1. Programabilni logički kontroleri PLC –program i primeri primene
Industrijski sistemi i protokoli -
predavanje 3
Ver

2. Sadržaj 1. Osnove kontaktorskih šema
(mirno i radno, tasteri, kontakti i PLC bitovi
2.Lestvičasti (ladder) dijagram za programiranje PLC
3. Blokovi ladder dijagrama
4. Primeri Ladder dijagrama
5. Primena u elektromotornim pogonima

3. Normalno otvoren (radni) i zatvoren (mirni)?
Tasteri
Šta je radno stanje, akcija, nenormalno stanje kod
tastera? To je pritisak na taster!
Radni tester vodi u radnom stanju, a normalno
(kada ga ne pritiskamo) je otvoren  normalno
otvoren. Tako mu definiše i sam grafički simbol i NO.
Mirni tester vodi u neradnom stanju, koje je normalno
jer ga ne pritiskamo , on je  normalno zatvoren.
Tako mu definiše i sam grafički simbol i NC.
Suština ovde je da su vas pogrešno učili
da je normalno da ne radimo.
da smo mirni samo kad ne radimo.

4. Normalno otvoren (radni) i zatvoren (mirni)?
Rele A1 1
12 – radni (NO) 3
13 – mirni (NC) A2 2
Kontaktor A1 1 3 5 13 14 21 22
pomoćni
kontakti A2 2 4 6
namotaj
elmagneta
(špulna)
glavni
kontakti

5. Normalno otvoren (radni) i zatvoren (mirni)?
Moderni kontaktori

6. Normalno otvoren (radni) i zatvoren (mirni)?
Princip rada kontaktora
Nema napona na namotaju, el.
magnet ne radi, nema privlačenja
kotve, kontakti razdvojeni.
Napon na namotaju ,elmagnet
Privlači se kotva, kontakti zatvoreni

7. Normalno otvoren (radni) i zatvoren (mirni)?
Kontakti releja ili kontaktora
Šta je radno stanje, akcija, nenormalno stanje kod
releja/kontakotora? To je napon na špulni !
Radni kontakt vodi u radnom stanju, a normalno
(kada nema komande) je otvoren  normalno
otvoren. Tako mu definiše i sam grafički simbol i NO.
Mirni kontakt vodi u neradnom stanju, koje je normalno jer kad nema napona, on je  normalno zatvoren. Tako mu definiše i sam grafički simbol i NC.
pomoćni radni (NO, 34)
Eneg. ka mreži
Špulna(komanda)
Energ. ka potrošaču
pomoćni mirni (NC,12)

8. Normalno otvoren (radni) i zatvoren (mirni)?
Bitovi u PLC
Šta je radno stanje, akcija, neaktivno, nenormalno stanje kod bitova ? To je stanje 1, stanje ON !
Radni bit vodi u radnom stanju (1), a normalno
(kada nije 1) je otvoren  normalno otvoren kontakt.
Mirni bit vodi u neradnom stanju (0),normalnom stanju on je  normalno zatvoren kontakt.
Bit može biti ulaz (na primer I0.0) koji je 1 ako je
napon na ulazu, ili izlaz (na primer Q0.0) koji je 1 ako
je napon na izlazu, ili čak i samo bit iz memorije (na
primer M0.0) koji je 1 ako je prethodno setovan ili 0
ako je prethodno resetovan.

9. Primeri sa PLC Ladder dijagramima

10. Način programiranja PLC Siemens S7
Lestvičasta logika (ladder logic) je način crtanja el. logičkih šema.
To je grafički jezik, veoma popular kod PLC.
Originalno je izmišljen da zameni relejnu logiku.
Ime je dobio jer program podseća na merdevine.
Alternativa
STL (statment list) - Instruction List language
LD start_taster
O izlaz
A stop_taster
= izlaz

11. Način programiranja PLC Siemens S7
Stara relejna šema
(napajanje, žice, špulne, mirni i radni kontakti releja)
Lestvičasti PLC programi
koji zamenjuju ovu šemu

