TwinCAT IEC61131-3

26.07.2007

Overview

Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

26.07.2007

The IEC 61131-3

IEC 61131-3

-1
General definitions and
typical function
(cyclic processing,
process image input and
output)

-2
Environmental conditions
and conditioning classes
of the control and the
programming devices.
(temperature, air
humidity)

-4
Guide line for the system
analysis of the user, the
system selection, the
realisation of the
application, as well as
maintenance and
servicing

-5
Definition of the
communication via
funcion blocks and
communication via
access paths

(additionally to 3)

-3
Rules for using
and implementation of
PLC programming
languages

-6
Communication via
fieldbus.

-7
Fuzzy systems in the
PLC

26.07.2007

Standard guide

The PLCopen contains 3 devaluation compatible compliance

classes:
Base level

Portability level

Full compliance level

Contains IL, ST, SFC, CFC (in preparation)

a few data types, standard operators,
functions, function blocks as well as local
variables
Data exchange format (8 bit ASCII). Data
types with 32 bit strings, Arrays and all
functions and operators based on this
data type.
Here the supreme compatibility degree
must exist.

26.07.2007

Functional structure of a PLC

Power supply system

Other systems

Operator

Programmer

MMI functions
Communication
function
Check functions

Power
supply

Signal executing function

Operating system
Operating program

Executing
function

Data

Interface function to sensors and actuators

process

26.07.2007

Communication functions

Ethernet,
RS232, Modem
Other systems

Server

ADS OCX, ADS DLL,

TwinCAT OPC

MMI functions
Communication
function
Check functions
ADS/AMS router

Operator
Programmer

Forcen, Breakpoints,
single step, System
Manager, Scope View

26.07.2007

Signal executing function

Compiled PLC project,

selfdefined server

Signal executing function

Operating
function

Win NT, 2000, XP

Operating system
Operating program

Data

PLC Server 1,
PLC Server 2,
PLC Server 3,
PLC Server 4,
NC Server,
Cam Server

ADS-, I/O process

image

26.07.2007

Interface function between sensors and actuators

Interface function between sensors and actuators

Copy rule DP RAM <-> PA PLC

Actuators and sensors

DP/PA

F-Sensor
8

F-FieldDevice

F-Actuator
26.07.2007

Overview

Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

26.07.2007

Software model

Configuration
Resource

Resource
Task2

Task1
Program

Main

Program Motion
FB

Task1

Task2

Program

Program

FB

FB

FB

FB

Global and direct addressed variable

access paths

10

26.07.2007

Software model Example

Example PC PLC with 1 run time und zwei Task 1 BC900 (Ethernet Controller)
Configuration

Resource PC
Task2

Task1
Program

Resource BC9000

Main

Task1

Program Motion
FB

FB

Program
FB

FB

Global and direct addressed variable

Mapping in the TwinCAT System Manager

access paths

11

26.07.2007

Overview
Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

12

26.07.2007

Identifier

Identifier serves to the individual name assignment for

variables, data types, functions...

The identifier begins with a letter or a underscore

Followed by numbers, letters and underscore
No difference between capital letters and small letters
Not allowed
Special characters (!,,,$..)
Blank character
Sequential underscores
mutated vowel

13

26.07.2007

Prefix

Prefixes are not specificated, but they make the handling of the identifier
easier. Here some suggestions:

Hungarian notation: Write part words together. The first letter of a part word
must be a capital letter.

b Boolean
r Real
s - String
ST_ - Declaration of structures
st - Initialisation of structures
FB_ - Declaration of function blocks
fb Initialisation of function blocks
M_ - Declaration of methods

14

bEndschalterLinks
rSollPosition
sRxDaten
ST_MotorDaten
stM1Parameter

(declaration)
(instance)

FB_Ueberlast
fbM1Ueberlast

(declaration)
(instance)

26.07.2007

Key words and comments

Key words are preset indentifer by

the IEC61131-3.
They are fixed components of the
syntax and must not be used for
other purposes.
TRUE, FALSE, AND, FUNCTION,...

Using the option Auto format, the

keywords are written in capital
letters.

15

The comments are limited with the

characters (* at the beginning and *)
at the end.
Comments can be placed there,
where blank characters are allowed.
Exception: inside character string
literals.
(*digital inputs*)
bStart AT%IX0.0:BOOL;(*Machine start*)
(*analog inputs*)
TemK1 AT%IW10(*Byte 10-11*):WORD;

26.07.2007

Overview
Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

16

26.07.2007

Data types

Data types describe memory locations resp. appoint their features.

Value type
Data width
Initial value
Value range
Type

value

(Part)
STRING

SINT

-75

USINT

181

Memory

1
17

(WORD)
(2 Byte)
(0)
(0..65535)

1
26.07.2007

Elementary data types

Type

ANY-Type

Key word

Data width
(Bit)

Initial

Value range

Boolean

ANY_Bit

BOOL

FALSE

TRUE/FALSE

Bit string(8)

BYTE

0..16#FF

Bit string(16)

WORD

16

0..16#FFFF

Bit string(32)

DWORD

32

0..16#FFFF_F
FFF

SINT

-27...27-1

Integer

INT

16

-215...215-1

Double integer

DINT

32

-231...231-1

Unsigned short integer

USINT

0...28-1

Unsigned integer

UINT

16

0...216-1

Unsigned double integer

UDINT

32

0...232-1

Short integer

ANY_Num

18

26.07.2007

Elementary data types

Type

ANY-Type

Key word

Data
width
(Bit)

Initial

Value range

Slide point

ANY_Real

REAL

32

0.0

-1.18*10-38..
3.4*1038

LREAL

64

0.0

-2.22*10-308..
1.798*10308

DATE (D)

32

D#1970-01-01

Time of day

TIME_OF_DAY
(TOD)

32

TOD#00:00

Date time of
day

DATE_AND_TIME
(DT)

32

DT#1970-0101-00:00

Long slide point

Date

ANY_Date

time

ANY_Time

TIME

32

T#0ms

Sequential
characters

ANY_String

STRING

(80+1)*8

19

TOD#00:00..
TOD#23:59

26.07.2007

String

A STRING type
variable can contain
any string of
characters. The size
entry in the declaration
determines how much
memory space should
be reserved for the
variable. It refers to the
number of characters
in the string and can
be placed in
parentheses or square
brackets. If no size
specification is given,
the default size of 80
characters will be
used.

20

VAR
strVar :STRING(3);
lenVar: INT;
sizeVar: INT;

Strings are zero terminated,

that means the last
character of a string is
always zero. Each character
inside a string needs one
byte.

END_VAR

26.07.2007

Special characters

If you want to add a special character into

a string, you have to begin with a $character.

A
CR
1
0
0 (*Str. Abschluss*)

21

Special Characters
character

description

$$

dollar signs

Single quotation
mark

$L or $l

Line feed

$N or $n

New line

$P or $p

Page feed

$R or $r

Line break

$T or $t

Tab

26.07.2007

ASCII <-> CHR

If a character in a program ought to

be converted to an ASCII
character, two procedures are
allowed:
1.

Indirectly, by interpreting the

data memory different.

2.

Directly via the provided

function block. ASC and CHR
are both included in the library
ChrAsc.lib.

(Component of the Comlib)

22

26.07.2007

Variables declaration el. data types

A variable owns a name, behind which a value (number, string, date) hides.
The name of the variable is a way description to the declared data.
Variables distinguish themselves thereby, that their content can be changed
to the run time.

