IindraLogic Prog 04 2007 e

Training manualIndralogic BasicRevision 04 / 2007

MobileHydraulics

ServiceAutomationPneumatics

Linear MotionAssembly Technologies

Electric Drivesand Controls

IndustrialHydraulics

didactic from Rexroth. Systematic Success

Revision04 / 2007

Indralogic Basic

Impressum

Publisher:Bosch Rexroth AGService Automationdidactic

Author: Helmut Kleinhans BRC / SAL2

Impressum Nachdruck, Vervielfältigung undÜbersetzung, auch auszugsweise,

Herausgeber: nur mit unserer vorherigen schrift-Bosch Rexroth AG lichen Zustimmung und mit Quellen-Service Automation angabe gestattet. Wir übernehmendidactic keine Haftung für die Übereinstim-

mung des Inhalts mit den jeweilsgeltenden gesetzlichen Vorschriften.

Reproduction, copying, or trans-lation of this publication, wholly orin part, only with our previous writtenpermission and with source credit.We assume no responsibility foragreement of the contents with locallaws and regulations.Bosch Rexroth AG is exempt fromliability, and reserves the right tomake changes at any time.

ITable of Contents

Chapter 1 −−−> Network installation

Setup of the “Network Neighborhood” in Windows 2000 1 Setup of the “Network Neighborhood” in Windows 2000 2 Setup of the “Network Neighbourhood” in Windows 2000 3 Setup of the “Network Neighborhood” in Windows 2000 4 Setup of the “Network Neighborhood” in Windows 2000 5 Setup of the “Network Neighbourhood” in Windows XP 6 Setup of the “Network Neighbourhood” in Windows XP 7 Setup of the “Network Neighbourhood” in Windows XP 8 Setup of the “Network Neighbourhood” in Windows XP 9 Setup of the “Network Neighbourhood” in Windows XP 10 Functional overview 11 Hardware stucture of IndraControl L40 12 Features 12 Mechanical structure 13 Connectionss and interfaces 13 Current and voltage supply 14 I/O connections 15 First time installation L40 − IP−Address setup 16 Firmware− Hardware version & Status display L40 17 Setup of L40 serial RS232 interface 18 Display of L40 Project status 19 Deletion of complete L40 Program−Memory 20

Chapter 2 −−−> Basic setup IndraWorks / IndraLogic

Language and Basic settings for “IndraWorks” 1 Generation of a new “IndraWorks” Project 2 Generation of a new “IndraWorks” Project (continuation) 3 Definition of communication for IndraLogic L40 / VEP30 (Hardware−PLC) 4 Definition of communication for IndraLogic L40 / VEP30 (Hardware−PLC) 5 Definition of communication channel for VPP/BTV−Panel (Software−PLC) 6 Definition of communication channel for VPP/BTV−Panel (Software−PLC) 7 Completion of communication setup / creation of the new project 8 Communication with a “L40” / “VEPxx” (Hardware − PLC) 9 Communication with a “VPP / BTV“ − Panel (Software − PLC) 10 IndraWorks / Indralogic directory structure 11 IndraWorks / IndraLogic Basic settings 12

IITable of Contents

Chapter 3 −−−> IndraWorks I/O Configuration

Setup of I/O Start address of OnBoard I/O’s 1 Configuration of Rexroth Inline Modules (first Inline−Modul) 2 Configuration of Rexroth Inline Modules (first Inline−Modul) 3 Configuration of Rexroth Inline Modules (second Inline−Modul) 4 Configuration of Rexroth Inline Modules (second Inline−Modul) 5 Import of additional GSD−Files for Profibus−DP I/O−Configuration 6 Import of additional GSD−Files for Profibus−DP I/O−Configuration 7 Directory structure of GSD−Files 7 Configuration of Profibus−DP I/O − Modules 8 Configuration of Profibus−DP I/O − Modules 9 Configuration of Profibus−DP I/O − Modules 10 Configuration of Function − Modules 11 Setup of the Profibus−DP transmission rate 12 Load Profibus−DP Configuration into PLC−Controller 13 Load Profibus−DP Configuration into PLC−Controller 14 Load Profibus−DP Configuration into PLC−Controller 15

Chapter 4 −−−> IndraLogic basic settings

Setting the basic parameters for Indralogic − “Load & Save“ 1 Setting the basic parameters for Indralogic − “Editor” 2 Setting the basic parameters for Indralogic − “Desktop” 3 Setting the basic parameters for Indralogic − “Directories” 4 Setting the basic parameters for Indralogic − “Build” 5 Setting the basic parameters for Indralogic − “Source download” 6 IndraLogic − “Symbol configuration” 7 IndraLogic − “Symbol configuration” 8 “Target System” − Basic setup − “General” 9 “Target System” − Basic setup − “General” 10 Project structure 11 Main program “PLC_PRG” 11 IndraLogic directory structure on harddrive (Development system) 12 IndraLogic directory structure on harddrive (Project data) 13 Files in the Indralogic programming system 14 Display structure IndraLogic 15 Generation of a new “Folder” 16 Generation of a new “Object” 17 Elements of Program Organization Units (POU) 18 Elements of Program Organization Units (POU) 19 Programming languages for POU’s 19 Elements of a Program Organization Unit (POU) 20 Elements of Program Organization Units (POU) 21 Deklaration section of Program Organisation Units (POU) 22 Characteristics of the POU−Interface 23 Formal parameters and Return values of a POU 24 External and internal access to POE−Variables 25

