viec s dung ba lenh tren : V du LD X0 ANB MPS OUT Y1 LD X1 MPP OR X2 AND Y7 ANB OUT Y2 OUT Y0 LD X10 MRD OR X11 LD X3 ANB AND X4 OUT Y3 LD X5 AND X6 ORB Hnh 2.11 Minh hoa viec s dung lenh MPP va MPS, MRS va MPP e re nhanh ngo ra Lenh PLS(Pulse) va PLF (PuLse Falling) Trong trng hp mot tac vu c thc hien khi co canh len cua tn hieu ngo vao, khong hoat ong theo mc th lenh PLS la mot lenh rat hu dung. V du : LD PLS LD ALT X000 M0 M0 Y000 Hnh 2.12: Kch hoat lenh bang canh len cua xung vao
Trang 34
Chu y : lenh ng dung ALT co tac dung tuan t thay doi trang thai ngo ra Y000 khi leng nay c kch hoat. Neu ngo vao X000 kch trc tiep lenh ALT th Y000 se co mot trang thai khong xac nh khi co tn hieu X000. Lenh PLS c thc hien e tao mot xung MO, ngha la MO = 1 ch trong chu ky quet hien hanh ma thoi, do o, lenh ALT ch c kch hoat mot lan, trong chu ky quet hien hanh bat chap thi gian ton tai trang thai 1 cua X000, ngo ra Y000 se tuan t thay oi trang thai khi co canh len cua X000. M0 c goi la r-le logic phu tr.
Hnh 2.13 Lap trnh mach phat hien canh xuong
Mach nay xuat ra mot xung M8 co o rong xac nh bang vi chu k quet cua chng trnh . Trong hnh 2.13, mot xung M8 xuat hien tng ng vi trng hp co canh xuong cua ngo vao X0.
Trang 35
S dung cac cong tac logic trong chng trnh PLC Cac cong tac logic trong chng trnh ladder the hien cac logic ieu kien cac chng trnh. Cac cong tac phai luon luon c lap trnh ket hp vi cac thiet b bit logic tng t nh ngo vao, ngo ra, r-le logic ngoai ra, nhieu cong tac logic co the ket hp vi cung mot thiet b bit logic nao o. Trong hnh 2.14, ngo vao X000 va X001 xuat hien hai cong tac logic minh hoa mot trong nhng iem ac trng cua lap trnh PLC la cac thiet b bit logic minh hoa mot trong nhng iem ac trng cua lap trnh PLC la cac thiet b c lap trnh ket hp vi nhieu cong tac, ke ca cac cong tac co logic khac nhau nh v du di (X000 c s dung ket hp vi cong tac thng m va thng ong).
Hinh 2.14 S dung cac cong tac ket hp nhioeu lan vi X000 va Y001 Mach nh Cac mach nh, mach chot, rat thng c s dung trong cac he thong ieu khien logic. No c dung khi can ghi nhan va nh tn hieu xuat hien tc thi. Mach nh c trnh bay trong hnh 2.15. Bao gom ngo ra Y001 s dung ket hp vi mot cong tac logic mac song song vi cac cong tac khi tao (cong tac moi). Nh vay, khi cac cong tac khi tao (X000 va X001) ong th Y001 co logic 1 va thc hien vai tro cua mot cong tac thay the cac cong tac khi tao. Neu mot trong hai cong tac khi tao h th Y001 van duy tr trang thai 1. Ngo ra Y001 ch b reset khi tac ong vao cong tac thng ong X002 hay X002 co logic 1.
Trang 36
Hnh 2.15 Mach nh Chi tiet ve cac lenh c ban xin xem So tay hng dan lap trnh cac bo ieu khien lap trnh ho FX chng 2: Cac lenh c ban. V. Lap trnh cho cac tac vu c ban tren PLC: Ngoai cac cong tac logic c mac noi tiep va song song cho go vao va kch hoat cac r-le logic, hau het cac he thong ieu khien con oi hoi phai co r-le phu tr, thanh ghi va cac chc nang nh th, em. Tat ca cac chc nang o eu c ap ng vi cac thiet b logic chuan san co trong PLC: bo nh th logic (timer), bo em logic (counter) rle logic phu tr (auxilary relay) va thanh ghi logic (register), va de dang s dung vi ngon ng Ladder va ngon ng Instruction. Cac thiet b tren khong phai la cac thiet b vat ly ma chung c gia lap trong PLC. Do o, ve mat thuat ng c s dung trong tai lieu nay, r-le phu tr logic, thanh ghi logic, bo nh th logic va bo em logic, c goi la r-le phu tr, thanh ghi, bo nh th em tng ng ng. Moi chc nang tren co the c lap trnh ket hp vi cac cong tac logic e sau o ieu khien cac phan t trong chng trnh. Cac thiet b logic tren co so lng tuy thuoc loai PLC va nha san xuat va c cung cap qua bang ch tieu ky thuat i kem vi PLC hay cac catalog gii thieu ve loai PLC o. 1. Lap trnh s dung r-le phu tr R-le phu tr, con c goi la c theo thuat ng lap trnh, co tac dung nh r-le vat ly c gia lap trong bo nh PLC, bo nh 1 bit, c dung e ket hp vi nhieu cong tac trong chng trnh e ghi nhan logic cua mach ladder ieu khien no.
Trang 37
C c ky hieu M va c anh so thap phan. V du: M0, M9, M100. Mot ng duung cua c la trong trng hp co qua nhieu cong tac tham gia vao logic ieu khien th ta phai ket hp logic t nhieu mach ladder, ngha la cac logic co lien he vi nhau c a vao mot nhanh ladder ieu khien c nao o. Tap hp cac c cua nhieu mach logic c s dung e ieu khien. V du trong hnh 2.16 hai cong tac X001 va X002 ieu khien c M100 va cong tac M100 c mac song song vi X001 tao thanh mach duy tr cho X001. tai v tr khac trong chng trnh, cac cong tac M100 tham gia vao nhanh ladder ieu khien ngo ra Y000. Viec dung c va cac cong tac cho phep ket noi cac phan chng trnh lai vi nhau e n gian, de oc va tranh viec dung qua nhieu cong tac trong mot nhanh logic.
Hnh 2.16 Dung c M100 Va M101 e ket hp hai nhanh logic kch ngo ra Y000 2. Lap trnh s dung thanh ghi Ngoai viec dung c e nh thong tin dang bit, mot loai bo nh khac trong PLC cho phep lu cung luc nhieu bit gi lieu goi la thanh ghi, thng la 16 bit hay 32 bit. Thanh ghi c ky hieu D va anh so thap phan. V du: D0, D9, D128. Thanh ghi rat quan trong khi x ly d lieu so c thap phan ben ngoai. V du: d lieu t cac cong tac chon nhan (thumbwheel swiche), bo chuyen oi A/Dco the th bo c oc vao thanh ghi, x ly va sau o a lai cho cac ngo ra ieu khien, man hnh hien
Trang 38
chuyen oi D/A.. v du minh hoa viec s dung thanh ghi c trnh bay trong so tay lap trnh cho cac bo ieu khien ho FX. Chng 5 cac lenh ng dung. Ngoai ra thanh ghi co the c bieu dien bang mot chuoi bit ri rac. Cach bieu dien thanh ghi t cac bit rieng c minh hoa qua v du sau. K1Y20 bieu dien thanh ghi co 4 bit bat au t Y20, ngha la thanh ghi Y23, Y22, Y21, Y20 trong o: Y20 la bit au tien cua thanh ghi K1 la hang so ch so nhom 4 bit lien tiep ke t bit au tien K2X20 bieu dien thanh ghi co 8 bit bat au t X20, ngha la thanh ghi X27, X26, X25, X24, X23, X22, X21, X20. ng dung cua thanh ghi. Thanh ghi dch chuyen (shift register) la vung bo nh lu tr dung a vao chuoi lien tiep cac bit gi lieu rieng biet ng vao cua no. D lieu c dch chuyen doc theo thanh ghi theo chieu xac nh. Thanh ghi co kch thc xac nh, boi so cua 4 va bit cuoi cung trong thanh ghi se dch chuyen ra ngoai b mat. Thanh ghi dch chuyen thng c dung trong cac ng dung ieu khien trnh t thong qua cac ngo ra c ket hp vi tng bit thanh ghi o la viec ong m cac ngo ra o tuy thuoc vao trang thai tng bit tng ng trong thanh ghi dch chuyen. Trong PLC, thanh ghi dch chuyen thng c tao thanh t nhom c. S cap phat nay c thc hien t ong trong tham so cua lenh dch chuyen thanh ghi. Hnh 2.17 trnh bay mot mat ien hnh ve tac vu dch chuyen thanh ghi. Trong mach nay sau khi dch chuyen va quay cac c trong thanh ghi th trang thai cua tng bit trong thanh ghi c dung e kch hoat trc tiep cac ngo ra ieu khien cac thiet b ben ngoai. Trong o mot so
Trang 39
trng hp, viec dung thanh ghi dch chuyen co the tiet kiem c dung lng chng trnh ang ke so vi chng trnh c lap theo cach truyen thong dung mach khoa lan. Mot ng dung pho biet va n gian ta dung thanh ghi dch chuyen e giam sat ng i cua thanh pham tren bang tai trong he thong san xuat t ong, hnh 2.18(a). trong hnh cho thay cac thanh pham c di chuyen doc theo bang tai, vi mot te bao quang ien PH1 phat hien thanh pham b h hong can loai ra ngoai. S kien nay a 1 bit vao thanh ghi dch chuyen oi vi mot phe pham. Cong tac hanh trnh LS1, gan tren c cau bang tai, dung e gi 1 xung ve PLC thc hien lenh dch chuyen thanh ghi moi khi co san pham (tot hay xau) di chuyen qua no tren bang tai. Yeu cau la cac phe pham (phat hien bi PH1) se b ri vao thung ng phe pham pha di qua mot ca. V the thanh ghi dch chuyen phai do theo vet cua phe pham doc theo bang tai va m ca loai bo phe pham ung luc. C cau ca loai bo phe pham m lam cho cong tac M101 khong hoat ong. Them mot te bao quang ien PH2 phat hien co phe pham ri vao thung se ngat mach c cau ca thong qua M101 e bao rang thanh pham tot pha sau khong ri tiep. C M101 c chot e bao am ca van ong cho du X3 (PH2) ch nhan c mot xung rat ngan.
Hnh 2.17: ng dung lenh dch chuyen thanh ghi

Trang 40
Cong tac hanh trnh LS1 ieu khien 2 c M100 va M102 vi lenh PLS. anh hng cua cong tac thng ong M100 nhanh au tien dung e ngan tn hieu t cam bien quang PH1 khi viec dch chuyen ang c thc hien nham tranh loi co the xay ra. Cong tac M102 tren nhanh ieu khien M101 la bao am viec ong ca trong khoang khong gian gia hai thanh pham lien tiep. Cong tac X2 dung e at lai thanh ghi nay, chuyen tat ca c sang trang thai 0 va bo qua bat ky s dch chuyen nao hay nhan tn hieu ngo vao.
Trang 41
Hnh 2.18. Dng thanh ghi d vt ca ph phm (a) S nguyn l (b) Chng trnh Ladder
3. Lap trnh s dung bo nh th. Bo nh th ve ban chat la mot bo em xung co chu ky xac nh (c trnh bay sau). Khi c kch hoat, bo nh th thc hien viec em xung cho en khi u so xung tng ng vi thi gian can nh th. Trong PLC co lenh kch hoat bo nh th rat n gian ve lap trnh va s dung. Bo nh th c ky hieu C va c anh so thap phan. V du: C0, C32, D63. C che hoat ong cua bo nh th nh sau: (gia s dung bo nh th T0) Khi T0 cha c kch hoat th T0 co logic 0; khi T0 c kch hoat th T0 van co logic 0 cho en khi hoan tat thi gian nh th th T0 co logic 1.
Trang 42
Chu y: ieu kien kch hoat bo nh th phai c duy tr trong suot thi gian nh th. Neu ieu kien nay khong c thoa man th bo nh th ngng c kch hoat, ngha la khong nh th. Phng phap lap trnh cho bo nh th thng la xac nh khoang thi gian va cac ieu kien e kch hoat hay dng bo nh th. Trong hnh 2.19 ieu kien kch hoat bo nh th co the la cac tn hieu ben trong hoac ben ngoai PLC. Trong v du nay bo nh th T0 c kch hoat bi cong tac Y000. v vay, T0 ch bat au nh th khi Y000 co logic 1. trong khi o, Y000 c kch hoat bi cong tac thng m X000 va thng ong X001. khi b kch hoat, bo nh th em xuong t gia tr nh trc, trong trng hp nay la 3 giay, en khi bang 0: khi o cac cong tac ket hp vi bo nh th o se hoat ong. Nh vi moi cong tac khac trong PLC, cong tac c ieu khien bi bo nh th cung c s dung v tr nao trong chng trnh ladder. Trong trng hp nay cong tac TO ieu khien ngo ra Y001. mach logic dung e kch hoat bo nh th cung la mach logic dung e dng bo nh th. ay la trng hp thng s dung tren cac PLC loai nho. Mach kch hoat bo nh th co the nhieu cong tac co lien he vi nhau hoac ch mot cong tac.
Hnh 2.19 mach c ban ve bo nh th Thong so gia tr nh th thay oi tuy thuoc loai PLC cua tng hang, thng ta nhap vao hang so ( K ) vi n v la giay, 10 miligiay hay 100 miligiay. Thi gian nh th khong co nh v tuy thuoc vao o phan giai cua bo nh th s dung, o phan giai thap
Trang 43
th thi gian nh th ln nhng cap chnh xac nho, o phan giai cao th thi gian nh th nho, cap chnh xac cao. Gia tr toi a cho hang so thi gian nh la K32767. ta co ban so sanh sau.
o phan giai 100 miligiay 10 miligiay 1 miligiay
Thi gian nh th toi a 3276,7 giay 327,67 giay 32,767 giay
o phan giai 100 miligiay 10 mili giay 1 miligiay
Do thi gian nh th co gii han nen e co the nh th c thi gian ln hn ta co the s dung nhieu bo nh th noi tiep. Bo nh th T0 c ac gia tr nh th 19 giay. Khi X000 la 1 ( nhan nut ) th Y001 = 1 thgc hien viec duy tr cho cong tac X000. trong khi o, cong tac thng ong X000 h v X000 van la 1, khong cho phep bo nh th hoat ong cho an khi khong tac ong vao nut nhan na. X000 = 0. bo nh th T0 se nh th 19 giay. Khi het en thi gian nh th, cong tac T0 nhanh au tien h, ngat ng hoat ong cho Y000 va T0 ( hnh 2.20 ).
Trang 44
Hnh 2.20 : Mach nh th loai Off delay (a ) Mach ladder ( b ).Gian o thi gian. Mach nh th Long time Dung hai bo nh th noi tiep e nh th thi gian ln hn. Trong v du hnh 2.21, o phan giai cua T0 va T1 la 100 mili giay. Nh vay, tong thi gian nh th la 3200 + 3200 = 6400 giay = 106,67 phut.
Hnh 2.21: Mach nh th long time
Mach Flicker Trong hnh 2.22, mach nh th dc kch va ong m lien tuc cho en khi X000= 0 lam h mach. Hoat ong c giai thch: khi X000 = 1 lam ong cong tac thng m X000, no kch bo nh th T0 ( 1 giay ). Khi at en thi gian inh th, cong tac T0 ong lam kch hoat bo nh th T1 ( 1.5 giay ) nhanh ke. Sau 1.5 giay, T1 = 1, cong tac thng lam khi ong lai T1. Cong tac T1 ong lam kch hoat lai T0. qua trnh tren lap lien tuc cho en khi cong tac X000 h, tc X000 = 0.
Trang 45
Hnh 2.22: Mach Ficker phat chuoi xung dung hai bo nh th. Hoat ong cua mach tren co the c thay ro hn t s do thi gian ben di. S o nay cho thay mach tren thc hien viec phat xung 1.5 giay ON/1 giay OOF nhan c nhanh T1 hay nhanh song song Y000. Mach One shot mc cao Khi X000 = 1, ngo ra Y0 =1; 8 giay sau th ngo ra Y0 = 0.
Hnh 2.23 Mach One-shot mc cao
Mach One shot mc thap Mach One shot dung e nhan c xung co chieu rong nh trc phu thoc vao thi gian tac ong vao mot cong tac. Hnh 3.24 trnh bay bo nh th One-shot cho mc
Hnh 2.24: Mach One-shot mc thap

