Grafcet Designer user manual
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1. In order to be able to pass values to your edited SFC VI from another VI you need to create associated connector to those objcts cf LabVIEW refernce manual TecAtlant 26 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Aide contextuelle Cr TecAtlant Grafcet Designer Private IHM G7 Interface _IHM vi 4815 Inputs 10 2 Outputs Event 9 1 Comments error in no error 8 0 error out Your Grafcet WI ZA If you forget to do this then at run time the error window will show up and signals you this forget With the button complete LabVIEW will automatically create needed front panel objects and also the connector pane and an icon to your VI Creation of the application When the inputs outputs of our control part were defined and that the grafcet specifying its behaviour was published it remains to integrate these various elements in the final VI one which will make live to our application The Grafcet SFO edited for your command Outputs ETF Animation of the Grafcet VI is avalaible Comments only in the development system J App Type k Development System Y visible status EM e System Inputs Array of the assembly plant System Outputs Array of the assembly plant Lsec in the grafcet as 10 11 Il etc Used in the grafcet as 00 OL 02 ete System Inputs can come from DAG and or AMI System Inputs c2. Rli Fl Xi t1 Xj t2 li Logical state of Digital input array at index 1 Rh Rising edge of Digital input array at index 1 Fl Falling edge of Digital input array at index 1 Xi Step 1 Variable Xi is true when Step 1 is active false when inactive t1 Xj t2 Temporisation tl Xj t2 is true 1000 ms after step j is activated and remain true 500 ms after step j is desactivated Examples of Receptivity I0 RI3 FI4 1000 X2 500 Receptivity with condition Transition is fired when up link steps are actives and when receptivity is true and condition is true Expression of receptivity RI Fli and condition Rh Rising edge of Digital input array at index 1 Fl Falling edge of Digital input array at index 1 Expression of condition any logical combination of digital inputs E1 Step Variable Xi temporisation using and and or operators You also can use brackets You can also use and for and and or operators Ii Logical state of Digital input array at index 1 Rh Rising edge of Digital input array at index 1 Fl Falling edge of Digital input array at index 1 Xi Step 1 Variable Xi is true when Step 1 is active false when inactive t1 Xj t2 Temporisation t1 Xj t2 is true 1000 ms after step j is activated and remain true 500 ms after step j is desactivated Examples of conditions 13 and 14 13 14 TecAtlant 20 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Usi
3. considered evolution with search for stability 15 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Example When the step carrying the conditional action is active then each associated output takes the true value as long as the condition is true and that the step remains active not memorized action If several steps activate the same output then the value of this output is the value of disjunction between the outputs of the various steps o OD 02 if 1002200 s31 10 The outputs named O0 and O2 index 0 and 2 in the vector of outputs take the value true when The situation reached is stable And the step 0 is active And if the step 2 is active since more 100ms or inactive since less 200ms and step 3 is active or the EO input is true li has the value of the i component of the vector of inputs Xi is the variable of step associated with the step i it is true if step i is active t1 Xj t2 is a temporization associated with the step variable j where t1 and t2 are literal integer values This temporization takes true value t1 ms after the activation of the step j until t2 ms after the desactivation of the step j Complete syntax of conditional actions a OTecAtlant Actions associated to a step can be or not associated to a condition and a comment Actions without condition Associated action s emitted when steps 1s active Action expression O
4. reserved Under the copyright laws this publication and the software may not be reproduced or transmitted except for a backup copy of the software in any forms electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of TecAtlant Corporation Trademarks LabVIEW is a National Instruments Corporation trademark Macintosh is an Apple Computer Inc trademark Windows is a Microsoft trademark Product and company names mentioned herein are trademarks or trade names of their respective companies TecAtlant 1 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Warning regarding use of TecAtlant products 1 TECATLANT PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND ARE TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHICH FAILURE TO PERFORM CAN BE REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS M
5. the top to the bottom the arcs are thus directed from the 2 entity upstream to the entity downstream In order to return clarifies the rising arcs we can insert one VI arrow upwards this VI will receive obligatorily its input from a step or a divergence in and and will emit its outputs to one or more transitions upwards on a link going up under penalty of having a broken bond n A Grafcet Designer does not authorize to place entities other than the VI arrow mM100 4 20 OTecAtlant 24 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Syntactic analysis of grafcets Graphic syntactic analysis Sl wan Grafcet Designer benefits from the properties of the graphic editor of LabVIEW thus thanks to the typing of the arcs between entities the correction of the graphic syntax of a grafcet is immediate 1f an arc is into dotted then one of the rules of constructions of the GRAFCET is not respected not respect of alternation step transition several steps are connected directly to the same transition etc The appearance of the broken arrow VI no achievable indicates a syntactic error of the grafcet in the course of edition Analyze conditional actions and receptivities TecAtlant If the graphic syntax of the grafcet is correct it also should be checked that several steps do not have the same number that there is no transition not connected to a step tha
6. ALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEM HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSE OR ERROR ON PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE E RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENCE STEP TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM TECATLANT S TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE TECATLANT PRODUCTS WITH OTHER PRODUCTS IN MANNER NOT EVALUATED OR CONTEMPLATED BY TECATLANT THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF TECATLANT PRODUCTS WHENEVER TECATLANT PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION TecAtlant 2 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Table of contents ABOUT THES MANUAL A a in 4 ON DION aid 4 CONTACTS WITH CUSTOMERS Nadia 4 CHAPTER 1 G
7. Following steps start the problem ds TecAtlant 34 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Appendix Documentation form TecAtlant invites you to bring your comments on the documentation provided with our products This information will enable us to guarantee products of quality adapted to your needs Title Grafcet Designer v 2 0 Reference Manual Edition Date December 2013 Please bring your comments on exhaustiveness the clearness and the organization of this handbook FUNCH ON Se A ee dd Gt Na Ne ne COMPA iaa AUS ice PACS HUME icuioeissas DENCY OUR MAIN TO AA AAA AAA TecAtlant Le Fort bloqu 27 All e des Macareux 56270 Ploemeur FRANCE T l 33 0 9 80 32 79 40 E Mail info tecatlant fr TecAtlant 35 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Appendix Bibliographical References Reference books Standards TecAtlant 36 Comprendre maitriser et appliquer le GRAFCET M Blanchard CEPADUES EDITIONS Collection NABLA LE GRAFCET N Bouteille P Brard G Colombari N Cotaina D Richet CEPADUES EDITIONS Du GRAFCET aux r seaux de Petri R David H Alla HERMES Trait des Nouvelles Technologies S rie Automatique Preparation of function charts for control systems International Standard CEVIEC 848 December 1988 CEI 3 rue Varemb Gen ve Suisse Grafcet Designer v 2 0 Reference Manual April 2014 Edition
8. RAFCET DESIGNER INSTALL ccococcnonoccononoccnnonccnnnococononoccnnonocononocconocccononoccnnocccononocccononos 5 MATERIAL REQUIREMENTS dd 5 SOFTWARE REQUIREMENTS dato 5 GRAPCET DESIGNER NS TAE dd is lrmtdo lala ei idee laine 5 CHAPTER 2 THEGRAECET ORSE Cid A AS dore eee sente Ae 6 CONSTRUCTION RULES OFA GRAFCET an un tisane lali cos tados 6 DO DO A II II II ee nie Nil 6 TOTS IONS A A Ed die UN dE ne salen E 6 VBI AIT ei LO A RTE RE A CTE EST tel en Pas TY TEAMS TERI Wty AN TA 7 Convercences and diver Sent SS SN dh tile eastern 7 RULES OF EVOLUTION OF A GRAFCE Pr e do e alates cd ed a a dd e 7 CHAPTER 3 USING GRAFCET DESIGNER ccccccsssscccsscscccsccscccsccccccccccccsccccccsccsceccccscscscccescccsceseees 9 PRINCIP EOF GRAFCET DESIGNER lt a e etat e oe 9 D PINDHON OR INU TS OUTPUT A 11 TPS is st O od del Asie ae MN in het 11 OULD UES O ln acc wana NN NN dr nd nn te eet a taeda de 12 CUSTOMIZE nP S OUTPUTS lt A a ele dut 13 DIHON OF AGRA PCED ES de a 14 TNC Hien FUNCTIONS racer D SIONOP DER wi Gel cist shed oi o ena dunes 14 E 15 Ihe Cond ona ACTION e O MITA A A a a r A 18 LECON N O e e A a aes ul acc r a r 19 THE Condi onal ACTION COLON MAZA A A E E ei Rd 22 CONV nees and AVEO CNC ES oasa a M a el a N 23 TAT TONS T E O E E A E E A a A A A de 23 DIFERENTES A EAE E E EEN E A N N A N S E T 24 Sacie ana S S Of raf CS a ETE Le E TE ee E loco 2I AIC EO T E pais 26 FTON POr RO CEAS Ee S a a aes le ne 26 CREATION OF
9. Sequential Function Chart Add On for LaDVIEVV Grafcet Designer v 2 0 Reference Manual TecAtlant April 2014 TecAtlant Le Fort bloqu 27 All e des Macareux 56270 Ploemeur FRANCE T l 33 0 9 80 32 79 40 Warranty Limitation The media on which you receive TecAtlant software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from the date of shipment as evidenced by receipts or other documentation TecAtlant will at this option repair or replace software media that do not execute programming instructions if TecAtlant receives notice of such defects during the warranty period TecAtlant does not warrant that the operation of the software shall be uninterrupted of error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work TecAtlant will pay the shipping costs of returning to the owner parts which are covered by warranty TecAtlant believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical error exists TecAtlant reserves the rights to make changes to subsequent editions of this document without prior notice to holders of this edition The reader should consult TecAtlant if errors are su
10. THEAPPLICATION aan al a a cies led ete AA 27 TAD WAN CX CCU ON A O T TE wets da eles E E de des 28 LabVIEW ROTI ONE T EEO T EAE E A a a a a 28 GRAFCET DESIGNER MENUS AND WINDOWS cccccccsecccceseccccscccceeccccusecscueecseuueececuueecssueceseuecsssueeceseecesuneeseeees 29 IPF CTCTCNCCS WINAOWS ste acd cnet A te Mantes dette See sad led Sii 29 O Cele SMO ne eT ae 30 TNE Sa A A de la ae A 31 APPENDEN RER AA A AE ATA A A A AAA Ai 32 CONTACTS WITH CUSTOMERS en den secs Cine di halo ti stesso ba niet a nec en dise 33 TECANICAD SUPPORT FOR Wie ee nn nt a 34 DOCUMENTA TION FORMES Este a o 35 BIBLIOGRAPHICAL R F RENCES a aaa 36 RE TUCO DOORS at ET yd e ae cd eee 36 a EEZEZEZEaEZEZZ 36 OTecAtlant 3 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 About this manual The Grafcet Designer reference manual describes the user interface of the Grafcet Designer library To benefit fully from it 1t is preferable that you are familiarised with Windows and with the programming language LabVIEW Conventions Bold Italic Bold italic The following convention appears in this manual The symbol leads you through nested menu items and dialog box options to a final action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box This icon denotes a note which alerts you to important information This icon
