training manual v23 1006 ifm

7/21/2019 Training Manual V23 1006 IFM

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Training manual 1

R

Controller family R360

for CoDeSys starting version 2.3


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Training manual ecomatmobiletype R360

You will find more details at: www.ifm-electronic.com

Training Manual CoDeSys 2.3, 10/ 2006, from software version V020102

Guarantee note

This manual was written with the utmost care. However, we cannot assume any guarantee for the

contents.

Since errors cannot be totally avoided despite all efforts we appreciate your comments.

We reserve the right to make technical alterations to the product which might result in a change

of contents of the manual.
http://www.ifm-electronic.com/http://www.ifm-electronic.com/


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What you can find in this manual

1. What you should know...........................................................1-1

1.1. Required previous knowledge............................................................... 1-1

1.2. Structure of the manual.......................................................................... 1-1

How to find your way around .................................................................... 1-1

1.3. Overview of the documentation............................................................. 1-2

Printed media............................................................................................ 1-2

Electronic media ....................................................................................... 1-3

1.4. Hardware ................................................................................................. 1-3

1.5. Features of a PLC ................................................................................... 1-5

Cycle......................................................................................................... 1-5

Time response .......................................................................................... 1-7

Watchdog.................................................................................................. 1-9

2. Installation...............................................................................2-1

2.1. Hardware of the PC................................................................................. 2-1

2.2. Software setup ........................................................................................ 2-1

2.3. Program start .......................................................................................... 2-5

2.4. Settings.................................................................................................... 2-7

New project............................................................................................... 2-7

Target........................................................................................................ 2-7

Subsequent installation of the target......................................................... 2-8

Main program.......................................................................................... 2-10

Directories................................................................................................2-11

Libraries.................................................................................................. 2-13

PLC configuration ................................................................................... 2-16

3. The start...................................................................................3-1

3.1. Basics and concepts .............................................................................. 3-1

3.2. A small ecolog CoDeSys project as a start .......................................... 3-3


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Training manual ecomatmobiletype R360II

Description ................................................................................................ 3-3

The first step ............................................................................................. 3-3

Add Program............................................................................................. 3-5

Defining variables ..................................................................................... 3-6

Saving..................................................................................................... 3-13

Other languages ..................................................................................... 3-14

Program test ........................................................................................... 3-15

Visualisation............................................................................................ 3-19

1.3. Online test ............................................................................................. 3-31

Preparations............................................................................................ 3-31

Operating system.................................................................................... 3-32Online program test ................................................................................ 3-37

Sampling Trace....................................................................................... 3-45

Documentation........................................................................................ 3-51

4. Exercises ................................................................................ 4-1

4.1. Logic functions ....................................................................................... 4-1

Example 1! Error! ...................................................................................... 4-3

Example 2 ................................................................................................. 4-4

4.2. Higher-level functions ............................................................................ 4-5

Timer and counter function ....................................................................... 4-5

Practical application.................................................................................. 4-6

4.3. More details............................................................................................. 4-6

Notes......................................................................................................... 4-6

Cycle time ................................................................................................. 4-7

Visualisation.............................................................................................. 4-9

5. Models..................................................................................... 5-1

5.1. Overview.................................................................................................. 5-1

5.2. Task Drill .................................................................................................. 5-2

5.3. Task: Robot ............................................................................................. 5-3

5.4. Task: Milling system ............................................................................... 5-5


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5.5. Addressing.............................................................................................. 5-6

5.6. Other remarks ......................................................................................... 5-7

6. Appendix .................................................................................6-1

6.1. Buttons .................................................................................................... 6-1

File functions............................................................................................. 6-1

Online functions........................................................................................ 6-2

General editing functions .......................................................................... 6-2

Editing functions for SFC .......................................................................... 6-3

Editing functions for LD............................................................................. 6-3

Editing functions for FBD .......................................................................... 6-4

Functions for sampling trace..................................................................... 6-4

Functions for Visualisation........................................................................ 6-5

6.2. Quick reference guide ............................................................................ 6-7

New project............................................................................................... 6-7

Libraries and hardware configuration........................................................ 6-8

6.3. Saving work........................................................................................... 6-10

'Save as...' .............................................................................................. 6-10'Project' 'Merge...'.....................................................................................6-11

'Export project...' 'Import project...' .......................................................... 6-12

Library..................................................................................................... 6-12

Clipboard ................................................................................................ 6-12

Templates ............................................................................................... 6-12

Other steps ............................................................................................. 6-12

6.4. Remarks for solutions.......................................................................... 6-13

6.5. Notes on the models............................................................................. 6-14

Declarations............................................................................................ 6-15

Sequence................................................................................................ 6-18

Recap ..................................................................................................... 6-18

Program structure ................................................................................... 6-19

Individually defined function block .......................................................... 6-21


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Training manual ecomatmobiletype R360IV

7. Index........................................................................................ 7-1


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1. What you should know

In this chapter we will give you an overview of the following points:

What previous knowledge is required to be able towork with this manual?

What is the structure of this manual?

How do you find your way around this manual?

What information do you find in this manual?

Why this

manual?

Every user knows the problem: new software and new hardware. You will come

across many unknown issues which at the beginning take up a lot of time and

thus money.

When you work with the system more frequently you will find that many work

steps keep repeating themselves. You no longer concentrate on how to create a

new project or how to declare a variable but on the process to be controlled.

This manual therefore describes in many details, step by step, the procedure of

creating programs and handling the hardware.

When you use this manual as recommended, you will be able to quickly reach

your goal to effectively use the controller system ecomatmobile.

1.1. Required previous knowledge

This training manual is directed at people who have some basic technical

knowledge. Some experience in controller technology and PLC programming

skills are useful.

1.2. Structure of the manual

This manual provides learning support for starters. As experience increases

more interim steps can be skipped.

How to find your way around

To facilitate work with this manual we have added some helps for you.

To be able to directly get to a certain subject use the table of contents of this

manual.

The index will also help you get to the term you are looking for.

At the beginning of a chapter we are giving you a brief overview of the contents

of that chapter.


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Overview of the documentation

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Headers The header of each page on the right provides you with the title of the current

chapter. On the left you will find the current header of second order.

Footnotes In the footnotes of each page you will find the chapter-related number of thepage.

Selective

reading

In the marginal column you will find comments which make finding certain

paragraphs easier for you.

There you will also find pictograms and markings the meaning of which is

explained below

Note Paragraphs marked with this pictogram give safety-related information. Read

these paragraphs very carefully.

Arrow

Here you are given important notes to help you with the correct handling of

ecomatmobile.

1.3. Overview of the documentation

Working with a controller of the ecomat R360 system requires several

documents. A brief overview should help you to cope.

Printed media

Catalogue

Overview of the units with data sheets

Manual for the program development with CoDeSys

Software description

System manual ecomatmobiletype R360

Technical description, hardware-specific function blocks

Mounting and installation instructions

hardware specific, are supplied with the unit

Training manual 1

Step-by-step introduction


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What you should know

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Electronic media

Online Help For some devices the system manual is

replaced by the online help..

It becomes more and more familiar that theprogrammer gets information just when

needed. The search function and the links

make it easy to work fast and effective.

If you prefer to browse in a printed medium

then you may just print out the online help. It is

formatted in a way that you should get a well

formatted print.

