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CHAPTER – 1
BASICS OF AUTOMATION
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formerly known as man-machine interfaces, are usually employed to
communicate with PLCs and other computers, such as entering and monitoring
temperatures or pressures for further automated control or emergency
response.
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on the workforce as a whole remains unclear. Today automation of the
workforce is quite advanced, and continues to advance increasingly more
rapidly throughout the world and is encroaching on ever more skilled jobs, yet
during the same period the general well-being and quality of life of most
people in the world (where political factors have not muddied the picture) have
improved dramatically.
As the world gets more and more technologically advanced, we find new
technology coming in deeper and deeper into our personal lives even at home.
Home automation is becoming more and more popular around the world and is
becoming a common practice.
Office automation refers to the varied computer machinery and software used
to digitally create, collect, store, manipulate, and relay office information
needed for accomplishing basic tasks and goals. Raw data storage, electronic
transfer, and the management of electronic business information comprise the
basic activities of an office automation system. Office automation helps in
optimizing or automating existing office procedures. The backbone of office
automation is a LAN, which allows users to transmit data, mail and even voice
across the network.
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Building automation describes the functionality provided by the control system
of a building. A building automation system (BAS) is an example of a
distributed control system. The control system is a computerized, intelligent
network of electronic devices, designed to monitor and control the mechanical
and lighting systems in a building.
1.3.4 INDUSTRIAL AUTOMATION
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2. Unpredictable development costs. The research and development cost of
automating a process is difficult to predict accurately beforehand.
3. Initial costs are relatively high. The automation of a new product
required a huge initial investment in comparison with the unit cost of the
product, although the cost of automation is spread in many product
batches.
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CHAPTER – 2
CONTROLLERS
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action that can adjust the process accordingly and rapidly, to keep the error
minimal.
The PID controller calculation (algorithm) involves three separate
parameters; the proportional, the integral and derivative values. The
proportional value determines the reaction to the current error, the integral
value determines the reaction based on the sum of recent errors, and the
derivative value determines the reaction based on the rate at which the error
has been changing. The weighted sum of these three actions is used to adjust
the process via a control element such as the position of a control valve or the
power supply of a heating element.
Figure 2.1
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technology depends upon the integration of technologies from computer,
hardware, machining, and other industries, and requires strategic long-term
support, mostly on a governmental level.
Today, computer numerical control (CNC) machines are found almost
everywhere, from small job shops in rural communities to Fortune 500
companies in large urban areas. Truly, there is hardly a facet of manufacturing
that is not in some way touched by what these innovative machine tools can
do.
The most basic function of any CNC machine is automatic, precise, and
consistent motion control. Rather than applying completely mechanical
devices to cause motion as is required on most conventional machine tools,
CNC machines allow motion control in a revolutionary manner. All forms of
CNC equipment have two or more directions of motion, called axes. These
axes can be precisely and automatically positioned along their lengths of
travel. The two most common axis types are linear (driven along a straight
path) and rotary (driven along a circular path).
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Figure 2.2
The days of the PC being used just for visualization and production data
acquisition in control and automation applications is rapidly becoming a thing
of the past.
The PC is now increasingly recognized as an open and powerful
hardware platform, which can provide effective and reliable control, with no
requirement for additional processors or complex hardware additions.
Traditional automation and control systems typically comprise a number of
hardware and software elements; a PC for process visualization, hard PLCs
with coprocessor cards, coprocessor PLCs, I/O via field bus, motion control
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via parallel cabling and a selection of software operating systems and
programming languages.
PC-based controller system is often used in the factory where it resists
the adverse environmental factors such as dustiness and extreme temperature.
Under this condition, PC-based controller system must meet the requirements
of reliability, durability, strong vibration, and extreme temperature. Since
industrial products do not require high level of math functions, appropriateness
is much more important than the performance.PC-based system is also used in
the medical care industry.
The disadvantages of this approach being high hardware and software
costs, complexity of system design and build plus, in many applications,
limited functionality.
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2) Packaging, loading uploading and weighing.
3) Palletizing.