IIITable of Contents

Chapter 5 −−−> Load Program

Load options and Memory structure 1 Used / Generated files 2 Check and compile complete PLC−Program 3 Check interface setting to PLC (IP−Address) 4 Load PLC−Program into the PLC 5 Generate “Boot Project” in PLC−Controller 6

Chapter 6 −−−> Import / Export of Program blocks

Export of Project data 1 Export of Project data 2 Import of exported project data 3 Import of exported project data 4

Chapter 7 −−−> Programming with Logic

Address definition of Inputs, Outputs and Markers 1 Definition of Input, Outputs and Markers 2 Using bit signals in the program 2 Monitoring of Bit−Signals 3 Standard Data Types in Indralogic 4 Validity of Variables 5 Declaration of Variables 6 Declaration of Constants 7 Global Variables in POU’s via “VAR_EXTERNAL” 8 Online − Status display of variables in declaration window 9 Resizing the Online Window 10 Selection of display format in Online mode 11

IVTable of Contents

Chapter 8 −−−> Programming in List

Creation of a program in LIST 1 Calling of POU’s with and without parameters in “LIST” 2 Programming of logic operations in LIST (Example 1) 3 Programming of logic operations in LIST (Example 2) 4 Programming of logic operations in LIST (Example 3) 5 Programming of logic operations in LIST (Example 4) 6 Programming of logic operations in LIST (Example 5) 7 Monitor display in LIST (PRG’s) 8 Creation of a “Function” in LIST 9 Definition and Usage of a “Function” (FUN) 10 Online − Status display of “Functions” 11 Creation of a “Function block” in LIST 12 Definition and Usage of a “Function block” (FB) 13 Definition and Usage of a “Function block” (FB) 14 Online − Status display of “Function blocks” 15 Online − Status display of “Function blocks” 16

Chapter 9 −−−> Programming in Ladder

Creation of a program in LDR 1 Input of a program in LDR 2 Alteration of program in LDR 3 Addition of a new OR − Element 3 Addition of a new “AND” element 3 Adding a new LDR−Network branch 4 Addition of “Function blocks” in LDR 5 Addition of “FBD−Operators” in LDR 6 Addition of “FBD−Operators” in LDR 7 Call of Programs (PRG’s) in LDR 8 Call of Programs (PRG’s) in LDR 9 Call of Functions (FUN’s) in LDR 10 Call of Function Blocks (FB’s) in LDR 11 Conditional calls of PRG’s, FUN’s and FB’s in LDR 12 Online display of POU’s written in LDR 13 Additional display options in LDR 14 Comment input in LDR 15 Jump instruction in LDR 16

VTable of Contents

Chapter 10 −−−> Programming in FBD

Creation of a program in FBD 1 Input of a program in FBD 2 Adding of new Logic − Elements in FBD 3 Definition / Alteration the logic or function of a Basic−FBD−Element 4 Deletion of Inputs, Outputs and Elements 5 Adding a new FBD−Network 6 Direct switchover from “FBD” to “LDR” display 7 Monitor display in FBD 8 Input of Comment in FBD 9 Jumps in FBD 10 Call of Programs, Functions and Function blocks in FBD 11 Call of Programs, Functions and Function blocks in FBD 12 Definition and usage of Timers 13 Definition and usage of Timers 14 Monitoring of Timers / Diagram Switch On Delay (TON) 15 Monitoring of Timers / Diagram Switch Off Delay (TOF) 16 Monitoring of Timers / Diagram Pulse function (TP) 17 Monitoring of Timers / Diagram Real Time Clock (RTC) 18 Definition and usage of Counters 19 Definition and usage of Counters 20 Online − Status display Up Counter (CTU) 21 Online − Status display Down Counter (CTD) 22 Online − Status display Up / Down Counter (CTUD) 23

VITable of Contents

Chapter 11 −−−> Sequence programming

Selection of IEC compliant SFC Input Mode 1 IEC−Step−Action commands 2 Creation of an IEC−Sequence program 3 Adding a new step element 4 Copy / Paste an existing “Step” in a “Sequence” module 5 Deletion of an existing Step−Element 6 Adding a new Step − Action 7 Deletion of a Step−Action 8 Programming of a step continuation logic 9 Programming of a step continuation logic (continuation) 10 Programming an Action−Logic 11 Programming an Action−Logic (continuation) 12 Programming a step “Entry” logic 13 Programming a step “Entry” logic (continuation) 14 Programming a step “Exit” logic 15 Programming a step “Exit” logic (continuation) 16 Deletion of a step “Entry” or “Exit” logic 17 Step−Property−Variables 18 Step−Prpoperty−Flags 19 Step−Property−Flags 20 Programming of Step−Property−Flags 21 Online display of Step−Property−Flags 22 Sample sequence program in “LDR” − Step elements & Parameters 23 Sample sequence program in “LDR” − Continuation logic 24 Sample sequence program in “LDR” − Command output 25 Sample sequence program in “LDR” − Program callup 26 Sequence Branching / Jump 27 Sequence Branching / Jump 28 Sample program sequence Branching / Jump 29 Input of “Step” comment and “Step” monitoring time 30 Selection of “step comment” or “Step monitoring time” display 31