Figure 1: Online Help

www.ifm-

electronic.com

Each printed medium such as this manual will become obsolete sooner or later;

looking at the speed of technical changes, rather sooner. This also applies to

hardware and software. To find out about the current version, please see the

web address indicated on the left. Usually you will find there updates of thesoftware and the current version of the documentation for downloading (e.g.

page2-4). This concerns also the online helpFigure 1.

1.4. Hardware

In the training manual reference will be made quite often to the hardware. To be

noted:

The different types of the controller ecomatmobile type R360 (e. g. CR2500,CR0020, CR0505) vary in their different hardware configurations.

For the programming software this means:
http://www.ifm-electronic.com/http://www.ifm-electronic.com/http://www.ifm-electronic.com/http://www.ifm-electronic.com/


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Hardware

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It has to be adapted to the hardware. The process is briefly described

below. Further information is given in the programming or system manual.

It might be necessary to change e.g. the addresses of inputs or outputs in

example programs.

It would be much too complicated to write an introduction into the software for

each type. That is why as an example the handling of the controller

CR0020 will be described.

When you work with another type later on, this must, of course, be taken into

account for the examples. Another subdirectory must be set and other libraries

must be loaded. Since the type designation, here CR0020, is also used for the

directory and file name, e.g. subdirectory ifm_CR0020 etc., this should be no

problem. To keep the following text clear, this will not be pointed out separately.

When, for example, you work with the starter set of the controller CR2500,

virtually everywhere 0020 can be replaced with 2500 in the following examples.

The only difference is that with the starter set some steps can be skipped. Here

some settings have already been made to facilitate the start, e.g. the operating

system has already been loaded. No harm is done, though, if for example you

load the operating system once again for reasons of practical training.


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1.5. Features of a PLC

Cycle

The advantages of a PLC as compared to a conventional contactor controller

does no longer need to be pointed out today. Now there are also controllers

with mechanical and electrical features which are necessary for use in mobile

machines, e.g. protection IP 67, high mechanical stability and electrical noise

immunity. These may also be the reasons why the reader has decided to use

the ecomat mobile system. For those who do not yet have any experience with

a PLC some features which sometimes present problems will be briefly

described in this chapter.

Cyclical

program

processing

One characteristic of PLC systems is the cyclical program processing. This has

some consequences for programming which will be briefly shown below.

Figure2: Cyclical Program Processing

An example is to explain why this type of programming makes sense. Let us

assume that the following instructions are in the program:

If the selector switch is on 0 (logical FALSE), then switch the output "move

to the left".

If the selector switch is on 1 (logical TRUE), switch the output "move to the

right".

At first glance everything seems to be clear. The switch can either be on 0 or 1.

However, it has to be noted that such a program is processed in sequence, e.g.

instruction after instruction. Nevertheless, sometime the following event may

come up (this is where Murphy's law applies):

The selector switch is on 0, therefore the output "move to the left" is

switched.


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Features of a PLC

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At that very moment somebody flips the selector switch. If the state of the input

were enquired about again, the condition for the next program step would also

be fulfilled: the output "move to the right" would also be switched with a possibly

spectacular result.

It may also come to conflicts which cannot be seen and prevented duringprogram creation.

Unambiguous

signal states

Thus the meaning of cyclical program processing is for example to ensure

unambiguous signal states during program processing. The program works

with the process data image.

This is also of importance for the outputs. It is e.g. possible to switch an output

to TRUE and then again to FALSE 10 times during program processing. This

cannot result in "chattering" of the output, i.e. constantly changing its state. The

state is clearly defined. During program processing only the state of one bit in

the process data image changes. The last state is switched, i.e. provided to the

physical outputs. The only objection to be raised is that the program structure isunclear.

Priority This may seem quite theoretical but it does have some consequences for

practical use. The priority of instructions can be determined in the program by

their sequence!

If, for example, there is an instruction in the program:

if limit switch reached, then stop drive

then it is usually placed behind the instruction for switch-on. Usually the

conditions for switch-on and switch-off should not be fulfilled at the same time.

If, however, due to a malfunction this does occur, then switch-off takes priority

(compare pages 4-2 and4-3).

Thanks to the cyclical program processing, reliability is provided due to

unambiguous signal states. However, other consequences have to be put up

with.


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Time response

Only time-

criticalprocesses

If the time response is uncritical, if a ms does not matter, then the comments on

the time response do not have to be taken into account.

Cycle time The time the controller needs for one program cycle is called cycle time.

How long is the

cycle time?

There is no easy answer to this question. It makes sense that it is longer for

long programs and shorter for short ones. It also depends on the type of

instructions. Logical conjunctions are processed considerably faster than for

example arithmetic operations. The answer is not clear if there are jumps, for

example. If the condition for the jump is fulfilled, a program section is skipped.

In that case it is not processed. The cycle is shorter. If the condition for the jump

is not fulfilled, the cycle time becomes longer.ms Therefore only an estimate can be given here. You can expect a short time

from an efficient system such as ecomat mobile. It is indeed in the ms range.

For shorter programs it may be shorter, for more complex programs it may be

several ms.

To determine the actual value of the cycle time:page 4-7.

Now it is easy to understand the demands on input signals.

An input signal has to be active at least during one complete program cycle.

If a signal is shorter it depends if it happens to come at that point of time atwhich the inputs are read. Only then will it be recognised.

Response

time:

This value is often used to characterise the time response of a PLC. This is the

time that is needed to switch a signal from an input to an output. If you expect

the worst case, this means twice the cycle time.

Frequency In some cases, for example when evaluating encoder signals, you also have to

ask about the frequencies that can be processed on the input.

If the cycle time is for example 1 ms, the cycle frequency is 1 kHz. However,

this does not mean that the frequency on the input can be 1 kHz. To recognise

a pulse as a pulse, a FALSE signal and a TRUE signal have to be detected;

otherwise the pulse cannot be distinguished from a static state. The signalfrequency must be half the cycle frequency at maximum. To allow possible

fluctuations in practical use it should be significantly lower.

To be more precise, this is only one necessary condition. If the signal frequency

is higher than half the cycle frequency, the pulses can no longer be processed

accurately. If it is lower, the signal shape also has to be taken into account. If,

for example, the cycle frequency is 1 kHz and the signal frequency is 100 Hz,

you could think you were on the safe side. If, however, the FALSE signal is 9.5

ms and the TRUE signal only 0.5 ms, the pulses cannot be processed

accurately. To be on the safe side it is necessary that the FALSE as well as the

TRUE signal, each one separately, is longer than the cycle time.


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Features of a PLC

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An unfavourable signal shape does indeed occur in practical use. If, for

example, speed is to be monitored by evaluating the pulses of a puck, the

TRUE signal is short if the diameter of the puck is small.

An example is shown on the left side of Figure 3.Often metal screws are used

in a plastic disc. If the signals are not detected reliably, a metal strip can be

used. Its length should be 1/3 to 1/2 of the circumference. The optimum mark-

to-space ratio of 1:1 can thus be easily obtained.

Figure 3: Target Pucks for Rotational Speed Monitoring

Frequency

inputs

Usually there are only higher frequencies if encoders with a high resolution are

used. To be able to process higher frequencies the controllers have so-called

frequency inputs. This ensures that signals up to 50 kHz are reliably detected.

