Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Industrial Electronics Course By Prof. Dr. Mohamed Ibrahim MAHMOUD
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
AL SHOROUK ACADEMY THE HIGHER INSTITUTE OF ENGINEERING DEPARTEMENT OF COMMUNICATIONS, ELECTRONICS AND COMPUTERS
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
ﺑﺴﻢ اﷲ اﻟﺮﺣﻤﻦ اﻟﺮﺣﻴﻢ “ وﻣﺎ أوﺗﻴﺘﻢ ﻣﻦ اﻟﻌﻠﻢ إﻻ ﻗﻠﻴﻼ ” ﺻﺪق اﷲ اﻟﻌﻈﻴﻢ
“ وﻻ ﻳﺤﻴﻄﻮن ﺑﺸﺊ ﻣﻦ ﻋﻠﻤﻪ إﻻ ﺑﻤﺎ ﺷﺎء ” ﺻﺪق اﷲ اﻟﻌﻈﻴﻢ
“ وﻗﻞ رب زدﻧﻰ ﻋﻠﻤ ًﺎ ” ﺻﺪق اﷲ اﻟﻌﻈﻴﻢ
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
Industrial Electronics Course
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Automation And Control A A C
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC In An Automation PLC Controlling a Motor Starter Feedback
Supply
Isolating switch fuse carrier
On/Off
Contactor
Position return
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Thermal Overload
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Industrial Electronics Course
Why Using Relay Supply
Supply Control Control Panel Panel
Control Control Panel Panel 33 Ф Ф Cable Cable
S
On/Off On/Off Switch Switch
6
3 Ф Cable
Supply
The circuit has three advantages 1 – Provides safety for the operator 2 – Reduce coast by reducing high power cable length 3 – Reducing power losses Mohamed I. MAHMOUD
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC: Right Alternative to Relay Control Improved installation time eliminate the need for extensive wiring of timers, relays and other components. Improved flexibility enable control system changes simply by reprogramming. Much more compact than relay control panels, yet enables complex, high-level control. Improved reliability
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC History The PLCs were first introduced at 1968/1969 by Dick Morely. The primary reason for designing such a device was eliminating the large cost involved in replacing the complicated relay based machine control systems in General Motors Factories. The first PLC was called a Modular Digital Controller (MODICON). Other companies at the time proposed computer based schemes, one of which was based upon the PDP-8. The MODICON 084 brought the world's first PLC into commercial production. A Microprocessor based PLC was introduced in 1977 by AllanBradley Corporation. It was based on an 8080 microprocessor but used an extra processor to handle bit logic instructions at high speed. 8
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Definition A PLC is user-friendly, microprocessor-based, specialized computer that carries out control schemes of many types and levels of complexity. It can be programmed, controlled and operated by person unskilled in computers
Advantages
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Rugged: noise immune equipment Modular: easy installation/replacement Standard I/O connections & signal levels Simple programming. Compact sizes. Cost competitive Mohamed I. MAHMOUD
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Industrial Electronics Course
Computer System
Data Processing Computer System
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC a Process Control System Limit switch
Push button
Proximity sensor
Contactor
Solenoid valve
Light
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Industrial Electronics Course
Industrial Process Control I P C
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Industrial Electronics Course
Types of Industrial Processes The three types of industrial Processes are: 1. Continuous production 2. Batch production 3. Discrete item production
1. Continuous Processes It takes in raw materials at the input and runs continuously, producing finished materials at the output. The process may run for long period of time typically: minutes hours or even weeks . (e.g steel sheet Production) Controlled Pressure Thick Steel Block Input
Sheet Steel Output
Slow Speed
High Speed
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Industrial Electronics Course
Types of Industrial Processes 2. Batch Processes It uses a set quantity of sources material and performs process operations on this material producing a specific quantity of finished product, that will undergo further stages of processing (e.g food & beverage production ). The process may run for long period of time typically: minutes hours or even weeks. Fill
Polymer
Alkali
Fill
P1
P1
Tank 1
Tank 2 Heater
P3
P4
Filter Reaction vessel
P5
Tank 3
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Product silo Tank 4
P6
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Industrial Electronics Course
Types of Industrial Processes 3. Discrete Processes In this type of process an individual item under goes various operations before being produced in a final form. Alternatively, several components may be combined within the process to emerge as one unit
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Control Strategies Open Loop Control plan
Requirements
Action
Plant system
Outcome
Disturbance
Feedforward Control plan
Requirements
Modification to plan taking into account the disturbance.
Action
Measurements of disturbances
Plant system
Outcome
Disturbance
Closed Loop Measured value
Requirement (set point)
Compare
Feedback Deviation (Error Signal)
Control plan
Action
Plant system
Measured outcome
Disturbance 16
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Industrial Electronics Course
PID Controller Structure Comparator Error
Set Point Measured Value
Proportional Term Integral Term
Summing Junction
PID Output
Derivative Term
MV
MV=SP
MV=SP SP
Disturbance Causes Changes in MV Time 17
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Industrial Electronics Course
Three Sections of Control Systems ( T S C S )
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Three Sections of Control Systems
Input Section
Input Section Processing Section
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Industrial Electronics Course
Inputs Input signals are normally provided by transducers / detectors that convert physical quantities into electrical signals. They all transmit information about the quantity that is being measured. Depending on transducer used, the information detected may be discontinues on/off (binary) or continuous (analog) representation of the input quantity There are many types of inputs such as: Pushbuttons Proximity Sensors Limit Switches Temperature Sensors Pressure Sensors‌‌.. etc 20
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Types of Input Transducers Transducers
Measured Quantity
Output Quantity
Switch
Movement / Position
Binary Voltage
Limit Switch
Movement / Position
Binary Voltage
Thermostat
Temperature
Binary Voltage
Thermocouple
Temperature
Varying Voltage
Thermistor
Temperature
Varying Resistance
Strain Gauge
Pressure / Movement
Varying Resistance
Photo Cell
Light
Varying Voltage
Proximity Cell
Presence of Objects
Varying Resistance
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Industrial Electronics Course
Pushbuttons Normally Open Pushbutton (NO) Normally Closed Pushbutton (NC) The NO Pushbutton consists of Normally Open contacts and When pressing it, the two contacts will be connected together to permitting electrical signal pass through them.
