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Chng 1: GII THIU NG C SERVO

1.1 Phn loi ng c Servo ng c Servo c 2 loi: 1.1.1 ng c Servo DC iu khin ng c 1 chiu: Dn ng chy dao my cng c iu

khin s NC/CNC i hi h iu khin phi c kh nng iu khin ng thi c tc v v tr. Mc d vi s pht trin ca cng nghip in t, ng c xoay chiu iu khin tc bng bin tng ngy cng pht trin mnh m nhng ng c Servo DC vn c s dng ph bin trong cc my cng c iu khin s. Nhng nm trc 1995 ca th k trc 95% ng c dng trong xch chuyn ng chy dao my ng c NC/CNC u c s dng ng c DC iu khin Servo. ng c Servo DC c 2 loi: ng c 1 chiu c chi than v ng c 1 chiu khng c chi than. a. ng c Servo DC c chi than ng c servo dng mt chiu DC chi than c trnh by trn (hnh

1.1) gm 4 thnh phn c bn: stator ca ng c DC l mt nam chm vnh cu, cun day phn ng lp trn roto. Trong qu trnh hot ng, t trng c nh c sinh ra t nam chm vnh cu gn trn stator tng tc vi dng t sinh ra t cun dy trn roto khi c dng in chy qua n. Qu trnh tng tc sinh ra moment tc ng ln trc roto. Moment ny biu din theo phng trnh Tm=ke..Ie.sin Trong : Te = moment ng c ; Ke=h s ng c ; = mt dng t ; Ia = dng phn ng ; = gc gia vect t trng c nh v vect dng (1)

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Hnh 1.1: Cu to ng c Servo DMC chi than Cng thc (1) cho thy phn t sin nh hng ti moment trn trc

ng c. Hnh 1.2 ch ra quan h gia vect t trng c nh v vect dng qua phn ng. moment trn trc ng c tng dn t = 0o v ln nht khi gc =90o c ngha l khi vect t trng c nh vung gc vi vect dng phn ng, moment trn trc ng c l ln nht khi v khi = 0o vect dng phn ng song song vi vect t trng c nh, ti moment trn trc l nh nht. m bo moment trn trc ng c lun t c gi tr ln nht cn thit phi iu khin chuyn mch cp in cho cun dy roto sao cho vect dng phn ng lun lun vung gc vi t trng c nh. Vi cch iu khin qu trnh cp in nh trn, mmen ng c s bin thin t l vi dng cp cho cun dy phn ng.

Hnh 1.2: Vect t trng c nh vect dng v momen ng c Servo DC

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Trang 3 Mt mi lin h khc gia cc thng s ca ng c mt chiu l tc

quay ca rto t l vi sc in ng phn in ng phn in sinh ra trong cun dy phn ng Mmen v tc ca ng c Servo DC iu khin c th m t bng Tc= Km.Iu (3) (2)

hai phng trnh sau: Eb=Kb. -

Trong : Tc- l mmen t, Nm Iu- dng in trong cun dy phn ng, A Eb- in p phn in (emf), V Km- h s mmen, kgm/A Kb- h s in, n v o vn trn vng trn pht - vn tc quay ca ng c, vng/pht

Mch ng c Servo DC ch ra trn hnh 1.3

Hnh 1.3: Mch ng c Servo DC T nh lut Kirchhoff ta c phng trnh mch

Vu = K b . + R u .I u + L u .(
-

dI u ) dt

(4)

Thnh phn L nh hn so vi R nn c th b qua L. B qua L V RI = Kb (5)

phng trnh s l:

Phng trnh mmen ti Tm t trn trc ng c : Tm = T + T s + T c V Td =Jc (d/ dt) Ts = fdc (6)

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GVHD: PHM VN MNG

Trang 4 Tc =Jm (d/dt)+fm Trong : T - mmen ng; Ts - mmen tnh; Tc - mmen cn; Jc- mmen qun tnh roto ng c; Fc- h s sc cn nht ca ti; Jm mmen qun tnh ti; Fm- h s sc cn nht ca ti; ng c quay th mmen ng c phi bng vi mmen ti: Tm= Tc=Km.Iu (7)

u im ca ng c Servo DC chi than l n gin trong iu

khin v gi thnh sn phm r. Tuy nhin s dng chuyn mch c kh gy ra n, tng nhit trn vnh gp v qun tnh r to cao khi gim tc . khc ph cc nhc im trn ngi ta s dng ng c Servo DC khng chi than. b. ng c Servo DC khng c chi than ng c Servo DC khng c chi than c s dng ph bin trong

my cng c iu khin s. Cu trc ca n v c bn ging nh ng c Servo DC chi than nhng khc ch cc cun pha ca ng c lp trn Stato v Rto l nam chm vnh cu. Roto c ch to t vt liu ferit hoc samari coban . Rto lm t vt liu samari coban c kh nng tp trung t cao v t d thp. Nhng gi thnh rto loi ny cao hn nhiu so vi khi rto lm t vt liu ferit. V vy, n ch dng ch to rto cho ng c cng sut ln. Tng t nh ng c xoay chiu, t trng quay trong ng c DC khng chi than c sinh ra nh mch iu khin th t cp dng cho cc cun pha. Cun dy pha ca ng c khng chuyn ng v vy c th s dng chuyn mch bng in t nn loi tr bng nhng nhc im tn ti trong ng c DC Servo chi than.

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Trang 5 iu khin cc trc my cng c iu khin s i hi iu khin

chnh xc c v v tr v tc . V vy, ng c Servo DC khng chi than cn phi c mch phn hi, tnh hiu phn hi l tc quay trc ng c hoc v tr gc trc. m bo chnh xc chuyn ng bn my, tn hiu phn hi phi c cp lin tc cho mch iu khin. Trong cng nghip thit b mch phn hi ca ng c Servo DC thng s dng l cm bin tc (Tachometer) chi than hoc khng c chi than, sensor hiu ng Hall, resolver, synchro v encoder. Nguyn l lm vic ca cc thit b ny c trnh by trong cc mc tip theo.

Hnh 1.4: a) Sensor hiu ng Hall v a t lp ui ng c b) Tn hiu chuyn mch sensor hiu ng Hall sinh ra trong mt vng

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Phung php chuyn mch hiu ng Hall uc s dng kh ph bin

trong iu khin ng c Servo DC. Trong ng c Servo DC 3 pha khng chi than ngi ta t c nh 3 sensor hiu ng Hall ln v pha ui ng c v cch iu 1200 quanh trc ng c. ly tn hiu sensor hiu ng Hall, mt a t nh ch ra trn (hnh 1.4a) uc lp trn ui trc ng c v trn da ngi ta ct mt rnh. Khi mt trong 3 sensor hiu ng Hall i qua rnh, trong khong thi gian ngn dng t b mt v kt qu l trn u ra ca sensor hiu ng Hall VH khng c in p Vh (Vh in p hiu ng Hall). Tn hiu ra t sensor thung uc a qua mch Trigger Smith hiu chnh li thnh xung ch nht. Hnh 1.4b ch ra tn hiu a ra t sensor hiu ng Hall trong 1 vng

quay ca trc ng c. Tn hiu ny c th dng iu khin chuyn mch Transitor cng sut tn hiu ra ca iu khin ng c. ng thi cng c th dng xc nh v tr ca ng c. Hnh 1.5 l s khi n gin mch iu khin chuyn mch ng

c 3 pha ng c Servo DC khng chi than.

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Hnh 1.5: S khi mch iu khin chuyn mch cho ng c ba pha H gm 6 b bin i cng sut dng vo v dng thot uc iu

khin bi mch iu ch chiu rng xung PWM (Pul Width Modulator). Mc ch ca b bin i ny l khng ch dng in cp cho 1 trong 3 cun dy Lx, Ly, Lz. Tn hiu chuyn mch iu khin ng c gi ti chn iu khin Transitor cng sut dng vo v Transitor cng sut thot lp theo kiu Darlingtor. Hnh 1.6a ch ra mch Transitor dng vo, dng thot, cun pha Lx, Ly v tung t nh th vi cun Lx v Lz hoc Ly v Lz

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Hnh 1.6: a) Mch transistor vo v transistor thot vi cc cun pha b) Mch pht xung tam gic hnh 1.7 ch ra mch bin i cng sut dng vo v mch tn hiu ra. Mch bin i cng sut 3 dng vo c cu trc l mch bin p xung y ko. Tn s chuyn mch ca b bin i cng sut dng vo uc thc hin nh mch a hi. Mch ny c th thit lp t IC CD4078B. Tn hiu ra Q v Qb ca mch ny uc a ti chn iu khin ca 2 chn Transitor trung ( mosfeet) cng sut. B bin i cng sut dng vo cn uc iu khin bi b iu ch chiu rng xung ( PWM ) tn s thp. Tn s pht xung ca PWM c thc hin nh my pht xung tam gic nh ch ra trn hnh 1.5b Hnh 1.7 l s mch ca mt trong 6 b bin i dng. iu khin

mch a hi v mch bin i y ko hot ng nh sau: Khi chn tn hiu ra Q ca IC CD4047B mc cao v tn hiu Enable (A) mc thp, dng chy t ngun in p 1 chiu 12V qua Transitor Q1 ti cun Lp1 ca bin p T1 v C qua Transitor Q3 v t. thi im ny khng xut hin dng trong cun Ls1 chy qua cun cm L, D3 bin thin p nguc. Khi Q chuyn t mc logic cao xung mc logic thp v Enable (A) khng thay i mc tn hiu, dng chy qua Lp1 b ngt. Trong cun dy Ls1 xut hin dng chy qua D3 hung ti im E np in cho t C1. Ti thi im ny tn hiu ra Q b t mc thp chuyn ln mc cao.