11. al actions and transitions receptivitues You ll find them under menus Tools gt gt Control and Simulation gt gt Grafcet Designer gt gt Conditional Action Editor Tools gt gt Control and Simulation gt gt Grafcet Designer gt gt Receptivity Editor A 13 Conditionnal Actions Editor Wizard This tool helps you writing the conditionnal actions Enalish my lle for Grafcet Designer steps y se FAR Choose the outputs that are to be set to true when step is active Build the optional condition associated to this thosesi outputisi Then copy the formatted string in the Step associated string constant Actionis Outputs Dll index Standard 4 F Associated outputs set to G 0 Number false when freezed O Rise Q Fall O Pulse d Condition True True Number t1 Ri t2 False Comment Conditional Action string Adel Clear For more details and examples about conditional actions syntax Help gt gt TecAtlant gt gt Documentations Grafcet Designer Help Copy this string to clipboard OTecAtlant 31 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Appendix TecAtlant 32 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 Appendix Contacts with customers This appendix contains two forms The first one will allow you once that you will have returned it to obtain useful information which you will use to solve possible technical problems By fill
12. an go to DAG and or AMI TecAtlant 27 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Highlighting execution Passing True value to input Visu of your SFC VI let you visualize active steps at run time AY Execution highlighting works only under development environment IDE E Press Start Button Frio and 1214 Start is triggered and wagons are at station Highlighting execution mode example LabVIEW Real Time Grafcet designer is LabVIEW Reeal Time compatible NI LabVIEW Real Time Module and work on device like Compact RIO NI CompactRIO embedded control systems You must validate your edited SFC under your LabVIEW for Windows IDE Once your SFC is syntaxically correct and verified then you can run it under labVIEW Real Time You can t visualize active steps under Real Time environment TecAtlant 28 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Grafcet Designer menus and windows Preferences windows Through the menu Help gt gt TecAtlant gt gt Preferences gt gt Grafcet Designer preferences You can o Change Grafcet Designer Language English or French o Desactivate automatic routing of wires recommanded for a better experiment of Grafcet Designer o Activate Block Diagram Grid recommanded for a better experiment of Grafcet Designer o Choose the palette type of Grafcet Designer C
13. ceptivity syntax Help gt TecAtlant gt Documentation Grafcet Designer Help OTecAtlant 22 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Convergences and divergences Convergence in and A Divergence This VI makes it possible to represent convergence in and of the GRAFCET We can connect to it up to four steps upstream It is possible to put several specimens of these VI in cascade if we wish to connect more than four steps From Step d tape 4 From Step d tape 3 From Step d tape 2 From Step d tape 1 pu 0 To transition s vers Eran From step upstream is connected to a step upstream which validates the transition go To Transition Downstream is connected to the transition downstream which is validated by the stages This VI is implicitly directed from the top to the bottom in and This VI allows representing the divergence in and of the GRAFCET We can connect to it up to four steps downstream It is possible to put several specimens of these VI in cascade if we wish to connect more than four steps gt ee 0 From transition s de tran To Step vers tape 4 To Step vers tape 3 To Step vers tape z To Step vers tape 1 To step downstream is connected to a step downstream which is activated by the transition go From transition upstream is connected to the transition upstream w
14. cet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer A This part describes the how to create how to execute and how to debug a grafcet with Grafcet Designer The use of Grafcet Designer requires a preliminary knowledge of the LabVIEW programming language It is pointed out here that the term VI is the abbreviation of Virtual Instrument it indicates a LabVIEW program Principle of Grafcet Designer TecAtlant The creation of a process control application with the library Grafcet Designer is decomposed in 3 phases 1 Definition of the inputs outputs of the control part of the system Those inputs outputs can be of two types Software by the means of the graphical interface to or from the operator Material by the means of physical devices to or from the process such as digital input output devices serial connections network 2 Edition of the grafcet specifying the comportment of the control part 3 Integration of the two previous phases into an execution engine which allows executing the application We chose to illustrate each point on a test application following the development of the final application step by step The selected application is a workshop made up of a manufacture part and an assembly part The manufacture part receives blanks which it machines These parts are then deposited in a place of storage Then either on order of an operator or in an automa