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The NC Pushbutton consists of Normally Closed contacts witch are passed electrical signal through them and by pressing it the two contacts will be disconnected and no current passing through them.
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Limit Switches This type of switches is used to detect or limits the movement of mechanical systems such as gates It could have two or three points (COM, NO, NC)
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Industrial Electronics Course
Inductive Proximity Sensor The sensor incorporates an electromagnetic coil which is used to detect the presence of a magnetic metal object. When a metal target enters the field, eddy currents circulate within the target. This causes a load on the sensor, decreasing the amplitude of the electromagnetic field. As the target approaches the sensor the eddy currents increase, increasing the load on the oscillator and further decreasing the amplitude of the field. The trigger circuit monitors the oscillator’s amplitude and at a predetermined level, it switches the output state of the sensor from its normal condition (ON or OFFf). As the target moves away from the sensor, the oscillator’s amplitude increases. At a predetermined level, the trigger switches at the output state of the sensor, return back to its normal condition (ON or OFF).
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Capacitive Proximity Sensor Capacitive proximity sensors are similar to inductive proximity sensors. The main difference between these two types is that capacitive proximity sensors produce an electrostatic field instead of an electromagnetic field. Capacitive proximity switches will sense metallic as well as nonmetallic materials such as paper, glass, liquids, and clothes. Three-wire, DC proximity sensor can either be PNP (Sourcing) or NPN (Sinking). This refers to the type of transistor used in the output switching of the sensor. Dielectric Dielectric Output Trigger Oscillator Oscillator Output Trigger Plate Plate
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Sourcing / Sinking This refers to the type of transistor used in the output switching of the sensor.
Sourcing / PNP Sensor
Sinking / NPN Sensor
If the sensor is inactive then the transistor is off. That means the PNP output will have no current in/out. When the sensor is active this will turn on the transistor, and will allow current to flow from V+ through the sensor to the output (hence sourcing). The voltage on the PNP output will be pulled up to V+. Note: the output voltage will always be 1-2V lower than the supply voltage, because of the transistor voltage drop. When the sensor is in the off state, the PNP output will float, if it used with digital circuitry a pull-down resistor will be needed.
If the sensor is inactive then transistor is off, that means the NPN output will have no current in/out. When the sensor is active, this will turn on the transistor, and This will allow current to flow into the sensor to ground (hence sinking). The voltage on the NPN output will be pulled down to V-. Note: the output voltage will always be 1-2V higher than the negative voltage because of the transistor voltage drop. When the sensor is in the off state, the NPN output will float, if it used with digital circuitry a pull-up resistor will be needed .
Physical phenomenon
Sensor and Detector
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V+
V+
Physical phenomenon Current flows out when switched on
Sensor Output
V-
V-
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V+
V+ Sensor and Detector
V-
Sensor Output
Current flows in when switched on
V-
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Outputs Output devices (like relays, pumps, motors..) are tools used by a control system to alter certain key elements or quantities within the process. They are convert signals from the control system into other necessary quantities. They are also transducers but contrary signals from the control system into other necessary. There are also discontinuous (binary) or continuous (analog) devices.
Output Device
Input
Quantity Produced
Motor
Electrical
Rotational motion
Pump
Electrical
Rotational motion + product displacement
Piston
Hydraulic / pneumatic
Linear motion / pressure
Solenoid
Electrical
Linear motion / pressure
Heater
Electrical
Heat
Valve
Electrical / Hydraulic / pneumatic
Orifice variation
Relay
Electrical
Elec. Switching / limited physical movement
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Processing Section This corresponds to the operations required to keep process “in control” in conjunction obtained from input readings, producing resultant output actions. Input causes output action due to a control plan which can either hardwired or programmable
System
Type
Hardwire
Program
Relay
Digital
√
×
Electronic Logic
Digital
√
×
Pneumatic Logic
Digital
√
×
Analog electronics
Analog
√
×
Computers
Digital / Analog
×
√
Microcomputer
Digital / Analog
×
√
PLCs
Digital / Analog
×
√
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Concept of Relay Control Concept : Controlling very high power at the output using a very low power of control signal at the input. Input :
Very Low [ Voltage and Current, then Power ]
Output :
Very High [ Voltage and Current, then Power ] S M 24VDC 0.1A
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380VAC 50A
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Relay Operation
Relay Deenergized
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Relay Energized
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Relay Logic Controller R L C
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U
Q1
V
W
V1
5
13
21
14
22
3 4
6
1 2
W1
M 3~ U2
V2
W2
6
I> I> I> 4
A1
56 U1
M 3~ 2
A2
55
67
K1
K1T 68
14
S2
5
3
22
14 1
21
13
S1
S2
22
S1
21
13
Graphic Symbols
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Motor Starting Power Circuit
5
1
3
L1 L2 L3 N PE Q1
3
6 5
2 1
4
I> I> I>
2
4
6
U
V
W
K1
M 3~ 33
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Motor Starting Control Circuit
L
21
F1
13
13
22
S2
14 A1
14
K1
S1
A2
K1
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N
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Ladder Diagram
%I0.0
%I0.1
%Q0.0
%Q0.0
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Industrial Electronics Course
Ladder Diagram Versus Relay Control L
21
F1
22
S2
%Q0.0
%Q0.0
13 14 A1
14
K1
S1
%I0.1
13
%I0.0
A2
K1
N 36
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Reverse Rotation Power Circuit L1 L2 L3 N PE
1
3