This is an exception from the usual cyclical program cycle.

Filtering The maximum frequency for standard inputs is limited since they have a low-

pass filter. Thus increased protection in the event of noise against interferencepeaks is obtained. On the other hand the frequency inputs are more

susceptible.

Optimisation The experienced PLC programmer knows ways to optimise the cycle time for

time-critical processes. Since this manual is an introduction we will not discuss

this any further here.

Bus systems Using a bus system provides many advantages. In applications for mobile

machines CAN is used as a rule ( Training manual 2: Introduction into

working with CAN). The time response, however, can be negatively affected. If,

for example, the input and the output are on separate CAN modules, the

response time increases by the time needed for the communication.

Time-critical pulses should therefore be put directly on inputs of the controller.


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Watchdog

A PLC monitors itself if the cycle is correctly processed. The case that a

program cycle is not complete is dangerous. Then no inputs are read. A change

of the state on the input, e.g. "limit switch reached" cannot be processed. The

status of the output cannot change, e.g. the drive keeps on running although thelimit switch has been reached.

The watchdog function exists to avoid such states. If the end of the cycle has

not been reached within a certain time which is started with each new cycle the

watchdog becomes active. The controller is stopped and the outputs are

disconnected. This time does, of course, depend on a maximum possible cycle

time. In ecomat systems it is approx. 40 ms.

What can cause such an event?

Causes 1. Hardware error

If a processor fails, for example, the controller must pass into a safe state.2. Program error

We will describe this second point here in more detail. Those who already have

some programming experience, for example on the PC, are especially

vulnerable to such errors. In a PC program a window can be created with the

text "Enter value" and an input field.Then the keyboard is enquired about if a

value has been entered. If so, the value will be processed. If not, the keyboard

will be enquired about again until the input has been made. It does not matter if

the user has a coffee break, a lunch break or does something else during that

time.

There must not be any closed loop in a PLC program; only the program cycle

itself may be such a loop. A possible cause of an unintended closed loop may

be a backward jump. Since this is dangerous, a warning is issued during

compilation of the program.

In the worst case it is possible that the communication between the PC and the

controller is impaired. Log-in is then no longer possible. In this case the

downloader tool (page3-36)will help.


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2. Installation

2.1. Hardware of the PC

Minimum PC with Pentium processor

MS Windows from version 98

128 MB RAM

Hard disk with 100 MB available

Mouse and additional serial interface

We recommend to use a current version of the software (operating system) and

hardware, e.g. Ethernet interface.

2.2. Software setup

Set-up The installation is started as usual. If the autostart function of the CD-ROM drive

is active, the ecolog software installer starts. The selection will be described

below.

Figure 4: Installer


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Software setup

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Here we are dealing with CoDeSys 2.3. This is the software for programming

the current hardware. Therefore the programming examples below were

created using this version.

Figure 5: Version

The version you use depends for example on your hardware version, on the

version of its operating systems, etc. If you use different versions it may

become necessary to also install different software versions. You can, of

course, install this and other programs subsequently, for example if you want to

work with a PDM or with CAN modules. You may also want to install the

documentation on your PC. To be able to see or print the documentation here

or on CD you need Acrobat Reader. These installations will not be described in

this training manual.

The software is installed by clicking on Setup. The individual steps will not be

described here.

We recommend to adopt the default settings, e.g. the directory name, pathsetc. This will save unnecessary work. This will also make it easier to

understand the following examples.


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The following directories are then on the hard disk:

C:\Program files\ifm electronic\CoDeSys V2.3 Program file CoDeSys

There are the directories:

Compile temporary auxiliary files

Documents1

device-specific information

Help1

help files

Library general libraries of 3S

there:

PLCConf device-specific files

For CAN users: here are the EDS files. If other devices are to be connected via

CAN, their EDS files have to be copied into the directory PLCConf.

Projects2 your projects, examples

The directories with the comment 'Temp'which are created in 'Projects'can

be compared with an automatic backup. They can be deleted without any

problems. The only file that is absolutely necessary is *.pro .

Targets target systems

there

ifm files for ifm devices

there

Help ifm-specific filesand e.g.

ifm_CR0020cfg

there finally the directories with the configuration data files. If

several versions are needed, they have to be in separate

directories, e.g. the directory:

V030002

Library

there: general ifm-specific files, device-specific files in turn are in

subdirectories, e.g.:

ifm_CR0020

in which there is the operating system and the specific library.

1There are the versions in German, English and French.

2For a better overview we recommend to create a subdirectory for each project.


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Software setup

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If you work with different versions, to be seen from the version number, e.g.

V030002, it is important to remember that the versions of the configuration data

files and of the operating system match!

This structure may seem a bit confusing. In general you are not confronted with

it and therefore you do not have to worry about it.

This structure is created by CoDeSys during installation. During program

creation CoDeSys accesses the required files and searches for them in the

defined paths. Therefore we advise against changing the directory structure

after installation.

If you work on several PCs, you have to remember that it makes the exchange

of program files easier if the same directory structure is installed on each of

these PCs.

What does e.g.

V020102

(version

number)

mean?

V02 is the actual version, 01 stands for the date of the update (release), 02 for

the patch number. The current version can be found on the web (1.3). The

new versions are, for example, required for the new hardware versions. We

recommend to change this version only if it is necessary. It is a lot easier, if all

systems used are of the same version, even if it is not the latest one.

At any rate the downloader should also be installed (page 3-33).

Figure 6: Downloader Setup


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Installation

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This is an important tool. Again, not each and every detail can be discussed

here. Usually only the function described on page 3-33 et seqq is needed. In the

event of frequent programming it is worthwhile to study this tool in detail (

e.g. Notes in Help concerning the downloader).

The installation should not present any problem. We recommend to adopt alldefault settings.

2.3. Program start

CoDeSys is started via the icon in the start menu, for example.

Figure 7: Program start

Info The information is displayed for a short time. If required, it can be called up

under menu item Help, e.g. for checking which software version (in this case

2.3) has been installed.

An example program is loaded.


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Program start

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Error message If one or several error messages are displayed, other paths may have been

selected during set-up. For the time being they can be ignored. Further below

we will describe the adaptations that will have to be made.

The example program may look like this:

Figure 8: Example Program

We will not deal with this any further here. The continuous work on this project

is made easier if the one opened last is loaded automatically during program

start-up. Therefore the example program will open here. If you do not want this,

you can change it via 'Project' 'Options'.


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Installation

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Figure 9: Project Options 1

2.4. Settings

New project

Before starting with the programming of the controller you would normally have

to make some additional settings. This has to be done for a configuration only

once at the beginning, compare page 2-19.

In the starter set all required settings have already been made. The following

descriptions are only for information if you work with it.

These settings are part of each project and they are saved with it. This way you

can easily work on projects for various hardware configurations with the same

user interface. To show how the settings are made we open a new project via

'File' 'new'or a new project.

Target

A window to create the target system will open.

Figure 10: Target System Settings


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Settings

2-8

By clicking on the arrow symbol the selection list will open. There the

hardware you want to work with is marked. It can be identified by the article

number.

Figure 11: Target System Selection

CR0020 is marked and acknowledged with .

