codesys v3.5 - part a (english) v1.3.pdf

Textbook

CoDeSys version 3

A hardware

independent

introduction to

CoDeSys

pbF V3.5

Codesys for Industry V3.5 [version 1.3] Festo Didactic

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This book is developed for the Codesys course for Industry. In this course you will

learn how to program hardware useing the Codesys V3.5 pbF software. The name is

Codesys provided by Festo.

This Software is free, and is loaded onto the memory stick wich is handed out in this

course. During the course we will use a Festo controller as the controlunit to control

MPS station distribution or MecLab Pick and Place station. All Festo Didactic

modules can be controlled with this controller.

Order Number: xxx DE

Description: Codesys for Industy V3.5

Type: Codesys V3.5 pbF

Version: V1.3

Auther: Rinus Simonis

Edition: April 2013

2012 by Festo Didactic GmbH& Co. KG

Rechbergerstrae 3, D-73770 Denkendorf

All right resereved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any

form or by any means, electronic, mechanical, photocopying, recording or otherwise, without the prior written

permission of the publisher


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CONTENTS CHAPTER 1 : Introduction ...................................................................................... 10

1.1 Codesys ............................................................................................................ 11

1.2 Details of Festo ................................................................................................. 11

1.3 PC administrator Rights ................................................................................ 11

1.4 Installing Codesys V3 provided by Festo. ........................................................ 11

CHAPTER 2 : Methode to solve control problems .................................................. 12

3.1 From a problem to a Solution ........................................................................... 13

CHAPTER 4 : Quick Start Codesys ......................................................................... 16

4.1 Activating Codesys .......................................................................................... 17

4.2 Creating a New Project..................................................................................... 17

4.3 Device............................................................................................................... 18

4.4 Add POU(PRG) ................................................................................................ 20

4.5 Task Configuration ........................................................................................... 27

4.6 Testing the application ..................................................................................... 29

4.7 Communication parameters .............................................................................. 29

4.8 Online testing ................................................................................................... 32

4.9 Basic visualisation ............................................................................................ 34

CHAPTER 5 : Project STRUCTURE ....................................................................... 42

5.1 Project Structure ............................................................................................... 43

5.1.1 PLC............................................................................................................ 44

5.1.2 Application ................................................................................................ 44

5.1.3 Libraries .................................................................................................... 44

5.1.4 Task configurator ...................................................................................... 45

5.1.5 Visualisation manager ............................................................................... 45

5.1.6 Visualisation screens ................................................................................. 45

5.2 Internal processing ........................................................................................... 45

5.3 Task Configuration ........................................................................................... 46

CHAPTER 6 : Hardware connection and testing ...................................................... 48

6.1 Controller connection ....................................................................................... 49

6.2 Testing .............................................................................................................. 52

CHAPTER 7 : Motionstep diagram .......................................................................... 54

7.1 The Motion step Diagram................................................................................. 55

7.2 The Grid ........................................................................................................... 55

7.3 The rest position of an actuator ........................................................................ 56

7.4 The Memories .................................................................................................. 56

7.5 The Signals (Sensors) ....................................................................................... 57

7.6 The Actions ...................................................................................................... 57

7.7 Example without using a memory .................................................................... 57

7.8 Example using a memory ................................................................................. 59

7.9 Example using a timer and a memory .............................................................. 60

7.10 Example of a counter for the entire cycle ....................................................... 61

7.11 Example using a counter in the cycle ............................................................. 62

CHAPTER 8 : Sequential function chart .................................................................. 64

8.1 Sequential function chart .................................................................................. 65


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8.2 The basic symbols............................................................................................ 65

8.3 Unconditional Jump ......................................................................................... 66

8.4 Conditional Jump ............................................................................................. 67

8.5 Parallel Branches ............................................................................................. 68

8.6 Step Memories ................................................................................................. 69

8.7 Actions ............................................................................................................. 70

CHAPTER 9 : recommendations for naming identifiers ......................................... 72

9.1 Identifiers for variables (variable names) ........................................................ 73

9.2 Identifiers for user-defined data types (DUT) ................................................. 74

9.3 Identifiers for functions, function blocks, programs (POU) ............................ 76

CHAPTER 10 : The 5 Programming laguages ........................................................ 78

10.1 Languages ...................................................................................................... 79

10.2 Combined program editor FBD / LD / IL ...................................................... 79

10.2.1 Programming IL...................................................................................... 79

10.2.2 Changing the view .................................................................................. 82

10.3 Instruction List (IL) ....................................................................................... 84

10.3.1 Labels ...................................................................................................... 86

10.3.2 Modifiers ................................................................................................ 86

10.3.3 The IL Operators and Modifiers ............................................................. 87

10.3.4 Load (LD) instruction ............................................................................. 88

10.3.5 Store (ST) instruction ............................................................................. 88

10.3.6 Set (S) instruction ................................................................................... 89

10.3.7 Reset (R) instruction ............................................................................... 89

10.3.8 AND instruction...................................................................................... 89

10.3.9 OR instruction ......................................................................................... 89

10.3.10 XOR instruction .................................................................................... 90

10.3.11 ADD ...................................................................................................... 90

10.3.12 Subtract, SUB ....................................................................................... 90

10.3.13 Multiply, MUL ..................................................................................... 90

10.3.14 Divide, DIV .......................................................................................... 91

10.3.15 Greater Than, GT .................................................................................. 91

10.3.16 Greater than or equal, GE, .................................................................... 91

10.3.17 Equal, EQ, ............................................................................................. 92

10.3.18 Not Equal, NE, ...................................................................................... 92

10.3.19 Less than or equal, LE, ......................................................................... 92

10.3.20 Less than, LT, ....................................................................................... 93

10.3.21 JuMP, JMP, ........................................................................................... 93

10.3.22 CAL instruction .................................................................................... 94

10.3.23 RET instruction ..................................................................................... 96

10.3.24 Working with ( ) ................................................................................ 97

10.4 Function block diagram (FBD) ...................................................................... 98

10.4.1 Working FBD/LD/IL editor .................................................................... 99

10.4.2 AND function ....................................................................................... 101

10.4.3 OR function .......................................................................................... 101

10.4.4 EXOR function ..................................................................................... 102

10.4.5 Inversion / negation .............................................................................. 102

10.4.6 RS function block (Reset dominant) ..................................................... 103


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10.4.7 SR function block (Set dominant) ......................................................... 103