Identifier

Data type

Initial value

bStellerUntenLinks:BOOL:=TRUE;

The physical logical storage

location of the variable is not
known by the operator
(unlocated)

The degrees of freedom and the restrictions at

the assignment of the identifiers can be seen
on the slides identifier and prefixes.
23

26.07.2007

Variables declaration el. data types

At the declaration of the variables its possible to link the name with an
explicit specified address. For the mapping of the inputs and outputs to the
symbolic variables, the locating of variables is essential.

AT

Identifier

AT

Identifier

Address

%I

%Q

%M

W
D

Bit

Byte

Data type ;
Data type

Byte

These variables own a

unique address (located)

bStellerUntenLinks AT%IX0.0:BOOL:=TRUE;
From TwinCAT 2.8 the addressing can be done automatically. Then the program
works with not completely located variables.
bStellerUntenLinks AT%I*:BOOL:=TRUE;
24

26.07.2007

Overview

Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

25

26.07.2007

Validity range

Local variables are limited

on the block, in which they
were declared.

Global variables are known

in each block inside a
project.

Key words

Key words

VAR ..

VAR_GLOBAL ..

END_VAR
VAR_INPUT ..

END_VAR
VAR_CONFIG ..

END_VAR
VAR_IN_OUT ..

END_VAR

END_VAR
VAR_OUTPUT ..
END_VAR

26

26.07.2007

Access via the located variables

From program A is a direct access by address %MB2 to the local declared

variable locVar in program B possible.

Project Machine
PROGRAM A

PROGRAM B

VAR

VAR
locVar AT%MB2:WORD;
END_VAR

END_VAR

LD %MB2

27

26.07.2007

Overlapping in the validity range

Project Machine
VAR_GLOBAL
Var1:WORD;
END_VAR

PROGRAM A
VAR
Var1 :WORD;
END_VAR

As shown in the example

on the left, there is an
overlapping in the validity
range.
In this case, the local
declared variable Var1 is
loaded into the
accumulator.
The compiler generates no
warning for this
overlapping.

LD Var1

28

26.07.2007

Attributes
Attributes can be used to define special features of variables.
Examples:
The variable(s) should be stored at the shutdown of the PLC, to be reloaded at the
new start.
VAR RETAIN
Zaehler:UINT;
END_VAR
VAR PERSISTENT
Zaehler:UINT;
END_VAR
Initial values, the variables should be allocated with a special value at the PLC start
or reset.
VAR
AccelerationTime : TIME := T#3s200ms;
END_VAR
29

26.07.2007

Attributes (constants)

Projekt Maschine
VAR_GLOBAL CONSTANT
END_VAR
PROGRAM A
VAR CONSTANT
END_VAR

30

If you want to use a

mathematic, construction, or
machine constant, you have
to complete the regular key
words VAR_GLOBAL ..
END_VAR with the key word
CONSTANT.
This completement can also
be used with local keywords.
The state of these identifier
is read.
VAR_GLOBAL CONSTANT
pi:REAL:=3.141592654;
END_VAR

26.07.2007

Overview

Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

31

26.07.2007

POU program organisation units

In the IEC61131-3 exists under the main generic term three POUs:
Programs
Function blocks
Functions
The organisation POU is replaced by the task configurator.

The data POUs are replaced by multi-dimensional fields (ARRAYs).

32

26.07.2007

POU program organisation units

Each POU consists of a declaration part and a body.

The declaration part is the same in each IEC programming language. The
local variables of the block are declared there.

The body is written in one of the IEC programming languages which

include IL, ST, SFC, FBD, LD or CFC.

33

26.07.2007

PROGRAM PRG
Program PRG

Call by a task (TwinCAT: One programm calls another)

calls : FBs, Functions, (Programs)

Local variable : static, i.e. the local data are available at the next
cycle.

Inputs: mostly 0, but VAR_INPUT possible

Outputs: mostlys 0, but VAR_OUTPUT possible

Transfer by reference: VAR_IN_OUT also possible

Debug: The local data are directly visible in the online mode of the
PLC Control

Using: Main programms, main, hand, automatic....

34

26.07.2007

Function block FB

Function block FB

Called by programs or other FBs

calls : FBs, functions,

Locale variable : static, i.e. the local data are again available at the
next cycle. At multiple call multiple instances (mulitply).
Each FB call can have own local data.

Inputs: 0,1,2,3 VAR_INPUT

Outputs: 0,1,2,3 VAR_OUTPUT

Transfer by reference 0,1,2,3 VAR_IN_OUT

Debug: In the online mode of PLC Control, the instance of the

according call has to declared. After this, the local data are visible for
each call.

Using: multiple used function blocks, which need an own data range
each. Multiple sequences....

35

26.07.2007

Create an instance

FB
FUNCTION_BLOCK A
VAR _INPUT
Var_IN :WORD;
END_VAR
VAR _OUTPUT
Var_Out :BYTE;
END_VAR
VAR
Var1 :WORD;
Instanz_1: B;
END_VAR

LD Var1
CAL Instanz_1

36

PROGRAM MAIN
VAR
Instanz_1 :A;
Instanz_2 :A;
Instanz_3 :B;
END_VAR

PRG

CAL Instanz_1
CAL Instanz_3

FB
FUNCTION_BLOCK B
VAR_INPUT
X :REAL;
END_VAR
VAR _OUTPUT
Y :REAL;
END_VAR

Instanz_1
Var_In :WORD;
Var_Out :BYTE;
Var_1:WORD;
Instanz_1
X :REAL;
Y :REAL;

Instanz_2
Var_In :WORD;
Var_Out :BYTE;
Var_1:WORD;
Instanz_1
X :REAL;
Y :REAL;

Instanz_3
X :REAL;
Y :REAL;

26.07.2007

Function FC
Function FC

called by: programs, function blocks and other functions

calls: functions

Local variable : temporary, i.e. the local data are only available for the
operating time of the function. Afterwards this data range is used by
other functions.

Inputs: 1,2,3........ VAR_INPUT

Outputs: exactly 1!, but structure varaibale possible. The output name
is at the same time the name of the function.

Except for TwinCAT: VAR_IN_OUT possible,

Debug: The local variables are visible with ??? in the online mode of
PLC Control, because these variables are multiple used by all
functions in the cycle, and the monitoring (debug) takes place at the
cycle bounds. Hepl: program development with breakpoints
Breakpoints

Using: algorithms, at which the result is available after a pass.

Scaling, compare......

37

26.07.2007

FC Specials

From TwinCAT 2.8: The return value can be

defined directly if a new function is created.

Function name

Return value
The name of the
output is scale.

Inputs
Local variables are only
valid for the operating
time of the function

38

Scale can be used as

local variable inside the
function(Write/Read)

26.07.2007

Overview
Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

39

26.07.2007

TwinCAT System Service

The TwinCAT System Service operates as Windows NT

service in the local system account. In this way, the
TwinCAT System Service is started by Windows NT before
a user has logged on. As an activity symbol, the TwinCAT
System Service incorporates its icon into the task bar of
the desktop. In addition, the colour of the icon indicates
the state of the TwinCAT system.
TwinCAT stopped
TwinCAT starting.
TwinCAT running.
TwinCAT Config Mode

The TwinCAT System Service is primarily

responsible for starting and stopping the
TwinCAT run time system. It loads all configured
servers and initialises them during the TwinCAT
system start.
.
40

26.07.2007

TwinCAT System Service

The event display is a programm to moniotor the

events in the system. The event logging service
starts automatically, if you execute Windows NT.

