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GRAFCET
"Initial position"
"Initia l position indicator"
"Eject workpiece"
"To magazine"
"Generate vacuum"
"Unclamp workpiece"
"Place workpiece"
"To magazine"
Structure
Action section
548679 EN
07/07
Content
1.
2.
3.
Structure of GRAFCET
4.
10
4.1
Steps
10
4.1.1
Initial step
10
4.2
11
4.3
Actions
13
4.3.1
Continuous action
15
4.3.2
16
4.3.3
Order No.:
548679
16
4.3.4
19
4.3.5
20
4.3 .6
21
4.3 .7
22
4.3.8
23
4.3.9
24
25
Editio n:
07 / 2007
Author:
Gerhard Schmidt
5.
Editor:
Frank Ebe l
5.1
Sequence cascade
25
Graphics:
Doris Schwarzenberger
5.2
Alternative branching
26
Layout :
11 / 2007
5.3
Parallel branching
27
5.4
28
5.5
Comments
29
Content
6.
Structuring of GRAFCETs
31
6.1
Forcing commands
31
called good old days, there were fewer ru les and regulations . Why was
6.2
Enclosing steps
35
that? There were only a few sma ll, and thus clearly arranged machines
6.3
Macro-steps
38
Thi ngs have n't always bee n as t hey are today. Previously, in t he so-
7.
Examples
41
7.1
Door control
41
7.2
45
7.3
58
7.4
61
But time didn't stand still. On the contrary, things began happening
Nobody would go to the trouble of writing a new standard just for fun .
faster and faster. Although the time function was quite easy to
standard
With the change from DIN 40719, part 6, "Sequential function charts",
and the good was sacrificed in favour of the better. This, incidentally, is
nothing new. It's been a valid concept since the invention of the hand
axe.
Moreover, this has also been the fate of the sequential function. Its
When comparing the old and the new standards it becomes evident, for
example, that just a few arrows are used instead of a maze of letters for
the actions. The broad range of identifying letters has thus been
eliminated. This is also the case for letters used to identify responses
apparent that many things have been more clearly defined and
And so once again we have reached the point at which we bid the
familiar farewell and must tackle the current stateoftheart in the field
sought after in vain in DIN 40719, part 6. But these are also included in
GRAFCET. This is not the result of negligence on the part of earlier
standards authors, but rather the substantiation of further advances in
the field of automation technology. As demonstrated in actual practice,
the further advanced the machine, the more important the operating
modes and their hierarchies. And thus the standardisation gaps have
been closed .
3. Structure of GRAFCET
3. Structure of GRAFCET
shown above, these are the blocks to the right of the steps, as well as
-a lternative branchings or
-parallel branchings.
Step one must be observed in this case!
"Eject workpiece"
"To magazine"
"Generate vacuum"
"Unclamp workpiece"
"Place workpiece"
"To magazine"
Structure
Action section
GRAFCET for a process which separates workpieces and feeds them to a production sequence
4.1
4.2
Steps
conditions
A trans ition is the link from one step to the next. A transitio n is
Exception
In the case of a return, the transition may also be situated on a
CJ
EJ
Examples of steps
The status of a step can be queried and displayed by means of its step
variable. The step variable is a Boolean variable and has a value of
either 1 (step is active) or 0 (step is inactive) .
CJ
X2
Step 2
,,,$
(5)
Example of a sequence structure comprised of steps and transitions
example.
~
Exa mple of an initial step
10
11
(Press
up)~
8
(Press down)
Important rule
Please note
4.3
One or more actions can be assigned to each step. They are executed
Actions
used. The transition condition includes the duration and the status of
12
13
IrAction 2
~Action 1
IrAction 3
4.3.1
Continuous action
D-4
Action 1
Action 2
Action 3
D-4
IAction 2
Action 1
IAct ion 3
J
l
Action 3
Action 2
B4
B4
Action 3
B-El
1. Continuous actions
elapsed.
2. Stored actio ns
14
15
Time which appears to the right is started by the falling edge of the
delay function.