When a concrete target system has been selected, the window is enlarged

considerably. Many tabs are for functions that are not supported by thishardware. CoDeSys is a universal programming system. The most important

tab is the one for 'Network functionality'. There the parameters for

communication are set via CAN. This is not a topic here (Training manual 2:

Communication with CAN).

But it is easier to prepare us for working with CAN just now. For this reason,

please let the options 'Support parameter manager' and 'Support network

variables'active. Then we have to append the subelement CANopen Master in

the PLC Configuration (Figure 30). Then the topic CAN can be ignored for

the moment.

What has to be done, if the article number is not displayed in the selection

screen?

This will only happen with new hardware. Then the respective file will be

ordered from ifm electronic or loaded from the Internet and installed

subsequently.

Subsequent installation of the target

Since this happens occasionally, the process will be briefly described. If the

required target is already in the selection list, this section can be skipped. You

will continue with the Section 'Main program', page 2-10.

It has to be noted that here files are not simply copied into a directory. To avoid

errors due to an unsuitable directory structure, the Help program

InstallTarget.exe will be used. It is directly in the CoDeSys V2.3 directory.

After starting InstallTarget the following window will open:
http://scan.pdf/http://scan.pdf/http://scan.pdf/http://scan.pdf/http://scan.pdf/


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Figure 12: Start Window InstallTarget

By clicking on the 'Open...'button the usual selection screen for files will open.

In principle a number of control systems can be programmed using CoDeSys.

This does, however, not mean that each target can easily be installed here as

described. Which target is programmed in which way can be taken from 3S.

Figure 13: Selection Screen InstallTarget

In the example the installation CD was inserted in drive (E). Then the directory

E:\CoDeSys_V23\Targets\ifm
http://www.3s-software.com/http://www.3s-software.com/http://www.3s-software.com/


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Settings

2-10

was opened. The files that can be seen there have the extension: TNF (for

target information). As an example ifm_CR0020_V030002.TNF is marked and

'Open' is clicked on. At first you cannot see a big difference. There is only a

new entry in the left box. By clicking on the '+' next to 'ifm' the structure is

shown in detail:

Figure 14: InstallTarget with Systems

In Figure 14you can see that a CR0020... is already present in the right box.

The installation may, however, make sense if there are different versions. Thereis also to be seen that the installation directory on top still has to be adapted,

pages 2-1 andFigure 16.

Then the new target can be installed. When the target has been successfully

installed, the requested one can now be selected. The next step is like in the

previous versions: the main program is added.

Main program

Figure 15: New Project


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The inputs in this start window are of special importance. This will be described

in more detail further below. For the time being we select the option FBDand

confirm it by OK.

A remark beforehand: Do not change the name PLC_PRG!

Directories

Search path Since the same programming surface is used for different hardware

configurations, the required files need to be accessible. The device-specific

files are listed in different subdirectories. It would be confusing to provide all

of them right from the start. First, it has to be stated in which subdirectory

they can be found.

This is done via the menu items: 'Project' 'Options'. Select the category

Directoriesin the displayed dialogue box that opens (Figure 16).

Figure 16: Set Directories

By selecting the target some entries have already been made.

C:\Program files\ifm electronic\CoDeSys V2.3\Library\ etc.

A very important entry is still missing, however. In addition it has to be

indicated where the configuration files of the project are. This entry is not

made automatically to enable working with different version numbers.

By clicking on the button to the right of the field the selection screen will

open.


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Settings

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Figure 17: Project Configuration Directory

After acknowledgment with the entry has been made:

Figure 18: Directories Created

Starter set If you work with different hardware types in other applications or e.g. in the

starter set, the entry has to be adapted accordingly. Example:

CR0020

C:\ Program files\ifm electronic\CoDeSys V2.3\targets\ifm\ifm_cr0020cfg\VXXXXXX

XXXXXX means: The version number may be different.

Settings which are usually not preset were already made in the starter set. This

makes it easy to work with the device right away.


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Libraries

Predefined

functions

A modern programming software to IEC 61131-3 should allow the

administration of self-created program modules. They only have to be createdonce and can then be used as often as required. Administration in CoDeSys is

handled via libraries. Furthermore, a number of standard functions and

hardware-specific functions have been predefined. These libraries have to be

loaded if necessary. Standard libraries are automatically integrated.

File size Each added library makes the project file bigger. Therefore no unnecessary

libraries should be added. At the beginning it may be difficult to judge which

library is necessary and which is not necessary. A hint is given by the name of

the library. If, for example the name is ifm_CR0020_V030002.lib, you will only

need the library if you work with the unit CR0020. As experience increases,

differentiation is getting easier. However, the file size is only critical with very

complex programs.

A consequence resulting from the keyword file size affects the program

modules created. It is unfavourable to combine them all in one library. If they

are separated it is easier to focus on those that are actually needed.

No menu

active

If no project is open, most menu items are not active which can be seen by the

grey colour.

To activate them a project has to be opened. This is done via the menu item

'File' 'New'or the respective button (you will find an overview of the buttons

in the appendix, page6-1). The procedure was described above, chapter

2.4.To be sure let us compare:

The top line then reads:'CoDeSys - (Untitled)*'

The name can be assigned when saving the file.

Step by step The menus are context sensitive. In other words: the window 'Library

manager' only opens (of course!) when a project is open. Here it becomes

clear what is meant by "step by step" in the instructions. Those who are not

familiar with the system should strictly follow the instructions. As experience

increases more interim steps can be skipped.

CR0020 as an

example

Below we will show how to prepare a project for the controller CR0020 as an

example.Entries The menu items 'Window' 'Library Manager' open a window in which no

standard entries can be seen on the top left.

We see the standard.lib and some CAN libraries which are linked

automaticallay. Again CAN is not the subject now.


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Settings

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Figure 19: Library Manager with Standard.LIB

A glance at the library manager shows what kind of module it is. This also

explains the name of the library.

Help If during program creation you are not sure which module is needed or what

the inputs and outputs mean you have the possibility to call help via Helpin the

toolbar. There you will find detailed descriptions and examples. Often it is faster

and easier to call the library manager and to mark the respective module there.

Then you can often find the information you are looking for in the declaration

part (Figure 22 top right). This applies in particular to the device-specific

libraries ( Figure 22). The help would be much too extensive if all device-

specific modules were explained there. A glance at the library manager can

save leafing through the manual.

More entries can be made via 'Insert' 'Additional library'.

Figure 20: Additional Library

The available libraries are shown on a mouse click.


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Figure 21: Selection of Libraries

There are device-specific libraries which are in the corresponding subdirectory,

e.g. ifm_CR0020 together with other configuration data files. In addition there

are mostly device-independent libraries which are needed for the operation of

CAN networks, for example.

Library

Now a library is added as an example. As before reference is made to CR0020.

After adding the library manager looks like this:

Figure 22: Library Manager 2

Right now the PWM100 module is open. It is used to activate PWM outputs

(PWM = Pulse widths modulation, e.g. on proportional valves).

The directory structure must be observed!

In CoDeSys V2.3 there is also a directory

'Library'. It includes general libraries of 3S but

not the ifm libraries!


