AUTOMATION COURSE

COURSE PROGRAM
INDUSTRIAL AUTOMATISMS

CHAPTER 1: GENERALITIES ON AUTOMATION SYSTEMS

CHAPTER 2: THE GRAFCET

CHAPTER 3: FORMULATING A GRAFCET

CHAPTER 4: THE ELECTRIC SEQUENCER

CHAPTER 5: PNEUMATIC COMPONENTS

CHAPTER 6: THE PNEUMATIC SEQUENCER

CHAPTER 7: THE ELECTRONIC SEQUENCER

CHAPTER 8: INDUSTRIAL PROGRAMMABLE CONTROLLERS

CHAPTER 9: STUDY OF THE INDUSTRIAL PROGRAMMABLE AUTOMATON TSX 21

TELEMECANIQUE

CHAPTER 10: STUDY OF THE SLC 100 FROM ALLEN BRADLEY (AB)

CHAPTER 11: STUDY OF TSX 27 OR TSX 47 FROM TELEMECANIQUE

CHAPTER 12: STUDY OF PB 100 BY MERLIN GERIN

C) THE PRACTICAL CONTENT AND/OR SUPERVISED WORKS

 CHAPTER 1: GENERALITIES ON THE AUTOMATON

I- DEFINITION

Automation is a science that leads to the use of technological organs in order to eliminate
automatically human efforts.

The automation of a system consists of performing certain difficult and tedious tasks with the help of
machines.

Example: Opening and closing order of a gate. Motorized carrier.

II- SPECIFICATIONS

The specifications of an automated system are a technical functional contract made between the client and
the builder or technician.

It is developed based on the needs of the client or the operational needs of the system under study. It takes into account
accounting for the applicable standard, the existential technological elements. It is the specifications document that
describe the operation of the system.

III-GENERAL CONSTITUTION OF AN AUTOMATISM

In general, any automated system is made up of two (02) main parts: One part
operative or power and a control part.

1-Operating part (or power)

It is the active part of the system; it is the one that performs the various tasks dictated by the command.
This part contains two (02) essential elements:

Actuators and EFFECTORS

The sensors
a) The actuators

These are the organs designed to replace human or animal energy with electrical energy.
pneumatic or hydraulic. These are the actuators that perform the work.

Examples

❖ The engines (pneumatic, electric or hydraulic)

❖ The actuators
❖ Electromagnets

b) The sensors or detectors

These are the organs that receive physical information (manual force, speed, pressure,
temperature, position) and convert them into a signal (logical or analog)

Examples:

❖ Position sensors
❖ Proximity detectors

❖ Pneumatic sensors: pressure switch, fluid sensor.

 2-Part Command

It is the part that gives orders to the operational part. It receives information and transmits it.
to the actuators.

This part consists mainly of pre-actuators or power interface.

Examples :

❖ The switch for the control of the electric motor.❖ The distributor
for the order of the cylinder.
❖ The solenoid valve for pneumatic control.

Besides these two parts, we can mention the input and output interfaces between the control part.
and the operative part.

Example: The keyboard; the control panels; the console.

Order Part
Reception
information
treatment

Issuing orders
Control Transmission
of execution some orders
Operational Part
Execution of orders
Detection
Control

IV- CLASSIFICATION OF AUTOMATA

1- Open loop automation

This type of automation operates according to a previously established program. The utilization organs
receive the energy necessary for work.

Exit
Entry Program Actuator

In this type of automation, there is no control over the result of an action or a sequence.

Traffic light

2- Closed-loop automation

The exit action is controlled by a sensor that sends the information back to the system input: there is
feedback from output to input.
 Exit
Entry Program Actuator

Detector or Control

3- Sequence automation

The essential role of such automation is to control a sequence of operations in order.

of the desired sequence while respecting the necessary time intervals.

This type of automation is in a closed loop.

Example: Bottle filling line

4- Adjustment automation

His role is to achieve a tuning characteristic for a specific operation. He uses in

general a regulator.

Example: Setting a temperature or a voltage

These different automatisms can be achieved using a timed programming.

This is generally carried out from a GRAFCET (Functional Graph for Step Command)
Transition
 CHAPTER 2: THE GRAFCET
INTRODUCTION

The grafcet is the result of the voluntary work of a commission bringing together the AFCET (Association
French for Economic and Technical Cybernetics, the ADEPA (Agency for Development)
from Applied Production to industry) of industrialists and academics. This commission was created on
June 26, 1975, established the foundations of grafcet in its final report completed in April 1977. Grafcet was
designed as a unified system of expression that belongs to no one. Since 1978, the grafcet has
his entry into the national education system. He is now the cornerstone of the automation program and
industrial computing.

Depuis 1988 le grafcet est un outil de description normalisé (Norme C.E.I 848) qui fonctionne en logique
sequential. It is a simple but extremely powerful tool that allows representations
functional, operational and technological aspects of most industrial automation systems.

I- DEFINITION

The expression of technical specifications in plain language creates a permanent risk.

misunderstanding between the writer and the reader of a specifications document for an automated system.

It is in this concern that AFCET and ADEPA have set up a graphic representation that reflects
unambiguously the evolution cycle of an automated system: This graph is called GRAFCET.

The GRAFCET (GRAph Functional Control Step Transition) is therefore a representation

conventional graph defining the operation and evolution of a sequential automation.

The grafcet is therefore the communication tool of automation engineers.

II- GENERALITIES ABOUT GRAFCET

1-Study for the example

LOADING OF WAGONS

CYCLE OF OPERATION
When the operator presses the cycle start push button S2, the motor M1 starts and drives the
carpetT1 in the 'right' direction with the empty wagon; when it arrives at point B, the sensor S4 is
actioned: T1 stops and T2 starts (driven by M2) for the filling of the wagon.

When the full wagon arrives at point A, the sensor S3 is activated, which ends the cycle of
functioning.

WORK TO BE DONE

a) Power circuit diagram

b) Control circuit diagram

M1 and M2 are the direct-on-line three-phase induction motors.

1 Initial conditions met: Empty wagon at point A

Action on the start cycle push button

2 The T1 carpet
advance in the direction 'RIGHT'

Action on the sensor S4

3 The T2 carpet starts and filling of the Wagon

Full wagon (Action on sensor S5)

4 The T1 rug advance in the direction 'LEFT'

Full wagon at point A

2- Principle

The grafcet consists of a set that includes:

❖ The steps: To which we associate the actions to be performed.

❖ The transitions: To which we associate the receptivities,
❖ The directed connections linking the stages to the transitions and vice versa.

3- The steps

A stage is a situation characterized by stable behavior in the functioning of a system.

automated.
Each step is associated with one or more actions. Example
:
 Carpet T 2 starts and
3 filling the wagon

Step
Associated actions

Carpet T2 filling of the

3 start wagon

Each step always carries a designation number

a) Initial step
It is the step that is at the beginning of the system's operation, its number square is double. This step
specify the initial conditions at the start of a system cycle.
Example:

Initial conditions met: Empty wagon at the point

1 A

b) Evolution of an active step

When a step is active, it is indicated by a dot below the step number.

Example:

Active step 2

The crossing of a transition simultaneously leads to:

❖ The activation of all the immediately following steps

❖ The deactivation of all the immediately preceding steps.

4- The transitions

The transition indicates the possibility of evolving between two successive stages or actions. At each transition
is associated with a logical condition called receptivity.