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Hnh 1.7: Mt trong su tng bin i ca h iu khin ng c DC khng chi than Dng chy t ngun 12V qua cun Lp2 ca T1 hng ti im D qua

Q4 v t trong cun Ls2 xut hin dng in chy qua Ls2 ti im E np in cho t C1. Nh vy vi tn s thp ca tn hiu Enable, t C1 nhanh chng uc np n mc xc nh v xung dng im C v D c tn s di tr n nh cho nn np in p ti im E gn nh khng thay i. in th ti im E l in p cho Ant ca Triristor T1. in p ti im F iu khin bin dng gc ca khuch i cng

sut Dalington v in p ny l hm ca tn hiu chuyn mch im B Trong thi gian vng rng ca tn hiu im B dng in 1 chiu

in p 12V qua Trasitor Q2 ti im G ca cun dy Lp1 ca bin th T2 sau qua cun Lp1, diode D1 n C, lc ny chn Q ca CD4047B mc cao v ti B mc logic thp D2 tr thnh in p thun dng chy t G qua D2 qua Q4 v t. Khi tn hiu Q chuyn xung mc thp gy ra ngt dng chy trong

Lp1 ca T2 diode Schottky D5 tr thnh in p thun. Kt qu l c dng

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Trang 10 chy ti im F. Khi Qb chuyn t cao xung v dng chy trong Lp2 ca T2 b ngt D6 c thin p thun dng chy v im F Bin ca in p ti im F t l vi rng ca xung ch nht

im B. Mch Darlinton b kha khi h iu khin gi cho cc gc ca Transitor Q2 mc logic cao. Khi q2 kha b bin i y ko th 2 khng hot ng v khng c chy ti im F, do khng c dng cp cho cc gc ca Q6 nn Q6 b kha. Khi ti im B chuyn t logic cao sang logic thp Transitor Q2 m. rng xung ti im B tng ln lm cho dng gc ca Transitor Q6 tng ln v khi rng ca xung vo B gim xung dng gc ca Q6 cng gim xung. Nh vy dng collector v emitter ca Darlington l hm ca rng tn hiu chuyn mch. Tiristor T1, Transitor Q5 v Diode zener D7 hnh thnh mch bo v

ng c Servo v chng qu p cho mch iu khin. khng ch qu p ngi ta ni im H trong hnh 1.7 vi im trong hnh 1.6. Tiristor T1, transitor Q5 v diode zener D7, in tr R3 v R4 c lp nh ch ra trn hnh 1.7. Trong mch in tr R3 v in tr R4 chn ln vi in p bnh thng Q5 lun b kha do Tiristor T1 cng lun b kha. Khi in p ti D vt qu in p nh mc ln Transitor Q5 m, Transitor T1 m nn in p ti im E v F gn bng khng v mch Darlington kha. Ch rng trong qu trnh in p ti D vt qu in p cho php, Transitor Q2 ang trng thi m.

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Hnh 1.8: Kt cu ng c DC khng chi than

Hnh 1.8 l kt cu ca ng c DC khng chi than. Trn ng c b

tr h thng phanh, sensor o tc , chuyn mch hiu ng Hall, sensor kim tra nhit ng c. Trong than i hi h iu khin ng c cung cp tn hiu iu khin c v tr v c tc . C 2 kiu c bn ca h iu khin ng c Servo: tng t v s. H iu khin Servo kiu tng t l s dng mch in thc hin

b sai s v tr v tc . H gm 4 cm iu khin c bn: my tnh iu khin v tr, iu khin tc v ng c mt chiu khng chi than. Mi quan h gia cc cm iu khin ch r trong hnh vi tn hiu phn hi v tr t b bin i encoder hoc Sesolver qua mch phn hi hi sinh ra sai s tc v sai s c a n h iu khin tc s l cho ph hp vi v tr. H iu khin tc cha mch phn hitc sinh ra t Tachometer. Tn hiu c so snh vi tn hiu c a ra t h iu khin v tr v sinh ra in p v dng ph hp b cho sai s v tr v tc .

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Hnh 1.9: S khi ca h iu khin ng c DC kiu tng t CNC Hnh 1.10 l mt kiu mch iu khin ng c Servo DC dng trong

my cng c iu khin s CNC. in p li tng t CNC v tn hiu phn hi ca Tachometer gi ti mch iu chnh (PI) sinh ra tn hiu iu khin v tr. Tn hiu sinh ra t b iu chnh PI v tn hiu t mch dao ng a ti mch khuch i cng sut trc khi ti mch iu ch chiu rng xung (PWM). Xung tam gic l xung chun c sinh ra t mch pht xung. Xung ny c gi b iu ch chiu rng xung. Trn hnh 1.10 in tr R1 l in tr khuch i ca mch iu khin v tr.

Hnh 1.10: Mch iu khin ng c Servo DC

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1.1.2 ng c AC Servo Nh s pht trin vt bc ca cng ngh iu khin in, hin nay

chuyn ng chy dao trong my cng c iu khin s dng kh ph bin ng c AC Servo. Hnh -11 ch ra hnh dng ngoi ca ng c AC Servo. Nhng nhc im ca ng c AC Servo l h iu chnh tc

ng c phc tp v t tin so vi ng c DC. H iu khin tc ng c AC Servo da trn c s bin i tn s. Tc ng c c xc nh theo tn s ngun. Mt trong nhng phng php iu khin tc ng c AC Servo l bin i dng xoay chiu thnh dng mt chiu nh b chnh lu 3 pha, sau bin i dng 1 chiu thnh dng xoay chiu nhng tn s c la chn. Hnh 11 l s khi n gin h iu khin tc ng c AC Servo.

Hnh 1.11: a) Dng ngoi ng c AC b) S iu khin tc ng c AC

1.1.3 La chn ng c Khi la chn ng c ngi thit k phi xem st nhiu yu t v cc

c trng v di tc , s bin i momen tc , tnh thun nghch, chu k lm vic, momen khi ng v cng sut yu cu.

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Tc ng c (vng/pht) Hnh 1.12: ng cong momen tc ng c bc

c bit lu ti ng cong momen tc ng c bi v cc

ng cong ny cho ta nhng thng tin quan trng. Hnh -12 ch ra ng cong momen tc khc nhau vi in p tiu th tng ng. la chn la cng sut chng ta cn chn l cc vn sau: Momen khi ng ng c. Momen tc quay bng 0 c gi l momen khi ng c. ng c t khi ng c, ng c phi sinh ram omen ln hn momen ma st v momen tai t ln trc ca n. Nu gi a l gia tc gc ca ng c v uc o bng Rad/s2, Tm l momen ng c, Tti l momen ti t ln trc ng c v J l momen qun tnh ca Rto v ti ta c quan h: A=(Tm-Tti)/J Tc cc i ca ng c. Nhn vo th quan h momen tc , ti im momen bng 0 xc nh tc cc i ca ng c.. Cn phi nh rng ti tc ny ng c khng qua momen v tc ny gi l tc khng ti. (8)

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Trang 15 Cng sut yu cu ti. Cng sut yu cu t bit quan trng i vi ng c, v vy ngi thit k phi la chn ng c c cng sut tung ng vi cng sut yu cu trong chu k lm vic. Nu h dn ng yu cu iu chnh tc : tt nht l la chn ng c ng b hoc ng c mt chiu. Nu h yu cu iu khin c v tr v tc . Trong trung hp v tr gc thc hin theo v tr ri rc hoc gia s, tt nht l ng c buc. ng c bc c th iu khin tc bng cch thay i tn s cp xung v ch dng trong cc mch iu khin nh c ngha l khng c mch phn hi. ng c buc ch dng trong trung hp ti trng ti nh v khng th dng trong trung hp i hi tc qu cao. Trong trung hp yu cu iu khin c v tr v tc , v d trong cc thit b chuyn ng theo chng trnh s, ngui ta thng s dng ng c Servo. ng c Servo l ng c AC, DC hoc ng c mt chiu khng c chi than c mch phn hi v tr.ng c Servo t hn ng c bc. H thng cn hay khng cn gim tc. Thng thung ti c iu khin di tc thp v momen ln. c tnh ca ng c tc cao momen thp v vy cn hp tc gim tc u ra. Khi dng hp tc qun tnh ti cng thay i theo v s thay i ny th hin trong cng thc:

Jc= Jti(ti/ )2
Trong : ti- Tc gc ca ti, Rad/s - Tc gc c ng c, rad/s

(9)

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Trang 16 1.2 H thng Servo 1.2.1 H thng Servo l g ? Servo bt ngun t ting Hy Lp Secvus (vervant). H thng c gi l : H thng Servo chp hnh trung thnh vi mt lnh

Hnh 1.13: M hnh mt h thng Servo *C cu nh v: H thng servo khng n gin ch l mt phng php thay th iu

khin v tr v tc ca cc c cu c hc, ngoi nhng thit b c kh n gin, h thng servo by gi tr thnh mt h thng iu khin chnh trong phng php iu khin v tr v tc . Sau y l mt s v d v cc c cu nh v: C cu nh v n gin :

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Trang 17 *Cc v d v c cu ny l xy lanh hay trc cam hay b ly hp v phanh hm

Hnh 1.14: Xy lanh hay trc cam hay b ly hp v phanh hm u im ca c cu ny l n gin, r tin, v c th hot ng

tc cao. C cu nh v linh hot iu khin bi servo motor. C cu ny c th c iu khin vng h, na kn hay vng kn

Hnh 1.15: iu khin v tr linh hot bi ng c servo u im ca c cu ny l chnh xc v p ng tc cao, c

th d dng thay i v tr ich v tc ca c cu chp hnh. C cu

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Trang 18 chuyn ng nh hngC cu ny chuyn ng theo hng nht nh c ch nh t b iu khin. Chuyn ng c th l chuyn ng tnh tin hay quay.

Hnh 1.16: iu khin chy trc tip u im l c cu chp hnh n gin v nng cao tui th hp s

truyn ng (do truyn ng kh m). *Backlash v hiu chnh: Backlash hiu nn na l gii hn chuyn ng ca mt h thng

servo. Tt c cc thit b c kh u c mt im trung tnh gia chuyn ng hoc quay theo chiu dng v m (cng ging nh ng c trc khi o chiu th vn tc phi gim v 0). Xt mt chuyn ng tnh tin lui v ti nh trong hnh sau:

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Hnh 1.17: S git li ca c kh Chuyn ng tnh tin ny c iu khin bi mt ng c servo.

Chuyn ng ti v lui c gii hn bi mt khon trng nh trong hnh. Nh vy ng c s quay theo chiu dng hoc chiu m theo mt s vng nht nh chuyn ng ca thanh qut ln ton b khon trng nhng khng c vt qu khon trng (y l mt trong nhng iu kin ct li ca vic iu khin ng c servo). Gii hn ny c gi l backlash. Tuy nhin trong thc t ng c quay nhng vng chnh xc con trt trt chnh xc v qut ln ton b khon trng trn l rt kh thc hin nu khng c mt s b tr cho n. V trong h thng servo nht thit c nhng hm lnh thc hin vic b tr, hiu chnh ny. Nh trong hnh v trn, h thng servo gi xung lnh hiu chnh cng/tr

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Trang 20 s lng xung lnh iu khin v cc xung lnh hiu chnh ny s khng c tnh n trong b m xung.

1.2.2 H thng iu khin C ba dng : iu khin vng h:

Hnh 1.18: iu khin vng h Ngha l b iu khin v tr ch t lnh cho ng c quay m thi.

iu khin na kn:

Hnh 1.19: iu khin na kn y s vng quay ca step motor c m ha v hi tip v b

iu khin v tr. Ngha l n y th ng c step ch quay mt s vng nht nh ty thuc vo lnh ca b iu khin v tr, ni cch khc b iu khin v tr c th ra lnh cho chy hoc dng ng c theo mt lp trnh sn c ty thuc vo ca ngi thit k. iu khin vng kn

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Hnh 1.20: iu khin vng kn Vng hi tip lc ny khng phi hi tip t trc ng c v m vng

hi tip lc ny l hi tip v tr ca bn chy thong qua mt tht tuyn tnh. Lc ny b iu khin v tr khng iu khin s vng quay ca motor na m n iu khin trc tip v tr ca bn chy. Ngha l cc sai s tnh do sai khc trong cc bnh rng hay h thng truyn ng c loi b. 1.2.3 Cu hnh ca h thng servo:

Hnh 1.21: Cu to ca h thng servo S khc bit ca ng c servo so vi nhng ng c s dng cm

ng t ni chung l n c mt my d pht hin tc quay v v tr.

B iu khin (Tnh hiu u vo)

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Trang 22 iu khin tc ng c servo quay vi mt tc tng ng vi

tnh hiu in p u vo. V vy n gim st tc quay ca ng c trong mi thi im.

S khi iu khin ng c servo vi 2 vng hi tip v tr v tc

Trong phn A B C l phn so snh x l tn hiu hi tip v hiu

chnh lnh. Phn D E l c cu thc thi v hi tip. Cc phn A B C th kh ph dng trong cc s khi iu khin, phn D E th ty cc thit b s dng m chng c khc nhau i cht nhng v bn cht chng hon ton ging nhau. Sau y l mt s v d v phn D E thng gp.

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Trang 23

Hoc:

1.2.4 Nhng kiu v nhng c tnh (ca) nhng ng c tng lc Nhng ng c tng lc c phn loi vo trong nhng ng c tng

lc DC, A-c. Nhng ng c tng lc v nhng m t tm g bc. C hai dng (ca) A-c. Nhng ng c tng lc, ng c tng lc v

kiu cm ng trng hp ng c tng lc

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Nhng c tnh (ca) mi ng c tng lc

1.2.5 Cu to v nguyn l lm vic ca ng c Servo

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Hnh 1.22: Cu to ca ng c servo Nhng c tnh (ca) A-c ng c tng lc so snh vi ng c tng

lc DC. Nam chm vnh cu ( th) gn sn rto v kiu trng quay. Nhng cun dy c cung cp trn phn tnh v khung tnh hc. Trong t khc, nhng chc nng in (ca) rto mt phn tnh c o ngc A-c ng c tng lc khng c cng tc o chiu in v nhng chi m ng c tng lc DC c. Nguyn l lm vic ca ng c servo

Hnh 1.23: Nguyn l lm vic ca ng c servo

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Trang 27 1.3 ng c AC servo v servo amplifier MR-C10A ca Mitsubishi 1.3.1 Gii thiu a. Servo Amplifier

Tn v ng dng Cc chn u ni vi ngun 220V, Chn cung cp cng sut cho ng c v chn u ni vi t. Mn hnh, gm 3 led 7 on ch dn s iu khin, tnh trng v cnh bo Khu vc thao tc hin th cho mn hnh hot ng ca ng c, tham s, tnh trng, cnh bo

u ni t bo v cho ngi s dng

Tn, m hiu ca ng c, tn hiu

I/O kt ni vi tn hiu (CN1), u ni I/O nh servo-on, ni vi control RS232 (CN3) kt ni tn hiu vi my tnh. CN2 kt ni vi encorder ca ng c servo

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Trang 28 b. Servo motor

Tn ng dng Cp b m ha Cp in, u ni nhn cp in (U, V, W). u tip t, u ni phanh in, in t dn tt Trc quay chnh ng c servo

c. Cu hnh h thng c bn Tiu chun mu Cp ngun mt pha xoay chiu

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Trang 29

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Trang 30 1.3.2 Vn hnh a. Kim tra trc khi vn hnh Kim tra ngun cung cp Cung cp nng lng ng c kt ni trm

a nng lng vo (L1, L2) ca b khuch i. Trm cung cp nng lng cho ng c servo (U, V, W) ca b khuch i ni chung pha vi trm u vo nng lng (U, V, W) ng c servo. B khuch i v ng c servo ni t an ton. Trm cung cp nng lng cho ng c servo (U, V, W) ca b khuch i khng ni vi trm u vo nng lng (L1, L2). Khi s dng thanh ti sinh, khng ni ti qua D-P ca khi mch chnh. Cng nh s xon ca dy cp c th s dng ni dy ca phanh chn ti sinh. Khi kt thc nhng ci ct mch gii hn c s dng,

tn hiu i qua LSP-SG v LSN-SG ca CN1 trong lc hot ng 24VDC hoc in p cao hn khng kt ni vo chn ca CN1. SD v SG ca CN1 th khng kt ni. Mi trng Bo m cho cp tn hiu v nng lng khng gn bi dy offcuts, metallic clustay clust, etc. C kh Bo m cho khung ng c v trc my c ni an ton Bo m ng c servo v my vn hnh r rng.