4) Material handling and similar Sequential task
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CHAPTER – 3
SCADA stands for supervisory control and data acquisition. As the name
indicates it is not a full control system, but rather focuses on the supervisory
level. As such , it is a purely software package that is positioned on the top of
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hardware to which it is interfaced in general via programmable logic
controllers (PLC’s ), or other commercial hardware modules.
S- supervisory (we can see process on monitor)
C- control(when setup is complete we can also control the process )
A- and
D- data( database can also be saved in plc or pc memory)
A- acquisition
SCADA programs are used in industrial process control applications for
centralized monitoring and recording of pumps, tank levels, switches,
temperatures etc. SCADA systems are also referred to as HMI (Human
Machine Interfaces), or the less politically correct MMI (Man Machine
Interfaces).
A SCADA program normally runs on a PC and communicates with
external instrumentation and control devices. Communications methods can be
via direct serial link, radio, modem, field bus or Ethernet links. If a mixture of
instruments with differing communication interfaces and protocols need to be
connected, then converters can be used. SCADA is often used on remote data
acquisition systems where the data is viewed and recorded centrally.
It’s an optional device used in automation for continuous monitoring.
Field Devices
(Motors, Heaters)
Field Instruments
(Sensors, Transducers,
Pressure Tx, Density Tx,
Thermocouples,
Thermistors, LVDT)
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Controllers
(PLC, DCS.CNC, PC
Based)
SCADA
(For continuous
monitoring)
Figure 3.1
The SCADA program has a user configured database which tells the
software about the connected instrumentation and which parameters within the
instruments are to be accessed. The database may also hold information on
how often the parameters of the instruments are accessed and if a parameter is
a read only value (e.g. a measured value) or read / write, allowing the operator
to change a value (e.g. an alarm set point).
The parameters of the instrument being accessed are normally split
between analogue (numeric) and logic (digital). When running, the SCADA
software continuously updates its own database with the latest analogue and
digital values collected from the instrumentation. Some SCADA systems also
allow real time calculations to be made on the received data and the results
would be available as a "virtual" value. The real time values can then be used
by the SCADA.
3.2 COMMUNICATIONS
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3.2.1 INTERNAL COMMUNICATION
The data servers poll the controllers at a user defined polling rate. The polling
rate may be different for different parameters. The controllers pass the
requested parameters to the data servers. Time stamping of the process
parameters is typically performed in the controllers and this time-stamp
is taken over by the data server.
If the controller and communication protocol used support
unsolicited data transfer then the products will support this too. The
products provide communication drivers for most of the common PLCs and
widely used field-buses, e.g., Mod bus. Of the three field buses that are
recommended at CERN,
both Profibus and Worldfip are supported but CAN bus often not [3]. Some of
the drivers are based on third party products and therefore have
additional cost associated with them. VME on the other hand is generally not
supported.
3.3 FUNCTIONALITY
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privileges to the process parameters in the system and often also to specific
product functionality.
3.3.2 TRENDING
The products all provide trending facilities and one can summarize
the common capabilities as follows:
1) the parameters to be trended in a specific chart can be predefined or defined
on- line
2) A chart may contain more than 8 trended parameters or pens and an
unlimited number of charts can be displayed (restricted only by the
readability)
3) Real-time and historical trending are possible, although generally not in the
same chart
Figure 3.2
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graphical object (ActiveX), which can then be embedded into a synoptic
display. XY and other statistical analysis plots are generally not provided.
Alarm handling is based on limit and status checking and performed in the data
servers. More complicated expressions (using arithmetic or logical
expressions) can be developed by creating derived parameters on which status
or limit checking is then performed. The alarms are logically handled
centrally i.e., the information only exists in one place and all users see
the same status (e.g., the acknowledgement), and multiple alarm priority
levels (in general many more than 3 such levels) are supported.
Figure 3.3
The terms logging and archiving are often used to describe the same
facility. However, logging can be thought of as medium-term storage of data
on disk, whereas archiving is long-term storage of data either on disk or
on another permanent storage medium. Logging is typically performed on a
cyclic basis, i.e., once a certain file size, time period or number of points is
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reached the data is overwritten. Logging of data can be performed at a set
frequency, or only initiated if the value changes or when a specific
predefined event occurs. Logged data can be transferred to an archive
once the log is full.