10.4.8 CTD function block (decrement, CounT Down) ................................... 103

10.4.9 CTU function block (increment, CounT Up) ........................................ 104

10.4.10 CTUD function block .......................................................................... 104

10.4.11 RTC function block (Runtime Clock) ................................................. 105

10.4.12 TOF function block (delayed turn-off) ................................................ 106

10.4.13 TON function block (timed turn-on) ................................................... 107

10.4.14 TP function block (pulse timer) ........................................................... 108

10.4.15 F_trig function block (falling edge trigger) ......................................... 108

10.4.16 R_trig function block (rising edge trigger) .......................................... 109

10.5 Ladder diagram (LD).................................................................................... 110

10.5.1 Normally open contact .......................................................................... 112

10.5.2 Normally closed contact ........................................................................ 112

10.5.3 Coil ........................................................................................................ 112

10.5.4 Negated coil ........................................................................................... 112

10.5.5 Set Coil .................................................................................................. 113

10.5.6 Reset Coil .............................................................................................. 113

10.5.7 Rising edge ............................................................................................ 113

10.5.8 Falling edge ........................................................................................... 113

10.5.9 Timer function ....................................................................................... 113

10.5.10 Box with AND function ...................................................................... 114

10.5.11 Inserting a function block or module call ............................................ 114

10.6 Structured Text (ST) ..................................................................................... 115

10.6.1 assignment, :=........................................................................................ 118

10.6.2 Using subprograms ................................................................................ 118

10.6.3 Using function blocks ............................................................................ 119

10.6.4 RETURN instruction ............................................................................. 120

10.6.5 IF THEN ELSIF THEN ELSE END_IF instruction .... 120

10.6.6 CASE or ELSE END_CASE instruction ............................... 121

10.6.7 FOR TO BY DO END_FOR instruction ........................... 121

10.6.8 WHILE DO END_WHILE instruction ....................................... 122

10.6.9 REPEAT UNTIL END_REPEAT instruction ............................ 122

10.6.10 EXIT instruction .................................................................................. 123

10.6.11 ADD, + ................................................................................................ 123

10.6.12 Subtract , SUB ................................................................................... 124

10.6.13 Multiply *, MUL ................................................................................. 124

10.6.14 Divide /, DIV ....................................................................................... 124

10.6.15 Exponent **, EXPT ............................................................................. 125

10.6.16 Modulo MOD ...................................................................................... 125

10.6.17 Less than , GT .............................................................................. 126

10.6.19 Less than or equal =, GE .............................................................. 126

10.6.21 Equal =, EQ ......................................................................................... 127

10.6.22 Not equal , NE ................................................................................ 127

10.6.23 AND, & instruction ............................................................................. 127

10.6.24 XOR instruction .................................................................................. 128

10.6.25 OR instruction ..................................................................................... 128


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10.6.26 LEN .................................................................................................... 129

10.6.27 LEFT ................................................................................................... 129

10.6.28 RIGHT ................................................................................................ 129

10.6.29 MID .................................................................................................... 129

10.6.30 CONCAT ............................................................................................ 130

10.6.31 INSERT .............................................................................................. 130

10.6.32 DELETE ............................................................................................. 130

10.6.33 REPLACE........................................................................................... 130

10.6.34 FIND ................................................................................................... 131

10.7 Sequential Function Chart (SFC) ................................................................. 132

10.7.1 Step ....................................................................................................... 133

10.7.2 Entry and exit actions ........................................................................... 134

10.7.3 Transition or condition ......................................................................... 135

10.7.4 Active step ............................................................................................ 135

10.7.5 Step with Action ................................................................................... 135

10.7.6 Qualifiers .............................................................................................. 136

10.7.7 Implicit variables in SFC ...................................................................... 136

10.7.8 SFC flags .............................................................................................. 137

10.7.9 Branches ............................................................................................... 138

10.7.10 Jumps .................................................................................................. 141

10.8 Continues Function Chart (CFC) ................................................................. 142

10.8.1 Editor functions .................................................................................... 144

10.8.2 Pointer ................................................................................................... 144

10.8.3 Insert Input ............................................................................................ 144

10.8.4 Insert Output ......................................................................................... 144

10.8.5 Insert Box ............................................................................................. 145

10.8.6 Insert Jump............................................................................................ 145

10.8.7 Insert Label ........................................................................................... 145

10.8.8 Insert Return ......................................................................................... 145

10.8.9 Insert Composer .................................................................................... 145

10.8.10 Insert Selector ..................................................................................... 145

10.8.11 Insert Comment .................................................................................. 145

10.8.12 Insert Connection mark source ........................................................... 146

10.8.13 Insert Connection mark Sink .............................................................. 146

10.8.14 Insert Input of box .............................................................................. 146

10.8.15 Insert output of box ............................................................................. 146

10.8.16 Extras Negate ...................................................................................... 147

10.8.17 Extras Set/Reset .................................................................................. 147

10.8.18 Extras EN/ENO .................................................................................. 147

10.8.19 Reset Pins............................................................................................ 147

10.8.20 Remove unused pins ........................................................................... 147

CHAPTER 11 : Quick start Visualization.............................................................. 148

11.1 Visualization in your project ....................................................................... 149

11.1.1 The screen ............................................................................................. 152

11.1.2 Configuration of visualisation object .................................................... 154

11.1.3 Stop button ............................................................................................ 156

11.1.4 Relay ..................................................................................................... 156


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11.1.5 Lamp...................................................................................................... 156

11.1.6 Activation of the complete application ................................................. 156

CHAPTER 12 : Visualisation ................................................................................. 158

13.1 Editor functions ............................................................................................ 159

13.1.1 Static and dynamic text in a component ................................................ 159

13.2 Variables displayed in the Text box ......................................................... 159

CHAPTER 14 : ENI ............................................................................................... 164

14.1 ENI ............................................................................................................... 165

14.1.1 General .................................................................................................. 165

14.1.2 ENI (Engineering Interface) .................................................................. 165

14.1.3 Preconditions: ........................................................................................ 166

14.1.4 Handling Codesys project objects under source control: ...................... 166

14.1.5 Installation, usage of ENI Server .......................................................... 167

CHAPTER 15 : user interface ................................................................................ 168

15.1 The main window ......................................................................................... 169

15.2 Pull down menus ......................................................................................... 169

15.2.1 File ......................................................................................................... 169

15.2.2 Edit ........................................................................................................ 170

15.2.3 View ...................................................................................................... 170

15.2.4 Project.................................................................................................... 171

15.2.5 Build ...................................................................................................... 171

15.2.6 Online .................................................................................................... 172

15.2.7 Debug .................................................................................................... 172

15.2.8 Tools ...................................................................................................... 173

15.2.9 Windows ................................................................................................ 173

15.2.10 Help ..................................................................................................... 173

15.3 Device/POU ................................................................................................. 174

15.3.1 POU ....................................................................................................... 174

15.3.2 Device, Device tree ............................................................................... 174

15.3.3 Generals ................................................................................................. 175

15.3.4 Boot project ........................................................................................... 175

15.3.5 Password................................................................................................ 177

CHAPTER 16 : Library manager ........................................................................... 182

16.1 Libraries ....................................................................................................... 183

16.2 Installation and including in project ............................................................. 183

16.3 Codesys V2.3 libraries ................................................................................. 183

CHAPTER 17 : Trace ............................................................................................. 186

17.1 Trace configuration ...................................................................................... 187

CHAPTER 18 : Installing ADDITIONAL CONTROLLERS ................................ 190

18.1 Installing an additional controller ................................................................. 191

CHAPTER 19 : Documentation ............................................................................. 194

19.1 Documenting a project ................................................................................. 195

19.2 Project info ................................................................................................... 195

19.3 Project statistics ............................................................................................ 196

19.4 Printer setup .................................................................................................. 196

19.5 Printing ......................................................................................................... 196

19.6 Additional project documentation ................................................................ 196


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CHAPTER 20 : glossary ........................................................................................ 198

CHAPTER 21 : Shortcuts ...................................................................................... 204


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CHAPTER 1 : INTRODUCTION


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1.1 Codesys

Codesys: The programing standard for PLCs according to the IEC 61131-3

Codesys (Controller Development System) is a software tool used to do industrial

automization. Its has two main parts:

The programming envirolment of Codesys,

The run time system for the selected tragets.