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Settings

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We are not done yet! Programming not only requires the library files but also

e.g. the operating system or predefined system variables. It is therefore not

sufficient to only insert the libraries in the manager. In addition the settings

have to be verified and possibly adapted during PLC configuration.

PLC configuration

CR0020 Here again we refer to the device CR0020. As mentioned above, the respective

settings have already been made in the starter set so that we do not have to

worry about them. For a new project for the starter set the library

ifm_CR2500_VXXXXXX is added again. Since the features of the hardware

versions are fixed, various variables have also been declared in advance.

Declarations As is the case with each efficient software, variables are also declared in

CoDeSys. Declarations, presentation, notations etc. are described in detail in

the manual for the program development. In our manual we will describe this

process briefly in the individual steps (e.g. page 3-44).

Below we will describe the hardware configuration in brief.

You click on the 'Resources' tab in the

navigation bar and double click on 'PLC

Configuration'(then you can also check

if the libraries have been integrated). At

first the respective window is empty. The

selection screen indicates

_not_found:(Figure 24).

Figure 23: Navigation Bar Resources


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Figure 24: PLC Configuration Empty

If the PLC configuration had been loaded directly together with the target

settings, it would be difficult to work with different versions. Therefore the

hardware configuration is entered manually.

To ensure that the next step is successful it is absolutely necessary to enter the

path to the configuration data files in the 'Directories'option,Figure 18.

Then the 'Extras' menu is opened and there you click on 'Standard

configuration'.

Figure 25: Standard Configuration

A question is displayed:

Figure 26: Hardware Configuration

After acknowledgement with 'Yes'the display should change now:


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Figure 27: PLC Configuration

If you now click on '+' next to CR0020 and then double click on '+' next to

'Inputs/Outputs' you can see the precision with which the hardware is

represented in the PLC configuration.

Figure 28: PLC Configuration Open

Variables can be declared very easily (as global).

Figure 29: Inputs for the Declaration

In Figure 29above is shown that a double-click on 'I00'opens a field into which

a variable name can be entered. In the part below the figure a comment has

been entered.

We have already activated the CAN functions in the target system settings.

Then the system expects that a CAN node exists. To do so we will append a


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subelement. Right-click on the configuration (Figure 27). Select the CANopen

master in "Append Subelement". This facilitates working with CAN. Now this

appendix need not be considered.

Figure 30: Append Subelement

Figure 31: Subelement appended

Ready! Preparations are now finished and the work can start!

Now the actual programming can start. For those who find it a little hard at first

to go through the work steps at the beginning of a new project correctly and

completely, the procedure is summarised in the appendix, page 6-7,once again

without any detailed explanation as above.

Master For those who process new projects quite often it is worthwhile to save theproject as Master_CR0020_V030002, for example. The name says what it is.

Working with a master is facilitated by the menu item 'File' 'New from

master...'. This opens any project with the name '(Untitled)*'. The * indicates

that the project has not been saved yet. The new name is assigned when the

file is saved. The menu item can, of course, also be used to create a new

version of a completed project. You will get the same result as before with 'File'

'Save as...', see page 3-29.


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3. The start

This chapter is a kind of "introductory course for CoDeSys". You will get to know

the operation and the handling of the program, i.e. you will get a brief insight

into almost every function of CoDeSys.

The most important part of this introductory course is the complete creation of a

program example directly on your PC.

3.1. Basics and concepts

What is

CoDeSys?

CoDeSys is a complete development environment for the ecomatmobile

system.

CoDeSys is an easy-to-handle tool for creating control programs to IEC-61131-

3.

What is IEC-

61131-3?

IEC-61131-3 is an international standard for the creation of PLC programs. It is

important to know that only the programming language has been standardised,

not the programming surface (window structure, presentation of values in the

online mode, data saving, etc.). The programming languages of CoDeSys meet

this standard.

What is a

project?

In CoDeSys a project is the combination of components. These components

solve a given control task (e.g. sequential control of a device, signal pre-

processing for a part of a plant, ...).

Which are the

main

components of

a CoDeSys

project?

The main components of a CoDeSys project are:

- POUs (executable program)

- structures (data organisation)

- visualisations

What

programming

languages are

available?

CoDeSys supports the following programming languages:

- LD (ladder diagram)

- IL (instruction list)

- FBD (function block diagram)- SFC (sequential function chart )

- ST (structured text)

- CFC (graphical function block diagram)


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How is a

project

defined?

The definition of a project includes:

The hardware configuration

- definition of inputs and outputs

The creation of components

POUs

- structures

- visualisations

How do I test

my project?

The true test of a project is the commissioning of the actual system. On the

other hand, the simulation mode of CoDeSys has proven to be a very valuable

possibility for testing the program.

What is the

simulation

mode?

The simulation mode simulates the program run of the controller in the PC.

This type of test without using the control system or the plant enables the

elimination of errors at the desk, thus saving time and nerves. This effect canbe enhanced by displaying the simulated plant by means of corresponding

visualisation screens.

The use of the simulation in conjunction with the versatile debug functions

(troubleshooting functions) in CoDeSys allows a simple and efficient complete

program test.

Which debug

functions does

CoDeSys

have?

CoDeSys includes the following debug functions:

Forcing (writing) of I/Os and variables

Definition of watch windows for data presentation

Setting of breakpoints in the simulation mode (stop of the program run)

Execution of programs

- as single scan

- from breakpoint to breakpoint in the simulation mode

Sampling Trace (diagram of variables as a function of time)

And the

documentation

?

The complete project can be documented at any time in whole or in parts or

can be exported into a text file.

Conclusion This overview shows that CoDeSys as a complete development environment

for your ecomat controller exceeds the functions of a common programmingsurface. Let's take a small project to show that we are not promising too much.


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3.2. A small ecolog CoDeSys project as a start

Description

This chapter will describe a short project demonstrating the basic steps in

CoDeSys. The processes are more or less described like a "recipe".

Task A lamp Cis to be ON when two switches Aand Bare closed. This really simple

system can be shown as in Figure 32.

Figure 32: Problem

CoDeSys is now to

implement and

visualise this system.

The first step

The first steps usually are as follows:

Start CoDeSys

Open an existing project or start a new one

For a new project: Integrate search path (directories), libraries and

hardware configuration

Starting a new

project

To start a new project select option 'File' 'New' or alternatively click on the

button . This step was already described in 2.4,page 2-7.

Target system

and PLC_PRG

Usually a new object is added via the menu.

The main POU PLC_PRG is of particular importance. For a new project

PLC_PRG should always be added after parameter setting of the target system

as the next step. Therefore the windows 'Target system settings' and then

'New POU'with the preset PLC_PRGopen automatically when a new project is

started. FBD is already set as the language.

The setting of the target system is not to be shown here once again. Those who

find it difficult should study pages 2-7 et seqq. Below we will describe

PLC_PRG in more detail.


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A small ecolog CoDeSys project as a start

3-4

As shown inFigure 15 and then again in Figure 33

the object is to get the name PLC_PRG ,

the type is to be programand the

language is to be FBD.

Figure 33: PLC_PRG as FBD

FBD FBD was chosen because it is the language most frequently used.

After clicking on a presentation similar toFigure 34 is displayed.

Figure 34: PLC_PRG Window

We have now added the module PLC_PRG to the project. PLC_PRG is

executed cyclically and activates the modules (programs, functions, functionblocks; for details see below) called there.