15. denotes a caution which advice you of precaution to take to avoid injury data loss or a system crash Bold text denotes items that you must select or click in the software such as menu items and dialog box options Bold text also denotes parameter names controls and buttons on the front panel dialog boxes selection of dialog boxes menu names and palette names Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply Bold and italic text denotes a note an advice or a warning Contacts with customers OTecAtlant You will find forms of technical support and informative at the end of this manual in the appendix Contact with customers Thanks to complete this forms and to return it indicating your comments and notes on this product and its handbook You can also description which you will develop with this product to obtain more information and to help you to solve possible problems which you can encounter 4 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 Chapter 1 Grafcet Designer Install This part describes the requirements to use Grafcet Designer and its installation procedure Material Requirements Grafcet Designer as LabVIEW is a multi platform product he One version of Grafcet Designer is available on each platform that is supported by LabVIEW Software req
16. e thanks to the inputs outputs The control part receives information from type All or Nothing AoN coming from the operative part This information constitutes the inputs of the control part The control part which behaviour is specified by a grafcet works out a whole of signals also of AON type intended for the operative part this whole of signals constitutes the outputs of the control part Thus it is necessary to define these sets of boolean variables also called respectively vector of inputs and vector of outputs These definitions will be made in your main VI which will contains your SFC or grafcet When you open the VI Running grafcet vit a copy of this VI is automatically created You ll find it in LabVIEW templates TecAtlant Grafcet Designer An input must be a boolean variable 1t can come from two sources the operator interface the front panel of one VI or of outside for example of an acquisition device a serial connection or of a network it is the interface proceeded In the case of an acquisition device it 1s often necessary to convert a numerical or alphanumeric value into boolean values In practice to define the vector of inputs 1t is just enough to assemble each one of its components using the function Build Array The order of the components is significant because it makes it possible to index the inputs the notation Ji will indicate the i component of the vector of inputs T
17. ected to the transitions downstream which are validated by the step This VI is implicitly directed from the top to the down Conditional actions A conditional action breaks up into two parts the action and the condition separated by the reserved word if It is also possible to associate comments to each step of the GRAFCET 02 03 OD if 011 2 E a a a 3 machine part storage The action 1s made up of one or several outputs separate then by commas If the action is empty then no action is associated with the step The condition can exist only if the associated action is none empty It is a logical expression being expressed using the operators operator and operator or and operator not of the operands J Xi and ti Xj tk as well as brackets and The comments are located at the end of the conditional action They are defined by the operator When the step is active the comment is returned on the output comments of VI containing your edited SFC The notation ROi indicates the rising of the output Oi to the true state the notation FOi indicates the falling of the output Oi to the false state Set and Reset The notation Oi indicates that the grafcet should generate a pulse on the output Oi Semantics of the conditional actions OTecAtlant An action associated with a step is revalued only in the stable situations of the grafcet
18. erved word and The event is either a front going up noted R or a front going down noted F of the variables Ti Xi t1 Xj t2 The event can be always occurrent in this case it is noted e or not noted Thus an event is written RIG Fl RXi FXi Rt1 Xj t2 Ft1 Xj t2 e or anything equivalent to e The event can also be an order noted order sent to the grafcet by the Order input of the VI that contains your edited SFC Open Open js 60pen miens de in the case of an order the event can not be followed by a condition OTecAtlant Semantics of the receptivities A transition will be crossed if it is validated All its steps upstream are active if the associated event arrived always in the case of e and if the associated condition is true RIO and 150 42 50 13 This transition will be crossed when All its steps upstream are active qnd the 10 input passes from the false state to the true state front going up of 10 and step 2 is active since at least 150ms or inactive since less 50ms and the 13 input is true Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Complete syntax of Transitions Receptivity Empty Receptivity Transition is immediatly fired when up link steps are actives Receptivity without condition Transition is fired when up link steps are actives and when receptivity is true Expression of receptivity H
