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EPOS Programming

EPOS Programming. Terms Programming Tool: Projects Basics of the PLC Programming Programming Language IEC 61131-3 Standard Sample Programs. EPOS P Training. Description of some terms. PLC Programmable Logic Control PLCopen An Industrial Control organisation

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EPOS Programming

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  1. EPOS Programming Terms Programming Tool: Projects Basics of the PLC Programming Programming Language IEC 61131-3 Standard Sample Programs EPOS P Training

  2. Description of some terms • PLC Programmable Logic Control • PLCopen An Industrial Control organisation • IEC 61131-3 Programming Standard created by PLCopen (in the past IEC 1131) • OpenPCS Programming tool for EPOS P (from Infoteam)

  3. What is a PLC? outputs actuators motors, valves PLC inputs sensors • roots in the wiring logic • originally hardware based: Relays • increasingly software based • more flexible, easier to modify • more efficient, lower costs • needs a programming device • industrial PC = PLC + programming device • programming device will be removed after programming • special requirements: rough environment • no moving parts such as harddisks

  4. inputs A PLC program works in a cyclic manner • Cyclic calculation of the output pattern according to the input pattern • it starts again when it’s finished • no inputs during the cycle • cycle time depends on the application • smart living technology: < min; • drives: several ms • particular programming languages inputs program cycle time outputs

  5. What is PLCopen? • User organisation for the promotion of IEC 61131-3 standards • develops and publishes the standards (e.g. for Motion Control, Safety, …) • certification authority • PLCopen and maxon EPOS P • motion functionality based on PLCopen Motion Control • The use of the PLCopen Logo is expensive; therefore we do not advertise with it!

  6. What is IEC 61131-3 ? • describes concepts and directives for building a PLC project, respectively PLC program • use of defined terms (key words) • contains 5 equal programming languages • drive/motion function library • advantages • widely spread in the PLC world and motion control industry • well known “look and feel”, no need to learn new language • independent of used hardware • “a certain” re-usability of PLC programs • widely accepted

  7. OpenPCS • the programming tool for the EPOS P • from company: Infoteam • follows the standard IEC 61131-3 • not described in the IEC 61131-3 standard: • How does a program editor have to look? • management of projects and libraries • documentation • online functions, e.g. software modification, debugging • file and data base structures and this is where the programming tools differ!

  8. Configuration • PLC configuration in general • Project in the EPOS-Studio • Project in the OpenPCS

  9. Project in the EPOS Studio • Project in the EPOS Studio • describes involved components and its communication • EPOS P: for 1 EPOS P • EPOS: for 1 EPOS • MCD EPOS: for 1 MCD EPOS • MCD EPOS P: for 1 MCDEPOS P • For Network: Create New Project • Info will be handed over to OpenPCS • tools and wizards depend on involved components • communication, network connections

  10. e.g. EPOS Project • for a EPOS • navigation is adjusted

  11. OpenPCS Project • project contains • resources, runtime programs • allocation of variables to physical PLC addresses • references to other programs: global variables, data types • corresponds to PLC configuration • resource = processing unit of the PLC • e.g.: EPOS P “master function", CPU’s, special processors • on one resource several runtime programs can run • program sequence controlled by "Task" • importance = priority • execution type: periodic, cyclic, interrupt

  12. Programming • POU Program Organisation Unit Programs, Function Blocks, Functions • Variables declaration, types • Programming languages

  13. Program Organisation Unit (POU) • For structuring IEC 61131-3 application programs • 3 types of POU • Functions (FUN) • Function Blocks (FB) • Programs (PROG) PROG FB FUN FB FUN FUN FUN FUN • POU’ s have a strict hierarchy • recursion is not allowed • memory demand is known from the beginning • memory allocation can be made

  14. Program Organisation Unit (POU) FUNCTION • structure of a POU • begin and end with KEY WORD (taken care of by OpenPCS) • declaration section • interface variables, local variables • instruction section in one of the 5 programming languages FUNCTION_BLOCK PROGRAM Interface variables local Variables Instruction POU body END_PROGRAMM END_FUNCTION_BLOCK END_FUNCTION

  15. Characteristics of POU‘s • closed unit • can be compiled independently • can be called within the whole project • can be used in the whole project • unique name within a project • new POU • File -> New -> POU • libraries can be built of FUN’s and FB’s • reusability and modularisation • e.g.: standard library, MC library, CAN library

  16. POU – variable declaration • VAR local data • VAR_INPUT input parameter • VAR_OUTPUT output parameter • VAR_INOUT input and output • VAR_GLOBAL global data • VAR_EXTERNAL reference to global data • END_VAR key word for the end

