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Industrial Automation Principle of optical encoding Optical encoders operate by means of a grating that moves between a light source and a detector. The detector registers when light passes through the transparent areas of the grating. For increased resolution, the light source is collimated and a mask is placed between the grating and the detector. The grating and the mask produce a shuttering effect, so that only when their transparent sections are in alignment is light allowed to pass to the detector. An incremental encoder generates a pulse for a given increment of shaft rotation (rotary encoder), or a pulse for a given linear distance travelled (linear encoder). Total distance travelled or shaft angular rotation is determined by counting the encoder output pulses. An absolute encoder has a number of output channels, such that every shaft position may be described by its own unique code. The higher the resolution the more output channels are required. courtesy Parker Motion & Control 16/52 2.1 Instrumentation
courtesy Parker Motion & Control Industrial Automation Absolute digital position: Grey encoder straight binary: if all bits were to change at about the same time: glitches Grey disk (8 bit) LSB MSB Grey: only one bit changes at a time: no glitch LSB MSB 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 17/52 2.1 Instrumentation
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Industrial Automation Two-point con
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value % 1.20 1.00 0.80 0.60 0.40 0.
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Industrial Automation A glance back
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The Watts "governor" (1791) - the f
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Industrial Automation Plant model f
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m(t), y 0 (t) 2 1.5 1 0.5 0 -0.5 co
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u 0 (t), y 0 (t) 2 1.8 1.6 1.4 1.2
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controller gain set-point u 0 error
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PID-Controller (Proportional-Integr
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time domain Laplace domain Industri
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1 0 P (K p = 15) less error, but un
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2.1 Instrumentation 2.2 Control 2.2
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Industrial Automation Nested loops
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Industrial Automation To probe furt
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POST_START_TIMER_MOD N_GT FAULT_STA
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Industrial Automation Programmable
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Industrial Automation PLC: Characte
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Switzerland SAIA, Weidmüller Indus
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(1) (2) (3) Compact Monolithic cons
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courtesy ABB Industrial Automation
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€ compact PLC (fixed number of I/
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23 4 3 3 2 12 2 I/O modules Industr
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Industrial Automation Specific Cont
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Micro: 15 to 128 I/O points Medium:
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Industrial Automation 2.3.3 PLCs: F
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CPU fieldbus controller field bus R
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Industrial Automation Matching the
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Industrial Automation Continuous Pl
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"combinatorial" 1) e.g. ladder logi
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Extend procedural languages to expr
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Function Block Diagram (FBD) AUTO A
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Industrial Automation 2.4.2.1 Funct
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Example 1: Example 2: A B external
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Industrial Automation Function Bloc
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Types of Programming Organisation U
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inary elements AND OR XOR S1 SR R Q
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Basic blocks Industrial Automation
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AXIS_REF Function Block library for
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Segment or POU (program organizatio
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Industrial Automation Parallel exec
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esource task task program program I
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Connecting to Input/Output, Method
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Industrial Automation 2.3.5.5 Struc
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Industrial Automation Data Types Si
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Industrial Automation Example of De
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Industrial Automation SFC (Sequenti
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Industrial Automation SFC: Initial
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Industrial Automation SFC: P1, N an
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Variables: Input: In0, In1, In2, In
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Industrial Automation SFC: Structur
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Function Blocks: Continuous (time)
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Industrial Automation Flow Charts O
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Industrial Automation 2.3.5.7 Ladde
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origin: electrical circuit correspo
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Series Parallel Industrial Automati
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Industrial Automation Ladder logic
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Industrial Automation 2.3.6 Instruc
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Industrial Automation Instruction L
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Industrial Automation Programming e
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Industrial Automation Program maint
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Industrial Automation IEC 61131-3 e
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Industrial Automation Limitations o
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