Kim tra mch cnh bo, bo v b. Trnh t vn hnh Cnh bo: khng nhn cng tc vi bn tay m t, bn c th b in git Nhc nh: trc khi bt u vn hnh, kim tra thng s. Mt vi my bt ng vn hnh trong sut thi gian bt ngun hoc sm tt ngun,

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GVHD: PHM VN MNG

Trang 31 khng chm vo l tn nhit ca b khuch i phanh ti sinh (resistor), ng c servo, chng c th v cng nng, bn c th b bng. S kt hp c bit ca ng c servo v b khuch i phi ch nh.

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Trang 32

Khi servo-on tn hiu (SON) l swithed ON, ng c servo sn sng hot ng v trc ng c trng thi locked Nu trc ca servo-clocked, tn hiu servo-on l khng on, kim tra kt ni bn ngoi.

Khi truyn mt xung t n v nh v, ng c servo bt u quay. u tin, ng c chy vi tc thp v kim tra hng quay, etc, nu ng c khng quay nh mong mun, kim tra li tn hiu u vo Trong tnh trng hin th, kim tra tc ca ng c servo, tn s xung lnh, h s ti, etc. Khi kim tra thao tc l trc ht, xc nh thao tc t ng chng trnh n v xc nh v tr. B khuch cha ng thi gian thc t chc nng chy t ng di kiu kh nng thch ng ca b iu khin. Ni chung, trc y s iu chnh tr li khng cn v vic khi ng thao tc vn hnh t ng c li ch t vic iu chnh. S ph thuc vo s khng linh ng ca my, tuy nhin s phn hi li c th c iu chnh cung cp s tt nht cho my bng cch thay i tham s NO.1 setting.

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Trang 33 Thao tc ngt v dng Servo offMch c bn th shut off v ng c servo s gim dn n khi dng hn Stroke end offng c servo s dng t ngt v servo-locked. ng c servo chy theo hng nh AlarmKhi xut hin bo ng, cc mch c bn shut off.

1.3.3 Lu mn hnh S dng mn hnh (3 led 7 on) pha trc trn b mt ca b khuch i cho tnh trng mn hnh, tham s t, etc, s dng mn hnh t tham s trc vn hnh, xc nhp s ni tip bn ngoi hoc xc nh tnh trng thao tc. Nhn nt ln or xung ti mn hnh tip theo. Khi switched on, khi tn hiu cho ngng xung phn hi (thp hn 3 s) CL trnh by

Tham chiu ti or t tham s chiu v m rng tham s, gi tr ca chung 1 s dng tham s 12

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Trang 35 1.3.4 X l s c khi khi ng n khi kt thc

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GVHD: PHM VN MNG

Trang 36 1.3.5 Cch vn hnh bng tay Khi cp ngun cho ng c servo amplifier, trn mn hnh hin th CL

Cng vic iu chnh tham s xong. Kim tra xem ng c hot

ng hay khng bng cch nhn UP ng c quay thun hoc DOWN ng c s quay nghch

Nu ng c khng quay th kim tra bo li (coi phn bo li)

pht hin ng c li ch no sa li Nh vy cng vic kim tra xong.

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Trang 37 1.3.6 Cc kiu bo li

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Trang 38

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Trang 39

1.3.7 Bng tham s Note lm tham s nh du * hp l, t tham s, bt ngun in

mt ln, ri bt li ln na N h m Th t 0 1 2 Gi tr K hiu Tn v chc nng ban u * RED Chn phanh ti sinh/la chn 000 m thanh thp ATU Chy t ng 002 CMX Hp s in t (lnh xung 1 nhn h s t s) CDV Hp s in t (lnh xung 1 nhn h s mu s) PST V tr gia tc/hng s thi gian 5 khong cch INP In-Phm vi v tr 100 *IP1 Input chn lc tn hiu 010 *PLS Xung lnh nhp vo 010 S thit t sn xut 0 TLL Gi tr gii hn qun tnh 100 S thit t sn xut 0 S thit t sn xut 0 *BLK Tham s v hiu ha 000 *SIO *DMD ERZ *OP1 SC1 SC2 STC *DIF *DOF Comunication baudrate selection Tnh trng trnh by chn lc. Bo s kin r rng. Li bo ng qu mc output phm vi t V tr/la chn kiu iu khin tc Lnh tc 1 Lnh tc 2 Tc gia tc/hng s thi gian La chn chc nng tn hiu input La chn chc nng tn hiu output 000 000 50 001 10 100 0 210 010 Kpulse Ci t ca KH

n v

Nhng thng s c bn

3 4 5 6 7 8 9 10 11 12 13 14

Ms Pulse

Nhng tham s m rng

15 16 17 18 19 20 21 22

10r/min 10r/min 10ms

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Trang 40 23 24 25 26 27 28 29 30 31 32 33 34 GD2 NCH PG1 PG2 VG1 VG2 VIC VDC MVC T l c qun tnh ti ti qun tnh ng c My ngn chn nh my lc m V tr iu khin gain 1 V tr iu khin gain 2 V tr iu khin gain 1 V tr iu khin gain 2 Tc khng th thiu s n b Li ch t vic iu chnh theo tc Lc chn iu khin khng th coi thng rung ng S thit t sn xut Chn chc nng S thit t sn xut 8 0 70 25 120 60 20 980 000 412 A00 0 Rad/s Rad/s X10 Rad/s X10 Rad/s ms

Nhng tham s

*OP2

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Trang 41

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Trang 44

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Trang 45

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Trang 46

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Trang 47 1.3.8 Ni dung tn hiu Tn hiu ni mch chnh

Tit b ni t bo v

1.3.9 Phng php kt ni

Chn c, vn c v xit c

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GVHD: PHM VN MNG

Trang 48 1.3.10 Kt ni dy tn hiu

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GVHD: PHM VN MNG

Trang 49 1.3.11 Trng thi kt ni ca cc chn v Driver servo Tn hiu K hiu K t ni chn s 17 Chc nng v ng dng Phn chia I/O (note) Trm tn hiu khi ng servo kt DI-1 ni SON-SG ti cng tc trn mch c bn servo (ON servo) Khng kt ni SON-SG ti shuff off (ngn mch c mch c bn off servo) v tt ng c. Thit lp trong bng tham s 6 s chuyn n ci t nh hng dn Khng kt ni SON-SG ti cng tc On Servo v kt ni SON-Sg ti cng tc off servo Trm tn hiu ng vo chiu quay thun gii hn cui cng Trm ny khng th dng trong thit lp i l nc ngoi. Dng trm ny thit lp trong bng tham s 6, trong trng hp ny khi LSP-SG khng c kt ni, ng c servo khng th chy trong chiu quay CCW ng c servo c th chy trong chiu CW khi LPS-SG khng c kt ni cnh bo s khng xy ra nhng v tr im gc ca my b nh mt v ph thuc vo im zero ln na. Trm tn hiu ng vo chiu quay ngc gii hn cui cng. Trm ny khng th dng thit lp cc i l nc ngoi. Dng trm ny thit lp trong bng tham s 6, trong trng hp ny LSN-SG khng c kt ni, ng c servo khng th chy trong chiu quay CW ng c servo c th chy trong chiu CWW khi LPS-SG khng c ni kt cnh bo s khng sy ra nhng v tr im gc ca my b nh mt v ph thuc vo
GVHD: PHM VN MNG

On servo

SON

Chiu quay thun gii hn cui cng

LSP

15

Chiu quay nghch gii hn cui cng

LSN

14

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Trang 50 im zero ln na Ng vo tn hiu clear Ni CR-SG th xa b iu khin v tr trn dn n cnh ca tn hiu, dng bng tham s 6, s ci t ny c th lun lun xa b m v tr trong khi ni CR-SG. B rng xung 10ms hoc hn na. N ra tn hiu h hng. ALM-SG s khng c kt ni khi cng sut off cng tc hoc bo v mch in tc ng ti shuff off (ngt mch ca mch c bn,) thng th ALM-SG c ni trong vng 1,5s sau khi cng sut ngun c m, kt ni phc hi v tr hm hoc thch d tm nhit n cu trc mch bo v. Trm tn hiu nh v ng ra kt thc PF-SG c kt ni khi s xung gim th thit lp li trong phm vi v tr c th chuyn ti bng tham s bng 5. Ng ra tn hiu im gc ca encorder 1 xung ng ra khi ng c servo quay 1 vng. xung nh nht khong 800ms. Xung ny zero thit lp tc gh rm 100r/pht hoc hn na. Lnh xung truyn ng Ng vo lnh xung truyn ng H cc C h Xung truyn ng chiu thun PPSG Xung truyn ng chiu nghch NP-SG H thng ph v kh khn Xung truyn ng chiu thun PGNG Xung truyn ng chiu nghch NP-NG Khi ngun vo xung truyn ng trong h cc C h ngun ni vi n (+) 24VDC Trm giao din cng sut ng vo
GVHD: PHM VN MNG