Please observe the following very important instructions:

Allprojects must have oneand only onePLC_PRG.

Allmodules to be directlyactivated via PLC_PRG, must be activated here,

otherwise they will notbe executed!

Check if all these points

correspond

Name: PLC_PRG

Type: Program

Language: FBD


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Point 1 has already been described. To illustrate point 2 we want to add a

second program to the project and activate it with PLC_PRG to ensure its

cyclical execution.

Settings If you have not yet done so, work through the sections on pages 2-11to 2-19.

Add Program

Adding an

P_AND

Add a program with the nameP_ANDto the project with menu item 'Project'

'Object' 'Add... '(Figure 35).

The name must not be AND,for details about the term 'key words' see page

3-6.

Figure 35: Project Add Object

A window similar toFigure 36should show.


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3-6

Figure 36: Window POU P_AND

Defining variables

In the context of programming, the definition of the characteristics of a variable

is called a declaration. Variables can be displayed as a table or a text. Below

we will describe the text options.The selection Declarations as text is the

default setting. It can be changed in 'Project''Options' 'Editor'if requested.

Defining

variables (text

form)

The new variablesA and Bare to be defined as binary, i.e. boolean. To do so,

we proceed as follows:

Move the cursor to the end of line 0002 and press the Enterkey (Figure

37). A new empty line has been added as line 0003.

Enter the definition as inFigure 38.

Key word BOOL is a so-called key word. Its meaning is predefined. For example, it

cannot be used as a name for a variable. Since CoDeSys knows the key words,

the programmer is supported during entry. The notation, whether small or

capital letters, is not important. After entering the text is checked and

recognised key words are automatically represented correctly and highlighted in

colour,Figure 38.

Figure 37: Declarations as Text

Move the cursor to the end of line

0002 and press 'ENTER'. A blank line0003 shows.

You can enlarge the upper part of the

window by pulling down the

separating line with the mouse.


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Figure 38: Declaration Entered

There is an alternative to the declaration which will be shown shortly (Figure

48).

Add AND-

operation

Figure 39: Add box

Mouse click on the first network (grey field with the number 0001 in the bottom

part of the window) as shown in figure 41. The form of the cursor, here shown

as a dotted rectangle, can be changed, if requested, via 'Project' 'Options'

'Editor' Mark'.

Now add the 'AND'

by clicking on (Box) in the symbol bar or

by activating 'Insert' 'Box (Figure 40)

Figure 40: Menu Add Box

Independent of the method you use, an AND box should now be added to

network 0001 (Figure 41).

Do not forget the semicolon

at the end of the line!

Network 0001 with

dotted rectangle as

cursor


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3-8

Figure 41: Inserted Operator

F2: The key Here we want to point out a possibility to help you program more efficiently andavoid typing errors at the same time: the key. When working with

CoDeSys you often reach points requesting a selection between several input

possibilities.

You can see an example in Figure 41.CoDeSys has entered an ANDoperatorhere as default setting. The field with the coloured background (Windows

standard setting is blue) signals such an option. Press to open a selection

screen. Try it, and you will get a list of operators that can be used here or other

boxes. You can select the requested operator by means of a double-click. This

option saves a lot of typing and prevents typing errors! In our case the default

setting AND is okay and you should close this selection screen by pressing

(Figure 42).

Figure 42: Input assistant

Forgotten the

settings

A common mistake in the early stages is to open a new project and to forget the

libraries and the hardware configuration (pages 2-13and 2-16) in the heat of

the work. You will become aware of it when you use the Input assistant for a

particular function block, for example. If you do not find it the reason why is that

you probably have not linked any hardware-specific library, for example.

If windows with such a colouredbackground appear on the

screen, remember F2!

Move the bar to the

requested operator and

select it with double

click or 'OK'.


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Operands Add the operands Aand Bas inputs of the ANDoperator by replacing ???,

Figure 43.You can also use ,Figure 44.

Figure 43: Highlighted Input Field

Figure 44: Input assistant for Variables

Figure 45 shows the result.

Figure 45: Add Operand

The result of the operation has to be assigned to an operand. This is, for

example, done by clicking on (Figure 46):

A click to the right of the AND operator symbol generates a cursor (dotted

rectangle) as shown in Figure 45.


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3-10

Position of the

cursor

Here the editor is not very flexible. It happens again and again that you want to

add an element which the editor refuses, however. In most cases the reason

why is that the cursor is not in the right position. This is meant to prevent

incorrect entries. You will usually find the right position of the cursor by trial and

error.

Figure 46: Add Operand

Figure 47: Operand Added

When you leave the input field (e.g. by simply clicking into the "free space") the

system finds that variable C has not yet been defined and automatically opens awindow for the variable declaration (Figure 48).

Figure 48: Window Declare Variable

The entries in this window can be changed individually. In this case they are

exact. A comment should be added.

You should make it a matter of habit to add many comments. This is taking

some time at the moment. However, you will save a lot of time for

troubleshooting or modification of the program.

After entering the comment you can acknowledge by clicking on . The

variable declaration is now entered in the top part of our module window.

Click on the IM - R icon and replace

???with C(overwriting)


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Figure 49: Declared Variables

A and Bcould have been defined in the same simple and comfortable way. We

just wanted to demonstrate the different selection possibilities for declarations.

In Figure 49you can also see the syntax for entering comments. They can, of

course, also be subsequently added or modified.

Should the variable declaration window not open, the 'Autodeclararation'

option in'Project' 'Options' 'Editor' has to be activated.

Figure 50: Autodeclaration


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3-12

Local In the fields class and type the default settings were simply adopted. We just

want to point out that the variables in the example were declared locally. That

means that the declaration only applies to the POU in which it is located, here in

the program And. If a variable, e.g. an input, is to be used in several POUs it is

easier to declare it as a global variable. Using the selection field type helps toavoid invalid declarations. During declaration the 'Autodeclaration' option also

helps to prevent syntax errors which may cause confusing error messages in

compilation, especially at the beginning.

This completes our little POU.

Activating

P_AND in

PLC_PRG

The program P_ANDis to be activated in PLC_PRG. For this purpose activate

the window of PLC_PRG (Figure 51) and call menu item 'Insert' 'Box'(Figure

52).

Figure 51: Enter program call in PLC_PRG

At first the default box, the ANDoperator, is added. By clicking on F2the Input

assistant opens. Select the 'User defined Programs'option on the left (Figure

52). Then select ANDand in the box on the right. You activate P_ANDin network 0001 of PLC_PRG.

1. Open

PLC_PRGby

double

clicking2. Enter the

program call

Box


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Figure 52: Added POU

And all this just

for an AND?

Of course, an AND operation can also be directly inserted in PLC_PRG. We

have selected the way of activating the subroutine in PLC_PRG for an

important reason. We wanted to demonstrate that all POUs (in this case POU

P_AND) to be activated directly via PLC_PRG need to be listed there. It is

therefore not enough to just create the POU.

The POUs of a project are not activated automatically. They must be directly or

indirectly activated by the PLC_PRG POU.

Only thePLC_PRGPOU is automaticallyprocessed cyclically. That is why all

other POUs have to be activated directly or indirectly byPLC_PRG.