Each IEC 61131-3 run time system controller can be programmed with Codesys.

Intergraded compilers ensure that the program code is processed at optimum speed.

More than 200 innovative manufacturers from various industry sectors, program

there automated systems with Codesys. The result is that thousands of end users and

machine developers over the world use Codesys on a daily basis for automation of

processes.

At the moment Codesys is the most used IEC 61131-3 development tool in Europe.

Codesys can be downloaded from the Festo website once you register on the site.

1.2 Details of Festo

Codesys pbF is supplied and used by Festo.

Festo Didactic GmbH& Co. KG

Rechbergerstrae 3, D-73770 Denkendorf

Internet; www.festo-didactic.com

e-mail: [email protected]

1.3 PC administrator Rights

To install the Codesys software the PC user must have local administrator rights!

1.4 Installing Codesys V3 provided by Festo.

Put the CD in the CD-ROM player or put the pen drive in the USB port of your

computer.

Select the file name Setup_CodesysV3_pbf_Full (..)

The installation will be executed.

In this book we assume you make no changes during the installation of the software.


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CHAPTER 2 : METHODE TO SOLVE CONTROL PROBLEMS


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3.1 From a problem to a Solution

The development from a control task to an actual working system can be a difficult

task, if the correct methods and tools are not used. There are two possible methods

that can be used. The first method is by making use of a motion step diagram, and the

second method makes use of a sequential function chart.

Sequential function chart is a step orientated structure. This method is useful if the

same programming language (SFC) is used.

In this course we will make use of the motion step diagram to solve the problems.

The calculated solutions can be used in all programming languages.

Here are the basic principles of the motion step diagram:

Figure 1

On the left of figure 1 the position of Actuator A. When the actuator is in the rest

position, sensor a0 is activated. If the actuator moves to the activated position,

sensor a1 is activated.

On the right of figure 1 the position of Actuator B. When the actuator is in the rest

position, sensor b0 is activated. If the actuator moves to the activated position,

sensor b1 is activated.

Note in figure 1 that actuator A piston is at rest in the retracted position. Actuator B

piston is at rest in the extended position.

In the motion diagram we only indicate when the actuator moves from the rest

position to the activated position. (The actual direction of the actuator piston is not

shown)

The movement of the actuator is used as the starting point of the diagram.

A

a0 a1

A

a0 a1

Inactive

Active

B

b1 b0

B

b1 b0

Inactive

Active


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In figure 2 the movement of one actuator is illustrated.

The bottom line indicates that the actuator is in the

rest position. The top line indicates that the actuator

is in the actuated position.

The vertical lines are called step lines.

The first (1) and the last step (3) is always the same.

The next step is to indicate the state of the sensors

a0 en a1 on the diagram.

Figure 2

In figure 3, below the movement of the actuator we

will first insert the status of the Start button, and

then follow with the status of the sensors a0 en a1.

The bottom line indicates that the sensor has a signal

state 0 (off), and the top line indicates that the

sensor has a signal state 1 (on).

The next step is to determine at which moment a

signal must be given, for the actuator to move in a

direction.

Figure 3

In figure 4 we indicate at witch step an action must be

taken. On step 1, A+, and on step 2 A-.

The next step is to determine which signal(s) or

combinations thereof is needed to perform the action

to be taken.

Figure 4

A

1 2 3/11

A

1 2 3/1

1

Start a0 a1

A+ A-

A

1 2 3/1

1

Start a0 a1


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In figure 5 it is indicated that if

the Start is pushed and a0

has a signal state of 1, A+

will be activated. If

a1changes to a signal state

1, A- will be activated.

The length of the signals is

indicated by the horizontal

lines from where the action

should be performed.

Figure 5

The next step is to convert the Boolean formulas into a program.

A+ = Start a0 A- = a1

A

1 2 3/1

1

Start a0 a1

A+ A-


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CHAPTER 4 : QUICK START CODESYS


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4.1 Activating Codesys

If Codesys in installed in the standard way, it can be opened in the following method:

Go to Start; Programs; Festo Software; Codesys V3; and select

Codesys V3.5 pbF.

After a while Codesys opening screen will be displayed.

In figure 6 the opening screen is shown.

Figure 6

4.2 Creating a New Project

There are several ways to create a new project. In this book we will use the menu bar

for all the actions.

Select File, and in the drop down screen select New Project see figure 7

Figure 7

In Window Categories general should be chosen.


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After name the name of the project should be written.

Choose Empty project.

Make sure the proper location is chosen to save your projects.

When everything is OK click on OK

Figure 8

Your first project is created.

Make sure you safe your project. Only after saving your project, the automatic save

function in Codesys will save your work regularly.

Good practice is to create a separate folder for each project you create. In this way

you have a proper overview of your work. Otherwise Codesys is placing all your

work in one folder.

The next step is to add a device.

4.3 Device

Switch over to the tab Device in the left bottom of the main screen.

Figure 9

Click on MyFirst and click with the right mouse button

The following window will appear:

Click on Add Device

Figure 10


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Figure 11

Choose Codesys Control Win V3 and click on Add Device.

After a moment you see the device window changing into figure 12

Figure 12


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4.4 Add POU(PRG)

Click on Application in the device window.

Click with the right your mouse button, choose Add Object and choose POU

Figure 13

Figure 14

Now you have to choose the appropriate language. In figure 14 Instruction list is

chosen. When you click on Open the appropriate language editor will open.


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Figure 15

The upper part is to declare the local variables. The lower part is the language editor

in which you can write your application.

We are going to convert the following Boolean formulas into an application.

A += Start a0

A- = a1

Figure 16

Place the cursor as shown in figure 16

Type the following instructions: LD Start

Press Enter

Typing the LD command

the window will be shown.

You can choose a

command from this

window or just type the

next text.

Figure 17


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Typing Start will also open a window. Just push the Enter button.

Figure 18

After pushing the Enter button the next screen will open.

This is the Auto Declare screen in which you declare the variables you use in your

applica

tion.

Figure 19

The Variable Start is of the type Bool. Just Click on OK to create this variable.

Figure 20

Place the cursor as shown in figure 20. The information about this variable will be

shown. Click with the right mouse button.

The window shown in figure 21 is shown.


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Figure 21

Choose insert IL line below now you can enter the AND function

Figure 22

Press Enter, the Auto Declare screen is opened again.