I 812
~
Example of a continuous action with assignment condition
10 s 12
Please note
The timing charts shown here are not part of a GRAFCET control system.
The time which appears to the left of the variable is started by the
They are only included here in order to better explain and elucidate the
variable's rising edge. The action is executed after the specified time
actions
1 2s/ 89
2 14 I 6
10 s12
....j.ll.j.._
Example of a continuous action with a time dependent assignment condition
16
17
-1
4. Graphic representation of the elements
The time which appears to the left is started by the rising edge of the
specified variable. The action is executed after the specified time has
elapsed. Time which appears to the right is started by the falling edge of
specification. A time, as well as the step variable of the active step, are
fulfilled until the specified time has elapsed and the variable specified
additional switch-off delay function .
r:;-";1~
~
~~
~
L
I4M1l
Step 27
0 ~6
2 4
JJ1. :, .'1
2
10s12
s 12
value of 1), the action is executed after the specified time of 2 seconds
Please note
The timing charts shown here are not part of a GRAFCET control system.
They are only included here in order to better explain and elucidate time
delayed actions .
Please note
The timing charts shown here are not part of a GRAFCET control system.
They are only included here in order to better explain and elucidate
actions with time dependent assignment conditions
18
19
A limited action results from the negation of the condition of the time
delayed action .
r=l~
Due to the fact that the value is assigned when the step is activated, i.e.
when a rising signal edge occurs for the step variable, the action is
identified by means of an upward pointi ng arrow.
4 6 8
l.-2-L.J
10 s 12
~
Examples of stored actions upon activation of the step
5 seconds. If the associated step is active for less than 5 seconds, the
action is also executed for a correspondingly shorter period of time.
For the examples shown here, this means:
Please note
The timing charts shown here are not part of a GRAFCET control system .
They are only included here in order to better explain and elucidate time
limited actions.
20
21
the action is assigned to the variable . The value of the variable is held in
action if the step is active, and if a rising edge occurs for the expression
Due to the fact that the value is assigned when the step is deactivated,
The symbol, which looks like a flag, is an arrow which points to the side.
i.e. when a falling signal edge occurs for the step variable, the action is
It symbolises the fact that the action will not be executed from memory
until an event occurs. The upward pointing arrow indicates that the
action will be executed in the case of a rising flank for the event.
~
~
1 t2Bl
Important note
22
23
delayed stored action results. The upward pointing arrow at the variable
describes the rising edge, i.e. the end of the specified time period.
10 20 30 40
5.1
Sequence cas cade
so s 60
each step has only one subsequent transition, with the exception of
Please note
The timing charts shown here are not part of a GRAFCET control system .
They are only included here in order to better explain and elucidate
delayed actions.
24
25
Note
5.3
Parallel branching
For this reason, an alternative branch always begins and ends with a
transition.
of each other.
5.2
Alternative branching
26
27
5.4
A line must go from the bottom to the top in order to represent the loop
structure. Due to the fact that this direction is contrary to the usual
direction of a sequence, i.e. from top to bottom, an arrow must be
included.
5.5
Comments
Example of GRAFCET
Step 10
Page 2
28
29
6. Structuring of GRAFCETs
"Initial position"
"To magazine"
Forcing commands
Macro-steps
Enclosing steps
"Unclamp workpiece"
6.1
Forci ng comm ands
"Place workpiece"
~
GRAFCET of the MPS Distributing station
~
~
30
31
6. Structuring of GRAFCETs
6. Structuring of GRAFCETs
There are four types of forcing commands. The commands are described
Note
The designations G1, G10 and G100 have been selected arbitrarily. Only
the letter "G" is mandatory
G1:
G10:
G100, the setup sequence, is forced into its initialisation step. G100
step 1.
Forcing commands are only included in the upper hierarchical level.
32
33
6. Structuring of GRAFCETs
6. Structuring of GRAFCETs
After releasing the emergency stop function and selecting the manual
operating mode, Gl continues on to step 2, from which it issues a
forcing command:
G10, the automatic sequence, is forced into i\S initialisation step. It
remains there as long as step 2 is active in Gl.
