1. FX-TRN-BEG-E Sections INTRODUCTION A EXERCISES B LADDER PROGRAMS C APPENDIX D SO TAY HNG DAN S DUNG KHOA IEN - TRNG H CONG NGHIEP TP.HCM - CONG TY TNHH TM SA GIANG

2. FX-TRN-BEG-E SO TAY HNG DAN S DUNG KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG Manual number : JY997D02901 Manual revision : C Date : April 2003 3. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 4. FX-TRN-BEG-E KHOA IEN - Trng H Cong NghiepTP.HCM MITSUBISHI CONG TY TNHH TM SA GIANG GI EN CHO CHUNG TOI Mitsubishi c toan the the gii anh gia cao ve lnh vc t ong hoa trong cong nghiep. Tuy nhien e ngay cang hoan thien hn chung toi luon san long tiep nhan cac y kien ong gop cua ngi s dung thiet b Mitsubishi. Trang nay danh rieng cho ban oc lien lac FAX vi chung toi. Chung toi luon lang nghe y kien cua ban. So FAX : Mitsubishi Electric Ten cua ban:. America (01)847-478-2253 . Australia (02)638-7072 Ten cong ty:. Germany (021 02)4 86-1 12 . Spain (0 34)93 589-1579 chc vu:.. United Kingdom (01707)278-695 . Xin ban anh dau vao o chon: Tnh trang tai lieu nh the nao? Tot Sai sot nho Khong dung c Ban se dung mot ngan e lu gi tai lieu nay ch? Co Khong Ban ngh sao ve cach trnh bay tai lieu nay? Gon Cha hoan thien Phan giai thch co giup ban hieu c khong Hieu ro Hieu c Hieu khong ro Phan giai thch nao kho hieu nhat: Co s o nao khong ro rang khong? Neu co, la s o nao. Ban ngh g ve cach trang tr? Neu co ieu ban can muon c lam hoan thien, ieu o la g? .... Ban co the tm thong tin can thiet de dang trong phan ch muc hoac phan muc luc, neu co the xin cho biet kinh nghiem cua ban. anh gia chung ve tai lieu cua Mitsubishi, y kien cua ban? Cam n ban a danh thi gian ien vao cac cau hoi nay. Chung toi hy vong ban de dang s dung phan mem va tai lieu nay. 5. KHOA IEN - Trng H Cong Nghiep TP.HCM MITSUBISHI - CONG TY TNHH TM SA GIANG FX-TRN-BEG-E 6. LI GII THIEU Phng phap e thiet lap chng trnh trong phan mem se c trnh bay qua bai hoc trong tng muc cua phan nay. Xin ban hay oc e thc hien that hieu qua trong nhng bai hoc sau. NOI DUNG 1. Li gii thieu 2. Tong quan ke hoach cua bai hoc 2.1 Tong quan 2.2 Cai at phan mem 2.3 Bat au e hoc lap trnh PLC 2.3.1 Khi ong phan mem Training 2.3.2 ang ky ngi s dung 2.4 Cau hnh cua giao dien chnh 2.5 Cau hnh cua man hnh training 2.5.1 Man hnh training 2.5.2 Phm chon khong gian 3 chieu cua he thong 2.5.3 Bo ieu khien t xa 2.5.4 Vung Lap trnh ngon ng Ladder 2.5.5 Ca so hng dan 2.5.6 Bang mo ta cac cong I/O thc te cua PLC 2.5.7 Bang ieu khien 2.6 Viet mot chng trnh 2.6.1 Chuan b e soan thao mot chng trnh Ladder 2.6.2 oc s hng dan ben ngoai mo hnh 2.7 Thao tac xac nhan 2.7.1 oc ghi chng trnh 2.7.2 ieu chnh toc o cua mo phong 2.8 T anh gia qua chng trnh mo phong 2.9 Thoat khoi phan mem FX-TRN-BEG-E A-1 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 7. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-2 KHOA IEN - Trng H Cong Nghiep TP.HCM 8. Li gii thieu Phan mem huan luyen chng trnh PLC FX-TRN-BEG c cai at trong may tnh ca nhan tao ra mot mo hnh he thong san xuat thc te giup cho hoc vien co the lap trnh PLC bat ky thi iem nao hoac tai mot may vi tnh san co.Mo hnh he thong may san xuat a a vao hnh anh mo phong theo khong gian 3 chieu cung cap nhng hnh anh trc quan thu v trong viec ieu khien PLC.Qua nhng chng trnh nay ban co the thiet ke va ieu khien he thong may moc bang t duy cua moi ngi. S sap xep cau truc co ke hoach cua chng trnh giup hoc vien co the chon la bat au bang cac cap bai tap. Nhng e muc ch dan ngan gon cung nh nhng v du a c lap trnh san trong moi bai tap se giup ch nhieu trong suot qua trnh hoc. So lng bai hoc phong phu co the cung cap kien thc cho nhng hoc vien mi bat au, va nhng ngi a co kien thc ky thuat lap trnh co mot giai thuat nang cao ky nang mot cach hoan hao. Ban se phai theo uoi cac cap toc o cua bai tap e nang cao kien thc cho mnh. Viec cai at phan mem va ch dan cua nhng bai hoc se c giai thch trong chng 2. Xin vui long oc chng 2 e s dung hieu qua cho nhng bai hoc sau. Mo phong khong gian 3 chieu se c ieu khien t ong trong chng trnh cua ngi dung. Bo phan mem ng dung bao gom nhng tiet muc sau. A-3 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 1. FX-TRN-BEG-E package FX-TRN-BEG-E USER'S MANUAL SWOD5C-FXTRN-BEG-E 1 a CD-ROM cai at trong he thong So tay nay Gii thieu phan mem Danh sach bai tap co mo phong hien th tren man hnh may tnh cua ban. Thao tac tren thanh cong cu ladder. at tnh ky thuat cua PLC va mo hnh may thc te Xin kiem tra chac chan bao gom tat ca cac thanh phan. 9. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-4 KHOA IEN - Trng H Cong Nghiep TP.HCM 10. Ke hoach Tong quan cua bai hoc Theo bieu o tien trnh ke hoach sap xep bai hoc di ay se giup hieu ro hn ve viec cai at cung nh chng trnh hoc PLC. 2.1 Tong quan Bieu o di ay ch dan cho thay toan bo phan mem TRAINING. A-5 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2. Cai at phan mem Khi ong phan mem Bat au Man hnh thc n Chon la bai tap Nhan noi dung cua bai tap Lap chng trnh Xac nhan s hoat ong T anh gia Ket thuc Ban a hoan tat viec cai at 11. Cai at phan mem Cai at phan mem thc hien theo trnh t di ay Nhng yeu cau cau hnh phan cng cho may tnh cua ban " Microsoft ", "Windows" va "Windows NT" cua cong ty Microsoft My la nhng nhan hieu a ang ky tai My va cac nc khac. Nhng ten cua cong ty va nha san xuat khac se la nhan hieu cua moi cong ty o. Thc hien cai at 1) Khi ong Windows va at a CD (chng trnh SWOD5C-FXTRN-BEG-E) vao trong o a CD-ROM he thong chng trnh se bat au cai at. No se khuyen ban ket thuc phan mem ng dung khac trc khi bat au qua trnh cai at. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-6 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.2 He ieu hanh Microsoft Windows 98, 98SE, Me Microsoft Windows NT4.0 (SP3 or later) Microsoft Windows 2000 Microsoft Windows XP*1 CPU Pentium 500 MHz tr len Memory (bo nh) 64 MB tr len (128 MB or more is recommended.)*2 Hard disk (Dung lng o a cng) 150 MB tr len CD-ROM drive O CD-ROM Can co 1 o cd-rom e tien cho viec cai at Hien th XGA (1,024 x 768) tr len Card man hnh Card man hnh thch hp vi khong gian 3D vi dung lng VRAM t 4 MB ,8 MB tr len Trnh duyet Internet Explorer 4.0 tr len. 12. 2) Ca so sau ay se t ong hien ra. Nhap double trai chuot vao bieu tng Setup tren man hnh window phan mem se bat au cai at. * Co ba loai bieu tng Setup se c hien th.Kch double vao mot bieu tng tren hnh cua may tnh 3) Sau khi nhap double vao bieu tng Setup: se xuat hien ca so Welcome Kch Next e tiep tuc viec cai at sau khi oc va hieu cac phan hng dan tren. Kch Cancel e huy bo viec cai at. 4) Khi kch Next ' phan tren man hnh se xuat hien ca so Choose Destination Location: Tai ay ca so nay cho phep la chon ng dan cho chng trnh bang cach click vao [Browse]. Sau o go vao ng dan mi. Click vao Next e tiep tuc viec cai at chng trnh. Click vao Back e quay lai ca so trc o. Click vao Canel e huy bo viec cai at. A-7 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG Neu window khong hien th che o t ong, hay kch up vao o CD-ROM trong My Computer 13. 5) Xac nh ten th muc cua chng trnh Phan mem Training se c cai at trong th muc chng trnh nay hoac co the oi thanh ten th muc khac. Mot th muc cung ten se c ghi e len neu no ton tai. Kch vao "Next" bat au s cai at. 6) Hoan tat viec cai at Viec thc hien cai at khoang 10giay. Neu a lay a CD ra ngoai o CD-ROM hoac shut down may tnh cua ban trong khi ang cai at th phan mem se khong c cai at hoan chnh. Kch vao Finish e hoan tat viec cai at. Lay CD ra ngoai va cat vao hop cua no can than e dung khi can. Th muc chng trnh se c hien th Khi hoan tat viec cai at, Ca so se hien th bieu tng ben tay trai man hnh. 7) Th muc chng trnh se c hien th. Khi hoan tat viec cai at, Ca so se hien th bieu tng ben tay trai man hnh. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-8 KHOA IEN - Trng H Cong Nghiep TP.HCM Ban a hoan tat viec cai at cha? 14. Bat au e hoc lap trnh PLC Khi ong phan mem Training Hay m phan mem Training. Chon [Start] [Programs] [MELSOFT-FX Trainer] [FX-TRN-BEG-E]. Ghi chu: Khong s dung phan mem nay va phan mem MELSOFT GX developer cung luc. ang ky ngi s dung Khi phan mem c m, ca so ang ky ngi s dung se c hien th. Neu ngi dung co ang ky,Nhng bai tap a lam hoan tat thanh cong se c hien th tren thc n va iem cham se c them vao cho ngi dung o. ien vao cho trong ten va mat khau e ang ky lan au. Ten : Theo ky t ch cai va so 32 ky t hoac t hn Mat khau : Theo ky t so ... 8 ky t hoac t hn Neu a ang ky ngi s dung, chon la ten ngi dung lay trong thc n va vao mat khau. Neu mat khau khong phu hp, mot thong bao loi se xuat hien va mat khau phai c nhap lai Thc n chnh se khong s dung c. Hay ang ky lai ngi s dung mi neu mat khau b quen. Ngi s dung a ang ky se b xoa i khi chon "File" "Delete user information" t tren thanh cong cu. A-9 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG Neu ban khong muon ang ky ngi s dung, hay bo qua nhng hop e trong va kch vao Start 2.3 2.3.1 2.3.2 15. Cau hnh cua giao dien chnh Ban co the chon la mot bai tap t giao dien chnh Man hnh giao dien chnh So lng ngoi sao ch cap toc o kho Neu ban a ang ky ngi s dung, th iem thng se c hien th tren nut bai tap khi ban hoan tat no. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-10 KHOA IEN - Trng H Cong Nghiep TP.HCM T bai tap nao chung ta se bat au hom nay? Bang phan loai iem thng Nut nhan chuyen bai tap tren man hnh training So lng thi gian cac bai tap a c hoan thanh Nhng moi lien ket tong quan cho viec s dung phan mem training iem cua ban 2.4 16. Cau hnh cua man hnh training Mot bai tap khi c ban chon, se co vung lap trnh Ladder, khung mo hnh san xuat thc te, va bang ieu khien c trnh bay nh hnh di ay. Man hnh training A-11 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2.5 2.5 He thong may va bang ieu khien khac nhau cho s mo phong se hien th t ong qua moi bai tap. Chunh ta hay co gang thc hien chnh xac theo s ch dan . Thanh menu Bang van hanhBang hnh anh cac cong I/O e theo doi tnh trang chay trong PLC Vung soan thao chng trnh ladder Mo hnh 3D Khung ca so mo phong may thc te Ca so hng dan Bo ieu khien remote 17. Phm chon khong gian 3 chieu cua khung mo hnh Moi mot may c trnh bay trong moi bai tap se ong vai tro khac nhau . Ban co the chon hnh chieu cua may bang cach nhan nut [F] / [T] / [S] tren bo ieu khien ben ngoai hoac chon tren thanh menu trong muc "Tools" Nhng so thiet b a c gan cho tat ca cac a ch ngo vao va a ch ngo ra cua may se nhn thay mo phong tren mo hnh 3D. Danh sach cua cac cong I/O se c hien th khi chon "Edit" "I/O list" tren thc n mo phong. Nhng danh sach nay cung se tm thay trong muc bai tap cua tai lieu nay. V du cua danh sach I/O hien th FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-12 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.5.2 Hnh chieu canh Hnh chieu ng Hnh chieu bang 18. Bo ieu khien t xa Chuyen che o trong PLC thc te t chay sang dng . Bo ieu khien t xa [Click] Tr giup trong hoc tap Hien th hay an ca so ch ao [Edit ladder] Cho phep tao mi hoac sa oi mot chng trnh trong vung soan thao ladder. Chuyen che o trong PLC thc te t chay sang dng . [Write to PLC] Nap chng trnh cua ban a tao trong vung soan thao ladder vao PLC thc te. [Reset] Tr lai mo hnh may trang thai ban au. Tra lai hnh dang mo phong trong trng hp co nhng s co khong can en a xay ra. Khi tao PLC thc te. Khi tao lai nhng cong a ch ngo ra hoac nhng thiet b. (Cung giong nh hoat ong cua c cau chap hanh PLC c chuyen t che o STOP sang RUN [Run] Hien th man hnh ang hoc. Ch bao cac tnh trang giong nh "hoc" , "lap trnh" , "chay" [Main] Trnh bay lai thc n chnh, hoac lu gi chng trnh a c soan thao va sau o hien th thc n chnh. Nut chuyen Kch e i ti tiep tuc/ ti trang trc trong s hng dan. (Dung nhng nut nhan nay khi can ch bao trong trang) Bo ieu khien t xa co the hien th hoac an khi c chon "Tools" " Remote Control " . Vung Lap trnh ngon ng Ladder S dung vung nay e soan thao , khi tao , theo doi , lu gi va in nhng chng trnh. Nhng chi tiet c giai thch cua "CHNG TRNH LADDER" c trnh bay trong muc so tay hng dan nay. A-13 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2.5.3 2.5.4 19. Ca so hng dan Ca so hng dan trnh bay nhng muc tieu lap trnh, nhng bai hoc, nhng gi y, va nhng ch dan cho phan mem TRAINING V du cua bang ch dan FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-14 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.5.5 V du cua trang gi y V du cua trang au trong chng ke tiep Thay tr giao Hien th hay an trong ca so ch dan. Nut chuyen (dung khi nao c ch bao ve trang) Bang chng Thanhcuon 20. A-15 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 1) 2) No Yes 1) No Yes 1) No Yes 2) 2) Chng 1 Chng 2 Chng 3 Hng dan Hng dan Hng dan Gi y Gi y Gi y Trang gi y tr lai Trang gi y tr lai Trang gi y tr lai Ban a hieu? Ban a hieu? Ban a hieu? cuon Man hnh xac nhan Lap lai lan na Kch vao tren bo ieu khien t xa e cap nhan Kch vao [main] tren bo ieu khien t xa e tr ve menu 1) Gi y: Neu ban kch vao [hint] ban se chuyen en trang gi y, va quay tr ve khi ban kch vao [Back]. Chung a cung cap tat ca cac bai tap trong muc D,E va F. 2) Ban a hieu ch? Kch vao [yes] e chuyen en chng ke tiep. Kch vao [no] e tr lai chng au. Khi kch [yes] chng cuoi , no se hien th muc t anh gia. Cap nhat iem,va tr ve menu chnh Tr ve man hnh xac nhan Ghi chu : hop nay se khong c hien th neu ban la ngi s dung khong ang ky. 21. Bang mo ta cac cong I/O cua PLC ao Xanh la cay ch bao tnh trang PLC ang chay Mau xam ch bao tnh trang PLC ang dng Mau o ch bao trang thai ang ON Mau xam ch bao trang thai ang OFF 2.5.7 Bang ieu khien en bao Ket noi vi cac cong ngo ra cua PLC Cong tac van hanh c dung khi van hanh may trong mo hnh gia lap Cong tac Gi trang thai ON hoac OFF Dung chuot e chuyen oi ON va OFF Nut nhan Chuyen oi a ch ngo vao len ON khi nhan gi FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-16 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.5.6 22. Viet mot chng trnh Hay oc hai muc ch dan au tien, 'A: Bai hoc ve PLC series FX va B: Bai hoc can ban', Th t thc hien e viet mot chng trnh c ch ro trong bang hng dan. bai hoc cap o cao cac v du c cung cap; nhng khong ngoai tam cua ngi s dung. Chuan b e soan thao mot chng trnh Ladder Theo cac bc sau e soan chng trnh dang bac thang PLC luon che o RUN khi man hnh huan luyen hien ra.Viec soan thao chng trnh bac thang khong the thc hien che o RUN. 1) Kch [Edit ladder] tren bo ieu khien t xa Trang thai hien th t "RUN" sang "PROGRAM" 2) Kch vao vung soan thao ladder hoac kch vao [Edit ladder] tren bo ieu khien t xa e cho phep thc hien. Thanh tieu e se chuyen sang mau xanh. Khong the thc hien viet chng trnh khi thanh tieu e va thanh menu co mau xam. A-17 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2.6 2.6.1 Thc hien cho phep viet chng trnh khi thanh tieu e va thanh menu co mau xanh 23. oc bai giai mau ben ngoai mo hnh Cac dang Bai giai mau cho moi bai tap co the thong tin t bo nh hoac thiet b lu tr nh sau: 1) Kch vao [edit ladder] trong bo ieu khien t xa va phai c ch bao xac nhan {Program} 2) Chon "Help" "Ladder example" "Ladder example 1-5" tren thanh thc n mo phong. Toi a co en 5 bai giai mau cung cap cho mo hnh cua moi bai tap. Ban khong the la chon bai giai mau cho mo hnh khi hien th mau xam. GHI CHU : Neu ban sa oi mot bai giai mau cho mo hnh va ghi e len no, noi dung cua bai giai se c thay oi. Neu ban muon sa oi 1 bai giai mau, hay chon "Project" "Save As" e lu vi 1 ten khac. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-18 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.6.2 24. Thao tac xac nhan Sau khi viet chng trnh xong, chuyen o chng trnh vao bo PLC ao. Chuyen chng trnh vao PLC Kch vao {write to PLC}tren bo ieu khien cam tay Hoac chon "Online" "Write to PLC " tren menu Ladder e chuyen chng trnh ti PLC.Trong khi viec nap chng trnh c thc hien , ca so thc hien se c hien th nh hnh sau : Khi viec chuyen oi hoan tat, thong bao {Write completed. The simulation will start} Se c hien th. ieu chnh toc o cua mo phong Neu ban ang dung mot may v tnh co cau hnh manh, toc o hoat ong cua mo hnh mo phong co the qua nhanh so vi thc te ieu khien mong muon. Neu co thong thong bao "part does not stop in front of a sensor" hoac "input data is not received properly" hay chon la "Tools" "options" tren thanh menu ladder va giam bt toc o. No se x ly theo toc o a c ieu chnh. "High" co ngha la toc o hoat ong nhanh. Hay th hoat ong toc o trung bnh. Neu ban chon "Simple graphic mode" hnh nen trong mo phong o hoa 3 chieu se c huy bo . Tuy nhien, se co nhieu rac roi co the xuat hien trong mot vai bai tap khi can thiet co hnh nen. Trong "Simple graphic mode" toc o mo phong se cao hn. Neu co mot van e nao o xuat hien, hay huy la chon "Simple graphic mode" hoac giam bt toc o cua mo phong. A-19 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2.7 2.7.1 2.7.2 Kch vao {OK} e khi ong s mo phong mo hnh. 25. T anh gia qua chng trnh mo phong Neu ban la ngi s dung a ang ky, phan mem se cap nhat iem cua ban bat c khi nao khi mot bai tap a c thc hien thanh cong. Trong chng cuoi cua moi bai tap, mot hop thoai yeu cau xac nhan bai tap hoan thanh a thanh cong.ngi s dung co the anh gia c chng trnh bai tap mnh viet co thanh cong hay khong. Cap nhat them iem va quay tr ve thanh menu. (Neu ban ang chnh sa chng trnh ladder, thong bao "Do you want to save the ladder pro- gram? se hien th trang ke tiep." ) Bai tap co nut tang thng ' good ' va ' so lng thi gian hoan thanh' can phai c cap nhat. iem c cap nhat co the c xac nhan bi viec la chon " File " " Display High Score" tren thc n mo phong. iem Bo Sung se nhan c them neu ban hoan thanh nhng bai tap eu eu. iem co the c xoa t bang iem bang la chon " File " " delete user information " tren thc n mo phong. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-20 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.8 Tr ve trang t anh gia. Neu ban khong ang ky s dung, kch vao {main} tren bo ieu khien t xa e tr ve menu man hnh. Neu ban la ngi s dung a ang ky, kch vao nut [ ] tren bo ieu khien t xa Tr ve au chng Trang t anh giaTrong chng cuoi Ten ngi s dung Cap nhat iem Lp 26. Thoat khoi phan mem FX-TRN-BEG-E Ban co the ra khoi phan mem huan luyen bi viec kch [X] goc tren ben phai (cua) man hnh hoac la chon " File " " EXIT " Tren thc n mo phong. Neu ban ang soan thao lap trnh Ladder, hop thoai ben di ay se c hien th. A-21 KHOA IEN - Trng H Cong Nghiep TP.HCMFX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG 2.9 Lu gi chng trnh Ladder trong mot th muc a ch nh va thoat khoi phan mem. Thoat khoi phan mem ma khong lu gi chng trnh Ladder. Huy bo thao tac 27. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG A-22 KHOA IEN - Trng H Cong Nghiep TP.HCM 28. CAC DANG BAI TAP A: Hoc ve PLC ho FX (Learn the FX series PLC ) B. Cac bai hoc can ban C. Bai hoc thc hien de dang B-1 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Bai tap Chu e Mc o kho A-1 gii thieu ve cac loai PLC FX Cac ng dung cua phan mem mo phong qua cac ngo I/O 1 A-2 v du ng dung cua PLC FX Gii thieu ho PLC FX 1 A-3 hay th thiet lap mot chng trnh Bat au lap trnh PLC 1 oi tng ieu khien ieu khien ca ieu khien ca ieu khien bang tai Bai tap Chu e Mc o kho Noi dung ieu khien B-1 cac ngo I/O c ban trong chng trnh Tm hieu ve cac ngo I/O trong chng trnh 1 ieu khien en B-2 mot chng trnh c ban Tm hieu ve ngo ra va lenh SET- RST 1 ieu khien en B-3 chng trnh ieu khien thiet lap bang thi gian Tm hieu ve dang chng trnh khoa lan, ung o 1 ieu khien en giao thong vi hai en n B-4 oc cac trang thai ngo vao Tm hieu ve lenh tac ong canh len, xuong cua xung 2 ieu khien bang tai Bai tap Chu e Mc o kho Noi dung ieu khien C-1 van hanh c cau bang timer c ban Tm hieu ve timer on delay 1 ieu khien ca C-2 ng dung timer trong chng trnh 1 Tm hieu ve off delay timer va timer xung 1 ieu khien ca C-3 ng dung timer trong chng trnh 2 ieu khien nhap nhay dung timer 2 ieu khien en giao thong vi hai en n C-4 chng trnh em can ban Tm hieu ve hoat ong em cua counter 2 ieu khien bang tai 29. D: Bat au cac bai hoc th thach E: Thc hien chng trnh mc o trung bnh FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-2 KHOA IEN - Trng H Cong Nghiep TP.HCM Bai tap Chu e Mc o kho Noi dung ieu khien D-1 Nhan tin Tm hieu ve s ieu khien han tin t ong trong nha hang 1 ieu khien khu vc phuc vu trong nha hang D-2 Che o hoat ong cua cam bien quang en bat sang khi thay oi tng 1 ieu khien en chp D-3 ieu khien mach en giao thong ieu khien mach en giao thong sang tat theo chu ky 1 ieu khien en giao thong vi ba en tn hieu D-4 Sap xep linh phu kien theo kch c (I) Sap th tu vat t bang cach dung cam bien 1 Bang tai va robot cung cap D-5 Tat va m bang tai Tat va m bang tai trong mot c cau san xuat 2 ieu khien bang tai D-6 Hoat ong cua bang tai ieu khien bang tai thong qua cac sensor d lieu 2 ieu khien bang tai Bai tap Chu e Mc o kho Noi dung ieu khien D-1 Nhan tin Tm hieu ve s ieu khien han tin t ong trong nha hang 1 ieu khien khu vc phuc vu trong nha hang D-2 Che o hoat ong cua cam bien quang en bat sang khi thay oi tng 1 ieu khien en chp D-3 ieu khien mach en giao thong ieu khien mach en giao thong sang tat theo chu ky 1 ieu khien en giao thong vi ba en tn hieu D-4 Sap xep linh phu kien theo kch c (I) Sap th tu vat t bang cach dung cam bien 1 Bang tai va robot cung cap D-5 Tat va m bang tai Tat va m bang tai trong mot c cau san xuat 2 ieu khien bang tai D-6 Hoat ong cua bang tai ieu khien bang tai thong qua cac sensor d lieu 2 ieu khien bang tai 30. F: Thc hien chng trnh vi mc o kho (Advanced Challenge ) 1. A : GII THIEU VE HO LAP TRNH FX B-3 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Bai tap Chu e Mc o kho Noi dung ieu khien F-1 ieu khien ca t ong Van hanh ca t ong ong/m 3 ieu khien ca F-2 chuyen ong v tr trong c cau ieu khien cac san pham i qua cac khu vc cho phep thong qua cac sensor 3 ieu khien cac c cau dng F-3 bo phan phan phoi san pham Phan phoi cac dang san pham tuy theo kch thc 3 ieu khien bang tai va pittong F-4 phan loai bo phan h hong Kha nang nhan biet san pham tot/xau trong day truyen thong qua cam bien 3 ieu khien bang tai, may khoan va robot cung cap san pham F-5 ieu khien chuyen ong quay thuan/nghch Chuyen ong cua bang tai ti hoac lui 3 ieu khien bang tai, may khoan va robot cung cap san pham F-6 ieu khien thang may S dung thang may 3 cap 3 ieu khien bang tai va thang may F-7 kha nang nhan biet va cung cap san pham cua sensor Nhan biet san pham thong qua sensor 4 ieu khien trang thai hoat ong cua canh tay robot On/Off A-1 Gii thieu ve cac loai PLC FX A-2 ng dung ve chung loai PLC FX A-3 Cach thc thiet lap mot chng trnh 31. 