I Ec Control Strategy

#1412-WS-02 OEM Solution Workshop Saturday, 27 March 2004
(C) 2003 infoteam Software +49-9131-78 000 1

Page 1
Programming Programming
C Control ontrol S Strategies trategies with IEC 61131 with IEC 61131
AShort History of IEC 61131-3
B Walkthrough
C Languages
1 Organization
2 Textual Languages
3 Graphic Languages
D Compiler
Page 2
A A short History short History of IEC 61131 of IEC 61131- -3 3
Year International standard
1977 IEC 848
1979 Start of the first working group
1982 Finalizing of the first draft of the IEC 61131;
Division in 5 sub working groups
1983 Christensen Report on PLC-programming languages
1985 First results of the IEC 65 A WG6 TF3
1990 IEC 61131 part 1 and 2 become a standard
1992 International standard IEC 61131-1,2
1993 International standard IEC 61131-3
1995 International standard IEC 61131-4
1994 - 1999 Corrigendum for IEC 61131-3
1995 - 1996 Technical Reports type 2 and 3
1996 - 1999 Amendments
Page 3
What is What is IEC 61131 IEC 61131- -3 3 Compliance Compliance? ?
A PLC A PLC- -system, as defined in IEC system, as defined in IEC 61131 61131- -1, which claims to 1, which claims to
comply, wholly or partially, with the requirements of this comply, wholly or partially, with the requirements of this
part of the IEC 61131 standard shall only do so if it states: part of the IEC 61131 standard shall only do so if it states:
"This system complies with the requirements of IEC "This system complies with the requirements of IEC 61131 61131- -3, 3,
for the following language features for the following language features
followed by a set of tables followed by a set of tables
Page 4
Walkthrough Walkthrough - - Coffee Maker Coffee Maker
Terms of a Terms of a Coffee Maker Coffee Maker
States States of a of a Coffee Maker Coffee Maker
Actions Actions of a of a Coffee Maker Coffee Maker
State State Machine with Machine with SFC SFC
Sequential Function Sequential Function Chart OpenPCS Chart OpenPCS
Add Add a a Ladder Task for Coffee Maker Ladder Task for Coffee Maker
Page 5
Terms of a Terms of a Coffee Maker Coffee Maker
Brew Brew
Fill Fill
Full Full
Hot Hot
Grind Grind
Boil Boil
Ready Ready
Ground Ground
Water Water
Coffee Coffee
Finished Finished
Page 6
States States of a of a Coffee Maker Coffee Maker
water water
Full Full
machine machine
Ready Ready
water water
Hot Hot
coffee coffee
Ground Ground
coffee coffee
Finished Finished
Page 7
Actions Actions of a of a Coffee Maker Coffee Maker
Fill Fill
Water Water
Boil Boil
Water Water
Grind Grind
Coffee Coffee
Brew Brew
Coffee Coffee
Page 8
Init
Fill Water
Boil Water
Brew Coffee
Grind Coffee
Ready
Full
Hot and Ground
Finished
Init
State State Machine with Machine with SFC SFC
Page 9
Control Strategy with Control Strategy with
Sequential Function Sequential Function Chart Chart
Page 10
Add Add a a Ladder Task for Coffee Maker Ladder Task for Coffee Maker
Page 11
Languages Languages & Editors & Editors
IEC 61131 IEC 61131- -3 3 Languages Languages
Declarations and Variables
Instruction List
Structured Text
Ladder Diagram
Function Block Diagram
Sequential Function Chart
Page 12
Programming Languages Programming Languages
Instruction List Structured Text
Function Block Diagram Ladder Diagram
LD A
ANDN B
ST C
C:=A AND NOT B
A B C
-| |--|/|----------------( )
AND
A C
B
Sequential Function Chart
Continuous Function Chart
Page 13
Languages Languages & & Methods Methods
Knowledge Knowledge to to use use
Simple Pick & Place
Graphic Structures
Simple Syntax
Complex Syntax
Complex Semantic
Functionality Functionality
Binary Expressions
Arithmetic Calculation
Sequential Processes
Parallel Processing
Non-Procedural
0
1
2
3
4
5
6
0 2 4 6
Functionality
K
n
o
w
l
e
d
g
e
ST ST
LD LD
IL IL
SFC SFC
CFC CFC
Page 14
Program Organization Program Organization Unit Unit
PROGRAM PROG name
END_PROGRAM
FUNCTION_BLOCK FB name
END_FUNCTION_BLOCK
Instructions
(POU body)
