grafcet controllogix (2)

Rév. Classe DTM -.--.-- WORD 8.0b Classe DTE --.-- Utilisateur Créé le par

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1 1 3 9 7 - 0 0 3 9 5 - G S 1 Rév. b Modifié le 15/03/04 par P.HOLMIERE GS1/AI Page

MANUFACTURE FRANÇAISE DES PNEUMATIQUES MICHELIN

- CLERMONT-FERRAND - Propriété exclusive MICHELIN

Reproduction interdite Identifiant 5-5-3 Vérifié le 15/03/04 par P.GIRARD GS1/AI 1/66

CTCT

C T E / G S 1 TECHNICAL SPECIFICATION

PROGRAMMING METHOD FOR THE A-B LOGIX PLATFORM

Date Cancels Approved on: Signature

application and replaces by CTE/GS1/Q

01/03/2004 11397-00395-GS1 Revision: a

Work group

Last/ First Name Entity BATY Fabien GS1/AT BONY Nicolas GS1/EC CHAZEAU Laurent GS1/EX HOLMIERE Patrick GS1/AI LOVATO Marius GS1 / TR MITCHELL Allan CTA/GS1 MILLERET Mathieu GS1/AP POUILHE J.Bernard GS1/MX VINCENT Gilles SEAM

RECORD OF REVISIONS

DATE Rev. TYPE OF MODIFICATIONS PARAGRAPHS MODIFIED AUTHOR

06/2002 - Document creation P.Holmière

17/07/02 a Formatting All P.Holmière

16/02/04 b Formatting 0-0-0-0-0-0-0 P.Holmière

Programming Method for Logix Family of Controllers Technical specification


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SUMMARY

1. PURPOSE 4

2. SCOPE 4

3. REFERENCE DOCUMENTS 4

4. DEFINITIONS OF TERMS USED 5

5. PRESENTATION OF RSL5000 ARCHITECTURE 6

5.1. The Main differences with PLC5 and SLC500: 7

6. OBJECTIVE: 8

7. RÉFLECTIONS: 8

7.1. PORTABILITY: 8

7.2. GAIN IN TIME AND LENGTH OF DEVELOPMENT: 9

7.3. HOMOGENEITY OF DEVELOPMENT IN THE GS1 GROUPS. 10

7.4. LEGIBILITY IN DEVELOPMENT: 10

7.5. ANALYSIS OF TECHNICAL PERFORMANCE (DEVELOPMENT PART) OF PRODUCTS IN THE LOGIX RANGE: 10

7.6. RESPECT OF THE LOGIX FAMILY OF PRODUCTS (Development): 10

7.7. RESPECT OF EVOLUTIONS OF THE LOGIX FAMILY OF PRODUCTS (Development): 10

7.8. MODULARITY: 10

7.9. LINK WITH FUNCTIONAL ANALYSIS: 11

7.10. ELIMINATION OF THE WORD DOCUMENTATION FOR THE GRAFCET: 11

8. TASKS /PROGRAMS/ROUTINES STRUCTURE. 12

8.1. TASK STRUCTURE. 12

8.2. PROGRAM STRUCTURE. 14

8.3. STRUCTURE OF ROUTINES 15

9. GLOBAL AND LOCAL DATA STRUCTURE 19



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9.1. DEFINITIONS: 19

9.2. REMINDER: 19

9.3. Rules. 21

9.4. Data distribution. 22

9.5. Summary of data distribution. 28

10. DATA WRITE CONVENTION: 30

10.1. Rule: 30

10.2. Global data (Controller tags): 30

10.3. Local data ( Program_Tags ). 32

11. ENCODING RELATED TO THE GRAFCET: 33

11.1. Rules: 33

11.2. Digital outputs: 50

12. DIRECTOR “GRAPH”: 51

12.1. Consequences of different types of stop. 51

12.2. Principle of functional decoupage director (master) graph. 52

13. ROUTINE CALLS IN A PROGRAM: 54

Routine calls in the Common Part program. 54

13.2. Routine calls in the Functional decoupage program. 55

14. PROCESSING OF DIAGNOSTIC: 56

14.1. Operator assistance 56

14.2. Maintenance assistance. 56

15. SUMMARY: 66

15.1. The main differences between ST395 Revb and ST395 Reva are as follows: 66

15.2. Recommendations for utilisation of languages as follows: 66



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PURPOSE

This specification proposes a programming method for the Logix family of products (ControlLogix, FlexLogix, CompactLogix). We take into account the development limits imposed by the least performing product. The programming method proposed in this document takes into consideration languages such as function blocks, grafcet, structured text. We must point out that this method was developed from theoretical data and is not based on actual experience. It is, in consequence, capable of changing after we develop applications. This document is intended for persons who followed the ControlLogix programming course.

SCOPE Programming processes for automation engineers. This specification applies to conversions of applications (PLC/SLC to ControlLogix) and to developments with products of the Logix platform.

REFERENCE DOCUMENTS Document title Identification Allen Bradley PLC5 programming method (ST265). 10000.00265.GS1 Programming method available for ControlLogix (ST395 Rev-) 10000.00395.GS1 Programming method available for ControlLogix (ST395 Reva) 10000.00395.GS1 Implementation of ControlLogix axis commands. 10000.00439.GS1

The documents identified above in bold are available at GS1/AI/A and on the GS1 intranet Web site: Technical Support/Technical Specifications/CTE GS1/Electricity Automation. The Rockwell documents are also available on the internet site (http://www.theautomationbookstore.com/public.html). The previous revisions are available under SGDT.



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DEFINITIONS OF TERMS USED

- Work bits: - Bit resulting from a test (combination inputs/outputs, calculations...) which can be used in several programs.

- Partial output summary bit: - In a grafcet, this bit is written in the step actions which activate an output. - In a combination, this bit is the summary of the information commanding a single output.

- Coupler (Analog and Intelligent I/O Cards ):

- Input/output Card other than digital I/O (example: basic cards, axis cards, communications cards...).

- Functional Decoupage : - Transports, transforms or provides an added value to the product. In a functional decoupage one can find several subsets, called post, stations or modules or elements.

- Black Box Function: - Reserved for calculations and outside of the scope of machine animation. Not very significant in terms of development. It will be repetitive. This black box is represented by a routine to which we transmit input parameters and receive return parameters using a JSR instruction. These parameters may be independent or grouped in a structure.

- Portability: - A program or a routine will be portable if they are capable of functioning without major modification in different applications (projects).