Clear

CR

13

Trouble s h ALM hng

nh v kt PF thc

Xung encoder OP phase-Z

Xung truyn ng chiu thun. Xung truyn ng chiu nghch

PP PG NP NG

9 10 7 8

Ng vo OPC ngun cc C h Giao din V24

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19

20

Trang 51 cng sut ng V5 vo 16 24VDC hoc 5VDC c th dng trm cng sut ngun cung cp ca trm cung cp ti V24 khi dng 5VDC cung cp c th 1 trong 2: 24VDC v 5 VDC Khng c cung cp c 2 cng mt thi im 24VDC, 24VDC+/- 10%, 200mA hoc hn na 5VDC, 5VDC+/-5%, 100mA hoc hn na. Ch : Nu cng sut c cung cp ti c n V5 v V24 th zero s bo li Ng ra k thut s, ng vo cng sut Cung cp cng sut dng cho drive phn ng ra k thut s Trm chung Trm chung ti OPC, V24, V5 v V+ Ni ti trm (-) ca trm ngun cung cp cng sut Trm che chn Trm ni cui cable che chn

Ng ra k thut s. Ng vo cng sut Ngun cung cp cng sut chung

V+

SG

5 12

Shield (Che chn)

SD

11

1.3.12 Kt ni servo motor vo servo amplifier

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Trang 52 1.3.13 Giao din xung ng vo

1.3.14 Kt ni mch bo v (ALM)

Khi kt ni vi mch bo ng Alarm vi servo amplifier v mch ngun, khi khi ng th phi nhn nt ON hn 1,3s mi bung tay, theo s di y.

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Trang 53

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Trang 54

Chng 2: MN HNH CM NG

2.1 Cc chc nng c bn 2.1.1 Cch m chng trnh Sau khi ci t thnh cng chng trnh Proface vo my tnh.

khi ng chng trnh ta thc hin cc bc sau: 1) Click menu Start Chn Programs Chn Pro-face ProPB3CPackage. Sau chn lnh 1. Project Manager

2) Mt mn hnh qun l xut hin

3) Trong giao din mn hnh qun l. Trn thanh Menu chn Project Chn lnh New hoc click vo biu tng trn mn hnh.

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Trang 55

4) Trong chc nng New - Trong th GP Type Chn loi GP ph hp vi loi cn s dng - Trong th Device/PLC Type (Serial I/F) Chn loi PLC kt ni

Click vo nt

cho php ta ci t h thng, thng tin ci t

cho s la chn kiu PLC bc trn. Khi ci t xong ta nhn nt

Sau nhn OK

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Trang 56 GP-PRO/PBIII cho h thng Windows s hi bn nu bn mun mn hnh s bt

chuyn ti mt mn hnh. Nu bn click chn u v bn c th bt u t ra ngoi mn hnh ca bn.

2.1.2 lu mt chng trnh lu mt File chng trnh di dng tn khc.

2.1.3 m mt chng trnh c sn Trn thanh Menu Chn Project, hoc click vo biu tng . Khi bn chn mt chng trnh, cn ci t nhng th xut hin trong mn hnh.

c s dng c s dng chn th mc cha cc tp tin cn tm Danh sch cc th mc v file d n hin th cc th mc

c s dng to ra mt th mc mi

c s dng hin th mt danh sch tp tin c s dng hin th mt danh sch tp tin chi tit

Hin th tn tp tin d n c la chn t danh sch. Bn c th ch nh cc h s d n bng cch g tn file

c s dng hin th ch thch file chng trnh v la chn n v GP

c s dng chn mt kiu file d n theo mun

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Trang 57 2.1.4 M mt d n 1) La chn lnh t thanh qun l (thanh thc n menu) hoc click vo biu tng Open 2) La chn mt file d n t danh sch hin th hoc nhp tn file cn m trong Filename

La chn Factory A

Nhp file

tn

3) Click vo nt Open m chn file 2.1.4 Lu d n: Khi d liu ca mt d n thay i, s thay i ny c th c lu

li mt cch t ng Tuy nhin nu bn mun th to mt file d n khc m khng lu

file d n hin thi th GP-PRO/PBIII s hi bn c mun lu file ny khng. Nu c th click vo nt Yes, hp thoi lu [SAVE AS] s hin ra. 2.1.6 Lu file d n di tn khc Bn c th lu mt file d n vi mt tn khc hay vi loi GP khc. Cch thc hin:

1) La chn mc [Save As] trn thanh qun l d n 2) Ch dn, loi GP, loi thit b/PLC v SIO m rng ca file d n hin thi ang hin th 2.1.7 Nhp ngh tn file, v nhp mc s thay i

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Trang 58

1) Click vo nt Save lu file 2) Nu tn file c s dng th GP-PRO/PBIII s ngh bn thay th bng mt tn khc vi d n m bn mun lu 3) Nu c, click vo nt Yes. Nu khng mun thay th tn file th chn No

2.1.8 M mt mn hnh mi 1) Trn thanh qun l d n, chn [Screen/Setup] hay click vo nt . Mt mn hnh lm vic s xut hin

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Trang 59

2) La chn mn hnh son tho, vo lnh [New], hoc click vo biu tng 3) Chn mt kiu mn hnh

4) Click vo nt OK to mt kiu giao din ca mn hnh.

2.1.9 M mt mn hnh chnh lu 1) Trn thanh menu [Screen/Setup] chn lnh [Editor], hoc click chn biu tng trong qun l d n

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Trang 60 2) Trn thanh menu [Screen] chn lnh [Open] hoc click vo 3) S dng mn hnh t mt tn mn hnh trong danh sch, hoc la chn mt kiu mn hnh v nhp s mn hnh vo. 4) Khi ang kim tra [Preview] kim tra xem, hnh nh ca mt mn hnh c la chn c th c nhn thy trong hp thoi.

5) Click vo nt OK m mn hnh 6) La chn mn hnh s c m

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Trang 61

7) C th m ln n hai mi mn hnh cng mt lc. chn mt s mn hnh cng mt lc, trong khi bm phm SHIFT trn mn hnh v ko chut trn mn hnh mong mun lin k, hoc bn c th chn ring l bng cch nhp vo chng trong khi bm phm

2.1.10 Lu Mt mn hnh

- Chn [Screen] menu - [lu] lnh, hoc click vo biu tng

chng trnh son tho ca mn hnh.

trong

- Mn hnh hin thi s c lu li ghi ln phn trc .

2.1.11 ng mt mn hnh Chn [Screen] menu [Close] lnh trong mn hnh son tho

- Mn hnh s c ng
Nu bn c gng ng mt mn hnh cp nht m khng lu, sytem hi nu bn mun tit kim mn hnh hin thi. Nu bn click vo

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Trang 62 nt YES th h thng s lu gi liu cp nht. Nu bn click vo nt NO th h thng ng mn hnh m khng lu cc d liu c cp nht.

2.1.12 B GP-PRO/PBIII cho ca s

- Chn [Project] menu- [Exit] lnh, hoc click vo biu tng

mn hnh d tho.

trong

- D n qun l s thot
Nu bn c gng ng qun l d n m khng lu d liu updatated mn hnh hin ang m ca GP-PRO/PBIII s hi nu bn mun lu d liu d n ca bn. Nu bn click vo nt YES GP-PRO/PBIII s lu d liu ang cp

nht. Nu bn click vo nt NO GP_PR/PBIII s thot v khng lu d liu cp nht.