VIITable of Contents

Chapter 12 −−−> Programming in ST

Logic operations with “Structured Text” (ST) 1 Logic operations with “Structured Text” (ST) 2 Calling program modules (PRG’s) 3 Definition and usage of Functions (FUN) 4 Function parameter input 5 Online − Status display of of Functions 6 Definition and usage of Function Blocks (FB) 7 Definition of an instance for a function block (Memory allocation) 8 Monitoring of Function Blocks 9 Monitoring of Function Blocks 10 Selection of SFC Input Mode (simlified SFC non IEC) 11 Creation of a SFC−Sequence programm 12 Add a new step element 13 Copy / Paste an existing “Step” in a “Sequence” module 14 Deletion of an existing Step−Element 15 Programming a step 16 Sample Sequence program “ST” − Step elements & Parameters 17 Sample Sequence program “ST” − Continuation logic 18 Sample Sequence program “ST” − Command output 19 Sample Sequence program “ST” − Module callup 20 Sequence Branching / Jump 21 Sequence Branching / Jump 22 Sample program sequence Branching / Jump 23 Sample program sequence Branching / Jump 24

Chapter 13 −−−> Task managment

Applications with Task managemant 1 Time related behavier of Tasks 2 Creation of a new Task 3 Creation of a Task − Definition of the Task properties 4 Creation of a Task − Definition of a program module 5 Description of properties − Cyclic Task 6 Description of properties − Free wheeling Task 7 Description of properties − Event controlled Task 8 Description of properties − External Event controlled Task (Interrupt) 9 Description of properties − System events 10 Display of “Task Timing Diagram” in Online mode 11

Chapter 14 −−−> Library managment

Insertion of a new library into the current project 1 Insertion of a new library into the current project 2

VIIITable of Contents

Chapter 15 −−−> Remanence behaviour of variables

Behavier of variables after Power Off / ON and Stop / Run (Remanence) 1 Declaration of remanent variables 2 Usage of remanent variables in POU’s 3 Usage of remanent variablen in POU’s 4

Chapter 16 −−−> Monitoring

Monitoring the program flow 1 Enter variable list into “Watch & Recipe Manager“ 2 Online display of variable list with “Watch and Recipe Manager” 3 Read and alter Variables with “Recipe” Manager 4 Write Variables from “ Recipe Manager” into PLC 5 Activation of the “Trace” Function 6 Definition of “Trace” Parameters 7 Definition of “Trace” Parameters 8 Definition of “Trace” Parameter 9 Start of a “Trace” sample recording 10 Start of a “Trace” sample recording 11

Chapter 17 −−−> User specific data structures

Definition of Enumerations 1 Using enumerations in the program 1 Monitoring of enumerations 2 Definition and usage of Structures 3 Using structures in the program 3 Monitoring of structures of userspecific data types 4 Status display in the program 4 Status display in the “Ressources” 4

IXTable of Contents

Chapter 18 Backup & Restoring an IndraWorks − Project

Backup of a complete IndraWorks − Project 1 Backup of a complete IndraWorks − Project 2 Backup of a complete IndraWorks − Project 3 Restoring of an archived IndraWorks−Project (ZIP−File) 4 Restoring of an archived IndraWorks−Project (ZIP−File) 5 Restoring of an archived IndraWorks−Project (ZIP−File) 6 Restoring of an archived IndraWorks−Project (ZIP−File) 7 Restoring of an archived IndraWorks−Project (ZIP−File) 8 Adaption of the PLC−Directories 9 Importing a Standalone IndraLogic Program (*.PRO−File) 10 Importing a Standalone IndraLogic Program (*.PRO−File) 11 Definition of communication for IndraLogic L40 / VEP30 (Hardware−PLC) 12 Definition of communication for IndraLogic L40 / VEP30 (Hardware−PLC) 13 Importing a Standalone IndraLogic Program (*.PRO−File) 14 Importing a Standalone IndraLogic Program (*.PRO−File) 15 Importing a Standalone IndraLogic Program (*.PRO−File) 16 Importing a Standalone IndraLogic Program (*.PRO−File) 17

Chapter 19 Language translation

Generation of the translation file 1 Generation of the translation file 2 Input of the translations into the translation file 3 Input of the translations into the translation file 4 Switchover to another language 5

XTable of Contents

Chapter 20 Command overview

Identifier, Keywords 1 Identifier, Keywords 2 Numerical literals 3 String-Literals 3 Time literals 1. Duration of time 3 Date and Time 4 Boolean Operators 4 Arithmetical Operators 5 Compare Operators 6 Bit manipulation 7 Type conversion 8 Numeric Functions 9 Numeric Functions 10 Selection Function 11 String Functions 12 String Funktions 13 Standard-Function blocks Flip Flop Elements 14 Flankenerkennung 14 Timer 14 Counter 15

XITable of Contents

Chapter 21 Exercises

Network structure 1 I/O − Bus Configuration 2 Program structure 3 Global Variables Inputs and Outputs 4 Signal list Switch Box (Bit signals) 5 Signal list Switch Box (Byte & Word) 5 Signal Markers 5 Example 1 6 Example 3 7 Example 4 8 Example 5 9 Example 6 10 AND before OR Circuit 11 Circuit with bracket 12 Circuit with OR−bracket 13 Transportation Slide 14 Signal list machine model 15 Signal list machine model 16 Exercise Programming of a Function 17 Exercise Programming of a Function 18 Exercise Programming of a Function Block 19 Exercise Programming of a Function Block − Manual logic 20 Exercise Programming of a Function Block − Automatic logic 21 Automatic Sequence “Robot Station” 22 Automatic Sequence “Robot Station” 23 Automatic Sequence “Robot Station” 24 Automatic Sequence “Transportation Slide” 25 Automatic Sequence “Press In Station” 26 Automatic Sequence “Press In Station” 27

© 2004

This manual is the exclusive property of Bosch Rexroth AG,also in the case of Intellectual Property Right applications.

