Concept V2.5

1. Concept V2.5 • Lesson 19 Objectives: • After completing this lesson, the learner will be able to: • Program control logic using the Sequential Function Chart Editor. • Test the processing of a Sequential Function Chart section using the Animation Panel. • Identify the components of a Sequential Function Chart. • Step • Transition • Jump • Branch

2. Start Wait Up Limit SW Slow Speed Limit SW Bottom Limit SW Start Pushbutton Pressed Start Lower Fast, drill motor on Up Limit SW Slow Speed Limit SW Bottom Limit SW Slow Speed Limit SW reached Start Lower Slow, drill motor on Up Limit SW Slow Speed Limit SW Bottom Limit SW Bottom Limit SW reached Start Up Limit SW Slow Speed Limit SW Bottom Limit SW Raise Drill, drill motor on Up Limit SW reached Concept V2.5

3. FBD LD Drill_Motor_on Lower_Fast.x Lower_Fast.x OR_BOOL Drill_Motor_on Lower_Slow.x Lower_Slow.x Raise_Drill.x Raise_Drill.x Lower_Fast.x AND_BOOL Drill_Lower_High_Speed TRUE Drill_Lower_High_Speed Lower_Fast.x Lower_Slow.x AND_BOOL Drill_Lower_Slow_Speed TRUE Drill_Lower_Slow_Speed Lower_Slow.x Raise_Drill.x AND_BOOL Drill_Raise TRUE Drill_Raise Raise.x Concept V2.5 • Drill Press Output Control

4. Supply Hopper Drilling Clamping Tester Loader Evacuation Rotation Concept V2.5 Rotary Table Application

5. Rotary Table SFC Control Initialization Drill Sequence Test & Eject Sequence Start & Initial Cond Loader Advances Clamp Advances Gage Lowered Loader Ext & Part Pres Clamp extended LSW Gauge Down LT 5s Gauge Down GTE 5s Loader Retracts Gauge Raise Error Raise Gauge Drill Lowers Loader Retracted LSW Drill Lowered LSW Gauge Raised LSW Gauge Raised LSW Drill Raises Unloader Advanced Wait for Operator Loader Sequence Drill Raised LSW Unloader extended LSW Manual Reset Pushbutton Clamp Retract Unloader Retracted Clamp retracted LSW Unloader retracted LSW Wait Wait Wait True (1) Rotate Plate Rotated LSW Concept V2.5

6. Concept V2.5 • What is SFC? Sequential Function Chart • A Sequential Function Chart is a graphic method of representing a sequential control system by using a sequence of steps and transitions. • Each step is a command or action that is either active or inactive. • The flow of control passes from one step to the next through a conditional transition that is either true or false.

7. Step Transition Jump S_2_1 S_2_1 Parallel Branch Parallel Joint Alternative Branch Alternative Joint Concept V2.5 • SFC - Elements

8. Concept V2.5 • SFC Rules 1. A Sequential Flow Chart section must have an Initial Step and only one Initial Step. 2. A Transition must follow a Step. 3. A Step must follow a Transition.

9. Concept V2.5 • SFC - Elements: The Step • Step types are the initial step or steps. • A step becomes active when the prior transition has been satisfied • A step becomes inactive when the succeeding transition has been satisfied AND the step delay time has elapsed. • None, one or multiple actions, with qualifiers, can be declared for each step. • A supervision time can be defined for each step.

10. Concept V2.5 • Step type: • Step or initial step • One initial step per section must be defined ineach sequential chain • This initial step starts the sequence when initialized • It is marked with double lines along its margins

11. Concept V2.5 • Step Name (IEC Like) • The step name is automatically generated and can be edited (free names) • The default for steps and transitions is the IEC Like naming. • A step name must be unique throughout the entire project • Step name length: maximum 32 characters • The automatically generated step name always has the structure: S_n_m • S = step • n = number of section (consecutive number) • m = number of step in the section (consecutive number)

12. Concept V2.5 • Step Name (Dynamic Numbered) • Instead of free names, alias names can be selectedfor steps (and transitions): • Structure of alias names: S_nn_sszz • S = step • n = first characters of section name (number of characters selectable) • ss = Branch number on the section • zz = Step number in a branch • Choosing the alias can be activated in Options > Preferences > Graphical Editors...

