Schutzvermerk nach DIN 34 beachten 19/07/15 Seite 1 XSoft

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19. April 2023 Seite 2

XSoft

Agenda

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6

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Programming with Moeller XSoft

IEC-Basics and basic logic circuits

The elementary data types

Derived Data Types

Application structure and variable scope

POU composition

Standard libraries and their use

Continuous Function Chart

Management of global variables in XSoft

Structured Text

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Agenda

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Task management in the XSoft

Test and Commissioning

Address structure according to IEC 61131-3

Erzeugen einer Symboldatei

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Programming with Moeller XSoft

Programming with Moeller XSoftProgramming with Moeller XSoft

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Develop efficiently with XSoft

Two parts:

• Programming according to the international standard IEC 61131-3

• Learning about the XSoft features

• Using the programming features and benefits for the hardware of the XSystem

Objective of the workshop


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Moeller Automation

Sys

tem

PS

40

XS

yste

m

MI4 MV4 XI/ON WINbloc

IEC61131-3

DFx/DVx MotionXI/OC

Scope of application


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XVision

XControlXMotion

XSoft

XSoft:


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Programming languages: IL, ST, LD, FBD, SFC

and CFC

Integrated fieldbusconfigurators für CAN, DP, XI/ON, XIO

Extensive libraries

Online functions (Online- change, Insertion of new variables, Tracing etc.)

Integrated visualization for XVision

XSoft: Summary


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IEC-Basics and basic logic circuits

IEC-Basics and basic logic circuitsIEC-Basics and basic logic circuits

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1. General information2. Equipment requirements and tests

3. Programming languages

4. User guidelines5. Messaging service specification6. (not used)

7. Fuzzy

IEC EN 61131 Overview


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IEC 61131-3

• How data is declared• the structure of an application• the syntax and the semantics of five different

programming languages

The international standard defines:

XSoft is an IEC 61131-3 programming system!


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• Supplier independent programming

• Reduction of software investment thanks to re-usable function blocks

• Reduced training effort

runready

not readyerror

change

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runready

not readyerror

change

processing unit

CPU 400

power

power supply 230 AC

POW-400

SUCOcontrol

PS 416

digital in 16x3ms

INP-400

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INP-400

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PS4-341-M M 1

Arguments for IEC systems


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Overview of the programming languages

Automation project

LD / FBDIL

ST

SFC


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Label

END: LD % IX0.0or

Motor1_ON

Comment

(* Feeder raw parts *)

Director

Symbolic

IL - the programming line structure in instruction list


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JMP JMPC JMPCNJump/Branch Operators

& &N AND ANDN OR ORN XOR XORNLogic Operators

ADD DIV MUL SUBArithmet. Operators

CAL CALC CALCN RET RETC RETCNCalls & Returns

EQ GE GT LE LT NEComparators

LD LDN ST STN S R Assignmentoperators

Operators


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Variable names must not contain national symbols (ä, ü, ö), blanks or hyphens !

Variable names must not begin with a number !

Variable names and file (program) namesMUST differ !

Keywords must not be used as variable names !

Sample: A variable named LT (e.g. for the function „lamp test“) will lead to an error messagebecause LT is the reserved keyword for a comparator ! (LT=Less Than)

Stör-M1:BOOL Stoer_M1:BOOL

1_Start:BOOL Start_1:BOOL

Pump:BOOL Pump1:BOOLPump.POE Pump.POE

LT:BOOL L_Test:BOOL

Hints for the use of identifiers


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Chose your variable name in a way that they are self-explanatory.Use a capital letter as the first letter and use small letter for the rest.

Separate variable names consisting of several word by underscores between the words and start each word with a capital letter.

When working with brackets please use indentions for each level.e.g. use one TAB for each new bracket level.

Always put jump labels in a separate line and highlight them by e.g.framing them with comments

All below mentioned hints serve the purpose of making your programs easy to readand give them a well-defined structure:

Hints for the creation of programs


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&

&

>=

>=

Result LD AND OR ( AND ( OR ) )ST Result

LD (

....................

LD

LD

AND

ST

LD

AND ( ( .......

......................

AND )

...........

1Value

Value2

Value3

Value4

Value5

1ValueValue2

Value3Value4

Value5

1Value

Value2X....