- Structure:

- A set of variables of different types (Boolean, integer, double integer...). Each variable may be identified by a distinct tag name.

- Array (Table): - A set of variables of different types (Boolean, integer, double integer,etc…). An array may have 1, 2 or 3 dimensions. All the variables are identified by the tag name under which the array is declared.

-HMI - Human Machine Interface (Operator terminal)



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PRESENTATION OF RSL5000 ARCHITECTURE

Controller - Represents the project (the UC). The project and the controller share the same name.

Controller Tags - Global database (the data is expressed in the form of mnemonics)

Controller Fault Handler - Fault manager

Power up Handler - Powering up manager

Tasks - Set of tasks (up to 32) including 1 continuous and the others periodic

Program - Entity composed of routines and of a database

Program Tags - Local databases (the data is expressed in the form of mnemonics)

Routine - Program logic file

Unscheduled program - Unscanned program

Trends - Tracing curves (graphs) of data variables.

Data Types - List of data types

I/O Configuration - Configuration of Inputs/Outputs and Intelligent Modules.

The structure opposite shows : - A program structure organized as follows:

Under Tasks, the possibility of configuring 32 Tasks (1 continuous task, 31 periodic and event-related tasks), for the ControlLogix. The lowest-performance CompactLogix CPU only allows configuration of 4 tasks (1 continuous task, 4 periodic and event-related tasks). Under each of the tasks: the possibility of configuring 32 programs. Under each program, it is possible to configure as many routines as the available memory will allow.

- A data structure organised as follows :

Under Controller Unité_Centrale_1, a global database (Controller Tags) common to all the tasks and therefore to all the programs.

Under each program: a database (Program Tags) specific to it.

The data is expressed in mnemonics.



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The Main differences with PLC5 and SLC500:

We cite below the main differences which will have an influence on the choice of programming method. Data Structure : There are two data levels: The global data or Controller Tags which are accessible to all tasks and to all programs. Program data or Program Tags which are accessible only to all routines within a specified program. Data characterisation : The data is characterised by:

- A Tag name (mnemonic) which may consist of 40 characters maximum. - A type (BOOL, INT, DINT, TIMER, STRUCTURE, ARRAY, etc…). - A description (direct reading is not available in structured text).

The link between data: Alias tag for: Tag name which refers to memory defined by a tag name which is the basic tag. Tasks: Number: 32 including 1 continuous, 31 periodic and event-type. Priority: 15 levels The aSynchronizm of the input refreshing in relation to the scanning of the program : Unlike the PLC5 or SLC500, the inputs are not updated synchronously upon program scanning. Analysis of processor fault status (Status): You must use the GSV instruction (Get System Value) to enter system values and the SSV instruction to define system values.



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OBJECTIVE:

The search for the Revb programming method is performed around the following points: - PORTABILITY: - GAIN IN DEVELOPMENT TIME. - HOMOGENEITY IN GS1 FILES. - LEGIBILITY - ANALYSIS OF TECHNICAL PERFORMANCE OF LOGIX PRODUCT. - RECOVERY OF THE PAST. - COMPLIANCE WITH LOGIX RANGE (Development Part). - COMPLIANCE WITH DEVELOPMENTS IN THE LOGIX RANGE (Development Part). - MODULARITY. - LINK WITH FUNCTIONAL ANALYSIS OF AUTOMATION. - ELIMINATION OF WORD DOCUMENTATION.

REFLECTIONS:

PORTABILITY:

Reminder of the definition: A task, program, a routine will be portable if they are capable of operation without major modification in different applications (projects).

The elements capable of portability: A task(Task). A program (program). One or more routines.

Implementation: To minimise modifications on an element, it must be made autonomous and linked with external elements via input and output interfaces. This requires "linking" the element with data.

The Contraints : In the Logix context, only the local data (Program Tag) is linked to the program (program). For the other elements, tricks such as writing conventions must be used, which will allow creating a "link".



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In the Logix system, the elements are carried via a (copy/paste). The data is identified by tag names arranged in order of “ASCII weighting”. Consequently, it is indispensable to declare all the data under a common root to obtain a contiguous arrangement, which will favour the “copy/paste” and create a link with the element to which it is related.

Limits of portability:

They apply to: - Functional decoupage - Functions: - Black Box-type Function: - Machine control function

GAIN IN TIME AND LENGTH OF DEVELOPMENT:

The tools Function library: It is used to reuse the functions already developed. The functions may be arranged in a project called “Function Library ”and recovered as needed. Multiprogram Organisation: This is used to work with several programmers on the same CPU. In the development phase, each programr can work autonomously, the assembly of the different programs will be performed at the end. Utilisation of Tag alias: This is used to develop, in particular, without knowing the physical addresses of the inputs/outputs of the application. Black Box-type Function: This optimises the development and the tests. Portability: This optimises the development and the tests.



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HOMOGENEITY OF DEVELOPMENT IN THE GS1 GROUPS.

This results in a common choice on: Program functions. Data distribution. Writing convention.

LEGIBILITY IN DEVELOPMENT:

It involves: An organisation of Programs. An organisation of Routines. The definition of a writing convention (Programs, routines, data).

ANALYSIS OF TECHNICAL PERFORMANCE (DEVELOPMENT PART) OF PRODUCTS IN THE LOGIX RANGE:

Utilisation of multitasks. Utilisation of local and global data. Utilisation of Structures. Utilisation of Tables (Array).

RESPECT OF THE LOGIX FAMILY OF PRODUCTS (Development):

The software workshop is common to the products of the Logix family. The only element that we took into consideration is the number of Tasks authorised by the least performing CompactLogix CPU, i.e. 4.

RESPECT OF EVOLUTIONS OF THE LOGIX FAMILY OF PRODUCTS (Development):

The ST 395 Rev.b integrates future developments.

MODULARITY:

This is facilitated by the possibilities offered by the Logix system (32 Tasks, 32 Programs, a number of routines limited only by the size of the memory).



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LINK WITH FUNCTIONAL ANALYSIS: The organisation of programs and routines will take account of the automation functional analysis.

ELIMINATION OF THE WORD DOCUMENTATION FOR THE GRAFCET:

The grafcet, structured text languages and their related documentation tools (commentaries, post-it, description…) will enable development of both programming and documentation.



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TASKS /PROGRAMS/ROUTINES STRUCTURE.

TASK STRUCTURE.