Example:
 Action on the departure cycle B.P

2
Action on sensor S4

A transition is validated if all the immediately preceding steps are active.

A transition can only be franchised if:

❖ It is validated
❖ The associated receptivity is true.

5- Directed links

They allow connecting the stages to the transitions and vice versa. Their direction of travel is generally from
up down otherwise the arrows indicate the direction of travel.

III- SOME PARTICULAR CASES 1-

The timing

In a sequential system, timing represents an action; as such, it must be associated with a

step and constituted for the next step a transition.

To involve it in a transition, we specify its origin and duration after the letter 't'.

Example:

filling takes 1 minute

3

t / 3 / 1 min

t/3/1 min: Means that 1 minute has passed since the activation of step 3.

2-Sequence selection: The branching

In a sequential system, there may be choices between several steps that make up a
susceptible sequences: We then talk about switching.

As for routing, we distinguish:

❖ Exclusive sequences or in "OR"

❖ The leap of step
❖ The resumption of the sequence.

a) Switch in 'OR' or Exclusive Sequence

It is a conditional choice between several sequences.

Example:

3 Filling of the Wagon

Divergence in
YOU

Wagon full at point X Wagon full of product Y

Advance to the position of
31 Advance towards the lifting position 33 heating
Wagon at the washing station Wagon at the heating station

32 Washing of product X 34 Heating of product Y

Product X washed Heating completed

Placement of product Y in
35
the bags
Product Y packaged

Convergence in
YOU Return to point A of
4 unloading

b) The leapfrog

This is a special switch allowing to skip one or more steps when the actions to be performed
become useless.
 2 Wagon Filling

Wagon full of product Y

Filling
of product Z Move towards the position of
3 heating
Wagon at the heating station

4 Heating of product Y

Heating completed
Setting of product Y in
5
the bags
Product Y packaged

6 Return of the wagon to point A

c) The resumption of a sequence or loop allows for resuming one or several times.
same sequence as long as the transition is not performed. It is also called a loop.

Example:

2 Filling of the Wagon

Wagon full of product Y

Progress towards the position of

Filling 3 heating
of product Z
Wagon at the heating station

4 Heating of product Y

Heating finished

5 Packing of the product into bags

Product Y packaged

6 Filling Wagon 2 with the bags

7 Return to point A

3-Simultaneous sequences or Switching in 'AND'

These are several sequences that occur simultaneously, but the actions of the steps in each
branches remain independent.

For the cycle to continue, each branch must have fulfilled its role: this is the 'AND' function. This
A function is introduced by a double hyphen.
Each branch must include a waiting step.

The receptivities of the convergence in 'AND' must be equal to 1.

2
Divergence in
ET S4 sensor

21 Action B 24 Action D

Sensor b Sensor of

22 Action C 25 Action E

Sensor c Sensor e

23 Waiting 26 Action F

Sensor g Sensor

27 Wait

Sensor h

Convergence =1
and 3 Action 1

4- Specific rules

Rule 1: Simultaneous activation and deactivation of the same step

If during a progression, the same step is both activated and deactivated, it remains activated.
The duration of crossing a transition, such as that of activating a stage, can never be
considered as null.

Rule 2: Unique Sequence

It is a sequence of steps that can be activated one after the other. Each step is only followed by
a transition and each transition being validated only by a step.
 IV- GRAFCET LEVEL 1 OR GRAFCET FROM THE SYSTEM POINT OF VIEW 1-
Definition

Level 1 Grafcet allows for a literal description of the functional behavior of the notebook.
charges of a system.

It does not indicate the technology that will be adopted and it only considers actions to be taken.

Level 1 grafcet is also called system viewpoint grafcet.

Actions and transitions are written in the form of propositions.

2- Examples

Example 1: Package movement.

A package P must be moved on a conveyor, from point A (initial position) to point B (position
finale). These movements are carried out by two double-acting pneumatic cylinders V1 and V2, and are
controlled by two limit switch contacts A1 and A2 for the cylinder V1; B1 and B2 for the cylinder V2.
The power supply for these actuators is provided by 4/2 bistable distributors controlled by
rated solenoid valves:
V1+ for the rod exit of the cylinder V1.
V1- for the return of the rod of the actuator V1.
V2+ etV2- for the actuatorV2.
Operation:
At rest, the rods are retracted, the control is done pare1etb1.
The start of the operating cycle is done by briefly pressing the push button M.
From the rest position, we assume a package is present in A).
The operations to be performed are then, in chronological order:
Movement of the package PdeAversB by V1.
After returning the cylinder V1 to rest position, move the package from B to C using the cylinder V2.
After returning the actuator V2 to the resting position, stop the cycle and wait for a new command.
starting.

Work to be done: Establish the grafcet from the system perspective (Level 1)

Example 2: Study of a degreasing bath

A cart moves along a rail and allows, by positioning itself above a tank, to clean the
parts contained in a basket by soaking them in a degreasing tank.

1) Specifications:

C1 C2 C3

C- C+

lifting motor
M-

sensor h: basket in high position.

Sensor b: basket in low position.
M+

Position of
loading Position of
Basket
unloading

Bath
degreasing

Detailed cycle:
1. When the cart is at the top left and the cycle start button (dcy) is pressed, the
The cart goes above the degreasing tank.
The basket then descends into this basin where we leave it for 30 seconds.
3. After this wait, the basket rises.
4. After that, the cart goes all the way to the far right where it will be unloaded.
5. When the unloading is completed, the system returns to its starting position.
Note:
The loading and unloading of the basket is done manually. The control of ensuring that the basket
and discharged will therefore be validated by a push button.
Work to be done: Establish the grafcet from a system perspective. (Level 1)

SOLUTION OF EXAMPLE 1 Grafcet

from the system perspective. (Level 1)
 0

March; initial conditions

1 Pull out the piston rod of cylinder 1

Rod of cylinder 1 output

2 Retract the rod of cylinder 1

Rod of cylinder 1 retracted

3 Remove the rod from cylinder 2

Rod of cylinder 2 output

4 Retract the rod of the cylinder 1

Rod of cylinder 2 retracted

SOLUTION OF EXAMPLE 2
Grafcet from the system perspective. (Level 1)

Start cycle and system in initial position

1 Moving the cart to the right

Cart above the degreasing bath

2 Degreasing

Degreased piece

3 Movement of the cart to the right

Cart at the unloading station

4 Unloading of the part

Discharged part

5 Movement of the cart to the left

Cart at the loading station

V- GRAFCET LEVEL 2 OR CONTROL VIEW 1-

Definition

This type of grafcet takes into account the technology of actuators and the behavior of sensors and
detectors. It also takes into account environmental constraints (pressure, temperature,
tension…
 2- Some special cases

Case 1: Conditional action

It is a continuous action, so the execution is subject to a logical condition.

Example:

S1 S3

3 M2 L

S4
M 2: Engine M2
Lamp or indicator

The M2 engine is started provided that the S3 sensor is activated.

Case 2: Timed Action

It is an action in which the notion of time comes into play

S2

4 T = 15 S

t/4/15s

Case 3: Impulsive action

It is action, so the duration of activation is shorter than the activation time of the step considered. This
Impulsive action is symbolized by the asterism () and its duration.

S1

3 M 5S H
M: Engine M
S4 Lamp or indicator

Examples

Example 1: Package relocation.