Figure 23

Variable a0 is of the type BOOL. Press OK

Your editor screen should look like figure 24.


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Figure 24

Place the cursor next to a0 and insert an IL line below (figure 21)

In figure 25 is shown how you application should look after entering the instructions

ST A

Figure 25

The 3 lines you see in the editor window belong to the first Network of your

application.

Now we are going to add a new Network for the next action


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Place the cursor below the first network and right click on your mouse.

Figure 26

Now we can enter the information for the second network.

Figure 27

Your application should look like figure 27.

Pushing Function button F11 which is a Build of your project should give no error

messages.


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Figure 28

Our basic application is finished.

The next step is to add a Task configuration


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4.5 Task Configuration

Figure 29

To add a Task configuration, choose Application, right click on your mouse,

Choose Add Object, Choose Task Configuration

Leave the name as is. Press Open.

Figure 30


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Click on Add POU, the input assistant will open.

Choose POU and click on OK.

The next step is to test your application using the Soft PLC in your PC.


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4.6 Testing the application

Activating Codesys V3 in your system tray the Gateway and the Soft PLC should

be activated.

Look in your system tray if the Gateway and the

Soft PLC are available and running.

After starting the Soft PLC it will run for 1 hour after

that you have to activate the PLC again!

Figure 31

4.7 Communication parameters

Setting the communication parameters to activate your application.

Double click on Codesys_Control_Win_V3

Figure 32


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The next window will open in the main window.

Figure 33

Choose Gatway-1 by clicking on it.

Figure 34


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Figure 35

1. Select the PLC

2. Device info appears

3. Set active path


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4.8 Online testing

Switch over to POU in the main screen.

Choose Online and choose login

Figure 36

On the bottom of your screen you can see that your application is in STOP mode.

You can activate it with F5.

When the RED Stop is turned into the GREEN RUN your application is running.


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Place the cursor after Start in the Colum Prepared value and click once.

The word TRUE will appear. Repeat this in the box after a0.

Figure 37

The prepared value is now TRUE. This value has to be transferred to the soft PLC.

This can be done with Ctrl + F7 write values in the Debug menu.

You will see that variable A is switched on.

Dont forget to make Start and a0 false again. Write values with Ctrl + F7

Make a1 true and write the values with Ctrl + F7

Figure 38

Repeat this a few times to get acquainted with these functions


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4.9 Basic visualisation

Logout to stop the application. Only then you can add visualisation.

Figure 39

To add visualisation Choose application right click on your mouse choose Add

Object and choose Visualisation


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Figure 40

Choose a proper name for the visualisation. Screen_1 and click on Open.

After a while the device window is looking like figure 41.

Figure 41

On the right hand side the visualisation screen_1 is open and ready to edit.


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Figure 42

To create a button in the visualisation screen click on a symbol on the right side of

the screen in the Toolbox window and draw it in the visualisation screen.

The following things have to be done:

We want to change the colour of the start button when it is pressed.

We want to change the status of the variable start from FALSE into TRUE.

We want to change the colour of the variable a0 when it is activated.

We want to change the status of the variable a0 when it is activated.

We want to change the colour of the Actuator A when it is activated.

We want to change the colour of the variable a1 when it is activated.

We want to change the status of the variable a1 when it is activated.

To realise that we need some functions from the properties window

Figure 43

In our case we need these three topics.

First we open the Colours


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Figure 44

By clicking on the + sign in front of the colours it opens the colours window.

Choose the colour for the normal state by double clicking on the right hand side of

the Fill colour symbol and choose the appropriate colour.

Repeat this for the Alarm state.

In the visualisation screen the colour of the start button is changed into the normal

state colour.

Figure 45

Open the Colour variable window and double click on the right hand side of the

Toggle colour. Then click on the dotted line.

The input assistant window will open.


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Figure 46

After you have chosen the Start variable click on OK.

In this state the colour of the start button will change when the status of the Start

button is changed.

Now we have to open the input configuration window

Figure 47

Under normal conditions the Start button is a Push button and will tap the variable

from FALSE to TRUE when the Start button is pushed. When the Start button is

released the variable is taped back from TRUE to FALSE. In our example we have to


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activate the Start button and the variable a0. Because we want to make it as easy as

possible we are now using the Toggle function for the Start button.

Place the cursor on the right hand side of the variable under the Word Toggle and

double click.

Figure 48

Click on the dotted line and the input assistant will open.

Choose Start again

This is how the configuration should look. See figure 49

Figure 49

Repeat these actions for a0 and a1.

For the Actuator A you only need the colour change,


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Figure 50

Your Visualisation screen could look like this figure 50.

When you are ready, perform a login, and activate the application with F5

Push the start button.

Activate a0 and after a while activate a1

The colour of the actuator should change.

Congratulations, you have just created your first working project in Codesys V3.5.

All this information is explained extensively in other Chapters.


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CHAPTER 5 : PROJECT STRUCTURE


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5.1 Project Structure

POUs

Global

variables

Libraries

Local variables

Language Code

Project

PLC (Soft PLC)

PLC logic (handling I/O)

Application

Task configuration

Task (POUs)

Visualistion Task

Visualisation manager

Target visualisation

Web Visualistion

Visualisation screens


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5.1.1 PLC

PLC is the type of (soft) PLC which is used.

PLC logic is how the PLC is handling the logic part (I/O).

5.1.2 Application

An application consists always a Library manager

When applicable Global variables

POUs (Program Organisation Unit) (Program, Function, Function Block)

5.1.3 Libraries

Libraries can be a collection of functions for certain hardware.

5.1.3.1 Global variables

Global variables can be reached from all other POUs in the application.

They are created in the Global variable editor.

Local variables with the same name as a global variable have a higher priority in the

processing of a POU.

5.1.3.2 Program

Every program consists of a declaration section and a body. In the declaration section

the local variables are declared. The body is written in one of the IEC programming

languages: IL, ST, SFC, FBD and LD; or CFC.

POUs may call other POUs; however recursive calling (calling itself) is prohibited.

5.1.3.3 Function

We are all familiar with such functions as, add, square root, sin, cos, equal, etc.

Within IEC, an enormous number of these standard functions are defined. You can

even define your own functions, such as in the following example, defining the

function simple of type REAL:

FUNCTION simple: REAL

VAR_INPUT

A, B: REAL;

C: REAL := 1.0;

END_VAR

simple := A*B/C;

END_FUNCTION

Once defined, this function can be used endlessly in the same program, in other

programs and even in other projects.

5.1.3.4 Function block

The same applies to function blocks as for functions; we can defines these ourselves,

and use them as often as we wish.

Function block instances (copies) are allowed. Each Instance has a unique identifier,

and can be declared locally or globally.


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5.1.4 Task configurator

5.1.4.1 Task

In the task the POU can be given a priority. Based on this priority he will be

processed.

5.1.4.2 Visualization Task

In the visualisation task the different HMI screens are processed. A visualisation task

will never interrupt a POU task.

5.1.5 Visualisation manager

5.1.5.1 Target visualisation

This will process the visualisation for this target.