1.1 Gii thieu ve cac loai PLC FX 1.1.1 Giao dien luyen tap 1.1.2 Nguyen tac hoat ong Kch [ ] Hoac [ ] quay tr lai ti man anh trc ay hoac e i ti man anh tiep theo. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-4 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang A- Gii thieu ve cac loai PLC FX Bai tap A-1 Gii thieu ve cac loai PLC FX Muc ch Hoc vien hieu c thong tin c ban Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) 32. 1.1.3 Nhng iem chnh cua bai hoc va nhng ac tnh ieu khien 1) Cai g la ieu khien tuan t ? " ieu khien tuan t " ieu nay noi chung can phai mat mot thi gian mi quen thuoc nhng ieu khien tuan t xay ra xung quanh chung ta moi ngay. co le Ban a nhn thay hoac a tiep xuc vi nhieu oi tng hoat ong di viec ieu khien tuan t. Trong t ien Oxford Advance Learner's Dictinary of Current Engish ( trng ai hoc Oxford) t " sequence " c giai thch nh sau : A/.Dong nhng s kien B/.Nhng ng noi cac bien co, y tng . C/.Th t trong o chung xay ra D/.Co 3 hoac nhieu bc ke tiep anh gia lan nhau Tren c s c ban, chung ta co the xem " sequence " co y ngha " S ke tiep " Va " Th t ma chung xuat hien cu the xay ra ". y ngha (cua) thuat ng " ieu khien noi tiep " c dan xuat ra t " S noi tiep ", Va Ch rang ieu khien (cua) nhng thao tac theo th t c nh trc. T " ieu khien " ch rang " nhng cach thc ma may moc, van van. c hoat ong hoac ieu chnh ". Chung ta hay xem mot v du quen thuoc va nhn thay e lam sao PLC c s dung. Trong bc tranh ben di, mot cai ca c m va ong. Ngi i theo thc hien can thiet va thao tac cai ca e cho phep mot o to i thong qua. Viec m va viec ong ca ( bang tay) B-5 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 33. 2) S o hoat ong cua PLC Tren trang trc ay, ngi m va ong cai ca bang tay. Cai ca co the t ong c m va ong khi s dung PLC. Man anh ben di cho thay khai niem s noi tiep, " nh trc th t thc hien(cua) cong viec ". ieu khien Noi tiep ch bao " e cho s Noi tiep lap lai t ong Va Chnh xac nhieu lan nh mong muon ". Thc hien s dung PLC, Cai ca co the t ong m va ong. ieu khien t ong m / ong ca s dung PLC FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-6 KHOA IEN - Trng H Cong Nghiep TP.HCM 34. 3) Muc tieu ieu khien va ac tnh ieu khien Trong v du ca t ong trc ay, nhan biet ieu khien la " nhng cam bien phat hien nhng phan t chuyen ch bang xe sap en " Va " Nhng mo t e m va ong ca ". PLC co the ieu khien a dang vi moi thiet b. Moi quan he gia nhng ngo vao va nhng ngo ra Nhng bo phan cua thiet b lien quan ieu khien (th) chu yeu c phan loai vao mot trong hai dang nh s trnh bay ben di ay. - Nhng thiet b ieu khien bi thao tac vien Nh nhng cong tac va nhng nut nhan - Nhng thiet b ma ch bao tnh trang may Nh nhng cam bien. - Nhng thiet b ma phat hien ra tnh trang may Nh nhng cai en va nhng coi (chuong) - Nhng thiet b thc hien lam viec Nh nhng mo t va nhng van kh nen Moi a ch " input " va " output " se c ket noi ti PLC Thao tac (cua) moi thanh phan thiet b c xac nh bi chng trnh noi tiep trong PLC. S phan loai chnh ieu khien V du nhng au vao va nhng au ra trong PLC ( trong n v thiet b ieu khien) V du nhng au vao va nhng au ra trong PLC ( trong n v cua may) B-7 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Trong ieu khien PLC, chung c lu tam ti Nh ' nhng ieu kien ' cho thao tac, va o la nhng ngo vao trong PLC Trong ieu khien PLC, chung c lu tam ti Nh Cai g ' c ieu khien ', Va goi la nhng ngo ra PLC. 35. 4) Cau hnh (cua) phan mem huan luyen Trong phan mem huan luyen nay, nhng phan may nh nhng cam bien nhay hoac nhng mo t bang tai Trong s mo phong o th 3 chieu (th) a c noi day cho PLC thc te. Viet mot chng trnh xac nhan rang nhng thuyet minh ieu khien ch ra trong s ch ao vi Nhng so thiet b c gan au vao ( X) Va au ra ( Y). Nhng may trong s mo phong o th 3 chieu se tac dung theo chng trnh c tai xuong. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-8 KHOA IEN - Trng H Cong Nghiep TP.HCM Nhieu bai tap co san sang trong phan mem Co gang giai quyet chung tat ca PLC va Thiet b ngoai vi Man hnh hoc tap 36. 1.2 ng dung ve chung loai PLC FX 1.2.1 Giao dien luyen tap 1.2.2 Nguyen tac hoat ong Kch [ ] Hoac [ ] quay tr lai ti man anh trc ay hoac e i ti man anh tiep theo. 1.2.3 Nhng iem chnh cua man hnh va nhng thuyet minh ieu khien PLC c s dung cho nhieu muc ch trong nhieu lnh vc. Chung ta hay xem nhieu ng dung tren man hnh. Ban can phai nhn thay thiet b tac dung bi s ieu kien PLC. Sau khi xac nhan nhng v du ng dung, hay th thc hien e tm thay s s dung hoan hao trong PLC. B-9 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang A- Gii thieu ve cac loai PLC FX Bai tap A-2 ng dung ve chung loai PLC FX Muc ch Khach quan xem nhng bai hoc gii thieu Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) 37. 1.3 Cach thc thiet lap mot chng trnh 1.3.1 Giao dien luyen tap 1.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-10 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang A- gii thieu ve cac loai PLC FX Bai tap A-2 cach thc thiet lap mot chng trnh Muc ch Khach quan xem nhng bai hoc gii thieu Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong X0 Cam bien ON khi hang chuyen en, bang tai dng Ngo vao Y0 Lenh cap hang Cap hang khi Y0 ON. Mot chu ky khac lai bat au Y1 Bang tai quay thuan Quay thuan khi Y1 ON Ngo ra Y2 Van ay C cau ay khong the c dng khi ang hoat ong 38. 1.3.3 Nhng iem chnh cua bai hoc hoc va thuyet minh ieu Khien Nh mot bc au tien Chung ta hay i theo s ch ao va nhn thay lam sao PLC lam viec. - Xac nhan rang nhng thao tac thay oi theo nhng chng trnh. * Nhng may va PLC tren man anh la mo phong ao va khong bao gi b h hai. Khong do d e s dung chung! - Neu ban thch hoc nhng chi tiet (cua) nhng thao tac cha khoa cho lap trnh ladder, tham chieu ti chng trnh Ladder trong so tay nay. B-11 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 39. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-12 KHOA IEN - Trng H Cong Nghiep TP.HCM 40. 2. B: CAC BAI HOC CAN BAN: B-13 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM B-1 Chng trnh vi cac ngo I/O c ban B-2 Mot chng trnh c ban B-3 Chng trnh ieu khien u tien B-4 oc trang thai cua ngo vao 41. 2.1 Cac ngo I/O c ban trong chng trnh 2.1.1 Giao dien luyen tap 2.1.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-14 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang B: S dung cac ngo ieu khien Bai tap B-1 chng trnh vi cac ngo I/O c ban Muc ch chng trnh hoc ve cac cong ngo vao va ngo ra. Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong Y0 en bao hoat ong en xanh sang khi Y0 len ON Y1 en bao dng en vang sang khi Y1 len ONNgo ra Y2 en bao loi en o sang khi Y2 len ON 42. 2.1.3 Nhng iem Chu Y Khi lap trnh Va ieu Khien 1) Ngo vao, ngo ra va nhng thiet b khac. PLC c trang b cac ngo vao va cac ngo ra, cac ngo nay c noi vi bo ieu khien cung vi cac thong so c cai at t cac thiet b phu tr . Thiet b bao gom nhng g ? Bo ieu khien nh nhng bo chuyen oi va cac tn hieu en c noi vao bo PLC vi cac ky hieu nh X, Y, M, T , C va c an nh nh la ten cua no. Moi ky hieu ai dien mot ham chc nang khac nhau, co kem day so e xac nh a ch cua no. Nhng ky hieu va day so c quy nh ben trong bo PLC la nhng ky hieu va so cua thiet b, nh vay cac thiet b eu c at ky hieu va so nh tren. Ngo vao : c ky hieu va at so bat au t X000 Nhng ngo vao la nhng tn hieu ma bo PLC nhan biet t cac thiet b ngoai ( nh cac bo chuyen oi va cac cam bien) va ky hieu la " X ". Day so c an nh bat au t ' 000 '. Ngo ra : c ky hieu va at so bat au t Y000 Nhng ngo ra la ket qua xuat ra t bo PLC e ieu khien thiet b ngoai (nhng en va nhng mo t) va c ky hieu la " Y ". Day so c an nh bat au t ' 000 '. Rle phu tr : c ky hieu va at so bat au t M0 Nhng rle phu (con c goi nhng r le noi bo) c cai at ben trong bo PLC va ky hieu cho cac thiet b phu tr la "M" Nhng rle phu rat tien li khi s dung ong thi 2 hoac nhieu ngo ra, (Muc 3). Thiet b nh thi gian : c ky hieu va at so bat au t T0 Nhng thiet b nh thi gian c cai at ben trong bo PLC va ky hieu la " T ". Nhng thiet b nh thi gian c cai at thi gian tr hoan trc khi nhng s tiep xuc c ch nh cua no cung c m hoac ong phu thuoc vao nhng lenh chng trnh. Nhng thiet b nh thi gian sec hoc trong nhng bai tap trong pham tru C:Bc nhay Bo em : c ky hieu va at so bat au t C0 Nhng bo em c cai ben trong bo PLC va ky hieu la " C ". Nhng bo em c s dung e em tang dan hoac giam bt mot ai lng c cho trc va m sau hoac ong lai (chuyen oi trang thai) nhng s tiep xuc c ch nh bo em, phu thuoc vao nhng lenh chng trnh. Nhng bo em se c hoc trong nhng bai tap trong pham tru ' C : Bc - nhay '. - Thiet b so va so cua cac thiet b. Nhng ngo vao (X) va nhng ngo ra (Y) c bieu th trong bat phan (c so tam bat phan) - X000 X007, X010 X017, Y000 Y007, Y010 Y017, Nhng rle phu tr ( M), nhng thiet b nh thi gian ( T) va bo em ( C) c bieu th trong thap phan. M0 M10, M11, M12 So lng thiet b san co thay oi phu thuoc vao bo PLC. Cho so lng thiet b san co trong thc te PLC, Tham chieu ti phu luc. B-15 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 43. 2) Ch dan tao tiep iem va cuon day Giong nh ban a hoc Gii thieu ve ho lap trnh FX (Learn the FX series PLC ) , tat ca thiet b a ch INPUT va OUTPUT tng thanh phan se c noi en PLC. S hoat ong cua tng thiet b ieu khien rieng le c ieu khien bi s ket noi cac thiet b cua chng trnh ladder ben trong PLC. Cong viec ket noi cac thiet b cua chng trnh ladder ben trong PLC c goi la s lap trnh. Trong phan mem nay, viet chng trnh ladder (lap trnh) co the de dang c thc hien s dung nhng ky hieu theo s ch dan. Tiep iem La tiep iem luon luon m khi trang thai tnh, va ong khi nhan c tn hieu t thiet b ngo vao. La tiep iem luon luon ong khi trang thai tnh, va m khi nhan c tn hieu t thiet b ngo vao. Out (Cuon day) c ieu khien (len trang thai ON ) khi mot trong tat ca cac ng dan en cuon day qua cac tn hieu ngo vao trang thai ong. V du mot chng trnh c viet:(c hng dan trong chng 1). Tap lenh : ham lenh Trong PLC, Tiep xuc vi nhng ky hieu va a ra vung soan thao nhng ky hieu c ch dan thc hien ieu khien bang " Nhng ham lenh ". FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-16 KHOA IEN - Trng H Cong Nghiep TP.HCM NO contact NC contact X020 Y000 X020 Y001 Yellow lamp X021 Y002 Red lamp X024 X022 LD OUT AND OR OR AND Tuyen thang ng ben trai c dung e bat au viet mot chng trnh ben trong. 