5
Q1
I> I> I> 2
4
6
1
3
5
1
3
5
2
4
6
2
4
6
U
V
W
K1
K2
M 3~ 37
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Control Circuit
Industrial Electronics Course
Reverse Rotation
L
21
F1
K1
N
21 24 A2
K2 A2
K1
A1
A1
22
K1 22
K2
38
13
23
13
S3 21 14
S3
K2 14
14
S1
14
13
13
22
S2
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Star-Delta Starting Power Circuit L1 L2 L3 N PE
1
3
5
Q1
I> I> I> 2
4
6
1
3
5
2
4
6
U1
V1
W1
K1
1
3
5
1
3
5
2
4
6
2
4
6
K2
K3
M 3~ U2
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V2
W2
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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Star-Delta Starting
Control Circuit L
21
F1
13
13
22
S2
S1
14
K3 13
14
67
55
14
K1
K1T 21
21
68
56
K1T
A1 A2
K2 A2
K1 A2
K3
A1
A1
22
K3 22
K2
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Programmable Logic Controller P L C
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Comparison with Other Control Systems C/Cs
Relay systems
Computers
PLC systems
Type
Digital
Digital / analog
Digital / analog
Design
Hardwire
Programmable
Programmable
Price Per Function
Fairly Low
High
Low
Physical Size
Bulky
Fairly Compact
Very Compact
Operating Speed
Slow
Fairly Fast
Fast
Noise Immunity
Excellent
Fairly Good
Good
Installation
Time Consuming in All Phases
Time Consuming in Programming
Easy in All Phases
Complex Operation
None
Yes
Yes
Ease of Changes
Very Difficult
Quite Simple
Very Simple
Easy of Maintenance
Poor - large No. of Contacts
Poor-several Custom Boards
Good-few Standard Cards
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Structure Programmable controller Programming panel
Program memory Work memory
Control unit
Process
Input circuits
Input devices
Output circuits
Output devices
Power supply
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Power Supply •PLCs internal circuitry operates at +/-5V DC. •Whether the available supply is AC or DC, a power supply is required to condition, regulate, ... this supply to the adequate need of the circuitry.
~
Rectifier
44
Filter
Regulator
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Protection
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Central Processing Unit “CPU� (1) The CPU controls and supervises all operation within PLC, carrying out programmed instructions stored in the memory. An internal communications highway or bus system carries information to and from CPU, memory and I/O units, under CPU control. The CPU is supplied with a clock frequency by a quartz crystal or RC oscillator with speed depending on the microprocessor type. The clock determines the operating speed of a PLC and provides timing / synchronization of all system elements. 45
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Central Processing Unit “CPU” (2)
ROM with fixed operating system program Control unit
ALU Control Section
Registers
Analysis Peripherals
I/P scan block
Logic scan program
I/P Modules
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O/P scan Interface with block other CPUs O/P Modules
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Central Processing Unit “CPU” (3) B u f f e r Optional Program Storage
Address Bus Control Bus
User Program RAM B u f f e r
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B a t t e r y
μP CPU
C l o c k
System ROM
Data RAM
I/O Unit
Data Bus
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I/O Modules PLCs operate at 5V DC to 15V DC, whilst process signals can be much greater or of different levels. The I/O units form the interface between microelectronics of PLC and the real world outside.
the
These units provide all necessary signal conditioning and isolation functions. I/O modules are available (Digital, Analog) with all different process signals which allow PLC to be directly connected to process. 48
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Discrete Input Module Wiring of Input Module Plant Supply
Plant Neutral
C
0
1
2
3
4
5
6
7
Input Module Block Diagram Input Input terminals 49
Indicator
Common
Electrical Isolation
Input Filter
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Logic Circuits
Logic output to processor
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DC Discrete Input +ve Internal Supply R3 R2
Input Terminals
Opto-isolator
R4
Buffer To CPU
R1 C D1
common
D1 is input signal indicator R2 limits input current R4 and C are provides filtering effect 50
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DC Discrete Input with Reversed Polarity +ve Supply +/-
R3 R2
Input Terminals
Opto-isolator
R4
Buffer To CPU
R1 C
-/+
D1
D1 is input signal indicator R2 limits input current R4 and C are provides filtering effect 51
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AC Discrete Input +ve Supply VAC R3
Input Terminals
R2
R1
Opto-isolator
NE
R4
Buffer To CPU
C
common
NE is input signal indicator R2 limits input current R4 and C are provides filtering effect 52
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Discrete Output Module Wiring of Output Module Output Module C
0
1
2
3
4
5
6
7
L1
L2
L3
L4
L5
L6
L7
L8
Plant Supply
Plant Neutral
Block Diagram Output from processor
Output Logic Circuits
53
Electrical Isolation
Trigger Control
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Solid State switch or relay
Indicator
Output terminals
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Discrete Transistor Output Module
+ve Internal Supply
R2
Opto-isolator
+ve Plant Supply
R3
Output Load From CPU
R1 R4
-ve Plant Supply
-ve Plant Supply
PLC 54
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Analog I/O Analog Input Process I/P Signal
PLC
Signal Conditioning
I/P Module
A/D Converter
0 → 10V
0 → 10V
0 → 255 8 Bit
CPU
Analog Output PLC CPU
Process
D/A Converter
O/P Module
0 → 255
4 → 20mA
Amplifier
O/P Signal
8 Bit 55
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Housing Small PLCs are build of individual printed circuit cards within single compact unit Small PLCs are constructed modular basis with function modules slotted into the back plane connectors of the mounting rack Modular systems housing or mounting racks are equipped with buses to exchange all information required to run the system: data, control, address,‌etc.
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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I/O Scanning Output Scan
Input Scan Program Scan INPUT T E R M I N A L S
Input
User
Output
Status
Program
Status
table
Execution
table
OUTPUT T E R M I N A L S
Input Scan
Program Scan
Output Scan
Input terminals are read and input status table is updated accordingly.