1ValueX1Value

X Value5X

Working with brackets


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Standard operators

Programming in LD (Ladder diagram)


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Storing within networks

Direct support via menu bar

Enable networks at

FB inputs

Specialities in the LD / FBD editors


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Information : Schedule for programming


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Exercise: IEC basics and basic circuits


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Exercise: IEC basics and basic circuits


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The elementary data types

• BOOL• BYTE, WORD, DWORD • SINT, INT, DINT• USINT, UINT, UDINT• REAL, LREAL • STRING• TIME, TOD, DATE, DT

The elementary data typesThe elementary data types

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Data types - Interpretation of values

Elementary data types


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0100 00010100 0001

0100 0001 SINT0100 0001 SINT

41 Hex

Input 1 und 7 high

2 + 2 = 650 6

2 + 2 = 650 6

Now it‘sclear !

Now it‘sclear !

What doesit mean ?

What doesit mean ?

IEC Programming languagesWhy data types ?


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Bool Byte

Word DWord

REALANY_INT

ANY Bit

Maths Town

ADD DIV SUBMUL

ANYNUM Bit City

AND OR XOR

Type specific use


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Information: Elementary data types


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Derived Data Types

Derived Data Types

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Value limitations Rotations : UINT(250..3500);

Enumerations tDialmode : (TONE, PULSE);

Arrays

Structures

values : ARRAY[1..10] OF INT;

Oven_data :STRUCT Temperature : REAL; Time : DT;END_STRUCT

IEC 61131-3 Derived data types

Derived Data Types

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Data:Array[1..10] of INT;

123456789

10

Data[5]

... :Array[1..10,1..4,1..3] of INT;

1

3

1 2 3 4

2

2

3

1

456789

10

Data[5,4,2]

... :Array[1..10,1..4] of INT;

1

1 2 3 4

23456789

10

Data[7,4]

ARRAYs

Derived Data Types

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1

2

3

4

Datenfelder – ARRAYs – vierdimensional ?!

Derived Data Types

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Temperature :125 °C

Time : 2002-04-11-15:35:47

Heat_time : 7m

Alarm : 0

Oven1.TemperatureOven1.TimeOven1.Heat_timeOven1.Alarm

Oven_data :STRUCT

Temperature : UINT ;Time : DT ;Heat_time : TIME ;Alarm : BOOL ;

END_STRUCT ;

TYPE

END_TYPE

VAROven1 : Oven_data ;

END_VAR

Derived Data Types - Structures -

Derived Data Types

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Project

Blocks Global Variables Data types

Declaration Code

Structure of an application software


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PROGRAM„PLC_PRG“

FU FU

FB

FU

FB

Functionblock

Functionax² + b = yResult in

Akku

Program

LDANDST

IN OUT

IN

PROGRAM

FU FU

FB

FU

FB

PROGRAM

FB

FU

FB

POU Types


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FU FU

FB

FU

FB

PROGRAMPROGRAM (e.g. in IL)

Action (CFC)

Action (ST)

Action (LD)

Action (CFC)

Actions


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LocalLocal

GlobalGlobal

TypeType

InputInput

OutputOutput

InOutInOut

ExternalExternal

Pump

Pump

Pump

Scope of variables (1)


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LocalLocal

GlobalGlobal

TypeType

InputInput

OutputOutput

InOutInOut

ExternalExternal

Global

Pump

External

Pump

Valid area



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LocalLocal

GlobalGlobal

TypeType

InputInput

OutputOutput

InOutInOut

ExternalExternal

Valid area

Input

Druck

Input

Druck

Output

Pump

InOut

Mit



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POU composition

POU composition

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Program Organiation Unit

Declarations Instructions

+VARInput1 AT %I0.0.0.0.0 : BOOL ;Output1 AT %Q0.0.0.0.0 : BOOL ;END_VAR

LD Input1ST Output1

Composition of a POU

POU composition

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Instanciation means:Assignment of a data set to afunction block or a variable

VARparts_counter : CTU;

END_VAR

CTU

Instructions

CTU

Instructions+

Parts_counter

Data

Parts_counter

Data

PLC‘s memory

Instanciation (1)

POU composition

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Multiple instanciation means:Assignment of several data sets to afunction block

VARraw_parts : CTU;finished_parts : CTU;waste : CTU;

END_VAR

CTU

Instructions

CTU

Instructions+

Data setraw_parts

Data setraw_parts

Xcontrol memory

Data setfinished_parts

Data setfinished_parts

Data setwaste

Data setwaste

Instanciation (2)

