ROBT 308

Industrial Automation

Lecture 9 – Developing Fundamental PLC wiring

diagrams and Ladder Logic programs

9 February 2016, Tuesday

Industrial Automation (ROBT308) - Spring 2016

 Topics
Today’s Topics
• Identify the functions of electromagnetic relays, contactors
and motor starters
• Identify commonly used switches in PLC installations
• Explain the operation of sensors and output control devices
• Compare sequential and combination control processes
• Convert relay ladder diagrams to PLC ladder logic program
• Write PLC programs directly from a narrative description

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Electromagnetic
Control Relays
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A PLC was designed to
replace control relays that
made logic decisions.

An electrical relay
is a magnetic
switch which uses
electromagnetism
to switch contacts.

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 Relay operation.

De-energized

https://www.youtube.com/watch?v=O9uxu-kyX5Q Energized
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 Normally open (NO) and normally closed (NC)
contacts.
NO contacts are open when
the coil is
de-energized and closed
when the coil is energized

NC contacts are closed when

the coil is
de-energized and open when
the coil is energized
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 Relay symbols.

CR is used for
control relays.

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Control relay used to control two pilot lights.

Switch open and Switch closed and

coil de-energized coil energized

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 Contactors

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A contactor is a special type of
relay designed to handle heavy
power loads that are beyond
the capability of control relays.

https://www.youtube.com/watch?v=tMIg24cHqwE

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PLC used in
conjunction with
a contactor to
switch power on
and off to a
pump.

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 Motor Starters

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 Contactor
The motor starter is
made up of a
contactor with an
overload relay
attached physically
and electrically to it. Overload
Relay
https://www.youtube.com/watch?v=2n9YzhWigxE

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Hardwired three-phase magnetic motor starter.

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PLC programmed magnetic motor starter.

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Manually Operated
Switches
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Manually operated switches are controlled by hand.

Makes a circuit Opens the circuit When the button

when it is pressed when it is pressed is pressed, the
and returns to its and returns to the top contacts open
open position closed position before the
when the button when the button bottom contacts
is released. is released. are closed.

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A selector switch operator is rotated (instead of
pushed) to open and close contacts of the
attached contact block.

https://www.wisc-online.com/learn/career-clusters/stem/iau11408/selector-switch-
labeling

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Dual in-line package (DIP) switches are small
switch assemblies designed for mounting on
printed circuit board modules

DIP switches use binary (on/off)

settings to set the parameters for
a particular module.

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Mechanically Operated
Switches
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A mechanically operated switch is controlled
automatically by factors such as pressure,
position, or temperature.
Limit switches are designed to operate
only when a predetermined limit is
reached, and they are usually actuated
by contact with an object such as a cam.

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A temperature switch, or
thermostat, is used to sense
temperature changes.

Temperature
switches open or
close when a
designated
temperature is
reached.

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Pressure switches are used to
control the pressure of liquids
and gases.

They are designed to

open or close their
contacts when a
specified pressure is
reached and can be
pneumatically (air) or
hydraulically (liquid)
actuated.

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Level switches
are used to
sense liquid
levels.

The float switch is a type of level

switch which is weighted so that
as the liquid rises the switch floats
and turns upside down, actuating
its internal contacts.

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 Sensors

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Proximity sensors detect
the presence of an object
without physical contact.

These solid-
state electronic
devices are
completely
encapsulated.

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Proximity sensors operate on different principles,
depending on the type of matter being detected.
Inductive proximity sensors are used to detect both
ferrous metals (containing iron) and nonferrous metals
(such as copper, aluminum, and brass).

Inductive proximity sensors

operate with electromagnetic
field which varies in strength
relative to a target.
https://www.youtube.com/watch?v=tcIvDMlJask

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The method of connecting a proximity sensor
varies with the type of sensor and its application.

Three-wire
sensor

Two-wire
sensor

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 Proximity sensor
sensing range.

Most proximity sensors come

equipped with an LED status indicator
to verify the output switching action.

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A small leakage current flows through the sensor even
when the output is turned off.
When the sensor is on, a small voltage drop is lost
across its output terminals.
To operate properly, a
proximity sensor
should be powered
continuously.

The bleeder resistor allows enough

current for the sensor to operate but
not enough to turn on the input.

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Capacitive proximity sensors operate within an
electrostatic field and are actuated by both
conductive and nonconductive materials.

When the target approaches the sensing surface, it

enters the electrostatic field of the electrodes and
changes the capacitance of the oscillator.

https://www.youtube.com/watch?v=Y1mA50tEmLQ

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Capacitive proximity sensors will sense metal objects as
well as nonmetallic materials such as paper, glass,
liquids, and cloth.

The larger the dielectric constant of a target, the

easier it is for the capacitive sensor to detect. This makes
possible the detection of materials inside nonmetallic
containers.

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A magnetic reed switch is
composed of two flat contact tabs
that are sealed in a glass tube.

When a magnetic force is generated parallel to the

reed switch, the reeds will be drawn together to
actuate the switch.
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The photovoltaic cell and the photoconductive
cell are examples of light sensors.

Photovoltaic solar cell Photoconductive cell

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A photoelectric sensor operates by
detecting a visible or invisible beam of
light and responding to a change in the
received light intensity.

Photoelectric
sensors are
composed of a
transmitter (light
source) and a
receiver (sensor

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The scan technique refers to the method used by
photoelectric sensors to detect an object.
The through-beam scan technique places the transmitter
and receiver in direct line with each other.