  17. POU – type declaration • for each variable a type has to be defined • optionally an initial value can be specified • else standard value • or value of previous call • types can also be defined by the programmer • File -> New -> Declarations ->Types • global valid • TYPE … END_TYPE

  18. Variable declaration in OpenPCS • VAR_GLOBAL • global data of the resource • File -> New -> Declarations -> Global • global data of the program • upper panel of the program • all other VAR • upper panel of the POU

  19. Functions (FUN) • return exactly one output value • call with input variable (VAR_INPUT) • for the same input, there is always the same output value • without memory • only local variables allowed (VAR), which will be initialised at every call • no global or external variables allowed • FUN can only call other functions • standard functions are predefined • arithmetic functions and comparisons • e.g. sin (x) FUNCTION Hallo: BOOL VAR … END_VAR … … Hallo := TRUE END_FUNCTION

  20. Function Blocks (FB) • work with an own data record • with memory for internal state • instantiation • output depends on the inputs and state information • input parameter and output parameter • can call FUN’s and other FB’s • predefined standard FB’s • e.g. for timer and counter • predefined Motion Control FB’s • e.g. for relative movements

  21. Program (PROG) • main program • “brain" of an PLC application program • There is only one instance • defines the access to the PLC periphery • allocation to the physical address (e.g. input and output of the PLC) • declaration of the variables of the whole program (VAR_GLOBAL) • has no input and output parameter

  22. Programming languages in IEC 61131-3 • 5 equivalent programming languages • IL: Instruction List similar to assembler • ST: Structured Text similar to high level programming language • LD: Ladder Diagram graphical • FBD: Functional Block Diagram graphical • SFC: Sequential Function Chart graphical • It doesn’t matter with which language the user writes his program. It is even possible to write different parts (POU’s) of the program in different languages.

  23. FBD Function Block Diagram • graphical, strong accentuation of the function blocks and the functions • Similar to LabView • relatively big overhead for parameters and FB • no conditional code programmable(all FB will always be loaded and called) • realistic cycle times >= 10 ms • (@ 30 IL/ms)

  24. Sample FBD: SimpleMotionSequence FUNCTION_BLOCK with instantiation FUNCTION without name variables, constants, virtual connections

  25. Libraries • standard library • for timer functions, arithmetical functions, … • see OpenPCS help • motion control (MC) library • for axis control • according to PLCopen standard • see Programming Reference 6.1 • CANopen library • for reading and writing of SDO objects • according to CANopen Standard • see Programming Reference 6.2

  26. LD / LDD Ladder Diagram • graphical • in the style of current logic, relay technique • Boolean logic • widely used in USA and Asia • Rockwell LD-Editor as reference

  27. SFC Sequential Function Chart • graphical • for process control engineering steps: will be executed if activated conditions (transitions) • will be executed after the previous step is finished • deactivates previous step and activates next step

  28. IL Instruction List VAR First, Second, Result: INT:=10; StringOp: String[30]:='123456789'; StringRes: String[25] END_VAR … B1: LD First (* 10(INT) *) ADD Second (* 20(INT) *) ST Result (* 20(INT) *) GT 0 (* True(BOOL) *) JMPC B2 (* because CR=True *) JMC FarAway (* CR undefined, reaction depends on implement.*) B2: LD StringOp (* 123456789 (String) *) ST StringRes (* 123456789*) • widely used in Europe • textual programming similar to assembler • PLC assembler • line oriented • 1 line = 1 instruction • CR = current result • the virtual accumulator for all data types • realistic cycle times: • optimised down to 1 ms

  29. ST Structured Text • widely used in Europe • textual, similar to high level language (e.g. Pascal or C+) • some features • instructions separated with “ ; ” • loops: FOR, WHILE, REPEAT • conditions: CASE, IF…THEN…ELSIF...ELSE • complex expressions • realistic cycle times: • optimised down to 1 ms

  30. Exercise 1: • Download SimpleMotionSequence Program to the controller and execute it.

  31. Exercise 1a: • Create a program that will enable the drive and move the motor to an absolute position. • Position = 20000 • Velocity = 1000 • Acceleration = 10000 • Deceleration = 10000

  32. Exercise 1b: • Create a program that will oscillate the motor between two positions using FBD. • Position 1 = 0 • Position 2 = 20000 • Velocity = 1500 • Acceleration = 15000 • Deceleration = 15000

  33. Exercise 1 continued… Step 2: Click on Open Programming Tool Step 4: Select maxon motor ag Step 5: Select EPOS P Project Step 6: Enter Project Name Step 7: Click OK Step 8: Click on File  New Step 1: Double Click on “IEC 61131 Programming” Step 9: Select FBD Step 10: Verify POU-Type is Program Step 11: Enter POU Name Step 12: Click OK Step 3: Click on File Project  New Step 13: Click Yes to add to Active Resource

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