Without their consent it may not be reproduced or given to thirdparties.Errors and technical modifications reserved.

CHAP 1 INetwork

Chapter 1Network

Installation

CHAP 1TCP/IP Installation 1

Setup of the “Network Neighborhood” in Windows 2000

Note ! Before the setup of the “Network Neighborhood”, the a “Network−card” musthave been installed

1. Call−up the Windows “Control Panel” and double click on the “System” icon



2. Click onto “Network Identification“ and than onto the button “Properties”

3. Enter “Computer name” and “Workgroup”, to which computer should belong to

Note !• The “Computer name” must be

unique in whole the network• The “Workgroup” name must be

the same on all computers on thenetwork

Note !• The “Workgroup” name must be

the same on all computers on thenetwork, which should belong to this group


Setup of the “Network Neighbourhood” in Windows 2000

4. Call−up the Windows “Control Panel” and double click on the“Network and Dial−up Connections” icon

5. Open the network connection for which you want to set the IP−Address



6. Click onto “Properties”, to open the “TCP/IP−Property” window

7. Select entry “Internet Protokol (TCP/IP)” and click onto button “Properties”


Setup of the “Network Neighborhood” in Windows 20008. Enter the “IP−address” and the “Subnet mask”

IP−Address

Subnet mask

No entry required in the“Default gateway” field

Important note !It is not recommended to makeany other alterations orchanges in the “Network” properties window


Setup of the “Network Neighbourhood” in Windows XP

Note ! Before the setup of the “Network Neighbourhood”, the a “Network Card” musthave been installed

1. Call−up the Windows “Control Panel” via the “Start” button

2. Double click on the “System” icon



3. Click onto tab “Computer name”

4. Click onto “Change”

Note !• The “Computer name” must be

unique in whole the network

Note !• The “Workgroup” name should be

the same on all computersbelonging to this group


Setup of the “Network Neighbourhood” in Windows XP5. Call−up the Windows “Control Panel” and double click on the

“Network and Dial−up Connections” icon

6. Open the “Property” window by double clicking onto the network connection for which you want to set the IP−Address



7. Click onto “Properties”, to open the “TCP/IP−Property” window

8. Select entry “Internet Protokol (TCP/IP)” and click onto button “Properties”



IP−Adresse

Subnet Mask

9. Enter the “IP−address” and the “Subnet mask”

No entry required in the“Default gateway” field

Important note !It is not recommended to make any other alterations or changes in the “Network”properties window

CHAP 1 11Hardware L40 & Network − Installation

Functional overview

Status−Display Ethernet connection for Onboard I/O

8 characters − Programming unit or 8 fast inputsOperating panel − communication to: usable as interrupt inputs 4 Buttons New controls 8 outputs (0,5 A)e.g. adjustment of the (NetVarUDPLib) orcommunication parameters or to the old CLxx world

(BuepE_Client) power supply terminal

Inline I/O

Extension withRexroth−Inline−Modules

max. 64 Modulesmax. 32Byte I and O

Extension− RS232−interface for Progr. memory Profibus DP−V1interface − COM PROG 32 MB RAM max. 8 k I/Ofor Programming unit 64 kB NvRAM Add DP−Slaves toFunction− − COM SERV Boot project I/O configurationmodules small operation panel Remanence Access to VCP panel

− COM USER new File types (IL_VCP_DP)Programming unit or Acyclic Services (V1)

. serial communication DP_Diag via functionwith SysLibCom DP_RDREC,

DP_WRREC


Hardware stucture of IndraControl L40IndraControl L40 is a compact control system designed for a medium performance range.It is mounted to a hat rail. The IndraControl L40 may be expanded at the right end withI/O modules of the Inline−System. The functionality of the IndraControl L40−System can beenhanced at the left end with special function modules.

IndraControl L40 uses the proved Real Time operating system VxWorks.The processor is a 266MHz Geode with 32MB DRAM and 64kByte NvRAM.

FeaturesUser 32 MB Runtime Indralogic (according memory to EC 61131−3)

Remanent 64 kByte Programming according to IEC61131−3:memory languages IL, LAD, FBS, ST, SFC, CFC

Number of tasks 16 Programming Rexroth IndraWorkssystem

Task types cyclic, free wheeling, Programming Ethernet or RS232event controlled interface

In−/ Outputs 8 Bit I (interrupt) Functions for Monitoring, Online Change, + 8 Bit O on board monitoring Trace, Write (1 cycle) /

Forcing,512 Bit I/O (central) Simulation, Breakpoint,8 kByte I/O (decentral single step, single cyclevia Profibus−DP V1)

Cycle time typical 120 µs Supplied Standard IEC 6131−3 library(1000 Instr. of IL) libraries TCP/IP + ser. communication,

VCP interface, DP_Diagnosis


Mechanical structureThe IndraControl L40 is mounted to a standard hat rail according to DIN EN50022. (35mm x 7,5mm)

Note: Beside the mounting function, the hat rail also has the function of grounding and is additionally used for heat conduction.

This means, that the hat rail must always be connected to a grounding bus. Additional the heat is partial conducted via the hat rail. So it is used in conjunction with themetallic ground plate of the L40 as a cooling element.

The power supply voltages and the Onboard− in− and Outputs are wired via theInline− terminals. Sensors and actors at the Onboard− I/O’s are connected with a 2−wiretechnique (Sensors with 24V and signal, actors with signal and 0V).