FUNCTION FUN name
END_FUNCTION
Data type
Interface variables
Declaration part
Instruction part
Local variables
Page 15
Data Types Data Types: : Elementary Elementary and and Complex Complex
Binary/
sequence of
bits
Signed integer Unsigned integer Floating point Time of day,
Duration, Date
and String
BOOL
BYTE
WORD
DWORD
LWORD
INT
SINT
DINT
LINT
UINT
USINT
UDINT
ULINT
REAL
LREAL
TIME
DATE
TIME_OF_DAY
DATE_AND_TIME
STRING
Property Ident. Meaning
Initial value initial A specific initial value is assigned to the variable.
Enumeration enum The variable can assume a value out of a value list.
Range specification range The variable can assume values within the specified range.
Array limits array Several elements of the same data type are grouped in an
array. Accessing the array variable the maximally allowed
index value must not be exceeded.
Data structure structure Several data types are grouped to one data type. The
access to a certain variable of this structure is to be made
using a dot and the name of the component.
Page 16
Variables and Variables and Declarations Declarations
VarIn : BOOL; END_VAR
LD VarIn
ST VarOut1
...
FUNCTION_BLOCK FB name
Instructions
(POU body)
Interface variables
Local variables
FUNCTION_BLOCK Continue
VarOut1 : BYTE; VAR_OUTPUT
VAR_INPUT
VAR
VarOut2 : BOOL; END_VAR
VarLocal : BYTE; END_VAR
ST VarOut2
...
(* Input *)
(* Outputs *)
(* State value *)
END_FUNCTION_BLOCK END_FUNCTION_BLOCK
LD VarLocal
Page 17
Instruction Instruction List (1) List (1)
Single Single Accumulator Based Execution Accumulator Based Execution Model Model
Based Based on on the the German Anweisungsliste AWL German Anweisungsliste AWL
One Operation per Line One Operation per Line
Defines Defines a a Virtual Machine Virtual Machine Model Model
LD A
ANDN B
ST C
Page 18
Instruction Instruction List (2) List (2)
No No Oper. Oper. Modifiers Modifiers [1] [1] Operand Operand Semantics Semantics
LD LD N N [2] [2] Set Set current result equal current result equal to to operand operand
ST ST N N [2] [2] Store Store current result current result to to operand location operand location
S S BOOL [3] BOOL [3] Set Set Boolean operand Boolean operandto 1 to 1
R R BOOL [3] BOOL [3] Set Set Boolean operand Boolean operandto 0 to 0
AND AND N,( N,( BOOL [7] BOOL [7] Boolean BooleanAND AND
OR OR N,( N,( BOOL [7] BOOL [7] Boolean BooleanOR OR
XOR XOR N,( N,( BOOL [7] BOOL [7] Boolean Exclusive Boolean ExclusiveOR OR
ADD ADD ( ( [2] [2] Addition Addition
SUB SUB ( ( [2] [2] Subtraction Subtraction
MUL MUL ( ( [2] [2] Multiplication Multiplication
DIV DIV ( ( [2] [2] Division Division
J MP J MP C,N[3] C,N[3] LABEL [4] LABEL [4] J ump J umpto to label label
CAL CAL C,N[3] C,N[3] NAME NAME Call function Call functionblock. block.
RET RET C,N[3] C,N[3] Return Return from called function or function from called function or function block block
GT GT ( ( [6] [6] Comparison Comparison: > : >
GE GE ( ( [6] [6] Comparison Comparison: >= : >=
LE LE ( ( [6] [6] Comparison Comparison: <= : <=
LT LT ( ( [6] [6] Comparison Comparison: < : <
EQ EQ ( ( [6] [6] Comparison Comparison: = : =
NE NE ( ( [6] [6] Comparison Comparison: <> : <>
) ) [2] [2] Evaluate deferred operation Evaluate deferred operation
Page 19
Structured Structured Text (1) Text (1)
High Level High Level Language Language
Block Block Structured Structured
Syntax Syntax Resembles Resembles PASCAL PASCAL
Complex Complex Statements and Statements and nested nested
instructions possible instructions possible
Support Support for for
Iteration loops
(REPEAT-UNTIL; WHILE-DO)
Conditional execution
(IF-THEN-ELSE; CASE)
Functions (SQRT(), SIN())
C:=A AND NOT B
Page 20
if if IN <X[1] IN <X[1] then then
OUT :=Y[1] +( IN OUT :=Y[1] +( IN - -X[1] ) * ( Y[2] X[1] ) * ( Y[2]- -Y[1] ) / ( X[2] Y[1] ) / ( X[2] - -X[1] ); X[1] );
else else
if if IN >X[n] IN >X[n] then then m:=n m:=n - -1; 1;