19. et and interpretation Construction rules of a grafcet Steps A grafcet is graph which is composed of steps and transitions connected between them by connections or directed arcs A Step is represented by a square to which a unique number is associated A Step can be initial represented by a double square A Step 1s either active or inactive The whole of active steps called situation entirely defines the state of the system We specify for each step the actions to be executed These actions are executed only when the corresponding step 1s active We can associate a condition to those actions the action is then executed only if the step is active and the condition is performed Transitions TecAtlant A transition 1s represented by a horizontal line A transition represents a possibility of change of the comportment of the system This change of comportment the passage from one 6 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 Chapter 2 The GRAFCET or SFC step to the following corresponds to the crossing of a transition A transition 1s validated when all previous steps are active The logical proposal which conditions the transition calls the receptivity Directed arcs i Each directed arcs links a step to a transition or a transition to a step there is always strict alternation step transition When this connection is connection is directed upwards we show the direction by an arr
20. he inputs Start Stop production line Start Stop assembly line Manual Automatic and Hold are inputs coming from the graphic interface operator The inputs can also come from an acquisition device Marche Arr t ose D marrage p777 2 Pr sence Nume rique 1D Bool _ Mvoies 1Echant Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Outputs An output is a boolean variable it can be redirected to two different destinations to the operator interface to a boolean indicator or to the outside acquisition card serial connection network We can read different components of a 1D vector of boolean by using the function Index array from the menu Array amp Cluster We can also use the function Array Subset from the menu Array amp Cluster to read a part of a vector for example to be converted to an integer by using the function Boolean Array to number to be write on a port of an acquisition card The order in which we recover these components has an importance because it is in this order which we will make reference to the outputs in the grafcet the notation O will indicate the i component of the vector of outputs Example The first six outputs Machining Waiting1 Waiting2 Laying Hold Assembly are software outputs intended to inform the operator on the order given to the
21. hich activates the steps This VI is implicitly directed from the top to the down Convergences and divergences in or do not have a representation by VI they are done directly thanks to wiring by the LabVIEW wiring tool Arrows upwards This VI allows displaying rising arrows on the arcs The VIs step initial step transition convergence and divergence in and being implicitly directed from the top to the bottom The use of this VI is not obligatory but makes it possible to make appear in an explicit way the implicit orientation of the rising arcs To downstream Steps Vers 1 A 0 From upstream transition Cr OTecAtlant To step upstream is connected to a step upstream activated by the transition or to a divergence in and 23 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer go From transition downstream is connected to the transitions downstream which activate the step The low connection of this VI must go to the low connection of a transition and high connection must come from the high connection of a step or a divergence in and Directed arcs E Once the objects steps transitions etc placed in the diagram 1t does not remain any more that to connect them between them using the tool winds it is this link which constitutes the directed arcs between the various entities The Grafcet Designer entities being implicitly directed from
22. i RO1 FO1 IO1 where 1 is the index of the digital output array value that you want to set to True when the step 1s active Action can also be set reset or impulse ROJI Rising of Output 1 Output 1 remains to true until you reset 1 FO1 Falling of Output 1 Ouput 1 is set to false PO1 Pulse on Output 1 Output 1 is set to true just one time The next call to the grafcet will set Output 1 back to False FX1 freeze step 1 and it s associated tempos Associated outputs are normally emitted if step 1s active FOX freeze step 1 and it s associated tempos Associated outputs are set to false You can also specify multiple Actions associated to a step O1 0 R F P Ok Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Examples of Actions O0 01 02 ROI FO3 PO7 RO2 07 Action with condition Associated action s emitted when steps is active and condition is true Action expression Oi RO FO1 if condition where 1 is the index of the digital output array that you want to be set to True when the step is active Action can also be set or reset You can t specify multiple Actions associated to a condition Expression of condition any logical combination of digital inputs E1 Step Variable X1 temporisation using and and or operators You also can use brackets You can also use and for and and or operators li Logical state of Digital input a
23. ing it before contacting us you will allow us to act quickly and well By filling the second form you will help us to know your impressions on the documentation provided with the TecAtlant products TecAtlant Le Fort bloqu 27 All e des Macareux 56270 Ploemeur FRANCE T l 33 0 9 80 32 79 40 TecAtlant 33 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Appendix Technical support form Make a photocopy of this form and put it up to date each time you carry out physical or software changes It will be used to you as reference for your current configuration By filling this form most precisely possible before contacting TecAtlant you will obtain more precise answers of our engineers of application If you use other TecAtlant software want to include the forms of configuration which are in the corresponding user s manuals Add additional pages 1f necessary COMPA NU ater oe sede Adde Re RE CONT eR eM nr ea rere ds POMS MOMIE e O CE St MR Prem Gt A TE A o Ro A a ed ti ia de Data processing platform Model se SOS uier AS A a de tee Speed es MHz RAM o Mo Displaying adapter oooonnnnnnnnnnonononncnonnnos Mouse yes no Other adapters installed Hard disk capacity Mb A nets Instrume us Re ie din ie den TecAtlant SoftWare Men ed ins VESIN spr Es ga AN a A a EE A teased E E ENE ET Encountered Prope s Reese tee A A cie te Error messio eS MO aA A
