Instituto Tecnológico de Ensenada Resumen General
Controles Lógicos Programables Programables Maestro: Cesar Ramirez Ing. Electromecánica Electromecánica Luis Enrique Lopez Contreras
Ensenada, B.C.
Mayo del 2018
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ÍNDICE GENERAL Pág. Índice general
ii
Unidad I Estructura de un automatis automatismo mo 1.1 Introducción
1
1.2 Etapas de un automatismo
1
1.3 Tipos de control
3
1.4 Clasificación de señales
4
1.4.1 Señal analógica
4
1.4.2 Señal digital
4
1.5 Descripción de los component componentes es que integran integran a un automatismo
5
1.6 Simbología Simbología Americana y Europea
6
1.7 Sistemas de control híbridos
9
Unidad II Estructura de los controladores lógicos programables programables 2.1 Definición
11
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2.3 Ventajas y desventajas de los PLC
12
2.4 Clasificación de los PLC
13
2.5 Configuración interna
13
2.6 Direccionamiento Direccionam iento de los controles internos del controlador
14
2.6.1 Conexión mediante buses
14
2.6.2 Direccionamiento Direccion amiento de entradas y salidas en los SLC
16
2.6.3 Distribución memoria
16
2.6.4 Archivos de programa
17
2.6.5 Archivos de datos
18
Unidad III Programación de controlador lógico en lenguaje escalera (Ladder) 3.1 Pantalla de programación
20
3.2 Fuera de línea (Off Line)
21
3.3 En línea (On Line)
21
3.4 Elementos de programación
22
3.4.1 Bit
23
3.4.2 Byte
25
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3.5 Elementos de programación avanzada
26
3.5.1 Temporizador
26
3.5.2 Contador
27
3.5.3 Comparadores
28
3.5.4 Aritméticos
29
3.5.5 Secuenciadores Secuenciado res
31
Unidad IV Otros lenguajes de programación 4.1 Listado de instrucciones instrucc iones
33
4.2 Bloques de funciones
36
4.3 Grafcet
38
4.3.1 Tratamiento preliminar
39
4.3.2 Tratamiento secuencial
40
4.3.3 Tratamiento posterior
40
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Unidad I Estructura de un automatismo 1.1.- Introducción Un sistema automático busca la sustitución del operador humano tanto en sus tareas físicas como mentales. Un automatismo es un dispositivo capaz de reaccionar ante situaciones situacio nes que se presentan en el funcionamiento de una máquina o proceso, ejerciendo ejercie ndo sobre las mismas acciones acc iones de control según las directrices con las que ha sido concebido. Por lo tanto, para ser llevado a cabo, es necesario que pueda recibir información inmediata del proceso, y que de alguna manera pueda actuar sobre el mismo. Por tanto, de forma genérica se puede establecer que un sistema automático se compondrá de tres elementos funcionalmente diferenciados: los sensores, que adquieren información del proceso; los actuadores, que permiten la acción sobre el mismo; y los equipos de control que se encargarán de regular las acciones de los actuadores actuador es en función de la información obtenida mediante los sensores. 1.2.- Etapas de un automatismo Se pueden establecer dos partes diferenciadas en un automatismo, la parte operativa y la parte de control.
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La parte operativa conecta la parte de control con el proceso o la máquina, esta parte depende fuertemente del proceso o máquina que se desea controlar. La parte de control recibe consignas de mando junto con la información procedente de los sensores y elabora de acuerdo a las directrices establecidas las acciones de control para las máquinas y actuadores. La utilización de una u otra opción dependerá en gran medida de los criterios de diseño del sistema, especialmente para el caso de automatismos de poca complejidad. Un sistema de control automático es el conjunto de acciones de control efectuadas sin la intervención de un operario humano. Estas acciones son realizadas por los dispositivos que forman el sistema de control, y este puede ser parte de otro mayor. En un sistema manual, el mando del operario humano varía continuamente dependiendo del resultado observado de la comparación entre la información correspondiente al valor de la magnitud controlada y la del valor establecido para dicha magnitud.
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1.3.- Tipos de control Los sistemas de control de la abierto son aquellos en los que la acción de control es independiente de la salida, es decir, la señal de salida ni tiene influencia sobre la señal de entrada. La señal de entrada actúa directamente sobre el dispositivo de control, para producir por medio del actuador, el efecto deseado en las variables de salida, el regulador no comprueba el valor que toma la salida.
Los sistemas de lazo cerrado son aquellos en os que la acción de control depende de la salida. La salida del sistema se mide por medio de un sensor y se compara con el valor de la entrada de referencia, de manera intuitiva se deduce que, de este modo, el sistema de control podría responder mejor ante las perturbaciones que se produzcan sobre el sistema.
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1.4.- Clasificación de señales Las señales en un sistema de control, por ejemplo, las formas de onda de entrada y salida, son funciones de alguna variable independiente, usualmente el tiempo denotado por t. 1.4.1 Señal analógica Una señal analógica es una señal dependiente de un continuum de valores de la variable independiente t. cuando cambia de valor, necesariamente ha de tomar todos los valores intermedios entre los dos límites.
1.4.2 Señal digital Una señal digital es una señal definida o de interés, solamente, en los instantes discretos (diferentes) de la variable t (de la cual depende).