Because the light beam travels in only one direction,

through-beam scanning provides long-range sensing.
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In a retroreflective scan
technique, the transmitter and
receiver are housed in the
same enclosure.

This arrangement requires the use of a separate reflector

mounted across from the sensor to return light back to
the receiver.

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Fiber optic sensors
use a flexible cable
containing tiny
fibers that channel
light from emitter
to receiver
Fiber optic sensor
systems are
completely
immune to all
forms of electrical
interference.

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Bar code scanners are the
eyes of a data collection
system.

A bar code module

reading the bar code on
boxes as they move
along a conveyor line.

The PLC is programmed to divert the boxes to the

appropriate product lines according to the bar code
data.
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 An ultrasonic sensor operates by
sending high-frequency sound
waves toward the target and
measuring the time it takes for the
pulses to bounce back.

The returning echo signal

is electronically
converted to a 4- to 20-
mA output, which
supplies a monitored
measurement of level to
external control devices.

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A strain gauge
converts a
mechanical
strain into an
electric signal.

The force applied to the load cell

causes it to bend. This bending
action also distorts the physical
size of the cell, which in turn
changes its resistance.
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 The thermocouple is
the most widely used
temperature sensor.

Thermocouples operate on the

principle that when two dissimilar
metals are joined, a predictable DC
voltage will be generated

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Flow measurement involves converting the
kinetic energy that the fluid has into some other
measurable form.

Turbine flowmeters use their rotational speed to

indicate the flow velocity.
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Tachometer generators convert
rotational speed into an analog
voltage signal that can be used
for control applications.

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 An encoder is used to convert
linear or rotary motion into a
binary digital signal.

The optical encoder uses a light

source shining on an optical disk
with lines or slots that interrupt the
beam of light to an optical sensor.
An electronic circuit counts the
interruptions of the beam and
generates the encoder’s digital
output pulses.

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Output Control Devices

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Symbols for output control devices.

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Symbols for output control devices.

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An actuator is a device that converts an electrical
signal into mechanical movement.
An electromechanical solenoid is an actuator that
uses electrical energy to magnetically cause mechanical
control action.

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Solenoid valves are electromechanical devices that work
by passing an electrical current through a coil, thereby
changing the state of the valve.

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Stepper motors rotate in discrete
increments when electrical command
pulses are applied to it in the proper
sequence.

Every revolution is
divided into a number of
steps, and the motor
must be sent a voltage
pulse for each step.
The amount of rotation is directly proportional to the
number of pulses, and the speed of rotation is relative to
the frequency of those pulses.
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Servo motors operate in closed-loop mode, while
stepper motors operate in open-loop mode.

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 Seal-In Circuits

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A seal-in circuit is a method of maintaining current
flow after a momentary switch has been pressed
and released.

Hardwired

Programmed
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Motor seal-in
circuit
implemented using
the Allen-Bradley
Pico controller.

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Latching Relays

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Electromagnetic latching relays are
designed to hold the relay closed after
power has been removed from the coil.

The latch coil is momentarily

energized to set the latch and hold
the relay in the latched position.

The unlatch coil is momentarily

energized to disengage the
mechanical latch and return the
relay to the unlatched position.

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The PLC output latch (OTL) and output unlatch
(OTU) instructions duplicate the operation of the
electromagnetic latching relay.

The OTL and OTU instructions have the same address.

The OTL instruction can only turn a bit on and the OTU
instruction can only turn a bit off.
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Hardwired and programmed latching circuits.

Hardwired

Programmed

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Process used to control the level of water in a
storage tank.
Manual Mode -The pump
will start if the water in
the tank is at any level
except low.
Automatic Mode - When
the level of water reaches
the high point, the pump
will start.
-When the water level
reaches the low point, the
pump will stop .
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Program used to control the water level.

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 I/O connections for program.

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Converting Relay
Schematics into PLC
Ladder Programs
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A sequential control process is required for
processes that demand that certain operations be
performed in a specific order.

In a filling and capping operations, the tasks are (1) fill

bottle and (2) press on cap. These tasks must be
performed in the proper order.

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Combination controls require that certain
operations be performed without regard to the
order in which they are performed.

Here, the tasks are (1) place label 1 on bottle and (2) place
label 2 on bottle. The order in which the tasks are
performed does not really matter.

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Automatic control involves maintaining a desired
set point at an output.

When maintaining a certain set-point temperature in a

furnace, if there is deviation from that set point, an error
is determined by comparing the output against the set
point and using this error to make a correction.
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 Sequential process control relay schematic.

1. Start button is pressed.

2. Table motor is started.
3. Package moves to the
position of the limit
switch and
automatically stops.

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Sequential process control program.

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Instructions programmed for optimum scan time.

The series instructions are programmed from the most

likely to be false to the least likely to be false.

The parallel path

that is most often
true is placed on
the top of the rung.

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Hardwired jog circuit with control relay.

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Equivalent programmed jog circuit.

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Writing a Ladder Logic
Program
Directly from a
Narrative Description
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Drilling process that
requires the drill press to
turn on only if there is a
part present and the
operator has one hand on
each of the start switches.

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A motorized overhead garage door is to be
operated automatically to preset open and
closed positions.

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Motorized overhead garage door program.

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Continuous filling
operation. This
process requires
that boxes
moving on a
conveyor be
automatically
positioned and
filled.

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Continuous filling operation program.

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