The Logix range permits the use of several tasks. In the applications, they will be limited to four (constraint related to the least performing CPU of the Logix family).

Three types of task were identified to respond to our applications: - A Task “A” : reserved for processing such as servocontrol. - A Task “B” : reserved for machine control. - A Task “C”: reserved for processing such as diagnostic, fault display, dialogue with a supervisor… The Logix system offers several possibilities for the implementation of this execution hierarchy. The Logix system delivers 31 periodic and event-type tasks related to 15 priority levels whose periodicity is configurable (see example below).



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Solutions Type of task Task priority Periodicity (ms)

1

Task “A”: Task “B”: Task “C”:

1 5

Continuous

5

30 Continuous

2


1

Continuous 5

5

Continuous 100

3


1 5

10

5

30 100

4

Task “A”: Task “ B ” = Task “ C ”

1

Continuous

5

Continuous

Advantages and disadvantages:

Solutions Advantages Disadvantages

1

- The slow actions are non priority and removed from machine animation to be executed in task C. - Execution of task “ B ” (machine animation) is periodic and not penalised by the slow actions.

- Requirement for adjusting periodicity of execution of task “ B ”. - Take a margin on execution time of task “B”. - Time sharing in contradiction with functional decoupage.

2

- The execution of task “B” (machine animation) is executed as soon as the CPU resource is available.

- The execution time of task “B” is extended when task “C” is executed. - Time sharing in contradiction with functional decoupage.

3

- The slow actions are non priority and removed from machine animation. - Execution of task “ B ” (machine animation) is periodic and not penalised by the slow actions.

- Need to adjust the periodicity of all tasks. - Take a margin on execution time of all tasks. - Time sharing in contradiction with functional decoupage.

4 - No adjustment of periodicity. - Compliance with functional decoupage.

- Slow actions are integrated to machine animation.

Note: The majority of cases will be covered by solution 4.



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PROGRAM STRUCTURE. Reminder: Under one task (regardless of type A or B or C) you can configure up to 32 programs (program). Each program consists of routines whose number is limited only by the size of the memory size of the Controller. Three types of program are defined:

1) One program for the Common Part. 2) One Program for a Functional Decoupage (Machine Animation, director graph). 3) A Program for an Automation Function (external to machine animation, exple: Recipe processing, curing control...).

The scanning and program display order is performed by configuration (see figure below).



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STRUCTURE OF ROUTINES

The structure of routines is realised using the requirements of a type B task (machine control). However, the other tasks will be based on this structure. To order the list of routines, it is necessary to assign them a designation whose root will begin by R followed by 2 to 3 numerical characters. See the Figure below.



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Structure and function of routines in the Common Part Program:

DESCRIPTION FUNCTION

R000_ Principal Call routines in the common part R001_ Initialization Initializes the general data of the different programs and of the common

part. (The local data for each program is initialized within the program). The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the “Power up handler”, since it cannot be activated on request

R002_Working bits Combinational Result of a test (combination inputs/outputs, calculations...) which can be used by several routines.

R003_ Surveillance Combinational Logic

Monitors general information (PLC voltage,…..) and Information on the common part

R004_ Stop Grafcet Controls the stops of all machine control programs. This routine is not always used.

R005_ Machine Mode Grafcet Controls the operating modes of all machine control programs. This routine is not always used.

R006_ Outputs Combinational Logic Activates the outputs validated in the grafcets or combination of the common part.

R007_ Diagnostic Combinational Logic Diagnostics the faults on the outputs generated in routine R006 R009_ Synchronization grafcet of the different axis cards.

Ensures Synchronization of the different axis cards for a group of axes.

R010_ Management of data Manages general data to/from cards (exple: General reset of cardr, overall initialization of the card….). All the other data related to the card is covered in the user program of this card. (Acquisition of the value of an input...)

R011_ Communication with data (intelligent ) I/O cards

R012_ Graph Images Monitors development of graphs. R020_ Management of the HMI data Prepares HMI (Human Machine Interface) commun data (out of

decoupage) (example: PLC fault, general parameters, time….). R021 à R02x_ Communication avec IHM

Controls only transmission and reception to HMI by functional decoupage or by HMI.

R030_ Gestion des données non IHM Prepares transmission tables, transfers tables received to working tables. R031 à R03x Communication hors IHM.

Manages only transmission to systems external to CPU (other CPU, Level 2...). By functional decoupage or by network.

Rxxx_ Graphes ou Combinatoire (hors animation machine)

Structure and function of routines in the Functional Decoupage Program:



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DESCRIPTION FUNCTION

R000_ Principal Call of routines of the program. R001_ Initialization Initialises the local (program) data to the program.

The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the “Power up handler”, since it cannot be activated on request.

R002_ Working bits Combinational Logic

R003_ Surveillance Combinational Logic

Monitors program information (decoupage powered, inputs powered…).

R004_ Stop Grafcet Manages stop modes as a whole of all machine animation programs. This routine is not always used.

R005_ Machine Mode Graph Manages run modes as a whole of all machine animation programs. This routine is not always used.

R006_ Outputs Combinational Logic Activates the outputs validated in the grafcets or program combination. R007_ Diagnostic Combinational Logic Diagnoses the faults on the outputs generated in routine R006 R010_ Management of data (Intelligent) I/O Cards

Acquisition of data related to the cards.(Acquisition of the value of an input...)

R012_ Graph Images Monitors development of graphs. R020_ HMI data management Prepares HMI data for decoupage R030_ Non HMI data management Prepares transmission tables, transfers tables received into working

tables…of the decoupage. R040_ Axis Management Graph Controls the entire axis card, speed drive, brake and overtravels R041_ Movement Control in auto operation of an axis.

Initiates the movements of the axis according to status of axis management graph.

Rxxx_ Graphs or Combinational (out of machine control)



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Structure and function of routines in the Automation Function Program:

DESCRIPTION FUNCTION R000_ Principal Call-up of program routines R001_ Initialization Initializes the lmocal data of the program.

The initialization is achieved when power is turned on and Controller is switched to run, or on demand. It is not possible to use the “Power up handler”, since it cannot be activated on request.

Rxxx_ Graphs or Combinations



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GLOBAL AND LOCAL DATA STRUCTURE

DEFINITIONS: Declared data: Data created in the Controller Tags or in the Program Tags. Written Data: Data written via instructions (setting to one of a bit , setting to a value of a word...). Read Data: Data read via instructions (state of a bit, value of a word, comparison of word values…).