During program scan data in I/P table is applied to user program, program is executed and O/P table is updated accordingly.
Data associated with O/P status table is transferred to O/P terminal.
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Communication Point to Point
Links:
Links:
•PLC w/ programming terminal.
•PLC w/ other PLC.
•PLC w/ Man Machine Interface.
•PLC w/ any intelligent device.
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Communication Networking
Remote I/O 59
Master/slave Mohamed I. MAHMOUD
Peer to Peer AL SHOROUK ACADEMY
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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Programming Equipment Allowing writing, editing and monitoring a program as well as performing various diagnostic procedures. Three types of programming tools are in common use: 1. Hand held programmer 2. Portable programming terminal 3. Software to run on PC The third type is commonly used and have larger capabilities.
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Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Program Design Steps 1. Description of system objectives. 2. Detailed description of system function. 3. Circuit diagram or block diagram of the system. 4. Separation of function steps. 5. Choice of PLC Function. 6. PLC input/output connection. 7. Input/output addresses. 8. Program list or diagram 9. Program test and verification. 10. System verification. 61
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Programming Languages IEC 1131 – 1
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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IEC 1131 1979 :The International Electrotechnical Commission assigned the research committee 65A to define a PLC standard. Objective :to meet the increasing complexity requirements of control and monitoring systems and the large number of PLCs which are incompatible with each other. Its contents : IEC1131-1 : General information (1992). IEC1131-2 : Specifications & equipment testing (1992). IEC1131-3 : Programming languages (1993) IEC1131-4 : Recommendation to the user. IEC1131-5 : Message handling functions specifications. 63
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IEC 1131-3 This standard describes Two textual languages
Two graphic languages
•Instruction list •structured Text
IL ST
•Ladder Diagram •Function Block
LD FB
A graphic chart •Sequential Fn. Chart SFC 64
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Instruction List (IL) Series of instructions, each one must start on a new line. One instruction = operator + one or more operations separated by commas. Function Blocks lunched using a special operator. Label Operation Run: LD ANDN ST 65
Operand %IX1 %MX5 %QX2 Mohamed I. MAHMOUD
Comment (*pushbutton*) (*run*) AL SHOROUK ACADEMY
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Structured Text (ST) Syntax similar to that of Pascal enabling a description of complex algorithmic structure succession of statements for assigning variables, controlling functions and function blocks, using operators, repetition, conditional executions. Function blocks launched using a special operator. J:=1 WHILE J<=100 & X1<>X2 DO J:=J+2 END_WHILE 66
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Ladder Diagram (LD) Graphic elements organized in networks connected by power supply rails. Elements used: contacts, coil, functions, function blocks control elements (jump, return, etc.) Start
Stop
run
Aux.
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Function Block Diagram (FBD) Representation of functions by blocks linked to each other. Network evaluation :from the O/P of a function block to the I/P of the connected function block.
auto start
&
manu cmd
&
68
>=1
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run
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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Sequential Function Chart (SFC) To describe sequential control function. steps & transitions represented graphically by a block or literally. Transition conditions in LD, FBD, IL or ST languages. Actions associated with the steps :Boolean variables or a section of the program written in one of the four languages. Association between action and steps in graphical or literal form. VA1 NOT_FILL FILL
SILO_VALVE READY
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Prof. Dr. Mohamed Ibrahim MAHMOUD
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Hardware â&#x20AC;&#x201C; Software Equivalence During the scan cycle: the PLC takes the action of an input hardware device, introduces it to the corresponding software and executes the related instruction. What is the equivalent of an input device and its corresponding software? Input Hardware Device
Corresponding Equivalent Used Software
Normally Open
Normally Open
Normally Open
Normally Closed
Normally Open
Normally Closed
Normally Open
Normally Closed
Normally Closed
Normally Closed
Normally Closed
Normally Open
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Smart Relays SR2 â&#x20AC;&#x201C; Zelio
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TELEMECANIQUE ZELIO-LOGIC SMART RELAYS ( SR2-B121BD ) SMART RELAYS ARE DESIGNED TO SIMPLIFY THE ELECTRICAL WIRING FOR INTELLIGENT SOLUTIONS.
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THE MAIN PARTS OF SMART RELAY 1
2
3
4
5
1 – Retractable mounting feet 2 – Power supply terminals 3 – LCD, 4 lines, 18 characters 4 – Screw terminal block for digital inputs 6
5 – Screw terminals block for analog inputs
7
6 – Connector for backup memory or PC connection cable
8
7 – Shift key 8 – Selection and validation key
9 1
9 – Arrow keys or after first configuring them, Z pushbuttons 10 – Relay output terminal block
10 73
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The description of each part that used in the operation of the smart relay are illustrated in the above slide. Study each part in the order explained. It is enough here to know the name of each part and a brief explanation about this part.
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CHARACTERISTICS OF THE SR1-B121BD 1. Weekly clock 2. Supply voltage:
24VDC(19.2VDC Min, 30VDC Max)
3. Rated input current:
100mA
4. Number of discrete inputs:
4 inputs
5. Rated voltage for each discrete input:
24VDC
6. Number of analog inputs 0-10V: 4 Each analog input is also usable in discrete I/O mode, 24VDC. 7. Number of output relays: 8. Relay output voltage:
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4 From 5 to 150VDC 8A Max, Or from 24 to 250VAC, 8A Max
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The characteristics of the smart relay are illustrated in the above slide. Study each one in the order explained. It is important here to know the name of each component and the minimum, typical (rated) and maximum voltage and/or current about this component.