Trang 46
4. Lap trnh s dung bo em Trong lap trnh PLC co san lenh e kch hoat bo em. Ve cach thc hoat ong, bo em c lap trnh tng t nh bo nh th, nhng them vao mach nhan tn hieu em s kien. Hau het bo em tren PCL la bo em xuong hoac em len tuy vao ieu khien chieu em. Trong hnh 2.17, bo em C0 c khi ong lai (reset) khi cong tac X002 ong. Bo em em xung t ngo vao X003. Trang thai cua bo em C0 la 1 sau khi nhan c 8 xung t ngo vao X003, khi o cong tac bo em C0 ong lam ngo ra Y00 ong. Neu cong tac X002 ong trong trang khi ang em th bo em se b khi ong lai.
Hnh 2.25 Lap trnh c ban bo em Trng hp mat nguon cung cap ien, ta thng phai dung bo em co kha nang nh (c nuoi bang pin) nham tranh trng hp mat d lieu quan trong. Cac mach ng dung cua bo em trnh bay trong cac hnh 2.26 va 2.27. Trong hnh 2.26 c M100 va M101 c kch bi cung ngo X000, va c M001 c kch sau M100. Do o, tac dung M101 la lam cho M100 = 1 ch trong mot chu ky quet hien hanh ma thoi khi X000 =1. Tn hieu M100 c dung lam tn hieu em cho C0. nh vay, moi lan cong tac X0 ong; bo em se tang 1. Bo em C0 c at gia tr 5, va khi em u so xung M100 th se tac ong cac cong tac ket hp vi bo em nay. Trong hnh 2.27, co hai cong tac ket hp vi C0: mot cong tac C0 at mach ieu khien Y0 va mach song song vi no gom cong tac Y0 va cong tac thng ong M100 co tac dung duy tr ngo ra Y0 khi bo em C0 b khi ong lai
Trang 47
va ngo ra Y0 = 1 cho en khi lai co mot xung M100 do cong tac X0 ong, va mot cong tac th hai mac song song vi cong tac X1 trong mach khi ong lai bo em C0. X1 hoat ong nh mot cong tac khi ong lai cho bo em va X1 hoat ong nh la mot cong tac cho phep viec kch ngo ra Y0. ng dung bo em tao mach nh th Long time Mach trong hnh 3.27 em so lan time out (at en thi gian nh th la 3276.7 giay) cua bo nh th T0. Bo em C0 c at gia tr 3, va nh vay se em 3 lan cua 3276.7 giay tc 9830.1 giay = 2.73 gi. C M56 reset bo nh th T0 sau khi moi lan timeout. Ngo ra Y0 c dung e reset bo nh T0 vi ieu kien X1=1. Mot qua trnh nh th mi se c thc hien khi X1 la OFF va c bat ON tr lai.
LD ANI OUT LD OUT LD OR RST LD ANI OR ANI OUT
X000 M101 M100 X000 M101 C0 X1 C0 K5 Y000 M100 C0 X002 Y000
Hnh 2.26: Mach ng dung bo em.
Trang 48
Hnh 2.27: Dung bo em tao mach nh th Long-time
Hoat ong mach em sau khi mat nguon. Trong cac ng dung thc te ta can bo em co kha nang lu lai trong bo nh cac thong tin em c khi mat nguon cap ien cho PLC e viec ieu khien co the hoat ong tiep tuc theo ung trnh t mong muon khi c cap ien tr lai. Cach giai quyet la ung theo bo em va bo nh th co nguon pin nuoi (neu co) goi la bo em chot. e xac nh bo em nao la bo em chot ta xem trong bang ch tieu ky thuat cua tng loai PLC s dung tng ng. VI. Cac lnh ng dung 1. Nhom lenh ieu khien lu trnh Lenh CJ. Ten lenh CJ (Conditional Jump) Chc Nang Nhay en v tr con tro ch xac nh Toan hang D Con tro ch hp le (P0 P63)
Trang 49
Trong lap trnh truyen thong tren may tnh, mot trong cac chc nang mach la kha nang nhay en v tr khac trong chng trnh tuy thuoc vao mot so ieu kien nao o. ieu nay cho phep la chon cac hoat ong tng ng phu thuoc vao ket qua kiem tra ieu kien. Lenh nay co hieu qua rat ln trong mot chng trnh ieu khien co nhieu s la cho hoat ong khac nhau, va c goi la lenh nhay co ieu kien. Giong nh cac tac vu khac, ieu kien nhay co the la mot nhanh logic n gian hay phc tap. Hoat ong Khi lenh CJ c kch hoat th con tro lenh nhay en v tr xac nh trong chng trnh, bo qua mot so bc chng trnh nao o. Nh vay, mot so bc lenh khong c x ly trong chng trnh, lam tang toc o quet chng trnh.
Lu y: Nhieu lenh CJ co the dung chung mot con tro ch Cac lenh nhay co the c lap trnh long nhau. Moi con tro ch phai co duy nhat mot con so. Dung con tro P63 tng ng vi viec nhay ti lenh END Bat ky oan chng trnh nao b nhay qua se khong c cap nhat trang thai cac ngo ra khi co s thay oi trang thai ngo vao. Xem chng trnh hnh di: neu X1 la ON va lenh CJ c thi hanh th ngo vao X1 va ngo ra Y b bo qua, v lenh CJ buoc
Trang 50
con tro lenh nhay ti con tro ch P0; khi lenh CJ khong con tac dung na th X1 se ieu khien Y1 nh bnh thng.
Lenh CJ co the c dung e nhay qua het chng trnh, v du: nhay en lenh END hay tr ve bc 0. Neu nhay tr ve th can phai chu y khong c vt qua thi gian cai at trong bo nh th watchdog, neu khong PLC se bao loi. Lenh CALL Ten lenh CALL (Call Subroutine) Chc Nang Toan hang D Con tro chng trnh con co gia tr t 0-62so mc long5 ke ca lenh CALL ban dau
Goi chng trnh con
Mot chc nang oi hoi can thc nhieu lan trong chng trnh th co the to chc viet chng trnh con va no se c goi khi can thiet nham tranh viec viet lai oan chng trnh o. Do o, ta co the tiet kiem c bo nh va thi gian lap trnh. Thng chng trnh con c viet sau chng trnh chnh. Khi mot chng trnh con c goi ieu khien c chuyen t chng trnh chnh vao chng trnh con o khi hoan tat viec thi hanh chng trnh con. ieu khien c chuyen ve lenh ke tiep sau lenh goi chng trnh con trong chng trnh chnh khi gap
Trang 51
lenh RET(RETURN) cuoi oan chng trnh con. Cac ket qua g tr d lieu se c lu trong cac thanh ghi d lieu va sau o co the c dung trong chng trnh chnh. Ta co the truyen tham so khac nhau moi khi goi chng trnh con. Hoat ong Khi lenh CALL c kch hoat oan chng trnh con se c thi hanh tai v tr con tro c goi tng ng lenh CALL phai dung vi lenh FEND va SRET. Xet oan chng trnh ben di, chng trnh con P10 (sau lenh FEND) c thi hanh cho en khi gap lenh SRET va tr ve dong chng trnh ngay sau lenh CALL
Lu y Nhieu lenh CALL co the dung chung mot chng trnh con Con tro chng trnh con phai duy nhat. Con tro chng trnh con co the t P0 en P63. Con tro chng trnh con va con tro ch dung trong lenh CJ khong c trung nhau. Chng trnh con sau lenh FEND c x ly nh bnh thng. Khi chng trnh c goi chu y khong vt qua thi gian a at trong bo watchdog
Trang 52
Lenh FOR, NEX Ten lenh FOR Chc Nang Xac nh v tr bat au va so lan lap cua vong lap Toan hang S K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z Khong co Lu Y: vong FORNEXT co the nong 5 mc ngha la lap trnh c 5 vong lap FOR_NEXT
NEXT
Xac nh v tr cuoi cung vong lap
Hoat ong: Cac lenh FOR va NEXT cho phep mot chng trnh c lap lai S lan.
Lu y: V lenh FOR hoat ong che o 16bt, cho nen gia tr cua toan hang S co the nam trong mot khoang 1 en 32,767. Neu gia tr S nam trong khoang 32.768 va 0 th no t ong c thay the bang gia tr 1, ngha la vong lap FOR- NEXT thc hien mot lan. Lenh NEXT khong co toan hang. Cac lenh FOR-NEXT phai lap trnh i cap vi nhau, ngha la moi khi co lenh FOR th phai co lenh NEXT theo sau va ngc lai. Cac lenh FOR-NEXT cung phai c lap trnh theo th t nh vay. Viec chen lenh FEND gia lenh FOR-NEXT ngha la
Trang 53
FOR- FEND-NEXT cung khong cho phep. ieu o tng ng vi vong lap khong co NEXT, sau lenh o la FEND va mot vong lap co NEXT va khong co FOR. Mot vong lap FOR-NEXT lap vi mot so lan c at trc khi chng trnh chnh ket thuc lan quet hien hanh. 2. Nhom lenh so sanh va dch chuyen Lenh CMP D Y, M, S Lu Y: ba So sanh hai K, H, KnX, KnY, KnM, KnS, toan hang ke CMP gia tr d lieu T, C, D, V, Z tiep nhau t (Compare) cho ket qua <, ong c s = hoac > dung e lu ket qua. Cac lenh so sanh thng c dung e so sanh gia tr so c nhap t ben ngoai cho bo nh th hay bo em vi gia tr lu trong thanh ghi d lieu. Tuy thuoc vao cac lenh so sanh s dung ln hn, nho hn hay bang cac lenh nay se tra ve ket qua so sanh. V du nhiet o do c trong lo nau thuy tinh c a ve di dang ien ap analog bieu dien nhiet o trong lo. Gia tr ien ap nay c chuyen sang dang digital bang modun A/D (Analog Digital Coverter) gan vi PLC. o, no c oc vao bang lenh oc d lieu a c lap trnh t trc va lu vao thanh ghi D10. qua trnh x ly so lieu oc vao nh sau: Neu nhiet o nho hn 2000C th lo nung phai khong hoat ong v khong u nhiet. Neu nhiet o ln hn 2000C va nho hn 2500C th lo hoat ong vi toc o bnh thng (ngha la moi me nung trong 5 phut). Ten lenh Chc Nang S1 Toan hang S2
Trang 54
Neu nhiet o gia 2500C - 2800C th thi gian nau mot me giam xuong con 3 phut 25 giay. Neu nhiet o qua 2800C th lo tam dng hoat ong. Ngoai ra cac ng dung khac nh kiem tra gia tr cua bo em va bo nh oi vi hoat ong can x ly khi bo em at gia tr gia chng nao o.
Hoat ong S1 c so sanh vi S2, ket qua so sanh c the hien qua 3 bit a ch au D: Neu S2 nho hn (<) S1 th D = 1 Neu S2 bang (=) S1 th D + 1 = 1; Neu S2 ln hn (>) S1 th D+2 = 1. Chu y: trang thai logic cua D se c duy tr ngay ca khi lenh CMP khong con c thc hien. Ngoai ra, phep so sanh tren ap dung c cho so co dau, v du 10 nho hn +2
Trang 55
Lenh ZCP Ten lenh Chc Nang So Sanh mot gia tr vi khoang gia tr cho ket qua <, = hoac > Toan hang S1 S2 S3 K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z Lu Y: S1 phai nho hn S2 D Y, M, S Lu Y: ba toan hang ke tiep nhau t ong c s dung e lu ket qua.
ZCP (Zona Compare)
Hoat ong Hoat ong giong nh lenh CMP ch khac la gia tr (S3) c so sanh vi mot khoang gia tr (S1 S2) Neu S3 nho hn (<) S1 va S2 th bit D =1 Neu S3 ln hn hay bang (>+) S1 va nho hn hay bang (<=) S2 th bit D+1 = 1 Neu S3 ln hn (>) S2 th bt D+2 = 1.
Trang 56
Lenh Mov Ten lenh Chc Nang Gan gia tr tng vung nh nay en vung nh khac Toan hang S K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z D KnY, KnM, KnS, T, C, D, V, Z
MOV (Move)
Cac hoat ong ve sao chep dung nh cung c dung e tang cng cac chc nang san co, v du cho phep thay oi ca gia tr xac lap cho bo nh th hay bo em. Cac loai ng dung nay rat bo bien, cho phep ngi ieu khien nhap cac gia tr tham so khac nhau trc khi hoac trong luc PLC hoat ong. Noi dung toan hang nguon S c gan vao thiet b ch D khi lenh c khch hoat.
Lenh BCD Ten lenh BCD (Binary Coded Decimal) Chc Nang Toan hang S K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z D KnY, KnM, KnS, T, C, D, V, Z
Chuyen oi so nh phan sang BCD
Toan bo hoat ong tnh toan cua CPU trong PLC eu da vao so nh phan, trong khi PLC giao tiep vi ngi dung th can nhap xuat d lieu dang thap phan. Do do, so
Trang 57
BCD la dang trung gian trong viec chuyen oi nay va ho tr thong qua cac lenh chuyen oi tren PLC lenh BCD dung e chuyen oi so dang nh phan sang dang BCD va lenh BIN dung e chuyen oi so dang BCD sang dang nh phan. oi vi cac d lieu san dang nhi phan nh cac gia tr analog. c thong qua cac mo-un chuyen dung A/D hay D/A, cac gia tr nay c oc trc tiep vao thanh ghi va co the x ly ngay. Hoat ong Gia tr nh phan cua toan hang nguon S c chuyen oi thanh BCD tng ng va ket qua chuyen oi lu vao toan hang ch D. Neu so BCD vt qua day hoat ong en 0 en 9.999 oi vi hoat ong 16 bit hoac 0 en 99.999.999 oi vi hoat ong 32 bit th se gay loi lenh nay co the c dung e xuat so lieu trc tiep cho en 7 oan.
Lenh BIN Ten lenh Chc Nang Chuyen oi so BCD sang nh phan tng ng Toan hang S K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z D KnY, KnM, KnS, T, C, D, V, Z
BIN (Binary)
Hoat ong Toan hang nguon BCD c chuyen oi thanh dang nh phan tng ng va ket qua chuyen oi c lu vao toan hang ch D. Lenh nay c dung e oc trc tiep so lieu t bo nhan (thumbwheel switch).
Trang 58
3. Nhom lenh x ly so hoc va logic Lenh ADD Ten lenh Chc Nang Cong hai gia tr d lieu, ket qua lu vao toan hang ch Toan hang S2
S1
D KnY, KnM, KnS, T, C, D, V, Z
ADD (Addition)
K, H, KnY, KnM, KnS, T, C, D, V, Z
Hoat ong Noi dung toan hang nguon S1 va S2 c cong lai va tong cua chung c lu vao toan hang ch D.
Chu y: Phep cong tren ap dung c cho so co dau ngha la 5+ (-8) = - 3 Neu toan hang ch nho hn ket qua tnh c th ch co phan ket qua va u vi toan hang ch c ghi; ngha la, neu ket qua la 25 (thap phan) c lu vao K1Y4 th ch co Y4 va Y7 co gia tr 1. Khi xet theo he nh phan so hang nay tng ng vi 9 thap phan b cat bt so vi ket qua thc la 25
Trang 59
Lenh SUB Toan hang S2
Ten lenh
Chc Nang Tr hai gia tr d lieu, ket qua lu vao toan hang ch
S1
D KnY, KnM, KnS, T, C, D, V, Z
SUB (Subtract)
Hoat ong Noi dung toan hang nguon S2 b tr i noi dung cua toan hang nguon S1, ket qua c lu vao toan hang ch D.
Lenh MUL Ten lenh Chc Nang Toan hang S2
S1
Nhan hai gia tr d lieu, ket MUL qua lu vao (Multiplication) toan hang ch
D KnY, KnM, KnS, T, C, D, V, Z Lu Y : Z(V)khong dung he 32 bit
Trang 60
Hoat ong Noi dung toan hang nguon S1 c nhan vi noi dung toan hang nguon S2, va ket qua c lu vao toan hang ch D.
Chu y: Trng hp noi dung MUL vi hoat ong 16 bit c nhan vi nhau cho ket qua la 32 bit. Ket qua 32 bit o c lu vao cap thanh ghi D va D+1. v du, 5 (D0) x 7 (D2) = 35, gia tr 35 (32bit) oc lu vao cap thanh ghi (D4, D5) Trng hp dung lenh MUL vi hoat ong 32 bit th 2 gia tr 32 bit c nhan vi nhau cho ket qua 64 bit o c lu vao 4 thanh ghi D, D +1, D+2 va D+3
Lenh DIV Toan hang S1 S2 K, H, KnY, KnM, KnS, T, C, D, V, Z D KnY, KnM, KnS, T, C, D, V, Z Lu Y : Z(V)khong dung he 32 bit
Ten lenh DIV (Division)
Chc Nang Chia hai gia tr d lieu, ket qua lu vao toan hang ch
Hoat ong Noi dung toan hang nguon S1 c chia cho noi dung toan hang nguon S2 va ket qua c lu vao toan hang ch D: D lu ket qua nguyen va D+1 lu so d cua phep chia.
Trang 61
V du: 51(D0) : 10 (D2) = 5 (D4) 1 (D5), ngha la 5x10 =51
Chu y Khi dung lenh DIV vi hoat ong 32 bit, hai gia tr 32 bit c chia cho nhau cho ket qua 32 bit. Ket qua nguyen cua phep chia se lu vao bon thanh ghi: D; D+1 lu thng so va D+2, D+3 lu so d. Neu gia tr thiet b nguon S2 la 0 (Zero) th mot loi hoat ong se thc thi va lenh DIV b xoa bo. Lenh INC Toan hang D KnY, KnM, KnS, T, C, D, V, Z
Ten lenh INC (Increment)
Chc Nang Tang noi dung toan hang ch mot n v
Hoat ong Khi lenh nay c thc hien th noi dung toan hang ch D tang len 1 oi vi hoat ong 16bit, khi ket qua at en + 32.767 th lenh INC tiep theo se ghi gia tr 32768 vao toan hang ch D. oi vi hoat ong 32 bit, khi ket qua at en +2.147.483.647 th lenh INC tiep theo se ghi gia tr -2.147.483.648 vao toan hang ch D.
Trang 62
Lenh DEC Ten lenh DEC (Decrement) Hoat ong Khi lenh nay c thc hien th noi dung toan hang ch D tang len. oi vi hoat ong 16 bit, khi ket qua at en 32.768 th lenh DEC tiep tuc se ghi gia tr 32.767 vao toan hang ch D. oi vi hoat ong 32 bit, khi ket qua at en -2.147.483.6478 th lenh DEC tiep theo se ghi gia tr -2.147.483.647 vao toan hang ch D. Chc Nang Tang noi dung toan hang ch mot n v Toan hang D KnY, KnM, KnS, T, C, D, V, Z
4. Nhom lenh quay va dch chuyen chuoi bit Lenh ROR Toan hang D KnY, KnM, KnS,T,C,D,V,Z Lu y: Hoat ong16 bit Kn=k4 Hoat ong32bit Kn=k8 n K,H Lu y: Hoat ong 16 bit n16 Hoat ong32 bit n32
Ten lenh
Chc Nang
ROR (Rotation Right)
Quay chuoi bit sang phai nv tr
Trang 63
Hoat ong Chuoi bit cua toan hang ch D c dch chuyen sang phai n bit khi lenh nay c kch hoat. Bit cuoi cung c a tr lai bit au tien cua chuoi va c sao chep vao nh M8022 (carry flag). Trong v du ben di minh hoa noi dung cua D0 bieu dien chuoi bit.
Lenh ROL
Ten lenh
Chc Nang
Toan hang D KnY, KnM, KnS,T,C,D,V,Z Lu y: Hoat ong16 bit Kn=k4 Hoat ong32bit Kn=k8 n K,H Lu y: Hoat ong 16 bit n16 Hoat ong32 bit n32
ROL (Rotation Left)
Quay chuoi bit sang trai nv tr
Trang 64
Hoat ong Chuoi bit cua toan hang ch D c quay sang trai n bit khi lenh nay c th hien. Bit cuoi cung c sao chepvao c nh M8022(carry flag). Trong v du ben di minh hoa noi dung cua D0 bieu dien chuoi bit.
Lenh RCR Ten lenh RCR (Rotation Right with Carry) Chc Nang Quay chuoi bit sang trai nv tr trung gian M8022 Toan hang D KnY, KnM, KnS,T,C,D,V,Z Lu y: Hoat ong16 bit Kn=k4 Hoat ong32bit Kn=k8 n K,H Lu y: Hoat ong 16 bit n16 Hoat ong32 bit n32
Trang 65
Hoat ong Chuoi bit cua thiet b ch c quay sang phai n bit qua trung gian M8022khi lenh nay c thc hien.Bit cc phai c chuyen vao c nh M8022 (carry flag) va trang thai trc o cua M8022 c chuyen vao bit cuoi cua toan dang ch D.
Lenh RCL Toan hang D KnY, KnM, KnS,T,C,D,V,Z Lu y: Hoat ong16 bit Kn=k4 Hoat ong32bit Kn=k8 n K,H Lu y: Hoat ong 16 bit n16 Hoat ong32 bit n32
Ten lenh
Chc nang
RLC (Rotation left with carry)
Quay chuoi bit sang trai n vi tr qua trung gian M8022
Trang 66
Hoat ong Chuoi bit cua thiet b ch c quay sang trai n bit qua trung gian M8022khi lenh nay c thc hien.Bit cc trai c chuyen vao c nh M8022(carry flag)va trang thai trc o cua M8022c chuyen vao bit au tien cua toan dang ch D.
Lenh SFTR Ten Lenh Chc Nang Dch chuyen chuoi bit sang phai nv tr Toan hang S D n1 n2
SFTR (Bit shift right)
X,Y,M,S
Y,M,S
K,H Lu y : FX:n2 n11024 FX0,Fx0N: n2 n1512
Trang 67
Hoat ong Lenh nay sao chep trang thai (bit) cua toan hang n2 vao ngan xep bit co chieu dai n1 va n2 bit d lieu hien co trong ngan xep c dch chuyen sang phai n2 bit neu bit nao vt qua gii han n1 th se b mat.
Lenh SFTL Ten Lenh SFTL (Bit shift left) Chc Nang Dch chuyen chuoi bit sang trai nv tr Toan hang S D n1 n2 K,H Lu y : FX:n2 n11024 FX0,Fx0N: n2 n1512
X,Y,M,S
Y,M,S
Hoat ong Lenh nay sao chep trang thai (bit) cua toan hang n2 vao ngan xep bit co chieu dai n1 va n2 bit d lieu hien co trong ngan xep c dch chuyen sang trai n2 bit neu bit nao vt qua gii han n1 th se b mat.
Trang 68
VII. KY THUAT LAP TRNH IEU KHIEN TRNH T V du ve cac bc thu tuc tong quat Trong bai toan ieu khien trnh t, e thc hien co he thong cac cong viec ieu khien va tranh toi a thieu sot ,nham lan trong qua trnh thc hien ,ngi can bo ky thuat can thc hien mot so bc co tnh chat ky thuat nh sau: Bc 1: Xay dng s o phoi hp thao tac cong nghe cua may hoac he thong thiet b can ieu khien ay la cong viec co yeu cau tng t nh khi bat tay vao viec thiet ke mot may mi. Ngui thc hien phai can c vao yeu cau hoat ong cua may e t o hnh dung va phan tch trnh t cac bc thao tac that chi tiet cua tng khau chap hanh hoac tng bo phan chap hanh cua may cung nh s phoi hp cac hoat ong gia chun. Qua trnh phan tch va phoi hp cac chuyen ong hoac cac thao tac thng c thc hien di dang mot s o phoi hp. S o c thc hien di dang cac dai hnh ch nhat ke tiep nhau. Moi dai tng trng cho dien bien theo thi gian qua trnh hoat ong
Trang 69
cua mot khau chap hanh hoac mot bo phan chap hanh nham thc hien mot thao tac cong nghe nao o. S o trang ben minh hoa viec phan tch va dien bien cua qua trnh hoat ong trnh t tren mot tram tron betong t ong. S o phoi hp cac thao tac cong nghe cho phep ngi thiet ke hnh dung toan bo qua trnh hoat ong cua may hoac cua he thong thiet b bao gom trnh t cac thao tac va thi iem bat au cung nh ket thuc thc hien cua tng thao tac. S o phoi hp nao se lam c c cho viec soan thao chng trnh ieu khien PLC cung ong thi la tai lieu goc cho viec hieu chnh s lam viec cua may hoac he thong ve sau.
Trang 70
Trang 71
Bc 2 :Lap s o khoi ieu khien trnh t Can c vao s phoi hp cac hoat ong hoac cac thao tac cua cac bo phan chap hanh tren may thiet ke, ngi can bo ky thuat se thc hien mot cong viec tng t tiep theo la lap s o khoi ieu khien trnh t (dang lu o flowchart hoac s o chc nang function-chart). Cong viec nay la mot bc tiep can hn na cua qua trnh ieu khien. Tuy theo mc o quen cach s dung mc ieu khien e mo ta chuoi tuan t cac thao tac cong nghe cung nh cac tnh hieu ieu kien cho tng thao tac. Bc 3: Chuan b phan cng va ac ta tham so vao/ra Cong viec la chon cac c cau tac ong chap hanh nh la chon cac ong c, xy lanh kh nen hay xy lanh dau ep, lua chon cac loai van ieu khien, co lien quan mat thiet vi qua trnh ieu khien a tong hp do nhieu yeu to nh ac tnh ky thuat c cau tac ong co phu hp vi may thiet ke hay khong,ket cau co phu hp hay khong, khong gian co cho phep bo tr loai c cau tac ong o hay khong; va mot yeu to quan trong co tnh chat quyet nh la thi gian va toc o cua c cau tac ong c lua chon co phu hp thoa man vi yeu cau phoi hp thao tac tren may hay khong. Ngi thiet ke phai chon ky e tm kiem cac c cau tac ong phu hp nhat va mo ta ay u cac thong so ky thuat cua c cau tac ong, chang han nh cac gia tr ien ap hay dong ien tac ong vao ong c ien hay tac ong vao cac van ien t ieu khien cac xy lanh kh nen. Cac tnh hieu co lien quan mat thiet vi cac tiep iem ngo ra cua PLC. Tng t, cac tn hieu t cac cam bien; phan anh trang thai c cau tac ong, c a en cac ngo vao PLC. Thong qua viec lua chon va ac ta cac tham so vao/ra nay, ngi thiet ke se cung cap cac so lieu can thiet cho viec thiet ke mach giao tiep gia PLC vi mach cong suat cua c cau lao ong, xac nh ngo vao/ra e la chon PLC thch hp.
Trang 72
Bc 4: Lap trnh Vi ay u d lieu c cung cap t cac bc thc hien tren, cong viec tiep theo cua ngi lap trnh la soan thao chng trnh ieu khien cho PLC e thc hien viec ieu khien may hay he thong ung theo chng trnh a thiet ke. Tuy theo kha nang quen s dung loai ngon ng lap trnh tren PLC nao ma ngi lap trnh se chon la e soan thao chng trnh. Vi cac chng trnh n gian,cac phan mem cua cac hang cho phep bien dch c chng trnh c viet theo ngon ng nay hay ngon ng khac. Bc 5: Chay th va hoan chnh chng trnh ay la cong viec het sc t nhien phai thc hien sau khi lap trnh. Viec chay th chng trnh c thc hien trong hai che o : Che o gia lap (che o offline): cho chay chng trnh va theo doi ap ng cua cac ngo ra thong so thong qua en led.en led ngo ra cu the se hien th cho tn hieu xuat ngo ra cho c cau tac ong va ap ng chung . Che o thc (che o online):sau khi chay th va ieu chnh chngtrnh trong che o gia lap hoan hao .Chuyen che o hoat ong tren PLC va noi mach giao tiep vi mach cong suat e ieu khien maychay trong che o thc .Trong che o nay ,vi cac ap ng thc cua cac c cau tac ong khi khong tai va khi co tai se giup cho ngi lap trnh hieu chnh chng trnh lan cuoi trc khi a vao van hanh thc s trong san xuat. 1. ieu khien trnh t dung thanh ghi a) Nguyen ly c ban iu khin trnh t dng thanh ghi: + Thanh ghi phai co so bit t nhat bang vi so bc trong tac vu ieu khien va moi bit se the hien mot bc .
Trang 73
+ Logic 1 c a vao bit au tien khi bat au qua trnh ieu khien, bang cach dung 1 mach logic kch dong OUT + Logic 1 se chuyen dch t bit nay sang bit khac tren thanh ghi kch hoat bc tng ng vi bit 1 o va vo hieu bit trc o. + Bit nay dch chuyen tren suot thang ghi bang lenh dch chuyen thanh ghi, lenh SFTL + Khi hoan tat chu ky trnh t, toan bo noi dung thanh ghi se c at gia tr 0 bang lenh RST, khi ieu khien c thoa man . b) V du ve ieu khien tay may dung thanh ghi
Yeu cau: Kch hoat cac c cau tac ong bang van solenoid cho cac hoat ong LEN, XUONG, PHAI, TRAI theo trnh t trong hnh 2.28 (a)
Trang 74
Hnh 2.28 (b). S chc nng trnh t iu khin tay my
Trang 75
Tai v tr ban au, khi nhan nut CHAY, tay may di chuyen xuong (XUONG) en khi cham cong tac LS2, di chuyen len (LEN) en khi cham cong tac LS3, di chuyen sang phai (PHAI) en cham cong tac LS4, di chuyen xuong (XUONG) en khi gap LS2 va en khi cham LS3, di chuyen sang trai (TRAI) en khi cham LS5 va tr ve v tr ban au. Lu o s o chc nang (hnh 2.28 (b)) cho thay cac ngo vao/ra s dung va trnh t hoat ong cua tay, may. Theo s o tren, mot so cong tac hanh trnh c s dung lai trong qua trnh ieu khien, nhng tai cac thi iem khac nhau cua chu trnh hoat ong tay may. Neu chng trnh ieu khien tay may hoan toan da tren s ket hp logic cua cac ngo vao th hoat ong se khong trnh t. Qua trnh ieu khien co tnh chat theo mot trnh t nao o; do o, ta phai can nh cac bc hien hanh e t o kch hoat bc ke tiep khi thoa man ieu kien chuyen bc. Co the thay ro rang tai mot thi iem ch co mot van soleniod hoat ong.
Hnh 2.29. S ni dy cc ng vo/ra Trang 76
Viec ieu khien trnh t tren co the thc hien bang cach dung thanh ghi. Vi lenh dch chuyen thanh ghi bc se c dch chuyen tng ng vi bit tren thanh ghi va xuat tn hieu cho ngo ra. Nh vay, khi chuoi d lieu 1001 c a vao thanh ghi, chuoi o se c chuyen doc theo thanh ghi, xem bang sau Noi dung cua thanh ghi khi dch chuyen
Xung kch hoat dch chuyen 0 0 1 2 3 4 5 6 7 D lieu a vao 0 1 0 0 1 0 0 0 0 Noi dung thanh ghi 0000 0000 1000 0000 0100 0000 0010 0000 1001 0000 0100 0000 0010 0000 0001 0000 0000 1001
Dong lenh RST se at thanh ghi ve gia tr 0 khi co xung kch hoat. Thng dung thanh ghi tao thanh tng bit rieng biet, goi la c, moi c co the s dung nh cong tac logic trong chng trnh. Trong v du tren, cac c M100 en M107 tao thanh 1 thanh ghi 8 bit (hnh 2.30). Cac bit tren thanh ghi dung e kch cac nhanh ngo ra tng ng vi cac cuon soleniod (Y30 en Y34) va di dang cong tac logic thng m hay thng ong trong nhanh lenh dch chuyen thanh ghi. Hoat ong Trong hnh 2.28 en 2.30 thong qua cong tac LS3 va LS5 noi tiep vi cac cong tac logic thng ong M101 en M107 kch lenh Out M100. Mach nay dung e a logic 1 vao M100 ch khi tay may v tr goc. cac bc khac, mach tren b h nen M100=0 co
Trang 77
tac dung a logic 0 vao thanh ghi. C M100 la On khi ang v tr ban au, va ieu o c nhan biet thong qua Y30. Nut nhan CHAY (ngo vao X1) co tac dung dch chyen thanh ghi, lam cho bit 1 dch chuyen t M100 en M101; do o, M101 la 1, M100 thanh 0. C M101 la 1 co tac dung kch hoat cuon soleniod i xuong (DOWN) thong qua mach cong tac logic M101 va Y001. Lu y rang nhanh song song au tien, M100 noi tiep X001 bay gi khong con tac dung. S chuyen bc Viec dch chuyen t bit 1 t c nay sang c ke tiep khong co van e thi gian chuyen bc, v bt 1 ra khoi c nay se dch chuyen sang c ke tiep. Trong v du nay cac c M100-M106 tao thanh mach cong tac khoa lan tren nhanh lenh dch chuyen thanh ghi SFTL. Cac c nay lai noi tiep vi cac ieu kien chuyen bc, cong tac PBO va cac cong tac hanh trnh t LS1 en LS5. S khoa lan nay am bao ch co mot bc c thc hien tai mot thi iem. Lu y rang ieu kien thoat khoi mot bc cung la ieu kien thc hien bc ke tiep. V du, ieu kien ra khoi bc ban au la M100 va X001va ay cung la ieu kien e thc hien bc 1 (M101). Viec s dung thanh ghi khong co kha nang chot la ieu can thiet v cac bit trong thanh ghi duy tr trang thai khi chung c at lai (reset) hay khi thc hien dch chuyen thanh ghi. Khi dch chuyen en M107 ,no kch hoat lenh RST. C M107 khong kch mot ngo ra vat ly nao ca, va no c s dung nhanh lenh OUT va lenh RST thanh ghi. V vay, M107 co tac dung a thanh ghi ve gia tr 0 va kch tay may khi v tr goc. Khi o, logic 1 cua M107 cung c at lai, va ieu o lam cho M100 lai co logic 1 khi may v tr goc. Qua trnh ieu khien bat au chu trnh mi .Mot cach khac e at lai thanh ghi la dung nut nhan ngo vao X0 va cong tac X0 c noi song song vi M107.
Trang 78
oan chng trnh con lai se c trnh bay chi tiet chng trnh sau, thiet ke chng trnh
Hnh 2.30. Chng trnh Ladder iu khin tay my dng thanh ghi dch chuyn
Trang 79
Thiet ke chng trnh Trong hau het cac yeu cau logic cho cac dong lenh dch chuen ,reset va a d lieu vao thanh ghi dch chuyen la de hieu ,khong can bc thiet ke chng trnh. Tuy nhien bieu thc logic co the quyet nh tac ca cac logic ieu khien chng trnh. oi vi v du tren, bieu thc ieu khien nh sau:
Chng trnh ngon ng Instruction nh sau :
Trang 80
2. ieu khien trnh t dung Stepladder Stepladder, goi tat la STL, la cong cu ieu khien rat hieu qua. Ky thuat lap trnh nay tng t vi s s o bieu dien s o chc nang cua hoat ong trnh t, thay the phng phap dung to hp logic truyen thong. Lap trnh Stepladder co ac iem lam cho viec ieu khien trnh t c n gian nh sau: Kha nang gi c trang thai hien hanh h dung c co kha nang chot. T ong vo hieu (reset)trang thai trc o khi chuyen vao trang thai hien hanh . De dang phan nhanh song song ca dang OR va AND. Ky thuat lap trnh nay c ho tr thong qua c trang thai S. Trc khi khao sat lap trnh Stepladder,ta can xem qua mot v du cho thay moi quan he gia stepladder vi s o chc nang hnh 2.31. S o chc nang hnh 2.31 (a) mo ta trnh t cac bc hoat ong (trang thai ). No cho thay c trnh t cac bc, hoat ong tng bc va cac ieu kien chuyen bc trong chuoi trnh t. Va trnh t nay co the thc hien bang lap trnh stepladder . a) Hoat ong ca mach trnh t STL Trang thai S10, trang thai khi tao,c kch hoat khi cong tac X0 ong. S10 kch ngo ra Y0 va co cong tac chuyen trang thai X1. Khi cong tac X1 ong (do kch Y0) trang thai S11 c kch hoat va t ong vo hieu trang tha trc o S10, khi o, S11 c chot va tr thanh trang thai hoat ong. Tung t S11 cung co cong tac ieu khien chuyen trang thai S12. Viec vo hieu va chot trang thai c thc hien t ong bi c che ieu khien STL. Th t STL la tuy chon, v du, c trang thai S20 co the thay the cho S10 trong v du tren . Phan sau se trnh bay chi tiet hn ve ky thuat lap trnh STL
Trang 81
V du ve ieu khien trnh t dung Stepladder
Hnh 2.31. (a) Biu din s chc nng mt chng trnh n gin (b) Chng trnh dng Stepladder
Trang 82
b) Lenh STL va lap trnh STL Lenh STL (Stepladder) Lenh STL the hien di dang cong tac STL cho phep ong hay m cac trang thai theo trnh t. Hnh 2.32 (a) trnh bay mach Stepladder c ban; hnh 2.32 (b) la mach thc hien chc nang tng ung bang cach dung lenh c ban Trong hnh 2.32 ngo ra Y1 c kch hoat khi cong tac Sa va Sb ong. Sau o, neu cong tac Xc ong, trang thai Sd tr thanh hoat ong va cong tac tung ng se at xuong (reset) trang thai Sa. ieu nay lam h cong tac Sa ban au, va trang thai ban au b vo hieu. Tuy nhien, lenh SET Y1 va SET Sd co tac dung t chot Y1 va Sd, chung se gi trang thai hoat ong tr khi no c vo hieu bi lenh RST au o trong chng trnh. Tac ong o thc te xay ra oi voi Y1: khi c M105 la ON, cuoi chng trnh khi co canh len cong tac Sd ,do lenh PLS, no thc hien at au chng trnh thong qua mach cong tac M105. Ly y ve c Master Control, M106, hnh 2.32 (b). Khi lenh MC M106 hoat ong, oan chng trnh gia gap lenh MC M106 va MCR M106 se hoat ong bnh thng.
Trang 83
Hnh 2.32: C che Stepladder (a): Mach c ban STL; (b): Mach tng ng dung lenh c ban
Nh vay, mach STL c phat trien t c ieu khien MC va MCR. No cho phep trang thai hoat ong thanh trang thai hien hanh, thc hien tac vu trong trang thai o va chuyen trang thai khi thoa ieu kien. Cac ac iem nay lam cho ky thuat lap trnh STL la cong cu chuyen dung cho he thong ieu khien trnh t. Lap trnh dung STL Hnh 2.33 cho thays ng dung c STL ieu khien trnh t hai bc. Sau cong tac STL, cong tac thng ong va thng m c s dung e bieu dien logic trong bc hien hanh. Tng t ap dung cho cac trang thai tiep theo. Ket thuc oan chng trnh STL bang lenh RET.
Trang 84
Hnh 2.33. Chng trnh STL
c) OR nhanh STL (chon nhanh song song ) Hnh 2.34 s o chc nang va chng trnh ladder e chon gia hai nhanh a va b, tuy thuoc ieu kien vao nhanh, X1 hay X4. Ca hai nhanh ieu co chung trang thai ra la S16.
Trang 85
Hnh 2.34:Chon nhanh hoat ong trong chng trnh STL
Trang 86
Phan nhanh Lap trnh chon nhanh bang cach OR cac ieu kien sau trang thai S11. V the, neu X1 la ON sau S11, trang thai S12 kch hoat va nhanh A c chon. Tng t, neu X4 len ON, trang thai S14 c kch hoat va nhanh B c chon. Trang thai trc o S11 t ong vo hieu khi S12 hay S14 c kch hoat. Hp nhanh Trang thai chung S16 c kch hoat t trang thai S13 thuoc nhanh A hay S15 thuoc nhanh B. Trang thai trc o, S13 hay S15 b vo hieu t ong t S16 bi c che ieu khien STL. Viec hp nhanh c thc hien bang cach lap chng trnh cac ieu kien X3 va X6. Thc hien tng t nh them cac nhanh khac. d) AND nhanh STL (phan nhanh song song ) Hnh 2.35 minh hoa cau truc a nhanh A va B, viec thc hien vao nhanh va ra nhanh c thc hien ong thi nh la thc hien nhanh n. Khi ang trang thai S11, ieu kien X1 thoa, se kch ong thi ca hai trang thai S12 va S14, vo hieu S11; hai nhanh A va B c thc hien ong thi.
Trang 87
Hnh 2.35. Phn nhnh AND v hp nhnh trong lp trnh STL
Trang 88
Hp nhanh Viec chuyen vao trang thai chung S16 ch co the co the thc hien c khi cac trang thai S13 (thuoc nhanh A) va S15 (thuoc nhanh B) ang hoat ong, va thoa ieu kien X4. Ngha la: S16 = S13.S15.X4 e) S ket hp cac loai nhanh STL Nhieu qua trnh ieu khien cong nghiep co dang mot hoat ong tnh trang luon luon c thc hien, va, neu thoa mot ieu kien nao o, hoat ong song song th hai c thc hien ong thi. Loai hoat ong nay co the c lap trnh dung k thuat STL trong hnh 2.36 Hoat ong Trong v du nay, nhanh s ly chnh gom trang thai S10, S11 va S13. Trang thai S11 co mot nhanh song song S12. ieu kien bnh thng khi X1 = ON, trang thai S11 c kch hoat va nhanh co S12 ch c kch hoat khi co them ieu kien X3=ON Hp nhanh Trang thai S13 c kch hoat t trang thai S11 hay S12 khi go vao X2 hay X4 thoa tng ng. Khi ch S11 hoat ong, hoat ong nay la bnh thng. Tuy nhien, neu nhanh song song cung hoat ong th ng vao trang thai S13 ton tai oi vi ca hai nhanh, bat chap hoat dong cua nhanh con lai hoan tat hay cha: S11.X2 + S12.X4 Ta khong muon co tnh trang nay v cac hoat ong cua hai nhanh co S11 va S12 kho co the c hoan tat cung luc, va can xem xet lai e bao am rang qua trnh hoat ong khong the tiep tuc khi co mot nhanh cha hoan tat. Trang thai S13 vo hieu trang thai gay ra s chuyen trang thai o, ngoai ra co the vo hieu trang thai au tien
Trang 89
gay ra s chuyen trang thai, gia s S11, mot thi gian sau khi co s chuyen trang thai t S12 lam kch hoat trang thai S13 mot lan na va trang thai S12 b vo hieu. C che hoat ong nay ch co the c thc hien neu khong co s chuyen trang thai tai S13 trc khi ca hai nhanh c hoan tat. e am bao rang s chuyen trang thai S13 sang S14 ch co the xay ra khi ca hai trang thai S11 va S12 hoan tat (S11 = 0 va S12 = 0), van e nay c giai quyet bang cach:
Trang 90
Hnh 2.36. S dng kt hp cc nhnh song song
f) S lap lai hoat ong trnh t Thng ta can lap lai mot phan cua trnh t hoat ong vi mot so lan nao o, khi hoat ong nay bang tay (manual mode) hay t ong(automatic mode). Trong v du hnh 2.37, bo em c s dung phoi hp vi hoat ong trnh t minh hoa ieu nay.
Trang 91
Hoat ong Bo em c kch hoat (tang 1) moi khi trang thai S14 hoat ong. Gia tr cua bo em co the c nhap bang bo cong tac chon nhan ( thumbwhell switch) c noi ngo vao cua bo ieu khien hoac c xac nh trong chng trnh. Trong v du nay, bo em c gan gia tr 8. Khi xuong en trang thai S14 la hoat ong trnh t bnh thng, sau trang thai S14 co s la chon gia S15 va S12 tuy thuoc vao ieu kien chuyen trang thai Nh vay khi bo em CO cha at en gia tr nh trc la 8, ieu kien co the chuyen vao trang thai S15 khong thoa v cong tac CO h, xem bieu thc (b). Bieu thc logic (a) ung neu bo em b kch hoat t hn 8 lan va cong tac X5 ong. ieu nay co tac dung lap lai 8 lan qua trnh t S12 en S14 v bo em tang len 1 moi khi S14 hoat ong. Khi bo em vt gia tr 8, trang thai S15 c kch hoat, thay v S12. Bo em cung c at lai (reset) thong qua cong tac thng S15 e chuan b cho chu ky hoat ong tiep theo
Trang 92
Hnh 2.37. Lp trnh lp li hot ng bng b m
Trang 93
CHNG 3:
CC BI TP NG DNG PLC MITSUBISHI
I.
Cc bi tp dng c bn: Bi 1. n v phc v: 1. M hnh hot ng:
2. Bng khai bo thit b: Dng a ch thit b X0 Ng vo X1 X2 Ng ra Y0 Y1 Tn thit b Nt nhn N1 Nt nhn N2 Nt nhn OFF n bo 1 n bo 2 S hot ng ON/OFF tc thi ON/OFF tc thi ON dng hot ng Sng khi Y0 ON Sng khi Y1 - ON
3. Mc ch iu khin: iu khin n v phc v trong nh hng bng cc lnh c bn
Trang 94
4. Nhng c tnh iu khin: Khi nt nhn N1 trn bn c nhn, n bo 1 Y0 trn tng s bt
sng. Nu th nt nhn N1, n bo 1 Y0 vn sng Khi nt nhn N2 trn bn c nhn, n bo 2 Y1 trn tng s bt
sng. Nu th nt nhn N2, n bo 2 Y0 vn sng. Khi c 2 n bo 1 Y0 v n bo 2 Y1 bt sng th n bo hiu
3 Y2 trn bng iu khin bt sng Khi nt nhn OFF c nhn, c 2 n bo 1 Y0, n bo 2 Y1 v
n bo hiu 3 Y2 tt
5. S nguyn l:
Trang 95
6.
Chng trnh Ladder mu:
Bi 2.
Pht hin dng cm bin quang: 1. M hnh hot ng:
Trang 96
2. Bng khai bo thit b: Dng a ch thit b X0 Ng vo X1 X2 X3 Y0 Ng ra Y2 Y3 Y7 Tn thit b Vo cng (ngi) Ra cng (ngi) Vo cng (xe) Ra cng (xe) n xanh 1 (ngi) n xanh 2 (xe) n 3 (xe) Ci bo S hot ng ON khi pht hin c ngi vo ON khi pht hin c ngi ra ON khi pht hin c xe vo ON khi pht hin c xe ra Bt sng khi Y0 - ON Bt sng khi Y2 ON Bt sng khi Y3 ON Ku ln khi Y7 ON
3. Mc ch iu khin: Bt tia sng ln khi pht hin c ngi hay xe i qua. S dng cc lnh c bn v b nh th. 4. Nhng c tnh iu khin: Pha ngi: Khi cm bin vo cng X0 pht hin c ngi vo th n xanh Y0 bt ln. Khi cm bin ra cng X1 pht hin c ngi i qua th sau 5s n xanh Y1 tt. Pha xe: Khi cm bin vo cng X2 pht hin c xe vo th n xanh Y2 c bt ln. Khi cm bin ra cng X3 pht hin c xe i qua th sau 5s n xanh Y2 tt. Nu xe khng bng qua vng gia cm bin vo cng X2 v ra cng X3 trong 10s, n Y3 bt sng v ci bo Y7 vang ln
Trang 97
Ngay khi xe bng qua cm bin ra cng X3 th n Y3 tt v ci bo Y7 ngng. 5. S nguyn l:
6. Chng trnh Ladder mu:
Trang 98
Bi 3.
iu khin nh th mch n giao thng: 1. M hnh hot ng:
2. Bng khai bo thit b: Dng Ng vo a ch thit b X0 Y0 Ng ra Y1 Y2 Tn thit b Nt nhn ON n n vng n xanh S hot ng ON: qu trnh hot ng Bt sng khi Y0 ON Bt sng khi Y1 - ON Bt sng khi Y2 - ON
3. Mc ch iu khin: iu khin n giao thng thay i ti cc khong thi gian ch nh. S dng cc lnh c bn v b nh th 4. Nhng c tnh iu khin: Khi nt nhn X0 c nhn, qu trnh bt u hot ng. u tin, n Y0 sng trong 10s. Sau n Y0 tt, ng thi n vng Y1 sng trong 5s.
Trang 99
Sau n vng Y1 tt, ng thi n xanh Y2 sng trong 10s. Sau n xanh Y2 tt v qu trnh c lp li t bc 2. 5. S nguyn l:
Trang 100
Bi 4.
Phn loi sn phm theo kch c (I):
1. M hnh hot ng:
2. Bng khai bo thit b: Dng a ch thit b X0 Tn thit b Cm bin trn S hot ng ON khi sn phm c pht hin ON khi sn phm c pht hin ON khi sn phm c pht hin ON khi pht hin sn phm cui bng ti ON qu trnh hot ng Bng ti di chuyn khi X6 ON Bng ti chy v pha trc khi Y0 ON
X1
Cm bin gia
Ng vo
X2
Cm bin di
X4 X5 X6
Cm bin cui Nt START Cng tc Bng ti chy v pha trc
Ng ra
Y0
Trang 101
Y1 Y2 Y3 Y4
Lnh cung cp n 1 n 2 n 3
Khi Y1 ON, 1 sn phm c cung cp Bt sng khi Y2 ON Bt sng khi Y3 ON Bt sng khi Y4 ON
3. Mc ch iu khin: Phn loi 3 sn phm c kch c khc nhau v c mang trn bng ti
4. Nhng c tnh iu khin: Khi nt nhn START X5 c nhn trn bng iu khin, lnh cung cp Y1 cho robot chuyn sang ON. Khi th nt nhn START, lnh cung cp Y1 chuyn sang OFF. Khi cng tc X6 c bt sang ON trn bng iu khin, bng ti Y0 di chuyn v pha trc. Khi cng tc X6 chuyn sang OFF, bng ti Y0 ngng. Sn phm ln, trung bnh, nh trn cc bng ti c phn loi bng cc cm bin X0, X1, X2 v sau n tng ng bt sng. Sn phm ln n 1 (Y2) Sn phm trung bnh n 2 (Y3) Sn phm nh n 3 (Y4) n bo c bt sng tc th sau khi cc cm bin (X0, X1, X2) phn bit kch c sau tt khi sn phm i qua cm bin X4.
Trang 102
5. S nguyn l:
Trang 103
Bi 5.
Khi ng/ dng bng ti: 1. M hnh hot ng:
2. Bng khai bo thit b:
Dng Ng vo
a ch thit b X0 X1 Y0 Y1
Tn thit b Nt nhn START Nt nhn STOP n vng Ci bo Bng ti chy v pha trc n xanh
S hot ng ON qu trnh hot ng ON qu trnh ngng hot ng Bt sng khi Y0 ON Vang ln khi Y1 ON Bng ti chy khi Y2 ON Bt sng khi Y3 ON
Ng ra
Y2 Y3
3. Mc ch iu khin: Khi ng/ dng bng ti ty theo trnh t nh trc 4. Nhng c tnh iu khin: Khi nt nhn START c nhn trn bng iu khin, n vng Y0 bt sng v ci bo Y1 vang ln trong 5s, n vng Y0 vn sng.
Trang 104
Sau khi n vng Y0 tt v ci bo Y1 ngng, bng ti Y2 di chuyn v pha trc. n xanh Y3 bt sng trong khi bng ti Y2 hot ng. Khi nt nhn STOP c nhn trn bng iu khin, hot ng trong bc 1 v bc 2 ngng. Hot ng c lp li khi qu trnh m t trong bc 1 c thi hnh. 5. S nguyn l:
Trang 105
Bi 6.
Truyn ng bng ti:
1. M hnh hot ng:
Dng
a ch thit b X0 X1
Tn thit b Cm bin bng ti trn Cm bin bng ti gia
S hot ng ON khi pht hin sn phm ON khi pht hin sn phm
Ng vo
X2 X3 X4 Y0
Cm bin bng ti di ON khi pht hin sn phm Cm bin cui Nt nhn ON Bng ti trn chy v pha trc Bng ti gia chy v pha trc Bng ti di chy v pha trc ON khi pht hin sn phm ON qu trnh hot ng Khi Y0 ON, bng ti di chuyn
Ng ra
Y1
Khi Y1 ON, bng ti di chuyn
Y2
Khi Y2 ON, bng ti di chuyn
Trang 106
Y3
Lnh cung cp
Mt sn phm c cung cp, mt tin trnh bt u
3. Mc ch iu khin: Vn hnh bng ti ty theo tn hiu cm bin. 4. Nhng c tnh iu khin: Khi nt nhn ON c nhn trn bng iu khin, lnh cung cp Y3 cho robot chuyn sang ON nu robot ang v tr bt u. Khi th nt nhn ON, lnh cung cp Y3 c t gi cho n khi robot quay tr v v tr bt u. Khi cm bin X0 pht hin sn phm, bng ti trn chy v pha trc, Y0 bt ln ON. Khi cm bin X1 pht hin sn phm, bng ti gia chy v pha trc, Y1 bt ln ON v bng ti trn Y0 ngng. Khi cm bin X2 pht hin sn phm, bng ti di chy v pha trc, Y2 bt ln ON v bng ti gia Y1 ngng. Khi cm bin X3 pht hin sn phm, bng ti di Y2 ngng. Khi cm bin X3 bt ln ON, lnh cung cp Y3 cho robot chuyn sang ON v mt sn phm mi c cung cp nu robot ang v tr bt u. 5. S nguyn l:
Trang 107
II. Cc bi tp dng trung bnh Bi 1. Tn hiu nt nhn
1. M hnh hot ng:
Trang 108
Dang
a ch thiet b Y0
Ten thiet b en o en vang en xanh
Ngo ra
Y1 Y2
S hoat dong Sang khi Y0 ON Sang khi Y1 ON Sang khi Y2 ON
3. Mc ch iu khin: Chuyn i tn hiu n giao thng t 1 nt nhn 4. Nhng c tnh iu khin: - en tn hieu o (Y0) nhap nhay trong khoang 1-2 giay (sang trong 1s va tat trong 1s). - Khi nut nhan X10 tren bng ieu khien c nhan , tn hieu ch th Y10 tren ban van hanh se sang. Neu tha nut nhan Y10, tn hieu ch th Y10 van sang . - Sau khi tn hieu ch th Y10 sang c 5s, s hoat ong cac tn hieu thay oi nh mo ta t bc 4 en bc 7 : - au tien tn hieu o Y0 nhap nhay trong 5s trong khi tn hieu ch th Y10 van sang. - en tn hieu o Y0 tat. en tn hieu vang Y1 sang trong 5s. - Sau khi en tn hieu vang Y1 tat, en tn hieu xanh Y2 sang trong 10s. - Sau khi en tn hieu xanh Y2 tat, en tn hieu o Y0 nhap nhay trong khoang 1-2 giay (sang trong 1s va tat trong 1s). S hoat ong cac tn hieu la lai t bc 1.
Trang 109
5. S nguyn l:
Trang 110
Bi 2.
Phn loi sn phm theo kch c (II)
1. M hnh hot ng:

Dang a ch thiet b X0 X1 X2 X3 Ngo vao X4 X5 Y0 Ngo ra Ten thiet b iem bat au Tren Gia Thap Cam bien Cam bien Lenh cung cap Bang tai chay thuan (ve pha trc) S hoat dong ON khi Robot v tr xuat phat. ON khi san pham kch c ln dc phat hien. ON khi san pham kch c trung bnh dc phat hien. ON khi san pham kch c nho dc phat hien. ON khi san pham c phat hien cuoi bang chuyen phai ON khi san pham c phat hien cuoi bang chuyen phai Mot san pham c cung cap khi Y0 la ON. Mot tien trnh bat au theo th t cac xilanh :ln, nho, nho, ln va nho. Khi Y1 la ON _ bang tai di chuyen ve pha trc.
Y1
Trang 111
Y2 Y5
Bang tai chay thuan (ve pha trc) Can phan loai
Khi Y2 la ON _ bang tai di chuyen ve pha trc. Di chuyen ra pha trc khi Y5 la ON.
3. Mc ch iu khin: Phn loi sn phm n v tr c kch c tng ng 4. Nhng c tnh iu khin: - Khi cong tac X24 tren bang ieu khien bang tai di chuyen ve pha trc. Khi X24 tren bang ieu khien c chuyen sang OFF, cac bang tai ngng hoat ong. - Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap san pham Y0 cho robot hoat ong. Lenh cung cap san pham Y0 c chuyen sang OFF khi robot dy chuyen khoi iem bat au (robot se hoan thanh chu trnh gap san pham). - Robot se cung cap cac san pham co kch c ln, trung bnh hoac nho. - San pham ln c dan en bang chuyen pha sau (i qua cam bien X5). - San pham nho c dan en bang chuyen pha trc (i qua cam bien X4). Kch c san pham c nhan dang bang cac tn hieu Tren X1, Gia X2, Thap X3 c dat tren bang chuyen.
Trang 112
5. S nguyn l:
Trang 113
Bi 3.
Phn loi sn phm
1. M hnh hot ng:
Trang 114