The TwinCAT I/O subsystem can be reset via

the TwinCAT System Service. For this, the
corresponding function must be selected in the
context menu. The reset applies to all
connected field bus systems.
41

26.07.2007

Multitasking

TwinCAT possesses more than 62 different tasks. The default settings can
use preset profiles or change the priority individually.

42

26.07.2007

Assigning the computing power

Real time operation of PLC software in the classical PLC.
Read inputs
Write outputs

Operate program
Win NT & HMI Interface

PLC cycle
PLC cycle
Real time operation of PLC software (1 task) on a PC with windows NT.

PLC cycle
43

PLC cycle

t
26.07.2007

Overview

Contents

Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

44

26.07.2007

Real time

Many industrial applications demand a guarantee, that, clearly predictable and

reproduceable, the system load reacts sufficient fast to the process event in a
defined time.
The real time is very important for the digital control. The sampling of an analog
signal (actual position) with a PC should have absolute constant distances
between two measurements.
Each part process requires different reaction times. Because of this, several part
processes with different features and different reaction times can be created in
one automation task.
If several tasks want to access the CPU simultaneously, the IEC 61131-3 defines
two procedures:
1. Preemptive (interruptible execution) multi tasking (TwinCAT)
2. Non preemptive (not interruptible execution) multi tasking

45

26.07.2007

Real time operation

The real time operation will be achieved with

deterministic time slices. The width of the time slices
can be chosen in steps: (1000s ... 50s).
The default setting is 1ms.

The time slices will be kept with an accuracy of

15s (Jitter). Device with the lowest priority goes to
the waiting loop and waits until the CPU is free.

With the begin of a new time slice, the software

devices (PLC, NC) will be executed with priority
control.

46

- 15s +15s

26.07.2007

Real time

The TwinCAT real-time system can be configured

via the context menu of the TwinCAT System
Service.
Length of the time slice

Processor time can be assigned

to the TwinCAT real-time
system via the linear regulator
in the figure above. On a time
basis of 1 ms, this means that
TwinCAT has a maximum of
800s available each millisecond.
When the TwinCAT real-time
system switches to its idle task,
the processor is returned to
Windows NT. The bar in the
linear regulator dis-plays the
current utilisation level of the
real-time system. The display is
averaged over 256 cycles (ms).

In this case, the current and maximum latency times in the real-time sys-tem are shown.
The time by which the central system tick arrives too late is measured.
47

26.07.2007

Real time operation

Cyclic PLC task e.g. 10ms

20ms

10ms

30ms

0ms

40ms

Refinement: Behavior under TwinCAT base cycle 1 ms

80%
TwinCAT
0ms

80%

TC

1ms
PLC

PLC

80%
W

2ms

Time slice for

Windows
3ms

Time slice for

TwinCAT
PLC program
cyclic task

If TwinCAT does not need the (full) reserved time slice, the scheduler provides
this computing power to windows.
48

26.07.2007

Real time operation

PLC tasks and drive control will be executed deterministically with

multiple tasking.

Real time operation of a PLC program and NC control with a PC

NC

PLC program

Win NT & HMI Interface

e.g.: 1ms

NC cycle

(e.g. 1ms)

SPS cycle
49

2ms

3ms

4ms

NC cycle

NC cycle

NC cycle

(e.g. 2ms)

3
5ms

t
t

PLC cycle
26.07.2007

Real time operation

The smaller the time slice, the shorter the reaction time of the highest
priority task.
This has the consequence that the software devices must be fairly often
interrupted.
If a device is interrupted, the program stack has to be safed. This has the
consequence that the recopy expense rises.
TwinCAT and the operating system are equal.
For the operating system, calculating capacity is given regularly.
The switch to the operating system takes place at the earliest, as soon as all
TwinCAT devices complete the processing, and at the latest at the CPU limit.

50

26.07.2007

Task + POUs -> Create a new project

Before a new project starts, the following questions have to be checked:

1. What is the target platform, i.e. the device the user wants his program to
run.
TwinCAT offers three different platforms.
Soft SPS (IPC)

Hard SPS
(BCXXX0)
51

26.07.2007

Create a new project

2. In which distances and under which circumstances shall the PLC program
be processed?
The IEC 61131-3 defines the task as a element of the execution control, which
is able to call several programs to execute.
At the configuration of the task one of the variants cyclic and event can
be chosen. TwinCAT only supports the cyclic variant.

Its possible to create an

event driven task from a
cyclic task. For this, the
program call must
depend on an event.

52

26.07.2007

Create a new project

Priority of the task. The value range (0-3) is

an offset on the default value 25 for the first
run time. Each run time possess maximum
to four different tasks.

The task name is an

identifier. Respectively the
rules for the identifier
obtain.

The interval time is always a multiple of the

time slice.
53

26.07.2007

PLC Control Symbol bar

File

Project

Element

new

Start

Cut

open

Stop

Copy

safe

Single step

Insert

Breakpoint

Find

Log in

Find next

The field for the variables

depends on the selected IEC
language.

Log off

PLC Control
54

26.07.2007

Main program

The task is a trigger mechansim.

A program is required to execute
logical operations.
The task calls one program.
If an instance of a function block
is needed, it can only be called
from a program.

The features of an POU can be defined with this dialog.

The name is an identifier. Respectively the rules for the identifier obtain.
The type of the POU depends on the problem.
The language of the POU should be used according to the problem.

55

26.07.2007

Program

A program is a POU which returns several values during operation. Programs

are recognized globally throughout the project. All values are retained from the
last time the program was run until the next.

Programs can be called by

programs and function blocks.
A program call in a function
is not allowed.
If a POU calls a program, and if thereby values of the program are changed,
then these changes are retained the next time the program is called, even if the
program has been called from within another POU.

56

26.07.2007

Overview

Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

57

26.07.2007

Derivated data types (Variable II)

The user can create own data types on the base of elementary data types or
already created data types. The new created data types are visible in the
whole project.
They begin with the keyword TYPE and end with END_TYPE.

Parent type

Name

Data type

New value

Derivation

58

Name

Data type

Initial value

Range

Initial value

Range

h
e
i
r

26.07.2007

References (Alias Types) (Variable II)

You can use the user-defined

reference data type to create
an alternative name for a
variable, constant or function
block. Create your references
as objects in the Object
Organizer under the register
card Data types.
They begin with the keyword
TYPE and end with
END_TYPE.

Syntax:
TYPE
<Identifier>:<Assignment term>;
END_TYPE

Example: Ads_Net_ID
TYPE
Net_ID:STRING(23);
END_TYPE

59

26.07.2007

Enumeration (Variable II)

Enumeration is a user-defined data type that is made up of a number of string

constants. These constants are referred to as enumeration values.
Enumeration values are recognized in all areas of the project even if they were
locally declared within aPOU. It is best to create your enumerations as objects
in the Object Organizer under the register card Data types. They begin with
the keyword TYPE and end with END_TYPE.
Syntax:
TYPE <Bezeichner>:(<Enum_0> ,<Enum_1>, ...,<Enum_n>);
END_TYPE
Beispiel:
TYPE Woche:(Mo, Di, Mi, Dn, Fr, Sa, So:=10);(*Mo = 0 Di = 1..
.. Sa = 6 So = 10*)
END_TYPE
TYPE Richtung:(Up, Dn);(*Up = 0 Dn = 1*)
END_TYPE

60

You may not use the

same enumeration
value more than
once.
26.07.2007

Enumeration (Variable II)

The <Identifier> can take on one of the enumeration values and will be
initialized with the first one. These values are compatible with whole numbers
which means that you can perform operations with them just as you would
with INT. You can assign a number x to the <Identifier>. If the enumeration
values are not initialized, counting will begin with 0. When initializing, make
certain the initial values are increasing. The validity of the number will be
reviewed at the time it is run.