REMINDER:

- Global or Controller tag data: they are accessible (in read and write) to all the tasks, therefore, to all the programs. The Logix system imposes the following constraints: - All the data from or toward a system external to the Controller (physical I/O, Level 2 information…) must be declared in the global data. Two exceptions, the Panel View + operator terminal and RSView access to the local data. - All the data read by several tasks or programs, must be declared in the global data.

- Local or Program tag data: They are attached to a program and are accessible (in read and in write) only to the routines of this program.

- Data characterisation: They are characterised by a name tag (mnemonic) consisting of 40 characters maximum, a type (BOOL, INT, DINT, TIMER...), a description .

- Alias for: Any data created capable of becoming an alias for must be created in the same

type as the basic data to which it will be linked (see Fig. 1, p. 20). The 'Alias for' cannot be created from elements making up a structure (predefined or user defined) (see Fig 2, p. 20). The alias for cannot be created from a table (Array) or another table ( see Fig. 2, p. 20) Also, the alias for may be created between two tag names of a single Program tag. It can also be created from a tag name of the Program Tag to a tag name of the Controller Tag (but not the reverse).

!



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Fig. 1

Fig. 2

R01_ BP_valid_cycle (type Bool)

Local 1:I.Data.0 (type Bool)

Memory address

Tag name 1 (Basic data) Tag name 2

Alias for

Tableau

Pas d’alias for

No alias for

Structure User defined



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Rules. The distribution was performed according to the constraints imposed by the Logix system (see previous chapter) and observing the following rules: The written data in a program is declared in the Program Tags (local data). The data written in a program and read by several programs is declared in the Program Tags and in the Controller Tags. The “link” between the data declared in the Program Tags and the data declared in the Controller Tags is created by an "alias for" or via a COPY instruction if the alias for is impossible (Table). The other programs read the global data directly.

Never use an alias of an alias.

Symbolises an alias tag

Symbolises a reading

Symbolises a writing

Routines

Prog.xxx

Data written by the Prog.xxx and read by other programmes

Global data

Written data

Local data

Task xxx

Routines

Prog.yyy

Task yyy

Routines

Prog.zzz



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Data distribution. Family of Controller Tags data (global data): - Digital Inputs/Outputs data, Analog, axes…. - Data from or toward another system (Level 1, Level 2, HMI...) - Data read by several tasks or several programs. Family of Program Tags data (local data): - Digital Inputs/Outputs data, Analog... - Data produced in the program.



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Physical Input/Output Data and Physical Input/Output Alias Data:

Statement: They are declared automatically by the system in the global data, at the end of the input module configuration or output module configuration under the I/O configuration menu. Local data is declared by the programmer according to a write convention (see 0 p 32) and related to the corresponding global data by an alias tag for.

Routines

Prog.xxx

Data E. TOR /ana /axes

Global data

Data alias E. physical

Local data

Task xxx

Routines

Data alias S. physical Data S. TOR /ana /axes

Symbolises an alias tag

Symbolisesa reading

Symbolises a writing

Routines

Prog.yyy


Local data

Routines

Data alias S. physical



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Example 1 of declaration of Inputs/Outputs.

Operating mode: It is recommended to declare first the inputs and the outputs in the Program Tags ( I_ BP_validation, O_HL_valide) using them in the routine(s) of the Program then, linking them to the inputs/outputs (Local:1.I , Local:2.O) using "alias for".

1

2

Alias for


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Example 2 of Input/Output declaration

Note: In a grafcet, the commentary is indispensable if you wish to indicate permanently the alias for.

Visualisation with PC mouse

Comment


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Data from or toward another system:

Statement: They are declared by the programr as per a write convention that we will cover in the next chapter.

Routines

Prog.xxx

Data from another system (Niv.1, Niv.2, HMI,…….)

Global data

Task xxx

Symbolizes an alias tag

Symbolizes a read operation

Symbolizes a writing

Routines

Prog.yyy

Data written in the prog. and read by another system .


Local data

Local data



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Data read by several tasks or several programs and data written in the program.

For the common part program, there must be an exception to the rule stated in chapter 9.3. The common part program can produce much data which will be consumed by several programs hence a risk of heaviness if it necessary to declare the data produced in the program tags and use the alias for to link them to the controller tags data.

Routines

Common part programming

Global data Local data

Task xxx


Symbolizes a reading


Routines

Functional decoupage prog.

Local data

Data written in the prog. and read in the prog..

Data read by several tasks or several programmes

Data written in the prog. and read in the Prog.

Data written in the prog. and read by other tasks or prog.

Symbolizes a writing and a reading



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Summary of data distribution.

Common Part Program

.

Routines

Common part prog.

Data E. physical

Data from another system (Lev. 1, lev.2, HMI…..)

Global data

Automation Function Prog. 1

Prog.XXX

Functional decoupage Prog.1

Fig.1

Data S. physical


Routines

Routines

Routines


Symbolizes a reading readingconsommation Symbolizes a writing

Task 1


Data written in the prog. and read .and red in the Prog.


Data alias S. physical


Local data



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Functional Decoupage Program

Routines

Functional decoupage prog. 1

Automation Function Prog. 1

Prog.XXX

Common part prog.

Data written in the prog and read in the Prog.

Data written in the prog. and read by other tasks or prog.

Fig.2

Task 1


Data from another system (Lev. 1, lev.2, HMI…..)

Data S. physical

Data E. physical

Global data




Routines

Routines

Routines



Data alias S. programme


Local data



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DATA WRITE CONVENTION:

Rule: Order the tag names both in the global data and in the local data. The tag name will be the main source of data information. The commentary and the description will come in addition to the information. The length of the tag name will be limited to the strict requirement to ensure proper comprehension. Each type of process must establish its glossary of mnemonics.

Global data (Controller tags):

1- Inputs/outputs:

- The ControlLogix inputs/outputs are declared automatically by the system, at the end of the configuration of the I/O modules under the I/O configuration menu. Their writing is in the form: Local:X.I , Local:Y.O (with X and Y for Slot no.). - The Flex I/O RIO offset input/outputs on ControlNet are designated by a mnemonic the choice of which is left to the initiative of the programr.

2- Data from another system (Lv.1, Lv.2, HMI...): The tag names will have for root: Exch_Source_Destination The mnemonic representation of the source and destination is left to the initiative of the programr.