5.1.5.2 WEB visualisation

When supported will process the visualisation for the WEB

5.1.6 Visualisation screens

The actual visualisation screens for this application

5.2 Internal processing

The flowchart shows how the processor works when POUs are used.

Figure 51

poll inputs

evaluate logic

communication

post outputs

I/O scan

program scan

outputs

in

logic


A-46

5.3 Task Configuration

With the Task Configurator we can create tasks to be carried out in a specific order

and at specific times.

In the Task Configurator each task is given a priority number. The task with the

highest priority (priority number 1) will be performed first.

Tasks can be performed in the following way:

Cyclic, the task is performed cyclically according to the time specified in the

interval field.

Freewheeling, the task will be processed as soon as the program is started

and at the end of one run will be automatically restarted in a continuous

loop. There is no cycle time defined.

Event, (Boolean event, the task will be started as soon as the variable

defined in the Event field gets a rising edge.)

Status, (Boolean event, the task will be started if the variable defined in the

Event field is true.)

Triggered by external event, depending on the target, the task is performed

if a system event occurs, which is defined in the event field. The system

event is not the confused with the Codesys system events.

Watchdog

If the target system configuration supports a watchdog, a high and low limit can be

set for each task.

Active watchdog

With an active watchdog, if the task exceeds the watchdog time, the task will be stop

with an error signal.

Time: (Example t#200ms), if this time is exceeded the task will be stop. Depending

on the target settings, the time has to be entered as a percentage value of the cycle

time. The time block is gray, and there will be a % sign.

Sensitivity: here an integer number is entered that will be displayed as an error when

the watchdog time is exceeded. NOTE! If a 0 is entered the watchdog is switched off.


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Each task can call an unlimited amount of POUs.

For each task a priority number, between 0 and 31should be given.

A watchdog can be defined for each task.

With a large project with several hundred I/Os, between 3 to 5 tasks should be

defined.

Switching from one task to the next takes approximately 10s.

Codesys processes all POUs and any configured tasks independent of the underlying

operating system.

If the underlying operating system is capable of multitasking, then it can carry out

other tasks parallel to Codesys. Such a parallel task could for example be used to

interrupt a running Codesys task that has got stuck in an endless loop. If the

underlying operating system is non-multitasking, then the entire controller will have

to be reset to factory settings.


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CHAPTER 6 : HARDWARE CONNECTION AND TESTING


A-49

6.1 Controller connection

In this course we use a CECC, with 14 digital inputs and 8 digital outputs. It also has

USB, Ethernet and CANopen interface on-board.

Figure 52

At the back is a 230V AC socket. Place the cord with the plug in the socket and turn

the power on.

Device supply voltage X1

Pin Signal Comment

X1.1 24V U+ (electronic)

X1.2 0V U- (GND)

X1.3 GND Functional earth

X1.4 n.c. Not connected

I/O interface X2, X3 and X4

Pin Comment

X2.0 ..X2.1 Fast digital inputs (200kHz)

X2.2 x2.7 Digital Inputs (1 kHz)

X3.0 X3.5 Digital Inputs (1 kHz)

X4.0 X4.7 Digital outputs (500mA)


A-50

Supply voltage I/O X5

Pin Signal Comment

X5.1 24V U+ (I/O supply)

X5.2 0V U- (GND)

CAN open interface X6

Pin Signal Comment

1 n.c. Not connected

2 CAN_L1) CAN Low

3 CAN_GND CAN ground


5 CAN_SHLD Connection to functional earth

6 CAN_GND CAN ground (optional)

7 CAN_H1) CAN high



1) If the CECC is located at the end of the cable, connect pin 2 and pin 7

with the help of a termination resistor (120 ohms/0,25W)

Ethernet interface X8

Pin Signal Comment

1 TD+ Transmitted Data +

2 TD- Transmitted Data -

3 RD+ Received Data +



6 RD- Received Data -



Body Screen

Load voltage supply IO-Link X11 (CECC-LK)

Pin Signal Comment

X11.1

24V

Connection for load voltage supply via IO-link

master ports: UA+ X11.2

X11.3

0V

Connection for load voltage supply via IO-link

master ports: UA- (GND) X11.4


A-51

Communication interface IO-Link master (CECC-LK)

X12, X13, X14 and X15

Pin Signal Comment

X12.1,

X13.1,

X14.1, X15.1

L+ 24V

X12.2,

X13.2,

X14.2, X15.2

C/Q Communication signal IO-Link

X12.3,

X13.3,

X14.3, X15.3

L- 0V

X12.4,

X13.4,

X14.4, X15.4

24V UA+

X12.5,

X13.5,

X14.5, X15.5

0V UA-

IO-Link device X16

Pin Signal Comment

X16.1 L+ 24V

X16.2 C/Q Communication signal IO-Link

X16.3 L- 0V

Status LEDs

Pin Comment

Run Status of the application

Net Device detected

Error Error

Mod Reserved

Connecting CECC-LK to your PC

Plug the RJ45 crossover Ethernet cable into the Ethernet socket and the other end of

the cable into the PC.

If you use a Hub, Switch or Router between the PC en de CECC-LK a 1:1 Ethernet

cable can be used.

Use a screened LAN/Ethernet cable (shielded twisted pair, STP) from Cat 5/5e/6/7

for this.


A-52

6.2 Testing

Create a standard CECC project, use the CECC template I_O_Test The (POU) program should be of the type Structured Text (ST) write only a

semicolon ; in it.

Open the input window and switch on Always update variables.

Open the output window and switch on Always update variables.

Download this project to the controller.

Activate the program.

Now you can see in the input window dynamically the actual status of the inputs.

When you switch to the output window, you can change the status of each output by

placing the new value behind the output and use Ctrl + F7 to send this value to the

controller.

This project can be used when you want to test only the I/O of the system.


A-53


A-54

CHAPTER 7 : MOTIONSTEP DIAGRAM


A-55

7.1 The Motion step Diagram

To create a universal working solution, regardless of which programming language

will be used, we make use of a motion step diagram.

In the following sections the various parts of the motion diagram is explained. First

we make a basic representation of the actuator movement from the rest position to

the activated position, and vice versa. Then we will discuss the steps to get from a

problem to a solution.

7.2 The Grid

The vertical lines in the diagram are called step. This is numbered from 1 to xx; the

last step is equal to the step 1.

At the top of the diagram between two horizontal lines the action of the actuators is

indicated. The bottom line indicates that the actuator is at rest, and the top line

indicates the actuator is in the activated position.

Figure 53

The active position of the top cylinder marked with the letter A, has a digital value 1.

The active position of the second cylinder marked with the letter b, has a digital

value 2.

The active position of the third cylinder marked with the letter c, has a digital value

4.

On each step the corresponding value should be recorded, and eventually added up,

from top to bottom.

A

B

C

1 2 3 4 5 6 7 8 9 (1)

Step line

active position

rest position

Step lines

20= 1

21= 2

22= 4

Value A active

Value B active

Value C active +

Total Digital value


A-56

Each step will have a unique number. As soon as two steps have the same value, then

a memory has to be used to differentiate between the two steps. This memory is

called a make uneven memory.