It is not sufficient for the execution of a module that it is entered in thePOU list

of the project!.

Saving

At first, it will take some time for you to achieve this result. Later you will be able

to program an easy link very fast.

In each case it should become normal to save the result after each work step.

This can be done e.g. via 'File' 'Save'or :


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3-14

Figure 53: Save File

When the project is saved for the first time, the window 'Save file as:...' opens

automatically.

Figure 54: Save File as...

The directory Projectsalso opens (default). The file is now stored here. At the

beginning it is clearer to save the files here in the default directory. For many

projects it makes sense to create a subdirectory for each project (in Projects).

Other languages

And what about

the other

languages?

At this point it would go too far to explain the other languages in more detail.

Still, we want to show you our little program example in Instruction List, in

Structured Text and in Ladder Diagram (Figure 55).

Figure 55: Examples in Other Languages

The CD contains further program examples giving an overview of the individual

programming languages. They are described in detail in the manual for the

CoDeSys program development saved on the CD as PDF file.


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What have we

achieved so

far?

So far we have written two programs (PLC_PRG and P_AND). The subroutine

P_AND was entered in PLC_PRG so that P_AND is now also activated by

PLC_PRG.

Program test

How do we

continue?

Our project has now reached a stage where we can test if it meets our

expectations. The first program test is normally carried out as follows.

'Online'

'Simulation

Mode'

Select the option 'Online' and make sure that the simulation mode is active.

This is the case when you see a tick () before Simulation. Should that not be

the case, click on 'Simulation Mode'(Figure 56).

Figure 56: Simulation Mode

'Online' 'Login' Selecting the option 'Online' 'Login'( Figure 56) or clicking on compiles

the project. If a syntax error is detected, CoDeSys will give you a message in

the Messages window and will refuse login. We cannot explain all possiblesyntax errors in this place. Double clicking on the error message automatically

takes you to the faulty line. You can scroll from one error message to the next

by pressing the F4key.

Let's assume that the program contains no errors or that all errors have been

corrected. In both cases the system should have logged in correctly.

'Online' 'Start' Activate the program by 'Online' 'Start' (Figure 56) or press the F5 key or

click on . The status line (shown below in the program window) should now

show .


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3-16

Display theP_Andprogram on the monitor (double click on the program name

in the POU list on the left in the program window). The program window should

look like Figure 57.

Figure 57: Program Active

If the status line cannot to be seen at all, activate it via the option 'Project'

'Options' 'Operating range'. Just click to activate the tick .

Change

variable values

As shown inFigure 57the values of the three variables A , Band C are FALSE

(OFF). By means of the option 'Online' 'Write Values' the values can be

changed as follows:

Double click onFALSEat Aand Band TRUEappears as shown in Figure 58.

This figure shows that the changes are not yet active! They have to be sent to

the (simulated) controller first.

ONLINE, SIM and RUN

must now be active.


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Figure 58: Change Values

This is done with option 'Online' 'Write Values'(Figure 59)or alternatively with

the key combination + . The values of the variables Aand Bare

now TRUE(= ON). This causes variable Cto change from FALSEto TRUE(the

colour in the bottom part of the window changes to blue) as a result of the And

link (Figure 60).

The colour changes may be difficult to see on the (monochrome) printout of this

manual. This shows that going through this manual does not replace the

practical work with the controller. It is only meant to support you. You will get

most benefit by putting the example in practice and trying own ideas.

Figure 59: Write Values

You can test other combinations of A and B in the same way, e.g. Figure 60.


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3-18

Figure 60: Vary Values

You should make it a matter of habit to use 'Write Values', if possible. The

menu item 'Force Values'may be dangerous in practical use, Pages 3-18

and4-9!

If you like to work using the keys you had better use instead of

simply !

Those who want to know more about the difference should study the following

paragraph.

Forcing

Besides the "manual" preset of input states, e.g. on the simulator box (3.3), it

is also possible to force the states in the controller. This means that e.g. the

state of an input is defined without any consideration of the actual state. When

playing with the software without any inputs and outputs connected there is,

however, no difference to the off-line program test in the simulation mode. In

practice this function is more useful to the skilled user for debugging. The user

should be skilled because forcing might start unintended processes when the

controller is connected to the peripheral equipment. If you use this function you

should know exactly the kind of damage that might be caused by a possible

avoidance of safety scans in the program.

Example When a new program or a new machine construction is tested, it is possible that

a drive stops in an interim position without the end position having been

reached. Then the drive has to be driven to the end position "manually". When

the limit switch is used as a condition in a program module to stop the drive, the

output for the drive can be set to TRUEusing 'Write Values'. As soon as the

limit switch has been reached, the drive is stopped by the program. Here the

program is of higher priority (also page4-9). E.g.:

If 'Force Values'is used, the drive will no longer be stopped by the limit switch.This means that forcing the outputs should be avoided, if possible. It is only for

inputs that forcing cannot be avoided.


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Figure 62: Name Visualisation

Figure 63: Visualisation Start Window

Grid At first a grid is displayed in the default setting. If you do not need it, you can

eliminate it in 'Extras' 'Settings...'.

Drawing a

picture

Eighteen different types of elements can be drawn and animated with the

visualisation. First, we will use the rectangle. The other elements are created

and animated in the same way.

Activate the option 'Insert' 'Rectangle'(Figure 64) or click on the button and

draw a rectangle by

placing the cursor on the empty screen

pressing the left mouse key and keeping it pressed

pulling the mouse to the bottom right until a rectangle of the required size

appears

releasing the mouse key.

The result should be similar to Figure 65.


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Figure 64: Visualisation Insert Object

Figure 65: Inserted Rectangle

Context To establish a context between picture element and module variable you need

to define a context between (visualisation) action and (variable) value.

These entries are made in the screen 'Regular Element Configuration'. For

entering variables can be used again. But first, the project needs to be

rebuilt in order to generate the variable list. For this purpose, call option

'Project' 'Rebuild all'. In this case, however, it is not necessary since we were

logged in before (page 3-16 and the project is rebuilt automatically after login.

Configuring

element

A double click on your new rectangle opens the window for the configuration of

picture elements in the visualisation (Figure 66). For each category there are

input fields describing the picture element. It is not necessary to make an entry

for each field. First select the category Variables.


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3-22

Figure 66: Variable Configuration

To change the colour of the picture element (in this case the rectangle) movethe cursor to the field next to Change color: and press to open a screen

for selecting variables (Figure 67). A double click on the P_AND module

generates a list of the defined variables (Figure 68). Another double click on

variable Agenerates a correct variable entry in the field Change color: in the

Regular Element Configurationwindow. The assignment is now complete.

Figure 67: List of Variables

Double click on '+' next to 'P_And ' to

open a list of the defined variables

Here you can select different global

variables of the project


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Figure 68: Variables of the POU

F2 The Input assistant is particularly helpful in this context because it often

happens that only Ainstead of P_And.A is entered. Then you will not get the

result described further below, however. In this context we would like to remind

you that A, for example, is a local variable. P_And.Ameans the variable A in

the POU P_And. The assignment is thus clear.

Interaction Interaction between the user and the variables of the system is to happen via a

mouse click on the picture element. The state (TRUE/FALSE) of the assigned

variable is to be changed and displayed accordingly (the so-called toggling, see

Figure 69).

