Programming C Ontrol S Trategies With IEC 61131

#1412-WS-02 OEM Solution Workshop Saturday, 27 March 2004
Programming
Control Strategies with IEC 61131
A Short History of IEC 61131-3

B Walkthrough
C Languages
1 Organization
2 Textual Languages
3 Graphic Languages
D Compiler
Page 1
A short History of IEC 61131-

61131-3
Year International standard

1977 IEC 848
1979 Start of the first working group
1982 Finalizing of the first draft of the IEC 61131;
Division in 5 sub working groups
1983 Christensen Report on PLC-programming languages
1985 First results of the IEC 65 A WG6 TF3
1990 IEC 61131 part 1 and 2 become a standard
1992 International standard IEC 61131-1,2
1993 International standard IEC 61131-3
1995 International standard IEC 61131-4
1994 - 1999 Corrigendum for IEC 61131-3
1995 - 1996 Technical Reports type 2 and 3
1996 - 1999 Amendments
Page 2
(C) 2003 infoteam Software +49-9131-78 000 1

What is IEC 61131-

61131-3 Compliance?
Compliance?
A PLC-
PLC-system, as defined in IEC 61131-
61131-1, which claims to
comply, wholly or partially, with the requirements of this
part of the IEC 61131 standard shall only do so if it states:
"This system complies with the requirements of IEC 61131-

61131-3,
for the following language features
followed by a set of tables
Page 3
Walkthrough - Coffee Maker
Terms of a Coffee Maker
States of a Coffee Maker
Actions of a Coffee Maker
State Machine with SFC
Sequential Function Chart OpenPCS
Add a Ladder Task for Coffee Maker
Page 4

Terms of a Coffee Maker
Fill
Brew Water
Ready
Ground Full
Boil
Hot Coffee
Finished Grind
Page 5
States of a Coffee Maker
water
Hot
water
Full
coffee
Ground
machine coffee
Ready Finished
Page 6

Actions of a Coffee Maker
Fill
Water
Boil Grind
Water Coffee
Brew
Coffee
Page 7
Init
State Machine with SFC
Ready
Fill Water
Full
Boil Water Grind Coffee
Hot and Ground
Brew Coffee
Finished
Init
Page 8

Control Strategy with

Sequential Function Chart
Page 9
Add a Ladder Task for Coffee Maker
Page 10

Languages & Editors
IEC 61131-
61131-3 Languages
Declarations and Variables
Instruction List
Structured Text
Ladder Diagram
Function Block Diagram
Page 11
Languages & Editors
Programming Languages
Instruction List Structured Text Continuous Function Chart

LD A
ANDN B C:= A AND NOT B
ST C
Function Block Diagram Ladder Diagram Sequential Function Chart
AND A B C
A C -| |--|/|----------------( )
B
Page 12

Languages & Editors

Languages & Methods
Knowledge to use
Simple Pick & Place 6
Graphic Structures IL
5
Simple Syntax
Complex Syntax 4
Knowledge
Complex Semantic ST
3
Functionality
2 SFC LD
Binary Expressions
Arithmetic Calculation 1 CFC
Sequential Processes
0
Parallel Processing
0 2 4 6
Non-Procedural
Functionality
Page 13
Program Organization Unit
PROGRAM PROG name FUNCTION_BLOCK FB name FUNCTION FUN name Data type
Interface variables
Local variables Declaration part
Instructions
(POU body) Instruction part
END_PROGRAM END_FUNCTION_BLOCK END_FUNCTION
Page 14

Data Types:
Types: Elementary and Complex
Binary/ Signed integer Unsigned integer Floating point Time of day,

sequence of Duration, Date
bits and String
BOOL INT UINT REAL TIME

BYTE SINT USINT LREAL DATE
WORD DINT UDINT TIME_OF_DAY
DWORD LINT ULINT DATE_AND_TIME
LWORD STRING
Property Ident. Meaning

Initial value initial A specific initial value is assigned to the variable.
Enumeration enum The variable can assume a value out of a value list.
Range specification range The variable can assume values within the specified range.
Array limits array Several elements of the same data type are grouped in an
array. Accessing the array variable the maximally allowed
index value must not be exceeded.
Data structure structure Several data types are grouped to one data type. The
access to a certain variable of this structure is to be made
using a dot and the name of the component.
Page 15
Variables and Declarations
FUNCTION_BLOCK FB name FUNCTION_BLOCK Continue