VAR
WochenTag:Woche;
END_VAR
WochenTag:=3;

61

26.07.2007

Structure declaration (Variable II)

form

Structures are self defined data types.

They are important aids for managing
the process data.

Pers_Data
Name:

Furthermore the structures are suited

for capsulated data transfer to
function blocks.

Firstname:

Age:

Address:

TYPE Pers_Data :
STRUCT
Name: STRING(25);
Firstname: STRING(25);
Age:USINT;
Address: STRING(55);
END_STRUCT
END_TYPE
62

Structures can be used like single

element variables.

Identifier for the new data type

Identifier : parents data type

26.07.2007

Structures Instances (Variable II)

P1

Name:=Mller
Firstname:=Peter
Age:=32
Address:=Postweg 34

P1
K2

P3

Name:=Koschnik
Firstname:=Heinz
Age:=37
Address:=Domplatz 10

P3

VAR
P1, P3 : Pers_Data;
END_VAR
VAR_OUTPUT
K2 : Pers_Data;
END_VAR

63

VAR_INPUT
Employees: Pers_Data;
END_VAR
Name_total:=CONCAT(P3.Firstname, P3.Name)
(*Heinz Koschnik*)

26.07.2007

Overview

Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

64

26.07.2007

Arrays (Variable II)

Arrays describe lists resp. data arrays. All elements in the arrays are from the same
type. Arrays can also exist of own data types (structures).
One- , two-, and three-dimensional arrays are possible.
VAR
Feld_1 :ARRAY[1..10] OF BYTE;
Feld_2 :ARRAY[1..10, 2..5] OF UINT;
:ARRAY[1..10] OF DINT;
END_VAR

one-dimensional
two-dimensional
Feld_3
three-dimensional

Its possible to put a data array to a direct addressed memory position

VAR
Feld_1 AT%MB100:ARRAY[1..10] OF BYTE;
END_VAR

Access to the sub-elements of a data array

Feld_1[2] := 120; (* explicit access*)
Feld_2[i,j] := EXPT(i,j); (*indicated access*)
65

26.07.2007

Array one-dimensional example with initialisation (Variable II)

One-dimensional

Identifier

Field

Data type

Initial value

DBZeiten :ARRAY [0..6] OF TIME:= T#1s, T#2s, T#1s, 4(T#0s);

Faktor

Wert

T#1s

T#2s

T#1s

T#0s

T#0s

T#0s

T#0s

Access:
VAR

The field length can be

done explicit or with the
aid of constants.
A dynamic change of
the field size is not
possible.

WertAusArray : TIME;
END_VAR

WertAusArray := DBZeiten[1];
66

26.07.2007

Array two-dimensional example with initialisation (Variable II)

To assign for example support points, an array is well qualified.

Identifier

Field

Data type

Initial value

Supportpoint:ARRAY [0..1, 0..6] OF REAL:= 0, 1.7, 2, 4(3.33), 6, 6(1.2);

Factor

1.7

3.33 3.33 3.33 3.33

Value

Access:
VAR
WertAusArray : REAL;
END_VAR

1.2

67

1.2

1.2

1.2

1.2

1.2

WertAusArray := Supportpoint[1 ,0];

26.07.2007

Array initialisation more clearly with comments (Variable II)

Example: Drive jobs for an axis

Drivejob:ARRAY [0..3, 0..1] OF LREAL:=

(* target position,

velocity *)

(*Job 0*)

20.0,

30.0,

(*Job 1*)

33.75,

30.0,

(*Job 2*)

45.0,

30.0,

(*Job 3*)

70.75,

30.0;

68

26.07.2007

Array three-dimensional example with initialisation (Variable II)

Identifier

Array

Datatype

Initial value

Supportpoint :ARRAY [0..2, 0..1, 0..2] OF UINT:= 0,1,2,3,4,5,

10,11,12,13,14,15,
20,21,22,23,24,25

2
1
0
1

23 24 25

20 21 22

13 14 15

5
0

10 11 12
0

Access:
VAR
ValfromArray : UINT;

END_VAR
ValfromArray

:=

Supportpoint[ 2,0,1 ];

2
69

26.07.2007

Exceed bounds (Variable II)

A dangerous state can arise in the PLC program, if an access to a range

outside the data field takes place.

VAR
Feld_1 :ARRAY[1..10] OF BYTE;
Feld_2 :ARRAY[1..10, 2..5] OF UINT;
Feld_3 :ARRAY[1..10] OF DINT;
END_VAR
i:= 9
Feld_1[i+2] := 120;

Feld_1[9];

Feld_2[1,2];

120

70

26.07.2007

Overview
Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Check bounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

71

26.07.2007

Check Bounds (FUN)

If you define a function in

your project with the name
CheckBounds, you can
automatically check for outof-range errors in arrays.

FUNCTION CheckBounds :INT

VAR_INPUT
I,L,U : INT;
END_VAR

IF I< L THEN
Error case

CheckBounds := L;

ELSIF I > U THEN

Error case
Limited
value

i
Min
Max

CheckBounds := U;

ELSE
OK case

CheckBounds := I;

END_IF

72

26.07.2007

Inserting Check Bounds 1(FUN)

CheckBounds can be copied with Copy Project from another PLC project to
the current project ( e.g. training project). Checkbounds can also be created or
written directley.

73

26.07.2007

Inserting Check Bounds 2(FUN)

So that CheckBounds is recognised by translating, the following may NOT be changed:
-Name and type of the inputs I,L and U
-Name (CheckBounds) and return value (INT).
-In the function can be edited freely. At application of own local variables (e. g. error counter,
instances of FBs) is to be considered that these are only temporary (at functions). Such a variable
has to be declared (in this case) under the global variables.

74

26.07.2007

Check Bounds (FUN) mode of operation

FUNCTION CheckBounds :INT

Program (* User*)
VAR
arrVar:ARRAY[0..3] OF INT
index :INT
END_VAR

VAR_INPUT
I,L,U : INT;
END_VAR
Automatical
call

IF I< L THEN
CheckBounds := L;
ELSIF I > U THEN
CheckBounds := U;

index:=2;
arrVar[Checkbounds[2,0,3]:=100;

Access at 2
->ok

ELSE

CheckBounds := I;
END_IF
FUNCTION CheckBounds :INT

index:=index+2

VAR_INPUT
I,L,U : INT;

arrVar[Checkbounds[4,0,3]:=100;

END_VAR
IF I< L THEN
CheckBounds := L;

Checkbounds
returns 3, the
access is
limited to the
maximum
index
75

ELSIF I > U THEN

CheckBounds := U;
ELSE
CheckBounds := I;
END_IF
26.07.2007

Note: Further Checker functions

From TwinCAT 2.8 the following further Checker functions are possible:

Check division by 0
CheckDivByte
CheckDivWord
CheckDivDWord
CheckDivReal

Check value range

CheckRangeSigned
CheckRangeUnsigned
(see Appendix)

76

26.07.2007

Combination Structures and Arrays (1)