44. 3) Lam the nao e viet tao cac cuon day song song va cac role phu tr. Tao nhng cuon day song song co ngha la muon xay dng mot chng trnh vi hai hoac nhieu nhanh cho cung hoat ong thiet b a ch ngora. Neu ban c muon rang ti ieu khien mot au ra ong nhat vi boi so nhng ieu kien nhap vao, co gang ket hp nhng ieu kien c nhap vao nh trong chng trnh ben di. V du viet tao cac cuon day song song Nhng meo nho e s dung nhng rle phu Nhng rle phu tien li khi viec tranh kep xoay tron oc Nh Hien ra hoac khi viec viet tng t nhap vao nhng ieu kien c mot ta ben di. Nhng tap lenh LD (load): Khi tao tiet iem thng m LDI (load inverse): Khi tao tiep iem thng ong AND (and): Noi tiep tiep iem thng m ANI (and inverse): Noi tiep tiep iem thng ong OR (or ): Song song tiep iem thng m ORI (or inverse): Song song tiep iem thng ong OUT (out) : Khi tao cuon day ieu khien B-17 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM X000 Y000 X002 Y000 X000 Y000 X002 hay X000 M0 X002 M1 M0 Y000 M1 * ia ch ngo ra Y0 c ieu khien bi hai a ch ngo vao X0 va X2 V du cach s dung cac role phu tr X000 Y000 X000 M0 M0 Y000 M0 Y001 M0 X001 X002 X003 X000 Y001 X001 X002 X004 X000 Y002 X001 X002 X005 Same set of contacts are used. X001 X002 X003 X004 X005 Y002 V du khi khong dung role phu V du khi dung role phu Cac tiep iem s dung giong nhau S dung tiep iem cua role trung gian Chng trnh c n gian hoa 45. FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-18 KHOA IEN - Trng H Cong Nghiep TP.HCM 2.2 Cac ngo I/O c ban trong chng trnh 2.2.1 Giao dien luyen tap 2.2.2 Bang khai bao thiet b Dang B: S dung cac ngo ieu khien Bai tap B-2 mot chng trnh c ban Muc ch Hoc viet chng trnh t gi ngo ra va chng trnh dung ham SET /RST. Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong Y0 en bao hoat ong en xanh sang khi Y0 len ON Y1 en bao dng en vang sang khi Y1 len ONNgo ra Y2 en bao loi en o sang khi Y2 len ON 46. 2.2.3 Nhng iem Chu Y khi lap trnh Va ieu Khien 1/. Tao tiep iem duy tr cua ngo ra Tiep iem duy tr cua ngo ra thng xuyen c s dung trong lap trnh PLC. Tiep iem duy tr se b tac ong khi cuon day cua ngo ra c cung cap nang lng lan au tien bi cac cong a ch ngo vao va no se mai trang thai ON cho en khi cuon day b h mach. B-19 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM X020 Y000 Y000 (input condition) X020 Y000 Y000 1 2 X020 Y000 Y000 X024 Attention! X020 Y000 X024 OFF ON X020 Y000 X024 SET Y000RST Viet tiep iem duy tr cua ngo ra Y000 song song vi a ch ngo vao X20 Khi kch vao X20 (ON), Y0 co ien c ieu khien theo ng dan 1. Khi X20 =0 (off), Y0 van hoat ong qua tiep iem t gi cua chnh notheo ng dan 2. Tao tiep iem thng ong X24 noi e tuyen ng 1va 2 ngng lam viec tiep iem t duy tr m ra va khong hoat ong. X24 la tiep iem thng ong , no se m ra khi b tac ong va cuon day se ngng hoat ong. Hoat ong V du tao tiep iem duy tr cua ngo ra: 2/. Gi mot trang thai au ra s dung nhng phng phap khac Nhng huan th khac cung cap trong PLC co the s dung e de dang gi trang thai au ra. V du cua tap lenh SET (set) va RST (reset) Khi X20 =1 (b tac ong), cuon day Y0 hoat ong Khi X20= 0 trang thai cuon day Y0 hoat ong Khi X24 =1 (b tac ong), cuon day Y0 ngng hoat ong V du ngat cong a ch ngo ra : 47. 2.3 Chng trnh ieu khien u tien 2.3.1 Giao dien luyen tap 2.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-20 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang B: S dung cac ngo ieu khien Bai tap B-3 chng trnh ieu khien u tien Muc ch Hoc viet chng trnh t gi ngo ra va chng trnh dung ham SET /RST. Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong Y0 en tn hieu o en o sang khi Y0 len ON Ngo ra Y1 en tn hieu xanh en xanh sang khi Y1 len ON 48. 2.3.3 Nhng iem Chu Y Khi lap trnh Va ieu Khien 1) Chng trnh Cai at khoa lan ( trong o mc u tien c dung cho a ch ngo vao au tien) Chng trnh cai at khoa lan c s dung e u tien cho mot a ch ngo vao tac dung trc e tranh bat ky s gian oan khong can en nao bi thao tac khac. Nguyen ly Cai at khoa lan trong chng trnh thng c s dung e ieu khien mach quay thuan nghch, ao chieu cho nhng mo t Hoac ong m trang thai cho van solenoid e bao ve an toan cho thiet b. V du: Dung tiep iem thng ong Y1 at noi tiep vi cuon day Y0. Dung tiep iem thng ong Y0 at noi tiep vi cuon day Y1. V du trnh bay gian o cai at khoa lan Y0 va Y1 de khong bao gi c kch ong thi. *A: Y0 hoat ong khi X24=1, Y1 se khong bao gi hoat ong khi bat X25 (X25=1). *B: Khi X24=0 th Y0=0, khi bat X25 (X25=1) Y1 se hoat ong. *C: Y1 hoat ong khi X25=1, Y0 se khong bao gi hoat ong khi bat X24 (X24=1). 2) Chng trnh khoa lan (dung u tien cho cac loai a ch ngo vao sau cung) Chng trnh Cai at khoa lan v du 1, a trnh bay mc u tien au tien c c dung cho a ch ngo ra. Tuy nhien, mc u tien co the tng t c a cho ieu kien c nhap nhap a ch ngo vao (ma) v du sau a tr thanh s that. V du : B-21 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM X024 Y000 X025 Y001 Y000 Y001 Interlock program X024 Y000 X025 Y001 *A *B *C X020 Y000 Y000 X021 X021 Y001 Y001 X020 Interlock program Mi chu y rang neu hoac X20 c nhap vao hoac X21 Se c gi, mc u tien c a cho au vao au tien.Neu ban muon a cho cho mc u tien lan cuoi c nhap vao ben trong trng hp nay, th s dung ch dan nhan dang canh giai thch trong bai tap tiep theo. Khi X20=1 th Y0 =1 va Y1=0 Khi X21=1 th Y1= 1 va Y0=0 49. 2.4 Tm hieu ve cac thiet b ngo vao 2.4.1 Giao dien luyen tap 2.4.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-22 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang B: S dung cac ngo ieu khien Bai tap B-4 tm hieu ve cac thiet b ngo vao Muc ch Hoc tat ca nhng s ch dan ve s tac ong cua xung canh dng va xung canh am. Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong X0 Khi ong cua robot ON khi robot iem bat au Ngo vao X3 Cam bien ON khi mon o/bo phan c do thay Y0 ieu khien cap hang Mot thung hang se c cung cap khi Y0 len ON. Mot chu ky tien hanh bat au. Y1 Bang tai quay thuan Di chuyen quay thuan khi Y1 len ON Y2 Bang tai quay nghch Di chuyen quay nghch khi Y2 len ON Y3 Coi bao Phat tieng khi Y3 len ON Y5 en o Sang khi Y5 len ON Y6 en xanh Sang khi Y6 len ON Ngo ra Y7 en vang Sang khi Y7 len ON 50. 2.4.3 Nhng iem Chu Y Khi lap trnh Va ieu Khien 1) Canh xung Ngo vao / ch tac ong ngay khi gap canh xung Chung ta hay hoc nhng lap trnh ma ch tac dung khi a ch au vao nhan c xung. No c dung e ieu khien khi a ch ngo vao khong co tiep iem t gi ong hoac m V du : X24 la cong tac ieu khien co trang thai ON hoac OFF. Tuy nhien lenh PLS c s dung ay nen tac ong len cuon day role trung gian M0 khi nhan xung canh dng t a ch X24 ch vi 1 chu ky quet n. Kch vao nut nhan X20, khi o lenh PLF c s dung ay nen tac ong len cuon day role trung gian M1 nhan xung canh am t a ch X20 ch vi 1 chu ky quet n. a ch ngo vao X024 hoac X020 nhap vao c at len ON/OFF bi lenh PLS hoac PLF, trang thai au ra tac ong t gi cho Y00 / Y001 va Y006 co the b ngng lam viec bi a ch ngo vao (ca) X021. 2) Tiep iem canh xung cua thiet b Co loai lenh cho cac loai tiep iem canh xung ma' tiep iem ong m trong choc lat. V du : Chng trnh trnh bay tren s dung tap lenh PLS va PLF se hoat ong giong nh s o trnh bay di ay dung ky hieu tiep iem xung canh dng va xung canh am. B-23 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM M0 Y001 Y001 X021 M1 Y000 Y000 X021 X024 M0PLS X020 M1PLF Y006 X024 Y001 Y000 X021 X020 Y000 Y001 X021 Y006 rising edge detection falling edge detection 51. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-24 KHOA IEN - Trng H Cong Nghiep TP.HCM 52. 3. C: DE DANG THC HIEN B-25 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM C-1. Mach nh th c ban C-4. Mach em c banC-3. Mach ng dung nh th 2 C-2. Mach ng dung nh th 1 53. 3.1 Hoat ong bo nh th c ban 3.1.1 Giao dien luyen tap 3.1.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-26 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang C- Nang cao Bai tap C-1. Hoat ong bo nh th c ban Muc ch Hoc chc nang bo nh th ong tre Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong X0 Gii han di ON khi ca cham en gii han di Ngo vao X1 Gii han tren ON khi ca cham en gii han tren Y0 Lenh nang ca Khi Y0 ON, ca di chuyen len tren Y1 Lenh ha ca Khi Y1 ON, ca di chuyen xuong Y5 en o Sang khi Y5 ON Y6 en xanh Sang khi Y6 ON Ngo ra Y7 en vang Sang khi Y7 ON 54. 3.1.3 Cac iem lu y khi ren luyen va ac tnh ieu khien 1) Hoat ong c ban cua bo nh th Bo nh th trong PLC c dien at bang so cua bo nh th va gia tr cai at. Gia tr cai at : hien th he thap phan. K c at trc gia tr nay. Gia tr hien thi : tang dan t 0 en gia tr cai at. (Xem gia tr nay bang cach nhap vao "Online" "Monitor" khung soan thao chng trnh Ladder) Ngo ra c ieu khien bi tiep iem cua bo nh th se gi trang thai ON trong khoang thi gian cai at sau khi ngo vao chuyen sang ON. (Bo nh th ong tre). Neu bo nh th b ngng hoat ong trc khi no at en gia tr cai at th gia tr hien hanh se tra lai 0 (xem hnh tren) Khi bo nh th at en gia tr cai at ( ), gia tr hien hanh khong thay oi (tr thanh hang so) va tiep iem cua T0 chuyen sang ON ( ). Khi ngo vao kch hoat bo nh th chuyen sang OFF th tiep iem cua T0 cung chuyen sang OFF va gia tr dong b xoa ( ). Cach xac nh gia tr cai at phu thuoc vao so thiet b. ( tham khao muc luc.) V du, T0 la bo nh th co n v thi gian la 100ms (0.1s). Neu gia tr cai at la 'K30' th hoat ong se bat au sau 3s (100ms 30 = 3000ms = 3s). 2) M va ong ca s dung bo nh th Khi nut nhan X020 bat sang ON, bo nh th T0 hoat ong. Sau 3s, Y000 chuyen sang ON (ca c m ) Khi nut nhan X021 bat sang ON, bo nh th T1 hoat ong. Sau 4s, Y001 chuyen sang ON (ca c ong lai) B-27 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM X020 T0 T0 Y000 K30 15 Cong tac bo nh thi Gia tr cai at Gia tr hien thi X020 OFF ON 0 15 0 0 0 30 30 OFF ON OFF ON Y0 *A *B *D *C Gia tr hien thi cua T0 Tiep iem cua T0 X020 T0 T1 Y001 T0 Y000 X021 T1 K30 K40 55. 3.2 Chng trnh ng dung bo nh th 1 3.2.1 Giao dien luyen tap 3.2.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-28 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang C- Nang cao Bai tap C-2. Chng trnh ng dung bo nh th 1 Muc ch Hoc chc nang bo nh th tat tre va bo nh th xung Mc o kho 1 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong X0 Gii han di ON khi ca cham en gii han di Ngo vao X1 Gii han tren ON khi ca cham en gii han tren Y0 Lenh nang ca Khi Y0 ON, ca di chuyen len tren Y1 Lenh ha ca Khi Y1 ON, ca di chuyen xuong Y5 en o Sang khi Y5 ON Y6 en xanh Sang khi Y6 ON Ngo ra Y7 en vang Sang khi Y7 ON 56. 