12. PLC S7-200 – ciklus izvršenja programa

13. PLC: Osnovni blokovi Ladder dijagrama

14. PLC S7 - tipovi podataka , bitovi i bajtovi

15. PLC S7 - tipovi podataka , word i double word

16. PLC S7 osnovni Ladder blokovi - Kontakti
The Normally Open contact is closed (on) when the bit is 1.
The Normally Closed contact is closed (on) when the bit is 0.
Rade sa ulaznim bitovima I Izlaznim bitovima Q0.0..
i memorisanim bitovima M

17. PLC S7 osnovni Ladder blokovi– set/reset
Radi sa Izlaznim bitovima Q0.0.. i memorisanim bitovima M
The Set (S) and Reset (R) instructions set
(turn on) or reset (turn off) the specified
number of points (N), starting at the
specified address (Bit). Tipically, N=1. You
can set or reset from 1 to 255 points. If the
reset specifies either a timer bit (T)
or counter bit (C), the instruction resets
the timer or counter bit and clears the
current value of the timer or counter.

18. PLC S7 osnovni Ladder blokovi– MOV
Dodela vrednosti , MOV instrukcija
The Move Byte (MOVB) instruction moves the
input byte (IN) to the output byte (OUT) without
changing the original value.
The Move Word (MOVW) instruction moves the
input word (IN) to the output word (OUT) without
changing the original value.
Ove dve instrukcije ćete često koristiti da podesite neki
komunikacioni modul povezan sa , ili unutar PLC !
Na primer registar za baud rate postavi na 9600 !
IN povežemo sa 9600 i povučemo liniju ka EN (dozvolimo upis)

19. PLC S7 osnovni Ladder blokovi– FOR and NEXT
Kontrola toka programa , FOR and NEXT
The FOR (FOR) instruction executes
the instructions between the FOR and
the NEXT. You specify the index value
or current loop count (INDX), the
starting value (INIT), and the ending
value (FINAL). The NEXT (NEXT)
instruction marks the end of the FOR
loop, and sets the top of the stack to 1.

20. PLC S7 osnovni Ladder blokovi– JMP and LBL
Kontrola toka programa , JMP and LBL
The Jump to Label (JMP) instruction
performs a branch to the specified
label (n) within the program. When
a jump is taken, the top of stack
value is always a logical 1.
LBL is the program jump point.

21. PLC S7-200 – podprogram (subroutine)
When the main program calls the
subroutine for execution, the
subroutine carries out its program
to its end. Then, the system returns
control to the main program at the
network from which the subroutine
was called.
Call Parameter Type Description
IN Parameters are passed into the subroutine. If direct address (such as VB10),
the value at the specified location is passed into the subroutine. If data constant (16#1234), or an address (&VB100), the constant or address value is passed into
the subroutine.
IN_OUT The value at the specified parameter location is passed and the result value from the subroutine is returned to the same location.
OUT The result value from the subroutine is returned to the specified parameter location.
TEMP Any local memory that is not used for passed parameters may be used for temporary storage within the subroutine.

22. PLC S7-200 – Prekid (interrupt)
S7-200 PLCs incorporate instructions for use with interrupts.
Interrupts are used to initiate a specific, short PLC program
segment, called an interrupt routine, when an internal or
external event occurs. After the interrupt routine has been
executed, control is returned to the main program.
Three types of interrupts are supported by S7-200 PLCs,
communication port interrupts,
I/O interrupts,
timebased interrupts.
Communication port interrupts are used to control a communication port operated in Freeport mode.
I/O interrupts are used to respond quickly to high-speed I/O
transitions, such as those associated with high-speed counters
or pulse train outputs.
Time-based interrupts allow the user program to execute an interrupt routine on a cyclic basis.
Each of these types of interrupts has an associated priority that determines which interrupt is processed first in the event that two or more interrupts are requested at the same time.
Communication port interrupts have the highest and time-based have the lowest priority.