a ch Ten thiet b thiet b X0 iem bat au X1 San pham tren ban Ngo vao S hoat ong cua X2 robot hoan tat. Dang Y0 Ngo ra Y1 Y2 Lenh cung cap. Bang tai chay thuan. Lenh gap san pham. S hoat dong ON khi Robot v tr xuat phat. ON khi san pham ang nam tren ban. ON khi s hoat ong cua robot hoan tat. Ch th tren man hnh bat sang khi Y0_ON. Luc o ngi van hanh cung cap san pham. Khi Y1_ON bang tai dy chuyen ve pha trc. Robot gap san pham en khay ng khi Y2_ON. Mot tien trnh bat au.
3. Mc ch iu khin: Truyn lnh cho robot di chuyn sn phm n v tr mi 4. Nhng c tnh iu khin: - Ngi van hanh cung cap san pham en bang chuyen va bat sang en ch th (nguon cung cap cho phep). Neu en ch th luon c bat sang, ngi van hanh cung cap san pham lien tuc. - Bang tai luon di chuyen ve pha trctrong khi PLC trang thai RUN. - Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap san pham Y0 chuyen sang ON va en bao ch th (nguon cung cap cho phep) bat sang, Ngi van hanh cung cap san pham. Sau khi tha nut nhan X20, en bao ch th tat. Tuy nhien lenh cung cap san pham Y0 se khong chuyen sang ON_en bao ch th (nguon cung cap cho phep) khong bat sang neu van con 1 san pham tren ban. - Khi cam bien san pham tren ban X1 trong robot chuyen sang ON, lenh gap san pham Y2 c bat len ON. Khi cam bien s hoat ong robot hoan tat X2 chuyen
Trang 115
sang ON (khi san pham a dat tren khay), lenh gap san pham Y2 c chuyen ve OFF. Lenh gap san pham Y2 c bat len ON ch nkhi nao robot v tr bat au.
5. S nguyn l:
Trang 116
Bi 4.
iu khin my khoan
1. M hnh hot ng:
Trang 117

Dang a ch Ten thiet b thiet b X0 ang khoan San pham di may X1 khoan X2 Ngo vao X3 X5 Y0 Y1 Ngo ra Y2 a khoan ung. a khoan sai. Cam bien. Lenh cung cap. Bang tai chay ve pha trc. Bat au khoan. S hoat dong ON trong khi ang khoan. ON Khi san pham di may khoan. ON Khi san pham c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. ON Khi san pham khong c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. ON khi phat hien co san pham cuoi bang chuyen phai. Khi Y0_ON, mot san pham c cung cap. Mot tien trnh bat au: khoi kim loai ln. Khi Y1_ON, bang tai dy chuyen ve pha trc. Khi Y1_ON, bat au khoan (Mot tien trnh khong the b dng gia chng).
3. Mc ch iu khin: iu khin my khoan v cc thit b khc 4. Nhng c tnh iu khin: - Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan X20, lenh cung cap Y0 chuyen sang OFF. Khi lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. - Khi cong tac X24 tren bang ieu khien c chuyen len ON, bang tai di chuyen ve pha trc. Khi X24 tren bang ieu khien c chuyen sang OFF, bang tai ngng. * ieu khien cac qua cam :
Trang 118
- Khi cam bien co san pham di may khoan X1 at trong may khoan chuyen sang ON, bang tai ngng. - Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien ang khoan X0 bat On th Y2 c chuyen sang OFF. - Khi bat au khoan Y2 c chuyen sang ON, cam bien a khoan ung X2 lan a khoan sai X3 eu c bat len ON sau khi may khoan a van hanh mot chu ky hoan tat (May khoan khong the b dng gia luc van hanh). - Sau khi cam bien a khoan ung X2 lan a khoan sai X3 c xac nh, san pham se c mang i va at tren khay ben phai. Khi ten cac san pham b khoan nhieu lo, cam bien a khoan sai X3 c bat len ON. Trong bai tap nay khong co cach ieu khien ac biet cho san pham b loi.
5. S nguyn l:
Trang 119
Trang 120
Bi 5.
iu khin cung cp sn phm
1. M hnh hot ng:

Dang a ch Ten thiet b thiet b X0 iem bat au X1 Hop tren bang tai. X2 Cam a cung cap. Cam bien. Y0 Ngo ra Y1 Y2 Lenh cung cap. Bang tai chay ve pha trc. Lenh cap cam. S hoat dong ON khi Robot v tr xuat phat. ON khi hop di bo phan cung cap cam. ON khi cam c phat hien (dung cho viec em). ON khi phat hien co san pham cuoi bang chuyen phai. Khi Y0_ON, 1 san pham c cung cap. Mot tien trnh bat au: hop ln. Khi Y1_ON, bang tai dy chuyen ve pha trc. Khi Y1_ON, cam c cung cap.
Ngo vao
3. Mc ch iu khin: t cc qu cam theo l thuyt vo hp trn bng ti
Trang 121
4. Nhng c tnh iu khin: * ieu khien chung : - Khi cong tac X24 tren bang ieu khien c chuyen len ON, bang tai di chuyen ve pha trc. Khi X24 tren bang ieu khien c chuyen sang OFF, bang tai ngng. - Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap Y0 cho robot chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF, khi robot dy chuyen khoi v tr bat au . Khi lenh cung cap Y0 c chuyen sang ON, robot cung cap hop. * ieu khien may khoan : - Khi cam bien co hop tren bang tai X1 at trong bo phan cung cap cam chuyen sang ON, bang tai ngng. - Trong hop c at 5 qua cam. Cac hop at 5 qua cam c mang en khay ben phai. - Cam c cung cap khi lenh cap cam Y2 bat len ON va so cam cung cap c em khi cam bien cam a cung cap bat len ON. 5. S nguyn l:
Trang 122
Trang 123
Bi 6.
iu khin bng ti
1. M hnh hot ng:

Dang a ch thiet b X10 Ngo vao X11 X12 Y10 Ngo ra Y11 Y12 Ten thiet b Gii han trai. Gii han phai. Cam bien dng. Lenh cung cap. Bang tai chay thuan. Bang tai chay nghch. S hoat dong ON khi phat hien san pham cuoi bang chuyen trai. ON khi phat hien san pham cuoi bang chuyen phai. ON khi phat hien san pham. Khi Y10_ON, san pham c cung cap. Mot tien trnh bat au. Khi Y11_ON bang tai dy chuyen ve pha trc. Khi Y12_ON, bang tai dy chuyen ngc lai.
3. Mc ch iu khin: Di chuyn bng ti chy thun hay nghch da theo c tnh iu khin 4. Nhng c tnh iu khin: - Khi nut nhan X20 tren bang ieu khien c nhan, lenh cung cap Y10 cho pheu chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF, khi tha tay nhan X20. Khi lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham.
Trang 124
- Khi nut nhan X21 tren bang ieu khien c nhan, bang tai van hanh theo th t c mo ta trong bc 3 en bc 6 di ay. Neu tha tay nhan X21, th t van hanh tiep tuc. - Bang tai bat au dy chuyen khi ngo ra bang tai chay thuan Y11 c bat len ON va dng khi cam bien phat hien san pham gii han phai X11 chuyen sang ON. - Khi ngo ra bang tai chay nghch Y12 c bat len ON, bang tai dy chuyen ngc lai cho en khi cam bien phat hien san pham gii han trai X10 chuyen sang ON. - San pham gii han trai trong 5 giay. - 5 giay sau, ngo ra bang tai chay thuan Y11 c bat len ON va bang tai dy chuyen cho en khi cam bien dng X12 chuyen sang ON.
5. S nguyn l:
Trang 125
Trang 126
III. Cc bi tp dng nng cao Bi 1. Vn hnh ca t ng