3- Data written in a program and by several tasks or several programs:

The tag names will have for root: - PC_ :designates the Common Part program. - XXX_: designates the functional decoupage or automation functions.(exple: ENR_ for take up). The choice of mnemonic(s) which follow the root is left to the initiative of the programmer.



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For example:

Notes: With 1- Data from another system (Exchanges with HMI).

2- inputs/outputs (not offset). 3- Written Data from another program. 4- Remote Physical inputs/outputs.

3

4

1

2



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Local data ( Program_Tags ).

}Alias~ Input/Output physical data: The tag name of alias physical Digital inputs will have for root: I_ The tag name of the physical Digital outputs will have for root: O_ The tag name of the physical analogue input data will have for root: IA_ The tag name of the physical analogue output data will have for root: OA_ The choice of mnemonic(s) which follow the root is left to the initiative of the programr.

Data written in the program.

Tag name root Designation RXX_B_ Work bits RXX_BS_ Synthesis Bits of Digital outputs RXX_BD_ Diagnostic Bits RXX_BI_ Operating assistance bits RXX_BO_ Edge bits RXX_GE _Grafcet name_ Grafcet Step Table RXX_GA_Grafcet name Grafcet Action Table RXX_GT_Grafcet name Grafcet Transition Table RXX_T_ Time delay RXX_TD_ Diagnostic time delay RXX_C_ Counters RXX_R_ Control register RXX_V_ Values Notes: - RXX designates the routine in which the data is produced. - The type of data element of grafcet step tables is DINT. - The type of data element of grafcet transition tables is BOOL. - The type of data bits (RXX_B, RXX_BS_ , RXXBD_…….) can be BOOL, DINT, table, structure…L - The type of data RXX_V_ can be DINT, REAL…….. The choice of mnemonic(s) which follow the root is left to the initiative of the programr and will be as explicit as possible.



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ENCODING RELATED TO THE GRAFCET:

Rules:

The grafcet language available currently on the range of Logix products will not be built from the “autonaming” proposed by RSL5000 software. A grafcet will be defined by the following elements: - A table of the type SFC_STEP for the steps. - A table of the type SFC_ACTION for the action. A table of the type BOOL for the transitions. Each table will be sized as required. For example: Take Up Grafcet with 4 steps and 11 actions. The BOOL table which defines the transitions is automatically sized to 32 by RSL5000.



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Also, certain steps written by a program may be read by other programs and by an operator terminal to display the status of the grafcet. We will apply the rule of chapter 0. You must therefore create in the global data a “correspondence” of the status of the different steps of the different grafcets. - To do so, by grafcet, in the local data a word of the DINT type is created (Rxx_GEImage_ Nom du grafcet) with xx N° of the grafcet routine. This word will take the value of the No. of the active step of the grafcet (see example p38 and 39). If the grafcet contains several steps capable of bieng active simultaneously, then as many words as active steps are created simultaneously (Rxx_GEImage0_ Grafcet name, Rxx_GEImage1_ Grafcet name,etc…). In the global data an array of correspondence in two dimensions is created (Pxx_GE[yy,zz]) with xx N° of program, yy N° of grafcet routine, zz N° of image word. _ Dimension 0 of the array contains the highest No. of grafcet routines in the program. _ Dimension 1 of the array contains the highest No. of image words in the program grafcets.

P01_GE[50,0] P01_GE[50,1] P01_GE[51,0] P01_GE[52,0]




Global data

R50_GEImage0_Cut R50_GEImage1_Cut R51_GEImage_ Take up R52_GEImage_Let off

Prog. P01_Machine1

Cut Routine

Local data

Take up Routine

R50

R51

Let off Routine

R52

Task xxx



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For example:

Note: You declare as many words as steps capable of being activated simultaneously. In the example above two steps can be activated simultaneously in the cutter graph hence the declaration in the local data of two words "R50_GEImage0_Coupe" and "R50_GEImage1_Coupe". In the global data, the correspondence table P01_GE has:

_ As dimension 0 the value 90 (highest N° of grafcet routine in program P01). _ For dimension 1 the value 02 (highest number of image words in the Grafcets of program P01.



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Note: The image words (R50_GEImage0_Coupe and R50_GEImage1_Coupe) will take the value of the step number



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Main operations for the grafcet. _ Choice of execution mode. _ Initialization of graphs. _ Exclusivity in the divergences in OU. _ Commands on steps. _ Synchronization of graphs. _ Calling up of graphs to be Synchronized. _ Step validation on a modification on line. _ Instruction for writing of language of Structured Text.

Choice of execution mode:

Performed using properties of Controller under tab SFC Execution. The options selected are as follows: Execute current active steps only / Restart at initial Step or Restart at most recently executed step / Automatic reset. Choice of restart (at initial step or at most recently executed step) is let to the programr. This will depend on the process to be treated.

Reminder: The execution mode is activated in the CPU when switching from prog. mode to run mode.



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Initialization of Graphs: Reminder: The Initialization is performed upon powering up, at the PLC run, or on request. It is not possible to use the “Power up handler”, since it cannot be activated on request.

Each program will perform Initialization of its graphs.

Example of writing of an overall Initialization of the graphs of a program: - The SFR instruction is used.



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Exclusivity in the divergences in OU.

If transitions of the divergence are “true” simultaneously by default, RSL5000 gives priority to the “left to right” transitions starting from the most leftward transition. This can be modified by configuration, the starting transition can be positioned on any branch of the divergence.



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Commands on steps:

There are two cases:

_ The commands are Digital outputs. (see 0 p.50 ) _ The commands are not Digital outputs. They are written in the actions of the graph (see Figure below).

Note: To the commands on steps you must relate an action qualifier. Among the available qualifiers, three will be mainly used. That is to say: - P1: Pulse (Falling edge). The related commands will be validated to the leading edge of the action. - N : Non Stored. The related commands will be validated during the entire length of the action validation. - P0 : Pulse (Rising edge). The related commands will be validated to the falling edge of the action.