An array can consist of structures:
Structure:
TYPE DrillPos :
STRUCT
XPos:
FeedrateX:
AccelerationX:
DeccelerationX:
JerkX:
YPos:
FeedrateY:
AcceleartionY:
DeccelerationY:
JerkY:
FeedDrill:
Kuehlen:
END_STRUCT
END_TYPE

LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
LREAL;
BOOL; (*Pump ?*)

Declaration of the arrays :

Positions :ARRAY[0..100] OF DrillPos;

77

26.07.2007

Combination Structures and Arrays (1)

Access to Drillpos 55:

Access:
MoveXAx (*FB Instance*)
(
Execute:=
Position:=
Velocity:=
Acceleration:=
Deceleration:=
Jerk:=
Direction:=
Axis:=
);

78

TRUE,
Positions[55].XPos ,
Positions[55].FeedrateX
Positions[55].AccelerationX,
Positions[55].DeccelerationX,
Positions[55].JerkX,
.........,
.............,

26.07.2007

Overview

Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Check bounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

79

26.07.2007

ST Structured Text
operators in the order of their binding strength:

Operation

Symbol

Binding strength

Put in parentheses
Function call
Exponentiation
Negate
Build. complements
Multiply
Divide
Modulo
Add
Substract
Compare
Equal to
Not Equal to
Bool AND
Bool XOR
Bool OR

(expression)
Function name (parameter list)
EXPT
NOT
*
/
MOD
+
<,>,<=,>=
=
<>
AND
XOR
OR

Strongest
binding

80

Weakest binding

26.07.2007

ST Structured text: Overview about Instructions

Instruction

Example

Assignment :=

PosWert := 10;

Callin a function block

Ton1(IN:=Start, PT:=T2s); Output:= Ton1.Q

RETURN

RETURN;

IF

See the following pages

CASE
FOR
WHILE
REPEAT
EXIT
Empty instruction

81

26.07.2007

IF Instruction

Is needed to branch in a program

depending on conditions.

Keywords:

IF
With the IF instructions its not
possible to jump back in the PLC cycle.

THEN

ELSIF
ELSE
END_IF

GOTO is not available

e.g.:

82

26.07.2007

IF Instruction (1)

Condition
IF Condition THEN
Instruction block;
END_IF

No

Yes

Instruction block

83

26.07.2007

IF Instruction (2)

Condition
IF a>b THEN
Instruction block A;
ELSE
Instruction block B;
END_IF

84

No

Yes

Instruction block A

Instruction block B

26.07.2007

IF Instruction (3)

Condition 1
No
Yes
Condition 2
No
Yes
Condition 3
No
Yes
Instruction block A

Instruction block B

85

Instruction block C

IF Condition1 THEN
Instruction block A;
ELSE
IF Condition2 THEN
Instruction block B;
ELSE
IF Condition3 THEN
Instruction block C;
ELSE
Instruction block D;
END_IF
END_IF
END_IF

Instruction block D

26.07.2007

IF Instruction (4)

IF Condition1 THEN
Instruction block A;
ELSIF Condition2 THEN
Instruction block B;
ELSIF Condition3 THEN
Instruction block C;
ELSE
Instruction block D;
END_IF

Condition 1
No
Yes
Condition 2
No
Yes
Condition 3
No
Yes
Instruction block A

86

Instruction block B

Instruction block C

Instruction block D

26.07.2007

IF Instruction (5)
What can the BOOLEAN EXPRESSION be ?

Conditions :
BOOLEAN Variable
Comparison
Function calls
Call FB Instances
NO FB call!

87

IF bVar THEN
.
IF a>b THEN
.
IF LEFT(STR:= strVar, SIZE:=7) = 'TwinCAT' THEN
.
IF Ton1.Q THEN
.
IF Ton1(IN:=bVar, PT:=T#1s ) THEN

26.07.2007

CASE Instruction

CASE Selection criterion OF

1:

Instruction 1

2,4,6:

Instruction 2

7..10 :

Instruction 3

Selection criterion = 1

Selection criterion = 2
Or 4 or 6

No

Selection criterion = 7
Or 8 or 9 or 10?

Yes

No
Yes

..
ELSE

No

Default
Instructions

Yes

Instruction 1

Instruction 2

Instruction 3

Default Instructions

END_CASE;

Two same values mustnt be

available at the listing.
88

26.07.2007

CASE Instruction Integer Selector Value with Enum types

CASE State OF
Enum Typ:
TYPE Schritte :
( INIT:=0, START, AUTOMATIK, ENDE);
END_TYPE

INIT:

instructions;(*State=0*)

START:

instructions;(*State=1*)

AUTOMATIK:

instructions;(*State=2*)

ENDE:

instructions;(*State=3*)

END_CASE

If the integer selector variable state is declared as

enum, the value of the variable is visible in
the online mode.

VAR
State:Schritte;
(* State:INT also possible*)
END_VAR
89

26.07.2007

CASE Instruction Integer Selector Value with constants

VAR CONSTANT
Step1 : INT:= 0;
Step2 : INT:= 1;

CASE State OF

Step3 : INT:= 2;

Step1:

instructions;(*State=0*)

Step4 : INT:= 3;

Step2:

instructions;(*State=1*)

Step3..Step4:

instructions;(*State=2 oder 3*)

END_VAR

END_CASE
VAR
State:INT;
END_VAR

90

26.07.2007

CASE Instruction proposal for a Statemachine

TYPE Steps :
( INIT:=0, START, AUTOMATIC, END);
END_TYPE
Instruction for the step

CASE State OF

(Actions)

INIT:

Q0:=TRUE;
IF Transition THEN state := START; END_IF

START:

Q1:=TRUE;

step enabling condition

(Transition)

IF Transition THEN state := AUTOMATIC; END_IF

Step

AUTOMATIC: Q2:=TRUE;
IF Transition THEN state := END; END_IF
END:

Q3:=TRUE;
IF Transition THEN state := INIT; END_IF

END_CASE
91

26.07.2007

Repeat Instructions

The process flow requires the multiple

handling of exactly the same program
sequences, whose quantitiy is known
at the run time.

If a continuous loop is executed this

does not impair the start of the time
slice (real-time). Tasks that will have
a higher priority are still executed on
time. Tasks that will have a lower
priority are not longer executed.

Disadvantage of loops:
During faulty programming, many
repetitions take place infinitely.

Forced switch to
Win NT

e.g.: 1ms

2ms

92

3
3ms

Begin of a new
time slice

4
4ms

1
5ms

26.07.2007

Loops (Overview)

All loops can be ended with the EXIT instruction, regardless of the
break-off condition.

Expression
FOR

Work flow

n cycle fix

SINT/ INT /
DINT

Pre repel

Yes

WHILE

BOOL

Pre repel

No

REPEAT

BOOL

Post repel

No

93

26.07.2007

FOR loop

cycle n
At the beginning of the loop, the
variable i is defined as start value
(see example).
The variable in incremented or
decremented in each cycle
depending on the step width
(value after the keyword BY)
If i exceeds the end value (after
TO), the loop is not longer
processed.

Start i:=Start value

i
>End value

Yes

No
Instruction block

I:= i+ Step width

FOR i:=1 TO 12 BY 2 DO
Field[i]:=i*2;(*instruction*)
END_FOR
94

cycle n
26.07.2007

WHILE loop
cycle n
The instruction block of a WHILE loop
is executed as long as the boolean
expression supplies TRUE .
The exit condition contains variables
which can be changed in the
instruction block.
If the boolean expression is FALSE at
the beginning, the instruction block of
the WHILE loop is not processed.

i:=0;
WHILE i<100 DO
Field[i]:=i*2;(*instruction*)
i:=i+1;
END_WHILE
95

Yes

Boolean
Expression

No

Instruction block
I:= i+ Step width

cycle n
26.07.2007

REPEAT loop
Cycle n
The instruction block of a REPEAT
loop is processed as long as
(UNTIL) the boolean expression is
no longer fullfilled.