Dng a ch thit b X0 X1 X2 X3 Y0 Y1 Ng ra Y2 Y3 Tn thit b Gii hn di Gii hn trn Cam bien vao cong Cam bien ra khoi cong Ca nang len Ca ha xuong en bao Coi bao S hot ng ON khi ca en gii han di ON khi ca den gii han tren ON khi i tng n gn ca ON khi i tng ra khi ca Khi Y0_ON,ca c nng ln Khi Y1_ON,ca c h xung Khi Y2_ON,n bo bt sng KhiY3_ON,ci ku ln (n trn man hnh bt sng).
Ng vo
2. Mc ch iu khin: iu khin ca m hay ng khi pht hin c i tng 3. Nhng c tnh iu khin: iu khin t ng:
Khi cm bin vo cng X2 nhn bit c i tng th ca di chuyn ln trn . Khi cm bin ra khi ca X3 nhn bit c ii tng ra khi ca th ca di chuyn xung. Ca ngng di chuyn ln trn khi cm bin Gii hn trn X1 chuyn ln ON. Ca ngng di chuyn xung di khi cm bin Gii hn di X0 chuyn ln ON. Trong khi vn cn nm trong gii hn gia cm bin vo cng X2, cm bin ra khi cng X3 th ca khng di chuyn xung v n bo Y2 bt sng . iu bng tay: Khi nhn nt [ Ca nng ln] X4 th ca s c di chuyn ln trn. Khi nhn nt [ Ca h xung ] X5 th ca s c h xung.
Trang 127
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien, th no se tac ong vao tiep iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien. T o, a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien, th no se tac ong vao tiep iem thng m RL3 .T o ,a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien. T o, a ch X003 cua PLC se nhan c tn hieu. Khi tac ong vao S4 th cuon day Rle RL5 se co ien, th no se tac ong vao tiep iem thng m RL5. T o, a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien. T o, a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien, th no se tac ong vao tiep iem thng m RL7. T o, a ch X006 cua PLC se nhan c tn hieu.
Trang 128
Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai. T o, cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai. T o, cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai. T o, cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o, cuon K4 se co ien. 5. Chng trnh Ladder mu:
Trang 129
Bi 2.
B tr sn khu

Dng a ch thit b X0 X1 X2 X3 Ng vo X4 X5 X6 X7 Y0 Y1 Ten thit b Ben trong (man ca trai) gia (man ca trai) Ben ngoai (man ca trai) Ben trong (man ca phai) gia (man ca trai) Ben ngoai (man ca trai) Gii han tren cua san khau Gii han di cua san khau Lenh m man ca Lenh ong man ca San khau i len S hot ng ON khi man ca ong hoan toan. ON khi man ca v tr gia. ON khi man ca m hoan toan ON khi man ca ong hoan toan. ON khi man ca v tr gia . ON khi man ca m hoan toan ON khi san khau en gii han tren . ON khi san khau en gii han di. Khi Y0_ON man ca m.Khi Y0_OFF ,man ca dng. Khi Y1_ON ,man ca ong.Khi Y1_OFF,man ca dng. Khi Y2_ON, san khau di chuyen len tren. Khi Y2_OFF, san khau dng. Khi Y3_ON san khau di chuyen xuong .Khi Y3_OFF, san khau dng. Khi Y4_ON, coi keu len (en tren man hnh bat sang).
Y2 Ng ra
Y3 Y4
San khau i xuong Coi bao
2. Mc ch iu khin: iu khin vic b tr sn khu ty theo c tnh iu khin
Trang 130
3. Nhng c tnh iu khin: Van hanh t ong : Khi nut nhan [START] X10 c nhan tren bng iu khin, coi bao Y4 keu trong 5s. Nut nay ch co tac dung khi man ca c ong hoan toan va san khau v tr gii han di. Khi coi ngng, lenh m man ca Y0 chuyen sang ON va man ca c m cho en khi chung en gii han ben ngoai (X2 vaX5). Sau khi man ca a m hoan toan, san khau bat au di chuyen len tren khi Y2 chuyen sang ON va dng lai khi Gii han tren cua san khau X6 chuyen sang ON. Khi nut nhan [STOP] X11 c nhan tren ban van hanh, lenh ong man ca Y1 c chuyen sang ON va man ca ong lai cho en khi chung en gii han ben trong (X0 va X3). Van hanh bang tay: Man ca ch c m khi nut nhan X12 tren bng iu khin ang c nhan. Man ca dng cho en khi en gii han ben ngoai (X2 va X5). Man ca ch co the c ong khi nut nhan X13 tren bng iu khin ang c nhan. Man ca ong cho en khi en gii han ben trong (X0 va X3). Khi nhan nut X14 th san khau se di chuyen len tren va no dng khi ung cam bien gii han tren X6. Khi nhan nut X15 th san khau se di chuyen xuong va no dng khi ung cam bien gii han di X7.
Trang 131
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien, th no se tac ong vao tiep iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien. T o, a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien, th no se tac ong vao tiep iem thng m RL3. T o ,a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien .T o, a ch X003 cua PLC se nhan c tn hieu.
Trang 132
Khi tac ong vao S4 th cuon day Rle RL5 se co ien, th no se tac ong vao tiep iem thng m RL5 .T o ,a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien. T o, a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien, th no se tac ong vao tiep iem thng m RL7 .T o ,a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien, th no se tac ong vao tiep iem thng m RL8. T o ,a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao tiep iem thng m RL9 .T o ,a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien ,th no se tac ong vao tiep iem thng m RL10. T o, a ch X011 cua PLC se nhan c tn hieu. Khi tac ong vao S10 th cuon day Rle RL11 se co ien ,th no se tac ong vao tiep iem thng m RL11. T o, a ch X012 cua PLC se nhan c tn hieu. Khi tac ong vao S11 th cuon day Rle RL12 se co ien ,th no se tac ong vao tiep iem thng m RL12. T o, a ch X013 cua PLC se nhan c tn hieu. Khi tac ong vao S12 th cuon day Rle RL13 se co ien ,th no se tac ong vao tiep iem thng m RL13. T o, a ch X014 cua PLC se nhan c tn hieu. Khi tac ong vao S13 th cuon day Rle RL14 se co ien ,th no se tac ong vao tiep iem thng m RL14 .T o ,a ch X015 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai. T o, cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai. T o, cuon K2 se co ien.
Trang 133
Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai. T o, cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o, uon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai.T o ,cuon K5 se co ien. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai .T o ,cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai .T o,cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai .T o ,cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai.T o ,cuon K4 se co ien.
Trang 134
Bi 3.
Phn phi sn phm

Dang a ch thiet b X0 X1 X2 X3 Ten thiet b iem bat au Tren Gia Di S hoat ong ON khi robot v tr bat au ON khi san pham c phat hien ON khi san pham c phat hien ON khi san pham c phat hien
Trang 135
X4 Ngo vao X5 X6 X7 X10 X11 X12
Cam bien Cam bien Cam bien Cam bien Phat hien san pham Phat hien san pham Phat hien san pham
Y0
Lenh cung cap
ON khi san pham c phat hien tren mat nghieng ON khi san pham c phat hien tren mat nghieng ON khi san pham c phat hien tren mat nghieng ON khi san pham c phat hien cuoi bang tai ben phai ON khi san pham c phat hien trc vat ay ON khi san pham c phat hien trc vat ay ON khi san pham c phat hien trc vat ay Khi Y0_ON ,1 san pham c cung cap .Mot tien trnh c bat au:san pham go c lap lai theo th t Trung bnh_Nho_Ln_Trung bnh_Trung bnh_Ln_Nho_Nho_Ln_Ln. Khi Y1_ON, bang tai di chuyen ve pha trc Khi Y2_ON , bang tai di chuyen ve pha trc Khi Y3_ON , bang tai di chuyen ve pha trc Khi Y4_ON , bang tai di chuyen ve pha trc Duoi ra khi Y5_ON va thu lai khi Y5-OFF.C cau ay khong the dng gia hanh trnh.
Y1 Ngo ra Y2
Y3
Y4
Bang tai di chuyen ve pha trc Bang tai di chuyen ve pha trc Bang tai di chuyen ve pha trc Bang tai di chuyen ve pha trc C cau ay
Y5
Trang 136
Y6
C cau ay
Y7
C cau ay
Duoi ra khiY6_ON va thu lai khi Y6_OFF. C cau ay khong the dng gia hanh trnh. Duoi ra khi Y7_ON va thu lai khiY7_OFF. C cau ay khong the dng gia hanh trnh.
2. Mc ch iu khin: Phn phi cc sn phm l thuyt theo kch c 3. Nhng c tnh iu khin: Khi nhan nut X14 tren bng iu khin, lenh cung cap Y0 cho robot chuyen len ON. Lenh cung cap Y0 chuyen sang OFF khi robot di chuyen san pham hoan tat va quay tr ve iem ban au. Khi cong tac X14 tren bng iu khin chuyen sang ON, cac bang tai di chuyen ve pha trc. Khi cong tac X14 chuyen sang OFF, cac bang tai dng. San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X1, Gia X2, Di X3 va sau o c a en cac khay ng san. Khi cam bien phat hien san pham trc c cau ay X10, X11, X12 chuyen sang ON th cac bang tai dng va san pham c ay len khay nh cac c cau ay: Y5, Y6, Y7. Khi so lng san pham trong cac khay la:san pham ln:3 ; san pham trung bnh:2 ; san pham nho:2 th cac c cau ay se bo qua cac san pham tha. Cac san pham nay se ri xuong cuoi bang ta ben phai.
Trang 137
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep iem thng m RL1 .T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien .T o ,a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep iem thng m RL3 .T o ,a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien .T o ,a ch X003 cua PLC se nhan c tn hieu.
Trang 138
Khi tac ong vao S4 th cuon day Rle RL5 se co ien ,th no se tac ong vao tiep iem thng m RL5 .T o ,a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien .T o ,a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien ,th no se tac ong vao tiep iem thng m RL7 .T o ,a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien ,th no se tac ong vao tiep iem thng m RL8 .T o ,a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao tiep iem thng m RL9 .T o ,a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien ,th no se tac ong vao tiep iem thng m RL10 .T o ,a ch X011 cua PLC se nhan c tn hieu. Khi tac ong vao S10 th cuon day Rle RL11 se co ien ,th no se tac ong vao tiep iem thng m RL11 .T o ,a ch X012 cua PLC se nhan c tn hieu. Khi tac ong vao S11 th cuon day Rle RL12 se co ien ,th no se tac ong vao tiep iem thng m RL12 .T o ,a ch X013 cua PLC se nhan c tn hieu. Khi tac ong vao S12 th cuon day Rle RL13 se co ien ,th no se tac ong vao tiep iem thng m RL13 .T o ,a ch X014 cua PLC se nhan c tn hieu. Khi tac ong vao S13 th cuon day Rle RL14 se co ien ,th no se tac ong vao tiep iem thng m RL14 .T o ,a ch X015 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai .T o ,cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai .T o ,cuon K2 se co ien.
Trang 139
Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai .T o ,cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o, cuon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai. T o, cuon K5 se co ien. Khi Y005 co tn hieu th cuon day cua Rle R6 se co ien nen tiep iem thng m cua R6 se ong lai. T o, cuon K6 se co ien. Khi Y006 co tn hieu th cuon day cua Rle R7 se co ien nen tiep iem thng m cua R7 se ong lai. T o, cuon K7 se co ien.
Trang 140
Trang 141
Bi 4.
Phn loi cc sn phm b li
Dang
a ch thiet b X0 X1 X2
Ten thiet b ang khoan San pham di may khoan a khoan ung
X3 a khoan sai X4 Ngo vao X5 Cam bien X6 Y0 Y1 Ngo ra Y2 Y3 Y5 C cau ay Cam bien phat hien san pham Lenh cung cap Bang taichay ve pha trc Bat au khoan Bang tai chay ve pha trc
Cam bien
S hoat ong ON trong khi ang khoan ON khi san pham di may khoan ON khi san pham c khoan ung.Khi viec khoan bat au th ket qua trc o b xoa. ON khi san pham khong c khoan ung.Khi viec khoan bat au th ket qua trc o b xoa. ON khi phat hien co san pham cuoi bang chuyen trai ON khi phat hien co san pham cuoi bang chuyen phai ON khi phat hien san pham trc c cau ay. Khi Y0_ON ,1 san pham c cung cap:khoi kim loai ln Khi Y1_ON bang tai di chuyen ve pha trc Khi Y2_ON bat au khoan Khi Y3_ON bang tai di chuyen ve pha trc Duoi ra khi Y5_ON va thu lai khi Y5_OFF .C cau ay khong the b dng gia hanh trnh.
Trang 142
2. Mc ch iu khin: Phan biet cac san pham b loi va san pham tot bang tn hieu cua chung va phan phoi chung sao cho phu hp. 3. Nhng c tnh iu khin: ieu khien chung: Khi nut nhan X7 c nhan tren bng iu khin, Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan X7, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 chuyen sang ON th pheu cung cap san pham. Khi cong tac X10 c bat sang ON th bang tai di chuyen ve pha trc. Khi cong tac nay bat sang OFF th bang tai dng. ieu khien may khoan: Khi cam bien cosan pham di maykhoan X1 chuyen sang ON th bang tai dng. Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien ang khoan X0 bat sang ON th Y2 chuyen sang OFF. Khi bat au khoan Y2 _ON th cam bien a khoan ung X2 va khoan sai X3 eu c bat sang ON sau khi may khoan a hoan tat mot chu k . Khi co san pham loi, th cam bien phat hien san pham X10 trong c cau ay se bat sang ON. Khi o bang tai se dng va c cau ay Y5 se chuyen sang ON, san pham se b ay xuong khay ng san pham b loi. Neu la san pham tot th c di chuyen en khay OK c at cuoi bang chuyen phai.
Trang 143
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep iem thng m RL1 .T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien .T o ,a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep iem thng m RL3 .T o ,a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien .T o ,a ch X003 cua PLC se nhan c tn hieu. Khi tac ong vao S4 th cuon day Rle RL5 se co ien ,th no se tac ong vao tiep iem thng m RL5 .T o ,a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien .T o ,a ch X005 cua PLC se nhan c tn hieu.
Trang 144
Khi tac ong vao S6 th cuon day Rle RL7 se co ien ,th no se tac ong vao tiep iem thng m RL7 .T o ,a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien ,th no se tac ong vao tiep iem thng m RL8 .T o ,a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao tiep iem thng m RL9 .T o ,a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien ,th no se tac ong vao tiep iem thng m RL10 .T o ,a ch X011 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai .T o ,cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai .T o ,cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai .T o ,cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai.T o ,cuon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai.T o ,cuon K5 se co ien.
Trang 145
Bi 5.
iu khin quay thun/ nghch