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CONNECTING DISCRETE INPUTS Fuse
I1 to I4 are discrete inputs 24VDC IB, IC, ID, and IE represent the analog inputs used as discrete 24VDC inputs 75
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The input block of the smart relay are illustrated in the above slide. This block explain the discrete terminals that connected to 24 V DC. At the left hand side the two terminals ( + and 0 V ) are used to supply the smart relay Zelio by the rated 24 V. The terminals I1 to I6 are discrete inputs that connected to the sensors of the controlled system. The terminals IB and IC may used as discrete terminals for 24 V sensors or used as inputs for analog sensor rate 0 to 10 V DC. The above connections are used for 24 V supply and 24 V discrete or digital input that provided by digital sensors. All the necessary information are written on the body of the smart relay. The ground resistances are connected internally through the 0 V terminal.
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CONNECTING ANALOG INPUTS 0 -10 V ANALOG. 1
2
3
4
Fuse
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The terminals IB and IC may also used as analog inputs that have a voltage range from 0 to 10 V. Three terminals analog sensors that operate on 24 V DC and produces 10 V DC maximum are connected to the terminals IB and IC as illustrated in the above slide. The sensor terminals must be checked to right connection to the power supply and to the input terminals. The ground resistances are connected internally to the 0 V terminal.
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CONNECTING DISCRETE OUTPUTS
L/+
Fuse
Load 1
Load 2
Load 3
Load 4
N/• +/- for the terminals of a DC voltage • L/N for line and neutral of an AC voltage 77
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The terminals of the output block are located at the lower end of the smart relay. This block consists of four relays operate either by DC or by AC voltage. The connection is illustrated in the above slide using the rated operating range: 1 – DC voltage range from 12 to 125 V DC; ( + / - ) terminals. 2 – AC voltage range from 12 to 240 V AC; ( L / N ) terminals. Each relay can support 8 A at the nominal operating voltage mentioned above. The contacts of the relays are connected in series between the supply and the load for each load individually.
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COMMAND KEYS
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The smart relay Zelio has eight keys can be used for programming in the Zelio mode. Four Keys can be configured to be used in the run mode as input switches. Del. To delete an item or a diagram line. Ins. line To insert a diagram line. Sel. / Ok Allows to make a selection (variable, fields) to be modified, enter into an item's parameters page, enter into a visualization page, or validate a choice. The first thing you must do is press this key to access the main menu. Esc. To exit from a menu or a selection. Z1 to Z4 Allows to move through the data input zone. The movement is visualized on the screen. For the items of a diagram, these keys also allow you to navigate through its parameters and then modify their value.
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COMMAND KEYS
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The smart relay Zelio has eight keys can be used for programming in the Zelio mode. Four Keys can be configured to be used in the run mode as input switches. Del. To delete an item or a diagram line. Ins. line To insert a diagram line. Sel. / Ok Allows to make a selection (variable, fields) to be modified, enter into an item's parameters page, enter into a visualization page, or validate a choice. The first thing you must do is press this key to access the main menu. Esc. To exit from a menu or a selection. Z1 to Z4 Allows to move through the data input zone. The movement is visualized on the screen. For the items of a diagram, these keys also allow you to navigate through its parameters and then modify their value.
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POWERING UP THE ZELIO When you switch on the supply the screen displays the INPUTS-OUTPUTS Screen.
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* Objective: This function allows you to choose the language used by the module. All the messages can be displayed in 6 languages: English, French, German, Italian, Spanish and Portuguese. You can only choose the language if the module is in RUN mode. * Zelio mode: 1. Select the Config. menu and then the Language menu, 2. Select the language using the arrow keys, 3. Validate with the Sel./OK key. A small symbol indicates the selected language <> * Free mode: 1. Select the Module/Configure Module menu, 2. Select the language, 3. Validate.
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THE ZELIO MAIN MENU
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The main menu permitting you to access all the functions and parameters of all the zelio operations. There are eight menus. Among these menus there are two have sub – menus. CONFIG. (configuration) have five sub- menus and TRNSFER have four sub – menus. Most elements of this menu are self explanatory but some of them need definition such as: PARAMET. Menu This menu allows you to modify the parameters configured or the parameters of the function blocks. VISU. menu This function allows you to select the information that will be displayed on the third line of the screen of the module being used.
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THE ZELIO MAIN MENU
PASSWORD FILTER Zx KEYS CYCLE & WATCHDOG
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The main menu permitting you to access all the functions and parameters of all the zelio operations. There are eight menus. Among these menus there are two have sub – menus. CONFIG. (configuration) have five sub- menus and TRNSFER have four sub – menus. Most elements of this menu are self explanatory but some of them need definition such as: PARAMET. Menu This menu allows you to modify the parameters configured or the parameters of the function blocks. VISU. menu This function allows you to select the information that will be displayed on the third line of the screen of the module being used.
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ELEMENT ENTRY
It is only possible to position an element (contact or coil) when the blinking cursor â&#x20AC;&#x153; â&#x20AC;? is displayed on the screen. Contact entry is performed in the Five left hand columns, coils can only be entered into the last (sixth) column. If you use the arrow right key move the cursor from left to right positions you will have the following positions and shapes of the cursor.
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Zelio mode: Contacts are entered on the three left-hand columns. Place the flashing square cursor at the desired point. Click on the Sel./ OK key. Choose the item you want by clicking the Z1 and Z3 keys. Click on the Sel./ OK or Z2 key to position yourself on the number. Choose the number using the Z1 and Z3 keys.6. Validate with the Sel./ OK or Z2 key. To modify an item: position yourself on the item you want to modify and carry out the same procedure as for entering a new item. To delete an item: position the cursor on the desired item then press the Del key. Free mode (Principle) Select the desired item (the inaccessible items are dimmed), Enter the comment if applicable, Drag the selected item to the desired contact box. To modify the properties of an item: right click on the item. To change the item's type: select the new type and position it on the contact. To delete an item: select the item and press the Del key. To enter a line comment, click on the comment zone, enter the comment and press Enter to validate.