Tt c GP_PRO PBIII cho Windows ci t cp sytem v chc nng l iu khin h thng thng qua ngi qun l d n. Khu vc qun l d n v chc nng. y, mi tnh nng qun l d n c gii thch. bt u lm vic vi GP-PRO/PBIII cho Windows, ch cn nhp vo nt mong mun

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Trang 63

Title Bar

Hin th tn tiu d n hin thi Menu Bar

Hin th menu s dng cho thao tc ca GP-PRO/PBIII cho Windows. Khi bn chn s dng mt thanh cng c trn menu bng chut hoc bn phm th s xut hin mt bng lit k cho bn la chn. Pul Down Menu

Khi bn chn mt chng trnh tin ch trong menu bar, n s lit k ra cc hnh thc. Status Bar

Hin th loi GP v Device/PLC Function buttons

Nt ny cho bit chc nng chnh GP-PRO/PBIII cho chng trnh ca Windows. Bn c th bt u mi chc nng ca simbly cch bm vo nt l chc nng. Bn cng c th bt u cc chc nng ny bng cch chn cc lnh tng ng trong trnh n, qun l d n ko xung

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Trang 64

To ra hoc sa i d Thc hin GP Ci t ban u To mt d n mi Chn mt To bo Editor bo ng Chuyn sang phn mm ProControl Editor khi In ra mn hnh Editor scereens Thc hin m phng vi cc n v GP d n hin ti liu mn hnh Truyn hnh v h thng GP thit lp d liu cho n v GP

thng qua trnh son tho mn hnh

lot GLC hoc lot LT c chn

2.1.13 Mn hnh Editor tn v chc nng Tn v chc nng ca GP-PRO/PBIII cho mn hnh Windows

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Trang 65 Title Bar

Hin th tn d n, s lng mn hnh v hiu Menu Bar

Hin th cc menu s dng opearte GP-PRO/PBIII cho Windows. Khi bn chn mt trnh n mong mun bng cch s dng chut hoc bn phm, cc trnh n ko xung (c) xut hin Pull-down Menu

Khi bn chn mt trnh n mong mun t trnh n thanh trnh n, cc pull-down menu appeaes. Trnh n ny bao gm cc lnh khc nhau. Drawing Area

y, bn c th to ra mt mn hnh cho cc n v GP. Kch thc ca mn hnh bn thy y l ch thng qua "GP Loi" thit lp bn nhp khi bn ln u tin to ra cc tp tin d n. Screen Center Mark

Ch trung tm ca mn hnh. nhn hiu ny khng c hin th khi d liu c gi n cc n v GP Grid Points

c s dng lm im tham chiu khi bn v hoc dn mt obiect ch v Status Bar

Hin th thng tin lin quan n mn hnh hin ti v cung cp thng ip gii thch cc hot ng mn hnh bn ang thc hin.

2.1.14 Tm kim mt ch t cc Menu Ni dung chn mt ch t menu ni dung, kch p vo tab [Ni dung].

Thc hin theo cc hng dn trn mn hnh tm kim mt ch mong mun.

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Trang 66

2.1.15 Kt ni n trang ch 1) Chn [Help] menu- lnh [Connect to Home Page] t qun l d n 2) Chn cc i ch ca trang ch

3) Click vo nt Connect Home Page kt ni PRO-Face vi trang ch.

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Trang 67 2.2 Mn hnh c bn 2.2.1 Nhp a ch

Nhp t bn phm Nhp chut vo trng a ch vo, v con tr s xut hin , m

ch ra ngy nhp cnh hin nay c hiu qu. Sau , nhp thit b v a ch d liu thng qua bn phm. Nhp t a ch mt bn phm Click vo biu tng keypab a ch, v cc keypab a ch s xut

hin cho php bn nhp d liu s a ch trn mn hnh thng qua chut.

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Trang 68 2.2.2 Hnh nh b phn ng k File nh nh dng tp tin bitmap v nh dng file JPEG c th

c ng k trong file BPD l hnh nh b phn chuyn mch v bng n. Tp tin nh c th c quy nh ring hoc l ON v OFF. Click vo nt Create trong hp thoi Browser Shape. Hp thoi

ng k phn hnh nh s xut hin.

Bng di y cho thy cc loi ca cc tp tin hnh nh c th c

ng k.

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Trang 69

2.2.3 Ci t cnh bo

2.2.4 Phn phm s m t thuc tnh

Hin c ang chn Chn nh

dng d liu ca bn phm

hin th hnh nh ca bn phm

Chn Trnh duyt hnh dng, nhng ng

mu vin

ca bn phm

phn c th chn trc phn c sn

2.2.5 Loi bn phm u tin loi bn phm cn s c la chn cho ph hp vi cc nh

dng d liu quy nh. chn mt loi bn phm, bn ch cn click vo Browser v cc la chn ca Keypads c sn s c hin th

2.2.6 Bn phm chc nng chnh Cc chc nng kha bn phm khc nhau c trnh by trong bng

di y

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2.2.7 t mt bn phm Cc th tc to v t mt bn phm c hin th di y

1) Chn [Parts] menu- lnh [Keypad], hoc click vo biu tng 2) Chn mt kiu d liu nh dng bn phm

3) Chn mt hnh dng bn phm t trnh duyt

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Trang 72

4) Sau khi tt c cc attributtes ca bn phm c nhp vo hoc la chn click vo nt PLACE 5) Click vo im ni gc trn bn tri bn phm l c t

Cc mc ny kch hot mn hnh hin th u vo bn phm chp nhn u vo Nhp d liu y bnh lun Phn hin ang c chn ca hnh nh s xut n y Gi hiln phn hnh trnh duyt tng c th c chn trc tip t trnh duyt Khi c kch hot / la chn, con tr iput s di chuyn theo th t c ch nh v sau ch i trong lnh tip theo Khi iu ny c chn / kch hot, bn c th ch nh v tr (ta ). Trng hp bn phm s xut hin Popup Nu [Tn ti] c chn, chm vo bn phm s t ng hin th mt bn phm nhp d liu Nu [Khng] c chn, chm vo bn phm u vo Hin th i u vo. S dng mt phn u vo bn phm s. Nhp a ch Word dng lu tr d liu hin th Khi "Bit" c chn cho cc ty chn "Bt u vo", nhp vo kch hot bn

phm vo ch ch cho u vo quan trng. S dng bn phm nhp kha, v nhp d liu

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Trang 73 2.2.8 Word a ch a ch Word c s dng lu tr d liu ca mn hnh hin th

bn phm 2.2.9 Bn phm hin th [Hin th nh dng] Cc thuc tnh

Khi c chn, a ch lu tr cc d liu c hin th c quy nh gin tip Du thp phn Chn Lenghth d liu v nh dng d liu y Chn d liu s c hin th

khng c bao gm trong cc ch s hin th

Nhp No.of ch s sau du thp phn

Kch thc vt th c chn y

2.2.10 Bn phm [mu / hnh] Hin th thuc tnh

Ch nh mu trc tip hoc gin tip

Trnh hin

duyt th.

Hnh

dng phn c th c chn y

D liu mu dispaly (Text), mu sc ni tht (Plate) c la chn

y.
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Trang 74 2.2.11 Bn phm u vo Hin th [Alarm Settings] Cc thuc tnh Thit lp h thng bo ng nu cn thit

2.2.12 Bn phm hin th [M rng] Cc thuc tnh S dng tab ny ch nh Stype u vo, Display Stype, v chc

nng Interlock

c h tr bi cc Series 2000 GP ch

Xc nh cc kiu hin th

Xc Mc ny ch nh a ch c s dng lu tr cc trng thi u vo khi bn phm nhp d liu u vo Hin th hon tt. Ch c sn trn GP2000 Series unts

nh

trng

thi ON / OFF ca hm Interlock

2.1.13 u vo Stype Auto Clear OFF Auto Clear ON Auto Clear, Input Digit Monitor Barcode Input Hin th kiu Stype Shift Left Shift Right Chn stype hin th t cc cn li Shift v Shift phi. Cc d liu s

xut hin, bt u t bn c ch nh y. Quyn Shift c chn theo mc nh Zero Suppepress

GVHD: PHM VN MNG

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Trang 75 Chn ty chn ny b qua hng u ca d liu hin th Zero Display 7 Segment Display

2.1.14 Intrelock Ch khi mt bit c ch qua Interlock a ch ny l ca mt nh

nc c la chn thng qua [Touch iu kin c sn] Chc nng ny ch c sn vi cc GP-377, GP-77R v GP2000 lot

2.1.15 t mt hin th bn phm Hin th Bn phm V tr ca th tc c hin th di y

1) Chn [Parts] menu- lnh [Keypad Input Display] 2) Nhp cc thit lp sau y trong [General Settings] Tab Chn phng php c s dng kch hot bn phm u vo Hin

th chp nhn u vo, tc l hoc l [Touch] hoc [bit]. [Nu Touch c chn] Khi s dng mt khu vc ca Popup [Tn ti]. Nu bn mun v tr

ca bn phm Popup mt v tr c th, chn [Ch nh sp xp v tr]

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Trang 76 [Nu Bit c chn] Nhp a ch v Bit kch hot a ch

La chn Shape (hnh dng) t trnh duyt Nu mun, c th chn mu t [Shape/Color] v nhp vo phn m

rng thit lp

Trong khu vc [Display & Write Data Format], nh dng hin th d

liu, s cc ch s hin th, v nhng ni thp phn (tc l s lng cc ch s sau du thp phn) s dng. Nu mun, c th chn kch thc k t.