The connection terminals for all wires are facing located at the front side of the housing.The bending radius should not exceed 120mm.

Because of its low protection category IP20, the IndraControl L40 must be mounted inside ofa control cabinet or a similar housing. The prefered mounting position is horizontal. Due to thermic reasons, a vertical mounting isnot recommended.

Connectionss and interfaces

Label on housing Interface type Connector type

X3C Serial interface RS232 D−Sub−connector (male), 9−poles

X7E Network interface:Ethernet 10Base T / 100Base X

RJ45−connector (female)

X7P DP: PROFIBUS DP D−Sub−connector (female),9−poles

For more informations please see manual:Indracontrol L40 Chapter 7 − “Connections and interfaces”


Current and voltage supplyThe 24V power supply used to supply power to the L40, has to be equipped with a savecircuit isolation according to EN 60742.

supply terminal supply terminal supply terminal with fuse

The main circuit may be separated from other circuit segments, which are independent ofeach other. In that case, the main circuit supplies the main voltage for all these segments. Using this option , a separate supply circuit for actor groups can be realized.

The maximum current load is 8 A (Sum of main circuit and all segments). If the limit value isreached (current sum of US and UM), a new (additional) power supply terminal must beused.

For more informations please see manual:Indracontrol L40 Chapter 7.2 − “Power supply”


I/O connections

I

N

T

E

R

B

U

S

CPU

Onboard I/O

I/O at localExpansioninterface

Profibus DP I/O

1 Byte Input (can be used as interrupt input)1 Byte Output

max. 125 DP−Slavesmax. 12 MBaudmax. 244Byte/telegrammmax. 8 kByte I / O

max. 32 Byte I / Ovia Inline−Modules

Master

Node 1

Node 0

Node 2

. . .2 126..

National Geode SC1100min. 266 MHz32 MB DRAM + 64 kByte NvRAM


First time installation L40 − IP−Address setup

INIT

Enter Ethernet

Enter

IP : 10.23.1.27

EnterESC

Abort

Enter

AAA : 192

Enter

BBB : 168

Enter

CCC : 1

Enter

DDD : 11

Enter

OK : ?

Confirm

Display

Input

Ethernet

Enter

IP : 10.23.1.27

Display IP Adrress

Subnet : 255.255.0.0

EnterESC

Abort

Enter

AAA : 255

Enter

BBB : 255

Enter

CCC : 255

Enter

DDD : 0

Enter

OK : ?

Confirm

Input

Display Subnet Mask

RUN STOP

Enter


Firmware− Hardware version & Status display L40

INIT

Enter Ethernet

RS 232

ESC Abort

Firmware Enter

Selection

RUN STOP

03V03

ESC Abort

Hardware CML 40.1−NP−220−NAEnter

ESC Abort

Temp + 44,0CEnter

ESC Abort

OHC CTRL 1018 hEnter

ESC Abort

OHC FAN 0 hEnter

Display


Setup of L40 serial RS232 interface

INIT

Enter Ethernet

RS 232

COM SERV

Enter

Selection

RUN STOP

COM : SERVEnter

COM : USER

COM : PROG

Enter

Enter

Enter

EnterESC

Abort

OK : ?

Confirm

EnterESC

Abort

OK : ?

EnterESC

Abort

OK : ?

Confirm

Confirm


Display of L40 Project status

RUN

Enter

PLC:OK

Outp. ON

PLC RUN

PLC PROJ

Enter OUTP: ON

OUTP: OFF

ESC Enter

Abort Confirm

Enter PLC: RUN

PLC: STOP

ESC Enter

Abort Confirm

Enter

PROJ:L40_Name.pro

PROJ−DATE : DT#2006−08−16−09:30:23

PROJ−SIZE : 456678 Byte

ESC Abort


Deletion of complete L40 Program−Memory

HW WATCH

BOOT1.01

EnterESC

1. Disconnect L40 from supply voltage.2. Reconnect L40 to supply voltage

+ 4. Press both keys at the same time and keep them pressed

3. Wait until you see this message

BOOT1.02

Enter

5. Wait until you see this message, than release the two keys

BOOT1.03

BOOT1.04

Bootproj

delete ?

Enter

Enter

ESC Exit

OK : ?

Confirm deletion

Bootproj

INIT

6. Complete L40 program memory has been deleted and PLC− Program has to be loaded with IndraLogic

© 2004

This manual is the exclusive property of ROBERT BOSCH GMBH,also in the case of Intellectual Property Right applications.

Without their consent it may not be reproduced or given to third parties.

Errors and technical modifications reserved.

CHAP 2 IIndraWorks Projects

Chapter 2

IndraWorks

Projects

CHAP 2IndraWorks Projects 1

Language and Basic settings for “IndraWorks”

Click onto “Tools / Options”, to setthe basic parameters of “IndraWorks”

Default directory for “IndraWorks” projects

Language setting forUser Interface

Menu parameters


Generation of a new “IndraWorks” Project

1. Click onto “Drive and Control“, todisplay the available “Target Systems”

2. Click onto “File” and select “New / Project”

3. Enter the name of the new project, and select the directory, into whicjh you want to store the project

4. Take over the new settings by clicking onto the “OK” button


Generation of a new “IndraWorks” Project (continuation)

5. Select desired “Target System” with the left mousebutton and keep the left mouse button pressed

6. Drag the selected “Target System” with the left mouse button still pressed onto the “Project name” and release the left mouse button as soon as a line is displayed below the “Project name”

7. Enter the name of the new “IndraWorks” project


Definition of communication for IndraLogic L40 / VEP30 (Hardware−PLC)