Figure 3.4
The Logged data is time-stamped and can be filtered when viewed by a user.
The logging of user actions is in general performed together with either a user
ID or station ID. There is often also a VCR facility to play back archived data.
3.3.5 NETWORKING
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3.3.6 DEVICE CONNECTIVITY
3.3.8 SCRIPT
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your own functions to suit the process requirement. execution.
3. Various types of scripts make project execution simpler for programmer.
One can produce reports using SQL type queries to the archive, RTDB or logs.
Although it is sometimes possible to embed EXCEL charts in the report,
a "cut and paste" capability is in general not provided. Facilities exist to be
able to automatically generate, print and archive reports.
3.5 AUTOMATION
3.6.1 CONFIGURATION
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SCADA is not a specific technology, but a type of application. SCADA stands
for Supervisory Control and Data Acquisition — any application that gets data
about a system in order to control that system is a SCADA application.
A SCADA application has two elements:
1. The process/system/machinery you want to monitor a control — this can be
a power plant, a water system, a network, a system of traffic lights, or
anything else.
2. A network of intelligent devices that interfaces with the first system through
sensors and control outputs. This network, which is the SCADA system,
gives you the ability to measure and control specific elements of the first
system.
The development of the applications is typically done in two
stages. First the process parameters and associated information (e.g. relating
to alarm conditions) are defined through some sort of parameter
definition template and then the graphics, including trending and alarm
displays are developed, and linked where appropriate to the process
parameters. The products also provide an ASCII Export/Import
facility for the configuration data (parameter definitions), which enables
large numbers of parameters to be configured in a more efficient manner using
an external editor such as Excel and then importing the data into the
configuration database.
On-line modifications to the configuration database and the graphics are
generally possible with the appropriate level of privileges.
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lines, squares circles, etc. It is possible to import pictures in many
formats as well as using predefined symbols including e.g. trending
charts, etc. A library of generic symbols is provided that can be linked
dynamically to variables and animated as they change. It is also possible
to create links between views so as to ease navigation at run-time.
Figure 3.5
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Electric utilities use SCADA systems to detect current flow and line voltage, to
monitor the operation of circuit breakers, and to take sections of the power grid
online or offline.
State and municipal water utilities use SCADA to monitor and regulate water
flow, reservoir levels, pipe pressure and other factors.
3.7.4 MANUFACTURING
SCADA regulates traffic lights, controls traffic flow and detects out-of-order
signals.
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SCADA systems provide the sensing capabilities and the computational
power to track everything that’s relevant to your operations.
The benefits one can expect from adopting a SCADA system for
the control of experimental physics facilities can be summarized as follows:
1. A rich functionality and extensive development facilities. The amount of
effort invested in SCADA product amounts to 50 to 100 p-years
2. The amount of specific development that needs to be performed by the end-
user is limited, especially with suitable engineering.
3. Reliability and robustness. These systems are used for mission critical
industrial processes where reliability and performance are paramount.
In addition, specific development is performed within a well-established
framework that enhances reliability and robustness.
4. Technical support and maintenance by the vendor.
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CHAPTER – 4
PROGRAMABLE LOGIC CONTROLLERS
4.1 INTRODUCTION
PLC development began in 1968 in response to a request from an US car
manufacturer (GE). The first PLCs were installed in industry in 1969.Modern
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industrial environment is steered with the latest technological advancements in
computers and communication. Programmable Logic Controllers (PLC) based
automation is the outcome of that.
Figure 4.1
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outputs. The user enters a program, usually via software, that gives the desired
results.
PLCs are used in many "real world" applications. If there is industry
present, chances are good that there is a plc present. If you are involved in
machining, packaging, material handling, automated assembly or countless
other industries you are probably already using them. If you are not, you are
wasting money and time. Almost any application that needs some type of
electrical control has a need for a plc.