3.2.3 Cac iem lu y khi ren luyen va ac tnh ieu khien 1) Bo nh th tat tre Sau khoang thi gian cai at, bo nh th chuyen ngo ra sang OFF. Khi nut nhan X20 bat sang ON, Y005 chuyen len ON nh ng ke A. Khi nut nhan X20 bat sang OFF, Y005 c khoa va bo nh th T1 chuyen sang ON nh ng ke B. Sau khi gia tr cai at cho bo nh th T1 troi qua (K30 = 3s), C chuyen sang OFF va ngo ra Y005 va T1 chuyen sang OFF. 2) Bo nh th xung Bo nh th gi ngo ra trang thai ON trong khoang thi gian cai at. (Tham ch neu ngo vao bo nh th c gi trang thai ON, ngo ra cung chuyen sang OFF sau khoang thi gian cai at). Khi nut nhan X021 bat sang ON, Y006 va T2 chuyen len ON nh ng ch dong A. X021 chguyen sang ON tc thi bi canh tac ong len. Tham ch neu ngo vao X021 c gi trang thai ON th tiep iem cung chuyen sang OFF. Ngo ra c t gi cho phep Y006 va T2 gi trang thai ON nh ng ch dong B. Sau khi gia tr cai at cho bo nh th T2 troi qua (K50 = 5s), C chuyen sang OFF va sau o ngo ra Y006 va T2 chuyen sang OFF. 3) Chieu sang en s dung cac bo nh th Khi cong tac X020 bat sang ON, en o Y005 bat sang. Sau 3s (T1), en o tat. Khi cong tac X021 bat sang ON, en xanh Y006 bat sang. Sau 5s (T2), en xanh tat. (Cong tac X021 van gi trang thai ON). B-29 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM X020 Y005 Y005 A B T1 X020 T1 K30 C B X020 Y005 Gia tr cai at cua T1 (3s) X021 Y006 Y006 A B T2 T2 K50 C A B X021 Y006 Gia tr cai at cua T2 (5s) X020 Y005 Y005 T1 X021 Y006 Y006 T2 T1 K30 T2 K50 X020 57. 3.3 Chng trnh ng dung bo nh th 2 3.3.1 Giao dien luyen tap 3.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-30 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang C- Nang cao Bai tap C-3. Chng trnh ng dung bo nh th 2 Muc ch Hoc chng trnh nhap nhay thi hanh bang bo nh th Mc o kho 2 (*) iem so (lp) 80 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong Y0 Tn hieu en o Khi Y0 ON, en bat sang Ngo ra Y1 Tn hieu en xanh Khi Y1 ON, en bat sang 58. 3.3.3 Cac iem lu y khi ren luyen va ac tnh ieu khien 1) Mach nhap nhay Hai bo nh th ieu khien ngo ra ON - OFF tai cac khoang thi gian cai at. Khi cong tac X024 bat sang ON, ngo ra T3 chuyen len ON nh ng ch dong A. Sau 2s (gia tr cai at K20 trong T3), T3 c ch bi dong B chuyen sang ON. Y001 va T4 chuyen sang ON nh ng ch dong C. Sau 4s (gia tr cai at K40 trong T4), tiep iem D chuyen sang OFF va v vay T3 mat ien nh ng ch dong A. Trong khi cong tac X024 gi trang thai ON, Y001 se lap lai chu ky 2s tat va 4s sang. 2) Nhap nhay cac en tn hieu Trong chng trnh tren, Y001 nhap nhay 2s tat va 4s sang trong khi cong tac X024 c bat. B-31 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM T3 T4 C Y001 B C X024 T3 A T4 D K20 K40 X024 OFF ON OFF ON Y001 T3 T4 T3 T3T4 2 sec 4 sec 2 sec 2 sec4 sec Khi X024 chuyen xuong OFF, ngo ra b ngat 59. 3.4 Chng trnh em c ban 3.4.1 Giao dien luyen tap 3.4.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-32 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang C- Nang cao Bai tap C-4. Chng trnh em c ban Muc ch Hoc phng phap ieu khien s dung cac bo em Mc o kho 2 (**) iem so (lp) 110 (lap trnh c ban) Dang a ch thiet b Ten thiet b S hoat ong Ngo vao X0 Cam bien ON khi san pham c phat hien cuoi bang chuyen phai Y0 Lenh cung cap Khi Y0 ON, en ch th tren man hnh bat sang va ngi van hanh se cung cap san pham Y1 Bang tai di chuyen ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc. Y3 Tn hieu en o Khi Y3 ON, en bat sang Y4 Tn hieu en xanh Khi Y4 ON, en bat sang Ngo ra Y5 Tn hieu en vang Khi Y5 ON, en bat sang 60. 3.4.3 Cac iem lu y khi ren luyen va ac tnh ieu khien 1) Hoat ong bo em c ban Gia tr cai at : hien th he thap phan. K c at trc gia tr nay. Gia tr hien thi : tang dan t 0 en gia tr cai at. (Xem gia tr nay bang cach nhap vao "Online" "Monitor" khung soan thao chng trnh Ladder) Reset : a gia tr cua bo em hien thi tr ve 0, va at cac tiep iem cua bo em trang thai OFF (lenh RST) Cho moi ngo vao em c nhan ( *A ), gia tr hien thi cua bo em c tang len 1. Khi gia tr hien thi at en gia tr cai at, tiep iem cua bo em chuyen sang ON. (*B). Sau khi gia tr hien thi at en gia tr cai at, gia tr hien thi se khong thay oi tham ch neu ngo vao em (*C) c bat ON va OFF th cac tiep iem cua bo em van ON (*B). Khi lenh reset bo em chuyen sang ON, gia tr hien thi cua bo em tr ve 0 (RST) va cac tiep iem chuyen sang OFF. Trong khi lenh reset van gi ON th bat c ngo vao em nao cung khong c em (*E). Khi lenh reset bo em chuyen sang OFF, ngo vao em c em. Tuy nhien, neu lenh reset bo em chuyen sang ON trc khi gia tr hien thi cua bo em at en gia tr cai at th gia tr hien thi c a ve 0 va v vay tiep iem cua bo em van khong chuyen sang ON (*F). B-33 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM C0 C0 Y003 K5 2 C0RST Gia tr cai at Gia tr hien thi Lenh RESET bo em Ngo ra c ieu khien bi tiep iem bo em Ngo vao em Ngo vao Reset OFF ON 0 1 2 3 4 5 OFF ON 0 0 1 2 OFF ON *F *D *B *A *C *E C0 contact (Y003) Reset input Ngo em vao Gia tr hien thi cua C0 61. 2) em so san pham Cac ac tnh ieu khien a) Khi lenh cung cap san pham (X002) c chuyen sang ON, ngo ra cung cap san pham (Y000) c bat au. b) Lenh hoat ong bang tai (X003) khi au chho bang tai di chuyen ve pha trc ngo ra (Y001). c) So san pham c em (bo em C0) bi cam bien nhan dang (X000). d) Khi so san pham c em en 10, en ch th bo em len Y006 bat sang. e) Bo em c reset bi ngo vao (X001). Phan phu Hay ngng cung cap san pham khi gia tr bo em hien thi at en gia tr cai at (K10) Bao gom tiep iem NC cua bo em en dong a) tren. Bao gom tiep iem NC cua bang tai (Y001) en dong a) tren FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-34 KHOA IEN - Trng H Cong Nghiep TP.HCM X002 Y000 X000 C0 a) X003 X001 C0RST Y001 C0 Y006 K10 b) c) d) e) X002 Y000 C0 Phan them X002 Y000 C0 Y001 Hay cung cap san pham ch trong khi bang tai ang di chuyen. Phan them Ban co the thay nguyen ly hoat ong se thay oi ch khi phan them c trong chng trnh. Trong cac may moc that, cac chng trnh am bao an toan c them vao trong ac tnh ieu khien c ban. 62. 4. D: TH THACH CHO NGI MI BAT AU B-35 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM D-1. n v phuc vu D-2. Phat hien dung cam bien quang D-3. ieu khien nh th mach en giao thong D-4. Phan loai san pham theo kch c (I) D-5. Khi ong/ ngng bang tai D-6. Truyen ong bang tai 63. 4.1 n v phuc vu 4.1.1 Giao dien luyen tap 4.1.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-36 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong X0 Nut nhan 1 ON/ OFF tc thi (Nhap chuot) Ngo vao X1 Nut nhan 2 ON/ OFF tc thi (Nhap chuot) Y0 en bao 1 Sang khi Y0 ON Ngo ra Y1 en bao 2 Sang khi Y1 ON Dang D- Th thach cho ngi mi bat au Bai tap D-1. n v phuc vu Muc ch ieu khien n v phuc vu trong nha hang Mc o kho 1 (*) iem so (lp) 130 (lap trnh cho ngi mi bat au) 64. 4.1.3 Muc ch ieu khien ieu khien n v phuc vu trong nha hang s dung cac lenh c ban a hoc trc ay. 4.1.4 Nhng ac tnh ieu khien 1) Khi nut nhan X0 tren ban c nhan, en bao 1 - Y0 tren tng se bat sang. Neu tha nut nhan X0, en bao 1 - Y0 van sang. 2) Khi nut nhan X1 tren ban c nhan, en bao 2 - Y1 tren tng se bat sang. Neu tha nut nhan X1, en bao 2 - Y1 van sang. 3) Khi ca hai en bao 1 - Y0 va en bao 2 - Y1 bat sang, [PL4] - Y23 tren bang van hanh sang. 4) Khi nut nhan X20 tren bang van hanh c nhan, ca hai en bao 1 - Y0 va en bao 2 - Y1 va [PL4] - Y23 tren bang van hanh tat. B-37 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 65. 4.2 Phat hien dung cam bien quang 4.2.1 Giao dien luyen tap 4.2.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-38 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang D- Th thach cho ngi mi bat au Bai tap D-2. Phat hien dung cam bien quang Muc ch Bat tia sang khi phat hien oi tng Mc o kho 2 (**) iem so (lp) 160 (lap trnh cho ngi mi bat au) Dang a ch thiet b Ten thiet b S hoat ong X0 Vao cong (ngi) ON khi phat hien co ngi vao X1 Ra cong (ngi) ON khi phat hien co ngi ra X2 Vao cong (xe) ON khi phat hien co xe vao Ngo vao X3 Ra cong (xe) ON khi phat hien co xe ra Y0 en o (ngi) Bat sang khi Y0 - ON Y1 en xanh (ngi) Bat sang khi Y1 - ON Y2 en vang (ngi) Bat sang khi Y2 ON Y3 en o (xe) Bat sang khi Y3 ON Y4 en xanh (xe) Bat sang khi Y4 ON Y5 en vang (xe) Bat sang khi Y5 ON Ngo ra Y7 Coi bao Keu len khi Y7 ON (en tren man hnh bat sang) 66. 4.2.3 Muc ch ieu khien Bat tia sang len khi phat hien co ngi hay xe. S dung cac lenh c ban va bo nh th a hoc trc ay. 4.2.4 Nhng ac tnh ieu khien Pha ngi: 1) Khi cam bien vao cong X0 phat hien co ngi, bat en xanh Y1. 2) Sau 5s, cam bien ra cong X1 phat hien ngi i qua, en xanh Y1 tat. Pha xe: 1) Khi cam bien vao cong X2 phat hien co xe vao, bat en xanh Y4. 2) Sau 5s, cam bien ra cong X3 phat hien co xe i qua, en xanh Y4 tat. 3) Neu xe khong bang qua vung gia cam bien vao cong X2 va ra cong X3 trong 10s, en o Y3 bat sang va coi bao Y7 vang len. 4) Ngay khi xe bang qua cam bien ra cong X3, en o Y3 tat va coi bao Y7 ngng. B-39 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 67. 4.3 ieu khien nh th mach en giao thong 4.3.1 Giao dien luyen tap 4.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-40 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang D- Th thach cho ngi mi bat au Bai tap D-3. ieu khien nh th mach en giao thong Muc ch ieu khien en giao thong thay oi tai cac khoang thi gian theo ly thuyet Mc o kho 2 (**) iem so (lp) 160 (lap trnh cho ngi mi bat au) Dang a ch thiet b Ten thiet b S hoat ong Y0 en o Bat sang khi Y0 - ON Y1 en vang Bat sang khi Y1 - ONNgo ra Y2 en xanh Bat sang khi Y2 ON 68. 4.3.3 Muc ch ieu khien ieu khien en giao thong thay oi tai cac khoang thi gian ch nh. S dung cac lenh c ban va bo nh th a hoc trc ay. 4.3.4 Nhng ac tnh ieu khien 1) Khi nut nhan X20 tren ban van hanh c nhan, qua trnh bat au. 2) au tien, en o Y0 sang trong 10s. 3) Sau o en o Y0 tat. en vang Y1 sang trong 5s. 4) Sau o en vang Y1 tat. en xanh Y2 sang trong 10s. 5) Sau o en xanh Y2 tat. 6) Cac bc hoat ong bat au t 2) c lap lai. B-41 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 69. 4.4 Phan loai san pham theo kch c (I) 4.4.1 Giao dien luyen tap 4.4.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-42 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang D- Th thach cho ngi mi bat au Bai tap D-4. Phan loai san pham theo kch c (I) Muc ch Phan loai cac san pham co kch c khac nhau s dung cam bien Mc o kho 2 (**) iem so (lp) 160 (lap trnh cho ngi mi bat au) Dang a ch thiet b Ten thiet b S hoat ong X0 Tren ON khi san pham c phat hien X1 Gia ON khi san pham c phat hien X2 Di ON khi san pham c phat hien X4 Cam bien ON khi phat hien san pham cuoi bang tai phai Ngo vao X5 iem bat au ON khi robot v tr bat au Y3 Bang tai chay ve pha trc Bang tai chay ve pha trc khi Y3-ON Ngo ra Y5 Lenh cung cap Khi Y5 ON, 1 san pham c cung cap. Mot tien trnh bat au. 70. 