Dang a ch thiet b X0 X1 X2 Ten thiet b Tren Gia Di S hoat ong ON Khi san pham c phat hien ON Khi san pham c phat hien ON Khi san pham c phat hien
Trang 146
X3 X4 X5 X6 Ngo vao X7
Phat hien san pham iem bat au San pham tren ban Hoat ong cua robot hoan tat Cam bien
X10
Cam bien
X11
Cam bien
X12
Cam bien
Y0
Lenh cung cap
Ngo ra
Y1 Y2
Bang tai chay ve pha trc Bang tai chay ve pha trc C cau ay
Y3
ON Khi san pham c phat hien trc c cau ay ON Khi robot v tr bat au ON Khi san pham tren ban ON Khi hoat ong cua robot hoan tat ON Khi san pham c phat hien mat phang nghieng ON Khi san pham c phat hien cuoi bang chuyen phai ON Khi san pham c phat hien cuoi bang chuyen trai ON Khi san pham c phat hien cuoi bang chuyen phai Khi Y0_ON ,1 san pham c cung cap:san pham go c lap lai theo th t:Ln_Trung bnh_Nho_Trung bnh_Nho_Ln. Khi Y1_ON th bang tai di chuyen ve tc. Khi Y2_ON bang tai di chuyen ve phatrc. Duoi ra khi Y3_ON va thu lai khi Y3_OFF.C cau ay khong the b dng gia hanh trnh.
Trang 147
Y4
Lenh gap san pham Bang tai chay thuan (ve pha trc) Bang tai chay nghch(ve pha sau)
Y5 Y6
Robot gap san pham en khay ng khi Y4_ON .Mot tien trnh bat au. Bang tai chay ve trc khi Y5_ON Bang tai chay ve pha sau khi Y6_ON
2. Mc ch iu khin: Phat hien kch c moi san pham va phan phoi chung sao cho phu hp. 3. Nhng c tnh iu khin: Khi nut nhan X13 c nhan tren bng iu khin, Lenh cung cap Y0 cho pheu chuyen sang ON th pheu se cung cap san pham. Khi tha nut nhan X13, lenh cung cap Y0 chuyen sang OFF . Khi cong tac X14 c bat sang ON, cac bang tai di chuyen ve pha trc (Y1_ON; Y2_ON). Khi cong tac X14 bat sang OFF th cac bang tai dng. San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao: Tren X0, Gia X1, Di X2 va sau o c a den cac khia ng san. Khi san pham ln va nho c phat hien bi cam bien X0, X2 va cam bien trc c cau ay X3 chuyen sang ON th bang tai dng. Khi o san pham c phan phoi neu la: San pham ln :c ay en bang chuyen thap hn va c mang en khay ben phai. San pham nho: c ay en bang chuyen thap hn va c mang en khay ben trai. Khi la san pham trung bnh th c mang den khay ng bi robot.
Trang 148
Khi cam bien phat hien san pham tren ban X5 trong robot chuyen sang ON th lenh gap san pham Y4 bat len ON. Khi cam bien hoat ong robot hoan tat X6 chuyen sang ON, lenh gap Y4 chuyen ve OFF. Khi cong tac X15 c bat sang ON th mot san pham mi c cung cap t ong tai thi iem sau: Khi robot bat au mang san pham trung bnh Khi san pham nho hay ln c at vao trong khay.
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC .
Trang 149
Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien. T o, a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep iem thng m RL3. T o, a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien. T o, a ch X003 cua PLC se nhan c tn hieu. Khi tac ong vao S4 th cuon day Rle RL5 se co ien ,th no se tac ong vao tiep iem thng m RL5. T o, a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien. T o, a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien ,th no se tac ong vao tiep iem thng m RL7. T o, a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien ,th no se tac ong vao tiep iem thng m RL8. T o, a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao tiep iem thng m RL9. T o, a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien ,th no se tac ong vao tiep iem thng m RL10. T o, a ch X011 cua PLC se nhan c tn hieu. Khi tac ong vao S10 th cuon day Rle RL11 se co ien ,th no se tac ong vao tiep iem thng m RL11. T o, a ch X012 cua PLC se nhan c tn hieu. Khi tac ong vao S11 th cuon day Rle RL12 se co ien ,th no se tac ong vao tiep iem thng m RL12. T o, a ch X013 cua PLC se nhan c tn hieu. Khi tac ong vao S12 th cuon day Rle RL13 se co ien ,th no se tac ong vao tiep iem thng m RL13. T o, a ch X014 cua PLC se nhan c tn hieu.
Trang 150
Khi tac ong vao S13 th cuon day Rle RL14 se co ien ,th no se tac ong vao tiep iem thng m RL14. T o, a ch X015 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai. T o, cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai. T o, cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai. T o, cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o, cuon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai. T o, cuon K5 se co ien. Khi Y005 co tn hieu th cuon day cua Rle R6 se co ien nen tiep iem thng m cua R6 se ong lai. T o, cuon K6 se co ien. Khi Y006 co tn hieu th cuon day cua Rle R7 se co ien nen tiep iem thng m cua R7 se ong lai. T o, cuon K7 se co ien.
Trang 151
Trang 152
Bi 6.
iu khin c cu nng
1. Bng khai bo thit b: Dng a ch thit b X0 X1 X2 X3 Tn thit b Trn Gia Di Sn phm trn c cu nng S hot ng ON khi sn phm c pht hin ON khi sn phm c pht hin ON khi sn phm c pht hin ON khi sn phm trn c cu nng
X4 X5 X6
V tr nng thp ON khi c cu nng v tr thp hn V tr nng gia ON khi c cu nng v tr gia V tr nng cao hn Cm bin ON khi pht hin c sn phm cui bng chuyn tri Cm bin ON khi pht hin c sn phm cui bng chuyn phi Cm bin ON khi pht hin c sn phm cui bng chuyn tri Cm bin ON khi pht hin c sn phm cui bng chuyn phi Cm bin ON khi pht hin c sn phm cui bng chuyn tri Cm bin ON khi pht hin c sn phm cui bng chuyn phi ON khi c cu nng v tr cao
Ng vo
X10
X11
X12
X13
X14
X15
Trang 153
Lnh cung cp Y0
Khi Y0 ON, 1 sn phm c cung cp: xylanh kim loi c lp li theo th t Nh-LnTrung bnh-Ln-Trung bnh-Nh
Y1 Y2
Bang tai chay ve pha trc Lenh cho c cau nang len
Ng ra
Y3
Y4
Y5
Y6
Y7
Khi Y1-ON, bang tai di chuyen ve pha trc C cau nang di chuyen len tren khi Y2-ON.C cau nang dng lai khi Y2-OFF Lenh cho c cau C cau nang di chuyen xuong khi ha xuong Y3-ON.C cau nang dng lai khi Y3-OFF Lenh cho c cau C cau quay e chuyen san pham quay en bang tai khi Y4-ON.C cau quay ve v tr ban au khi Y4-OFF Bang tai thap Bang tai chay ve pha trc khi chay thuan Y5-ON (ve pha trc) Bang tai thap Bang tai chay ve pha trc khi chay thuan Y6-ON (ve pha trc) Bang tai thap Bang tai chay ve pha trc khi chay thuan Y7-ON (ve pha trc)
2. Mc ch iu khin: S dng c cu nng a cc sn phm n 3 v tr khc nhau. Khi cam bien X3 trong Cow cau nang chuyen sang ON, san pham c mang en 1 trong cac bang tai sau tuy theo kch c cua no: San pham ln : bang tai tren San pham trung bnh: bang tai gia San pham nho: bang tai thap
Trang 154
Lenh cho c cau nang len Y2 va Lenh cho c cau ha xuong Y3 c ieu khien tuy theo v tr cua c cau nang c phat hien bi cac cam bien sau: Tren: X6 Gia: X5 Thap: X4
Khi 1 san pham c t c cau nang en bang tai, lenh cho c cau quay Y4 bat len ON. Sau khi san pham c chuyen qua, c cau nang quay ve v tr ban au va ch.
3. Nhng c tnh iu khin: a> ieu khien chung: Khi nut nhan X7 c nhan tren bng iu khin, Lenh cung capY0 cho pheu chuyen sangON. Khi tha nut nhan PB1-X20, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham . Khi cong tac X8 c bat sang ON tren bang ieu khien, cac bang tai di chuyen ve pha trc. Khi cong tac X8 bat sang OFF, cac bang tai ngng. Sau khi cac cam bien X10, X12, X14 ben trai cua bang tai phat hien co san pham, bang tai tng ng bat len ON va a cac san pham en khay cuoi bang chuyen phai. Bang tai ngng trong 3s sau khi san pham qua cac cam bien X11, X13, X15 ben phai bang tai. San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X0, Gia X1, Di X2.
Trang 155
b> Nguyen l lam viec: Khi cong tac X8 tren bang ieu khien c bat sang ON , cac bang tai di chuyen ve pha trc (Y1, Y5, Y6, Y7 chuyen sang ON). Sau khi nhan cong tac X7. Lenh cung cap san pham chuyen sang ON (San pham c cung cap va lap lai theo th t :Nho-Ln-Trung bnh-Ln-Trung bnh Nho) Qua trnh phan loai san pham nh sau: San pham nho: San pham nho qua cam bien di X20 kch Rle M4
chuyen sang ON.Khi san pham en c cau nang ,X3 chuyen sang ON lenh cho c cau nang len (Y2 ON). ong thi tai v tr nang thap X4 ket hp M4 va X3 lenh cho c cau quay Y4 chuyen san pham en bang tai thap va RLe M0 chuyen sang ON lenh cho c cau nang Y2 dng. San pham trung bnh : San pham trung bnh qua cam bien di X2,gia
X1 trang thai ON, lam RLe M5 chuyen sang ON. Khi san pham en c cau nangX3 ON lenh cho c cau nang Y2 ON nang san pham len. Khi san pham en v tr nang gia X5, ket hp vi X3 va RLe M5 lenh cho c cau quay Y7 ON, san pham c a ti bang tai gia va RLe M0 ieu khien c cau nang Y2 OFF. San pham ln: San pham ln qua cam bien tren X0, gia X1, di X2
kch RLe M6 hoat ong Khi san pham c a en c cau nang X3, lenh cho c cau nang Y7 a san pham len .Tai v tr nay , san pham c a den v tr nang cao hn X6,dong thi ket hp vi X3, va RLe M6 lenh cho Y4 chuyen sang ON. San pham c a ti bang tai tren va RLe M0 ieu khien c cau Y2 dng.
Trang 156
Khi cac cam bien X10, X12, X14 tac dung canh xung xuong, phat hien
co san pham i qua lenh cho Y3 chuyen sang ON, ha c cau xuong en v tr thap hn X4 ON, kch RLe M2 chuyen sang ON , lenh cho c cau ha xuong Y3 va dng lai. Khi san pham qua cac cam bien X11, X13, X14 kch RLe M3 va bo
nh th T0 chuyen sang ON. Rle M3 co nhiem vu dng cac bang chuyen (Y1,Y5.Y6,Y7) va ReSet cac ngo vao cam bien phan loai san pham (M4, M5, M6). Sau 3s, bo nh th T0 khoa Rle M3, lenh cho cac bang tai hoat ong tr lai.
4. S nguyn l:
Trang 157
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep iem thng m RL1 .T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien. T o, a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep iem thng m RL3. T o, a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien. T o, a ch X003 cua PLC se nhan c tn hieu. Khi tac ong vao S4 th cuon day Rle RL5 se co ien, th no se tac ong vao tiep iem thng m RL5. T o, a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien. T o, a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien, th no se tac ong vao tiep iem thng m RL7. T o, a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien, th no se tac ong vao tiep iem thng m RL8 . T o, a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien, th no se tac ong vao tiep iem thng m RL9. T o, a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien, th no se tac ong vao tiep iem thng m RL10. T o, a ch X011 cua PLC se nhan c tn hieu. Khi tac ong vao S10 th cuon day Rle RL11 se co ien, th no se tac ong vao tiep iem thng m RL11. T o, a ch X012 cua PLC se nhan c tn hieu.
Trang 158
Khi tac ong vao S11 th cuon day Rle RL12 se co ien ,th no se tac ong vao tiep iem thng m RL12 .T o ,a ch X013 cua PLC se nhan c tn hieu. Khi tac ong vao S12 th cuon day Rle RL13 se co ien ,th no se tac ong vao tiep iem thng m RL13 .T o ,a ch X014 cua PLC se nhan c tn hieu. Khi tac ong vao S13 th cuon day Rle RL14 se co ien ,th no se tac ong vao tiep iem thng m RL14 .T o ,a ch X015 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai. T o, cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai . T o, cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai . T o, cuon K3 se co ien. Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o, cuon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai. T o, cuon K5 se co ien. Khi Y005 co tn hieu th cuon day cua Rle R6 se co ien nen tiep iem thng m cua R6 se ong lai. T o, cuon K6 se co ien. Khi Y006 co tn hieu th cuon day cua Rle R7 se co ien nen tiep iem thng m cua R7 se ong lai. T o, cuon K7 se co ien. Khi Y007 co tn hieu th cuon day cua Rle R8 se co ien nen tiep iem thng m cua R8 se ong lai. T o, cuon K8 se co ien.
Trang 159
Trang 160
Bi 7.
Tuyn phn loi v phn phi

Dang a ch thiet b X0 X1 X2 X3 Ngo vao X4 X5 X6 X10 X11 X12 Y0 Y1 Y2 Y3 Ngo ra Y4 Y5 Y6 Y7 Ten thiet b V tr bat au (nguon cung cap) Tren Gia Di Cam bien Cam bien Phat hien san pham V tr bat au (gap hang) San pham tren ban Hoat ong robot hoan tat Lenh cung cap Bang tai chay ve pha trc Bang tai chay ve pha trc Can phan loai Bang tai chay ve pha trc Bang tai chay ve pha trc C cau ay Lenh gap san pham S hoat ong ON khi robot cung cap v tr bat au ON khi san pham c phat hien ON khi san pham c phat hien ON khi san pham c phat hien ON khi phat hien co san pham cuoi bang chuyen phai ON khi phat hien co san pham cuoi bang chuyen phai ON khi phat hien co san pham trc c cau ay ON khi robot gap hang v tr au ON khi san pham nam tren ban ON khi hoat ong robot hoan tat Khi Y0_ON,1 san pham c cung cap: xylanh kim loai c lap lai theo th t Nho-Trung bnh-Ln-Nho-Ln_Trung bnh Khi Y1-ON, bang tai di chuyen ve pha trc Khi Y2-ON, bang tai di chuyen ve pha trc Di chuyen ra pha trc khi Y3 la ON Khi Y4-ON, bang tai di chuyen ve pha trc Khi Y5-ON, bang tai di chuyen ve pha trc Duoi ra khi Y6-ON va thu lai khi Y6OFF.C cau ay khong the b dng gia hanh trnh Robot gap san pham en khay ng khi Y7ON.Mot tien trnh bat au
Trang 161
2. Mc ch iu khin: Phan loai moi san pham en v tr tng ng tuy theo kch c San phan ln : Khi can phan loai Y3 cua bang tai nhanh re bat len ON,
san pham ln c dan ti bang tai pha sau va sau o ri xuong cuoi bang tai ben phai. San pham trung bnh : Khi can phan loai Y3 cua banh tai nhanh re
chuyen xuong OFF, san pham trung bnh c dan ti bang tai pha trc va sau o duy chuyen len khay bi robot San pham nho : Khi can phan loai Y3 cua bang tai nhanh re bat len ON,
San pham nho c dan ti bang tai pha sau. Khi cam bien phat hien san pham X6 trong bang tai nhanh re chuyen sang ON, bang tai ngng va c duy chuyen len khay.
3. Nhng c tnh iu khin: a) ieu khien chung : Khi nut nhan X13 c nhan tren bang ieu khien , Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan X13 Lenh cung cap Y0 chuyen sang OFF. Khi lenh cung cap Y0 chuyen sang ON, pheu cung cap san pham. Khi cong tac X14 c bat sang ON tren bang ieu khien, cac bang tai di chuyen ve pha trc . Khi cong tac X14 bat sang OFF cac bang tai ngng . San pham ln , trung bnh , nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X1 , Gia X2, Di X3 va c mang den cac khay nh san .
Trang 162
Khi cam bien san pham tren ban X11 trong robot chuyen sang ON , lenh gap san pham Y7 bat len ON. Khi cam bien hoat ong robot haon tac X12 chuyen sang ON ( khi san pham c at tren khay), lenh gap san pham chuyen sang OFF, Khi cong tac X15 c bat sang ON tren ban van hanh, Mot san pham mi se c cung cap t ong tai thi iem sau: Khi robot bat au mang san pham trung bnh. Khi san pham nho c at vao khay haoc khi san pham ln ri t cuoi bang
tai ben phai. Cac en nhay c bat nh sau: en o : Sang trong khi robot ang cung cap san pham
en xanh : Sang trong khi bang tai ang di chuyen en vang : Sang trong khi bang tai dng. b) Nguyen l hoat ong : Ban au khi cong tac X24 tren bang ieu khien bat sang ON, cac bang tai di
chuyen ve pha trc (Y1, Y2, Y4, Y5, Y11 ON) Sau khi nhan nut X13 tren bang ieu khien, lenh cung cap san pham Y6 cho phep chuyen sang ON (san pham c cung cap va lap lai theo th t t Nho-Trung bnh-Ln-Nho-Ln-Trung bnh): Khi san pham nho qua cam bien di (X3 ON) tac dung vao Rle M2.
Rle M2 bat sang ON lam cho can phan loai di chuyen ra pha trc (Y3 ON). San pham nho c dan en bang tai pha sau, Khi gap cam bien phat hien co san pham trc c cau ay, X6_ON ket hp vi Rle M2_ON lam c cau ay Y6 chuyen sang trang tha ON , ong thi kch Rle phu M3 hoat ong va en vang Y11 bat ON. Tiep diem rle M3 co tac dung khoa ngng hoat ong cac bang tai (Y1,Y2,Y4, Y5, Y11).
Trang 163
Khi c cau Y6 ay san pham xuong khay ng th cam ng X6 chuyen sang OFF, cac hoat ong tr lai ban au . San pham ln qua cam bien tren , gia, di (X1, X2, X3 bat ON ), tac
dung Rle M0 bat ON , M0 tac dung lam can phan loai Y3_ON duy chuyen ra pha trc . San pham ln c dan ti bang tai pha sau. Khi gap cam bien phat hien san pham X6_ON , nhng tai ay khong co tn hieu phan loai san pham nen c cau ay Y6_OFF khong hoat ong . San pham ln c bang tai duy chuyen tiep va ri xuong cuoi bang tai ben phai . San pham trung bnh qua cam bien di , gia (X3, X4_ON) tac dung
vao Rle M1(M1_ON ) . Cac tiep 9iem Rle M1 Co tac dung Reset cac ngo vao cam bien phan loai san pham ln nho ( M0, M2 _ OFF), lam cho can phan loai re nhanh chuyen ra pha sau (Y3_OFF) . San pham trung bnh c dan ti bang tai pha trc . Khi cam bien phat hien san pham tren ban (X11_ON) lenh cho c cau gap san pham len , Khay ng hoat ong (Y7_ON) , ong thi kch Rle M6_ON lam bang tai ngng hoat ong . Khi hoat ong cua cac robot hoan tat X6_ON tac dung vao Rle M4_ON lam xoa lenh gap san pham (Y7_OFF) . Cac hoat ong tr lai bnh thng . Bat cong tac SW-2S , san pham se c cap t ong tr lai khi ket thuc
mot hanh trnh.
Trang 164
4. S nguyn l:
Gii thch s nguyn l:
Khi tac ong vao S0 th cuon day Rle RL1 co ien ,th no se tac ong vao tiep iem thng m RL1. T o no se tac ong vao a ch X000 cua PLC . Khi tac ong vao S1 th cuon day Rle RL2 se co ien nen tiep iem thng m RL2 se co ien. T o ,a ch X001 cua PLC se nhan c tn hieu. Khi tac ong vao S2 th cuon day Rle RL3 se co ien ,th no se tac ong vao tiep iem thng m RL3. T o ,a ch X002 cua PLC se nhan c tn hieu. Khi tac ong vao S3 th cuon day Rle RL4 se co ien nen tiep iem thng m RL4 se co ien. T o ,a ch X003 cua PLC se nhan c tn hieu.
Trang 165
Khi tac ong vao S4 th cuon day Rle RL5 se co ien ,th no se tac ong vao tiep iem thng m RL5. T o ,a ch X004 cua PLC se nhan c tn hieu. Khi tac ong vao S5 th cuon day Rle RL6 se co ien nen tiep iem thng m RL6 se co ien. T o ,a ch X005 cua PLC se nhan c tn hieu. Khi tac ong vao S6 th cuon day Rle RL7 se co ien ,th no se tac ong vao tiep iem thng m RL7. T o ,a ch X006 cua PLC se nhan c tn hieu. Khi tac ong vao S7 th cuon day Rle RL8 se co ien ,th no se tac ong vao tiep iem thng m RL8. T o ,a ch X007 cua PLC se nhan c tn hieu. Khi tac ong vao S8 th cuon day Rle RL9 se co ien ,th no se tac ong vao tiep iem thng m RL9. T o ,a ch X010 cua PLC se nhan c tn hieu. Khi tac ong vao S9 th cuon day Rle RL10 se co ien ,th no se tac ong vao tiep iem thng m RL10 . T o ,a ch X011 cua PLC se nhan c tn hieu. Khi tac ong vao S10 th cuon day Rle RL11 se co ien ,th no se tac ong vao tiep iem thng m RL11. T o ,a ch X012 cua PLC se nhan c tn hieu. Khi tac ong vao S11 th cuon day Rle RL12 se co ien ,th no se tac ong vao tiep iem thng m RL12. T o ,a ch X013 cua PLC se nhan c tn hieu. Khi tac ong vao S12 th cuon day Rle RL13 se co ien ,th no se tac ong vao tiep iem thng m RL13. T o ,a ch X014 cua PLC se nhan c tn hieu. Khi Y000 co tn hieu th cuon day cua Rle R1 se co ien nen tiep iem thng m cua R1 se ong lai. T o ,cuon K1 se co ien. Khi Y001 co tn hieu th cuon day cua Rle R2 se co ien nen tiep iem thng m cua R2 se ong lai. T o ,cuon K2 se co ien. Khi Y002 co tn hieu th cuon day cua Rle R3 se co ien nen tiep iem thng m cua R3 se ong lai. T o ,cuon K3 se co ien.
Trang 166
Khi Y003 co tn hieu th cuon day cua Rle R4 se co ien nen tiep iem thng m cua R4 se ong lai. T o ,cuon K4 se co ien. Khi Y004 co tn hieu th cuon day cua Rle R5 se co ien nen tiep iem thng m cua R5 se ong lai.T o ,cuon K5 se co ien. Khi Y005 co tn hieu th cuon day cua Rle R6 se co ien nen tiep iem thng m cua R6 se ong lai. T o ,cuon K6 se co ien. Khi Y006 co tn hieu th cuon day cua Rle R7 se co ien nen tiep iem thng m cua R7 se ong lai. T o ,cuon K7 se co ien. Khi Y007 co tn hieu th cuon day cua Rle R8 se co ien nen tiep iem thng m cua R8 se ong lai. T o ,cuon K8 se co ien. Khi Y010 co tn hieu th cuon day cua Rle R9 se co ien nen tiep iem thng m cua R9 se ong lai. T o ,cuon K9 se co ien. Khi Y011 co tn hieu th cuon day cua Rle R10 se co ien nen tiep iem thng m cua R10 se ong lai. T o ,cuon K10 se co ien.
Trang 167
Trang 168
IV. Cc bi tp m rng: Bi 1. Phn loi sn phm theo mu st:
1. Bng khai bo thit b: Dng a ch thit b X0 X1 Ng vo X2 X3 Y0 Y1 Y2 Y3 Cm bin mu sc Nt nhn START Bng ti chy v trc Piston vng Piston xanh Lnh cung cp Tn thit b Cm bin Cm bin mu sc S hot ng ON khi pht hin sn phm ON khi pht hin sn phm mu vng ON khi pht hin sn phm mu xanh ON Qu trnh hot ng Bng ti hot ng khi Y0 ON Piston y khi Y1 ON Piston y khi Y2 ON ON sn phm c cung cp
Ng ra
2. Mc ch iu khin: a sn phm c cng mu sc n cng mt v tr 3. Nhng c tnh iu khin: Khi nhn nt START th bng ti Y0 chy v trc, sau 3s lnh cung cp Y3 chuyn sang ON, mm cp phi hot ng, sn phm c cung cp. Cm bin X0 nm u bng ti m tng sn phm c cung cp. Khi X0 m c 20 sn phm th mm cp phi dng, tc Y3 chuyn sang OFF v bng ti dng, kt thc mt qu trnh. Mun thc hin qu trnh mi th nhn nt START. Khi cm bin mu vng X1 pht hin sn phm mu vng th sau 3s piston vng Y1 chuyn sang ON, y sn phm mu vng vo khay ng.
Trang 169
Khi cm bin mu xanh X2 pht hin sn phm mu xanh th sau 5s piston xanh Y2 chuyn sang ON, y sn phm mu xanh vo khay ng. Sn phm mu khc s i thng v n cui bng ti ri vo khay ng. 4. S nguyn l:
Trang 170
Trang 171
Bi 2.
iu khin thang my bn tng:
Trang 172
CHNG 4: PH LC I. ng dng PLC trong iu khin cng nghip: PLC ngoai kha nang ieu khien thiet b rat linh hoat con c s dung trong cac ng dung cao cap. Do o chng nay liet ke mot so ng dungcua PLC trong lnh vc san xuat cong nghiep. Lam noi bac kha nang cua PLC ve ieu khien logic, ieu khien trnh t, ieu khien tac vu chuyen dung va truyen thong bao gom: ng dung PLC trong lnh vc ieu khien robot ng dung PLC trong he thong san xuat linh hoat ng dung PLC trong ieu khien qua trnh ng dung PLC trong mang thu nhan d lieu ng dung ieu khien trnh t may phan loai ng dung PLC trong ieu khien giam sat Trong cac ng dung mc ieu khien mot thiet b thong thng, cac em ch nhac lai mot so ac iem khi lap trnh. Trong trng hp ng dung bo ieu khien lap trnh tam mc cao hn , ben canh nhng ac iem can lu yve phan lap trnh, noi dung cua chng con lu y gii thieu cac phan cng co lien quan e thc hien cac tac vu. 1. ng dung PLC trong lnh vc ieu khien robot PLC co hai kha nang ng dung chnh trong lnh vc ieu khien robot:bo ieu khien robot, bo ieu khien giam sat toan bo he thong san xuat co nhieu robot Bo ieu khien robot thng dung may vi tnh. Trong thc te, may vi tnh la s la chon hp l oi vi viec ieu khien theo quy ao lien tuc va lu tr d lieu ve ng i hoac oi vi nhng chng trnh ieu khien can ngon ng lap trnh cap cao va bo
Trang 173
nh ln e x l d lieu cho nhng chng trnh ieu khien phc tap. Thong thng, may vi tnh 16 bit la u ve toc o x l e ieu khien c cau tac ong trong cong nghiep c thiet ke co nhieu ngo ra/vao, PLC thc hien nhng logic n gian tren ngo vao va kch hoat cac ngo ra tng ng. mot so ln trng hp, hoat ong o cho phep s dung PLC loai nho ieu khien chuyen ong cua robot theo mot trnh t t iem nay en iem khac (point to point) va thc hien cac hoat ong khoa lan gia robot vi cam bien rat n gian .
Trong loai ng dung nay may PLC thay the cho nhng r-le va cong tac dang ien c, thng dung e ieu khien hoat ong cua c cau tac ong theo tnh hieu t cac cong tac hanh trnh da ve trong qua trnh hoat ong trnh t. Hn na PLC co the thc hien chng trnh trnh t len en hang tram bc va khi can thiet co the c thay oi nhanh chong e robot hoat ong theo mot trnh t khac. Cong tac logic trong chng trnh ladder c ong m thong qua cong tac hanh trnh noi vi ngo vao tng ng va r-le vat ly c kch trc tiep t PLC thong qua ngo ra (hnh 4.1) Robot thng dung e gap va at san pham (phoi hoac ban thanh pham) t may nay en may khac trong san xuat tng chiec ; v du: robot gap phoi t bang taiva at vao ban gia cong cua may CNC. ay la cach n gian e lien ket tat ca cac may thanh phan trong he thong san xuat, cho phep mot may truyen tn hieu en may khac e thc hien s ong bo hoat ong cua toan he thong
Trang 174
Hnh 4.1. H thng iu khin trnh t dng PLC