24. iti de tran Step Number Numero d tape 2 LL pesan Conditionnal action Action 1 0 To transition s vers tran Step number specifies the number of the step The number is essential and must be single Conditional action specifies the conditional action associated with the step Its syntax and 1ts semantics are clarified here after OTecAtlant 14 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer go From transitions upstream is connected to the transitions upstream which activate the step go To transitions downstream is connected to the transitions downstream which Steps A are validated by the step This VI is implicitly directed from the top to the bottom Step This VI allows representing the steps of the GRAFCET it must be numbered thanks to a numerical constant of integer type 32 bits and you can associate with it a conditional action thanks to an alphanumeric constant of string type z 3 From t iti de tran Conditionnal action Action 1 0 To transitions vers tran Step number specifies the number of the step The number 1s essential and must be single Conditional action specifies the conditional action associated with the steps Its syntax and its semantics are clarified here after From transitions upstream is connected to the transitions upstream which activate the step T P Ll To transitions downstream is conn
25. lassic or pre wired step number conditional action string receptivity string Please select a language English El Your Grafcet Designer wiring can be easier if automatic routing of wires 15 disabled and if alignment grid of the diagram is activated menu toals gt gt Options gt Block Diagram gt Block Diagram Grid v Automatic routing of wires disabled You can use classical SFC palette or pre wired SFC palette Classical SFC palette Help example and tools Help gt gt Tec tlant gt Documentations gt Grafcet Designer Help Tools gt TecAtlant gt Grafcet Designer gt Conditionnal Action Editor Wizard Tools gt gt TecAtlant gt gt Grafcet Designer gt Receptivity Editor Wizard TecAtlant 29 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Examples You can access to examples Vis of Grafcet Designer through the NI Examples Finder tool Menu help gt gt find examples or through the help window of Grafcet designer menu help gt gt TecAtlant gt gt Documentation gt gt Grafcet Designer Help Exemples are an efficient way to understand and use Grafcet designer engish MEN Examples folder TS e 0 OTecAtlant 30 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer The wizards Two wizards help you in expression of steps condition
26. ng Grafcet Designer I5 or I7 13 17 10 13 15 X7 11 15 1000 X7 0 Examples of Receptivity with conditions RIII and 12 15 I7 FI2 and 1000 X4 0 Receptivity is an Event Transition is fired when up link steps are actives and when the string associated to event 1s sent to the grafcet VI Expression of receptivity anything Examples of events Go TecAtlant 21 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer The Conditional action editor wizard Though the menu Tools gt gt Control and Simulation gt gt Grafcet Designer gt gt Receptivity Editor You access to a wizard that helps you building receptivity You then just have to paste the string built to transition the associated string 13 Receptivity Editor Wizard This tool helps you writing the receptivity English a for Grafcet Designer transitions Choose the events that enables the firing of the transition Build the optional condition associated to this event Then copy the formatted string in the transition associated string constant Edge Inputs iii index Rising j tl Mit C_ T Number Falling DD y E Edge Rising i tl imsi t2 imsi r r Event string j 3 MESS Ade Falling Clear Condition Inputs Mi Humber t1 Xi t2 ti imsi do 1 le e e Copy this string to clipboard Receptivity string Comment For more details and examples about re
27. operative part Only the outputs 0 3 4 and 5 are material outputs they are the order given to the operative part They are formatted boolean array to number and are directed to an acquisition device Pr sence 1 d tect e Pr sence 2 d tect e Num rique 10 Bool _ HMwoies 1Echant TecAtlant 12 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Customize inputs outputs LabVIEW allows customizing controls and indicators by using the controls editor cf the handbook of LabVIEW reference Thanks to this mechanism it becomes possible to have a very realistic representation of the controlled process It is enough to import the images representative of the two states to an exit OK Visible Items b Find Terminal Change to Indicator Make Type Def Description and Tip Create Replace Data Operations eS F F Advanced Key Navigation Fit Control to Pane Synchronous Display Scale Object with Pane Customize Run Time Shortcut Menu Mechanical Action p Release Text Hide Control Enabled State p Properties OK Button ok Visible Items Change to Indicator Description and Tip Replace Data Operations p Advanced Mechanical Action Release Text Multiple Text Strings Import Picture from Clipboard P rate True Properties Decal TecAtlant 13 Grafcet Designer