Grafcet from the command perspective (Level 2)
 0

M.a1.b1

1 V1 +

a2

2 V1 -

a1

3 V2 +

b2

4 V2 +

b1

Example 2: Study of a degreasing bath

Grafcet from the control perspective (Level 2)

Consolidation exercise

NOTES

Note 1: The grafcet from a system perspective or from a process perspective is a description
allowing a comprehensive understanding of the tasks performed by the automated system. It is analogous to
level 1 grafcet.

Note 2: The level 2 grafcet or from the operational part perspective is done using the constituents.
operational. It uses acronyms or abbreviations designating the movements of the actuators (FR–RR–DS–
MT …)
 0

S2

1 AV

S3

2 DS

S4

3 V+

4 V

5 AR

S5

Remark 3: The level 2 grafcet or from the control part perspective corresponds to that of the
designer of the control part of the system. They use the designation of the pre-actuators (KM1,
KM2, Y, D ...

Y : Electro-vanne ; D : Distributeur

D+: Power supply for the distributor to operate the cylinder

D- : Supply to the distributor for the return of the cylinder.

 0

S2

1 AV

S3

2 DS

S4

3 V+

4 V-

5 AR

S5

Case 4: Macro-step

A macro-step is used to simplify the representation, to make it more readable, or to emphasize.

on certain structures without getting lost in the details.

✓ Definition

A macro-step is the unique representation of a unique set of steps and transitions, named
(called) macro-step expansion.

✓ Rules and representation

❖ The expansion of a macro-step includes an entry step marked E and a step of
identified exits.
❖ Any crossing of a transition upstream of the macro-step triggers the activation of
the entry stepiof its expansion.
❖ The output stepIof the expansion contributes to the validation of the downstream transition of the
macro step.
❖ No connection between the macro-step and its environment outside of these access points.
what are the entry step and the exit step.

Note:

The expansion of a macro-step can include other macro-steps and initial steps. However, it
It is necessary to avoid that these initial steps are the exit or entry point of the macro-step expansion.
 E20

1 21 KM1

M20

3
26 KM3

S20

The upstream transition crossing (a) activates step E20.

The downstream transition (b) will only be validated when step S20 is active.

The crossing of the transition (b) disables step S20

 CHAPTER 3: FORMULATING A GRAFCET
INTRODUCTION

The equation setting of a grafcet is a very important step in the design of systems.
automated. It represents the interface between the grafcet and all technological designs.

Technological designs can be in:

❖ Wired logic: we use modular wired elements based on the equations;

❖ Programmed logic: We translate the equations into instructions according to the type of program.

La mise en équation d’un grafcet conduit à sortir l’équation des étapes et l’équation des sorties.

These equations are valid only in wired logic; in programmed logic, we establish the
activation and deactivation table of steps.

I- EQUATION OF A STEP
We consider a portion of a grafcet consisting of three successive steps n-1; n; n+1.

n-1

(n-1) n
t

n (n) n+1

t
(n+1) n+2
Each step n of a grafcet presents n+1 two states :
❖ The active state (Anit is the state during which the associated actions are active.
❖ The inactive state () t

1-Activation condition of a

stepFor the step n to be active, it is necessary that:

❖ The previous step (n-1) is active (An-1=1)

❖ The receptivity of the transition between stage n-1 and stage n is true.( - )→n=1]
n1

In addition, during the duration of the actions, the step remains active, which means that the step
must memorize its state. This memory is noted Mn.

2-Condition for deactivation of a step

Deactivation takes priority over activation, so the step remains deactivated when the next step is activated.
is active that is to say An+1 =1

3-Equation of a stage

Ultimately, the general equation of the active step Anthe step n has the expression:
 4- Some examples

Example 1 Example 2

h1

8
4
2.b b
S
9
5
S3 S3

S5 10 11
6
h2
h3
12

7 Example 3

Example 4
S2
5
2
S1 S3
S4
6 7
3

S2
S5 S6
8
4 6
h
d h
9
5 7

Example 5
 01 S3
02
S1

03

S2

04

S4

05
II- ACTIVATION AND TABLE
DEACTIVATION

The equations can be summarized in a table where the different steps can be found, their
activation and their deactivation.

t(n-2) n-1

Steps Activation Deactivation

n-1 (n-1) n

t
(n) n+1
n

n+1

Example

Steps Activation Deactivation

4 A3.S1 A5

5 A4.S2.b A6

6 A5.S3 A7

7 A6.S5 A8
III - OUTPUT EQUATION

These are the equations of actuators or pre-actuators. That is to say, the equation of associated actions.
at each step.
The equation of an output or an action depends on:

❖ De la transition précédente qui doit être activé,

❖ Of the module of the step;
❖ From the following transition that must be deactivated.

1- Some examples

Example 1:

S6

4 KM2

S7

5 R KM 3

S8

6 V+

b
Example 2

S2

2 KM1

t/2/3s

3 KM1 KM2

t/3/3s

4 KM1 KM2 KM3

S1

IV- APPLICATION EXERCISE

 WORK TO BE DONE

1- Ecrire les équations des étapes 3, 4, 6 et 7 ;

1

Dcy.S2 2- Draw up the activation table and

deactivation of steps;
2 KM1 KM3

t/2/10s 3- Write the output equations: KM1, KM4,

EV, KM5, KM2 and KM3
3 KM1 KM2

S3
b
4 KM4

S4

5 R

th

6 EV
SOLUTION
S1
1- Equations of steps 3, 4, 6, and 7
7 KM5

S0

2-Activation and Deactivation Table of Steps

Steps Activation Deactivation
1 A7.S0 A2
2 [Link].S2 A3
3 A2.t /2 / 10s A4+ A7
4 A3.S3 A5
5 A4.S4 A6
6 [Link] A7
7 A3.b + A6.S1 A1
3- Output equations KM1, KM4, EV, KM5, KM2 and KM3
CONSOLIDATION EXERCISE

For the Grafcet opposite, provide:

1 1- The equations of the steps;

Dcy 2- The activation and of deactivation ;

2 KM1
3- The output equations
t/2/5s

3 KM1 KM2

S3

4 KM3

S4

5 R

th
a.S1
6 EV

S1

7 KM4

S0

CHAPTER 4: THE ELECTRIC SEQUENCER

INTRODUCTION

A sequencer is a set of technology that commands and controls the execution of the actions of a cycle.
in accordance with the timeline of the steps in the functional diagram (GRAFCET).

There are three (03) types of sequencers:

❖ The electric sequencer (or electromagnetic or bistable relay)

❖ The electronic sequencer (Bistable flip-flop)
❖ The pneumatic sequencer (Drawer or valve)

The electric sequencer is a bistable relay device that ensures the operation of a system.
automated step by step.
The electric sequencer is a control system for sequential automation based on
the use of latching relays that memorize each stage of the cycle.

To better understand the functioning of the electrical sequencer, we first study the relays.
used for his order.

I- ELECTRIC RELAYS

Electrical relays or electromagnetic relays are devices that are involved in the realization of
automatic control and monitoring equipment.

Relay logic allows executing functions encountered in automation.

Relays generally come in several types: instant relays, timed relays,

bistable relays...

1- Instantaneous relays

It is a device that allows a low amplitude electrical signal to trigger the ...
contacts allowing to modify or amplify this information.

11 21

A1

A2
12 14 22 24

Switch Inverter

The passage of current through the coil causes attraction in the movable armature, which actuates the
contacts.

2- Bistable relays

These are instant relays with two (02) stable states controlled by two (02) coils: One for
the activation and the other for the triggering.