PLC controllers are low cost, compact, versatile units based on the standard
microprocessor architecture used in the control of machines or processes. They
are designed for ease of programming and maintenance. The plc systems
replace the old relay logic control systems in automated manufacturing and are
designed to provide an easy and efficient replacements for the bulky relay
logic controllers. The PLC, also known as programmable controller (PC) 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".
They essentially operate by detecting the on/off (logic) or analog inputs and
depending on the control programs - the ladder diagrams - outputs of the same
type (usually logic) are produced.
In PLC implementation, field wiring between the logic elements remains
unaltered, but there are no more hard wired connections between the devices.
Instead, the connections are stored in computer memory. This allows the
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programming of these connections, which is in turn made easier as they are
entered in ladder logic.
PLC systems have considerable advantages over the old relay logic systems.
They include:
1. all the capabilities of the earlier systems,
2. dramatic performance increase over the relay logic systems
3. greater reliability
4. little maintenance due to no moving parts
5. no special programming skills required by maintenance personnel
6. physical size of the PLC system is much smaller than the conventional
relay based logic
7. and most importantly much lower cost
Although the PLC systems have many advantages, there are also
disadvantages. These include fault finding, as PLC systems are often much
more complex than the hard-wired relay systems. Secondly, the failure of the
PLC may completely stop the controlled process, whereas a fault in a
conventional control system would only disrupt the process. And thirdly,
external electrical interference may disrupt the PLC memory
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4.3.1 INPUT SCAN
Input terminals are read and input status table is updated accordingly.
Table 1
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4.5.2 SYATEM BUSES
The internal paths along which the digital signals flow within the PLC are
called busses.
The system has four busses:
1. The CPU uses the data bus for sending data between the different elements,
2. The address bus to send the addresses of locations for accessing stored data,
3. The control bus for signals relating to internal control actions,
4. The system bus is used for communications between the I/O ports and the
I/O unit.
4.5.3 MEMORY
System (ROM) to give permanent storage for the operating system and the
fixed data used by the CPU.
RAM for data. This is where information is stored on the status of input and
output devices and the values of timers and counters and other internal
devices. EPROM for ROM’s that can be programmed and then the program
made permanent.
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Most PLC controllers work either at 24 VDC or 220 VAC. Some PLC
controllers have electrical supply as a separate module, while small and
medium series already contain the supply module.
4.5.6 BATTERY
It is used to update date, time and other data. if battery is discharge then red
indication on plc glows named BATT.
The CPU used in PLC system is a standard CPU present in many other
microprocessor controlled systems. The choice of the CPU depends on
the process to be controlled. Generally 8 or 16 bit CPUs fulfill the
requirements adequately.
Memory in a PLC system is divided into the program memory which is usually
stored in EPROM/ROM, and the operating memory. The RAM memory
is necessary for the operation of the program and the temporary storage
of input and output data. Typical memory sizes of PLC systems are
around 1kb for small PLCs, few kb for medium sizes and greater than
10-20 kb for larger PLC depending on the requirements. Many PLC
would support easy memory upgrades.
Input/Output units are the interfaces between the internal PLC systems and the
external processes to be monitored and controlled. Since the PLC is a logic
based device with a typical operating voltage of 5 volts and the external
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processes usually demand higher powers and currents, the I/O modules are
optically or otherwise isolated. The typical I/O operating voltages are 5V - 240
V dc (or ac) and currents from 0.1A up to several amperes. The I/O modules
are designed in this way to minimize or eliminate the need for any
intermediate circuitry between the PLC and the process to be controlled. Small
PLC units would have around 40 I/O connections with larger ones having
more than 128 with either local or remote connections and extensive upgrade
capabilities.
Figure 4.2
Programming units are essential components of the PLC systems. Since they
are used only in the development/testing stage of a PLC program, they are not
permanently attached to the PLC. The program in a ladder diagram or other
form can be designed and usually tested before downloading to the PLC.
The PLC operates internally in a way very similar to computers. The inputs are
continuously monitored and copied from the I/O module into RAM memory
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which is divided into the input and output sections. The CPU steps through the
control program in another section of the memory and fetches the input
variables from the input RAM. Depending on the program and the state of
inputs, the output RAM is filled with the control variables which are then
copied into the I/O module where they control the processes.