28. ow upwards Convergences and divergences mej Es E aia When the directed arcs start from several steps known as steps downstream and arrive on the same transition or when directed start from the same transition and arrive on several steps known as steps upstream then these regrouping are represented by two horizontal parallel lines respectively called convergence and divergence in and When separation is in the direction from several transitions to a common step respectively from a step to several transitions we name them convergences respectively divergence in or Their representation is done by dividing the directed connections Rules of evolution of a grafcet Rule 1 Rule 2 Rule 3 Rule 4 Rule 5 TecAtlant 7 The evolution of a grafcet is subject to five rules Initial situation The initial situation of a grafcet characterizes the initial behaviour of the control part with respect to the operative part to the operator and or to the external elements It corresponds to the active steps at the beginning of operation those steps are the initial Steps Crossing a transition A transition is validated when all immediately preceding steps connected to this transition are active The crossing of the transition occurs when the transition is validated AND when the receptivity associated with this transition is true Evolution of activated steps The crossing of a transition involve
29. r false when freezeil O Rise y Q Fall 6 Standard O Pulse Condition Inputs iT index Number ol f anaona Tea ang Ormen Copy this string to clipboard For more details and examples about conditional actions syntax Help gt gt TecAtlant Documentations gt Grafcet Designer Help TecAtlant 18 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer The transition This VI makes it possible to represent a transition of the grafcet It is possible to associate receptivity to it thanks to an alphanumeric constant of string type From Steps or AND convergen 2 Receptivity R ceptivit 1 e To Steps or AND divergence 0 From step upstream or convergence in and is connected to the step upstream which validates the transition or to a convergence in and or of nothing in the case of a transition source To step downstream or divergence and is connected to the step downstream which are activated by the transition or to a divergence in and or of nothing in the case of a transition well Receptivity specifies the receptivity associated with the transition Its syntax and its semantics are clarified here after This VI is implicitly directed from the top to the down Syntax of a receptivity In Grafcet Designer a receptivity breaks up into two parts the event and the condition separated by the res
30. rray at index 1 Xi Step 1 Variable Xi is true when Step 1 is active false when inactive t1 Xj t2 Temporisation t1 Xj3 t2 is true tl ms after step j is activated and remain true t2 ms after step j is desactivated Examples of conditions 13 and I4 13 14 I5 or I7 13 17 10 13 15 X7 11 15 1000 X7 0 Examples of Action with conditions O1 if 12 15 17 RO2 if 1000 X4 0 Comments Comment expression anything Comments can be added to the end of an action or conditionnal action Those comments are emitted when the associated step is active Example of action with comments O4 Hello TecAtlant 17 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer The Conditional action editor wizard Though the menu Tools gt gt Control and Simulation gt gt Grafcet Designer gt gt Conditionnal Action Editor You access to a wizard that helps you building conditional action You then just have to paste the string built to step the associated string i males me CS Un D Nonna ACCIONS COMO Ia rO This tool helps you writing the conditiannal actions English age for Grafcet Designer steps is Choose the outputs that are to be set to true when step is active Build the optional condition associated to this fhosesi outputisi Then copy the formatted string in the Step associated string constant Actionis Outputs Ol index E Associated outputs set to 0 Numbe
31. s simultaneously the activation of all immediately following steps and the inactivation of all immediately preceding steps Simultaneous evolution Several simultaneously crossable transitions are simultaneously crossed Simultaneous activation and inactivation If during operation same step is simultaneously activated and inactivated it remains active Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 2 The GRAFCET or SFC 7A Stability TecAtlant 8 Moreover two evolution modes are generally accepted evolution without searching for the stability or evolution with searching for the stability Grafcet implements the last one For a value of the vector of inputs of the system leading to a given situation this situation reached will be known as stable if after crossing of all the crossable transitions a new situation can be obtained only on occurrence of an external event The outputs associated with the steps belonging to a non stable situation are not emitted For a given stable situation the associated outputs which logical conditions are true are emitted with the value true the others are emitted with the value false During an evolution with search for stability a new value of the vector of the inputs is considered only when a stable situation is reached Consequently a completely unstable situation return to a same situation during the same evolution involves a looping without end Graf
32. spected In no event shall TecAtlant be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN TECATLANT MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIM ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE COSTUMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF TECATLANT SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE COSTUMER TECATLANT WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCT OR INCIDENTAL OF CONSEQUENTIAL DAMAGES EVENT IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of TecAtlant will apply regardless of the form of action whether in contract or tort including negligence Any action against TecAtlant must be brought within one year after the cause of action accrues TecAtlant shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow TecAtlant installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire flood accident actions of third parties or other events outside reasonable control Copyright Grafcet Designer software and its handbook reproduction are all rights