It exists in two (02) versions: magnetic fastening and mechanical fastening.

11 21

A1 A1

A2 A2
12 14 22 24

Electrical control diagram

 PH N

F A
Call

B
Rebound

L
a1

This type of relay allows memory to be retained in case of power loss and provides control.
by impulse and to realize the sequencer systems.

3- Timed relays

The time relay is a device that, either when powered (working delay) or during
its cut-off (rest delay) can open or close a contact with a variable delay.

II- PRINCIPLE OF THE SEQUENCER

The sequencer consists of an association of modules (phase modules) and a base on which
the modules are fixed.

Each module of the sequencer has a latching relay.

The association of the modules only allows the creation of words in the order of the sequencer's wiring and
only in and order.

Each module allows to:

❖ Commanding a movement through a closed contact during the execution of the movement,❖
Trigger the module that commanded the previous movement,
❖ Validate the following module, that is to say, prepare it to receive the start command.

C1 C2 C3

V V V
V

M1 M2 M3
D D D

A1 A2 A3

M1–M2-M3Phase Modules
A1-A2-A3Power supply for the actuators (or pre-actuators) corresponding to the module.

V: Validation of a module by the previous module.

D: Triggering of a module by the following module.

C1,C2,C3External command (B.P or sensors)

III-CONSTITUTION OF A PHASE (or STEP) MODULE

V E1 E2 E4
P

F2 V
S
Z

A
Mn

C A B

F3 DS

F1
12 11 14 22 21 24

D
P

Mn:Module de phase de l’étape n ;A: Bobine d’enclenchement du module

Trigger coil of the module; Z+ Reset (RAZ)

VSValidation module following; VPValidation of the previous module

DSTriggering the following module; DPTriggering of the previous module

Trigger loop of the last module

Recycling loop

✓ Nutrition A+

Power supply of the module or of the sequencer (DC 48 V or 24 V)

C-
✓ Organs

E1Reception validation; E2, E3Additional terminals; E4ActivationF1

Trigger order; F2Send validation; F3Reception triggerX:

Reception trigger; External control sensor of the module.

 IV- OPERATION

Each module associated in the sequencer includes a validated bistable relay by the previous module and which
becomes active when the triggering conditions of the step are met.

❖ The moduleM1validate the triggering condition for the next step of module 2.
❖ When this triggering condition is met, it activates module M.3❖ The
moduleM2immediately trigger moduleM1 and validate the moduleM3.

Each active module operates two toggle contacts that allow powering the contactors or the
actuators.

In practice, we diagram each module without representing its internal structure.

V- APPLICATION EXERCISE (Small machining unit) Operation

A machining unit includes two three-phase asynchronous motors M.1and M2

M1ensures the upward and downward movements (KM1; KM2)

M2Translation motor (contactor KM3)

The level 2 grafcet (control perspective) of the system is given below.

S0bone sensors

Push buttons for power on

Work to be done

1-Draw up the activation and deactivation table

2-Provide the control circuit diagram using the RH relay electric sequencer

SOLUTION
1-Activation and Deactivation Table

Steps Activation Deactivation

1 A4.S0 A2
2 A1.a.m A3
3 A2.b A4
4 A3.c A1

2-Control circuit using the RH relay electrical sequencer

 VI- THE MODES OF WALKING

Un des principaux avantages de la technique séquence est de permettre la résolution facile d’un cycle
sequentially on one hand and on the other hand independently the emergency stop and start modes
related to the progress of the same cycle.

1- Walk cycle by cycle (C / C)

At the end of each cycle, the last module feeds the recycling loop that validates the start button.
cycle (Dcy).

Example: Small machining unit (previous assembly)

2- Automatic cycle by cycle march

It is a system with two (02) operating cycles:

❖ Cycle by cycle operation (C/C)

❖ The automatic cycle operation (A/C)

To achieve this combination of two normal steps, a two-way switch is used.

positions. This one selects either step by step, or automatic step.

The system may include an emergency stop button.

Example
 C/C

C/A

Dcy
E1 E 4 E1 E 4 E1 E 4 E1 E4
F2
Z+

A+ M11 M2 M3 M4

C-

F1
12 11 14 12 11 14 12 11 14 F 3 F1 12 11 14 F3
F3 F 1 F3 F1

A.U

CHAPTER 5: PNEUMATIC COMPONENTS

Pneumatic components are those that use gaseous fluids (air) at high pressure to
to operate.

The pneumatic components are: cylinders, distributors, and control and adjustment devices.
pneumatic sensors

I- THE CYLINDERS 1-
Definition

Lever is a pneumatic actuator whose role is to perform linear movements in a

automation. It also allows the transformation of compressed air energy (or pneumatic energy) into
mechanical energy.

The cylinder is to pneumatics what the engine is to the electrical field.

General Constitution
 3 1

5 4 5

1: Tube or body of the cylinder in steel (Cylindrical shape)

2: Nose ; Bottom of the cylinder

; 4: Rod + piston assembly; 5: Air inlet or outlet

3- Some types of cylinders

He there are several types of actuators among which: the

cylinder simple effet (V.S.E) ; le vérin double effet (V.D.E)
; the
cylinder à
Exit of
the stem
Return
of the stem
double stem (D.S.T) ...

a) Single-acting cylinder (S.A.C)

It is a cylinder that receives the hydraulic fluid only in one direction, the return to the initial position is done by
the intermediate of the return springs.

The pressure in the The spring of the air The driving spring makes the chamber expel compress
the cylinder
evacuates the return of the rod the rod of the cylinder The air is released

A single port, it is controlled in only one direction, the return is done through a spring.

Double-acting cylinder (D.A.C)

It receives pressure alternately on each side of the piston to extend and retract the rod.

It is used to ensure the movements of both sides, especially when it is impossible to place the
limit switches in the work area.

Back to school
from the stem
Exit of
the stem

The pressure in the The pressure in the The pressure in the The pressure in the chamber forces out
room is set up in room is set in room lets in
the rod of the cylinder free exhaust free exhaust the rod of the cylinder
Two openings, it must receive pressure in one or the other opening to perform the exit or entry.
from the stem.

c) Double rod cylinder (D.R.C)

It is used to ensure the movement of both sides, especially when it is impossible to place the
end-of-travel sensors in the work area.

4- Operation

It is the compressed air that, entering one of the chambers, pushes the piston. The rod moves. The air
present in the other room is therefore chased away and evicted from the body of the piston.

The opposite movement is achieved by reversing the direction of the compressed air flow.

5-Characteristics of a cylinder

A cylinder is characterized by the following parameters:

❖ The diameter (D) is related to the force applied.

❖ The stroke (L): it is the length of the movement to be performed by the piston or the rod.
❖ The service pressure (P): It is imposed by the connection network and is between 4 and 6.
bars (1 bar = 105pascal)
❖ The axial force (F) that the rod can exert at the output, given by the relation F = [Link] force
in Newton (N); the pressure in Pa; the surface on which the compressed air acts in m2.
❖ The speed of the rod (V) expressed in m/s that we adjust by regulating the air flow.
at the level of the exhaust.
❖ The lifespan: it is expressed in kilometers of running.

Example: A cylinder can have a lifespan of 500 km.

❖ The body and rod mounting system.

6-Field of employment

We use cylinders for the transfer of parts, clamping, stopping, assembling, marking, ejecting.
the elevation ...