There is one exception to the rule. If two consecutive steps have the same value, then

a timer is used, and then a memory is not needed.

7.3 The rest position of an actuator

In the rest position the xx0 sensor is always activated. (See Figure 45).

Figure 54

The actuators are labels in capital letters and the sensors in small letters.

The memories that will be used are drawn under the actuators (cylinders).

7.4 The Memories

Figure 55

The memory cannot be activated or deactivated on the step where the numbers are

the same.

The set and reset (of the bi-stable memory must be changed to a mono-stable

memory) resetGsetG When two consecutive steps have the same number, timers is used to activate and

deactivate the actuator. A memory is not needed

G1

G2

G1s =

G1r = G2s =

G2r =


A-57

7.5 The Signals (Sensors)

The signals are placed under the memories.

Figure 56

Above the line the signal is 1, and below the line the signal is 0.

The red squares indicate when a signal changes from a 0 to a 1.

The signals do not switch on the steps lines. Switch on happens just before the step

line, and switch off happens just after the step line.

At the Start the red square is just before step 1, because that is the point when it is

activated. The stipple line indicates that the Start signal can be on for a longer period.

7.6 The Actions

Figure 57

The red dot indicates where the action should start.

The horizontal line indicates for how long the action in active.

To perform an action, look above for a rising signal (signal that goes from a 0 to a 1).

Because this is the first step we also look for the last signal that was activated.

The formula for A+ should then be:

0aStartA

The formula for A- should then be:

1aA

When sensors are used twice then a relay which has multiple contacts has to be used.

7.7 Example without using a memory

Here is a solution using a motion step diagram using two cylinders and no memory.

Start

a0

a1

A

+1 A-

A+ =

A- =

Start

A

B

G

20=1

21=2

1 2 3 4 5 (1)

0 1 3 2 0 No Memory


A-58

Figure 58

Step 1: Draw the motion of the actuators

Step 2: Check for the digital values that appear more than once

Step 3: Draw the signals (sensors)

Step 4: Draw the actions to take place

Step 5: Note the Boolean formulas

Step 6: Determine the length that actions are activated

Step 7: Check for overlapping actions (shorten if necessary)


A-59

7.8 Example using a memory

Here is a solution using a motion step diagram for two cylinders using a memory.

Figure 59



Step 3: draw the memories

Step 4: draw the signals (sensors)

Step 5: Note the memory formulas

Step 6: Draw the actions

Step 7: Note the Boolean formulas

Step 8: Determine the length the action is activated


Here we see to activate the memory, the primary signal combination Start AND a0

is used. If we look at the signal needed for A+ then we can use the same signals.

But because Start AND a0 is used to activate the memory, we use G1for A+.

Here we see how primary and secondary signals are used in the formulas.

Start

a0

a1

A

B

G

20=1

21=2

1 2 3 4 5 (1)

0 1 3 1 0 One Memory

b0

b1

A+

A-

B+

B-

A+ = G1

A- = b0 G1

B+ = a1 G1

B- = b1

G

1

G1s = Start a0

G1r = b1


A-60

7.9 Example using a timer and a memory

Here is a solution using a motion step diagram for two cylinders using a timer and a

memory.

Figure 60

Step 3 and 4 has the same value 3. This will only happen when a timer is used. The

timer has two parts, the timer T and the contact t. As soon as the start condition

for the timer is true 1, the timer starts timing. When the preset time has elapsed the

timer contact t switches.



Step 3: Draw the memories

Step 4: Draw the timer (T en t)

Step 5: Draw the signals (Sensors)

Step 6: Note memory formulas

Step 7: Note formula for Timer T

Step 8: Draw actions

Step 9: Note Boolean formulas

Step 10: Determine the length the action is activated

3

Start

a0

a1

A

B

G

20=1

21=2

1 2 4 5 6 (1)

0 1 3 1 0 One Memory

b0

b1

A

+ A-

B

+ B-

A+ = G1

A- = b0 G1

B+ = a1 G1

B- = t

G

1

G1s = Start

a0 G1r = b1

3

T

t

T = b1


A-61


7.10 Example of a counter for the entire cycle

The whole sequence is repeated 5 times.

Figure 61

Between step 4 and 5 it is indicated that the sequence should be repeated a number of

times. Extra steps should be taken to prevent the machine to start automatically when

the supply is switched on. Using an extra memory will prevent this from happening.

Start must be replaced with G2. The set command is Start en the reset command is C.

Start

a0

a1

A

B

G

20=1

21=2

1 2 3 4 5 (1)

0 1 3 1 0 One memory

b0

b1

A+

A-

B+

B-

A+ = G1 C

A- = b0 G1

B+ = a1 G1

B- = b1

G

1

G1s = Start a0

G1r = b1

cycles 5x

C

Cpuls

Creset

Cpuls = b1

Creset = G1 b0 C


A-62

7.11 Example using a counter in the cycle

In this example cylinder B must move 5 times, then cylinder A is retracted in rest

position. Cycle is finished.

F

Figure 62

Between step 3 and 4 it is indicated that cylinder B should repeat a number of cycles.

Extra steps should be taken to prevent the machine to start automatically when the

supply is switched on. Using an extra memory will prevent this from happening.

Start must be replaced with G2. The set command is Start en the reset command is C.

Start

a0

a1

A

B

G

20=1

21=2

1 2 3 4 5 (1)

0 1 3 1 0 One memory

b0

b1

A+

A-

B+

B-

A+ = a0 C

A- = C b0 G1

B+ = a1 G1

B- = b1

G

1

G1s = a0 + b0 G1 C

G1r = b1

Cylinder B 5 x

C

Cpuls

Creset

Cpuls = b1

Creset = Start a0 b0 C


A-63


A-64

CHAPTER 8 : SEQUENTIAL FUNCTION CHART


A-65

8.1 Sequential function chart

This solution is most suitable for sequential controllers. The BS EN IEC 60848:2002

is the standard in French and English. The BS 5848:1993 is the standard in Dutch

and English. Both standards give the description of the symbols, and use a graphic

representation of the control problem.

In the following sections we will discuss the symbols, the functions, and operations

used in the diagrams.

8.2 The basic symbols

The function diagram is designed using the following symbols.

Figure 63

Each function diagram starts with an initiating step. Below the step is a horizontal

line. This is where a condition is entered. This condition has to be met before going

to the next step

Between the steps is the condition that has to be met

before going to the next step. Once the condition is

met, the previous step becomes inactive and the

next step becomes active.

Once in the step the actions will be carried out.

In the ini step no actions is entered, except for

loading timers and counters. If the PLC is in run

mode this step becomes active immediately.

Figure 64

Ini

Initiating step Step

Ini

Condition

Condition

Action

Action


A-66

More than 1 action can be connected to an action.

An action is represented in a square

Figure 65

In this way action is linked to one step.

To ensure proper functioning of the SFC it is important to have a condition that has

to be met between the steps.