4.4.3 Muc ch ieu khien Phan loai ba san pham co kch c khac nhau va c mang tren bang tai. 4.4.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y5 cho robot chuyen sang ON. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y5 chuyen sang OFF. 2) Khi [Operation start] (X14) c bat sang ON tren ban van hanh, bang tai Y3 di chuyen ve pha trc. Khi [Operation start] (X14) chuyen sang OFF, bang tai Y3 ngng. 3) San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X0, Gia X1, Di X2 va sau o en tng ng bat sang. - San pham ln Y10 - San pham trung bnh Y11 - San pham nho Y12 4. en bao c bat sang tc th sau khi cac cam bien (X0, X1, X2) phan biet kch c sau o tat khi san pham i qua cam bien X4. B-43 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 71. 4.5 Phan loai san pham theo kch c (I) 4.5.1 Giao dien luyen tap 4.5.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-44 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang D- Th thach cho ngi mi bat au Bai tap D-5. Khi ong/ dng bang tai Muc ch Khi ong/ dng bang tai tuy theo trnh t nh trc Mc o kho 2 (**) iem so (lp) 160 (lap trnh cho ngi mi bat au) Dang a ch thiet b Ten thiet b S hoat ong X0 iem bat au ON khi robot v tr bat au Ngo vao X3 Cam bien ON khi phat hien san pham cuoi bang tai phai Y0 Lenh cung cap Khi Y0 ON, 1 san pham c cung cap. Mot tien trnh bat au. Y1 Bang tai chay ve pha trc Bang tai di chuyen ve pha trc khi Y1-ON Y2 Bang tai chay ve pha sau Bang tai di chuyen ve pha sau khi Y2-ON Y3 Coi bao Khi Y3 ON, coi bao vang len (en bao tren man hnh bat sang) Y5 en o Bat sang khi Y5 - ON Y6 en vang Bat sang khi Y6 - ON Ngo ra Y7 en xanh Bat sang khi Y7 ON 72. 4.5.3 Muc ch ieu khien Khi ong/ dng bang tai tuy theo trnh t nh trc 4.5.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, en vang Y7 bat sang va coi bao Y3 vang len trong 5s. Khi tha nut nhan PB1 _ X20, en vang Y7 van sang. 2) Sau khi en vang Y7 tat va coi bao Y3 ngng, bang tai Y1 di chuyen ve pha trc. en xanh Y6 bat sang trong khi bang tai Y1 hoat ong. 3) Khi nut nhan PB1 _ X21 c nhan tren ban van hanh, hoat ong trong bc 1 va 2 ngng. Hoat ong c lap lai khi qua trnh mieu ta trong bc 1 c thi hanh. B-45 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 73. 4.6 Truyen ong bang tai 4.6.1 Giao dien luyen tap 4.6.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-46 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang D- Th thach cho ngi mi bat au Bai tap D-6. Truyen ong bang tai Muc ch Van hanh bang tai tuy theo tn hieu cam bien Mc o kho 2 (**) iem so (lp) 160 (lap trnh cho ngi mi bat au) Dang a ch thiet b Ten thiet b S hoat ong X0 Cam bien ON khi phat hien san pham cuoi bang tai trai X1 Cam bien ON khi phat hien san pham cuoi bang tai trai X2 Cam bien ON khi phat hien san pham cuoi bang tai trai X3 Cam bien ON khi phat hien san pham cuoi bang tai phai Ngo vao X5 iem bat au ON khi robot v tr bat au 74. 4.6.3 Muc ch ieu khien Van hanh bang tai tuy theo tn hieu cam bien 4.6.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y7 cho robot chuyen sang ON neu robot ang v tr bat au X5. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y7 c t gi cho en khi robot quay tr ve v tr bat au X5. 2) Khi cam bien X0 phat hien san pham, bang tai tren chay ve pha trc Y0 bat len ON. 3) Khi cam bien X1 phat hien san pham, bang tai gia chay ve pha trc Y2 bat len ON va bang tai tren Y0 ngng. 4) Khi cam bien X2 phat hien san pham, bang tai di chay ve pha trc Y4 bat len ON va bang tai gia Y2 ngng. 5) Khi cam bien X3 phat hien san pham, bang tai di Y4 ngng. 6) Khi cam bien X3 bat len ON, Lenh cung cap Y7 cho robot chuyen sang ON va 1 san pham mi c cung cap neu ang v tr bat au X5. B-47 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Bang tai tren chay ve pha trc Khi Y0 ON, bang tai di chuyen ve pha trc Y1 Bang tai tren chay ve pha sau Khi Y1-ON, bang tai di chuyen ve pha sau Y2 Bang tai gia chay ve pha trc Khi Y2 ON, bang tai di chuyen ve pha trc Y3 Bang tai gia chay ve pha sau Khi Y3-ON, bang tai di chuyen ve pha sau Y4 Bang tai di chay ve pha trc Khi Y4 ON, bang tai di chuyen ve pha trc Y5 Bang tai di chay ve pha sau Khi Y5-ON, bang tai di chuyen ve pha sau Ngo ra Y7 Lenh cung cap 1 san pham c cung cap. Mot tien trnh bat au. 75. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-48 KHOA IEN - Trng H Cong Nghiep TP.HCM 76. 5. E: TH THACH CAP TRUNG BNH B-49 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM E-1. Tn hieu nut nhan E-2. Phan loai san pham theo kch c (II) E-3. Phan loai san pham E-4. Khoan E-5. ieu khien cung cap san pham E-6. ieu khien bang tai 77. 5.1 Tn hieu nut nhan 5.1.1 Giao dien luyen tap 5.1.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-50 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-1. Tn hieu nut nhan Muc ch Chuyen oi tn hieu en giao thong t nut nhan Mc o kho 2 (**) iem so (lp) 210 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong Y0 en o Sang khi Y0 ON Y1 en vang Sang khi Y1 ONNgo ra Y2 en xanh Sang khi Y2 ON 78. 5.1.3 Muc ch ieu khien Chuyen oi tn hieu en giao thong t 1 nut nhan 5.1.4 Nhng ac tnh ieu khien 1) en tn hieu o (Y0) nhap nhay trong khoang 1-2 (sang trong 1s va tat trong 1s) 2) Khi nut nhan X10 tren ban ieu khien c nhan, tn hieu ch th Y10 tren bang van hanh se sang. Neu tha nut nhan X10, tn hieu ch th Y10 van sang. 3) Sau khi tn hieu ch th Y10 sang c 5s, s hoat ong cac tn hieu c thay oi nh mo ta t bc 4 en 7. 4) au tien, en tn hieu o (Y0) nhap nhay trong 5s trong khi tn hieu ch th Y10 van sang. 5) en tn hieu o (Y0) tat. en tn hieu Vang (Y1) sang trong 5s. 6) Sau khi en tn hieu Vang (Y1) tat, en tn hieu Xanh (Y2) sang trong 10s. 7) Sau khi en tn hieu Xanh (Y2) tat, en tn hieu o (Y0) nhap nhay trong khoang 1-2 (sang trong 1s va tat trong 1s). S hoat ong cac tn hieu c lap lai t bc 1. B-51 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 79. 5.2 Phan loai san pham theo kch c (II) 5.2.1 Giao dien luyen tap 5.2.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-52 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-2. Phan loai san pham theo kch c Muc ch Phan loai cac san pham en v tr co kch c tng ng Mc o kho 2 (**) iem so (lp) 210 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong X0 iem bat au ON: khi robot v tr xuat phat X1 Tren ON khi san pham kch c ln c phat hien X2 Gia ON khi san pham kch c trung bnh c phat hien X3 Thap ON khi san pham kch c nho c phat hien X4 Cam bien ON khi san pham c phat hien cuoi bang chuyen phai Ngo vao X5 Cam bien ON khi san pham c phat hien cuoi bang chuyen phai Y0 Lenh cung cap Mot san pham c cung cap khi Y0 la ON. Mot tien trnh bat au theo th t cac xylanh: ln, nho, nho, ln va nho Y1 Bang tai chay thuan (ve pha trc) Khi Y1 la ON _ bang tai di chuyen ve pha trc Y2 Bang tai chay thuan (ve pha trc) Khi Y2 la ON _ bang tai di chuyen ve pha trc Ngo ra Y5 Can phan loai Di chuyen ra pha trc khi Y5 la ON 80. 5.2.3 Muc ch ieu khien Phan loai cac san pham en v tr co kch c tng ng 5.2.4 Nhng ac tnh ieu khien 1) Khi cong tac SW1_X24 tren bang van hanh c chuyen sang ON, cac bang chuyen di chuyen ve pha trc. khi SW1_X24 c chuyen sang OFF, cac bang chuyen ngng hoat ong. 2) Khi nut nhan PB1_X20 tren bang van hanh c nhan, leng cung cap san pham Y0 cho robot hoat ong. Leng cung cap san pham Y0 c chuyen sang OFF khi robot di chuyen khoi iem bat au (Robot se hoan thanh chu trnh gap san pham) 3) Robot cung cap cac san pham co kch c ln, trung bnh hoac nho. 4) San pham ln c dan en bang chuyen pha sau (i qua cam bien X5). San pham nho c dan en bang chuyen pha trc (i qua cam bien X4). Kch c san pham c nhan dang bang cac tn hieu Tren (X1), Gia (X2), Thap (X3) c at tren bang chuyen. B-53 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 81. 5.3 Phan loai san pham 5.3.1 Giao dien luyen tap 5.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-54 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-3. Phan loai san pham Muc ch Truyen lenh cho robot di chuyen san pham en v tr mi Mc o kho 2 (**) iem so (lp) 210 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong X0 iem bat au ON: khi robot v tr xuat phat X1 San pham tren ban ON khi san pham ang nam tren ban Ngo vao X2 S hoat ong cua robot hoan tat ON khi s hoat ong cua robot hoan tat Y0 Lenh cung cap Ch th tren man hnh bat sang khi Y0_ON. Luc o, ngi van hanh cung cap san pham. Y1 Bang tai chay thuan Khi Y1 ON, bang tai di chuyen ve pha trc Ngo ra Y2 Lenh gap san pham Robot gap san pham en khay ng khi Y2 _ON. Mot tien trnh bat au. 82. 5.3.3 Muc ch ieu khien Truyen lenh cho robot di chuyen san pham en v tr mi 5.3.4 Nhng ac tnh ieu khien 1) Ngi van hanh cung cap san pham en bang chuyen va bat sang en ch th (Nguon cung cap cho phep). Neu en ch th luon c bat sang, ngi van hanh cung cap san pham lien tuc. 2) Bang tai luon di chuyen ve pha trc trong khi PLC trang thai RUN. 3) Khi nut nhan PB1_X20 tren ban van hanh c nhan, lenh cung cap _Y0 chuyen sang ON va en bao ch th (Nguon cung cap cho phep) bat sang. Ngi van hanh cung cap san pham. Khi tha nut nhan PB1_X20, en bao ch th tat. Tuy nhien, lenh cung cap _Y0 se khong chuyen sang ON _ en bao ch th (Nguon cung cap cho phep) khong bat sang neu van con 1 san pham tren ban. 4) Khi cam bien San pham tren ban (X1) trong Robot chuyen sang ON, lenh gap san pham Y2 c bat len ON. Khi cam bien S hoat ong cua robot hoan tat X2 chuyen sang ON (khi san pham a c at trong khay), lenh gap san pham Y2 c chuyen ve OFF. Lenh gap san pham Y2 nen c bat len ON ch khi nao Robot ang v tr bat au. B-55 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 83. 5.4 Khoan 5.4.1 Giao dien luyen tap 5.4.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-56 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-4. Khoan Muc ch ieu khien may khoan va cac thiet b khac Mc o kho 2 (**) iem so (lp) 210 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong X0 ang khoan X1 Sanpham di may khoan X2 a khoan ung X3 a khoan sai Ngo vao X5 Cam bien Y0 Lenh cung cap Y1 Bangtai chay ve pha trcNgo ra Y2 Bat au khoan ON trong khi ang khoan ON khi san pham di may khoan ON khi san pham c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. ON khi san pham khong c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. ON khi phat hien co san pham cuoi bang chuyen phai. Khi Y0 _ ON, 1 san pham c cung cap. Mot tien trnh bat au: khoi kim loai ln. Khi Y1 ON, bang tai di chuyen ve pha trc Khi Y2 _ON, bat au khoan (Mot tien trnh khong the b dng gia chng) 84. 5.4.3 Muc ch ieu khien ieu khien may khoan va cac thiet b khac 5.4.4 Nhng ac tnh ieu khien ieu khien chung: 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. 