POU composition

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Call-up of function blocks

Time GeneratorSet

Period

Pulse OutputBOOL

BOOL

BOOL

PROTOTYPE

Instructions

CAL M_Tact (Set:=Start, Period:=20 )LD M_Tact.PulseOutputST Tact

CAL M_Tact (Set:=Start, Period:=20 )LD M_Tact.PulseOutputST Tact

LD StartST M_Tact.SetLD 20ST M_Tact.PeriodCAL M_TactLD M_Tact.PulseOutputST Tact

LD StartST M_Tact.SetLD 20ST M_Tact.PeriodCAL M_TactLD M_Tact.PulseOutputST Tact

PROGRAM Timertest

Declaration

VAR M_Tact : Timegenerator; Start AT%I0.0: BOOL; Tact AT%Q0.0: BOOL;END_VAR

VAR M_Tact : Timegenerator; Start AT%I0.0: BOOL; Tact AT%Q0.0: BOOL;END_VAR

1. VariantIEC compliant

2. VariantIEC compliant

3. Variant(XSoft;next version ofIEC 61131-3)

CAL M_Tact (Set:=Start, Period:=20, PulseOutput=>Tact

)

CAL M_Tact (Set:=Start, Period:=20, PulseOutput=>Tact

)

POU composition

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Power

machine

x

o

stationnumber

alarm

IEC61131-3

Standard libraries


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Additional libraries


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Exercise: Delayed activation


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Solution: Delayed activation


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: Toiletten-Licht-Lüfter-SteuerungExercise: Toilet control


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Solution: Toilet control


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Exercise: Toilet control; extension


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Solution: Toilet control; extension


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Continuous Function Chart (CFC)

• Graphical Programming language• Not within the scope of the standard IEC 61131-3• useful “enhancement” of FBD• Of all the programming languages best suitable for the

programming of complex expressions with feedback loops (therefore widely spread in the process industry)


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InputOutput

Block

Jump

Label

Return

Comment

NegateSet/Reset

Enable

Create Macro

In-PinOut-Pin

Operators


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Execution rules


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Macros

Create macro


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Exercise: Function block blinker


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Solution: Function block blinker


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Generelly accessible variables(Global variables)

Global Variables I


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Eintrag über die Eingabehilfeder automatischen Deklaration

Auswahl der gewünschtenglobalen Variablenliste

Global Variables II


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Structured Text

Structured TextStructured Text

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Structured Text

• Textual language• High level language• similar to PASCAL or C• not so well known in the PLC/automation world• of all languages best suitable for programming loops and

branches/decisions


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Analog Operators

IL,FBD,LD ST• ADD +• SUB -• MUL *• DIV /

Working with ANY_NUM, TIME


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Comparison Operators

IL,FBD,LD ST• EQ =• NE <>• GE >=• GT >• LE <=• LT <

Working with ANY data type


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Hierarchy of the operators

IL

LD I1AND I2OR (I3AND I4

)ST result

ST

result:= I1 AND I2 OR I3 AND I4;

result:= (I1 AND I2) OR (I3 AND I4);result:= (I1 AND I2) OR (I3 AND I4);


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Branching I

LD variableGT 100JMPC greaterLD variableEQ 100JMPC equalLD aADD 1ST aJMP END

greater:LD aSUB 1ST aJMP END

equal:LD aST result

END:

IL

IF variable > 100 THENa:=a-1;

ELSIF variable = 100 THENresult:=a;

ELSEa:=a+1;

END_IF;

ST


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Branching IILD variableEQ 1JMPC case_1LD variableEQ 2OR (variableEQ 3

)OR (variableEQ 4

)JMPC case_2LD aADD 1ST aJMP END

case_1:LD aADD 1ST aJMP END

case_2:..