23. PLC S7-200 – Prekid (interrupt)
1. Prekid (interrupt, u PLC svetu često zvan događaj ili event) se opslužuje nezavisno od periodičnog PLC ciklusa skeniranja.
2. Kod prekida treba definisati dve stvari
Izvor prekida
Podprogram koji treba izvršiti kada se desi prekid
3. Te dve stvari treba spojiti, ATTACH blok !
ATTACH blok kaže pridruži ovaj podprogram (interrupt routine) sa onim interuptom ili događajem (event)
4. Ponekad treba redefinisati akciju , onda prvo moramo razdvojiti rutine od događaja, za to služi DTCH blok
Naravno, događaj (prekid) treba dozvoliti (ENI ) ili po potrebi zabraniti (DISI). U startu je većina zabranjena.

24. PLC S7-200 – Prekid (interrupt)
ATCH traži i ime podprograma za izvršenje, koji treba povezati sa tim događajem
The Enable Interrupt (ENI) instruction globally enables processing of all attached interrupt events.
The Disable Interrupt (DISI) instruction disables processing of all interrupt events.
The Attach Interrupt (ATCH) instruction associates an interrupt event (EVNT) with an interrupt routine number (INT), and enables the interrupt event.
The Detach Interrupt (DTCH) instruction disassociates an interrupt event (EVNT) from all interrupt routines, and disables the interrupt event.
ATCH traži broj događaja tj prekida
DTCH odvaja događaja od svih rutina. Ne mora da zna koja je bila priljučena tom događaju, sve ubija !

25. PLC S7-200 – Prekid (interrupt)
Tabela Event-a
za PLC S200
(nepotpuna)

26. PLC S7-200 – Osnovni blokovi Ladder dijagrama
Floating point matematika
IN1 + IN2 = OUT
IN1 - IN2 = OUT
(nije prikazano)
IN1 * IN2 = OUT
IN1 / IN2 = OUT
Itd..

27. PLC: Timer and Counter

28. PLC S7-200 – tajmerski blokovi
The On-Delay Timer (TON) instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON.
The On-Delay timer current value is cleared when the enabling input is OFF.
This timer continues counting after the Preset is reached, and it stops counting at the maximum value of
TON, TONR, and TOF timers are available in three resolutions. The resolution is determined by the timer number as shown in the chart below.
Each count of the current value is a multiple of the time base. For example, a count of 50 on a 10-ms timer represents 500 ms.
Timer Type Resolution Maximum Value Timer Number
TONR ms s T0, T64
10 ms s T1-T4, T65-T68
100 ms s T5-T31, T69-T95
TON, TOF ms s T32, T96
10 ms s T33-T36, T97-T100
100 ms s T37-T63, T101-T255

29. PLC S7-200 – tajmerski blokovi
The On-Delay Timer (TON) instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON.
The On-Delay timer current value is cleared when the enabling input is OFF.
The On-Delay Timer (TON) time diagram

30. PLC S7-200 – tajmerski blokovi
The Retentive On-Delay Timer (TONR) instruction counts time when the enabling input is ON. When the current value (Txxx) is greater than or equal to the preset time (PT), the timer bit is ON.The current value of the Retentive On-Delay timer is maintained when the input is OFF. You can use the Retentive On-Delay timer to accumulate time for multiple periods of the input ON. A Reset instruction (R) is used to clear the current value of the TONR.

31. PLC S7-200 – tajmerski blokovi
The Off-Delay Timer (TOF)
is used to delay turning an output OFF for a fixed period of time after the input turns OFF. When the enabling input turns ON, the timer bit turns ON immediately, and the current value is set to 0. When the input turns OFF, the timer counts until the elapsed time reaches the preset time. When the preset is reached, the timer bit turns OFF and the current value stops counting. If the input is OFF for a time shorter than the preset value, the timer bit remains ON. The TOF instruction must see an ON to OFF transition to begin counting.