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Controller Function Blocks C F B
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TIMER FUNCTION BLOCK
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Objective The Timer function block allows you to time actions. It has: a reset input RT, a command input TT, an end of timing output T or t, a preselection value.
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TIMER FUNCTION BLOCK Program
Note: If the timer function Block name contain reset we must use it, and if not it is optional 86 M. Shams El-Deen
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Description of the parameters TT : command Used as a coil, this item represents the Timer function block's command input. Its operation depends on the type used. RT : reset Used as a coil, this item represents the reset input. Exciting the coil results in: - the Timer's current value being reset, - contact T being deactivated, the block is ready for a new timing cycle. T (Normally Open) t (Normally Closed) Used as contact it represent the timer output, and it depends on the type selected.
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TIMER PARAMETERS
87 M. Shams El-Deen
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY 87
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TIMER FUNCTION BLOCK PARAMETERS Zelio Mode
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Zelio mode To enter the block type and the preset value. Once you have validated the block number, the input screen is displayed. 1. Select the type function block operation using the arrow keys and validate with Sel./OK. 2. Select the time unit S - 1/100 of seconds : 00.00 s (maximum : 99.99), - 1/10 of seconds : 000.0 s (maximum : 999.9), - minutes : seconds : 00 :00 M : S (maximum : 99 :59), - hours : minutes : 00 : 00 H : M (maximum : 99 :59), 3. Enter the preset value using the arrow keys and validate with Sel./OK, 4. Lock the parameters if necessary using the arrow keys and validate with Sel./OK. 5. End the entry by pressing Esc. to return to command diagram entry.
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TIMER FUNCTION BLOCK PROPERTIES Free Mode
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Free mode To enter the block type, the preset value and/or lock this parameter. 1. Double click on a timer item or switch to parameter mode and double click on the timer, 2. Select the type of function block operation 3. Select the time unit S- 1/100 of seconds : 00.00 s (maximum : 99.99) - 1/10 of seconds : 000.0 s (maximum : 999.9) - minutes : seconds : 00 :00 M : S (maximum : 99 :59) - hours : minutes : 00 : 00 H : M (maximum : 99 :59) 4. Enter the preset value. 5. Tick the lock box if necessary, 6. Enter the comment if applicable, 7. Validate.
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TYPES OF TIMER FUNCTION BLOCK (1) 1. Type A Timer Function Block (On Delay Timer) 1. Type A Timer Function Block (ON Delay Timer)
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Type a : Closing delay on command rising edge with Reset.
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TYPES OF TIMER FUNCTION BLOCK (2) 2. Type a Timer Function Block (ON Delay with Pulse and Reset Timer)
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Type a : Closing delay on command rising edge with Reset.
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TYPES OF TIMER FUNCTION BLOCK (3) 3. Type C Timer Function Block (OFF Delay Timer)
92 M. Shams El-Deen
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AL SHOROUK ACADEMY 92
Type B : Calibrated pulse on command input rising edge (temporary contact). Switching on a light by means of a pushbutton with a timer switch.
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TYPES OF TIMER FUNCTION BLOCK (4) 4. Type B Timer Function Block (Pulse with Pulse On)
93 M. Shams El-Deen
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY 93
Type C : Opening delay (Rest delay). Example: maintain fan operation after motor shutdown.
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TYPES OF TIMER FUNCTION BLOCK (5) 5. Type W Timer Function Block (Pulse with Pulse Off)
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Type W : Calibrated pulse on command input falling edge. Example: Closing a motorway toll gate
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TYPES OF TIMER FUNCTION BLOCK (6) 6. Type D Timer Function Block (Flashing Relay Timer)
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Type D : Symmetrical flashing. Example: fault indication by indicator light flashing.
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TYPES OF TIMER FUNCTION BLOCK (7) 7. Type d Timer Function Block (Flash Timer On and Reset)
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Type d : Symmetrical flashing on command input rising edge Example: pulsed brake command after power cutout.
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with Reset.
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TYPES OF TIMER FUNCTION BLOCK (8) 8. Type T Timer Function Block (Time On Addition)
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Type T : Totalizer with Reset. Example: request replacement of a filter when the recommended utilization time has been exceeded.
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TYPES OF TIMER FUNCTION BLOCK (9) 9. Type AC Timer Function Block (Timing after closing and opining opining control)
98 M. Shams El-Deen
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TYPES OF TIMER FUNCTION BLOCK (10) 10. Type L Timer Function Block (Asymmetrical Flashing)
99 M. Shams El-Deen
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AL SHOROUK ACADEMY 99
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TYPES OF TIMER FUNCTION BLOCK (11) 11. Type I Timer Function Block (Asymmetrical Flashing .start/Stop .start/Stop on pulse)
100 M. Shams El-Deen
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY 100
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COUNTER FUNCTION BLOCK The Counter function is used to upcount or downcount pulses. The Counter function can be reset to zero or to the preset value (depending on the chosen parameter) during use. It can be used as a contact to find out if: The preset value has been reached (upcounting), The value 0 has been reached (downcounting). Counter maximum Value: 32767 Number of Counters: 16
Counter Function Block Contacts 1. Normal Counter Function Block Contact (C) The contact is closed when the counter reaches the preset value 2. Reverse Counter Function Block Contact (c) 101
The contact is closed until the counter has its preset value Mohamed I. MAHMOUD
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The Counter function blocks are used to count pulses and trigger an action. C or c : Counting threshold reached Used as a contact, this Counter function block item indicates that the preselection value and the current value are equal. C: The contact is closed when the counter has reached the preselection value. c: The contact is closed as long as the counter has not reached its preselection value. Example: Switching on an indicator light connected to the module's output 1 when the preselection value is reached, otherwise the indicator light is off. C1—————— Q1
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COUNTER FUNCTION BLOCK Counter Function Block Coils Count input: CCx Every time the coil is energized, the counter is incremented or decremented by 1 according to the counting direction chosen Reset input:
RCx
resets the counting function to its initial state The current counting value is reset to zero if the counting type is TO (upcounting towards the preset value), The current value is reset to the preset value if the counting type is FROM (downcounting from the preset value). Counter direction input (up/down counting) DCx Downcounts if the coil is energized, Upcounts if the coil is not energized. 102
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C, c contacts are entered in the same way as a conventional contact. RC, CC, DC coils are entered in the same way as a conventional coil. Zelio mode To enter the CC preset value ( 0 to 9999 ). 1. Click on the Z4 and Z2 keys to position yourself on the parameter you want to modify. 2. Select the parameter by pressing the Sel./ OK key. 3. Modify the value of the parameter using the Z1 and Z3 keys. 4. End the entry by pressing Esc. to return to command diagram entry. 5. Lock the parameters if necessary using the arrow keys and validate with Sel./OK.
