Interactively Converting Ladder Diagrams into Grafcet Diagrams on a Robotic Neutralization System Case Study

Paulo André Sperandio Giacomin

doi:10.5753/jis.2026.6644

Authors

Paulo André Sperandio Giacomin State University of Santa Cruz https://orcid.org/0000-0002-1710-5250

DOI:

https://doi.org/10.5753/jis.2026.6644

Keywords:

Discrete Event Systems, Algorithms, Translation, Binary Decision Diagrams

Abstract

Background: Programmable Logic Controllers (PLCs) are widely used to implement automation systems based on sequential control. For such systems, Ladder and Grafcet diagrams are standardized, respectively used as programming and specification formalisms. Additionally, a neutralization system is responsible for mixing a solution with a neutralizer so that the resulting liquid has a neutral pH. Purpose: This study proposes an interactive approach for converting Ladder Diagrams into Grafcet diagrams, and a robotic neutralization system is considered as a realistic case study. Methods: An algorithm is designed and programmed for converting Ladder diagrams into Grafcet diagrams using Binary Decision Diagrams (BDDs), and its time complexity is mathematically determined. For validating the effectiveness of the proposed algorithm, the Ladder diagram is simulated and compared side by side with the resulting Grafcet diagram for the same expected initial state and input sequences. Results: The resulting Grafcet diagram is considered equivalent to the original Ladder diagram, and the proposed algorithm is classified according to its time complexity. Conclusions: The proposed strategy helps the expert to identify the plant’s process control flow in a realistic case study where either transitions AND or OR are addressed. Besides, the exponential growth in running time is softened by the use of BDDs and the resulting Grafcet diagram’s flexibility is improved without compromising its equivalence to the Ladder diagram. Moreover, compared to preexisting neutralization systems, the proposed one preserves the solution acidity once its desired preset value is achieved.

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