Instruction block
I:= i+ Step width

The instruction block is executed at

least once.

i:=0;
REPEAT
Field[i]:=i*2;(*Instruction*)
i:=i+1;
UNTIL i>100
END_REPEAT
96

Yes

Boolean
expression

No

cycle n
26.07.2007

FB calls in ST

VAR
TON1:TON;
END_VAR
TON1 (IN:= NOT TON1.Q , PT:=T#1s );
Q0:= TON1.Q
from TwinCAT 2.8 :

TON1(IN:= NOT TON1.Q, PT:=T#1s , Q=>Q0 );

97

26.07.2007

FB calls in ST explanation:
Create instance of FB

VAR
TON1:TON;
END_VAR

Call with instance name

TON1 (IN:= NOT TON1.Q , PT:=T#1s );

input parameters
Scan output

Q0:= TON1.Q

Not possible: FB can have several

outputs:

Q0:=TON1(IN:= NOT TON1.Q, PT:=T#1s);

98

26.07.2007

FB calls in ST (alternative)

VAR
TON1:TON;
END_VAR
TON1.IN:= NOT TON1.Q ,
TON1. PT:=T#1s;
TON1();
Q0:= TON1.Q

99

26.07.2007

FB calls in ST (alternative) explanation

Declaration

VAR
TRANSFER ONLY INPUT
PARAMETER .
This is

NO FB CALL!!!!!

TON1:TON;
END_VAR

TON1.IN:= NOT TON1.Q ;

TON1. PT:=T#1s;
TON1();
scan output
100

FB CALL

Q0:= TON1.Q;
26.07.2007

FC calls in ST

Result:=Scale

(x:=input, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);

(* equal:*)
Result:=Scale

(input, 0.0, 32767.0, 0.0, 100.0);

(* equal :*)
Result:=Scale

101

(
x:=
xug:=
xog:=
yug:=
yog:=
);

input,
0.0,
32767.0,
0.0,
100.0

26.07.2007

FC calls in ST explanation:

Result := Scale (x:=input, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);

Result

CALL

(* equal:*)
Result:=Scale (
x:=
xug:=
xog:=
yug:=
yog:=
);
102

Input parameters

input,
0.0,
32767.0,
0.0,
100.0

26.07.2007

Overview
Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

103

26.07.2007

SFC Sequential Function Chart

Step
N

Transition
Following
step

Action

Qualifier

Only one step is active at a

time
The condition to change from
one step to another is the
transition.
In the action must be
programmed what should be
executed during the active step.

Action

Transition
Action,

Qualifier

104

Can be written in Structured Text,

Instruction list, Ladder Diagram,
Function Block Diagram and in
Sequential Function Chart .

26.07.2007

Steps

Initial step
active at the
start
Init
N

Transition

Action

Normal
Step

Step1
N

Action

The activity of a step can be

requested with Stepname.X.
The duration of the activity of a
step can be requested with
Stepname.T .
Both are components of a
structure, which are created
automatically from PLC Control.
At the programming only the
stepname has to be defined.
Stepname.X and Stepname.T
are local variable and can only be
read.

Transition

105

26.07.2007

Actions
Transition
Transition
Step1
N

Action

Step1
N

bOutput

Transition
Transition

Action, can be programmed in

-> Structured Text,
-> Instruction List,
-> Ladder Diagram,
-> Function block diagram,
CFC/FBD

Action,
can be a variable of type BOOL.
The variable is TRUE by
activating the the step and FALSE
by leaving the step.

-> Sequential Function Chart

106

26.07.2007

Actions, several allowed per step

Transition

Step1

107

bOutput

STAction

LDAction

FBDAction

26.07.2007

Steps /alternative branches

Only one branch can be

active.

Init
N

Action

Because only the left or the

right branch is important, two
transitions are necessary
before the combination.
Transition

Transition

Stepa

Stepb
N

Transition

108

Action

Action

Transition

26.07.2007

Steps / alternative branches

The branches neednt be

symmetrical.

Init
N

Action

Transition

Transition

Stepb
N

Stepa
N

Action

Action
Transition
Stepc

Transition

Action

Transition

109

26.07.2007

Steps /alternative branches

Branches can be skipped.

Init
N

Action

Action

Transition

Stepa
Transition

Transition

110

26.07.2007

Steps /simultaneous branches

Two branches are processed

simultaneous.

Init
N

Action
Transition at the
beginning of the
simultaneous
branch

Transition

Step_a

Double line,
symbolises the
simultaneous
branch

Step_b
N

Transition

111

Action

Action

Transition at
the end

26.07.2007

Steps /simultaneous branches

Simultaneous branches
neednt be symmetrical.

Transition

Step_b
N

Action

Action

Transition

Step_a
N

Action
Step_c

Transition
112

26.07.2007

Transitions

A Transition must be of type

BOOL. Possibilities:
Init
N

BOOLEAN Variable

Action

ST Instruction
programmed Transition

BOOLEAN
VARIABLE

bVariable
Step1
N

Action
ST instruction.

A>B

The result be must be of type

BOOL.
Note: If the instruction is too
long, the display will be
shorten automatically.

113

26.07.2007

Transitions
Programmed Transitions
Init
N

Action
With this
mark its only a
comment.

A>B

NOTHING CONNECT

Step1
N

The result must be of type

BOOL and is the transition

Action
001

Comment

GT
AND

B
Hides behind
Possible: FBD, LD, IL, ST.
Points to
programmed
transition
114

INPUT0

Limitations: one network,

one Instruction
sequence, no FB calls.
26.07.2007

Final Scan
If a step is left, the processing takes exactly one more cycle. This
behaviour can be used for cleaningin the action. Example: Reset
outputs.
Step.X
1
0

Step1

Action

t
Action processing

1
0

Go on

t
1 Cycle

Following
step

001

Action

release

AND

Output
Step1.X

Transition
At the last pass the step.X =
FALSE. Thus the variable
Output is FALSE .
115

26.07.2007

Final Scan
At a certain action the final scan leads to an unwanted behaviour.
Step1

Action

Step.X
1

TRUE

0
t
Action processing

Behaviour:
Counter := Counter +1;

0
t
1 cycle

1 cycle

(*Counter increases at 2*)

Remedy: The step flag is only for one
cycle 1:
IF Schritt.X THEN
Counter := Counter +1;
END_IF
(*Counter increases at 1*)
116

26.07.2007

Qualifier
Controls the action processing after activating a step.
N: Non Stored
Step

Action

Step.X
1
0

TRUE

t
Action processing

1
0

N: Non Stored

t
1 cycle

Combination in FBD
001

Step.X

117

Action processing

26.07.2007

Qualifier
Controls the action processing after activating a step
S: SET
Step

Action

Step.X
1
0

TRUE

t
Action processing

1
0
t
1 cycle

Combination in FBD
001
Step.X

SR
Action processing

118

26.07.2007

Qualifier
Controls the action processing after activating a step
R: RESET
Step

Aktion

Step.X
1
0

TRUE

t
Action processing

1
0
t

Combination in FBD
001

SR
Action processing

Step.X

119

26.07.2007

Qualifier
Controls the action processing after activating a step
D: DELAY
Step

D T#1s

Action

Step.X
1
0

TRUE

t
Action processing

1
0
Delay

Combination in FBD
001

Step.X
T#1s

120

TON
IN
Q
PT

Action processing

ET

26.07.2007

Qualifier
Controls the action processing after activating a step
L: LIMITED
Step

L T#1s

Action

Step.X
1
0

TRUE

t
Action processing

1
0
LIMITED

Combination in FBD

Step.X
1

001

AND
Step.X
T#1s

TON
IN
Q
PT

ET

Action processing

0
t
Action processing

1
0
Limit

121

26.07.2007

Qualifier
Controls the action processing after activating a step
P: PULSE
Step

Action

Step.X
1
0

TRUE

t
Action processing

1
0
1 cycle

1 cycle

Combination in FBD
001
R_TRIG
Step.X

122

Clk

Action processing

ATTENTION: A SECOND FLOW

PROCESSES!