Qualifier



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Synchronization of graphs:

In our applications, we distinguish two types of Synchronization: 1- A level n graph at a given step X, activates a level n-1 graph which represents the content of step X. To designate this level n-1 graph we sometimes use the term of macro step. For example:

E.20

E.21

Graph 2 : G2

V.G2

/V.G2

End Graph 2 (F.G2)

level n-1

E.1

E.2

E.3

Graph 1 : G1

Validation Graph 2 (V.G2)

F.G2

Level n

E.22



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2- Two graphs develop in parallel and synchronize as per their state of advancement. For example:

E.n+1

E.1

E.2

E.n

E.20

E.21

E.x

Graph 1: G1

V.G2

FS

Validation En+1 Graph 1 (V.En+1)

V.En+1

E.y

Graph 2: G2

Validation End Synchro (FS)

Validation Graph 2 (V.G2)



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Calling up of graphs to be Synchronized:

Reminder: A grafcet routine contains one and only one graph. It contains no Ladder language. - The calls to “grafcet” routines are performed via JSR instructions. They may be performed using the combination written in a ladder routine or from a written step in a grafcet routine. - In the Automatic-Reset mode and Restart at initial Step mode, the call is made in a step and not memorised, the deactivation of the step entails a reinitialization of the graph called; the latter is no longer scanned. There are three cases:

1_ Graphs G1 and G2 are scanned on the same conditions. 2_ Graph G2 is called by graph G1. 3_ Graph G2 is called by several graphs G1, G11….

In any case, the calling of grafcet routines will be performed from only one routine i.e. R00_Principale Call examples:

The conditions for calls of routine R90 common to routines R50, R51, R52 will be in the call routine of highest hierarchical level, i.e. R00, in the configuration above. This ensures a single execution of routine R90 by scanning.

R00 R50 R90

R51 R90

R52 R90

!



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Example of writing in routine Main R00:

Note: In parallel with the call conditions of the different routines appears /R90_GE_Commun[0].X which represents the status of step 0 of graph "R90_ Graphe _Commun". This enables holding the call until the end of execution of graph R90_Graphe_Commun (even if the call conditions are not maintained).



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Step validation on a modification on line: Currently, regardless of the modification (addition or deletion of step, transition condition, commands in action…) on line of the grafcet., when switching to Test or Untest, the grafcet starts at the initial step. To compensate for this problem, the following solution will be implemented: Case 1: The graph has no divergence in ET: - On the leading edge of the initial step, validate the SFR instruction which enables the reference to the step memorised by the word Rxx_GE_Imagex_xxx, before the switching to test or untest (see Fig1 below). - On the trailing edge of the last step of the grafcet, set the value 0 in Rxx_GE_Imagex_xxx (see Fig2 p 46).

Fig.1



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Fig.2

This solution does not cover the case of a modification of the grafcet structure. A modification of the grafcet structure will always be performed offline.

!



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Case 2: The graph contains a divergence in ET:

The divergence in ET must count only one step per branch. If the branch requires several steps, a grafcet routine will be created and called by the step on the branch. Also, the divergence in ET must be preceded by a “dead” step to be followed by an always true transition (see Fig2 p 48). This step, dead during a modification, will be validated on the leading edge of the initial step by the SFR instruction (see Fig1 below).

Fig.1



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Fig.2

This solution does not cover the case of a modification of the grafcet structure. A modification of the grafcet structure will always be performed offline. Also, there is a risk of dysfunction, until a return in the memorised step. The actions of the memorised steps are no longer validated for one to two scanning turns.

!

“Dead” step



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Instruction for writing of language of Structured Text. - To facilitate understanding it is recommended: To “minimise”in the grafcet steps the development in Structured Text language, but if necessary the rule of indentation must be observed (offset, breaking step) see example below:

IF condition 1 THEN Action 1 ELSE Action 2 END-IF



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Digital outputs: The activation of Digital outputs is performed in the output combination R006 of the relevant functional decoupage. Synthesis bits must be used. The synthesis bits are written: - Using the steps of a graph. - From a combination. In this case, they are written directly either in the combination of outputs R006, or in the combination of work bits R002. Example of writing of a synthesis bit of an action validated by several steps of a graph.

Note: In routine R06, in series with the synthesis bit are inserted safeties (anticollision, circuit breaker, mechanical safeties….).

Bit de synthèse



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DIRECTOR “GRAPH”:

Consequences of different types of stop. (Please note French and English terms co-exist in this paragraph.)

ARRET IMMEDIAT [IMMEDIATE STOP] ARRET DIFFERE [DEFERRED STOP] TOTAL AIT

PARTIAL: AIP

TOTAL ADT

PARTIAL: ADP

HORS ENERGIE

[W/O ENERGY]

AITHE

EN ENERGIE [WITH

ENERGY]

AITEE

Un ou tous les actionneurs d’un ensembleintégré à l’entité logicielle. [One or all actuators of a sub-assembly integrated to the software entity]

DEBUT DU CYCLE

SUIVANT [START OF

NEXT CYCLE]

ADT1

Après un délai, (Fin de mouvement ou de séquence). [After a delay, (End of movement or sequence ].

ADT2

EN MOUVEMENT

[WITH CURRENT

MOVEMENT]

FIN SEQUENCE COURANTE.

[END

CURRENT SEQUENCE]

ARRET HORS ENERGIE [STOP W/O ENERGY]

Pour la zone concernée; cas des sécurités locales [For the relevant zone; case of local safeties]

ARRETS TRAITES DANS LA SEQUENCE CONCERNEE

[STOPS COVERED IN RELEVANT SEQUENCE ]

Ne concerne que les dysfonctionnements dont les séquences sont sans danger pour la mécanique. [Concerns only problems whose consequences are without danger for the machine and for people.]

Note: Hors Energie : L’alimentation des cartes est coupée. [Without Energy: The power to the cards is removed.] En Energie : L’alimentation des cartes est conservée, mais les sorties sont coupées par programme. [With energy: The power to the cards is preserved, but outputs are cut off by program] AITHE: Arrêt Immédiat Total Hors Energie. [Total Immediate Stop W/O Energy] AITEE: Arrêt Immédiat Total En Energie. [Total Immediate Stop With Energy] ADT : Arrêt Différé Total (1 ou 2). [Total Deferred Stop (1 or 2)]. AIP : Arrêt Différé Partiel [Partial Immediate Stop].



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Principle of functional decoupage director (master) graph.

The master “graph” of a functional decoupage consists in fact of two graphs: - A stop graph. - An Operating or Working Graph (Mode de Marche).

Note: Depending on circumstances, the terms “production request” and “/production” can be assimilated to “cycle request” and “/cycle”, step 8 being preserved or not.