8.3 Unconditional Jump

In SFC it can happen that a jump function has to be performed between steps. Thus

we get the conditional jump and the unconditional jump.

After step 3 a jump function will be

performed, and jump back to the "ini

step. Step 4 will never be performed.

Figure 66

Action 1

Action 1 Action 2 Action 3

Action 1 Action 2 Action 3

1

Ini

2

3

4

The unconditional jump


A-67

8.4 Conditional Jump

A condition jump can also be called a destination jump.

Depending on the condition that is true, the corresponding branch will be executed.

Here a destination is made between the left

and the right branch in SFC, depending on

the condition.

Only one of the branches will be

performed. This is referred to as an OR

function.

Figure 67

1

Ini

2

3

4

5

6

The conditional Jump


A-68

8.5 Parallel Branches

In some cases it is necessary that several branches of the SFC must run simultaneous.

It will look as follows:

Figure 68

Both branches are processed at the same time. This is referred to as an AND

function.

1

Ini

2

3

4

5

6

Start of

simultaneous

operation

End of

simultaneous

operation


A-69

8.6 Step Memories

A sequential function chart is a simplified version of a motion step diagram.

Before each step we need to make use of a memory.

Figure 69

For the program we use the following memories:

G0 before step ini, G1 before step 1, G2 before step 2, G3 before step 3, G4 before

step 4.

1

Ini

2

3

4

Start

a1

b1

a0

b0

A+

B+

A-

B-

Initialisation step

Condition

Condition

Condition

Condition

Condition

step 1

step 2

step 3

step 4


A-70

First we need to create the steps

G0set = G4 b0 + ini

G0reset = G1

G1set = G0 Start

G1reset = G2

G2set = G1 a1

G2reset = G3

G3set = G2 b1

G3reset = G4

G4set = G3 a0

G4reset = G0

Two memories will always be active.

8.7 Actions

Actions with the use of bi-stabile valves, uses the following formula:

A+ = G1

A- = G3

B+ = G2

B- = G4

If A used a mono-stabile valve, then the following formula is used:

A+ = G1 + G2

(A- = G3 is not used in this application)

B+ = G2

B- = G4


A-71


A-72

CHAPTER 9 : RECOMMENDATIONS FOR NAMING IDENTIFIERS


A-73

Naming of identifiers

Identifiers are defined at the declaration of variables (Variable names), user-defined

data types and at the creation of POUs (functions, function blocks, programs) and

visualizations. You might follow the following recommendations concerning the

naming of identifiers in order to make it as unique as possible.

9.1 Identifiers for variables (variable names)

The naming of variables in applications and libraries as far as possible should follow

the Hungarian notation:

For each variable a meaningful, short description should be found, the base name.

The first letter of each word of a base name should be a capital letter, the others

should be small ones (Example: FileSize). If needed additionally a translation file for

other languages can be created. Before the base name, corresponding to the data type

of the variable, prefix(is) is added in small letters.

* Pointedly for BOOLean variables x is chosen as prefix, in order to differentiate

from BYTE and also in order to accommodate the perception of an IEC-programmer

(see addressing %IX0.0).

Data type lower limit upper limit Information

content Prefix Comment

BOOL FALSE TRUE 1 Bit x*

b reserved

BYTE 8 Bit by Bit string, not for

arithm. operations

WORD 16 Bit w Bit string, not for

arithm. operations

DWORD 32 Bit dw Bit string, not for

arithm. operations

LWORD 64 Bit lw not for arithm.

operations

SINT -128 127 8 Bit si

USINT 0 255 8 Bit usi

INT -32.768 32.767 16 Bit i

UINT 0 65.535 16 Bit ui

DINT -2.147.483.648 2.147.483.647 32 Bit di

UDINT 0 4.294.967.295 32 Bit udi

LINT -263

263

- 1 64 Bit li

ULINT 0 264

- 1 64 Bit uli

REAL 32 Bit r

LREAL 64 Bit lr

STRING s

TIME tim

TIME_OF_DAY tod

DATETIME dt

DATE date

ENUM 16 Bit e

POINTER p

ARRAY a


A-74

Examples:

bySubIndex: BYTE;

sFileName: STRING;

udiCounter: UDINT;

In nested declarations the prefixes are attached to each other in the order of the

declarations:

Example:

pabyTelegramData: POINTER TO ARRAY [0..7] OF BYTE;

Function block instances and variables of user-defined data types as a prefix get a

shortcut for the

FB- resp. data type name (Example: sdo).

Example:

cansdoReceivedTelegram: CAN_SDOTelegram;

TYPE CAN_SDOTelegram : (* prefix: sdo *)

STRUCT

wIndex:WORD;

bySubIndex:BYTE;

byLen:BYTE;

aby: ARRAY [0..3] OF BYTE;

END_STRUCT

END_TYPE

Local constants (c) start with prefix c and an attached underscore, followed by the

type prefix and

the variable name.

Example:

VAR CONSTANT

c_uiSyncID: UINT := 16#80;

END_VAR

For Global Variables (g) and Global Constants (gc) an additional prefix + underscore

is attached to the

library prefix:

Examples:

VAR_GLOBAL

CAN_g_iTest: INT;

END_VAR

VAR_GLOBAL CONSTANT

CAN_gc_dwExample: DWORD;

END_VAR

Appendix J: - Recommendations on the naming of identifiers

Codesys V2.3 10-105

9.2 Identifiers for user-defined data types (DUT)

The name of each structure data type consists of a library prefix (Example: CAN), an

underscore and a preferably short expressive description (Example: SDOTelegram)

of the structure. The associated prefix for used variables of this structure should

follow directly after the colon.


A-75


A-76

Example:

TYPE CAN_SDOTelegram : (* prefix: sdo *)

STRUCT

wIndex:WORD;

bySubIndex:BYTE;

byLen:BYTE;

abyData: ARRAY [0..3] OF BYTE;

END_STRUCT

END_TYPE

Enumerations start with the library prefix (Example: CAL), followed by an

underscore and the identifier in capital letters.

Regard that in previous versions of Codesys ENUM values > 16#7FFF have caused

errors, because they did not get converted automatically to INT values. For this

reason ENUMs always should be defined with correct INT values.

Example:

TYPE CAL_Day :(

CAL_MONDAY,

CAL_TUESDAY,

CAL_WEDNESDAY,

CAL_THIRSDAY,

CAL_FRIDAY,

CAL_SATURDAY,

CAL_SUNDAY);

Declaration:

eToday: CAL_Day;

9.3 Identifiers for functions, function blocks, programs (POU)

The names of functions, function blocks and programs consist of the library prefix

(Example: CAN), an underscore and an expressive short name of the POU (Example:

SendTelegram). Like with variables always the first letter of a word of the POU

name should be a capital letter, the others should be small letters. It is recommended

to compose the name of the POU of a verb and a substantive.

Example:

FUNCTION_BLOCK CAN_SendTelegram (* prefix: canst *)

In the declaration part a short description of the POU should be provided as a

comment. Further on all inputs and outputs should be provided with comments. In

case of function blocks the associated prefix for set-up instances should follow

directly after the name.