26.07.2007

Qualifier, Combinations

SD: Stored and delayed

DS: Delayed and stored
SL: Stored and time limeted

123

26.07.2007

Overview
Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

124

26.07.2007

Sequential Function Chart step diagnosis

VAR
SFCEnableLimit:

BOOL;

(*When it has the value TRUE, the timeouts of the steps will be registered in SFCError.
Other timeouts will be ignored.*)

SFCInit:

BOOL;

(*When this boolean variable has the value TRUE the sequential function chart is set back to
the Init step. The other SFC flags are reset too (initialization).

The Init step remains active, but is not executed, for as long as the variable has
the value TRUE. It is only when SFCInit is again set to FALSE that the block can
be processed normally. *)

125

26.07.2007

Sequential Function Chart step diagnosis

SFCReset:

BOOL;

(*This variable, of type BOOL, behaves similarly to SFCInit. Unlike the latter, however,
further processing takes place after the initialization of the Init step. Thus for example
the SFCReset flag could be re-set to FALSE in the Init step.*)

126

26.07.2007

Sequential Function Chart step diagnosis

SFCQuitError:

BOOL;

(*Execution of the SFC diagram is stopped for as long as this boolean

variable has the value TRUE whereby a possible timeout in the variable SFCError is
reset.
All previous times in the active steps are reset when the variable again assumes the
value FALSE.*)

SFCPause:

BOOL;

(*Execution of the SFC diagram is stopped for as long as this boolean

variable has the value TRUE.*)

SFCTrans:

BOOL;

(*This boolean variable takes on the value TRUE when a transition is actuated. .*)

127

26.07.2007

Sequential Function Chart step diagnosis

SFCError:

BOOL;

(*This Boolean variable is TRUE when a timeout has occurred in a SFC diagram. If
another timeout occurs in a program after the first one, it will not be registered unless
the variable SFCError is reset first. *)

SFCErrorStep:

STRING;

(*This variable is of the type STRING. If SFCError registers a timeout, in this variable is
stored the name of the step which has caused the timeout. *)

SFCErrorPOU:

STRING;

(*This variable of the type STRING contains the name of the block in which a timeout
has occurred. *)

128

26.07.2007

Sequential Function Chart step diagnosis

SFCCurrentStep: :

STRING;

(*This variable is of the type STRING. The name of the step is stored in this variable
which is active, independently of the time monitoring. In the case of simultaneous
sequences the step is stored in the branch on the outer right.
No further timeout will be registered if a timeout occurs and the variable SFCError is not
reset again.*)

129

26.07.2007

Sequential Function Chart step diagnosis (from 2.8)

SFCErrorAnalyzation:

STRING;

(*This variable, of type STRING, provides the transition expression as well as every
variable in an assembled expression which gives a FALSE result for the transition and
thus produces a timeout in the preceding step. A requirement for this is declaration of
the SFCError flag, which registers the timeout. SFCErrorAnalyzation refers back to a
function called AppedErrorString in the TcSystem.Lib library. The output string
separates multiple components with the symbol |. *)

SFCTip:

BOOL;

SFCTipMode:

BOOL;

(*This variables of type BOOL allow inching mode of the SFC. When this is switched on
by SFCTipMode=TRUE, it is only possible to skip to the next step if SFCTip is set to
TRUE. As long as SFCTipMode is set to FALSE, it is possible to skip even over
transitions.*)
END_VAR

130

26.07.2007

Sequential Function Chart process diagnosis

Implicit variable

131

26.07.2007

Sequential Function Chart process diagnosis

set step attributes for the step to be observed

132

26.07.2007

Online (and per ADS) can be requested

133

26.07.2007

Sequential Function Chart Tipmode

insert implicit variable:

effect:
SFCTipMode

SFCTip

Transition

effect

TRUE
TRUE
TRUE
FALSE
FALSE

FALSE
TRUE
TRUE
TRUE
FALSE

TRUE
TRUE
FALSE
FALSE
TRUE

Process stays in the current step

134

Change to next step

Change to next step
Process stays in the current step
Change to next step
26.07.2007

Actions also in other IEC languages possible! (POU type :

PRG, FB)
Mainprogram

Action step1

Action step2
135

26.07.2007

Overview

Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

136

26.07.2007

Remanent Flags Variables Attributes

These variables maintain their value, even after a power failure. When the
program is run again, the stored values will be processed further. A
practical example would be an operations timer that recommences
timing after a power failure. A practical example would be an operations
timer that recommences timing after a power failure. All other variables
are newly initialized, either with their initialized values or with the
standard initializations.
TwinCAT supports two kind of remanent flags:

RETAIN

137

PERSISTENT

26.07.2007

Retain Persistent
Retain

Persistent

To store

To delete

Rebuild all, Reset

Reset all

Possible for

unlocated, located (%M)

Unlocated, located (%I, %Q, %M)

138

26.07.2007

Boot project
Power ON

Requirement :
It should be possible to
automate the loading and
the starting of the PLC
project after switching on
the computer.

The PLC can start

independent from the
user log on!

139

Start
NT

Start TwinCAT

Loading the boot project

into the Run-Time

Start PLC

Log on

26.07.2007

1&2

1
2

140

TwinCAT Auto boot

Auto logon
with Win NT

26.07.2007

Create a boot project

Requirement:

1.

The machine should

work properly.

2.

The hardware,
software and the
mappings are correct.

3.

The PLC Control in the

status online.

141

26.07.2007

3&4
Number of run time systems

Enabling for loading the boot

project for the run time system 1.

142

Enabling for loading and saving

the RETAIN data for the run
time 1.
26.07.2007

Sourcecode download

1.Goto Project/Options and press

the left mouse button.
2.A Window will open
3.Choose the Point Sourcedownload

143

26.07.2007

Timing for Sourcecode download

1.Implicit at load
Every time when you open the
PLC Project the Sourcecode will
be written down to the controller.

2.Notice at load
If the PLC Project changed, you
get a message box, when you
open the project.
3.Implicit at create boot project.
Everytime you create a
bootproject, the sourcecode will
be transfered to the controller
144

26.07.2007

Timing/Extent for Sourcecode download

1.On demand
The Sourcecode will be written
down to the controller on
demand.
Online/Sourcecode download

Extent
Sourcecode only
The plc project will be written in
the controller
All files
The plc project with all libaries
will be written tin the controller
145

26.07.2007

Plc project open from the controller

1. You can open the actuell plc

projekt direct from the controller
2. Under File/Open you can open the
project direct from the plc.