12. Select “Local” and confirm by clicking onto the “OK” button

10. Callup the communication window, in order to enter theparameters to be used for the connection with the “Target System”

11. Click onto “Gateway”, to setup theparameters for a local “Gateway − Server”

8. Select desired firmware version

9. Click onto button “Extended” to select “BYTE” or “WORD” addressing mode



14. Select communication channel“Tcp/Ip (Level 2 Route)”

13. Click onto “New” to create a newcommunication channel

16. Enter the IP−Address of the “L40” controller to which you want to make a connection and confirm the input by pressing the “Enter” key

15. Open the input field for the IP−Address by double clickingonto “localhost”

17. Apply new settings by clicking onto the “OK” button


Definition of communication channel for VPP/BTV−Panel (Software−PLC)

10. Callup the communication window, in order toenter the parameters to be used for the connectionwith the “Target System”




Definition of communication channel for VPP/BTV−Panel (Software−PLC)

13. Click onto “Gateway”, to setup theparameters for an external “Gateway−Server”

14. Select “Tcp/Ip“

15. Enter the IP−Address of the“VPP/BTV”−Panel to which you want to make a connection, and confirm the address by clicking onto the “OK” button



Completion of communication setup / creation of the new project

Communication via a local Gateway−Server (L40)

Note !By clicking with the right mouse buttononto the icon “Logic”, the communicationwindow can be called up again by selecting“Properties”


Communication with a “L40” / “VEPxx” (Hardware − PLC)

IndraLogic Programming System − Target System “L40/VEP30”

Hardware − PLC (VxWorks)

External PC with IndraWorks / Indralogic

Communication via “Gateway” with “Local” (IP − 192.168.1.101)

L40 / VEP30

Network adapter (e.g. IP−Addresse = 192.168.1.50)

Integrated network adapter (e.g. IP − 192.168.1.101)

Gateway − Server


Communication with a “VPP / BTV“ − Panel (Software − PLC)

Gateway Server

Indralogic Programming System − Target System VPP/BTV

Software − PLC

External PC with IndraWorks / Indralogic

Communication via “Gateway” with TCP/IP (192.168.1.202)

VPP / BTV

Communication with “VxWin Shared Memory Network“ via local network IP−Address 192.168.0.2

Network adapter (e.g. IP−Address = 192.168.1.50)

Network adapter (e.g. IP − Address = 192.168.1.202


IndraWorks / Indralogic directory structure

“IndraWorks Project” directory

“Indralogic” Project directory

Directory with PLC−Program files

PLC−Program


IndraWorks / IndraLogic Basic settings

1. Select the icon “Logic” with the left mouse button, press the right mouse button and select “Properties”

2. Activate / Deactivate settings byclicking with the left mouse button on it

3. Check, if the directory for the I/O Confiiguration (GSD − Files) is correctDefault setting : C:\Program files\Rexroth\IndraWorks\IndraLogic\Targets\Config\

IndraWorks I/O Configuration CHAP 3

Chapter 3IndraWorks

I/O − Configuration

Nachdruck, Vervielfältigung und Übersetzung, auch auszugsweise,nur mit unserer vorherigen schriftlichen Zustimmung und mit Quellenangabe

gestattet. Wir übernehmen keine Haftung für die Übereinstimmungdes Inhalts mit den jeweils geltenden gesetzlichen Vorschriften.

Reproduction, copying, or translation of this publication, wholly orin part, only with our previous written permission and with source credit.

We assume no responsibility for agreement of the contents with locallaws and regulations Bosch Rexroth AG is exempt from

liability, and reserves the right to make changes at any time.

CHAP 3IndraWorks I/O − Configuration 1

Setup of I/O Start address of OnBoard I/O’s

The hardware based controllers (L40) have integrated inputs and outputs on the motherboard.The onboard inputs can also be used as interrupt inputs. The default start addresses are “I0” and “Q0”.

1. Open I/O − Window by double clicking on the address

2. Adapt “Input / Output“Start − Address

4. Check “Input / Output“ addresses

OnBoard Inputs OnBoard Outputs

3. Take over Start − Addressby clicking onto the “Apply” button


Configuration of Rexroth Inline Modules (first Inline−Modul)

1. Click onto the button “Periphery”and select “Rexroth Inline”

2. Select the Inline−Module which has to be inserted into the project with the left mouse button, and keep the mouse button pressed

3. Drag the selected “Inline Modul” with the left mousebutton still pressed onto the icon “Inline I/O”, andrelease the left mouse button as soon as two littlesquares are displayed


Configuration of Rexroth Inline Modules (first Inline−Modul)

6. Check, if the new address is correct(Caution ! Obey Word / Byte addressing mode)

4. Enter the I/O − Start address

5. Take over the new address by clickingonto the “Apply” button


Configuration of Rexroth Inline Modules (second Inline−Modul)

Important note!The order in the configuration window, must match 100% the orderof the installed “Inline Modules”, otherwise a configuration error isdisplayed after the program has been loaded into the controller

7. Select the Inline−Module which has to be additionally inserted into the project with theleft mouse button, and keep the mouse button pressed

8. Drag the selected “Inline Modul” with the left mouse button still pressed onto an existing “Inline module”, and release the left mouse button as soon as a line is displayed below the selected “Inline Module”


Configuration of Rexroth Inline Modules (second Inline−Modul)