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Trang 77

Nhp 4 Khng nhp bt c k t g vo y (tc l 0)

Sau khi tt c cc thuc tnh hin th bn phm c nhp vo v

la chn, nhp vo nt Nhp vo im m mn hnh hin th bn phm gc tri pha trn

c t Nu mun, c th s dng ch x l ca mn hnh hin th bn

phm thay i kch thc ca n Mc d din tch vng thit lp gi tr hin th c th m rng hay thu

hp, nhng kch thc k t s khng thay i. thay i kch c k t hoc v tr, phi trc tip chn cc k t bn trong ng bin (border) Lp li t bc (1) to mn hnh hin th bn phm vi cc a ch

D00051 v D00052 Tr cc a ch, tt c cc thit lp u tng t

2.1.16 S dng bn phm nhp vo cc gi tr Gii thch di y cho thy cch s dng [touch] mn hnh hin th ca u vo bn phm v la chn [bit]. Khi s dng [Bit] phng php nhp d liu vo Cc th tc nhp cc gi tr thit lp thng qua mt bn phm trn mn hnh GP c hin th di y

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Trang 78

Ti y, 3 yu cu trc tip c thit lp chia s mt Bit chung

2.1.17 Hin th bn phm u vo ca [touch] l tnh nng Slect / Bt

Th tc cho vic nh v cc bn phm vo cc tnh nng hin th bn

phm c hin th di y Popup

1) Cc bn phm u vo Display "KO_1" c hin th trn mn hnh

2) Khi bn phm KD_1 vo Mn hnh l cm ng

3) Cc bn phm Pop-up xut hin, v mn hnh hin th cm ng ch i u vo

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Trang 79

4) Touch phm thch hp trn cc Pop-up bn phm nhp gi tr

5) Bm phm Ent ng k gi tr. Cc Pop-up Bn phm sau ng

6) Gi tr ng k sau s c lu tr trong Word a ch D0050, c ch nh trong KD_1

2.1.18 Chnh sa cc Pop-up Bn phm -

Chn [Screen] menu- lnh [Popup Keypad Edit] Chn loi Popup s dng bn phm

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Trang 80

Chnh sa cc Pop-up bn phm Khi thay i kch thc v v tr ca cc Pop-up Bn phm, mt khu

vc r rng c thay i. Chn [Save] t trnh n [Screen] hoc nhn vo biu tng SAVE

lu pop-up bn phm bn chnh sa

2.1.19 S dng cc Chc nng Thi gian-Base Cc Chc nng Thi gian-Base l c trng trong PLC Siemens sn

xut bi Tng cng ty (S5 v Series S7)

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Trang 81

Nhp vo "Thi gian-Base" Hin th cc la chn trong Bn phm u

vo ca phn hin th. nh dng tab, cho php chc nng Thi gian-Base

2.1.20 Khi "c nh" c chn Chc nng ny gi li / gi s lng cc im thp phn nh trong vic la chn chc nng Thi gian-Base trong thi gian u vo

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Trang 82

2.1.21 Khi "c nh" khng c chn Thit lp ny c s dng ci thin tnh chnh xc ca cc gi tr

hin th, m khng chn cc ch Thi gian-Base.

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Trang 83 2.1.22 Tm tt bo ng [M t] Cc thuc tnh

Nhp a ch bt Nhp d liu u cho Bit Mn hnh ca mi tin nhn Chn khu th (frame) vc Nhp s t c cp pht cho mt Bit Monitor

Bnh lun y

dng bin hin

2.1.23 Kiu ng bin Cc loi din tch hin th khung hnh l khng c ng bin, bn

ngoi, v Bn trong + bn ngoi.

2.1.24 a ch Word a ch u tin ca Bit Monitor cho cc tin nhn specfied ca Editor

bo ng l u vo. Nhp a ch ny trong cc n v t

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Trang 84

2.1.25 Tm tt bo ng [Hin th Fromat] Cc thuc tnh

Ch nh cc dng Ch nh m t c thng bo li mn hnh hin th s bt u No.of ca mt

thng ip c th c hin th trn mt mn hnh

Ch

nh

cc

No.of Nhn vt ti a perline

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Trang 85

Chng 3:

PLC MITSUBISHI V CC TP LNH

3.1 Gii thiu PLC MITSUBISHI H FX1S 3.1.1 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. 3.1.2 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 C lnh lm ti ng k qut (khi lnh END thi ra hnh) i vi cc lnh c bn: 0,55 0,7s i vi cc lnh ng dng: 3,7 khong 100 s Ngn ng Ladder v C th to chng Instruction trnh loi SFC C th chn ty b 2000 bc EEPROM nh (nh FX1NEEPROM-8L) S lnh c bn: 27 C ti a 167 lnh ng S lnh Ladder: 2 dng c thi hnh S lnh ng dng: 85 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 T M0 M383
GVHD: PHM VN MNG

S lnh

Cu hnh Vo/Ra (I/O) R le ph Thng thng

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Trang 86 tr (M) R le trng thi (S) Cht c bit Thng thng Khi to 100 mili giy B nh th Timer (T) 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 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 T C241 C245 T C246 C250

10 mili giy

1 mili giy Thng thng Cht 1 pha 1 pha hot ng bng ng vo B m tc cao 2 pha (HSC)

B m (C)

Pha A/B

T C251 C255

T D0 D127 Thng thng Thanh ghi d liu (D) Cht S lng: 128 S lng: 128 Loi: cp thanh ghi lu tr d liu 16 bit dng cho thit b 32 bit T D128 D255 Loi: cp thanh ghi lu tr d liu 16 bit dng cho thit b 32 bit

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Trang 87 c iu chnh bn ngoi c bit Trong khong: 0 255 S lng: 2 S lng: 256 (k c D8030, D8031) 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

Ch mc Dng vi lnh CALL Dng vi cc ngt Dng vi lnh MC/MCR Thp phn (K) Thp lc phn (H)

S lng: 16

S lng: 64 S lng: 6

Con tr (P) 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 it: 00000000 n FFFFFFFF

3.2 Lp trnh PLC MITSUBISHI vi cc lnh c bn 3.2.1 nh ngha chng trnh: Chng trnh l mt chui cc lnh ni tip nhau c vit theo mt m PLC c th hiu c. C ba dng chng trnh:

ngn ng

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.

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Trang 88

a. 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 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. b. 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
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Trang 89 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.

3.3 Cac lenh c ban 3.3.1 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.

V du: LD X000 Hnh 3.1: Lenh LD ch khi cong tac thng m vao ng

OUT Y000 bus trai

Ngo ra Y000 ong khi cong tac X000 ong, hay ngo vao X000 = 1.

3.3.2 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

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Trang 90 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 3.2: Lenh at mot cong tac thng ong vao ng bus trai 3.3.3 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.

V du: LDI X001 OUT Y000 Hnh 3.3 : Lenh OUT at 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).

3.3.4 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

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Trang 91 LD X000

AND X001 AND X002 OUT Y001 OR LD OR OR X000 X001 X002 Hnh 3.4: Lnh t cng tc ni tip hoc song

OUT Y001

song 3.3.5 Lenh ANI va ORI. 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 Hnh 3.5: Lp trnh cho cng Nand

NOR LDI X000 ORI X001 ORI X002 OUT Y001 Hnh 3.6: Lp trnh cho cng Nor 3.3.6 Cong logic EXCLUSIVE-OR
GVHD: PHM VN MNG

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Trang 92 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. EX-OR

LD X000 ANI X001 LDI X000 AND X001 ORB OUT Y000

Hnh 3.7: 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.

3.3.7 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. LD X002 ANI M10 AND X003 LD Y000 ORI M10
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Trang 93 AND M11 AND X004 ORB Hnh 3.8: Mc song song hai khi OUT Y000 logic Ngo ra Y000 c 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 3.3.8 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 3.9: (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. LD X000 AND X001 OR Y000 LD X002
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Trang 94 AND X004 LDI X000 AND X003 ORB ANB OUT Y000 Hnh 3.9: (b) V du ANB vi hai khoi phc tap

3.3.9 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. LD X000 SET M10 LD M10 OUT Y000 Hnh 3.10: 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. 3.3.10 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. LD X000
GVHD: PHM VN MNG

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Trang 95 ANI X001 SET M10 LD X001 ANI X000 RST M10 LD M10 OUT Y000 Hnh 3.11: 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. 3.3.11 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) 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 :

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Trang 96 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 3.12: Minh hoa viec s dung lenh MPP va MPS, MRS va MPP e re nhanh ngo 3.3.12 Leh ra 3.1.12 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.