Lay v du, mot he thong gom bang tai chuyen pit-tong en robot gap-at (hnh 4.2). Khi pit-tong v tr xac nh th cam bien phat mot tn hieu cho PLC kch dng bang tai va robot gap pit-tong at vao thung cha. Chng trnh PLC co trnh t thay oi t ong da tren thong tin nhan c t nhng thiet b trong he thong. Nh vay, khi phat hien co pit-tong ln tren bang tai th PLC ap ng bang cach cho phep oan chng trnh x ly vi pit- tong ln, ngha la m gap ln hn va at pit-tong vao thung khac. Neu ta can nhng thong tin khac nh so lng tng loai pit-tong th PLC de dang c lap trnh e phat ra mot tn hieu xung bao ket thuc tac vu cua tng loai pit-tong cho may tnh hay PLC ang giam sat he thong
Trang 175
Cam Cam bien pitpit-tong ln

Chng trnh con pit-tong nho Chng trnh con pit-tong ln
bien phat hen phat hien tong nho
Hnh 4.2:S la chon chng trnh ieu khien trong PLC 2. ng dung PLC trong he thong san xuat linh hoat He thong san xuat linh hoat, FMF - Flexible Manufacturing System, gom nhieu may hoat ong theo chng trnh c ket hp lai thanh cum san xuat co kha nang san xuat nhieu chung loai san pham di s ieu khien hoan toan t ong.Mot cum san xuat tieu bieu co the gom : May tien CNC va may phay CNC co c cau thay dao Hai robot; He thong bang tai; May vi tnh master va PLC
Trang 176
Hnh 4.3. He thong san xuat linh hoat
Trong hnh 4.3 chng trnh ieu khien cho may CNC, robot va c cau khac c tai xuong t may tnh master. Khi co tn hieu bao co s thay oi san pham. PLC c s dung e tao s ong bo gia tat ca cac may trong he thong. Nh vay,FMS co tac dung cai thien ang ke phan chuan b va lap ke hoach san xuat trong nha may. Hn na, PLC loai ln iei khien vao/ra xa(remote I/O) thng c dung e giam sat va ieu khien mot nhom gom nhieu cum san xuat theo cau truc ieu khien phan cap. ng dung trong t ong hoa nha may san xuat khung xe Nha may gom nhieu cong oan t khau cung cap nguyen lieu cho en thanh pham,van chuyen ban thanh phan qua t cong oan ,quan sat trc tiep tren tng cong oan ke ca giam sat chat lng c thc hien t ong. He thong ieu khien phan cap c s dung trong trng hp nay va c bieu dien theo cau truc hnh thap nh sau
Trang 177
1 Plant 2 Centers 3 Cells 4 Stations 5 Machinery
Cap 1: cap nha may s dung may tnh ln (nainframe comfuter), x ly d lieu trong nha may nhu lap lch san xuat, giao dch vi khach hang va nhng chc nang quan ly khac. Cap2: cap giam sat he thong-cap nay trc tiep nhan lnh t cap 1 theo yeu cau san xuat va giam sat tat ca PLC cap 3 the thc hien s lap rap khung xe t cac bo phan ri. He thong mang LAN c s dung the truyen thong gia cap 2 va cap3, cho phep viec truyen nhan d lieu gia cap 2, cap 3 va PLC ngang cap. Cap3: cap cum san xuat s dung may tnh lam may tnh trung tam cua he thong phan cap gom nhieu tram . Cap 4: Cap tram s dung PLC ieu khien trc tiep cac may moc trong nha may. PLC am nhan toan bo vieu ieu khien va giam sat thiet b trong phan xng. PLC c lap at cap nay gom nhieu loai, t loai nho en cac PLC a s ly vi nhieu moun chuyen dung. Cap 5: Cap may moc - toan bo may moc hoat ong theo qua trnh rieng nh robot, bang tai, bang tai chuyen dau, may han t ong
Trang 178
3.
ng dung PLC trong ieu khien qua trnh
Mot v du ve ieu khien qua trnh la mot n v san xuat s dung day chuyen ma ien e x ly mot day chi tiet hp kim co o chnh xac cao oi hoi qua nhieu chu trnh x ly khac nhau (hnh 4.4). Cac chi tiet thng i tng lo, so lng t, vi gia tr cua tng chi tiet cao. Day chuyen x ly gom nhieu bon, moi bon cha mot loai hoa chat, e thc hien kh axit, ma va lam sach be ngoai. He thong can truc pha tren dung e chuyen nhng chi tiet t bon nay qua bon khac, nang len hoac ha xuong nhng moc trut thong qua s ieu khien cua con ngi . Cac can moc c moc vao chi tiet va c dch chuyen doc theo day chuyen s ly. Co the co nhieu moc cung hoat ong ong thi. Day chuyen nay c ieu khien bang tay, trong o ngi ieu khien phai thc hien mot so tac vu nh sau: Di chuyen moc t bon nay sang bon khac theo yeu cau s ly cho chi tiet; at chi tiet vao moi bon trong khoang thi gian xac nh vi o chnh xac nghiem ngat; Do ng va s ly ung cho nhieu chi tiet x ly cung luc. Trnh t tieu bieu bao gom nang thanh moc ra khoi bon; a no vao bon A trong n giay; chuyen en bon C trong m giay vi dong ien ma 10A; chuyen ti bon ra B.mot thanh khac se c a vao sau thanh au tien khi co the.
Trang 179
Hnh 4.4. Cac bon x ly hoa hoc (tong cong 24 bon)
De thay rang day chuyen can t ong hoa e nang cao nang suat va chat lng san pham. Nhng yeu cau cho day chuyen gom: Cho phep 12 chu trnh hoat ong khac nhau; S ly ong thi 3 chi tiet hay nhieu hn; Giao tiep vi ngi s dung de dang va co cha o hoat ong tay; Cho phep them vao chu trnh mi trong tng lai. PLC c s dung khong nhng cung cap cac chc nang ieu khien can thiet ma con thc hien giao tiep vi ngi s dung. e co thong tin can thet ve chu trnh, tnh trang cua cac bon, oi hoi chu trnh PLC tinh vi giai quyet cac van e bao gom trnh t hoat ong, nh th cho cac chu trnh rat khac nhau, ca vec giai quyet s ong do bon b chiem bi mot thanh khac trong chu trnh hoat ong . He thong co hai che o hoat ong: che o t ong va che do tay. ac diem cua he thong la chc nang ieu khien tay c noi cap oc lap vi PLC, khong thong qua PLC. ieu co am bao rang khi co s co tren PLC th hoat ong cua he thong di
Trang 180
chuyen van co the c ieu khien bang tay. Tng t, he thong dng khan cap cung c thiet ke khong thong qua PLC. V tr cua he thong di chuyen c phat hien bang cong tac hanh trnh at tren c cau di chuyen. Neu he thong ang che o t ong, viec chuyen sang che o tay co the thc hien bang cong tac xoay. Che o ieu khien tay se co tac dung ngay sau khi thc hien xong qua trnh di chuyen hien hanh cua che o t ong. Loi c thong bao bang loa va en. Bo hien th led 7 oan dung e hien th s di chuyen cua bo phan chuyen tai, v tr cua bo phan chuyen tai va nhng bnh b chiem gi. Nhiem vu ieu khien toan he thong c chia thanh nhieu modun chng trnh e co the thiet ke va phat trien oc lap. Sau o, chung c noi ket lai thanh chng trnh ay u chc nang. Cac modun c phan chia gom: 1). Modun ie khien thiet b cho tng bon, s dung bo nh th va c e ch th trnh trang bon ang co thanh c nhung hay khong. Bon can co tn hieu ien ap h mach xac nh trc khi chi tiet c nhun vao hay mot dong ien xac nh c truyen qua chat long. 2). Modun ieu khien thiet b cho tng moc. 3). Modun ieu khien truyen tai, ieu khien toc o di chuyen thanh moc va nh v bon tren day chuyen. Modun cung nhan yeu cau phuc vu t modun ieu khien thiet b. 4). Mot mach khoa lan c s dung e ngan chi tiet c a vao bon ang b chiem bi chi tiet khac, va tnh hieu bao ong se c phat ra. Mach nay c lap trnh trong che o t ong.
Trang 181
4.
ng dung PLC trong mang thu nhan d lieu Hnh 4.5 trnh bai day chuyen ong goi hat polyethylen trong nha may san xuat
hoa chat bao gom mot so phieu ong m bang van cho phep cac vien polyethylen ri vao tng bao tren may ong goi. May nay can tng goi 25Kg, tha tng lo vao mot cai bao khac c lay lien tuc t cuon bao. Bao c van chuyen tren bang tai e kiem tra trong lng va ong dau len tng bao . Thiet b c ieu khien oc lap nh sau: May ong goi May in May kiem tra trong lng Bang tai 1 Bang tai 2 May rut bao PLC A may vi tnh may vi tnh PLC B PLC C R-le
Hnh 4.5. S o day chuyen ong bao
Trang 182
He thong co 1 so ac iem sau: Hoat ong cua he thong thu nhan d lieu khong lam cham day chuyen ong goi, at biet la may ong goi, may ong mot bao trong 3s Trong tng lai co the them yeu cau cho day chuyen mot so chc nang ieu khien t may tnh giam sat (s dung phng thc ieu khien giam sat-SCADA). Tac ca PLC eu co modun tuyen thong chop phep truyen d lieu qua cong noi tiep.Cac thiet b dung bo x ly co chc nang truyen thong eu co the ket noi vi he thong qua cong noi tiep . Can thiet thu nhan d lieu t tac ca PLC tren day chuyen e tao he thong thong tin quan ly da tren may vi tnh . Nhng thong tin nay c dung e : Giam sat/phan tch qua trnh san xuat Chuan oan loi Giam sat loi va o tin cay trong hoat ong cua cac thiet b Quan ly kho nguyen lieu Nhap vao he thong ke hoach san xuat nha may Muc cuoi cung can nhng tap tin d lieu x ly tren may tnh ln (mainframe)cua nha may va s tng thch o tao kha nang lien ket cac may tnh trong nha may vi nhau. Ngoai ra, trong tng lai nha may can tch hp hai day chuyen ong goi na vao he thon g . e xat nh va lap at he thong truyen thong co kha nang ap ng nhng nhu cauhien tai va trong tng lai (co the bao gom ieu khien toan nha may t cac cap quan ly ). May moc trong nha may c ieu khien bi cac PLC khac nhau va may vi tnh co thu tuc truyen thong khac nhau ,du tac ca chung eu ho tr chc nang truyen thong
Trang 183
RS232C hay current loop.May vi tnh (lu d lieu )c at cach hn 150m vi day chuyen san xuat ,trong mot khu vt khac S dung he thong mang PLC chuyen dung:2 trong so 5 thiet b dung bo vi x ly la cung hang san xuat; khong co tram nao co kha nang ap ng ay u c nhng yeu cau truyen thong. Tat ca giai phap eu da tren mang PLC chuan nen can co them PLC giam sat. PLC nay se truyen vi tng thiet b trong nha may thong qua cac nut tren mang. Tuy nhien, nhu cau cua PLC giam sat co cong suat cao lam cho no co gia thanh cao . Ket noi tap trung :he thong s dung bo phan phoi kenh ho tr truyen thong RS232C. Tieu bieu, 6 hoac 8 nguon d lieu cung chia se mot kenh noi tiep e trao oi d lieu vi mot tram trung tam (hnh 4.6). Phng phap nay la giai phap ay u cho nhu cau hien tai, nhng khong de dang m rong them nhieu nguon, ma ieu nay that s rat can thiet . Tng t, viec chuyen ieu khien xuong thiet b phan xng co the phc tap do a hp cac tn hieu handsaking.Cuoi cung, nhiem vu cua may tnh giam sat la giai a hp dong d lieu tap trung .Hn na, viec quan ly d lieu tren tram giam sat phai thc hien viec ieu phoi tn hieu tap trung , tao Ram cho tng kenh truyen d lieu ,lu d lieu tren kenh vao tap tin tren a va chay nhng ng dung tng ng .V nhng ly do tren ma cau truc kenh tap trung b thay the bang cau truc mang cuc bo.
Trang 184
Can
May ong goi May kiem tra trong lng May in May chat goi Kho lu tr Bang tai
Cac thiet b dung cong noi tiep RS232 Cap RS232