There is no more forcing command for sub-GRAFCET G100 in step 2
of Gl. G100 is thus no longer dependent on a forcing command. The
usual sequence for G100 is thus enabled. The station can be set up.
If successful execution of the setup sequence is indicated by the
Setup_OK variable, and if, at the same time, the emergency stop
function is not activated and the automatic operating mode is selected,
Gl continues on to step 3.
function is activated in step 2, Gl returns to its initialisation step, i.e.
step 1.
A forcing command is once again issued in step 3 of Gl:
G100, the setup sequence, is forcibly deactivated. None of the steps
included in G100 are executed . G100 remains deactivated for as
34
35
6. Structuring of GRAFCETs
6. Structuring of GRAFCETs
6.2
Enclosing steps
(Loop).
Emergency-stop*S_manual
Emergency-stop+S_manual
Master GRAFCET with enclosing steps for the MPS Distributing station
Step 8 can be exited by querying X17 in the transition after step 8, if the
enclosed steps included in step 8 have been processed. Step 8 thus
functions just like a macro-step, and could also be represented as such.
36
37
6. Structuring of GRAFCETs
6. Structuring of GRAFCETs
Main-GRAFCET
MPS Distributing station
6.3
Macro-steps
In the exploded view, the first step has the same designation as the
macro-step, but includes a preceding E which stands for the French word
"Entree" (entrance). The last step also has the same designation as the
macro-step, but includes a preceding 5 which stands for the French word
Example of a macro-step
38
39
7. Examples
6. Structuring of GRAFCETs
7.1
Functional description
Door control
Macro-step M2
" Reset"
Macrostep M4
"Automati c"
Layout
40
41
/. Exam ples
7. Examples
Implementation
Sequence description
1. The door is opened by briefly pressing the "Open" pushbutton.
Activation of the "Open" pushbutton is stored via the control
Quantity
Designation
Double-acting cylinder
system.
2. Signal memory is reset briefly pressing the"Ciose" pushbutton , and
the door is closed.
GRAFCET
Equ ipment list
"Open door"
"Door open"
Note
"Close door"
tAl
t Al
pushbutton 51 is activated.
lMl,r
!/
I T\
"T ( I'
1M1 .
pushbutton 52 is activated.
Circuit diagram; left using a 5/ 2-way solenoid valve, right using a 5/ 2-way pneumatic valve
42
43
7. Examples
7. Examples
+24 V
Eingange/lnputs
7.2
L2 f
51
f-\
Functional description
U-shaped slots are milled into wooden boards. Double-acting cylinder
1A1 causes forward motion for the longitudinal slots. Double -acting
f-\
cylinder 2A1 causes forward motion for the transverse slots. The endpositions of both cylinders are monitored via proximity switches.
i
j
lM[p~
0V
Ausgange/Outputs
Layout
Sequence description
1. A wooden board is manually clamped, and the milling cutter is
moved into its working position.
2. During the initial step, the action with assignment condition
actuates the initial position indicator. As long as the device is in its
initial position, lamp Pl is illuminated; it is otherwise not
illuminated . As a transition condition for advancing to step 2, initial
position (with Pl) and start button 51 are queried .
44
45
7. Examples
7. Examples
2A1 advances and moves the milling cutter through the traverse
.....H
L.......
"Normal position"
1
2A1 is retracted and return s the milling cutter to its initial position.
7. The milling cutter is moved to the waiting position and the finished
wooden board is undamped.
When proximity switches 1B1 and 2B1 are actuated, initial position
indicator P1 is switched on during initial step 1. Initial position
, .. ~.. .............
1
"Normal position"
1
active.
51
activated.
46
47
7. Examples
7. Examples
When proximity switches 1B1 and 2Bl are actuated, initial position
1M1 . Even when step 4 is no longer active, the solenoid coil retains
2M1. Even when step 5 is no longer active, the solenoid coil retains
activated .
active .
pneumatic valves
"Normal position"
1
"Normal position indicator"
51
2nd
longitudinal slot"
48
49
7. Examples
7. Examples
1 .~.u.~. "-U'-
"Milll
51
"Normal position"
1
" Mill1
longitudinal slot"
51
longitudinal slot"
save data to the control system. This is saved instead to the power
50
51
7. Examples
7. Examples
, ..........