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COUNTER FUNCTION BLOCK I Program
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Mohamed I. MAHMOUD
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CC : count pulse input Used as a coil in a command diagram, this item represents the block's counting input. Each time the coil is excited, the counter is incremented or decremented by 1 depending on the counting direction you have chosen. Example: counting on the input to the Counter N°1 function block. I1—————— CC1 RC: counter reset Used as a coil in a command diagram, this item represents the Counter block's reset input. Exciting the coil will result in the current counter value being reset. Example : Reset counter N°1 when key Z1 is pressed. Z1—————— RC1
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Industrial Electronics Course
COUNTER FUNCTION BLOCK II Zelio Mode
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DC : count/countdown direction Used as a coil in a command diagram, this item represents the counter input that determines the counting direction. If this coil is excited, the function block counts down, otherwise the function block counts. By default (this input is not wired) the function block counts. Example: counting or counting down depending on the state of one of the logic module's inputs. I2—————— DC1 p=0000: Preselection value (0 to 9999) Value to be reached. This value is also called the preselection value. When the counter's current value is equal to the preselected value, the counter's contact C is closed. This parameter can be modified.
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104
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
COUNTER FUNCTION BLOCK III
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
Lock parameters This parameter is used to lock the function block. When the block is locked, the preselection value no longer appears in the modifiable parameters. C or c : Counting threshold reached Used as a contact, this Counter function block item indicates that the preselection value and the current value are equal. C: The contact is closed when the counter has reached the preselection value. c: The contact is closed as long as the counter has not reached its preselection value. Example: Switching on an indicator light connected to the module's output 1 when the preselection value is reached, otherwise the indicator light is off. C1—————— Q1
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Industrial Electronics Course
TSX NANO PLC
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
106
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Small Form Factor - 3 Sizes Base PLC non-extendable PLCs (14 and 20 I/O). Base PLC non-extendable PLCs with 1 integrated analog input (10, 16, and 24 I/O). I/O extensions (16 and 24 I/O). Base PLC or I/O extension extendable PLCs (10, 16 and 24 I/O). 10 I/O (6 Inputs, 4 Outputs) 85 x 105 x 60 mm
14 I/O (8 inputs + 6 outputs) 16 I/O (9 inputs + 7 outputs) 85 x 135 x 60 mm
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16 I/O (9 inputs + 7 outputs) 20 I/O (12 inputs + 8 outputs) 24 I/O (14 inputs + 10 outputs) 85 x 165 x 60 mm
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
107
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Main Function of TSX Nano PLCs Scanning:
Normal (cyclical) or periodic (2 to 150 ms)
Scan Time:
Less than 1ms for 1000 instructions, Less than 0.6 ms for 100 instruction
Execution Time:
0.2µs to 2µs for a single Boolean elementary instruction
Memory capacity: Data: 256 internal word, 64 constant word, 128 internal bits, Program: 1000 instructions Backup:
PLC RAM: by battery, 30 days
Language:
Reversible PL7 instruction list or ladder
Terminal port:
RS 485 link, UNI-TE protocol 9600 bits/s, 19200bits /s. Max. distance :FTX 117: 10m; UNI-TE: 50m
I/O Extension:
1 per PLC (Max. distance 200 M)
Peer PLCs:
3 (Max. distance 200M)
Function Blocks:
32 Timers, 16 Counter, 4 LIFO/FIFO Registers (16-word block), 8 Shift Registers (16bits), 4 Drum controllers.
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AL SHOROUK ACADEMY
108
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
TSX Nano PLC Front Panel Front Panel Presentation Power supply connection
Sensor supply
Connection of inputs
Selector Switch for PLC Function Code
Removable cover for protecting terminals
Analog module addressing selector
PLC status display Communication Port
Connection of outputs 109
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Extension port Mohamed I. MAHMOUD
Hinged Cover AL SHOROUK ACADEMY
109
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Characteristics of TSX 07 32 1028 Nano PLC Extendable Supply voltage:
110/240VAC
Number of discrete inputs:
6 inputs
Type of inputs
24VDC
Number of output
4
Type of outputs
Relay
Relay voltage:
24VDC, Or 24/240 VAC 2A Max
110
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AL SHOROUK ACADEMY
110
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Inputs Connection Connection of the Positive Logic (sinking) Input 3 wire prox. sens. sens.
100/240VAC 100/240VAC
2 wire prox. sens. sens.
3A PNP
L N 100/240VAC
+ 24VD
OUT
IN COM
0
1
2
3
4
5
I
RUN
ERR
0
1
2
3
0
1
2
3
4
5
O COM
I/O
111
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
111
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Inputs Connection Connection of the Negative Logic (source) Input 3 wire prox. sens. sens.
100/240VAC 100/240VAC
2 wire prox. sens. sens.
