A programmable logic controller (PLC) or programmable controller is an industrial computer that has been ruggedized and adapted for the control of manufacturing processes, such as assembly lines, machines, robotic devices, or any activity that requires high reliability, ease of programming, and process fault diagnosis. Dick Morley is considered as the father of PLC as he had invented the first PLC, the Modicon 084, for General Motors in 1968.
PLCs can range from small modular devices with tens of inputs and outputs (I/O), in a housing integral with the processor, to large rack-mounted modular devices with thousands of I/O, and which are often networked to other PLC and SCADA systems.
They can be designed for many arrangements of digital and analog I/O, extended temperature ranges, immunity to electrical noise, and resistance to vibration and impact. Programs to control machine operation are typically stored in battery-backed-up or non-volatile memory.
PLCs were first developed in the automobile manufacturing industry to provide flexible, rugged and easily programmable controllers to replace hard-wired relay logic systems. Since then, they have been widely adopted as high-reliability automation controllers suitable for harsh environments.
A PLC is an example of a “hard” real-time system since output results must be produced in response to input conditions within a limited time, otherwise unintended operation will result.
A PLC is an industrial microprocessor-based controller with programmable memory used to store program instructions and various functions. It consists of:
a processor unit (CPU) which interprets inputs, executes the control program stored in memory and sends output signals,
a power supply unit that converts AC voltage to DC,
a memory unit storing data from inputs and programs to be executed by the processor,
an input and output interface, where the controller receives and sends data from/to external devices,
a communications interface to receive and transmit data on communication networks from/to remote PLCs.
Compact PLC with 8 inputs and 4 outputs.
Modular PLC with Ethernet/IP module, digital and analog I/O, with some slots being empty.
Modular PLC with Ethernet/IP module, discrete and analog I/O, with some slots being empty.
There are two types of mechanical design for PLC systems.
A single box or a brick is a small programmable controller that fits all units and interfaces into one compact casing, although, typically, additional expansion modules for inputs and outputs are available.
The second design type – a modular PLC – has a chassis (also called a rack) that provides space for modules with different functions, such as power supply, processor, selection of I/O modules, and communication interfaces – which all can be customized for the particular application.
Several racks can be administered by a single processor and may have thousands of inputs and outputs.
Discrete and analog signals
Discrete (digital) signals can only take on or off value (1 or 0, true or false). Examples of devices providing a discrete signal include limit switches, photoelectric sensors and encoders. Discrete signals are sent using either voltage or current, where specific extreme ranges are designated as on and off. For example, a controller might use 24 V DC input with values above 22 V DC representing on, values below 2 V DC representing off, and intermediate values undefined.
Analog signals can use voltage or current that is proportional to the size of the monitored variable and can take any value within their scale. Pressure, temperature, flow, and weight are often represented by analog signals. These are typically interpreted as integer values with various ranges of accuracy depending on the device and the number of bits available to store the data. For example, an analog 0 to 10 V or 4-20 mA current loop input would be converted into an integer value of 0 to 32,767. The PLC will take this value and transpose it into the desired units of the process so the operator or program can read it.
Some special processes need to work permanently with minimum unwanted downtime. Therefore, it is necessary to design a system that is fault-tolerant and capable of handling the process with faulty modules. In such cases to increase the system availability in the event of hardware component failure, redundant CPU or I/O modules with the same functionality can be added to hardware configuration for preventing total or partial process shutdown due to hardware failure. Other redundancy scenarios could be related to safety-critical processes, for example, large hydraulic presses could require that both PLCs turn on the output before the press can come down in case one output does not turn off properly.
Example of a ladder diagram logic
Programmable logic controllers are intended to be used by engineers without a programming background. For this reason, a graphical programming language called Ladder Diagram (LD, LAD) was first developed. It resembles the schematic diagram of a system built with electromechanical relays and was adopted by many manufacturers and later standardized in the IEC 61131-3 control systems programming standard. As of 2015, it is still widely used, thanks to its simplicity.
As of 2015, the majority of PLC systems adhere to the IEC 61131-3 standard that defines 2 textual programming languages: Structured Text (ST; similar to Pascal) and Instruction List (IL); as well as 3 graphical languages: Ladder Diagram, Function Block Diagram (FBD) and Sequential Function Chart (SFC). Instruction List (IL) was deprecated in the third edition of the standard.