OUT:=Y[n]+(IN OUT:=Y[n]+(IN- -X[n])*(Y[n] X[n])*(Y[n]- -Y[m])/ (X[n] Y[m])/ (X[n]- -X[m]); X[m]);
else else
repeat repeat
i:=i+1; i:=i+1;
until until IN >=X[i] IN >=X[i] end_ end_repeat repeat; ;
j :=i +1; j :=i +1;
OUT :=Y[1] +( IN OUT :=Y[1] +( IN - -X[i] )*( Y[j] X[i] )*( Y[j]- -Y[i] ) / ( X[j] Y[i] ) / ( X[j]- -X[i] ); X[i] );
end_ end_if if; ;
end_ end_if if; ;
Structured Structured Text (2) Text (2)
Page 21
Ladder Ladder Diagrams Diagrams
US Look& US Look&Feel Feel
Comments in
Declaration Section and
Implementation Section
Control Relays Control Relays
Non Non- -Binary Logic Binary Logic
Macro Contacts to
Place Function Blocks
Within the Network
Online Online Powerflow Powerflow
A B C
-| |--|/|----------------( )
Page 22
Ladder Ladder - - Complex Arithmetic Operations Complex Arithmetic Operations
comparison assignment
arithmetic
conditional
contact
Page 23
Function Function Block Diagrams Block Diagrams
Dataflow Dataflow- -Oriented Oriented
Modelling & Design Modelling & Design
Electronics Design Electronics Design
Paradigm Paradigm
C Composition omposition
of Functional of Functional
Units & Items Units & Items
0001
(* Network comment *)
StartNetwork:
AND
VarAnd1
VarAnd2
1000
VarOut
Function
Negation of binary function
inputs and outputs
Output variable
Value transmission
CU
CTU
Q
PV
CV R
Var_Ini
Counter_1
Function block
Page 24
Function Function Block Diagrams Block Diagrams
Function Function Block Block
Pick & Pick & Place Place
Autorouting Autorouting
Block Block Hierachy Hierachy
Parameters Parameters
Type Type Checking Checking
Page Layout Page Layout
Import of Import of Prototypes Prototypes
Page 25
Sequential Function Sequential Function Chart Chart
Steps Steps
Contain the Actions to be Performed
Transitions Transitions
Conditions to Pass control
to the next step
Actions Actions
Operations to be performed
Sequences Sequences
Simultaneous Sequences or
Sequence selection
Jumps Jumps
Iteration of Enclosed Section
Page 26
Sequential Function Sequential Function Charts Charts
Sequencing Functionality Sequencing Functionality
(Initial) Step
Transitions
Simultaneous steps
Alternativ steps
Merging of Paths
Jumps
FALS E
1)
FALSE
3)
FALSE
5)
Page 27
Libraries Libraries of of Function Function Blocks & Blocks & Functions Functions
Prototypes Prototypes
IEC 1131-3 standard
OEM specific
user global
application specific
Language Language
independend independend
Page 28
Design & Configuration Design & Configuration
Sequential Function Charts
Continuous Function Charts
Graphical Languages Graphical Languages
Incremental Compilers
Translated to IL
IL Portability IL Portability
Page 29
Graphic Graphic IL IL UCODE UCODE Native Code Native Code
PROGRAM EXAMPLE
VAR
byt e1 : BYTE ;
byt e2 AT %I B0. 2 : BYTE ;
ui nt 1 : ui nt
: =1 ;
END_VAR
l d byt e1
and byt e2
shl ui nt 1
st byt e1
END_PROGRAM
Header byt e2. . .
. . . byt e2 ui nt 1 byt e1
Compiler & Code Generation Compiler & Code Generation
Page 30
Bibliothek CFE Editors
IEC 61131-3
Resource
Configuration
Library
Instruction List
LIB
CFE: Compiler Front End
Library
Function
Funct.block
Configuration
Sources
Loadable
Linker
Resource - Builder
Symbol
table
CBE: Compiler Back End
ICODE
ICODE
ICODE ICODE
Program
ICODE
ICODE
UCODE UCODE
Program Function
Funct.block
UCODE-CRD
UCODE-Executable
CFG
UCODE + NCODE
Native
Code
Ncode
Compiler & Code Generation Compiler & Code Generation
Make Make Generator and Generator and
Interpreter Interpreter
Compiler Compiler Frontend Frontend & &
Compiler Backend Compiler Backend
Linker & Linker & Systembuilder Systembuilder
Native Code (optional) Native Code (optional)
Execution Execution of of Applications Applications
in in SmartPLC or Target SmartPLC or Target

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#1412-WS-02 OEM Solution Workshop Saturday, 27 March 2004

(C) 2003 infoteam Software +49-9131-78 000 1

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