LD PLS LD ALT

X000 M0 M0 Y000

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Trang 97

Hnh 3.13: Kch hoat lenh bang canh len cua xung vao 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 3.14: Lap trnh mach phat hien canh - xuo Man ch g 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. 3.4 Cac lnh ng dung 3.4.1 Nhom lenh ieu khien lu trnh a) Lenh CJ
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Trang 98 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)

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
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Trang 99 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 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. b) Lenh CALL Ten lenh CALL (Call Subroutine) Chc Nang Toan hang D Con tro chng trnh con co gia tr t 062so 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

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Trang 100 chng trnh con. ieu khien c chuyen ve lenh ke tiep sau lenh goi chng trnh con trong chng trnh chnh khi gap 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 : 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

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Trang 101 c) Lenh FOR, NEX Ten lenh 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

FOR

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 FOR- FEND-NEXT cung khong cho phep. ieu o tng ng vi vong lap khong co
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Trang 102 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. 3.4.2 Nhom lenh so sanh va dch chuyen a) Lenh CMP D Y, M, S So sanh hai Lu Y: ba gia tr d K, H, KnX, KnY, KnM, toan hang ke CMP lieu cho ket KnS, T, C, D, V, Z tiep nhau t (Compare) qua <, = ong c hoac > s 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). Neu nhiet o gia 2500C - 2800C th thi gian nau mot me giam xuong con 3 phut 25 giay. Ten lenh Chc Nang S1 Toan hang S2

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Trang 103 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

b) Lenh ZCP Ten lenh ZCP (Zona Compare) Chc Toan hang Nang S1 S2 S3 D So Sanh K, H, KnX, KnY, Y, M, S mot gia tr KnM, KnS, T, C, Lu Y: ba toan hang ke tiep vi D, V, Z nhau t ong c s dung khoang Lu Y: S1 phai e lu ket qua. gia tr cho nho hn S2

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Trang 104 ket qua <, = hoac > 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.

c) Lenh MOV Ten lenh Chc Nang Toan hang S D

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Trang 105 K, H, KnX, KnY, KnM, KnS, T, C, D, V, Z

MOV (Move)

Gan gia tr tng vung nh nay en vung nh khac

KnY, KnM, KnS, T, C, D, V, Z

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.

d) Lenh BCD Ten lenh 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

BCD (Binary Coded Decimal)

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 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
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Trang 106 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.

e) Lenh BIN Ten lenh 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

BIN (Binary)

Chuyen oi so BCD sang nh phan tng ng

Hoat ong

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Trang 107 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).

3.4.3 Nhom lenh x ly so hoc va logic a) 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

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Trang 108 (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 b) Lenh SUB Ten lenh Chc Nang Tr hai gia tr d lieu, ket qua lu vao toan hang ch S1 Toan hang S2 D KnY, KnM, KnS, T, C, D, V, Z

SUB (Subtract)

K, H, KnY, KnM, KnS, T, C, D, V, Z

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.

c) Lenh MUL Ten lenh Chc Nang Toan hang S2

S1

D KnY, KnM, KnS, T, C, D, V, Z Lu Y : Z(V)khong dung he 32 bit

Nhan hai gia tr d MUL lieu, ket (Multiplication) qua lu vao toan hang ch

K, H, KnY, KnM, KnS, T, C, D, V, Z

Hoat ong

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Trang 109 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 d) Lenh DIV Toan hang S2

Ten lenh

Chc Nang Chia hai gia tr d lieu, ket qua lu vao toan hang ch

S1

DIV (Division)

K, H, KnY, KnM, KnS, T, C, D, V, Z

KnY, KnM, KnS, T, C, D, V, Z Lu Y : Z(V)khong dung he 32 bit

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.

V du: 51(D0) : 10 (D2) = 5 (D4) 1 (D5), ngha la 5x10 =51

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Trang 110

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. e) 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

+ 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.

f) Lenh DEC
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Trang 111

Ten lenh DEC (Decrement) Hoat ong -

Chc Nang Tang noi dung toan hang ch mot n v

Toan hang D KnY, KnM, KnS, T, C, D, V, Z

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.

3.4.4 Nhom lenh quay va dch chuyen chuoi bit a) Lenh ROR 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

ROR (Rotation Right)

Quay chuoi bit sang phai nv tr

Hoat ong
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Trang 112 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.

b) 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

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

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Trang 113 M8022(carry flag). Trong v du ben di minh hoa noi dung cua D0 bieu dien chuoi bit.

c) Lenh RCR 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

RCR (Rotation Right with Carry)

Quay chuoi bit sang trai nv tr trung gian M8022

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.

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Trang 114

d) Lenh RCL

Ten lenh

Chc nang D Quay chuoi bit sang trai n vi tr qua trung gian M8022

Toan hang n K,H Lu y: Hoat ong 16 bit n16 Hoat ong32 bit n32

RLC (Rotation left with carry)

KnY, KnM, KnS,T,C,D,V,Z Lu y: Hoat ong16 bit Kn=k4 Hoat ong32bit Kn=k8

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.

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Trang 115

e) Lenh SFTR Toan hang S D n1 K,H X,Y,M,S Y,M,S Lu y : FX:n2 n11024 FX0,Fx0N: n2 n1512 n2

Ten Lenh

Chc Nang Dch

SFTR (Bit shift right)

chuyen chuoi bit sang phai nv tr

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.

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Trang 116

f) Lenh SFTL Ten Lenh Chc Nang Dch SFTL (Bit shift left) chuyen chuoi bit sang trai nv tr X,Y,M,S Y,M,S S Toan hang D n1 K,H Lu y : FX:n2 n11024 FX0,Fx0N: n2 n1512 n2

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.

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Trang 117

3.4.5 Lnh pht xung Lnh PLSY (FNC 57) Lnh PLSY PNC 57 (Pulse Y Output) Chc nng Ton hng S1 S2 D Y K, H, KnX, Lu : FXo/ KnY, KnM, FXon: Ch KnS, T, C, D, Y000 V, Z FX: bt k Y*** Hot ng 16 bit S bc PLSY: 7 bc DPLSY: 13 bc

Pht xung vi tn s xc nh

Xung P

Hot ng 32 bi

FX0(s) FXon FX FX(2c) FX0(s) FXon FX FX(2c) FX0(s) FXon FX FX(2c)

Hot ng: s xung S2 c pht ra thit b D c tn s S1. Lnh ny dng trong trng hp cn pht xung m ch quan tm n s lng xung pht ra m thi.

Cc im lu : + B iu khin FX c th nh tn s (S1) t 1 n 1000Hz. i vi FX phin bn 2.2 tr xung s phi cn khi ng lnh PLSY. Chng trnh bn phi c th thc hi+ n iu trn. B iu khin FX0/FXon c th dng tn s t 10 n 2000Hz. + S xung ti a: Khi hot ng 16 bit l 1 n 32,767, khi hot ng 32bit l 1 n 2,147,483,647.

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Trang 118 Ch thch: C chuyn dng M8000= ON khi pht s xung nh. C bo kt thc m M8000 (Pulse count completion) c RESET khi lnh PLSY khng cn hot ng. Nu ch nh th lnh PLSY s tip tc pht xung khi lnh ny cn hot ng + Mt xung c m t c chu k hot ng 50%. iu ny ngha l ON trong 50% xung v OFF trong 50% xung cn li. Thc s ng ra c kim sot bng ngt ngha l chu k ng ra khng b nh hng bi thi gian qut chng trnh. + C th thay i d liu trong cc ton hn S1 v S2 khi thc hin lnh. Tuy nhin d liu mi trong S2 s khng nh hng ngay m phi ch cho n khgi hon tt tc v hin hnh. Lnh ny ch c th dng MT LN trong thi gian qut chng trnh. + V ng ra l tn hiu c tc cao nn b iu khin dng Transitor ng ra c dng vi lnh ny. Vic dng cc ng ra rle s lm gim tui th v lm hng cc ng ra do cc tip im b ny qu nhanh. m bo tn hiu ra sch khi dng ng ra transitor th dng ti nn t 200mA tr ln. Khi cn dng cc in tr ko ln. + Cc b iu khin FX c CPU phin bn 3.07 tr ln v cc b iu khin FX2c c th dng lnh HSZ (FNC 55) vi lnh PLSY, khi thit b ngun S1 l D8132. + Cc b iu khin FX c CPU phin bn 3.07 tr ln v cc b iu khin FX2c c th xem tng s xung pht c thng qua thit b 32bit gm D8136 v D8137.

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Trang 119 3.5 Chng trnh PLC ca m hnh

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Trang 120

Chng IV: THIT K M HNH 4.1 Bng v thit k m hnh

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Trang 121 4.2 Bng thit k i dy

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Trang 122 4.3 B ngun

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Trang 123 4.4 M hnh sau khi thi cng

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Trang 124 DANH MC TI LIU THAM KHO [1] Mitsubishi cc b iu khin lp trnh. S tay hng dn lp trnh cc b iu khin h FX (Fxo, Fxos, FXon, FX, FX2c [2] Proface-Operation Manual (this Manual), Vol 1 [3] Proface-Device/PLC Connection Manual, Vol 4 [3] Mitsubishi, General Purpose AC Servo, MELSERVO-C Series, Instruction Manual.

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