IL

CASE variable OF1:

a:=a+1;2,3,4:

a:=a+2;5..100:

a:=a+3;ELSE

a:=0;END_CASE;

ST


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Loops I

FOR variable := 1 TO 10 DO STEP 1array_a[variable]:=100;array_b[variable]:=50;array_c[variable]:=3;

END_FOR;

FOR

VARarray_a:ARRAY[1..10] OF INT;array_b:ARRAY[1..10] OF UINT;array_c:ARRAY[1..10] OF USINT;

END_VAR


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WHILE a <= 100 DOa:=a*2;b:=b+1;c:=c+5;

END_WHILE;

WHILEDO

REPEATa:=a+1;b:=b*2;

UNTIL a=100 OR b=50END_REPEAT;

REPEATUNTIL

The cycle time trap

Loops II


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Exercise: Cycle Counter with level check


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Solution: Cycle Counter with level check


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Exercise: Extension of cycle counter


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Solution: Extension of cycle counter


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Task management in the XSoft

Task management in the XSoftTask management in the XSoft

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Task Definition

Task120ms

Prg1 Prg2 Prg3

Task2event

Prg4 Prg5

In XSoft there exist two kinds of tasks „Periodic“ and„Event triggered“.

For the execution the following rules are valid:. The task, for which the condition is fulfilled, will be

executed, i.e. if the time period has elapsed or on the rising edge of the associated global triggering event.

· If several task have valid conditions at the same momentthe task with the highest priority will be executed first.

· If several tasks have valid conditions and the samepriority the task with the longest waiting time will be executed.


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Task Definition Xsoft

Task Interval

Executionpriority

Event triggeredtask with globaltrigger variable


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Project

Task 1

Task 2

Task 9

.

.

.

Program 1

Program 2

Program 3

Program N

Definition of hierarchies


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Cyclic

Event triggered e.g. by global variable S1= 1

TaskAProg1H1:=NOT H1



H1:=1 H1:=0 H1:=1

1s 1s 1s




H1:=1 H1:=0 H1:=1

S1=1 S1=1 S1=1

Task Interval:

Definitions:


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Task A Prio 5

Task B Prio4

Task A Prio 5

High priority tasks interrupt low priority tasks!

Priorities of 0-31 are allowed !

Definition of Priority


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H1:=1 H1:=0 H1:=1

1s 1s 1sTask Interval:

TaskBProg2

Cycle time error(Watchdog)

If any one task can NOT complete the execution of its assigned programs within the defined interval, the PLC will go into HALT (watchdog) !

Definition of priorities


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Prog_L

Prog_H

Program execution timet

0 TProgLTProgH

(Task interval H)

TIH

(Task intervall L)TIL

Prog_L 1. Break

Prog_H TIRH

Prio

0

1

Task_L:

Task_H:

Prog_L 2. Prog_L 3. 4.Break

Prog_H

Break

Prog_H

New Start

1.

Prog_H

TprogL*

Definition: Task Timing


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(Task interval L)TIL

Break

Prog_H TIRH

Task_LL:

Task_L:

Break

Prog_H

Break

Prog_H

Prog_L 1. Prog_L 2. Prog_L 3. 4.

Prog_L 1. Prog_L 2. Prog_L 3.

TProgL*

Prog_LProg_H

Program execution timet

0 TProgLTProgH

Prio

01

Prog_LL2

TILR

Prog_LL

4

Break etc.

And what about 3 Tasks?


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Exercise: Task configuration


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Watch- and recipe manager

F2


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Breakpoint and single step

Breakpoint


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Sampling Trace


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Exercise


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Exercise


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Address structure according to IEC 61131-3

Address structure according to IEC 61131-3Address structure according to IEC 61131-3

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Structure of an address

• Percent character ‘%’

• Area prefix

– I Input

– Q Output

– M Marker

• Size

– X Single Bit

– None Single Bit

– B Byte (8 Bits)

– W Word (16 Bits)

– D Double word (32 Bits)

• Samples– %IW214– %QX1.1– %MD48

Manufacturer specific; not defined in the standard !Manufacturer specific; not defined in the standard !

Address structure according to IEC 61131-3Address structure according to IEC 61131-3

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Variablen in eine globale Variablenliste eintragen!

Schritt1: Projekt erstellen und speichern


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Schritt 2: Übersetzen


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Simulation abschalten

Simulation


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Schritt 3: Symboldateierzeugen anklicken


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Schritt 5: Symbolfile konfigurieren

Wegklicken!

Symbolfile konfigurieren

Anklicken!


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Schritt 6: Auswahl der Variablen


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Schritt 7: Auswahl zu Symbolliste hinzufügen

Anklicken!


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Schritt 8: Fenster mit OK verlassen und übersetzen

Bestätigen!


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Schritt 9: Übersetzen


Documents

Schutzvermerk nach DIN 34 beachten 19/07/15 Seite 1 XSoft