VAR_INPUT VarIn : BOOL; END_VAR (* Input *)
Interface variables VAR_OUTPUT VarOut1 : BYTE; (* Outputs *)
VarOut2 : BOOL; END_VAR
Local variables VAR VarLocal : BYTE; END_VAR (* State value *)
Instructions LD VarIn
...
(POU body) LD VarLocal
ST VarOut1
...
ST VarOut2
END_ FUNCTION_BLOCK END_ FUNCTION_BLOCK
Page 16

Languages & Editors
Instruction List (1)
Single Accumulator Based Execution Model
Based on the German Anweisungsliste AWL

LD A
One Operation per Line ANDN B
Defines a Virtual Machine Model ST C
Page 17
Languages & Editors
Instruction List (2)

No Oper. Modifiers [1] Operand Semantics
LD N [2] Set current result equal to operand
ST N [2] Store current result to operand location
S BOOL [3] Set Boolean operand to 1
R BOOL [3] Set Boolean operand to 0
AND N,( BOOL [7] Boolean AND
OR N,( BOOL [7] Boolean OR
XOR N,( BOOL [7] Boolean Exclusive OR
ADD ( [2] Addition
SUB ( [2] Subtraction
MUL ( [2] Multiplication
DIV ( [2] Division
JMP C,N[3] LABEL [4] Jump to label
CAL C,N[3] NAME Call function block.
RET C,N[3] Return from called function or function block
GT ( [6] Comparison:
Comparison: >
GE ( [6] Comparison:
Comparison: >=
LE ( [6] Comparison:
Comparison: <=
LT ( [6] Comparison:
Comparison: <
EQ ( [6] Comparison:
Comparison: =
NE ( [6] Comparison:
Comparison: <>
) [2] Evaluate deferred operation
Page 18

Languages & Editors
Structured Text (1)
High Level Language

Block Structured
Syntax Resembles PASCAL
Complex Statements and nested
instructions possible
C:= A AND NOT B
Support for
Iteration loops
(REPEAT-UNTIL; WHILE-DO)
Conditional execution
(IF-THEN-ELSE; CASE)
Functions (SQRT(), SIN())
Page 19
Languages & Editors
Structured Text (2)

if IN < X[1] then
OUT := Y[1] + ( IN - X[1] ) * ( Y[2]-
Y[2]-Y[1] ) / ( X[2] - X[1] );
else
if IN > X[n] then m := n - 1;
OUT:=Y[n]+(IN-
OUT:=Y[n]+(IN-X[n])*(Y[n]-
X[n])*(Y[n]-Y[m])/(X[n]-
Y[m])/(X[n]-X[m]);
else
repeat
i:=i+1;
until IN >= X[i] end_repeat
end_repeat;;
j := i + 1;
OUT := Y[1] + ( IN - X[i] )*( Y[j]-
Y[j]-Y[i] ) / ( X[j]-
X[j]-X[i] );
end_if
end_if;;
end_if
end_if;;
Page 20

Languages & Editors
Ladder Diagrams
US Look&Feel
Look&Feel
Comments in
Declaration Section and
Implementation Section
Control Relays A B C
-| |--|/|----------------( )
Non-
Non-Binary Logic
Macro Contacts to
Place Function Blocks
Within the Network
Online Powerflow
Page 21
Languages & Editors
Ladder - Complex Arithmetic Operations
comparison assignment
contact
arithmetic
conditional
Page 22

Languages & Editors
Function Block Diagrams
Dataflow-
Dataflow-Oriented
Modelling & Design 0001 S tartNetwork:
(* Network c omme nt *)
Electronics Design Function

VarAnd1 Function block
Paradigm AND Counte r_1
Output variable
Value transmission CTU
Composition VarAnd2 VarOut
CU Q
of Functional Var_Ini
R CV
Units & Items 1000
PV
Negation of binary function
inputs and outputs
Page 23
Languages & Editors
Function Block Diagrams

Function Block
Pick & Place
Autorouting
Block Hierachy
Parameters
Type Checking
Page Layout
Import of Prototypes
Page 24

