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History
Early control systems consisted of huge control boards consisting of hundreds to thousands of electromechanical relays. An engineer would design the system logic, electricians would receive a schematic outline of logic then implement the logic with relays. The schematic was commonly called Ladder Schematic The ladder displayed all switches, sensors, motors, valves, relays etc in the system. Problems: Long commissioning time, dependency on mechanical reliance, Any system logic design change required the power to the control board to be isolated stopping production.
History
General Motors was among the first to recognize a need to replace the systems wired control board Hydramatic Division of GM specified the design criteria for the programmable controller in 1968. Goal Eliminate the high cost associated with inflexible, relay controlled systems.
History
Solid State System Computer Flexibility Operate in Industrial Environment (vibrations, heat, dust etc.) Capability of being reprogrammed Easily programmed and maintained by electricians and technicians.
History
In 1969 Gould Modicon developed the first PLC. Strength Programmed with Ladder Logic Initially called Programmable Controllers PCs Now - PLCs, Programmable Logic Controllers PLCs have evolved from simple on/off control to being able to communicate with other control systems, provide production reports, schedule production, diagnose machine and process faults.
PLC
1-Less wiring 2-Easy modification 3-Low power 4-Less maintenance 5-Ease of expansion
The PLC, also known as programmable controller is defined by the National Electrical Manufacturers Association (NEMA) in 1978 as: "a digitally operating electronic apparatus which uses a programmable memory for the internal storage of instructions for implementing specific functions, such as logic, sequencing, timing, counting and arithmetic, to control through digital or analog input/output, various types of machines or process".
Sequential logic solver PID Calculations. Advanced Subroutines BIT Operations. Data Transfer. Text Handling.
Machine controls, Packaging, Palletizing, Material handling, similar Sequential task as well as Process control They are fast and designed for the rugged industrial environment. They are attractive on Cost-Per-Point Basis. These Devices are less Proprietary ( E.g.. Using Open Bus Interface.) These Systems are upgraded to add more Intelligence and Capabilities with dedicated PID and Ethernet Modules. PLC were Designed for Relay Logic Ladder and have Difficulty with some Smart Devices. To maximize PLC performance and Flexibility, a number of Optional Modules must be added PLC holds only one copy of program
Advantages of PLC :
Disadvantages of PLC :
Sizing of PLC
Micro PLCs: I/O up to 32 points Small PLC: I/O up to 128 points Medium PLC: I/O up to 1024 points Large PLC: I/O up to 4096 points Very Large: I/O 4096 Onwards
Outputs Inputs
C R
Modular Chassis-less PLC Systems ChassisAlso available from many vendors are Chassis less but still Modular PLC systems. These systems still require a Processor, I/O Modules, and Power Supply, but in place of a chassis these components mount directly onto a panel, din rail, and many use a tongue and grove system to allow easy insertion and removal
P L C Components
Central Processing Unit (CPU) Input Output Modules Power Supply Bus system Programming Device
IN CPU OUT
MODULE
CPU Power Supply Memory Input Blocks Output Blocks Communications Expansion Connections
It is a micro-controller based circuitary. The CPU consists of following blocks : Arithmatic Logic Unit (ALU), Timing / Control ckt, Program memory, Process image memory (Internal memory of CPU) Internal timers and counters and Flags, Address stack and instruction registers The Central Processing Unit (CPU) Module is the brain of the PLC.
CPU Module
Self Check
PLC Program SCAN
Scan Inputs
Update Outputs
Execute Code
Primary role to read inputs, execute the control program, update outputs.
CPU performs the task necessary to fulfill the PLC functions. These tasks include Scanning, I/O bus traffic control, Program execution, Peripheral and External device communication, special functions or data handling execution and self diagnostics.
Memory
The memory includes pre-programmed ROM memory containing the PLCs operating system, driver programs and application programs and the RAM memory. PLC manufacturer offer various types of retentive memory to save user-programs and data while power is removed, so that the PLC can resume execution of the user-written control program as soon as power is restored.
Memory
Many PLCs also offer removable memory modules, which are plugged into the CPU module. Memory can be classified into two basic categories: volatile and nonvolatile. Volatile memory loses state (the stored information) when power is removed. Nonvolatile memory, maintains the information in memory even if the power is interrupted.
Memory
Some types of memory used in a PLC include:
ROM (Read-Only Memory) RAM (Random Access Memory) PROM (Programmable Read-Only Memory) EPROM (Erasable Programmable Read-Only Memory) EEPROM (Electronically Erasable Programmable Read-Only Memory) FLASH Memory Compact Flash Can store complete program information, read & write text files
I/O Modules
Input and output (I/O) modules connect the PLC to sensors and actuators. Provide isolation for the low-voltage, low-current signals that the PLC uses internally from the higher-power electrical circuits required by most sensors and actuators. Wide range of I/O modules available including: digital (logical) I/O modules and Analog (continuous) I/O modules.