32. PLC S7-200 – brojački blokovi (counter Down)
The Count Down (CTD)
counts down from the current value of that counter each time the count down input CD makes the transition from off to on. When the current value Cxxx is equal to zero, the counter bit (Cxxx) turns on. The counter resets the counter bit (Cxxx) and loads the current value with the preset value (PV) when the load input (LD) turns on. The Down Counter stops counting when it reaches zero, and the counter bit Cxxx turns on.
Counter Down time diagram

33. PLC S7-200 – brojački blokovi (counter)
The Count UP Down (CTUD)
counts up each time the count-up input CU makes the transition from off to on, and counts down each time the count-down input CD makes the transition from off to on. The current value Cxx of the counter maintains the current count. The preset value PV is compared to the current value each time the counter instruction is executed. Upon reaching maximum value (32,767), the next rising edge at the count-UP input causes the current count to wrap around to the minimum value (-32,768). On reaching the minimum value (- 32,768), the next rising edge at the count-DOWN input causes the current count to wrap around to the maximum value (32,767). When the current value Cxx is greater than or equal to the preset value PV, the counter bit Cxx turns on. Otherwise, the counter bit turns off. The counter is reset when the Reset (R) input turns on.

34. PLC S7-200 – brojački blokovi (counter)
The Count Up (CTU)
instruction counts up from the current value each time the count-up input CU makes the transition from off to on. When the current value (Cxxx) is greater than or equal to the Preset Value (PV), the counter bit (Cxxx) turns on. The counter is reset when the Reset (R) input turns on, or when the Reset instruction is executed. The counter stops counting when it reaches the maximum value (32,767).

35. Primeri Ladder dijagrama

36. PLC S7-200 – samodržanje start_taster i nepritisnut stop_taster
Pritisnut normalno otvoren
start_taster i nepritisnut
normalno zatvoren stop_taster
uključuju izlaz.
Zatim , izlaz samog sebe drži
sve dok neko ne pritisne
stop_taster
Ovo važi u slučaju da se koriste dva radna tastera.
24 V
start_taster
I0.1
stop_taster
PLC
I0.2

37. PLC S7-200 – samodržanje industrija
Pritisnut normalno otvoren
start_taster i nepritisnut (ali
provodan) normalno otvoren
stop_taster uključuju izlaz.
Zatim , izlaz samog sebe drži
sve dok neko ne pritisne
stop_taster
Ovo važi u slučaju da se za stop koriste mirni taster!
Na primer, podnaponska sklopka dok ima napona drži stop
provodnim, ako napon nestane, stop izbacuje pogon.
24 V
start_taster
I0.1
PLC
stop_taster
I0.2

38. Primena PLC u pogonima

39. Primena PLC pri kontroli motora
bimetal
kontaktor
Šema pre pojave PLC
Logika je rešena relejima,
špulnama i pomoćnim
kontaktima kontaktora (svi
na različitim naponima) koji
su povezani velikim brojem
žica. Promena logičke
funkcije i proširenja su
bila gotovo nemoguća.
CR – rele (špulna i kontakt)
M– kontaktor-motor starter
(špulna i trofazni energetski
kontakti)
OL – trofazni bimetal i
pomoćni mirni kontakt)
napon
Rele
Start taster

40. Primena PLC pri kontroli motora
Ovoga se nećemo rešiti ni sa PLC
1. Motor starter, aktuator, prenosi snagu
2. Tasteri (HMI)
ALi, želimo da sve ostalo ( i mnogo više) radi PLC

41. Primena PLC pri kontroli motora
snaga
Komanda
(za novu komandu treba nam samo novi taster)
Logika
(lako se menja i proširuje po potrebi)

42. Primena PLC pri kontroli motora
Tipovi lokalnih komanda ka PLC
Radni taster Normalno otvoren
Mirni taster Normalno zatvoren
Normalno otvoren prekidač
Normalno zatvoren prekidač
Radni kontakt Normalno otvoren
Mirni kontakt Normalno zatvoren
+24V

43. Primena PLC pri kontroli motora
Ni start ni stop nisu aktivni, Q0.0 neaktivan.
Motor radi, Q0.0 se samodrži, stop i bimetal nisu aktivni
Stop taster ukida signal ka Q0.0 motor sa zaustavlja
Start taster dozvoljava signal ka Q0.0, motor startuje

44. Proširenje aplikacije – svetlosni indikatori
snaga
Dodatni svetlosni indikatori
Komanda
(za novu komandu treba nam samo novi taster)
Logika
(lako se menja i proširuje po potrebi)

45. Proširenje aplikacije – svetlosni indikatori
Prosto rešenje.
Novi kod i dve nove linije iz PLC

46. Motor starter

47. Druge aplikacije kontaktora i PLC