Actions get no prefix; just actions which should be called only internally, i.e. by the

POU itself, start with prv_. Each function - for the reason of compatibility with previous Codesys versions -

must have at least one parameter. External functions must not use structures as

return values. Appendix J: - Recommendations on the naming of identifiers

10-106 Codesys V2.3

Identifiers for Visualizations

Note: Currently you must avoid that visualization has the same name like another

POU in the project. This would lead to problems in case of changes between

visualizations.


A-77


A-78

CHAPTER 10 : THE 5 PROGRAMMING LAGUAGES


A-79

10.1 Languages

Codesys V3.5 supports all the languages described in the IEC 61131-3.

Text based languages:

Instruction List (IL)

Structured Text (ST)

Graphical Languages:

Sequential Function Chart (SFC)

Function Block Diagram (FBD)

Ladder Diagram (LD)

An extra programming language Continuous Function Chart (CFC), which is based

on Function Block Diagram, is also available under the graphical language.

10.2 Combined program editor FBD / LD / IL

10.2.1 Programming IL

In version 3.5 of Codesys the following

languages are combined into one editor

FBD/LD/IL

Creating a new POU.

You give the POU a name (1), which

type of POU do you want to create (2),

choose the language you want to use

(3). In the FBD/LD/IL editor you can

change the view from one language to

another.

F

igure 70


A-80

Changing to another view means, the system assumes that the syntax in your file is

correct. In other case you can lose information.

The shortcuts you can use are:

Ctrl + 1 for FBD view

Ctrl + 2 for the LD view

Ctrl + 3 for the IL view

When the POU is created you see a double window.

Figure 71

In the upper part of the window you declare the local variables. The application

program is entered in the lower part of the screen.

Entering Variables:

Place the cursor in the Variable window (upper part) and press Shift + F2. The auto

declare window will open.

Figure 72

Name of the variable, xA (1), Type of the variable, BOOL (2).

The other possibilities of this screen will be explained in another section.


A-81

Create xA as BOOL, xB as BOOL, xQ as BOOL.

We are going to create the following IL program:

LD xA

AND xB

ST xQ

The combined FBD/LD/IL editor is a network oriented editor.

For IL this means that the combination of a condition and an action is one network.

To write the commands in one network you have to add some lines in that network.

Place the cursor in the first line of the program window, the lower part.

Figure 73

Write the instruction LD xA push Enter.

Entering the commands will show you an overview of possible instructions.

Figure 74

Place the curses in the column next to xA and click with the right mouse button.

A menu will open. Choose Insert IL line below.


A-82

Now you can enter the next IL line in the network.

The whole IL program should look like this:

Figure 75

10.2.2 Changing the view

Figure 76

Choose FBD/LD/IL from the menu.

Choose View

Choose the view you want to see.

Ctrl + 1 for Function block diagram

Ctrl + 2 for Ladder logic

Ctrl + 3 for instruction list


A-83

Ctrl + 1

Ctrl + 2

Ctrl + 3

The screen is divided into 5 columns. Each with its own content.

Column Contains... Description

1 Operator This field contains the IL operator (LD, ST, CAL, AND, OR etc.)

or a function name.

In case of a function block call here also the respective parameters

are specified, in this case in the prefix field := or => must be

entered.

2 Operand This field contains exactly one operand or a jump label. If more

than one operand is needed (multiple/extensible operators AND A,

B, C or function calls with several parameters), those must be

written into the following lines where the operator field is to be

left empty. In this case add a parameter-separating comma.

In case of a function block, program or action call the appropriate

opening and/or closing brackets must be added.

3 Address This field contains the address of the operand as defined in the

declaration part. The field cannot be edited and can be switched on

or off via Tools, options

4 Symbol

comment

This field contains the comment as defined for the operand in the

declaration part. The field cannot be edited and can be switched on

or off via Tools, options

5 Operand

comment

This field contains the comment for the current line. It is editable

and can be switched on or off via Tools, options


A-84

Changing the columns shown, choose Tools and Options

Figure 77

10.3 Instruction List (IL)

In version 3.5 FBD/LD/ IL are combined in one editor.

This means a common set of commands and elements is used and an automatic

internal conversion between the three languages is done. In offline mode the

programmer always can switch to one of the other editor views.

Notice anyway, that there are some special elements, which cannot get converted and

thus will only be displayed in the appropriate language. Also there are some

constructs which cannot get converted unambiguously between IL and FBD and

therefore will be "normalized" at a conversion back to FBD. These concerns:

Negation of expressions and explicit/implicit output assignments.

This language supports programming based on an accumulator. All IEC 61131-3

operators are supported as well as multiple inputs / multiple outputs, negations,

comments, set / reset of outputs and unconditional / conditional jumps.

Each instruction is primarily based on the loading of values into the accumulator by

using the LD operator. After that the operation is executed with the first parameter

taken out of the accumulator. The result of the operation again is available in the

accumulator, from where the user should store it with the ST instruction.

In order to program conditional executions or loops IL supports both comparing

operators like EQ, GT, LT, GE, LE, NE and jumps. The latter can be unconditional

(JMP) or conditional (JMPC / JMPCN). For conditional jumps the accumulator's

value is checked on TRUE or FALSE.

Syntax:

An instruction list (IL) consists of a series of instructions.

Each instruction begins in a new line and contains an operator and, depending on the

type of operation, one or more operands separated by commas.

The operator might be extended by a modifier.


A-85

In a line before an instruction there can be an identification mark (label) followed by

a colon (:), for example "ml:" in the example shown below. A label can be the target

of a jump instruction, for example "JMPC next" in the example shown below.

A comment must be placed as last element of a line.

Empty lines can be inserted between instructions.

An Instruction List program comprises a series of instructions.

Each instruction begins on a new line.

Each instruction contains an Operator, if necessary a Modifier, and one or more

Operands separated by commas.

The Operator can be preceded by a Label. This Label consists of a word ending with

a colon (Label:).

A comment may also be present on a line as the last element, enclosed entirely

between brackets and asterisks (* like this *).

Empty lines between instructions are permitted.

NOTE!

IL is compiled line by line, and does not comply with the Boolean order of

operations BNAO (Brackets, Not, And, Or).

Example:

Label

Start:

Operator Operand Comment

LD %IX1 (* Push-button *)

ANDN %MX5 (* Not busy *)

ST %QX2 (* Fan on *)

JMPC Next

Label

Next:


A-86

10.3.1 Labels

An instruction may be preceded by a label terminated with a colon (:). With the JMP

instruction we can jump to a label.

A label may be no longer than 16 characters.

The first character must be a letter.

All other characters may be numerals, letters or the underline _ symbol.

A label may occur only once in an IL program. However, a label may have the same

name as a variable. The difference is that the label terminates with a colon.

Example:

Begin:

LD Start (*Start button*)

AND Stop (*Stop button*)

JMP Program (*Label Program*)

Program:

LD %IX5 (*Clamp in*)

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