3A
NPN
L N 100/240VAC
+ 24VD
IN COM
OUT
0
1
2
3
4
5
I
RUN
ERR
0
1
2
3
0
1
2
3
4
5
O COM
I/O
112
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
112
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Outputs Connection
I
RUN
ERR
0
1
2
3
0
1
2
3
4
5
O COM I / O
OUT COM
0
1
2
OUT COM
3
INPUTS 24VDC OUTPUTS 2A Ry
NC
IN 0 – 10 V + -
*
L/+ N/N/-
L/+ N/N/-
24VDC or 240VAC 2A MAX * Fuse rated for load 113
AL SHOROUK ACADEMY
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
113
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Characteristics of TSX 07 32 1012 Nano PLC Extendable Supply voltage:
24VDC
Number of discrete inputs:
6 inputs
Type of inputs
24VDC
Number of output
4
Type of outputs
Transistor Positive logic (Source)
Transistor voltage:
24VDC, 0.5A Max
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AL SHOROUK ACADEMY
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
114
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Inputs Connection Connection of the Positive Logic (sinking) Input 3 wire prox. sens.
24VDC
2 wire prox. sens.
3A
PNP
+
-
NC
24VDC
IN COM
Nc
0
1
2
3
4
5
I
RUN
ERR
COM
I/O
0
1
2
3
0
1
2
3
4
5
O
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
115
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Inputs Connection Connection of the Negative Logic (source) Input 3 wire prox. sens.
24VDC
2 wire prox. sens.
3A
NPN
+
-
NC
24VDC
IN COM
Nc
0
1
2
3
4
5
I
RUN
ERR
0
1
2
3
0
1
2
3
4
5
O COM
I/O
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
116
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Outputs Connection
I
RUN
ERR
0
1
2
3
0
1
2
3
4
5
O COM I / O
OUT COM
0
1
2
3
-V
INPUTS 24VDC OUTPUTS 0.5A Tr Sce
A
B
SG
* +
-
24VDC 24VDC
* Fuse rated for load 117
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
117
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
I/O Addressing %
I or Q
0 or 1
â&#x20AC;˘
Symbol
i i=I/O number
I = input Q = output
Point
0 = Base PLC 1 = I/O extension Examples %I0.1 : Second input on base PLC %Q1.2 : Third input on extension PLC 118
AL SHOROUK ACADEMY
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
118
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
A Simple Example AND Function S1
S2 L
Supply
N S1
~
Load
S1
S2
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AL SHOROUK ACADEMY
S2 Load
M
Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
119
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Ladder Logic Vs Conventional Control L2
L1
start 3 4
M
L1
3
aux 4
stop
M-aux.
L1 L2 L3
T1 T2 T3 M
%I0.1 %I0.0
%Q0.1
common I/P#1 I/P#2 I/P#3
%Q0.1
I/P#4 120
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common
P L C
O/P#1
M
O/P#2 O/P#3 O/P#4 AL SHOROUK ACADEMY
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Industrial Electronics Course
FUNCTION BLOCKS 121
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121
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Industrial Electronics Course
Timers [%TMi] %I0.0
%TMi IN
%Q0.0
Q
TYPE TON TP 1 min ADJ Y %TM0.P: 9999
There are three types of timer: On Delay timer. Off Delay timer. Pulse timer ⌦ Number of timers 0 to 31 ⌦ Time Base 1min (by default), 1s, 100ms, 1ms(for Tm0 and Tm1). 122
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122
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Industrial Electronics Course
ON-Delay Timer “TON” %TMi IN
Q
TYPE TON TP 1 min ADJ Y %TM0.P: 9999
IN Q PV CV 123
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123
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
OFF-Delay Timer “TOF” %TMi IN
Q
TYPE TOF TP 1 min ADJ Y %TM0.P: 9999
IN
Q PV CV 124
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124
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PULSE Timer “TP” %TMi IN
Q
TYPE TOF TP 1 min ADJ Y %TM0.P: 9999
IN
Q PV CV 125
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AL SHOROUK ACADEMY
125
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Counters [%Ci] %I0.0 %I0.1 %I0.2 %I0.3
%C0 R
%Q0.0
E
%Q0.1
S D ADJ Y %C0.P: 9999 CU F
%Q0.2
CD
Number of Counters 0 to 15. current value = preset value when S=1. current value = 0 when R=1 %Ci.D=1 when current value = preset value. %Ci.E=1 when current value changes from 0 to 9999. %Ci.F=1 when current value changes from 9999 to 0. 126
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126
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Up/Down Counters
Up %C0 R
E
Down
S ADJ Y %C0.P: 3 CU
D
Reset
CD
F
PV CV O/P
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AL SHOROUK ACADEMY
127
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
PLC Sequencer (Drum Controller) PLC sequencer operates on a similar principle to an electromechanical drum controller, which changes step according to external events. On each step, the high point of a cam gives a command which is executed by the control system. In the case of a drum controller (PLC sequencer), these high points are symbolized by state 1 for each step and are assigned to output bits %Qi.j or internal bits %Mi, known as control bits. %DR0 R
F
U STEPS 8
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AL SHOROUK ACADEMY
128
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Drum Controller Characteristics %I0.0 %I0.1
%DR0 R
%Q0.0
F
U STEPS 8
Number of Drum Controllers 4 (0 to 3) Number of Steps 8 (default) Control Bits 16 Control Bits Input R return controller to step 0 Input U on raising edge cause controller to advance by one step Output F indicates that the current steps equals the last steps 129
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129
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Operating Diagram
Input
U:
Input
R:
Step No. %DRi.S
0
1
2
3
L-1
0
1
2
0
1
Output %DRi.F
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AL SHOROUK ACADEMY
130
Prof. Dr. Mohamed Ibrahim MAHMOUD
Industrial Electronics Course
Drum Controller Configuration
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Mohamed I. MAHMOUD
AL SHOROUK ACADEMY
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