13. Concept V2.5 • Step name (Dynamic names) Example

14. Concept V2.5 • SFC - Elements: The Transition • A transition is the condition that transfers control from one step to another. • Only transitions following active steps are solved / evaluated. • When a transition is True on the next scan: • The preceding step(s) is deactivated • The following step(s) is activated • The True transition between the steps is no longer solved • The transition following the new active step is solved

15. Var_Lit_Dir Trans_Sect Concept V2.5 • A transition is a single control object of data type BOOL and can be: • a direct address • a variable • a literal (0 / FALSE or 1 / TRUE) • a transition section.

16. Concept V2.5 • Transition sections are special sections that have: • One single BOOL output • Its output name is the same as the transition section name. • Only one section per transition • Only functions, no function blocks can be used.

17. Concept V2.5 • Transition Sections: • will be automatically created when opened. • can be created for every transition. • can be programmed in FBD, LD, IL or ST. • In FBD the section automatically pre-assigns an AND_BOOL function with the following: • one output, preassigned the actual name of the transition section

18. Concept V2.5 • SFC - Elements: The Jump • The jump allows the program to continue from a different location. • A jump can be used in two ways: • sequence jump • sequence loop • Jumps into or out of a parallel sequence area are not possible.

19. Simple Loop Sequence- Loop Sequence- Jump S_6_1 S_6_3 S_6_6 S_6_2 S_6_4 S_6_7 S_6_8 S_6_3 S_6_5 S_6_8 S_6_1 Concept V2.5 • The Jump

20. Concept V2.5 • SFC - Elements: Alternative Branch • The alternative branch offersconditional programming ofbranches in the control flow ofthe SFC structure. • There can be only one branchactive at a time • Left-to-right priority • All alternative branches mustbe joined back into one singlebranch using alternative jointsor jumps. Alternative Branch Alternative Joint

21. Concept V2.5 • Alternative Branch • Example: • Alternative sequences

22. Concept V2.5 • SFC - Elements: Parallel Branch • Parallel branches split up the processinginto two or more sequences. • One common transition directly above theparallel branch is allowed. • The sequences are processed in paralleland are processed independently of eachother. • The parallel joint combines two or moreparallel branches to form one branch. • One common transition is directly belowthe parallel joint. • This transition is evaluated only whenall directly preceding steps of the transitionhave been set. Parallel Branch Parallel Joint

23. Concept V2.5 Example: Parallel sequences

24. Concept V2.5 Select mode Select column mode Select row mode Step creation mode Transition creation mode Parallel branch creation mode Parallel joint creation mode Alternative branch creation mode Alternative joint creation mode Jump creation mode Link creation mode

25. Concept V2.5 Text creation mode Toggles animation mode Toggles presentation of animation panel Step-Transition sequence creation mode Structured parallel component creation mode Structured alternative component creation mode Transition-Step sequence creation mode

26. Concept V2.5 • Fast creation of Elements

27. Concept V2.5 • SFC Development • Create a new SFC section. • Create sequence with SFC elements. • Define step properties. • Define transition condition.

28. Concept V2.5 • SFC Programming

29. Concept V2.5 • Step Actions • A step can be assigned none, one or multiple actions. • An action is a BOOL variable or direct address. • An action can be assigned a qualifier.

30. Concept V2.5 • Step Programming

31. Concept V2.5 • Qualifiers • N None, action is active when the step is active. • S Set of the action (1), remains active even if the step becomes inactive (saved/stored) • R Reset of the action (0) • L Time limited set of the action during the step active period • D Action will be delayed active during the step active period. • P Set of the action for one program scan (pulse) • DS Delayed set of the action

32. 10 Step Qualifier N,NONE S R L D P DS 10 10 10 10 10 10 10 Concept V2.5 • Actions, Qualifiers Timing Diagram Step active Step Activity

33. Var_Lit_Dir Concept V2.5 • The Transition Variable (Literal, direct address)

34. Trans_Sect Concept V2.5 • The Transition Section • contains the logic of the transition condition as well as being automatically linked to the transition.