2) Khi cong tac SW1 _ X24 c bat sang ON tren ban van hanh, bang tai di chuyen ve pha trc. Khi cong tac SW1 _ X24 bat sang OFF, bang tai ngng. ieu khien cac qua cam 1) Khi cam bien co san pham di may khoan X1 at trong may khoan chuyen sang ON, bang tai ngng. 2) Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien ang khoan X0 bat ON th Y2 c chuyen sang OFF. 3) Khi bat au khoan Y2 c chuyen sang ON, cam bien a khoan ung X2 lan a khoan sai X3 eu c bat len ON sau khi may khoan a van hanh c 1 chu ky hoan tat. (May khoan khong the b dng gia luc van hanh) 4) Sau khi cam bien a khoan ung X2 lan a khoan sai X3 c xac nh, san pham se c mang i va at tren khay ben phai. Khi tren cac san pham b khoan nhieu lo, cam bien a khoan sai X3 bat len ON. Trong bai tap nay khong co cach ieu khien ac biet cho san pham b loi. B-57 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 85. 5.5 ieu khien cung cap san pham 5.5.1 Giao dien luyen tap 5.5.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-58 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-5. ieu khien cung cap san pham Muc ch Cung cap mot so san pham theo ly thuyet da theo ac tnh ieu khien Mc o kho 3 (***) iem so (lp) 240 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong X0 iem bat au ON khi robot v tr bat au. X1 Hop tren bang tai ON khi hop di bo phan cung cap cam. X2 Cam a cung cap ON khi cam c phat hien (dung cho viec em) Ngo vao X5 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. Y0 Lenh cung cap Khi Y0 _ ON, 1 san pham c cung cap. Mot tien trnh bat au: Hop ln. Y1 Bang tai chay ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc Ngo ra Y2 Lenh cung cap cam Khi Y2 _ON, cam c cung cap. 86. 5.5.3 Muc ch ieu khien at cac qua cam theo ly thuyet vao hop tren bang tai. 5.5.4 Nhng ac tnh ieu khien ieu khien chung: 1) Khi cong tac SW1 _ X24 c bat sang ON tren ban van hanh, bang tai di chuyen ve pha trc. Khi cong tac SW1 _ X24 bat sang OFF, bang tai ngng. 2) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho robot chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF khi robot di chuyen khoi v tr bat au. Khi Lenh cung cap Y0 c chuyen sang ON, robot cung cap hop. ieu khien may khoan: 1) Khi cam bien co hop tren bang tai X1 at trong bo phan cung cap cam chuyen sang ON, bang tai ngng. 2) Trong hop c at 5 qua cam. Cac hop ng 5 qua cam c mang en khay ben phai. 3) Cam c cung cap khi lenh cung cap cam Y2 bat len ON va so cam cung cap c em khi cam bien Cam a cung cap X2 bat len ON. B-59 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 87. 5.6 ieu khien bang tai 5.6.1 Giao dien luyen tap 5.6.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-60 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang E- th thach trung cap Bai tap E-6. ieu khien bang tai Muc ch Di chuyen bang tai chay thuan hay nghch da theo ac tnh ieu khien Mc o kho 3 (***) iem so (lp) 240 (lap trnh trung bnh) Dang a ch thiet b Ten thiet b S hoat ong X10 Gii han trai ON khi phat hien san pham cuoi bang chuyen trai. X11 Gii han phai ON khi phat hien san pham cuoi bang chuyen phai. Ngo vao X12 Cam bien dng ON khi phat hien san pham. Y10 Lenh cung cap Khi Y10 _ ON, 1 san pham c cung cap. Mot tien trnh bat au. Y11 Bang tai chay thuan Khi Y11 ON, bang tai di chuyen ve pha trc Ngo ra Y12 Bang tai chay nghch Khi Y12 _ON, bang tai di chuyen ngc lai 88. 5.6.3 Muc ch ieu khien Di chuyen bang tai chay thuan hay nghch da theo ac tnh ieu khien 5.6.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y10 cho pheu chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF khi tha tay nhan PB1 _ X20. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. 2) Khi nut nhan PB2 _ X21 c nhan tren ban van hanh, bang tai van hanh theo th t c mo ta trong bc 3 en bc 6 di ay. Neu tha tay nhan PB2 _ X21, th t van hanh van tiep tuc. 3) Bang tai bat au di chuyen khi ngo ra Bang tai chay thuan Y11 c bat len ON va dng khi cam bien phat hien san pham Gii han phai X11 chuyen sang ON. 4) Khi ngo ra Bang tai chay nghch Y12 c bat len ON, bang tai di chuyen ngc lai cho en khi cam bien phat hien san pham Gii han trai X10 chuyen sang ON. 5) San pham nam gii han trai trong 5 giay. 6) 5 giay sau, ngo ra Bang tai chay thuan Y11 c bat len ON va bang tai di chuyen cho en khi cam bien dng X12 chuyen sang ON. B-61 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 89. GHI CHU FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-62 KHOA IEN - Trng H Cong Nghiep TP.HCM 90. B-63 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG F-1. Van hanh ca t ong F-2. Bo tr san khau F-3. phan phoi san pham F-4. phan loai cac san pham b loi F-6. ieu khien thiet b nangF-5. ieu khien quay thuan / nghch F-7. Tuyen phan loai va phan phoi 6. F:TH THACH CAP CAO KHOA IEN - Trng H Cong Nghiep TP.HCM 91. 6.1 Van hanh ca t ong 6.1.1 Giao dien luyen tap 6.1.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-64 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong X0 Gii han di ON khi ca en gii han di X1 Gii han tren ON khi ca en gii han tren X2 Cam bien vao cong ON khi oi tng en gan ca. Ngo vao X3 Cam bien ra khoi cong ON khi oi tng ra khoi ca Y0 Ca nang len Khi Y0 _ ON, ca c nang len Y1 Ca ha xuong Khi Y1 ON, ca c ha xuong Y6 en bao Khi Y6 _ON, en bao bat sangNgo ra Y7 Coi bao Khi Y7 _ON, coi keu len (en tren man hnh bat sang) Dang F- th thach cap cao Bai tap F-1. Van hanh ca t ong Muc ch ieu khien ca m hay ong khi phat hien co oi tng Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) 92. 6.1.3 Muc ch ieu khien ieu khien ca m hay ong khi phat hien co oi tng 6.1.4 ac tnh ieu khien 1) Khi xe en gan ca, ca di chuyen len tren. 2) Khi xe bang qua ca, ca di chuyen xuong. 3) Ca ngng di chuyen len tren khi cam bien Gii han tren X1 chuyen sang ON. 4) Ca ngng di chuyen xuong khi cam bien Gii han di X0 chuyen sang ON. 5) Trong khi xe van con nam trong gii han gia cam bien vao cong X2 va cam bien ra khoi cong X3, ca se khong di chuyen xuong. 6) Coi bao Y7 keu len khi ca ang chuyen ong. 7) en bao Y6 bat sang trong khi xe nam trong gii han gia cam bien vao cong X2 va cam bien ra khoi cong X3. 8) Bon en bao ch th tren ban van hanh sang hay tat tuy theo s di chuyen cua ca. 9) Ca co the c m hay ong bang cach ieu khien bang tay qua nut 10)Nhan [ Ca nang len] X10 va [ Ca ha xuong ] X11 tren ban van hanh. B-65 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM 93. 6.2 Bo tr san khau 6.2.1 Giao dien luyen tap 6.2.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-66 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-2. Bo tr san khau Muc ch ieu khien viec bo tr san khau tuy theo ac tnh ieu khien Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 Ben trong (man ca trai) ON khi man ca ong hoan toan. X1 gia (man ca trai) ON khi man ca v tr gia X2 Ben ngoai (man ca trai) ON khi man ca m hoan toan. X3 Ben trong (man ca phai) ON khi man ca ong hoan toan. X4 gia (man ca phai) ON khi man ca v tr gia X5 Ben ngoai (man ca phai) ON khi man ca m hoan toan. X6 Gii han tren cua san khau ON khi san khau en gii han tren Ngo vao X7 Gii han di cua san khau ON khi san khau en gii han di 94. 6.2.3 Muc ch ieu khien ieu khien viec bo tr san khau tuy theo ac tnh ieu khien 6.2.4 ac tnh ieu khien ac tnh van hanh t ong: 1) Khi nut nhan [Begin] X16 c nhan tren ban van hanh, coi bao Y5 keu len trong 5s. Nut nhan [Begin] X16 co the chuyen sang ON ch khi nao man ca c ong va san khau v tr gii han di. 2) Khi coi ngng, lenh m ca man chuyen sang ON va man ca c m cho en khi chung en gii han ben ngoai (X2 va X5) 3) Sau khi man ca a m hoan toan, san khau bat au di chuyen len tren khi Stage up Y2 chuyen sang ON va dng lai khi Gii han tren cua san khau X6 chuyen sang ON. 4) Khi nut nhan [End] X17 c nhan tren ban van hanh, lenh ong ca man Y1 c chuyen sang ON va man ca ong lai cho en khi chung en gii han ben trong (X0 va X3) ac tnh van hanh bang tay: 1) Khi viec van hanh t ong ben tren khong hoat ong, viec van hanh sau ay mi co the thc hien. 2) Man ca ch co the c m khi nut nhan [Curtain open] X10 tren ban van hanh ang c nhan. Man ca dng cho en khi en gii han ben ngoai (X2 va X5). 3) Man ca ch co the c ong khi nut nhan [Curtain close] X11 tren ban van hanh ang c nhan. Man ca ong cho en khi en gii han ben trong (X0 va X3). 4) San khau ch co the di chuyen len khi nut nhan [ Stage up] X12 ang c nhan tren ban van hanh. San khau dng khi no ung en cam bien gii han tren X6. 5) San khau ch co the di chuyen xuong khi nut nhan [ Stage down] X13 ang c nhan tren ban van hanh. San khau dng khi no ung en cam bien gii han di X7 6) en bao ch th tren ban van hanh sang hay tat tuy theo s hoat ong cua man ca va san khau. B-67 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Lenh m man ca Khi Y0 _ ON, man ca m. Khi Y0 _ OFF, man ca dng Y1 Lenh ong man ca Khi Y1 ON, man ca ong. Khi Y1 _ OFF, man ca dng. Y2 San khau i len Khi Y2 _ON, san khau di chuyen len tren. Khi Y2 _ OFF, san khau dng. Y3 San khau i xuong Khi Y3 _ON, san khau di chuyen xuong. Khi Y3 _ OFF, san khau dng. Ngo ra Y5 Coi bao Khi Y5 _ON, coi keu len (en tren man hnh bat sang) 95. 6.3 Phan phoi san pham 6.3.1 Giao dien luyen tap 6.3.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-68 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-3. Phan phoi san pham Muc ch Phan phoi cac san pham ly thuyet theo kch c Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 iem bat au ON khi robot v tr bat au X1 Tren ON khi san pham c phat hien X2 Gia ON khi san pham c phat hien X3 Di ON khi san pham c phat hien X4 Cam bien ON khi san pham c phat hien tren mat nghieng X5 Cam bien ON khi san pham c phat hien tren mat nghieng X6 Cam bien ON khi san pham c phat hien tren mat nghieng X7 Cam bien ON khi san phamcphat hien cuoi bang tai ben phai X10 Phat hien san pham ON khi san pham c phat hien trc vat ay X11 Phat hien san pham ON khi san pham c phat hien trc vat ay Ngo vao X12 Phat hien san pham ON khi san pham c phat hien trc vat ay 96. 