Bo a hp 8 vao 1 ra
May vi tnh
Hnh 4.6. Ket noi tap trung qua cong noi tiep
Mang cuc bo (LAN): mang cuc bo cong nghiep c s dung e ket noi cac tram vi nhau, he thong nh vay de dang m rong va tiet kiem chi ph (hnh 4.7) va khac phuc c nhc iem trong he thong trc :a hp nhieu cong noi tiep. Vi mang LAN moi may c ket noi vao ng day cap chung dang vong. Khi mot kuc c ket noi vao he thong ,nuc o co the c at bac ky v tr nao tren ng cap chung. Cap co the c keo dai, len en vai km gia cac nut e noi ket c nhieu nut hn . Cac thiet b truyen thong qua cong noi tiep
Trang 185
Hnh 4.7. Mang LAN cong nghiep
Moi thiet trong nha may c noi vi mot nut tren mang thong qua cap RS232N24. Moi nut c cau hnh e ap ng yeu cau thu tuc truyen thong cu the cho tng thiet b. Cac nut eu co bo vi x ly thc hien deu khien va phan cng tng ngbo dem RAM ,cho phep lu tr tam thi en 255 byte d lieu se dc gi en tram server, giam bt thi gianieu khien phan phoi truyen thong.so lng nut co the noi vao he thong mang la 125. Mang LAN dung cap xoan doi, hoat dong toc o truyen 19.2kbps cho 12 kenh gia lap, truyen tn hieu den 3km. Moi trng truyen thong khong co nhiem ien cam va khong oi hoi phai che chan e dung trong moi trng cong nghiep. Dung mang LAN loai nay giam bt ganh nang tren may tnh giam sat ve phan mem deu khien kenh va nghi thc truyen thong, hau het c thc hien tai cac nut. Hn na mang
Trang 186
LAN rat ly tng de thay doi qua trnh hoat ongt may tnh. Phan mem van can thiet de cau hnh mang, cung vi cac chng trnh con x ly tap tin nh a e cap. He thong nay nang cao kha nang m rong cho nhng thu tuc truyen thong khac va dang d lieu truyen thong cua nhieu loai may moc. 5. ieu khien trnh t may phan loai bi mau
Mot pheu cha bi co hai mau khac nhau. Yeu cau tach hon hp nay ra va da vao hai thung qua mot mang phan phoi b chan bang hai solenoid va hai sensor (hnh 4.8) solenoid 4 can bi ngay di phieu cho phep cam bien mau phat hien mau vien bi ang nam tai o, bang cach o o phan xa anh sang tren be mat. Mot cam bien th hai c at pha di e phat hien vien bi i qua. Cuoi cung solenoid 3 c at ngay mang re phan loai bi. Neu solenoid 3 khong hoat dong th bi se ri xuong bnh hai; neu solenoid 3 hoat ong th bi se ri xuong bnh mot. Tat ca cam bien phai c at lai trang thai 0 sao moi lan hoat ong. Ngoai ra, co the co them chuong bao thung ay hay pheu rong. ay la ng dung thuoc bai toan deu khien trnh t. Trong khi viet chng trnh PLC, ieu can thiet la th cac gia tr nh th khac nhau e tm ra mot gia tr thch hp nhat. Trc khi cai at cho ng dung thc te, ngoai oan chng trnh chnh th chung can phai c them vao cac oan chng trnh an toan, ieu khien tay ,va cac ch th trang thai. Tng t, cac mach em co the de dang c lap trnh them e em so lng bi hai thung.
Trang 187
Hnh 4.8. C cau phan loai bi mau
II. Danh sach cac lenh ng dung:
Tn lnh
S chc nng 00 01
K hiu lnh CJ CALL SRET FEND FOR NEXT CMP
Chc nng Nhy n 1 v tr con tr ch nh Gi chng trnh con hot ng Tr v t chong trnh con hot ng Dng ch cui khi chng trnh chnh Xc nh v tr bt u v s ln lp ca vng lp Xc nh v tr cui vng lp So snh 2 gi tr d liu cho kt qu <, = v ln
Lnh 32 bit
Php thi hnh lnh PLS
iu khin lu trnh
02 06 08 09
Dch chuyn/So
10
Trang 188
snh 11 12 13 14 15 16 17 ZCP MOV SMOV CML BMOV FMOV XCH
18
BCD
19
BIN
20 21 22 X l s hc v logic 23 24 25
ADD SUB MUL DIV INC DEC
So snh 1 dy d liu vi 1 gi tr d liu cho kt qu <, = v > Di chuyn d liu t vng nh ny n vng nh khc Ly cc phn t ca s thp phn 4 ch s v chn vo v tr mi c 4 ch s Sao chp v nghch o chui bit ngun sang ch Sao chp 1 khi nhiu phn t d liu n ch mi Sao chp 1 d liu n n dy ch mi Hon i d liu trong thit b xc nh Chyn i s nh phn sang BCD hay chuyn i d liu du chm ng sang dng khoa hc Chuyn i cc s sang nh phn tng ng hay chuyn i d liu khoa hc sang dng thp phn Cng 2 d liu ngun, kt qu lu thit b ch Tr 2 d liu ngun, kt qu lu thit b ch Nhn 2 d liu ngun, kt qu lu thit b ch Chia d liu ngun cho d liu ngun khc, kt qu lu thit b ch Thit b ch c tng ln 1 mi khi dng lnh ny Thit b ch c gim xung 1 mi khi dng lnh ny
Trang 189
26
27
28 29 30
31
32
33 Lnh quay v dch chuyn chui bit
34
35
36
37
38
Thc hin logic AND trn 2 WAND thit b ngun, kt qu lu thit b ch Thc hin logic OR trn 2 WOR thit b ngun, kt qu lu thit b ch Thc hin logic XOR trn 2 WXOR thit b ngun, kt qu lu thit b ch Thc hin i du ni dung NEG thit b ch Chui bit ca thit b ch ROR c quay phi n v tr mi khi thi hnh lnh ny Chui bit ca thit b ch ROL c quay tri n v tr mi khi thi hnh lnh ny Ni dung ca thit b ch RCR c quay phi n v tr mi khi thi hnh lnh ny Ni dung ca thit b ch RCL c quay tri n v tr mi khi thi hnh lnh ny Trng thi ca thit b ngun SFTR c sao chp vo ngn xp bit v di chuyn qua phi Trng thi ca thit b ngun SFLT c sao chp vo ngn xp bit v di chuyn qua tri Trng thi ca thit b ngun WSFR c sao chp vo ngn xp word v di chuyn qua phi Trng thi ca thit b ngun WSFL c sao chp vo ngn xp word v di chuyn qua tri Lnh ny to 1 ngn xp SFWR FIFO c di n phi dng km vi lnh SFRD FNC 39
Trang 190
39 40 41
SFRD ZRST DECO
42
ENCO
43
SUM
44 X l d liu 45
BON MEAN
46
ANS
47 48 49 60 61 Lnh khc 62 63
ANR SQR FLT IST SER ABSD INCD
c v loi b ngn xp FIFO c di n phi dng km vi lnh SFRD FNC 38 Thc hin Reset dy thit b Gi tr d liu ngun Q s SET bit th Q ca thit b ch V tr bit hot ng ca thit b ngun xc nh gi tr ca thit b ch S lng cc bit bng 1 rong dy ch nh c lu trong thit b ch Trng thi ca bit xc nh c biu th bng cch kch hot bit c c chn Tnh gi tr trung bnh (nguyn) dy thit b Lnh ny khi ng 1 b nh th. Khi vt qu thi gian nh th s kch hot c trng thi tng ng RESET c trng thi mc thp nht Thc hin php ton cn s Dng chuyn i du liu sang dng du chm ng v ngc li Thit lp h thng iu khin a ch dng STL To 1 danh sch thng k v cc gi tr c tm thy trong 1 (stack) d liu Kch hot nhiu ng ra ty thuc gi tr b m Kch tun t tng ng ra ty thuc gi tr b m
Trang 191
64
TTMR
65
STMR
66 67
ALT RAMP
69
SORT
76 78
ASC FROM
79 82 83 110 111 118 119 120 121 122 123 127 129 130
TO ASCI HEX ECMP EZCP EBCD EBIN EADD ESUB EMUL EDIV ESQR INT SIN
Float Decimal Point
Gim st khong thi gian ca tn hiu v t d liu ca thi gian vo thanh ghi d liu Cung cp b nh th loi offdelay, one shot v b nh th nhp nhy Thit b ch tun t thay i trng thi mi khi lnh ny hot ng To 1 gi tr trn ng dc gia 2 gi tr d liu c nh Sp th t d liu trong 1 bng theo vng c chn trong khi vn duy tr ton vn mu tin 1 chui ch s c chuyn thnh m ASC II D liu c c t b nh m ca cc khi chc nng chuyn dng gn vo D liu c ghi t b nh m ca cc khi chc nng chuyn dng gn vo Chuyn i gi tr d liu thp lc phn sang ASC II Chuyn i gi tr d liu t ASC II thnh dng thp lc phn Float Compare Float Zone Compare Float to Scientific Scientific to Float Float add Float subtract Float Multiplication Float division Flloat Square root Float to integer Sine
Trang 192
Vn hnh Clock
Lnh khc
Lnh so snh cng tc
131 132 147 160 161 162 163 166 170 171 224 225 226 228 229 230 232 233 234 236 237 238 240 241 242 244 245 246
COS TAN SWAP TCMP TZCP TADD TSUB TRD GRY GBIN LD= LD> LD< LD<> LD<= LD>= AND= AND> AND< AND<> AND<= AND>= OR= OR> OR< OR<> OR<= OR>=C
Cosine Tangent Float to Scientific Time Compare Time Zone Compare Time Add Time Subtract Read RTC data Decimal to Gray Code Gray code to Decimal So snh LoaD So snh LoaD So snh LoaD So snh LoaD So snh LoaD So snh LoaD So snh AND So snh AND So snh AND So snh AND So snh AND So snh AND So snh OR So snh OR So snh OR So snh OR So snh OR So snh OR
III. Danh sach cac Rle phu tr ac biet:
Thit b chn on M8000
Tn Dng vi cng tc NO bo PC ang RUN
Hot ng OFF: STOP ON: RUN
Trang 193
M8001 M8002 M8003 M8004 M8011 M8012 M8013 M8014 M8018 M8020 M8021
Dng vi cng tc NC bo PC dang Run Dng vi cng tc NO, bo PC chuyn t OFF sang ON Dng vi cng tc NC, bo PC chuyn t OFF sang ON Bo c li Xung clock 10 mili giy Xung clock 100 mili giy Xung clock 1 giy Xung clock 1 pht C RTC
OFF: STOP ON: RUN Chu k qut 1 ON sau khi RUN Chu k qut 1 OFF sau khi RUN
5ms
5ms
50ms 50ms 0,5s 30s 0,5s 30s
M8022
M8024 M8026 M8029 M8031 M8033 M8034 M8040 M8041
Khi ng h thi gian thc On c ci t Set khi kt qu ca php ADD Z r hay SUB l 0 Set khi kt qu ca php ADD t C mn hn s m min Set khi c nh xut hin trong sut php ADD (FNC 20) hay khi C Carry qu ti xut hin nh kt qu ca php chuyn dch d liu OFF: c Hot ng ch o BMOV ON: vit OFF: gi tr ng ra RESET Hot ng ch gi RAMP ON: gi tr ng ra c gi OFF: ang thi hnh Hon tt vic x l ON: Vic thi hnh hon tt OFF: gi Xa tt c vng nh khng cht ON: xa Bo lu b nh khi PC ch OFF: gi STOP ON: xa OFF: ng ra V hiu ha mi ng ra ON: ng ra v hiu OFF: chuyn i c th V hiu ha trng thi STL ON: chuyn i v hiu Bt u chuyn trng thi OFF: chuyn i v hiu
Trang 194
M8042 M8045 M8046 M8047 M8048 M8049 M8067 M8068 M8160 M8161
Xung bt u V hiu ha vic RESET tt c ng ra Bo trng thi STL l ON Cho php gim st STL ON cho php hin th c hiu mn (M8049) v c 1 c hiu ang hot ng Cho php hin th c hiu
ON: stop ON: lnh bt u IST OFF: reset c th ON: reset v hiu ON: tnh trng STL kch hot ON: D8040 n D8047 gim st bc STL hot ng ON: c hiu c hin th M8049
M8164 M8168 M8200 M8201 M8202 M8203 M8204 M8205 M8206 M8207
OFF: D8049 khng th ON: D8049 c th OFF: khng c li Li tc v ON: li tc v Cht li tc v S xut hin ca M8067 c gi Chn tc v XCH hon i 2 OFF: bit thng byte trong 1 word d liu ON: s chuyn i 8 bit Chn cc tc v 8 bit cho cc S la chn php vn hnh 8 bit lnh ASC, RS, ASCI, HEX, cho cc lnh ng dng ASC, CCD RS,ASCI, HEX, CCD Khi ON, gi tr trong D8164 c s dng nh 1 s ca im Lnh chuyn i trao i FROM/TO Chn ch BCD dng vi Chuyn i s vi n v 4 bit lnh SMOV ON: C200_ b m xung iu khin b m ln/xung OFF: C200_ b m ln ON: C201_ b m xung iu khin b m ln/xung OFF: C201_ b m ln ON: C202_ b m xung iu khin b m ln/xung OFF: C202_ b m ln ON: C203_ b m xung iu khin b m ln/xung OFF: C203_ b m ln ON: C204_ b m xung iu khin b m ln/xung OFF: C204_ b m ln ON: C205_ b m xung iu khin b m ln/xung OFF: C205_ b m ln ON: C206_ b m xung iu khin b m ln/xung OFF: C206_ b m ln iu khin b m ln/xung ON: C207_ b m xung
Trang 195
M8208 M8209 M8210 M8211 M8212 M8213 M8214 M8215 M8216 M8217 M8218 M8219 M8220 M8221 M8222 M8223 M8224 M8225 M8226 M8227
iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung
OFF: C207_ b m ln ON: C208_ b m xung OFF: C208_ b m ln ON: C209_ b m xung OFF: C209_ b m ln ON: C210_ b m xung OFF: C210_ b m ln ON: C211_ b m xung OFF: C211_ b m ln ON: C212_ b m xung OFF: C212_ b m ln ON: C213_ b m xung OFF: C213_ b m ln ON: C214_ b m xung OFF: C214_ b m ln ON: C215_ b m xung OFF: C215_ b m ln ON: C216_ b m xung OFF: C216_ b m ln ON: C217_ b m xung OFF: C217_ b m ln ON: C218_ b m xung OFF: C218_ b m ln ON: C219_ b m xung OFF: C219_ b m ln ON: C220_ b m xung OFF: C220_ b m ln ON: C221_ b m xung OFF: C221_ b m ln ON: C222_ b m xung OFF: C222_ b m ln ON: C223_ b m xung OFF: C223_ b m ln ON: C224_ b m xung OFF: C224_ b m ln ON: C225_ b m xung OFF: C225_ b m ln ON: C226_ b m xung OFF: C226_ b m ln ON: C227_ b m xung
Trang 196
M8228 M8229 M8230 M8231 M8232 M8233 M8234
iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung iu khin b m ln/xung
OFF: C227_ b m ln ON: C228_ b m xung OFF: C228_ b m ln ON: C229_ b m xung OFF: C229_ b m ln ON: C230_ b m xung OFF: C230_ b m ln ON: C231_ b m xung OFF: C231_ b m ln ON: C232_ b m xung OFF: C232_ b m ln ON: C233_ b m xung OFF: C233_ b m ln ON: C234_ b m xung OFF: C234_ b m ln
IV. Danh sach cac thanh ghi d lieu ac biet:
Thit b chn on D8000 D8001 D8002 D8004 D8006 D8010 D8011 D8012 D8013 D8014 D8015 D8016
Tn B nh th Watchdog Loi PLC Dung lng b nh Cha s k hiu c li M**** Pht hin thp p Thi gian qut hin hnh Thi gian qut nh nht Thi gian qut ln nht D liu giy D liu pht D liu gi D liu ngy
Hot ng 200ms (*1) 24000 8000 Ni dung ca thanh ghi ny l **** xc nh c li hin hot ng. Vd: **** = 8060 th l M8060 L mc in p thp nht c pht hin Chu k tc v hin hnh/ thi gian qut tnh bng n v 0,1ms Chu k tc v nh nht/ thi gian qut tnh bng n v 0,1ms Chu k tc v ln nht/ thi gian qut tnh bng n v 0,1ms D liu giy ca hp RTC (0-59) D liu pht ca hp RTC (0-59) (*2) D liu gi ca hp RTC (0-23) (*2) D liu ngy ca hp RTC (1-31)
Trang 197
D8017 D8018 D8019 D8028 D8029 D8040 D8041 D8042 D8043 D8044 D8045 D8046 D8047 D8049 D8067 D8068 D8069 D8102 D8164 D8182 D8183 D8184 D8185 D8186 D8187 D8188 D8189 D8190 D8191 D8192 D8193 D8194
D liu thng D liu nm D liu ngy trong tun Gi tr hin hnh ca thanh ghi ch mc Z0 Gi tr hin hnh ca thanh ghi ch mc V0 Bc STL hot ng thp nht Trng thi STL hot ng th 2 Trng thi STL hot ng th 3 Trng thi STL hot ng th 4 Trng thi STL hot ng th 5 Trng thi STL hot ng th 6 Trng thi STL hot ng th 7 Trng thi STL hot ng th 8 Bo hiu ca trng thi thp nht M li v tc v S th t ca bc c li tc v S th t ca bc tm thy li tng ng vi cc c M8065 n M8067 Dung lng b nh S ca im trao i FROM/TO Gi tr ca thanh ghi chuyn dch Z1 Gi tr ca thanh ghi chuyn dch V1 Gi tr ca thanh ghi chuyn dch Z2 Gi tr ca thanh ghi chuyn dch V2 Gi tr ca thanh ghi chuyn dch Z3 Gi tr ca thanh ghi chuyn dch V3 Gi tr ca thanh ghi chuyn dch Z4 Gi tr ca thanh ghi chuyn dch V4 Gi tr ca thanh ghi chuyn dch Z5 Gi tr ca thanh ghi chuyn dch V5 Gi tr ca thanh ghi chuyn dch Z6 Gi tr ca thanh ghi chuyn dch V6 Gi tr ca thanh ghi chuyn dch Z7
(*2) D liu thng ca hp RTC (1-12) (*2) D liu nm ca hp RTC (00-99 hay 1980-2079, c th c chn) (*2) Gi tr hin hnh ca thanh ghi ch mc Z0 Gi tr hin hnh ca thanh ghi ch mc V0 Bc STL hot ng thp nht Trng thi STL hot ng th 2 Trng thi STL hot ng th 3 Trng thi STL hot ng th 4 Trng thi STL hot ng th 5 Trng thi STL hot ng th 6 Trng thi STL hot ng th 7 Trng thi STL hot ng th 8 Bo hiu ca trng thi thp nht M li v tc v S th t ca bc c li tc v S th t ca bc tm thy li tng ng vi cc c M8065 n M8067 8000 S ca im trao i FROM/TO Gi tr ca thanh ghi chuyn dch Z1 Gi tr ca thanh ghi chuyn dch V1 Gi tr ca thanh ghi chuyn dch Z2 Gi tr ca thanh ghi chuyn dch V2 Gi tr ca thanh ghi chuyn dch Z3 Gi tr ca thanh ghi chuyn dch V3 Gi tr ca thanh ghi chuyn dch Z4 Gi tr ca thanh ghi chuyn dch V4 Gi tr ca thanh ghi chuyn dch Z5 Gi tr ca thanh ghi chuyn dch V5 Gi tr ca thanh ghi chuyn dch Z6 Gi tr ca thanh ghi chuyn dch V6 Gi tr ca thanh ghi chuyn dch Z7
Trang 198
D8195
Gi tr ca thanh ghi chuyn dch V7
Gi tr ca thanh ghi chuyn dch V7
(*1): Gi tr khi to l 200ms. C th vit li nhng lnh kim tra WDT khng c thc hin. (*2): ng h thi gian trong my tnh c hin th trn mn hnh.
Trang 199

PLC Mitubishi Va Cac Tap Lenh

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

PLC Mitubishi Va Cac Tap Lenh

Uploaded by

Copyright:

Available Formats

MC LC:

GII THIU CC LOI PLC H FX CA MITSUBISHI

Dng vi cc ngt S mc lng nhau (N) 3. Dng vi lnh MC/MCR

100 n 130 (kch cnh ln =1, kch cnh xung =0) T N0 N7

Cc loi FX0S PLC:

Ng ra Loi R le Transistor MRES/UL v MRUA1/UL MT-DSS (Source) MRD12SS (Source)

75 90 75 100 - 240VAC, +10%, -15%, 50/60 Hz 105 90 75

60 90 47 MR-DS 24 VDC, +10%, -15% 75 90 47 105 90 47 60 90 47 105 90 47

MR-DS v MT-DSS MR-D12S v MTD12SS

12 VDC, +20%, -15%

T D8000 D8255 (s lng 27) 2 thanh ghi V, Z

S mc Dng vi lnh lng nhau T N0 N7 (s lng 8) MC/MCR (N)

MRUA1/UL MR-DS v MT-DSS v MT-D/E

FX0N-16EX-ES/UL FX0N-16EYR-ES/UL FX0N-16EYT-ESS/UL

Sink/Source R le 16 Transistor (Source) 70 90 87

III. FX1S PLC: 1. c im:

S lnh c bn: 27 S lnh Ladder: 2 S lnh ng dng: 85

C ti a 167 lnh ng dng c thi hnh

T D0 D127 Thng thng S lng: 128

T D128 D255 Cht Thanh ghi d liu (D) S lng: 128

S mc lng nhau (N) Hng s

3. Cc loi FX1S: Ngun AC, u vo 24 VDC Tng cc ng

FX1N PLC: c im:

Dung lng chng trnh

C th chn ty b nh (nh FX1N-EEPROM8L)

(HSC) 1 pha hot ng bng ng vo

T C251 C255 T D0 D127

Loi: cp thanh ghi lu tr d liu 16 bit dng cho thit b 32 bit

T D128 D7999 Cht S lng: 7872

Thanh ghi d liu (D)

Ch mc Dng vi lnh CALL Dng vi cc ngt Dng vi lnh MC/MCR

Con tr (P) S mc lng nhau (N)

Thp phn (K) Thp lc phn (H) 3. Cc loi FX1N:

Ngun AC, u vo 24 VDC Tng cc ng

Transistor (Source) R le 60 36 Sink/Source 24 Transistor (Source) 175 75 90

V. FX2N PLC: 1. c im:

T C246 C250 T C251 C255 T D0 D199

T D200 D7999 Cht Thanh ghi d liu (D) S lng: 7800

S lng: 7000 S lng: 256 (k c D8030, D8031) S lng: 16

Dng vi lnh CALL Con tr (P)

S mc lng nhau (N)

Dng vi lnh MC/MCR Thp phn (K) Thp lc phn (H) im ni

3. Cc loi FX2N: Tng cc ng

8 Sink Sink/Source Sink

Transistor (Source) Transistor (Sink) R le Triac

Transistor (Source) Transistor (Sink)

Sink/Source Sink 48 24 Sink/Source Sink 24

R le Triac Transistor (Source) Transistor (Sink) R le 182 87 90

FX2N-48MT-ESS/UL FX2N-48MT-E/UL FX2N-64MR-ES/UL

FX2N-80MT-DSS FX2N-16MR-UA1/UL FX2N-32MR-UA1/UL FX2N-48MR-UA1/UL FX2N-64MR-UA1/UL

VI. FX2NC PLC: 1. c im:

Ging c tnh k thut ca FX2N

Loi Sink/Source Sink/Source

LP TRNH PLC MITSUBISHI VI CC LNH C BN

V du: LDI X001 OUT Y000

AND X001 AND X002 OUT Y001

OR LD OR OR X000 X001 X002

Lenh ANI va ORI.

NAND LDI X000 ANI X001 ANI X002 OUT Y000

NOR LDI X000 ORI X001 ORI X002 OUT Y001

Hnh 2.7: Mc song song hai khi logic

Hnh 2.13 Lap trnh mach phat hien canh xuong

Hnh 2.17: ng dung lenh dch chuyen thanh ghi