Languages & Editors
Steps
Contain the Actions to be Performed
Transitions
Conditions to Pass control
to the next step
Actions
Operations to be performed
Sequences
Simultaneous Sequences or
Sequence selection
Jumps
Iteration of Enclosed Section
Page 25
Languages & Editors
Sequential Function Charts
Sequencing Functionality 1)
FALS E
(Initial) Step
Transitions
Simultaneous steps
3)
Alternativ steps
Merging of Paths 5)
FALSE
Jumps
FALSE
Page 26

Languages & Editors
Libraries of Function Blocks & Functions
Prototypes
IEC 1131-3 standard
OEM specific
user global
application specific
Language
independend
Page 27
Languages & Editors
Design & Configuration

Sequential Function Charts
Continuous Function Charts
Graphical Languages
Incremental Compilers
Translated to IL
IL Portability
Page 28

Compiler & Code Generation
Graphic IL UCODE Native Code
PROGRAM EXAMPLE
VAR
byte1 : BYTE ;
byte2 AT %IB0.2 : BYTE ;
uint1 : uint
:=1 ;
END_VAR
ld byte1 Header byte2...
and byte2
...byte2 byte1 uint1
shl uint1
st byte1
END_PROGRAM
Page 29
Compiler & Code Generation
CFE
Make Generator and Bibliothek Editors
Resource
IEC 61131-3
Interpreter Configuration
CFG Instruction List
Compiler Frontend & CFE: Compiler Front End

Sources
Library
Compiler Backend ICODE

ICODE
ICODE ICODE LIB
Function
Program Funct.block
Linker & Systembuilder CBE: Compiler Back End

Library
Native Code (optional) Configuration

UCODE
ICODE
ICODE
UCODE
Program Function
Funct.block
Execution of Applications Linker

Native
Code
in SmartPLC or Target UCODE-CRD Symbol Ncode

table
UCODE-Executable
Resource - Builder
Loadable
UCODE + NCODE
Page 30

Programming C Ontrol S Trategies With IEC 61131

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

A Short History of IEC 61131-3

A short History of IEC 61131-

Year International standard

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

What is IEC 61131-

"This system complies with the requirements of IEC 61131-

followed by a set of tables

Walkthrough - Coffee Maker

Terms of a Coffee Maker

States of a Coffee Maker

Actions of a Coffee Maker

State Machine with SFC

Sequential Function Chart OpenPCS

Add a Ladder Task for Coffee Maker

(C) 2003 infoteam Software +49-9131-78 000 2

Walkthrough - Coffee Maker

Terms of a Coffee Maker

Walkthrough - Coffee Maker

States of a Coffee Maker

(C) 2003 infoteam Software +49-9131-78 000 3

Walkthrough - Coffee Maker

Actions of a Coffee Maker

Walkthrough - Coffee Maker

Boil Water Grind Coffee

Hot and Ground

(C) 2003 infoteam Software +49-9131-78 000 4

Walkthrough - Coffee Maker

Control Strategy with

Walkthrough - Coffee Maker

Add a Ladder Task for Coffee Maker

(C) 2003 infoteam Software +49-9131-78 000 5

Languages & Editors

Declarations and Variables

Function Block Diagram

Sequential Function Chart

Languages & Editors

Instruction List Structured Text Continuous Function Chart

Function Block Diagram Ladder Diagram Sequential Function Chart

(C) 2003 infoteam Software +49-9131-78 000 6

Languages & Editors

Program Organization Unit

Local variables Declaration part

END_PROGRAM END_FUNCTION_BLOCK END_FUNCTION

(C) 2003 infoteam Software +49-9131-78 000 7

Binary/ Signed integer Unsigned integer Floating point Time of day,

BOOL INT UINT REAL TIME

Property Ident. Meaning

Variables and Declarations

FUNCTION_BLOCK FB name FUNCTION_BLOCK Continue

END_ FUNCTION_BLOCK END_ FUNCTION_BLOCK

(C) 2003 infoteam Software +49-9131-78 000 8

Languages & Editors

Instruction List (1)

Single Accumulator Based Execution Model

Based on the German Anweisungsliste AWL

Defines a Virtual Machine Model ST C

Languages & Editors

Instruction List (2)

(C) 2003 infoteam Software +49-9131-78 000 9

Languages & Editors

Structured Text (1)

High Level Language