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1.5.- Descripción de los componentes que integran a un automatismo Los elementos de un automatismo son los siguientes: 1.- El procesamiento se realiza sobre una planta o una máquina, que son el conjunto de componentes y piezas que van a tener un determinado objetivo. 2.- La fuente de energía es el medio empleado para realizar el control. En un automatismo eléctrico este medio lo constituye la energía eléctrica aplicada en sus distintas formas, como las tensiones continuas o alternas de baja potencia para la alimentación de dispositivos disposit ivos de control y señalización (alimentación secundaria) secundari a) y aquellas otras de mayor potencia utilizadas para mover las máquinas o actuar sobre las plantas (alimentación primaria). 3.- Es el dispositivo o conjunto de dispositivos encargados de establecer el Criterio de control. 4.- El actuador es el componente encargado de actuar sobre el proceso o maquina en función de la señal recibida del amplificador. El actuador modifica la variable de entrada del proceso controlado.
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7.- el operador es el conjunto de elementos de mando y señalización señalizaci ón que facilita el intercambio de información entre personas y automatismos para modificar o corregir las condiciones de actuación de la máquina o planta bajo control. 1.6.- Simbología Americana y Europea E uropea
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sistemas híbridos de orden fraccionari f raccionarioo en la literatura específica sobre las aplicaciones de control. Los sistemas híbridos se modelan como autómatas híbridos que pueden representarse como un grafo dirigido con dinámicas continuas asociadas con cada nodo del grafo. El flujo continuo evoluciona de acuerdo con la ecuación diferencial especificada en el nodo actual del grafo. Cuando ciertas condiciones condicione s se cumplen, puede tener lugar una transición discreta de un nodo a otro si s i los nodos están conectados co nectados por medio de una arista. El flujo continuo se fuerza entonces a satisfacer la ecuación diferencial en el nuevo nodo. Dependiendo del número de estados discretos (nodos) y la ecuación diferencial en cada estado, el autómata híbrido puede mostrar una conducta más o menos compleja. Los casos límite son de un lado un autómata híbrido con solo un estado discreto y ninguna arista y de otro un autómata híbrido con dinámica continua trivial (x´= 0) en cada estado
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Unidad II Estructura de los controladores lógicos programables 2.1 Definición Existen varias formas de definir un PLC, entre las mejores m ejores se encuentran las siguientes: 1.- Un autómata programable industrial (API) o Programable logic controller (PLC), es un equipo electrónico, programable en lenguaje no informático, diseñado para controlar en tiempo real y en ambiente de tipo industrial, procesos secuenciales. secuenciales. Un PLC trabaja en base a la información recibida por los sensores y el programa lógico interno, actuando sobre los actuadores de la instalación. 2.- Un autómata programable (AP) es una máquina electrónica programable diseñada
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Aplicaciones Aplicaci ones generales: Maniobra de máquinas. Maniobra de instalaciones. instalaciones. Señalización Señalizaci ón y control.
2.3 Ventajas y desventajas de los PLC Un sistema PLC proporciona muchos beneficios a soluciones de control, desde confiabilidad y repetitividad hasta programabilidad. Algunas de las ventajas de emplear estos dispositivos son:
Posibilidad de introducir introducir modificaciones modificaciones sin cambiar el cableado cableado y añadir aparatos. Ocupa poco espacio Costo de Instalación Instalaci ón Menor Mantenimiento más barato. Mayor confiablidad del sistema, al eliminar los contactos móviles, auto detección e indicación de fallas. Posibilidad de manejar varias máquinas con un mismo PLC. Menor tiempo para la puesta de funcionamiento funcionamient o del proceso al quedar reducido el tiempo de cableado.
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2.4 Clasificación de los PLC Los PLC tienen su criterio básico para su clasificación, la cual es la siguiente: Compacto Construccion
Modular Compacto/Modular Nano PLC
Cantidad de entradas y
Micro PLC
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2.6.2 Direccionamiento de entradas y salidas en los SLC En los slc-5/01 y slc-5/02 cada slot puede tener entradas o salidas. Si por ejemplo se pone una tarjeta de 16 salidas en el slot 3, la dirección del bit será O:3/15 o también O:3.0/15 Si la tarjeta tiene más de 16 bits ocupará más de una palabra. Si en el slot 2 ponemos una tarjeta con 32 bits de entrada, el bit 15 se direccionará con I:2.0/15, el bit 16 como I:2.1/0 y el bit 31 con I:2.1/15. En los SLC-500 las entradas y salidas compactas están en el rack 0, la dirección de la
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2.6.4 Archivos de programa
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Cada fichero de datos puede tener de 0 a 255 elementos, por ejemplo, podemos definir un archivo de temporizadores con 10 elementos o un fichero de enteros de 100 elementos. Con elementos se entiende el tipo de dato que representa el archivo. Es
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Unidad III Programación de controlador lógico en lenguaje escalera (Ladder)
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avanzadas que nos permiten ajustar al máximo todos los parámetros parámetros de los movimientos y acciones de nuestro robot, incluso de trasladar esta programación directamente al robot y evitar la reprogramación de todo el proceso una vez montado físicamente el sistema en
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Hoy en día, las herramientas software, diseñadas en su mayoría por los fabricantes de los
propios
robots
industriales, nos permiten analizar el
proceso a través de la
simulación completa de las células robotizadas mediante computadores. computadores.
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