1
"Milll
51
~.......
"Normal position"
1
"Mill1
longitudinal slot"
51
longitudinal slot"
GRAFCET. Due to the use of 5/2-way double pilot valves, two actions
Quantity
Designation
Double-acting cylinder
Proximity switch
Equipment list
52
53
7. Examples
Note
. Examples
+24 V
Equipment for power supply and the implementation of control are not
Eingangeflnputs
listed.
lAl
181
182
I
I
2Al
281
282
I
I
...-
----------,
r-
I
I
Controller (relay, LOGO! or PLC)
lMl I
, ........
I I
I' (
2Mt, , ,,......... , , ,
I'
,, ,
r 'V
~
lAl
181
182
I
I
...-
2Al
281
282
I
I
-,-----
0v
Ausgange/Outputs
14
Note
Quantity
Designation
Doubleacting cylinder
Proximity switch
Equipment for power supply and the implementation of control are not
listed.
54
55
1. Examples
7. Examples
lAl
161 162
I
+24 V
2Al
261
262
I
-.-----
Einglinge/lnputs
I t
!/
IT \
"f fT'''
------------,
\12M2
I
Controller (relay, LOGO! or PLC)
tAl
161
162
I
2Al
261 262
I
I
-.-----
~ 2Mcp~ 2M9~
12
0V
Ausgange/Outputs
56
57
7. Examples
1. Exa mples
7.3
Paint cans are labe lled using a small gluing fixture. The gluing process is
proximity switches 181 and 281 and are once again in their initial
positions .
GRAFCET, technology-independent
Layout
As soon as step 2 is active, drives 1A1 and 2A1 are actuated. Even
when step 2 is no longer active, the drives are still actuated until
actuation is cancelled by another action.
Sequence description
started.
3. Cylinders 1A1 and 2A1 are advanced . After the cylinders have been
advanced, they actuate proximity switches 182 and 282.
58
59
7. Examples
7. Examples
+24 V
Elngange/ lnputs
'
'
'
the initial step is caused as a result of the tine with the upward
pointing arrow
. - - . --. ~ - - --. -
r-
Implementation
- - - --.
-,
I
Quantity
Designation
Double-acting cylinder
5/2-way valve
Proximity switch
~ 2M9~
oV
Ausgange / Outputs
il
Equipment list
'
I
Note
Equipment for power supply and the implementation of control are not
7.4
Functional description
listed.
Storm-water overflow
basin
-.---
2Al
281
I
282
I
-.----
Emptying must be provided for after the basin has been fitted to
capacity. The contents of the basin which are stored up while it is
raining can be transferred to a clarification plant in a time staggered
fashion .
Standard equipment for a storm-water overflow basin is comprised of
an electrically operated gate valve and electrically operated jet aerators.
The gate for emptying the basin has two terminals, one for opening and
one for closing, each equipped with automatic shutoff and
acknowledgement for "open" and "closed". The gate is closed in the
idle condition . The jet aerators are used to prevent the deposition of
contamination . They blow air into the rain water and cause turbulence
to this end.
60
61
7. Examples
7. Examples
GRAFCET
!If\
"Empty"
Close gate
Layout
Sequence description
The enclosed steps are executed until the rain water sensor
longer raining.
2. If the water level drops to below 1 metre during emptying, the jet
aerators are switched on.
also activated.
4. If the water level is less than 1 metre when emptying is started, the
jet aerators must be switched on 4 minutes before the gate is
opened.
After the gate has been closed, the sequence waits at step 1 until it
has stopped raining.
62
63
7. Examples
Open gate
4 min / X7
Jet aerator
Close gate
The enclosed steps are executed until the rain water sensor
indicates that it is raining. The transition condition from step 2 to
step 3 is then fulfilled. Emptying is stopped and the gate is closed.
After the gate has been closed, the sequence waits at step 1 until it
has stopped raining.
64