II- THE DISTRIBUTORS

Definition

The distributor is a pneumatic pre-actuator used to control the cylinders by distributing the
fluid (gas; air) in the pipelines that lead to the cylinder chambers.

The distributor is to the actuator what the switch is to the electric motor.

ANALOGY
 PNEUMATIC ELECTROTECHNIQUE

distributor Switch

Jack Electric motor

2-Formation of a distributor

A dispenser consists of three (03) parts which are:

❖ The control device (mechanical, electrical, or pneumatic);

❖ The body;
❖ The recall device.

Example of body
E P 1
6
S
5
2
4

3 E
S

1 :Orifice raccordé au réseau pneumatique; 2 :Voie normalement fermée ;3:

Output orifice towards the receiver; 4: Clapet ou tiroir mobile en translation ;5:

Normally open way; 6: Exhaust orifice.

A way; Closed orifice; Source pressure; Escape

The closed orifice is drawn with a line that crosses the passage of the fluid.

3- Some types of distributors

There are several types of pneumatic distributors among which we have:

❖ The two (2) way distributor, three (3) ports (3/2). (or 3 ports, 2 positions)
❖ The two (2) way distributor, five (5) ports (5/2). (or 5 ports, 2 positions)
❖ The distributor two (2) ways, four (4) ports (4/2). (or 4 ports, 2 positions)

Symbolic representation 2 positions 2 cases

4 ways 4traits avec flèches

5 orifices 5 Entrances or exits

Possibilities on a square
To symbolize a distributor, we take into account three functions:

✓ The positions
✓ The openings
✓ The order

The designation of a distributor takes into account the channels and the orifices. Each position is represented
by a box. There are as many boxes as there are positions.

a) 2-way 3 port distributor (3/2)

It allows to supply a pipeline and to ensure its discharge.

It has two positions: the working position and the resting position.

This type of distributor is mainly used for controlling a single-acting cylinder. Symbol

The rod goes in The stem comes out

Diagram in initial position Diagram in position

order
S S

P P
E E

In the initial position, the "P" orifice is closed, the spring pushes the rod of the cylinder.

At the command position, after sliding to the right of the distributor, the pressure is sent to the
cylinder chamber and extend its rod.

Note: The two boxes moved while the positions of the pipes remained the same.
place.

b) 2-way distributor 5 outlets (5/2)

It is a distributor that allows feeding two pipelines and ensures their discharge.

It ensures the order of a double-acting cylinder, it is the most commonly used cylinder. Symbolization

The stem enters The stem comes out

 Schema in Diagram in position
initial position order
S1 S2 S1 S2

E1 P E2 E1 P E2

c) 2-way distributor 4 outlets (4/2)

It is also used for the control of a double-acting cylinder.

The stem enters The stem comes out

Diagram in Schematic in position

initial position order

E P E P
Three (3) position distributor

It is a distributor that allows the actuator to be de-energized (mid position)

S1 S2 S1 S2

E1 P E2 P
5/3 center closed distributor 5/3 distributor center open

4- Operation

A slide or a corridor moves within the distributor's body, it allows to close or open the
air orifices and thus control different actuators.

5- Control organs
They specify how the distributor is managed.

The distributors are manually operated (push button); mechanical (spring); electric
(solenoid valves, …….)

Electric command Pneumatic Command Electropneumatic control

Electromagnet Pressure Electromagnet / Pressure

Manual command Mechanical command

Push button Spring

 CHAPTER 6: THE PNEUMATIC SEQUENCER
I- PHASE MODULE
Each phase module consists of a memory with two (2) stable states, associated with a cell.
"OR" on the memory input followed by an "AND" cell on the memory output.
n
n-1 n+1
Sn

Bn

Bn+1

A n-1 & An+1

1
RZ

rn
An-1Module n, B trigger inputnTrigger output of module n-1
An+1Trigger output of module n+1, Bn+1 Trigger entry of the module
Snoutput of the actuator control signal, r : Return of the signal at the end of the movementP
Pressure entry, RZReset

1-Simplified symbol of a phase module

S

B B

RAZ

A A

2-Operation

The memory of module (n) is set to 1 by signal A.n-1 arriving from the cell of module n-1.

The release of this report then triggers three (3) actions.

❖ Output of the signal to the pre-actuator or actuator;

❖ Resetting (0) of step-1 by Bn
❖ Validation of the modulen+1 whennis activated
 II- EXAMPLES

Example 1: PART MARKING

A parts marking system is governed by the grafcet below.

A :Vérin d’amenée de pièces, B :Vérin de marquage, C :Vérin d’éjection de la pièce

Push-button switch for power on

Activation and Deactivation Table

Steps Activation Deactivation
1 A6.C0 A2
2 A1.m A3
3 A2.a1 A4
4 A3.a0.b1 A5
5 A4.b0 A6
6 A5.c1 A1

Actuator equations

Control circuit using the pneumatic sequencer

 Steps Activation Deactivation

1 A1.b0 A2
2 A1.S2 A3

3 A2.a1 A4
4 A3.b1 A5

5 A4.a0 A6

6 A5.a1 A7
7 A6.a0 A1

B+ A-
A+ B- C- C+

B B Loop of
M2 M4 M6 deactivation
P

RAZ M1
A M3 M5 A

Dcy m a1 & b1 c1 c0 Loop of

restart
b1 a0 of the cycle

Example 2:
Activation and Deactivation Table
 Actuator equations

S2

2 A+

a1

3 B+

b1 Control circuit using the sequencer

pneumatic
4 A-

a0

5 A+

a1

6 A-

a0

7 B-

b0

A+ A-

1 1

B+ B-

B B
M2 M4 M6
P

RAZ M1 M7
A M3 M5 A

S2 a1 b1 a0 a1 a0 b0

Consolidation exercise: Cycle in 'OR'

 1

m
WORK TO DO
2 A+
1. Provide the activation and table
a1
deactivation;
K K
2. Provide the equations of the actuators;
4 B+ 3 C+

b1 c1 3. Provide the control circuit using the

pneumatic sequencer.
6 B- 5 C-

b0 c0

7 A-

a0

CHAPTER 7:THE ELECTRONIC SEQUENCER TST2

I- PHASE MODULE

The phase module includes a memory or bistable flip-flop with two (2) inputs. On each input, there is
dispose

❖ A function 'AND' with three (3) inputs constituting the triggering input;
❖ A 'OR' function with three (3) inputs where two (2) are complementary: It is the input of
triggering.

Internal structure
e1 e1
Engagement e2
(SET)
e2 &
e3 e3 & Q
Q
Q e4
Triggering e4 e5
(RESET) e5 1 e6 1 Q
e6

Symbolization of a phase module

RESET = e 4 + e5
+ e6
 1-Operation

The input 'AND' function allows the step module's memory to be triggered only if there is validation.
The module outputs through the previous module 'AND' if the input signal provided by the sensor is present.
Memory is triggered and its output passes to value 1; which allows the next module to be validated.

The complemented output of the memory then goes to 0 and triggers the step module whose
the triggering input is complemented.

The operating equation is as follows:

C1 C2

e1 e1
e2 e2
Q -1 & & Q
e3 e3
e4
e5 1 Mn 1 M n+1 Q
e6
M n-1

2-Input interfaces

Their role is to reduce or eliminate the effects caused by the rebound of contacts.

Symbol:
Z
The module is connected in series with a sensor.