These modules act as link between field input sensors and the CPU. Analog input module : Typical input to these modules is 4-20 mA, 0-10 V, Ohms, mV Ex : Pressure, Flow, Level Tx, RTD (Ohm), Thermocouple (mV) Digital input module : Typical input to these modules is 24 V DC, 115 V AC, 230 V AC Ex. : Switches, Pushbuttons, Relays, pump valve on off status
Transfer of data:-I/P sensor to CPU Conversion:- 24vdc/230vac to 5vdc Isolation :- By Opto Coupler
Input Devices
Pushbuttons Selector Switches Limit Switches Level Switches Photoelectric Sensors Proximity Sensors Motor Starter Contacts Relay Contacts Thumbwheel Switches
5 Vdc used when Microcontroller based sensors are used as I/P 12 Vdc Now not much used 24 Vdc Widely used (Standard for I/P)
48 Vdc - Was used high power devices pneumatic / hydraulic cylendors / limit switches
12 Vac not being used 24 Vac discontinued 120 Vac Sensors are at long distance from controller 240 Vac Not much used
Field Device
+VDC IN1
+
DC Power Supply
VDC IN1
+
DC Power Supply
DC Input Module
DC COM C
Field Device
DC Input Module
C
Analogue Inputs/Outputs
Analogue input cards convert continuous signals via a A/D converter into discrete values for the PLC Analogue output cards convert digital values in then PLC to continuous signals via a D/A converter. Resolution can be important in choosing an applicable card Example, for a temperature input of 0 to 100 degrees C
For 8 bit resolution the value in the PLC is 0 to 255 For 12 bit resolution the value in the PLC is 0 to 4095 For 12.5 bit resolution the value in the PLC is 0 to 6000 For 13 bit resolution the value in the PLC is 0 to 8192 For 16 bit resolution the value in the PLC is 0 to 32768
Analogue Cards
Flow sensors Humidity sensors Load Cells Potentiometers Pressure sensors Temperature sensors Vibration
Analogue Output signals control: Analogue Valves Actuators Chart Recorders Variable Speed Drives Analogue Meters Typical Analogue Signal Levels 4-20mA 1-5 Vdc 0-10 Vdc -10 10Vdc
These modules act as link between the CPU and the output devices in the field. Analog output module : Typical output from these modules is 4-20 mA, 0-10 V Ex : Control Valve, Speed, Vibration Digital output module : Typical output from these modules is 24 V DC, 115 V AC, 230 V AC Ex. : Solenoid Valves, lamps, Actuators, dampers, Pump valve on off control
Relay type -For AC or DC Transistor Type Logic(TTL) - For DC Triac (Triode AC) type - For AC Isolated common type -For different device
Output Devices
Valves Motor Starters Solenoids Control Relays Alarms Lights Fans Horns
Relays 120 VAC/VDC 240 VAC 24 VAC/VDC Triac 120/230 VAC Transistor MOSFET 24 VDC
Relays
The most important consideration when selecting relays, or relay outputs on a PLC, is the rated current and voltage. For transistor outputs or higher density output cards relay terminal blocks are available. Advantage of individual standard replaceable relays
I/O Specifications
INPUT VOLTAGE Magnitude and type of voltage ON-STATE INPUT VOLTAGE RANGE voltage at which signal is recognized Nominal current per input Min. current to operate input circuit AMBIENT TEMP RATING Max temp of surrounding the I/O module INPUT DELAY Time duration for input signal to be on before known as valid input. ( 9-ms to 25ms) NOMINAL OUTPUT VOLTAGE It is min and max o/p operating voltage.e.g. Rated 120 v ac o/p ckt. Works in 92 to 138 v range. MAX O/P CURRENT RATING Max current a single o/p or module can safely carry under load OFF STATELEAK CURRENT PER O/P Max value of leak current flows through the o/p in OFF position ELECTRICAL ISOLATION Max volts between I/o and logic ckt.
P L C : Power Supply
The power supply gives the voltage required for electronics module (I/O Logic signals, CPU, memory unit and peripheral devices) of the PLC from the line supply. The power supply provides isolation necessary to protect the solid state devices from most high voltage line spikes. As I/O is expanded, some PLC may require additional power supplies in order to maintain proper power levels.
P L C : Bus System
It is path for the transmission of the signal . Bus system is responsible for the signal exchange between processor and I/O modules The bus system comprise of several single line ie wires / tracks Types of Bus Address bus - Location Data bus - Carries Data Control bus - Synchronization
Special Modules
RF ID Voice Gas Flow Calculation Weigh Cell Hydraulic Servo ASCII Fuzzy Logic Temperature Sensor Temperature Control Heat/Cool Control Field Bus Cards DeviceNet, Profibus etc Lonworks, BACNet
Fast Response (Interrupt) PID Loop Controller BASIC Cards RS232 Comms Modbus ASCII/RTU Ethernet Comms High Speed Counters Position Control Cards Peer to Peer Comms Controller Link DH+ Modbus Plus
Housekeeping
Internal checks on memory, speed and operation. Service any communication requests, etc.