10. Take over the new address by clickingonto the “Apply” button

11. Check, if the new address is correct(Caution ! Obey Word / Byte addressing mode)


Import of additional GSD−Files for Profibus−DP I/O−Configuration

1. Click onto the button “Periphery”and select “ProfibusDP / I_O“

2. Check , if the required Profibus−DP I/O−Module is already existing in the selection list

3. Click with the left mouse button onto icon “Profibus−M”, press the right mouse button and select “Import GSD files”

4. Select the “GSD−Files” you want to add to the existing list,and take over the selection by clicking onto the “Open” button


Import of additional GSD−Files for Profibus−DP I/O−Configuration

5. Check, if all imported “GSD−Files”are displayed in the list

Directory structure of GSD−Files

Note ! To remove an installed “GSD−File” from the list in “IndraWorks”, the file must be manually deleted from the “Config” − Directory


Configuration of Profibus−DP I/O − Modules

1. Click onto the button “Periphery”and select “ProfibusDP / I_O“

2. Select the Profibus−DP module which has to be inserted into the project with the left mouse button, and keep the mouse button pressed

3. Drag the selected “Profibus−DP” module with the left mouse button still pressed onto the icon“Profibus/M”, and release the left mouse button as soon as two little squares are displayed



Note !The window with the “Station” addresscan be called up again by double clickingonto the corresponding basic module

5. Enter the station address of the Profibus−DP I/O−Module,

4. To adapt the Profibus−Station Address, open the inserted module by double clicking on it

5. Take over the station address (Bus address) by clicking onto the “Apply” button



6. Drag the selected “Type” of the I/O−Modulewith the left mouse button still pressed ontothe icon of the previously inserted “Basic” module, and release the left mouse button as soon as two little squares are displayed

9. Take over the new address byclicking onto the “Apply” button

10. Check, if the “Module Type” is correct(Caution ! Obey Word / Byte addressing mode)Note !The I/O−Address input window can be called upagain by double clicking onto the “Module Type”


7. To adapt the I/O−Start Address, open the inserted module by double clicking on it


Configuration of Function − Modules

1. Click onto the button “FM”

2. Select the desired Function−Module, which isto be inserted into the project with the left mousebutton and keep the mouse button pressed

3. Drag the selected “Function−Module”with the left mouse button still pressed onto the icon“Inline I/O”, and release the left mouse button as soon as two little squares are displayed

4. To adapt the I/O−Start Address, open the inserted module by double clicking on it

6 Take over the new address byclicking onto the “Apply” button

5. Enter the I/O − Start addresses


Setup of the Profibus−DP transmission rate

1. Open the “Bus parameter window” by double clicking onto the Icon “Profibus / M ”

2. Adapt the transmission rateaccording to the specificationof the used I/O−Modules

Note ! For the first time installation, it is recommended to set the “Transmission” rate to 1500MBit. As soon as the Profibus−DP runs in an error free state, the “Transmission” rate can be increased to the maximum value.

CHAP 3IndraWorks I/O−Configuration 13

Load Profibus−DP Configuration into PLC−Controller

1. Callup “IndraLogic” by double clicking withthe left mouse button onto the icon “Logic”

2. Click onto the tab “Ressources” and open the I/O−Configuration window by double clicking with the left mouse button onto “PLC Configuration” (<R> = is managed by “IndraWorks”)

3. Check, if the I/O−Configurationwas taken over from“IndraWorks” without errors



4. Select “Project / Rebuild all” andcompile the Indralogic project

5. Check, if the project was compiled without erros



6. Select “Online / Login” and load theIndraLogic project into the PLC−Controller

8. Check the function of the I/O−Modules and the status of the connected signalsj − Signalzustand ist “0” (False)J − Signalzustand = “1” (True)

7. After loading is completed, start the PLC− Program using “Online / Run”

IndraLogic Program structure CHAP 4

Kapitel 2Chapter 5CChapter 4

IndraLogicProgram structure






CHAP 4IndraLogic Basic Setup 1

Setting the basic parameters for Indralogic − “Load & Save“

2. Click onto “Load & Save“, to define thesystem properties and the memory handling

1. Click onto “Project / Options“,to setup the basic parameters

Create Backup• With every “Save” a backup file with the extension ”.bak” is generated• This *.bak“ −file is kept after closing the project. and can be restored when requiredAuto Save• While you are working, the project is saved according to a defined time interval to a temporary

file with the extension ”.asd”., which is erased at a normal exit from the program• If for any reason IndraLogic is not shut down ”normally”, then the file will not be erased• If the project is opened again, you are promted, if you want to open the “original file” or

the “auto save file“Ask for project info • When saving a new project or saving a project under a new name, the project info is

automatically called• You can visualize the project info with the command ’Project / Project info’ and alter itAuto Load• At the next start of IndraLogic the last open project is automatically loaded• This can also be achieved by entering entering the project in the command lineSave before compile• The project will be saved before each compilation inta a file with the extension ”.asd”, which

behaves like described under option ’Auto Save’Remind of boot project on exit• If the project has been modified and downloaded without creating a new “Boot project” since the

last download, a dialog will remind the user before leaving the project, and the “Boot project” can be newly generated


Setting the basic parameters for Indralogic − “Editor”

Number of space per “Tab” (e.g. 2)

Select a fixed font type (e.g. Courier)

Autodeclaration• If this option is activted , then after the input of a not−yet−declared variable, the “Variable”

declaration window is called up automaticallyAutoformat• If this option is activated, an automatic formatting is carried out when a line completed

− the following formatting is carried out• Operators and Keywords written in small letters are converted into capitals• Tabs are inserted automatically to achive uniformly divided columns