3-Output amplifiers

The signals used in logic do not allow for the direct powering of power components. We
is therefore led to use amplifiers for the circuits of pre-actuators or actuators.

Symbol:

4-The delay

The timing block generally has an output S and its complement.

Its symbolization depends on the type of timing.

Symbol: e
1
S t 0 e
t
S 0
S
1

t
0
❖ Electronic timing 'Rest' e
1
0 t
eS t
S 0
S
1

t
0 t
II- RUN MODE
1- Manual-automatic mode

It is obtained by using an input on the "AND" trigger function.

Reset

A pulse on one of the inverse inputs of the 'OR' function triggers the
way or the reset.

III-APPLICATION EXERCISE

THEME : DEMARRAGE ETOILE–TRIANGLE RESISTANCES (1 sens de marche)

S2 KM1: Line contactor (C.L)

2 KM 1 KM 2 KM2: Star contactor (Y) KM3

Delta contactor (∆)
6s / X 2
KM4: Short-circuiting contactor of
3 KM 1 KM 3
resistances.6s/X2≈t/2/6s
8s / X3

4 KM 1 KM 3 KM 4

S1

Activation and Deactivation Table 2) Equations of pre-actuators

Stages SET RESET
1 A4.S1 A2
2 A1.S2 A3
3 A2.6s /X2 A4
4 A3.8s / X3 A1

3-Order schema using the TST 2 electronic sequencer

 CHAPTER 8: The industrial programmable controller
(A.P.I)
INTRODUCTION

The automation of industrial systems has undergone many changes. We have moved from technology
wired to programmed technology. The latest addition to this programmed technology is the automaton.
industrial programmable (A.P.I)

I- PRESENTATION OF A.P.I 1- Definition

UnAutomate Programmable Industrial is a programmable electronic machine designed to control

in an industrial atmosphere and in real-time automated systems.

When the programmable logic controller is assigned to an industrial control system, it is called
A.P.I.

There are many brands of programmable logic controllers. Among the most common are: Siemens,
Allen Bradley, Modicon, Schneider Electric (formerly Telemecanique), Omron, Cegelec, etc.

A programmed automation is an automation whose logical schema is transcribed into a sequence

instructions that make up the program that is stored in memory through impulses
delivered by a keyboard.

2- Architecture or general structure

1
Energy
Programming tool

CENTRAL UNIT INTERFACES

Entries (E)
Processor
E
Nutrition (unit of Memory S
treatment
Exit (S)

1 Inter-machine communication
Figure : Architecture and connection of an.P.I
A
II- GENERAL CONSTITUTION

A programmable automation is generally composed of the following elements:

❖ Food;
❖ The central unit;
❖ Input/Output interfaces or modules
❖ The programming console or programming unit.

1-Food
The power supply is responsible for providing the necessary energy for the operation of the circuits.
electronic components of the automaton.

This power supply includes AC/DC converters.

2-The central processing unit: The Processor

The processor is the essential element of the central unit. It is therefore the brain of the machine.
industrial programmable (A.P.I)

The processor interprets, executes the program instructions, and performs all functions from
programming.

The processor is connected to other components (memory and interfaces) through parallel connections. It is
through this set called 'BUS' that information travels between the different parts of
the automaton.

Buses are bundles of 8 parallel wires, each wire carrying a bit.

The processor is generally composed of:

❖ From a memory
❖ From a register
❖ From an arithmetic and logic unit (A.L.U)
❖ From a decoder
❖ A meter
❖ A sequencer

a) The memory

It is a functional element that can receive, store, and return data at the right time.

Memory comes in two (02) forms.

✓ Data memory: it is working memory, so it is volatile: it is thus a

RAM (Random Access Memory) type memory and it is volatile.
✓ The program memory: its contents cannot be erased or modified. It is of the type
ROM, EPROM or EEPROM. It is therefore a read-only memory.

A memory is characterized by its capacity.

b) The registers

These are the work register and the instruction register. They ensure the temporary halt of results.
Intermediate. They allow for organizing the processing of instructions currently being executed.

c) Arithmetic and Logic Unit (ALU)

It performs logical, arithmetic, and transfer operations.

3-The input/output (I/O) interfaces or modules

These are the interfaces between the processes of the central processing unit. These interfaces appear under
two (02) forms or two (02) types.

❖ The "on/off" input/output interfaces (logic)❖ Analog interfaces

 ✓ Input interfaces
They execute the instructions from the signals coming from the sensors at the request of the processor.

The role of these input interfaces is to:

❖ Receive information from the sensors.

❖ Eliminate the parasites and electrically isolate the control unit from the operating part.

✓ Output interfaces
They send the control signals to the actuators or pre-actuators.
The role of these output interfaces is to:

❖ Order the pre-actuators and signaling elements of the system.

❖ Adapt the voltage levels of the control unit to those of the operating part
system
by ensuring galvanic isolation between the control unit and the operating part.

4-The programming unit

It consists of a console or keyboard allowing the programming of the automaton.

The console ensures the dialogue between the operator and the programmable logic controller.

III-OPERATION OF A PROGRAMMABLE CONTROLLER

In general, the programmable logic controller successively performs the following operations:

❖ Data acquisition and storage of their state (0 or 1)

❖ Information processing: consulting programs❖ The update
outings

Acquisition
of the
data

Treatment

Outputs

These operations take place at very high speeds and the considerationinputs, their processing and the
validation of outputs does not exceed a few milliseconds.

IV- FUNCTION OF THE PROGRAMMABLE AUTOMATON

For the proper functioning of the programmable controller, it is necessary to adapt a language to it.

A programming language is the set of symbols used and the way they must be.
arranged to program the automaton.

2- The groups of programming languages

Each programming expression includes two (02) successive parts:

❖ A test zone expressing logical conditions❖

An area of action expressing the orders to be carried out.

Four (04) main groups of programming languages are distinguished

✓ Contact language or schematic language

✓ Boolean language
✓ The language by flowchart or logigram
✓ The language by Grafcet: It will be the most studied in the following sections.

This programming language varies depending on the manufacturers of the programmable logic controller.

Examples:

The TSX 21 from TELEMECANIQUE

The TSX 27; 17-20; 47; 67-20 from TELEMECANIQUE
The SLC 100 from ALLEN BRADLEY
The PB 100 by MERLIN GERIN
 CHAPTER 9: STUDY OF THE PROGRAMMABLE CONTROLLER
TELEMECANIQUE INDUSTRIAL TSX 21

I- GENERAL STRUCTURE
1-Basic instructions or operation codes

The processor can perform five (05) basic logical operations:

✓ Three (03) test operations: (L.A.O)

❖ L(LOAD) : Read the logical state of the indicated variable

❖ A (AND): Realization of the 'AND' logic between the indicated variable and the previous result.
❖ O (OR): Realization of the logical 'OR' between the indicated variable and the previous result.

✓ An action operation:
❖ Store the previous result in the indicated variable.

✓ An inversion operation:
❖ LN (LOAD, NOT): Read the complement or the inverse of the indicated variable.
❖ AN (AND NOT) :Réalise le ET logique entre le complément de la variable indiquée et le
previous result.
❖ = N (Equal NOT): Arrange the complement (opposite) of the previous result in the
indicated variable.
❖ ON :(OR NOT) : Performs the logical OU between the complement of the indicated variable and the
previous result.