35. Concept V2.5 • The Transition Section

36. Concept V2.5 • The Transition Section Modify, extend with functions, links .... close section • Transition is activated if variable is TRUE (e.g. S_17 = TRUE)

37. Normal View Expanded View Concept V2.5 • View: Normal / Expanded

38. Concept V2.5 Transition section is not in operation Transition is not satisfied (monitored) Transition is satisfied (monitored) Black Red Green

39. Concept V2.5 • Animation of the Steps • In a running Quantum PLC, the displayed data is automatically updated. If it has stopped, the static state of the program is displayed from the Quantum PLC. Step is inactive Step is active Time over­rangeThe error display terminateswhen the step becomes inactive. Time under­rangeThe error display remainseven though the step has been inactivated. White Green Magenta Yellow

40. STEP_17 123s340ms Concept V2.5 • Displays the time that has passed sincethe step became active. • The time display in active steps is updated continuously. • After the step has become inactive, the time display is maintained until the next activation of the step. Each time the step becomes active, the old time is reset and time begins from 0. Green

41. Concept V2.5 • Supervision times • Maximum supervision time: • If the step is still active after this time has expired, a bit is set and in animation mode there will be an error message and a color change of the step • must be greater than the minimum supervision time and the step delay time. • Minimum supervision time: • If the step becomes inactive before this time has expired, a bit will be set and in animation mode there will be an error message and a color change of the step • Must be smaller than the maximum supervision time and greater than the step delay time. Magenta Yellow

42. Concept V2.5 • Supervision times • Step delay time: • Defines the active step time, i.e. the minimum length of time the step will remain active. • Must be less than maximum and minimum supervision time. • Entry of Supervision and Step delay time: • as literal (direct, fixed values) or as • Variable of Data type SFCSTEP_TIMES: • select SFCSTEP_TIMES Variable  Variable Declaration...  enter Variable name  Data type SFCSTEP_TIMES  Set... value  Step properties  enter name of SFCSTEP_TIMES typed variable

43. Concept V2.5 • Entry of Supervision times

44. Concept V2.5 • Entry of Supervision times

45. Concept V2.5 • Entry of Supervision times

46. Concept V2.5 • Learning Mode Supervision times • Learning Mode for automatic determination of supervision times is possible after "Connect" and "Download":  Online Menu Animate SFC section Animation Panel Learning Mode On Waiting ..... Learning Mode Off Continue/Accept

47. Concept V2.5 • Learning Mode Supervision times

48. Concept V2.5 • The Step Variable • Each step is implicitly (automatically) assigned a (read­only) variable from data type SFCSTEP_STATE. • This step variable has the same name as the step. • The step variable can be used everywhere as FFB input to ask for the status. • The step variable has the following structure: • “Stepname”: SFCSTEP_STATE • t: TIME • x: BOOL • tminErr: BOOL • tmaxErr: BOOL

49. Concept V2.5 • The Elements have the following meaning: • ’Stepname’.t Current retention time in the step • ’Stepname’.x 1: Step active 0: Step not active • ’Stepname’.tminErr 1: Low­limit violation of minimum supervision time 0: No low­limit violation of minimum supervision time • ’Stepname’.tmaxErr 1: Upper­limit violation of maximum supervision time 0: No upper­limit violation of maximum supervision time • Example for stepname = STEP_1: STEP_1.t Current retention time in STEP_1

50. Concept V2.5 • Animation panel • The animation panel allows you to test the processing of an SFC section. For example, steps can be commutated, the processing of the sequence can be controlled (whether transitions or actions are to be processed), time errors can be reset or the sequence can be reset to the initialization state. • The animation control panel provides all available operator options in a dialog box. • SFC-Section animated, Online, Animation panel