Stop Graph

0

AITHE = Total Immediate stop - No Energy AITEE = Total Immediate stop with Energy ADT = Total deferred stop (1 or 2) ADP = Partial deferred stop AIP = Partial Immediate stop

Initialisation request And no fault

Operator stop of AITEE ou ADT2

Graphe de

End of initialization

Initialization

2 Ready Condition

Req. Mode 3

From any step

Req. Mode 4

7 Maintenance Mode

/Mode 4 or maintenance /Mode 3

6 Additional Mode 3

Energy OK 0 No energy

1 Stop Condition

2 Overriding graph Operat. in step 1

3 Operating Condition

Restart without initialising And no fault

Req. mode 2./ADT1 Req. Mode 1./ADT1

4 Additional

Mode 1

/Mode 1 /Mode 2

5 Additional

Mode 2

Req. production

3 Production Mode

/Production

8 End of production

9

Production Mode

In any Case

ADP + AIP

Acknowledge

1

= 1

End of production Dmd = Request (Demand)

= 1

AITHE

Operating Graph



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Rules:

- The common part can include a director graph. - Any functional decoupage covering machine control will have its own director graph. - The different operating modes will be validated by a combination of graph operating steps and step 3 of the stop graph (except for maintenance mode). - The stop graph controls the stop conditions of the entity (only step 3 authorises operation). - The operating graph controls the operating modes of the entity. - The utilisation of different steps of these graphs is recommended while keeping the number assigned on the model. However, certain steps may be eliminated or duplicated as required by the process or the application. - The additional operations are distinguished by their output points ( production, standby state or Initialization). These modes can be, for example:

. Set-up or reglage modes.

. Preparation modes.

. Size change modes.

. ……………. - The additional steps, in relation to the proposed model, will carry a number higher than 9.

Example of operation graph adapted to requirement:

With: S.5 Loading operations.

S.10 Maintenance operations. S.10 Emptying operations.

S.0

S.1

S.2

S.11 S.10 S.5 S.3



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ROUTINE CALLS IN A PROGRAM:

Routine calls in the Common Part program.

Note: The writing of the calls will be ordered as above.

R003

Management of HMI Data

Management of non-HMI Data

R001 Initialization

Management of Intelligent I/O

R011 JSR Communication with Intelligent I/O

R021 à R02X JSR Communication with HMI

R031 à R03X JSR Communication other than HMI

R002

R010 JSR

R007 JSR

R030 JSR

JSR

R005 JSR

R006 JSR

RXXX

Stop Graph

Run mode Grafcet

R004 JSR

R020 JSR

Diagnostic Combinational Logic

Digital Output

Grafcets or animation combinational

Surveillance bits

Working bits

JSR

JSR

R000 JSR

R012 JSR Graph Image

R009 JSR Synchro. Graph for different axis cards

Commune Part Prog.



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Routine calls in the Functional decoupage program.

Notes:

- The writing of the calls will be ordered as above.

Prog. Functional decoupage

R000 R001

R004

R010 JSR

R007 JSR

R030 JSR

JSR

R005

R006 JSR

RXXX

Stop Graph

Run mode Grafcet

R003 JSR

R020 JSR Management of HMI Data Management of non-HMI Data

Initialization

Management of Intelligent I/O

Diagnostic Combinational Logic

Digital Output

Grafcets or animation combinational

Surveillance bits

Working bits Combinational Logic R002

JSR

JSR

JSR

JSR

R012 JSR Graph Image

R040 JSR

R041 JSR

Axis Management Graph

Axis Auto Operation Command



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PROCESSING OF DIAGNOSTIC: There are two types of diagnostic: - Assistance to the operator. - Assistance to the maintainer. A diagnostic must be developed for each functional decoupage.

Operator assistance We distinguish: - Information: Information given to the operator on the state of the machine, on the operations in progress or future operations (exple: Pose product x in progress). Information awaiting operator intervention during machine cycle (exple: Waiting operator restart ). - Warrnings (or alarms): These are standby warnings for action required to ensure normal continuation of production (exple: Min. tank level) This does not correspond to a failure. Remark : The way in which to process information is not specified in this document. For the warnings, a list will be drawn up with a bit corresponding to each warning. The control assistance bits are designated by RXX_BI_.

Maintenance assistance. This type of diagnostic corresponds to a failure situation called a fault. There are three levels for repair assistance: _ The “Where” : What is the overall situation of the functional decoupage? . _ The “Why”: What is the missing condition for correct operation? (This missing condition may be synchronous or asynchronous to the machine cycle). _ The “How”: Which procedure to follow to restart? . Note: Depending on customer requirements, the programmer will be led to develop appropriate assistance for repair. It may be simply necessary to provide the “Where”, or to provide simultaneously the “Where”, the “Why”, the “How”, or any other combination.



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How to handle the question “Where”. What is the overall situation of the functional decoupage? To obtain a view of the overall situation of the functional decoupage you must take a photograph of the active step bits of the functional decoupage. To do so, we will use the global data PXX_ GE_Graph name (see p 33).

How to treat question “Why”. What is (are) the missing condition(s) for correct operation? Sevral events may be the source of a failure: Triggering of circuit breakers, emergency stops, movement sensors, safety sensors, absence of air, overtravels, cycle time too long, out of tolerances,... These events may be of two types: 1- Unexpected events: They are purely random and are capable of altering or interrupting the operation of the machine. They are not related to the sequences of the cycle or the operating mode of the machine. 2- Expected events: They are related to a given command, are expected and do not occur when an unexpected event has come to disturb the command in progress. This is a double malfunction: Command/Command report. The absence of this type of event enables diagnosis of a failure. To detect that unexpected events have occurred, or that expected events did not occur, you must implement: A surveillance routine for unexpected events which is active permanently, so as to monitor a status of the machine required for correct operation. A surveillance routine for expected events which verifies the commands and their execution. This routine is not necessarily active permanently, it may be activated after a period, beyond which the expected event did not occur.



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Fault Classification.

Faults are classified according to their effects. Seven classes of fault are determined:

1 - Total immediate stop without energy AITHE

2 - Total immediate stop with energy AITEE

3 - Partial immediate stop without energy AIP

4 - Total Deferred stop 1 ADT1

5 - Total Deferred stop 2 ADT2

6- Partial deferred stop ADP

7- No stop

These different fault classes (1, 2, 3, 4, 5 and 6) will influence the behaviour of the master graph (as defined in chapter “master graph”). However, the master graph does not analyse individually any fault of each class capable of appearing. You must therefore define the concept of synthesis fault bit by class.

Diagnostic data: It is produced in the program (functional decoupage) therefore assigned to the local data in the form Rxx_BD_ . They are related to the global data via an "alias tag for". They are grouped in the global data in a table under the designation XXX_BD_. XXX_: designates the functional decoupage in which the diagnostic bits are produced. The fractioning of this table according to the different fault classes is left to the initiative of the designer.