146

26.07.2007

Were retain and persitent data loaded successfully?

In order to be able to view this data

structure, the "PlcSystem.lib"
library must be linked in.
(Global variable)

147

The structure component

shows if the
persistent/retain data were
loaded successfully.

26.07.2007

Meaning of the flags

Bit number

Description

RETAIN variables: LOADED (without error)

RETAIN variables: INVALID (the back-up copy was loaded,

since no valid data was present)

RETAIN variables: REQUESTED (RETAIN variables should

be loaded, a setting in TwinCAT System Control)

Reserved

PERSISTENT variables: LOADED (without error)

PERSISTENT variables: INVALID (the back-up copy was

loaded, since no valid data was present)

Reserved

Reserved

148

26.07.2007

How can an access to the bootdata flags take place?

Because the variable
exists in the PLC,
(implicit) it can be
prompted directly.
TcPlcSystem.Lib

IF

GETBIT32(inVal32:=SystemInfo.BootDataFlags , bitNo:=4) THEN

errLoadBootData:=FALSE;
strBootDataState:= 'PersistentData OK';

ELSIF GETBIT32(inVal32:=SystemInfo.BootDataFlags , bitNo:=5) THEN

errLoadBootData:=TRUE;
strBootDataState:= 'Error Load PersistentData ';
END_IF
149

26.07.2007

Write Persistent Data on demand

With the fuction block

WritePersistentData
(TcPlcUtilities.Lib) it is possible to
initiate the writing of the Persistent
Data.

TcPlcUtilities.Lib

The writing takes place at the Shut

Down of the PLC (standard).
While the function block is busy, the
access to the Persistent Variable is
not allowed!

150

26.07.2007

Write Persitent Data on demand, Example:

IF ReqWritePersistent THEN

fbWritePersistent(NETID:='' , PORT:=801 , START:=TRUE , TMOUT:=T#500ms );

IF fbWritePersistent.ERR THEN

fbWritePersistent(START:=FALSE );
ReqWritePersistent:=FALSE;
ELSIF NOT fbWritePersistent.BUSY THEN

PLC Runtime

fbWritePersistent(START:=FALSE );
ReqWritePersistent:=FALSE;

Further start after edge

END_IF
END_IF

151

26.07.2007

Internal Libraries

Unnecessary elements:
All tasks will be deleted in the task
configuration.

Create and test project

All POUs, which are not to belong

to thecontents of a library, are
removed.
All global variables will be
deleted.

Delete unnecessary
elements of a library

Valid: global constants, self

defined data types.

Save as internal *.Lib

152

26.07.2007

Overview
Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

153

26.07.2007

CheckDivByte

154

26.07.2007

CheckDivWord

155

26.07.2007

CheckDivDWord

156

26.07.2007

CheckDivReal

157

26.07.2007

CheckRangeSigned
Variable to be
checked

Checker function

158

26.07.2007

CheckRangeUnsigned
Variable to be
checked

Checker function

159

26.07.2007

CheckRangexxx can be done with TYPES

160

26.07.2007

Overview

Contents
Part 1

Part 2

Part 3

IEC 61131-3 Overview

Variables II Structs, Enums

Sequential Function Chart

Software model

Variables II Arrays

Step diagnosis

Identifier

Checkbounds

Appendix

Elementary data types

Structured text

Bootprojects, Data remanence

Variables classes

Checker functions

Block types

Example Step by Step

TwinCAT System Service

Timing

161

26.07.2007

Paint station (PRG)

nozzle 1-3

Start
Stop

workpiece

Encoder

Motor

Part exercise:
Switch on and off the plant
simulate encoder
Request marks & switch on the nozzles
Safe state when plant off.

162

26.07.2007

Creating the variables list

Identifier

%I

bStart
bStop

%Q

Initial
value

Type

AT%IX0.0

False

BOOL

Global

AT%IX0.1

False

BOOL

Global

bMotor

AT %QX0.0

False

BOOL

Global

bDuese_1

AT %QX0.1

False

BOOL

Global

bDuese_2

AT %QX0.2

False

BOOL

Global

bDuese_3

AT %QX0.1

False

BOOL

Global

Marke_1

400

WORD

Local

Marke_2

800

WORD

Local

Marke_3

1200

WORD

Local

Marke_End

1600

WORD

Local

Inc

WORD

Local

163

26.07.2007

Switch on / off the plant

The switches bStart and bStop should be used as push-button.

To safe the status, its necessary to add a hold element (RS). There are two
bistable memorys under the standard function blocks.
The dominant input is marked with xxx1.

Set

Set1

Reset1

Reset

Q1

Q1
164

26.07.2007

Simulate encoder & check bounds

The encoder value is incremented each

cycle around 1.
This is implemented with the operator
ADD.
Thus a running encoder develop.

It is checked, if the encoder value stands

between Marke_1 und Marke_2 .
Marke_1 GT Inc LT Marke_2
In this case, the Duese_1 is switched ST

LD
Inc
ADD 1
ST
Inc

LD
GT
AND
LT
ST

INC
Marke_1
(INC
Marke_2)
bDuese_1(

IL
165

26.07.2007

Safe state when plant off

If the plant is switched off, all nozzles

and the conveyer should be stopped.
If the conveyor is stopped, the encoder
should became the value 0.

LD

FALSE

ST

bDuese_1

ST

bDuese_2

ST

bDuese_3

ST

bMotor

LD

ST

Inc

Load example

166

26.07.2007

System Manager

By adding a correct project (i.e. the

project has been compiled in
TwinCAT PLC Control without
errors, and afterwards stored), the
PLC configuration will be
integrated into the current system
configuration. The address located
I/O variables will be read.
By selecting the added PLC project
in the tree, the appropriate dialog
IEC61131-3 appears on the right
side.
At I/O configuration, you can
configure the fieldbus cards
(master) and the boxes (slave) for
the given configuration.

167

26.07.2007

Master cards

Different fieldbus systems. Each fieldbus has several

master cards from different manufacturers (Beckhoff FC,
Siemens CP, Hilscher CIF). Several different fieldbus
master cards can be used parallel.

DP Master

The FC 310X supports the

PROFIBUS protocols:
PROFIBUS-DP (as Master,
Slave and Multi-Slave),
PROFIBUS-DPV1 (as
Master)
PROFIBUS-MC (as Master)

168

26.07.2007

Slave modules

With the dialog Insert I/O device its possible to insert the
Beckhoff slave modules. If the Profibus Slave doesnt exist in the
list its possible to select Generic Profibus Box and search the
profibus box in the gse file.

Each GSE file which

was read by TwinCAT,
can bee seen in the list
( with the name of the
producer).

169

26.07.2007

Modular Structure of the Slaves modules

Beckhoff DP-Slave

General DP-Slave

xN

170

26.07.2007

Paint station (PRG)

Load example

contact

Graphical elements in LD

Cursor in KOP is
used for inserting
new elements

coil

171

26.07.2007

context menue

172

26.07.2007

Insert new elements

Identifier

The following elements can be inserted at the marked cursor positions

173

26.07.2007

Paint station (PRG)

Load example

Graphical elementes
in FBD

Cursor in FBD is used for

inserting new elements

Operator

174

26.07.2007

Context menue

175

26.07.2007

Insert new elements

List of the operators (AND, OR, GE, ADD, ..)

implemented by the system.

Dependent by the
the cursor position
the following
language elements
can be inserted.

The program can be

expand to the left
and the right side.

176

26.07.2007