2- Memory structure

The processor also includes:

❖ A clock: - 1 cycle for 1024 instructions (3.125 ms)

1 cycle for 2048 instructions (6.250 ms)

❖ A usage circuit
❖ A "watchdog" that checks the proper execution of instructions.
❖ A RAM with 64 internal memories
❖ 16-position counters and decrements
❖ Four (04) timers
❖ 1 step at 64 positions, exclusive 'OR'.
❖ A temperature probe

The memory structure is presented as follows:

 Address Name Functions

000 - 077 64 Step by step. 64 functions used for the steps of Grafcet
100 - 177 64 Internal variables or internal working memories
200–377 128 Entrées, Sorties (E / S)
400 to 757 15 16-position counter-decoder
760 to 767 1 8-position counter-decoder
Permanent address:
770 1 Retention A.O
exclusive OU
Increment of the step (=)
771 to 774 4 Analog timers
775 1 Clock 0.1 seconds
776 1 Clock: 1 s
777 1 Temperature probe (no instructions)

3- Input / Output Interface

a) Appetizers

16 entries per card (64 max)

b) Outputs

8 outings per card (32 max)

8 programmable input-output per card (32 max)

4- Addressing of inputs / outputs

1eramap 2thcard E 3thcard E 4thmap E
E/S /S /S /S
200 to 207 240 to 247 300 to 307 340 to 347
ENTREES And And And And
Sensors 210 to 217 250 to 257 310 à 317 350 to 357
ENTRÉES / EXITS
Programmables 220 to 227 260 to 267 320 to 327 360 to 367
OUTPUTS FROM
POWER 230 to 237 270 to 277 330 to 337 370 to 377
VARIABLES 100 to 117 120 to 137 140 to 157 160 to 177
INTERNAL

Note: The lines or addresses 8 and 9 do not exist in this automation. 5- Structure
of instructions

An instruction describes an operation to be executed. It includes four (04) components:

❖ The line number;

❖ The nature of the operation to be executed;❖ The address whose content is subject to;
❖ The comment of the instruction.
 II- PROGRAMMING BY SCHEMA

Below is the diagram

3 13 23 13
S1 1KM 1 2KM 1 1KM 2
200423014230 24 231 14

61 1
KM 3 S2
232 62 201 2
A1 A1 A1
230 231 232
A2 A2 A2
0
KM 1 KM 2KM 3

Addressing of Inputs / Outputs

Starters S1 S Outputs KM1 KM2 KM3

Addresses 200 20 Addresses 230 231 232

PROGRAMMING
Lines Operations Addresses
001 L 200
002 O 230
003 A 232
004 = 230
005 L 230
006 = 231
007 L 231
010 AN 201
011 = 232

III- PROGRAMMING BY GRAFCET

Example 1. 1- Addressing of Inputs / Outputs

2- Programming the steps 3- Programming of actions or outputs
Lignes Opérations Adresses Commentaires
Lignes Opérations Adresses Commentaires 0015 L 001
KM 1
0000 L 0003 0016 = 230

0001 A 204 0017 L 002

KM 2
Step 0 0020 = 231
0002 = 000
0003 L 000 0021 = 232 V+

0004 A 200 0022 L 003

Step 1 V-
0005 = 001 0023 = 233

0006 L 001
0007 A 201 Step 2
0010 = 002
0011 L 002
0012 A 202
0013 A 203
Step 3
0014 = 003
 Example 2:

S1

1 KM1 T1 = 10 s

10 s / X1

2 KM 1 KM2

S2
S2
3 V-

a1

4 V-

S3.a 0

5 KM 3

S4.S5

1-Addressing of inputs / outputs

Entries S1 S2 S3 a1 a0 S4 []5
Addresses 200 201 202 203 204 205 206

2-Internal variables (Steps)

Steps 0 1 2 3 4 5
Addresses 000 001 002 003 004 005

3-The outputs

Outputs KM 1 KM 2 V+ V- KM 3 T1(KA1)
Addresses 230 231 232 233 234 771
Planning the steps
Lines Address Operations Comments
0000 L 000
0001 A 200
0002 = 001
0003 L 001
0004 A 771
0005 = 002
0006 L 002
0007 A 201
0010 = 003
0011 L 003
0012 A 203
0013 = 004
0014 L 004
0015 A 202
0016 A 204
0017 L 002
0020 AN 201
0021 O 770
0022 = 005
0023 L 005
0024 A 205
0025 AN 206
0026 = 000

Step 1

Step 2

Step 3

Step 4
 Step 5

Initial step

Scheduling of outputs or actions

 Lines Operations Addresses Comments
0027 L 001
0030 O 002 Activation of KM 1

0031 = 230
0032 L 001
Timing T= 10s
0033 = 771
0034 L 002
0035 = 231 Activation of KM 2

0036 L 003
0037 = 232 Output of cylinder V
0040 L 004
0041 = 233
Return of the cylinder V
0042 L 005
0043 = 234
Contactor KM 3

Example 3: Programming the steps

Lignes Opérations Adresses Commentaires

0000 L 000
0001 A 2000 Step 1
0002 = 001
0003 L 001
0004 A 201 Step 2
0005 = 002 Divergence
en
0006 L 001
Step 4
0007 AN 201
0010 = 004
0011 L 002
0012 A 202
Convergence
0013 L 004 Step 3 in
0014 A 204
0015 O 770
0016 = 003
0017 L 003
0020 A 203 Step 0
0021 = 000
 0(000)

S1 (200)

1 (001)

S2(201) S 2 (201)

2(002) 4(004)

S3(202) S4 (204)

3 (003)

S(203)
5

EXAMPLE 4: SWITCHING IN "AND" Scheduling of steps

NOTE

The TSX 21 has a step sequencer with 64 steps or memories.

These step-by-step instructions allow for the realization of any Grafcet with at most 64 steps. The steps are addressed
From 0000 to 0077, exactly 64 steps.
 CHAPTER 10: STUDY OF THE SLC 100 BY ALLEN BRADLEY
I- PRESENTATION
The Allen Bradley SLC 100 includes:
❖ A central unit
❖ An extension unit
❖ A memory module that is EEPROM
❖ A pocket terminal

1- Central unit
It is composed of a processor, input/output interface circuits, and RAM memory.

2- Pocket terminal
It is a portable device used to program, edit, and control the operation of the automation.
It is the communication tool between the operator and the automated system.

3- The EEPROM memory

It allows for the multiplication of RAM content for backup purposes.

4-Extension unit
It allows to increase the input/output capacity of the automaton.
You can have up to six (6) extension units.

II- INSTRUCTIONS AND ADDRESSES

Addresses

The internal instruction for initializing the program is address 868. This address (868) is used
to initialize the program to a known state.
This bit is set to 1 for the first time under any of the following conditions:
❖ The central unit is powered on in "execution" mode.
❖ The handheld terminal is used to put the processor in operation mode.