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system design. Ladder diagrams form the basic PC languages, while function
blocks and the sequential function charting are categorized as high-level
languages. The basic programmable controller languages consist of a set of
instructions that will perform the most common type of control functions like
relay replacement, timing, counting, sequencing, and logic. However, the
instruction set may be varied from one controller to another, because it
depends on controller model, specification and requirements. It may be
extended or enhanced to perform other basic operations.
Here are some typical combinations of the languages:
1. Ladder diagrams only.
2. Ladder diagrams and function blocks.
3. Ladder and sequential function chart.
4. Ladder, function blocks, sequential function chart.
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Figure 4.3
The normally open contact is programmed when the presence of the input
signal is needed to turn an output ON. When evaluated, the referenced address
is examined for an ON (1) condition. The reference address may contains the
status of an external input, external output, or internal output. During the
examination, if the reference address is ON, then the normal open contact will
close and permit logic continuity (power flow). If it is OFF (0), then the
normally open contact will assume its normally programmed state (open), thus
breaking logic continuity.
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Figure 4.4
Figure 4.5
The branch start instruction begins each parallel logic branch of a rung. It is
the first instruction programmed if a parallel branch or logical OR functions is
needed in a logic rung.
Figure 4.6
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The branch end instruction finishes a set of parallel branches. This instruction
is used after the last instruction of the last branch to complete a set of parallel
branches.
Figure 4.7
Figure 4.8
4.13.6 LATCH COIL AND UNLATCH COIL (L) (U)
The latch coil instruction is programmed, for an output to remain energized (if
necessary) even though the status of the input bits that caused the output to
energize may change. If any rung path has logic continuity, the output is turned
ON and retained ON even if logic continuity or system power is lost. The
latched output will remain latched ON until it is unlatched by an output
instruction of the same reference address. The unlatch instruction is the only
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automatic (programmed) means of resetting the latched output. Although most
controllers allow latching of internal or external outputs, some are restricted to
latching internal outputs only.
Figure 4.9
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time equals the preset value, a timer DONE bit in the accumulated word is set
to 1. Whenever the rung logic conditions for the TON instruction go false, the
accumulated value is reset to all zeros.
Figure 4.10
Figure 4.11
This instruction is used for the timer to retain accumulated value when
necessary, even if logic continuity or power is lost. The timer begins counting
time-based intervals when there is logic continuity of the timer rung path, until
the accumulated time equals the preset value. Then an output is energized, and
the timed out contact associated with the output is turned ON. The timer
contacts can be used throughout the program as a NO or NC contact. The
retentive timer accumulator value must be reset by the retentive timer reset
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instruction. Retentive or Accumulating timer- holds or retains the current
elapsed time when the sensor turns off in mid-stream. It is called RTO.
Figure 4.12
The up-counter output instruction will increment by one each time the counted
event occurs. A control application of a counter is to turn a device ON or OFF
after reaching a certain count..
Figure 4.13
The counter reset output instruction reset the up- and down-counter
accumulated values. When programmed, the CTR coil is given the same
reference address as the CTU and CTD coils. The preset and accumulated
values are displayed on the ladder diagram, but they have no real function. If
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the CTR rung condition is TRUE, the counter with the same address will be
cleared.
The down-counter output instruction will count down by one each time a
certain event occurs. Each time the down-count event occurs, the accumulated
value is decremented. In normal use, the down-counter is used in conjunction
with the up-counter to form an up/down counter.
Figure 4.14
The ADD instruction performs the addition of two values stored in two
different memory locations. The processor uses a GET (data transfer)
instruction to access the two values. The result is stored in the word address
referenced by the ADD coil. The input conditions should be programmed
before the values are accessed in the addition rung, if the addition operation is
enabled only when the rung conditions are true.
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Figure 4.15
Figure 4.16
Figure 4.17
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4.16.4 DIVIDE (DIV)
The DIV instruction performs the quotient calculations of two numbers. The
result of the division is held in two result registers as referenced by the output
coils. The first register generally holds the integer, while the second result
register holds the decimal fraction.