33. t the conditional actions and the receptivities are correct This analysis is realized by executing the VI which contains the published grafcet If an error occurs in the grafcet a VI window of error report displays the list of errors Grafcet Designer Error Window m English e GS Transition syntax error in receptivity Transition not connected amp Step not connected Y Several steps have same number Y Step syntax error in conditionnal action amp Step not connected Sans titre 1 the front panel needs objects like boolean Inputs and outputs array error clusters If your Vlis a sub Grafcet Macro Step don t mind this warning Complete the VI front panel or let me do it for you click on Complete VI button Don t complete if your VI is a sub Grafcet VI Macro Step complete VI 25 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Grafcets not related Nothing prohibits the creation of not related grafcets without directed arcs to connect them In particular small separated grafcets can possibly be used as memorizing They can quite naturally be referred by step variable RIO and 150f22 50 13 3 machine part storage RIO and 150 42 S50 13 Example of not related SFCs Front panel of edited SFC VI In order to be able to call your edited SFC VI from another VI you need to put the following controls and indicators
34. tic way when the part 1s detected an arm manipulator recovers the part to subject it to a machine of assembly where an assembly is carried out The finished part is then evacuated Other examples of use of Grafcet Designer are included with the toolkit You ll find those examples under the directory LabVIEW J examples TecAtant Grafcet Designer J On OFF ASSEMBLY Ty TAKE AUTOMATIC MANUAL Synoptic of the process 9 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 Chapter 3 Using Grafcet Designer The grafcet specifying the behaviour of our order part is as follows Start Stop Machining MACHINING Part machined Part layed ASSEMBLY End of assembly SFC or Grafcet of the control part For this system we defined the inputs of the control part with respect to the operative part as follows Designation Reference Source name ter Device In the same way one defined the outputs of the control part with respect to the operative part as follows Designation Reference Source name TES Device MACHINING WAITING 1 LAYING HOLD ASSEMBLY WAITING 2 A OTecAtlant 10 Grafcet Designer v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Definition of inputs outputs Build Example Array TecAtlant A grafcet specifies the behaviour of a control part compared with an operative part The interaction between the two parts is don
35. uirements To install Grafcet Designer you must previously install LabVIEW on your system The version 2 0 of Grafcet Designer is available for each version of LabVIEW since the version 2010 Grafcet Designer Install The install of Grafcet Designeris done automatically through its installer You can download an autonom version of this installer or a VIPM package needs VI Packae Manager TecAtlant 5 Grafcet Designer v 2 0 Reference Manual Edition de April 2014 Chapter 2 The GRAFCET or SFC STRUCTURE SYNCHRONIZATION CONNECTIONS The GRAFCET Functional Graph of Control Step Transition or SFC Sequential Function Charts is a formal model being used to specify and also to control reactive systems of the type all or nothing Boolean inputs and outputs An automated system of production ASP breaks up into two parts the control part and the operative part The operative part includes the process having to be controlled as well as the operator The control part is intended to process the data coming from the operative part to control it The following presentation does not claim to be a definition of the grafcet but just an introduction Moreover one will reveal there only the concepts of GRAFCET which were implemented in Grafcet Designer Action associated to the step 10 STEPS Receptivity associated TRANSITION to the transition INTERPRETATION DIRECTED Structure of a Grafc
36. v 2 0 Reference Manual April 2014 Edition Chapter 3 Using Grafcet Designer Example The Boolean Hold has a representation an arm at rest in the false state and an arm taking a part in the true state Thus the slackened and supported representation become respectively arm at rest and arm taking a part Edition of a grafcet The edition of a new grafcet specifying the operation of the control part of the system which we wish to control is done in new VI File New VI ZA You can also go from template VI grafcet vit from LabVIEW templates TecAtlant Grafcet Designer The menu Functions Grafcet Designer We lay out in the diagram the VIs constituting the grafcet using the menu Grafcet Designer located under Control and Simultaion and also from add on menu 4 Fonctions Ch Rechercher Programmation b z are eros La Conception de contr le et simulation SignalExpress 1 Conception de contr le et simulation F I Express j Grafcet designer h I Favoris ld LIL Ie Y Grafcet designer Grafcet desig CL JT 4 Palette Grafcet Designer Biblioth ques utilisateur S lectionner un YI FPGA Interface Initial step This VI allows representing the initial steps of the GRAFCET It must be numbered thanks to a numerical constant of the type Unsigned Integer 32 bits You can also associate with it a conditional action thanks to an alphanumeric constant of string type z 3 From t
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