ENTRY/EXIT ADDRESS TABLE

ADDRESSES
001 to 010(1eracard)
101 to 110 (2thcard)
ENTREES 201 to 210(3thcard)
301 to310 (4thcard)
011 to 016(1eracard)
111 to 116 (2thcard)
EXITS 211 to 216 (3thecard)
311 to 316 (4thmap
INTERNAL VARIABLES (Steps) 701 to 867

TEMPORIZATION 901 - 932

INITIALIZATION 868
 2- The time delay

The timing instruction works like an internal clock counting 0.1 seconds.
of the interval. The counted number of intervals is called cumulative value (AC)

The time base TB= 0.1 s

3- Instructions
INSTRUCTIONS SIGNIFICATION
Activation exit

L Exit latch

U Unlock Exit (Unlatch

Stored timer at rest

RTF
Recorded timing at work

RTO
Counter

CTU
Countdown

CTD
Timer reset (RAZ)

RTS
Reset (0) of the cumulative value

RAC
PR Preselection value

Test at '1'

Test at '0'

Stages Set Reset

0 A3.S2 A1
1 A0.S1 A2
2 A1. a A3
3 A2.b A4

Entries S1 a b S2
Address 001 002 003 004

Outputs KM 1 KM 2 KM 3 KM 4
 III-EXAMPLE OF APPLICATION a) Address 011 012 013 014
Activation and Deactivation Table
c) Input / Output Programming
Steps 0 1 2 3
Address 701 702 703 704

S1

1 b) Addressing
KM 1 KM 2

2 KM 2 KM 4

3 KM 3 KM 4

S2

Appetizers
868
L01
704 004 701
L
702 701 Step 0 Exits
U 702 011
L05 KM 1
701 001 702
L02 L 702 012
Step 1 KM 2
703 702
U 703

702 002 703 013

704
L03 L L06 KM 3
703 Step 2
704 703
U 014
704 KM 4
703 003 704
L04 L
Step 3
701 704
U

IV- DIFFERENT TYPES OF GRAFCET STRUCTURES

a) Divergence in OU
 3 703

a b c 001 002 003

41 51 61 704 705 706

704 703
U
Activation Steps Deactivation 705
3 A41+A51+A61
41 A3.a 706
51 A3.b 703 001 704
61 A3.c L
002 705
L
003 706
L
b) Divergence in ET

3 703

001
a

41 51 61 704 705 706

For the AllenBradley SLC 100 PLC, the timers are considered as the coils.
internal code (address) ranging from 901 to 932. Activation is done by the RTO instruction for the
timing at work and by RTF for rest timing; deactivation is done by
the instructionRTS. 868

704 003 701

L
0701
701 Step 0
702
a (001) U

1 702 701 001 702

L
b (002) 702 Step 1
703
U
703 2 T
702 002 703
t / 2 / 5s (901) L
704 703 Step 2
3704 U
703 901 704
d (003) L
701 704 Step 3
U
703 901 Activation
V- EXERCICE DE RTO
timing
Consolidation 704 901 Deactivation
RTS temporization
LIFTING CRANE
 0

h.S 0 .p
2
1 KM1

30 KM 2 32 KM 4

h p
2
31 33

=1

4 KM 1

5 T1= 6 s

5 s / X5

6 KM 2

7 KM 3

p
1

Work to do:

1-Write the activation and deactivation equations of the step modules;

2-Implement the automation programming (SLC 100 AB) as follows:
The allocation of Inputs / Outputs
The programming of steps and the programming of outputs

Solution

1- Addressing of Inputs / Outputs

a) The entries
Entries S0 h P1 b c P2
Addresses 001 002 003 004 005 006
 b)Internal variables or (steps)
Steps 0 1 2 30 31 32 33 4 5 6 7
Addresses 720 721 722 730 731 732 733 724 725 726 727

c)The outputs
Outputs KM1 KM2 KM3 KM4
(M) (s) (AV) (AR)
Addresses 011 012 013 014

Programming of outputs and timing

✓ The outings
721
011 KM 1
724
730

726 012 KM 2

727
013 KM 3

732
014 KM 4

✓ The timing

920
725
RTO
PR = 0.0 6.0s
–
726
RTS
RAC = 000,0

Step programming (Locked outputs)

 CHAPTER 11: STUDY OF TSX 27 or TSX 47 from telemechanics
INTRODUCTION

The TSX 27 or TSX 47 automata allow for the processing of information on bits and words (16 bits).
use the contact language known as PL7-2.

The program is made in a numbered contact network from 1 to 256. Each network is composed of 4
lines of contacts and an output.

The program consists of 3 parts:

❖ Preliminary treatment resumption of the sector initialization, request for operation

❖ Sequential processing; definition of associated receptivities or transitions and associated actions
at the steps.

Each step (i) of the grafcet is associated with a step

❖ Post-processing; Definition of actions associated or not with steps, management of securities,

emergency stop.

THE ADDRESSES
They are configured and identified by an identification defined by 4 characters as follows:
❖ I=Input or O=Output;
❖ In his place, we use even numbers for the outputs and odd numbers for the
Entries.
❖ The comma
❖ The track number (for outputs (to 7) and for inputs (to B))

Each card has:

✓ A top part that is a set of 8 outputs marked by the locations. 2, 4 and

6
( ; 2O
; O4; O6and the track number from 7.
✓ A lower part that is a set of 12 entries marked by locations 1, 3, 5 and
7(I1;I3;I5;I7) and the track number of a9, A, B.

The sensors1is used as the initialization button for the Grafcet.

The most commonly used addressing elements are summarized in the table below.

TSX 27;80 input/output bits

TSX 47; 256 bits of input/output

Types of address 1eraCard E / S 2thCard E / S 3thCard E / S 4thE / S Card

Entrées

(Input)

Outputs
Output

Variables
Interns There are 256 of them and addressed from
Internal variables allow storing the result of equations during the execution of the program.

1- The system bits

The TSX 27 or TSX 47 controllers have 24 system bits (SYàSY23) to indicate the state of
internal functioning of the automaton.

The state of these bits can be tested to detect a fault in the controller and initiate a procedure for
rescue.

The most commonly used system bits are:

a) Cold start (SY

It is set to 1 for a cycle by the automaton after a power cut with data loss. It
So it triggers the complete reset of the memory.

b) Hot start (SY1)

It is set to 1 for a cycle of the automaton after a power cut with memory saved by the
battery. The controller resumes execution as if there had been no interruption.

II- THE TIMING

In general memory, it is symbolized as below.

E D E: Entrance on state 'arming'

TB = 1 s
C: Entry into state "control"
PR = x
D: Output "timer expired"
C R
Output "timer in progress"

TB: time base

PR: pre-selection time

III - GRAPHICAL ELEMENTS OF PL7-2

❖ Contact at closing Contact on opening

❖ Direct coil Inverse coil

❖ Activation (internal coil activation) S (SET)

❖ Triggering (deactivation of internal coil R (RESET)

❖ Jump J

❖ Backup in case of power outage

IV- APPLICATION EXAMPLE: LIFTING CRANE

 0

h.S 0 .p
2
1 KM1

30 KM 2 32 KM 4

h p
2
31 33

=1

4 KM 1

5 T1= 6 s

5 s / X5

6 KM 2

7 KM 3

p
1
1-Assignment of addresses

Starters S0 P1 b c h P2 S1
Addresses I1, I1 , 1 I1 2 I1 , 3 I1 , 4 I1 , 5 I1 , 6

Steps 0 1 2 30 31 32 33 4 5 6 7
Addresses B B1 B2 B3 B31 B32 B33 B4 B5 B6 B7

Exits KM1 KM2 KM Timing T

(M) (s) (A Address B2
Addresses O , O ,1 O
2-Programming of the steps

B I1,4 I 1 I1,1

3-Scheduling of outputs
 CHAPTER 12: STUDY OF THE PB 100 BY MERLIN GERIN

The PB 100 MERLIN GERIN PLC includes 64 input/output terminals, including 8 cards with 8 I/O each.
each one.