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For example:

- The DINT PC_BD [1] to PC_BD[5] reserved to the faults of type: AITHE

- The DINT PC_BD [6] to PC_BD[10] reserved to the faults of type: AITEE - The DINT PC_BD [11] to PC_BD[12] reserved to the faults of type: ADT1 - The DINT PC_BD [13] to PC_BD[15] reserved to the faults of type: ADT2 - The DINT PC_BD [15] to PC_BD[17] reserved to the faults of type: AIP - The DINT PC_BD [18] to PC_BD[19] reserved to the faults of type: ADP



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The synthesis bits are written in routine R03_Combination for monitoring: These synthesis bits will be taken in R03_BD_[0]. i.e. R03_BD_[0] :

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

AD

P A

IP

AD

T2

AD

T1

AIT

EE

AIT

HE

Synt

hesi

s

They are written if their corresponding zone in PC_BD is different from zero.

Programming of unexpected event monitoring.

For a given program, the monitoring of these events is permanent and must be performed in routine R03_Combination_ for_monitoring.

Programming of expected event monitoring.

Monitoring is performed outside of grafcet routines.

This monitoring is based on the following principle:

- If command (actuator) present & report of end of movement absent after period Then fault.

- If command (actuator) absent & report of end of movement absent after period Then fault.

Note: This method requires holding of the commands during verification.



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Two solutions for completion are proposed:

Solution 1:

Validation of the actuator is performed in routine R006_Combination of outputs The diagnostic is performed in routine R007_ Combination for diagnostic. For example:

1- Writing in R06:

2- Writing in R07:

Note: routine R07 is called permanently.

0 R50_BS_Action4

R51_BS_Action4

R06_BS_Action4

1 R06_BS_Action4

/

I_Securite1<Local:1:I.Data.1>

/


O_EV_Action4



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Solution 2: A time envelope is related to a grafcet routine RXX_ . This time envelope represents the time spent in a step of the grafcet routine. It may be:

- Fixed and adjusted on the length of the longest step. - Variable and adjusted at each step. The diagnostic is performed in routine R07_ Diagnostics Combinational Logic. This routine is called up only if the time envelope related to the graph is exceeded.

For example: 1- Writing in R00. The call of routine R07_ DiagnosticsCombinational Logic is triggered by all the time delays of the graphs which make up the program.

Note: Time delays R40_TD_G_Cut, R41_TD_G_Take up, R42_TD_G_Let off represent the time envelopes related respectively to graphs Cut, Take up, Let off.

Note: Time delays R50_TD_G_Cut, R51_TD_G_Take up, R52_TD_G_Let off represent the time envelopes related respectively to graphs Cut, Take up, Let off.

0 Jump To SubroutineRoutine Name R10_Gestion_des_donnes_coupleurs

JSR

1 R50_TD_G_Coupe.DN

R51_TD_G_Enroulage.DN

R52_TD_G_Deroulage.DN

Jump To SubroutineRoutine Name R07_Combinatoire_de_diagnostic

JSR

2 Jump To SubroutineRoutine Name R20_Gestion_des_donnes_IHM

JSR

3 Jump To SubroutineRoutine Name R30_Gestion_des_donnees_non_IHM

JSR



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2 - Writing in routine R12: Association of a time envelope.

3 - Writing in routine R06:


0 R50_BS_Action4

R51_BS_Action4

R06_BS_Action4

1 R06_BS_Action4

/


/


O_EV_Action4

0 EqualSource A R51_GEImage0_Enroulage 0Source B R51_GE0_Comparaison 0

EQUENDN

Timer On DelayTimer R51_TD_G_EnroulagePreset 30000Accum 0

TON

1 Not EqualSource A R51_GEImage0_Enroulage 0Source B R51_GE0_Comparaison 0

NEQMoveSource R51_GEImage0_Enroulage 0Dest R51_GE0_Comparaison 0

MOV



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Note: It is essential to condition all the diagnostic equations by the results of the related time delay(s) (time envelope) ( R50_TD_G_Cut, in the example above). Routine R07 is common to all diagnostics, if this precaution is not taken it is possible to declare faults on movements in progress related to graphs other than the one causing the fault.

Monitoring is performed in grafcet routines.

Some cases cannot be processed by the method proposed in the previous paragraph. For example, monitoring of Synchronization faults, monitoring of product passing, product presence………. The proposed solution is as follows: In a given grafcet routine RXX_.

E.0

E.1 - Order Product advance - Start surveillance timer - - Fault absence Product

Product passage detection I_

End surveill. timer Rxx_TD_ .DN

0 R50_TD_G_Coupe.DN


R06_BS_Action4


LR07_BD_Securite1


LR07_BD_Securite2

1 R50_TD_G_Coupe.DN


R06_BS_Action4

/


/


/

I_CR_Action4<Local:6:I.Data.4>

LR07_BD_PasAction4

2 R50_TD_G_Coupe.DN


/R06_BS_Action4

I_CR_Action4<Local:6:I.Data.4>

LR07_BD_Action4



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Latching and clearing of fault bits. To reset to zero (Raz) the faults latched, two non exclusive solutions are proposed: Solution 1: An operator reset command (PB, operator key HMI,…….) independent of the director (master) graph. Solution 2: An operator reset command (PB, operator key HMI,…….) related to development of the director (master) graph. Note: The Reset is performed on global data.

For example:

How to treat question “How”.

Which procedure for restarts?

Display a clear and precise procedure enabling the operator to reset the machine to operating condition.



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SUMMARY:

The main differences between ST395 Revb and ST395 Reva are as follows:

_ Integration of SFC language and Structured Text. The data writing conventions and Grafcet encoding were preserved.

_ Calling of routines all grouped in main routine R00. _ Modification of processing the diagnostic grafcet in the monitoring of the development time of a graph (creation of routine R12). _ Reservation of Axis routine number (R09, R40, R41).

Recommendations for utilisation of languages as follows:

_ SFC language ( Sequential Function Chart) used for programming sequential. _ TXT language (Structured Text) used for programming actions and transitions related to grafcets and algorithms (processing on tables with iteration…). _ FBD Language (Function Block) used for programming regulation loops (PID…).

_ Ladder language used for programming combination (combination for outputs, diagnostics, monitoring…).

grafcet controllogix (2)

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