Input Scan
The status of external inputs (terminal block voltage) is written to the Input image (Input file).
Output Scan
The Output Image data is transferred to the external output circuits, turning the output devices ON or OFF.
Program Scan
Each ladder rung is scanned using the data in the Input file. The resulting status (Logic being solved) is written to the Output file (Output Image).
Programming Terminal
PLC
Programming Language : - Relay ladder logic - Flexibility in altering Control system operation
I/O
PLC
Programming Language : - Ladder Program - PID - Data Storage
I/O
PLC I/O
PLC
PLC became a part of the developing enterprise resource system
Workstation
Workstation
Workstation
Workstation
Switched Hub
Controller
PC
Ltd
CPU
Ladder Diagram Statement List Instruction List Function Block Diagram Sequential Function Chart Structured Text
Scan Rate
The completion of one cycle of the sequence is calledSCAN Time required for one cycle is called SCAN TIME
Binary System
BIT Each digit of a binary number BYTE Group of 8 bit WORD Group of one or more byte LSB Least significant bit or smallest value 7 6 5 4 3 2 1 0 MSB Most significant bit or largest value 8 BIT ( 1 BYTE )
LSB BYTE BYTE 16 BIT (1 WORD)
MSB
PLC : Terminology
INPUT is referred by I OUTPUT is referred by Q / O TIMER is referred by T FLAGS are referred by M /B COUNTERS are referred by C
It is a set of rules for data transmission when PLC is connected to network RS-232 (Recommended standard) RS-485 MPI(Multi point Interface) Profibus DH(Data Highway) Ethernet Controlnet Devicenet
It is rate of data transmission on network Unit is bits/second Range:120 bits /sec to 100 Mega bits per second
Selecting a PLC
Number of logical inputs and outputs Memory Number of special I/O modules Expansion Capabilities Scan Time Communication Software Support Cost
OMRON Allen Bradley Schneider GE Fanuc Siemens Automation Direct (Koyo) Toshiba Mitsubishi Hitachi Keyence VIPA
PLC Standardization
IEC 61131 Based on IEC 1131 (1992) standard, developed to be a common and open framework for PLC architecture. IEC 61131-1 Overview IEC 61131-2 Requirements & Test Procedures IEC 61131-3 Data Types & Programming IEC 61131-4 User Guidelines IEC 61131-5 Communications IEC 61131-7 Fuzzy Control IEC 61131-7 Guidelines for the application and implementation of programming languages
PLC Programming
The purpose of a PLC Program is to control the state of PLC outputs based on the current condition of PLC Inputs
Different PLCs support different languages, but the most popular PLC language is know as Ladder Logic.
IL (Instruction List) mnemonic programming LD (Ladder Diagram) Relay logic ST (Structured Text) A BASIC like programming language FDB (Functional Block Diagram) Graphical dataflow programming language SFC (Sequential Flow Chart) Graphical method for structured programs
() () () ()
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|/|
()
|/|
True
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False
()
False
No Logical Continuity
|/|
True
|/|
True
()
True
Logical Continuity
On
||
T
||
T
Logical Continuity
()
T
Logical OR Construction
IF input 4 OR input 5 have power THEN energize output 0
I/4
T
Logical Continuity
O/0On
||
F I/5
()
|| ||
I/4
F
Logical Continuity
O/0
On
()
T I/5
||
Typical Construction
I/4
I/0
I/1
I/9 I/10
||
I/5
|/|
I/1
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I/7
||
I/8
|| ()
O/0
||
|/|
I/2
|/|
I/3
|/|
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I/11 I/1
|/|
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Addressing Examples
L2
I/5 I/6 I/7 O/0
||
||
||
()
ADDRESS HHP Logix I/5 I:0/5 I/6 I/7 O/0 I:0/6 I:0/7 O:0/0
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LS1 LS3 B/0 CR3 |/| LS4 M1 PB2 CR3 I/7 I/5
|| ||
I/8
()
B/0
|| || |/|
()
I/9
O/1
||
()
INPUT Address Assignment: PB1- I/4 PB2- I/5 LS1- I/6 LS2- I/7 LS3- I/8 LS4- I/9 OUTPUT Address Assignment: SOL2- O/0 M1- O/1
Available Instructions
Sequence Input Output Control Logic Timer and Counters Comparison Range Comparison Data Movement Data Shift Step / Step Next Serial Communications Text String Processing File Manipulation
Increment/Decrement Conversion ASCII Number Systems Math Floating Point Math Statistics Scaling PID PID with Auto tune Clock / Date Block Processing IF,THEN,ELSE,LOOP Table Processing LIFO, FIFO
Thanks .