Figure 4.18
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Figure 4.19
The less instruction compares the contents of the value of one register to the
value stored in second register. If the test condition is true (i.e less than), the
output coil is energized.
Figure 4.20
Greater than instruction operates the same way as the less than instruction,
except it test for greater than condition. Some controllers do not have this
function, because a greater than" function can perform using the "less than"
logic by reversing the order of the data and the "less than" function in the logic
rung.
Figure 4.21
The jump instruction allows the CPU to jump to a new position in the ladder
diagram from the normal sequential execution. If the jump logic rung is true,
the jump coil (JMP) instructs the CPU to jump to and execute the rung labelled
with the same reference address as the jump coil. This allows the program to
execute rungs out of the normal sequential flow of a standard ladder program.
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4.19 LANEL [LBL]
The label (LBL) is to identify that ladder rung which is the destination of a
jump instruction. The label reference must match that of the jump instruction
with which it is used. The label instruction does not contribute to logic
continuity, and it is always logically true. It is placed as the first logic
condition in the rung. A label instruction referenced by a unique address can be
defined only once in a program.
4.21SINKING-SOURCING CONCEPT
4.21.1 SINKING
the current driving capability of a circuit, to draw a current toward the ground
or zero voltage, or to a lower voltage.
4.21.2 SOURCING
the current driving capability of a circuit, to draw a current from the power
supply or the higher voltage in the circuit. Most commonly used DC module
options in PLCs are:
1.Sinking input and
2.Sourcing output module
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Figure 4.22
Sinking I/O circuits on the I/O modules receive (sink) current from sourcing
field devices. Sinking output modules used for interfacing with electronic
equipment.
PLC has input and output lines through which it is connected to a system it
directs. Input can be keys, switches, sensors while outputs are led to different
devices from simple signalization lights to complex communication modules.
This is a very important part of the story about PLC controllers because
it directly influences what can be connected and how it can be connected to
controller inputs or outputs. Two terms most frequently mentioned when
discussing connections to inputs or outputs are "sinking" and "sourcing".The
most brief definition of these two concepts would be:
SINKING = Common GND line (-)
SOURCING = Common VCC line (+)
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–5
CHAPTER – 5
LADDER LOGIC EXAMPLES
Problem consists of one push button (NO Type), three TON Timers and three
outputs. Which have to be operated in following sequence .
When push button is pressed then timer 1 starts and output 1 run for 10
sec. after completion of 10 sec. timer 2 start and output 2 run for 20 sec. after
that timer 2 stops and timer 3 start so output 3 run for 25 sec. again the process
start with same sequence. when push button is released then all timer reset and
whole process gets stops.
Figure 5.1
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5.2 SEQUENTIALLY TURN OFF THE THREE OUTPUTS BY
USING TIMER AND LESS THAN INSTRUCTION
Problem consists of one push button (NO Type), One TON Timers, Three less
than instruction and three outputs. Which have to be operated in following
sequence .
When push button is pressed then timer starts and all three output run. 1
Output stop after 10 sec. duration. 2 output stop after 15 sec. Duration. 3
output stop after 20 sec. duration. again the process start with same sequence.
When push button is released then all timer reset and whole process gets
stops.
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Figure 5.2
CONCLUSION
All the different languages have the function of providing the easy
programming, program modification and allowing the user the choice of a
most appropriate language for a particular application. In this way the ease of
use and maximum functionality is achieved without placing any constraints on
the possible application of a PLC system. The standardization of the PLC
languages and the programming styles has meant that the common set of
languages, the subject of this report, is supported by all the manufacturers of
the PLC systems. Together with all the other advantages the PLC systems have
over the relay logic systems, they have assumed a dominant position once held
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by the relay logic controllers in the field of process and automated
manufacturing control. SCADA systems have made substantial progress
over the recent years in terms of functionality, scalability, performance
and openness such that they are an alternative to in house development even
for very demanding and complex control systems as those of physics
experiments.
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BIBLIOGRAPHY
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