Change colour The status of the variables is indicated by the colour of the picture element. This

happens after the following assignment between picture element and variable

value has been made:

color variable FALSE

alarm color variable TRUE

Activate

interaction

Click on the category Input:

To allow the user to change the variable value, click onToggle variable in the

categoryInput and enter again P_And.A.


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Figure 69: Input Toggle Variable

Colour Select the screen'Regular Element Configuration' and click on 'Colors'.

Figure 70: Regular Element Configuration Colors

Click on to open the colour selection screen in the category

Colors Figure 71. Select a colour by clicking and confirm with . As this is

the colour for the FALSE state of the variable, we have selected grey for our

example.

Repeat this process for and, if requested, for the frame of the

element . We have selected the colour green for the Alarm color

Inside (TRUE state). However, as is usually the case with colours, this is, of

course, always a matter of taste and discussion!


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Figure 71. Color Selection

Text To give our rectangle a name, enter the letter A in the category Text. Thisdesignation is entered in the centre of the element.

The window 'Regular Element Configuration'should now look like Figure 72.

If this is the case, close by pressing .

Figure 72: Regular Element Configuration: Text


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Variable B (a

simple copy)

We now want to create another picture element for variable Bthat should look

like the one for variable A. The option Copy/Pastewill be helpful. To do so:

Click on element A

Click on

A copy of the element (with settings) is made (in the clipboard).

Click on

The copy is inserted in the picture above the original.

Move the cursor to the new element A, press the left mouse key, drag the

element to the requested position and release the mouse key (Figure 73

andFigure 74).

Figure 73: Copy Element

Figure 74: Element Pasted and Dragged

Now configure the second element:

call up the element configuration with a double click,

replace Awith Bfor variables, input and text and

acknowledge the entry with .

The element for variableBhas been successfully added.

When element A is marked,

click on the Copy icon and

then on the Paste icon. Then

click on the copy and drag it

to the new position.

Double click to set the

new configuration


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Variable C Copy the element of variable Aagain for the presentation of variable C. Change

the configuration of the new element as follows:

Shape : ellipse

Input : no inputColor/Alarm Color/Inside : red

Variables/Change color : P_AND.C

Text : C

The display of the elements has been slightly changed as compared to A and B

to make clear that they are different variables (inputs and outputs).

An entry in the entry field does not make sense here because the presentation

of the variables (of the output) is controlled by the program.

It is an interesting option to control an output "manually" for test or maintenance

purposes, i.e. via visualisation. However, this has to be taken into account to

reliably avoid conflicts,Figure 130.

Whichever way you have taken - the configuration window should look like

Figure 75.

Figure 75: Configuration Element C

The visualisation window should at least resemble Figure 76 (artistic licensegranted).


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Figure 76: Finished Visualisation

Working with

thevisualisation

We can now test the newly created visualisation picture. Log in CoDeSys and

start the program. Proceed as described before. The following points will serveas a reminder:

'Online' 'Simulation'(''shows that the simulation is active)

Online Login'

Online Start'

First click on rectangle A in the visualisation, then on rectangle B. The colours

of the two rectangles should change to green (or to another colour, should you

have used your artistic licence). The green colour shows that the variables now

have the state TRUEin the program.

If you now watch the colour of the ellipse of variable C, you will see the result ofthe programmed link the colour of the element changes to red (or to what your

artistic license has defined). The red colour corresponds to the value TRUEof

variable Cas a result of the AND operation (C:=A AND B).

By clicking on the rectangles you can set the different plant states and watch

the reaction of the program (Figure 77 and Figure 78).


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Figure 77: Visualisation State 1

Figure 78: Visualisation State 2

And now Save To save your project, use the option 'File' 'Save as...' (Figure 53).

Figure 79: Window Save As...

Here you enter the name of the project in the field for the file name as iscommon in Windows. The file name must have the extension .pro, so replace '*'

by e.g. EasyandV01 and acknowledge with .


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When the correct option is activated ( 'Project' 'Options' 'Ask for Project Info')

is activated, a dialogue box for project information is shown automatically before

saving (Figure 80).

Figure 80: Project Information

You can fill it in (or leave it).

We strongly recommend to make abundant use of the various possibilities to

document the project.

Your complete project including the visualisation is now saved in the file

Easyand.pro!

A simple Save' instead of Save as...' would have been sufficient. We have

described the process in detail in case that, in the heat of the work, you have

forgotten to save before (seeFigure 53).

But now it's time for a break and we will leave the programming system for the

time being.

For this purpose stop the program ( 'Online' 'Stop') (page 3-19,then log out

('Online' 'Logout'). Then use the option 'File' 'Exit' or the key combination

+


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3.3. Online test

We now want to load the same program into the controller and test it there.

Preparations

Simulator We will now work with the physical hardware. You will need to define the input

states and watch the reaction of the outputs. That is what we use the EC 2014

simulator for. It can be used directly for testing simple program functions. A

different simulator box is used for the starter set.

Starter set When working with the starter set the following section can be skipped.

Familiarise yourself with the accessories of the simulator. It consists of:

EC 2022

EC 2023

EC 2014

Adapter RS 232

Adapter

a digital box with 6 switches to simulate digital inputs (two pieces).

an analogue box with 6 pots to simulate analogue inputs.

the actual simulator. The plug on its cable is a special version. An additional

socket is brought out of it which permits the connection of another CAN

component.

an adapter, e.g. to connect the PC.

We do not need the second adapter right now.

To be connected to the simulator ( also the installation instructions of the

simulator supplied):

Supply voltage

The 24 V power supply is to be ordered separately. It is to be connected to the

terminals of the multi-way connector strip marked VBBand GND.

Controller ecomat mobile R360, CR0020

The connecting cable is firmly connected with the simulator. On the controller

side it has a 55-pin connector used in mobile controllers to ensure the high

protection rating.

Control box

To test easy program functions it is sufficient to connect the control box

designated 0 - 5 to the socket designated 00 - 05. In addition to another control

box an analogue box to simulate analogue input signals is also supplied with

the simulator. It can only be connected to the first socket. Therefore it is left

unassigned, the control box is connected to 08 -13.

PC

The connection is made via the supplied cable. It has a 9-pole socket on the

side of the PC. If the PC has COM2 as a 25-pole connector, an additional

adapter is required. It has a multi-way connector strip on the side of the

simulator. The corresponding location on the simulator is marked RS 232/RxD


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and RS 232/TxD. Above it there is the marking CANHand CAN L to point out

that the CAN bus can be connected to the unassigned terminals.

A power supply is integrated in the control panel used during the trainings. As

long as you work with the simulator, the supply voltage can be taken via the

CAN connection because the supply voltage is on the same potential in thewhole (simulator) system.

Operating system

In principle, the steps for loading the operating system must be executed only

once. When the system is delivered, no operating system is stored in the

controller. It must be loaded only once. The procedure must only be repeated

(again only once) when a new version of the operating system is required. This

shows how flexible the control system is. For a PC for example the installation

of a new BIOS requires the exchange of an EPROM. This is only successful if

hardware compatibility was checked thoroughly. This has only changed for thecurrent version. For the ecomat R360 only the softw