Modern PLCs can be programmed in a variety of ways, from the relay-derived ladder logic to programming languages such as specially adapted dialects of BASIC and C.
PLC programs are typically written in a programming device, which can take the form of a desktop console, special software on a personal computer, or a handheld programming device. Then, the program is downloaded to the PLC directly or over a network. It is stored either in non-volatile flash memory or battery-backed-up RAM. In some programmable controllers, the program is transferred from a personal computer to the PLC through a programming board that writes the program into a removable chip, such as EPROM.
Manufacturers develop programming software for their controllers. In addition to being able to program PLCs in multiple languages, they provide common features like hardware diagnostics and maintenance, software debugging, and offline simulation.
PLC simulation is a feature often found in PLC programming software. It allows for testing and debugging early in the project’s development.
Incorrectly programmed PLC can result in lost productivity and dangerous conditions. Testing the project in simulation improves its quality, increases the level of safety associated with equipment and can save costly downtime during installation and commissioning of automated control applications since many scenarios can be tried and tested before the system is activated.
PLC system in a rack, left-to-right: power supply unit (PSU), CPU, interface module (IM) and communication processor (CP) Control panel with PLC (grey elements in the center). The unit consists of separate elements, from left to right; power supply, controller, relay units for in- and output
The main difference from most other computing devices is that PLCs are intended for and therefore tolerant of more severe conditions (such as dust, moisture, heat, cold) while offering extensive input/output (I/O) to connect the PLC to sensors and actuators. PLC input can include simple digital elements such as limit switches, analog variables from process sensors (such as temperature and pressure), and more complex data such as that from positioning or machine vision systems. PLC output can include elements such as indicator lamps, sirens, electric motors, pneumatic or hydraulic cylinders, magnetic relays, solenoids, or analog outputs. The input/output arrangements may be built into a simple PLC, or the PLC may have external I/O modules attached to a fieldbus or computer network that plugs into the PLC.
The functionality of the PLC has evolved over the years to include sequential relay control, motion control, process control, distributed control systems, and networking. The data handling, storage, processing power, and communication capabilities of some modern PLCs are approximately equivalent to desktop computers. PLC-like programming combined with remote I/O hardware, allows a general-purpose desktop computer to overlap some PLCs in certain applications.
The most basic function of a programmable controller is to emulate the functions of electromechanical relays. Discrete inputs are given a unique address, and a PLC instruction can test if the input state is on or off. Just as a series of relay contacts perform a logical AND function, not allowing current to pass unless all the contacts are closed, so a series of “examine if on” instructions will energize its output storage bit if all the input bits are on. Similarly, a parallel set of instructions will perform a logical OR. In an electromechanical relay wiring diagram, a group of contacts controlling one coil is called a “rung” of a “ladder diagram “, and this concept is also used to describe PLC logic. Some models of PLC limit the number of series and parallel instructions in one “rung” of logic. The output of each rung sets or clears a storage bit, which may be associated with a physical output address or which may be an “internal coil” with no physical connection. Such internal coils can be used, for example, as a common element in multiple separate rungs. Unlike physical relays, there is usually no limit to the number of times an input, output or internal coil can be referenced in a PLC program.
PLCs use built-in ports, such as USB, Ethernet, RS-232, RS-485, or RS-422 to communicate with external devices (sensors, actuators) and systems (programming software, SCADA, HMI). Communication is carried over various industrial network protocols, like Modbus, or Ethernet/IP. Many of these protocols are vendor-specific.
PLCs used in larger I/O systems may have peer-to-peer (P2P) communication between processors. This allows separate parts of a complex process to have individual control while allowing the subsystems to coordinate over the communication link. These communication links are also often used for HMI devices such as keypads or PC-type workstations.
Formerly, some manufacturers offered dedicated communication modules as an add-on function where the processor had no network connection built-in.
Control panel with a PLC user interface for thermal oxidizer regulation.
PLCs may need to interact with people for the purpose of configuration, alarm reporting, or everyday control. A human-machine interface (HMI) is employed for this purpose. HMIs are also referred to as man-machine interfaces (MMIs) and graphical user interfaces (GUIs). A simple system may use buttons and lights to interact with the user. Text displays are available as well as graphical touch screens. More complex systems use programming and monitoring software installed on a computer, with the PLC connected via a communication interface.
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