Theme 1 2 Grafcet

04/10/2013
1
THEME1_2
Overviewand
Presentation
GRAFCET (GRAphe Functionel de
Commande Etape Transition)isa
normalizedfunctioninformofgraph
orchart,whichallowstomodelthe
processtobeautomated,
contemplatinginputs,actionstotake,
andtheintermediateprocessesthat
causetheseactions.
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GRAFCETEVOLUTIONRULES
1. GRAFCETnevertakesarrowstoindicatethedirectionofthe
sequenceexecution
2. Astageisenabled(SET)whenthepreviousorearlierstages
areactiveandtransitionconditionaboveisalsoactive
3. Astageisdisabled(RESET)immediatelyafterithasbeen
enabledthenextstage
4. Canneverhavetwoconsecutivetransitionsbetweentwo
stages
5. Canneverhavetwoconsecutivestageswithnotransition
betweenthem
6. Nevercanbeenabledtwoconsecutivestages
7. Therecanbenoloopcontaininglessthanthreestages
8. ThewordGRAFCET,arealwayswritteninuppercaseletters
N
ConditionA
ActionX
STAGES,TRANSITIONS&ACTIONS
ConditionB
STAGE
TRANSITION
ACTION
ASSOCIATEDTO
THISSTAGE
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N
ConditionA
ActionX
ConditionB
May have many actions
associated to same stage
ActionY ActionZ
N
ConditionA
ActionX
ConditionB
May have same condition atdifferent transitions
N+1
ActionY
ConditionA
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2
3
Sensor2
Sensor3
Sensorn
Actuator2
Actuator3
SENSORS&ACTUATORS
INSIDEGRAFCET
0
MP
TYPESOFSTAGES
SensorB
NORMAL INITIAL
2
Sensor2
Sensor3
Actuator 2
DEAD
2
Sensor2
Sensor3
ReadfileTHEPROBLEMWITH
BOOLEANALGEBRA
Abaroveravariablealwaysmeansthatthe
variableisnegated,thatis,notactivated
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LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
STRUCTURES
0
1
2
3
Condition1
Condition2
Condition3
Conditionn
n
MP
Action1
Action2
Action3
Actionn
LINEAR
STRUCTURE
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
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6
T
C
A mobile carriage driven by a direct current (DC) motor, C, flows through a rail of a given
machine. The mobile starts when trigger a pushbutton S. When the mobile reaches the
end of this lane should stop. At the end they are a switch, T. T is normally OFF and is ON
when mobile push it. At begin, we have a pushbutton M for start operability (not
operation). Write GRAFCET.
2
Motor
ON
3 Motor
OFF
T(=0)
S(=0)
1
Motor
OFF
0
M(=0)
=1
2
Motor
ON
3 Motor
OFF
T(=0)
S(=0)
1
Motor
OFF
0
M(=1)
=1
2
Motor
ON
3 Motor
OFF
T(=0)
S(=0)
1
Motor
OFF
0
M(=0)
=1
2
Motor
ON
3 Motor
OFF
T(=0)
S(=1)
1
Motor
OFF
0
M(=0)
=1
2
Motor
ON
3 Motor
OFF
T(=1)
S(=0)
1
Motor
OFF
0
M(=0)
=1
2
Motor
ON
3 Motor
OFF
T(=0)
S(=0)
1
Motor
OFF
0
M(=0)
=1
In red, active stage and action associated. We can
see the GRAFCET and how is his evolution. The
last step (at right side) is the same as the third,
because sequence is repeated at this point.
1/4 Example 1
LINEAR STRUCTURE
Example 1
In the GRAFCET (always in black and white, never with
colors) only write actions ON, never actions OFF; thus, if
stage 2 turn motor to ON state and stage 3 not have any
action associated, automatically, motor turn to OFF
state. REMEMBER: just type as what actions to do (turn
ON), not what not to do (turn OFF).
Stage 1 can be activated from zero stage or from stage
three. The enable condition is a = 1, which means
"always true" and is used when no sensor whose status
is a condition for enable a stage. Thus, pass from zero or
three to one is immediately. Further you understand
better why we use this always one.
In transitions, only write variables, not if are true or
false, on or off, zero or one
2
Motor
ON
3
T
S
1
0
M
=1
2/4
LINEAR STRUCTURE
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Example 1
They are two levels for any GRAFCET. Level 1 is with text description for conditions
and actions and level 2 uses, only, variables. Level 2 is more cryptic an more
compact.
2
Motor
ON
3
T
S
1
0
M
=1
3/4
2
Motor
ON
3
When mobile reaches
right limit
Push S pushbutton
1
0
Push March pushbutton
Always one
LINEAR STRUCTURE
Example 1
Now, is possible to make a controller. But before, you need to see Relays and self
power video, but perhaps we do not understand well as the further development.
2
Motor
ON
3
T
S
1
0
M
=1
4/4
CONTROLLER
LINEAR STRUCTURE
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DIVERGENCEAND
STRUCTURE
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
4
7
8
Condition8
Action7
Action8
5
6
Condition6
Action5
Action6
Condition57
Condition4
!!!
DIVERGENCEOR
STRUCTURE
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
4
7
8
Condition8
Action7
Action8
5
6
Cond.5 Cond.7
Condition6
Action5
Action6
Condition4
!!!
Cond.7 Cond.5
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CONVERGENCEAND
STRUCTURE
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
9
7
8
Condition8
Action7
Action8
5
6
Condition6
Action5
Action6
Condition9
Condition10
!!!
CONVERGENCEOR
STRUCTURE
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
9
7
8
Condition8
Action7
Action8
5
6
Condition6
Action5
Action6
Condition10
!!!
Condition9 Condition9
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3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPFORWARD
STRUCTURE
CASEA(Voidjump)
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition3
3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPFORWARD
STRUCTURE
CASEB1
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition3
7
Action7
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3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPFORWARD
STRUCTURE
CASEB2
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition3
7
Action7
Conditionx
3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPREVERSE
STRUCTURE
CASEA(Voidjump)
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition6
Condition6
ATTENTION!!Weneed
involveatleast3stagesin
anyreversejump
BOOLEANALGEBRA
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3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPREVERSE
STRUCTURE
CASEB1
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition6
Condition6
ATTENTION!!Weneed
anyreversejump
7
BOOLEANALGEBRA
3
4
5
Condition3
Condition4
Condition5
Action3
Action4
Action5
JUMPREVERSE
STRUCTURE
CASEB2
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
Condition6
Condition6
ATTENTION!!Weneed
anyreversejump
7
Condition7
BOOLEANALGEBRA
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COMPOUND
STRUCTURE
(Example)
LINEAR
DIVERGENCEAND
DIVERGENCEOR
CONVERGENCEAND
CONVERGENCEOR
JUMPSFORWARD
JUMPSREVERSE
COMPOUNDOFABOVE
1
4
5
Condition5
Action4
Action5
2
3
Condition3
Action2
Action3
Condition24
Condition1andnot7
6
Condition11
Condition6
7
8
Condition8
Action7
Action8
9
Condition9
Action9
10
Condition10
Action10
Condition11
Condition11
11
12
Condition12
Action11
Action12
13
Condition13
Action13
14
Action14
Condition12
Condition7andnot1
0
MP
Action1
15
Condition15

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04/10/2013

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