6.3.3 Muc ch ieu khien Phan phoi cac san pham ly thuyet theo kch c 6.3.4 ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho robot chuyen sang ON. Lenh cung cap Y0 chuyen sang OFF khi robot di chuyen san pham hoan tat va quay tr ve iem bat au. 2) Khi cong tac SW1_ X24 tren ban van hanh chuyen sang ON, cac bang tai di chuyen ve pha trc. Khi cong tac SW1_ X24 chuyen sang OFF, cac bang tai ngng. 3) San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X1, Gia X2, Di X3 va sau o c a en cac khay nh san. 4) Khi cam bien cho san pham loi X10, X11, X12 trong c cau ay chuyen sang ON, bang tai ngng va san pham c ay len tren khay. Lu y: Khi lenh kch cho c cau ay bat len ON, no duoi ra hoan toan. Khi lenh kch cho c cau ay chuyen xuong OFF, no thu lai. 5) So san pham cho moi kch c di ay c at trong cac khay. Cac c cau ay se bo qua cac san pham tha va ri xuong cuoi bang tai ben phai. - San pham ln: 3 - San pham trung bnh: 2 - San pham nho: 2 B-69 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Lenh cung cap Khi Y0 _ ON, 1 san pham c cung cap. Mot tien trnh bat au: san pham go lap lai theo th t Trung bnh_Nho_Ln_ Trung bnh_ Trung bnh_ Ln_ Nho_ Nho_ Ln_ Ln Y1 Bang tai di chuyen ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc Y2 Bang tai di chuyen ve pha trc Khi Y2 ON, bang tai di chuyen ve pha trc Y3 Bang tai di chuyen ve pha trc Khi Y3 ON, bang tai di chuyen ve pha trc Y4 Bang tai di chuyen ve pha trc Khi Y4 ON, bang tai di chuyen ve pha trc Y5 C cau ay Duoi ra khi Y5 _ON va thu lai khi Y5 _OFF. C cau ay khong the dng gia hanh trnh Y6 C cau ay Duoi ra khi Y6 _ON va thu lai khi Y6 _OFF. C cau ay khong the dng gia hanh trnh Ngo ra Y7 C cau ay Duoi ra khi Y7 _ON va thu lai khi Y7 _OFF. C cau ay khong the dng gia hanh trnh 97. 6.4 Phan loai cac san pham b loi 6.4.1 Giao dien luyen tap 6.4.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-70 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-4. Khoan Muc ch Phan biet cac san pham b loi va san pham tot bang tn hieu cua chung. Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 ang khoan ON trong khi ang khoan X1 San pham di may khoan ON khi san pham di bang tai c phat hien bi may khoan X2 a khoan ung ON khi san pham c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. X3 a khoan sai ON khi san pham khong c khoan ung. Khi viec khoan bat au th ket qua trc o se b xoa. X4 Cam bien ON khi phat hien co san pham cuoi bang chuyen trai. X5 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. Ngo vao X10 Cam bien phat hien san pham ON khi phat hien co san pham trc c cau ay. 98. 6.4.3 Muc ch ieu khien Phan biet cac san pham b loi va san pham tot bang tn hieu cua chung va phan phoi chung sao cho phu hp. 6.4.4 Nhng ac tnh ieu khien ieu khien chung: 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. 2) Khi cong tac SW1 _ X24 c bat sang ON tren ban van hanh, bang tai di chuyen ve pha trc. Khi cong tac SW1 _ X24 bat sang OFF, bang tai ngng. ieu khien may khoan 1) Khi cam bien co san pham di may khoan X1 at trong may khoan chuyen sang ON, bang tai ngng. 2) Khi bat au khoan Y2 c chuyen sang ON, bat au khoan. Khi cam bien ang khoan X0 bat ON th Y2 c chuyen sang OFF. 3) Khi bat au khoan Y2 c chuyen sang ON, cam bien a khoan ung X2 lan a khoan sai X3 eu c bat len ON sau khi may khoan a van hanh c 1 chu ky hoan tat (May khoan khong the b dng gia luc van hanh). Tng t, san pham khong nam trong dang 3 san pham tren se la san pham loi (Khi tren cac san pham b khoan nhieu lo, no cung la san pham loi). 4) Khi san pham loi c phat hien bi cam bien phat hien san pham X10 trong c cau ay, bang tai ngng va c cau ay no xuong khay ng "san pham b loi" Lu y: Khi lenh kch cho c cau ay bat len ON, no duoi ra hoan toan. Khi lenh kch cho c cau ay chuyen xuong OFF, no thu lai. 5) San pham tot c bang tai mang en khay "OK" c at cuoi bang chuyen phai. B-71 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Lenh cung cap Khi Y0 _ ON, 1 san pham c cung cap: khoi kim loai ln. Y1 Bang tai chay ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc Y2 Bat au khoan Khi Y2 _ON, bat au khoan (Mot tien trnh khong the b dng gia chng) Y3 Bang tai chay ve pha trc Khi Y3 ON, bang tai di chuyen ve pha trc Ngo ra Y5 C cau ay Duoi ra khi Y5-ON va thu lai khi Y5-OFF. C cau ay khong the b dng gia hanh trnh 99. 6.5 ieu khien quay thuan / nghch 6.5.1 Giao dien luyen tap 6.5.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-72 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-5. ieu khien quay thuan/ nghch Muc ch Di chuyen bang tai quay ti hay lui tuy theo kch c c phat hien Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 Tren ON khi san pham c phat hien X1 Gia ON khi san pham c phat hien X2 Di ON khi san pham c phat hien X3 Phat hien san pham ON khi san pham c phat hien trc c cau ay X4 iem bat au ON khi robot v tr bat au X5 San pham tren ban ON khi san pham tren ban X6 Hoat ong cua robot hoan tat ON khi hoat ong cua robot hoan tat X7 Cam bien ON khi san pham c phat hien mat nghieng X10 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. X11 Cam bien ON khi phat hien co san pham cuoi bang chuyen trai. Ngo vao X12 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. 100. 6.5.3 Muc ch ieu khien Phat hien kch c moi san pham va phan phoi chung sao cho phu hp. 6.5.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. 2) Khi cong tac SW1 _ X24 c bat sang ON tren ban van hanh, cac bang tai di chuyen ve pha trc. Khi cong tac SW1 _ X24 bat sang OFF, cac bang tai ngng. 3) San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X0, Gia X1, Di X2 va sau o c a en cac khay nh san. - San pham ln: c ay en bang chuyen thap hn va c mang en khay ben phai. - San pham trung bnh c mang en khay ng bi robot. - San pham nho: c ay en bang chuyen thap hn va c mang en khay ben trai. 4) Khi cam bien phat hien san pham X3 chuyen sang ON, bang tai ngng va san pham ln, nho c ay en bang chuyen thap hn. Lu y: Khi lenh kch cho c cau ay bat len ON, no duoi ra hoan toan. Khi lenh kch cho c cau ay chuyen xuong OFF, no thu lai. 5) Khi cam bien san pham tren ban X5 trong robot chuyen sang ON, lenh gap san pham Y4 bat len ON. Khi cam bien hoat ong cua robot hoan tat X6 chuyen sang ON (khi san pham c at trong khay), lenh gap san pham Y4 chuyen ve OFF. 6) Khi cong tac SW2 _ X25 c bat sang ON tren ban van hanh, mot san pham mi se c cung cap t ong tai thi iem sau: - Khi robot bat au mang san pham trung bnh. - Khi san pham nho hay ln c at vao trong khay. B-73 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Lenh cung cap Khi Y0 _ ON, 1 san pham c cung cap: san pham go c lap lai theo th t Ln-Trung bnh-Nho- Trung bnh-Nho-Ln. Y1 Bang tai chay ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc Y2 Bang tai chay ve pha trc Khi Y2 ON, bang tai di chuyen ve pha trc Y3 C cau ay Duoi ra khi Y3-ON va thu lai khi Y3-OFF. C cau ay khong the b dng gia hanh trnh Y4 Lenh gap san pham Robot gap san pham en khay ng khi Y4 _ON. Mot tien trnh bat au. Y5 Bang tai chay thuan (ve pha trc) Bang tai chay ve pha trc khi Y5-ON Ngo ra Y6 Bang tai chay nghch (ve pha sau) Bang tai chay ve pha sau khi Y6-ON 101. 6.6 ieu khien c cau nang 6.6.1 Giao dien luyen tap 6.6.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-74 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-6. ieu khien Muc ch S dung c cau nang a cac san pham en 3 v tr khac nhau. Mc o kho 3 (***) iem so (lp) 290 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 Tren ON khi san pham c phat hien X1 Gia ON khi san pham c phat hien X2 Di ON khi san pham c phat hien X3 Sanpham tren ccau nang ON khi san pham tren c cau nang X4 V tr nang thap hn ON khi c cau nang v tr thap X5 V tr nang gia ON khi c cau nang v tr gia X6 V tr nang cao hn ON khi c cau nang v tr cao X10 Cam bien ON khi phat hien co san pham cuoi bang chuyen trai. X11 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. X12 Cam bien ON khi phat hien co san pham cuoi bang chuyen trai. X13 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. X14 Cam bien ON khi phat hien co san pham cuoi bang chuyen trai. Ngo vao X15 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. 102. 6.6.3 Muc ch ieu khien S dung c cau nang a cac san pham en 3 v tr khac nhau. 6.6.4 Nhng ac tnh ieu khien ieu khien chung: 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh cung cap Y0 cho pheu chuyen sang ON. Khi tha nut nhan PB1 _ X20, Lenh cung cap Y0 chuyen sang OFF. Khi Lenh cung cap Y0 c chuyen sang ON, pheu cung cap san pham. 2) Khi cong tac SW1 _ X24 c bat sang ON tren ban van hanh, cac bang tai di chuyen ve pha trc. Khi cong tac SW1 _ X24 bat sang OFF, cac bang tai ngng. 3) Sau khi cac cam bien X10, X12, X14 ben trai cua bang tai phat hien co san pham, bang tai tng ng bat len ON va a san pham en cac khay cuoi bang chuyen phai. Bang tai ngng lai trong 3s sau khi san pham qua cac cam bien X11, X13, X15 ben phai bang tai. 4) San pham ln, trung bnh, nho tren cac bang tai c phan loai bang cac cam bien ngo vao Tren X0, Gia X1, Di X2. ieu khien c cau nang: 1) Khi cam bien Part on lift X3 trong c cau nang chuyen sang ON, san pham c mang en 1 trong cac bang tai sau tuy theo kch c cua no: - San pham ln: bang tai tren - San pham trung bnh: bang tai gia - San pham nho: bang tai thap 2) Lenh cho c cau nang len Y2 va Lenh cho c cau ha xuong Y3 c ieu khien tuy theo v tr cua c cau nang c phat hien bi cac cam bien sau: - Tren: X6 - Gia: X5 - Thap: X4 3) Khi 1 san pham c t c cau nang en bang tai, lenh cho c cau quay Y4 bat len ON. 4) Sau khi san pham c chuyen qua, c cau nang quay tr ve v tr ban au va ch. B-75 FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG KHOA IEN - Trng H Cong Nghiep TP.HCM Dang a ch thiet b Ten thiet b S hoat ong Y0 Lenh cung cap Khi Y0 _ ON, 1 san pham c cung cap: xylanh kim loai c lap lai theo th t Nho-Ln-Trung bnh- Ln- Trung bnh-Nho. Y1 Bang tai chay ve pha trc Khi Y1 ON, bang tai di chuyen ve pha trc Y2 Lenh cho c cau nang len C cau nang di chuyen len tren khi Y2-ON. C cau nang dng lai khi Y2-OFF Y3 Lenh cho c cau ha xuong C cau nang di chuyen xuong khi Y3-ON. C cau nang dng lai khi Y3-OFF Y4 Lenh cho c cau quay C cau quay e chuyen san pham en bang tai khi Y4- ON. C cau quay ve v tr ban au khi Y4-OFF Y5 Bang tai thap chay thuan (ve pha trc) Bang tai chay ve pha trc khi Y5-ON Y6 Bang tai gia chay thuan (ve pha trc) Bang tai chay ve pha trc khi Y6-ON Ngo ra Y7 Bang tai cao chay thuan (ve pha trc) Bang tai chay ve pha trc khi Y7-ON 103. 6.7 Tuyen phan loai va phan phoi 6.7.1 Giao dien luyen tap 6.7.2 Bang khai bao thiet b FX-TRN-BEG-E MITSUBISHI - CONG TY TNHH TM SA GIANG B-76 KHOA IEN - Trng H Cong Nghiep TP.HCM Dang F- th thach cap cao Bai tap F-7. Tuyen phan loai va phan phoi Muc ch Phan loai moi san pham en v tr tng ng tuy theo kch c Mc o kho 4 (****) iem so (lp) 320 (lap trnh cao) Dang a ch thiet b Ten thiet b S hoat ong X0 V tr bat au (nguon cung cap) ON khi robot cung cap v tr bat au X1 Tren ON khi san pham c phat hien X2 Gia ON khi san pham c phat hien X3 Di ON khi san pham c phat hien X4 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. X5 Cam bien ON khi phat hien co san pham cuoi bang chuyen phai. X6 Phat hien san pham ON khi phat hien co san pham trc c cau ay X10 V tr bat au (gap hang) ON khi robot gap hang v tr bat au X11 San pham tren ban ON khi san pham nam tren ban Ngo vao X12 Hoat ong robothoan tat ON khi hoat ong robot hoan tat 104. 6.7.3 Muc ch ieu khien Phan loai moi san pham en v tr tng ng tuy theo kch c 6.7.4 Nhng ac tnh ieu khien 1) Khi nut nhan PB1 _ X20 c nhan tren ban van hanh, Lenh c