List components• If this option is activated, “Intellisense” will be activated with the following functions:

− if you insert a dot at a position where a identifier should be inserted, then a selection list will opened, offering all global variables which are found in the project

− If you insert the name of a function block instance, followed by a dot, a selection list of all Declarations as tables• Variables are displayed in a table instead of using the usual declaration editor.• This table is sorted like a card box, where you find tabs for input variables, output variables

local variables and in_out variables.Mark• the representation of theactual mark in the graphical Editors can be selected as:

− dotted rectangle− a rectangle with solid lines− as a filled rectangle

Bit values• the representation of the binary datatypes (BYTE, WORD, DWORD) in “Monotor” can be set to

Decimal, Hexadecimal order BinarySurpress monitoring of complex types (array, pointer, VAR_IN_OUT)• if this option is activated, complex data typs like Arrays, Pointers, VAR_IN_OUTs are not

displayed in the Monitor window, when Online Mode is selectedShow POU symbols• if this option is activated, icons will be displayed inside of the POU−Boxes, if they are stored as

bitmaps in the Library directory (POU−Name “TON” = Symbol name “TON.bmp”)


Setting the basic parameters for Indralogic − “Desktop”

language selection for the User Interface, program code is notchanged (Code is always in “English”)Note ! Language selection is only possible under Windows NT,Windows 2000 und Windows XP möglich

Toolbar• a toolbar with buttons for faster selection of menu commands is dispalyed below the menu bar

Status bar• a status bar at the lower edge of the main windowis displayed

Online in Security mode:• In “Online mode” with the commands ’Run’, ’Stop’, ’Reset’ ’Toggle Breakpoint’, ’Single cycle’,

’Write values’, ’Force values’ and ’Release force’, a dialog box appears with the confirmation request whether the command should really be executed

• This option is saved with the project

Query communication parameters before login• as soon as the command ’Online’ ’Login’ is executed, a communication parameter dialog will

be displayed• To go into online mode, this dialog must be confirmed by clicking onto the “OK” button

Do not save communication parameters in project• The settings of the communication parameters dialog (’Online’ ’Communication Parameters’)

Printer borders• In every editor window, the limits of the currently set print range are marked with red dashed

lines• Their size depends on the following:

− paper size− orientation

F4 ignores warnings• After compilation, when F4 is pressed in a message window, the focus jumps only to lines with

error messages, warning messages are ignored

MDI−representation• with active MDI−Option multiple windows can be opened• with deactivated MDI−Option only one window can be opened in Full Screen Mode


Setting the basic parameters for Indralogic − “Directories”

Directory selection

• in the “Project” and “General” sections of this window the default directories can be entered• these directories are used to search for “Libraries” or “Control configuration files” or to save the

compiled program file and the Source upload files• Compiled files are of the type “.map” and “.list”, the “Symbol” files however are stored directly

into the project directory• for the “Library” and “Configuration” files several directories can be entered, separated by a

semicolon “;”

Note !Do not use empty spaces and special characters except for ”_” in the directory names.

Validity of inputs• Entries made in the “Project” section are stored into the Project file• Entries made in the “Generall” section are stored into the “.ini” − file of Indralogic and they are

valid for all projects• In the section “Target” the default names of the directories for Libraries and Configuration files

are taken from the Target system settings (e.g from the Target configuration file)• These fields are blocked for editing, entries however can be selected and copied

Note !The search order is defined as follows• first the directories entered in the ’Project’ sections are searched• next search path is taken from the ’Target’ section• finally the directories entered n the “General” section are searched

Important note !• If two files with the same name are found, the one in the directory that is searched first will be

used


Setting the basic parameters for Indralogic − “Build”

Note!If the “Number of “Data” segmentsis not sufficent enough for the current project, the compiler will output an error message

Debugging• Additional to the program code, debugging code is created, resulting in a considerably larger file •

The debugging code is needed in order to make use of the debugging functions offered by IndraLogic (e.g. breakpoints)

• When this option is switched off, project processing becomes faster and the size of the code decreases.

• The option is stored with the project.Replace constatnts• The value of each constant is loaded directly, in Online mode the constants are displayed in green• Forcing, writing and monitoring of a constant is then no longer possible• If the option is deactivated, the value is loaded into a storage location via variable access (this

does in fact allow writing the variable value, but implies longer processing time).Nested comments• Comments can be placed within other comments

Example: (*a:=inst.out; (* to be checked *)b:=b+1;*)

• the comment that begins with the first bracket is not closed by the bracket following ”checked,” but only by the last bracket

Create binary file of the application• A binary image of the generated code (boot project) is created in the project directory during

compilation (File name: “Project_name.bin”)Number of data• Enter here how many storage segments are to be reserved for your project data in the

controller. (This space is required so that an Online Change can still be carried out when new variables are added)

Note !All entries in the Build Options dialog are stored into the project file


Setting the basic parameters for Indralogic − “Source download”

Note !Source download requires time, when loading aprogram. If source is not required in PLC don’tdownload it, to speed up load process.

• The option “Sourcecode only” exclusively affects the Indralogic file (file extension .pro)• The option “All files” also includes files such as the associated library files, visualization

bitmaps, configuration files, etc.• The option “Implicit at load” allows the selected file range to be automatically loaded into the

controller system on the command ’Online / Login’. • The option “Notice at load” offers a dialog, when the command ’Online / Login’ is selected,

with the question ”Do you want to write the source code into the controller system?”Pressing “Yes” will automatically load the selected range of files into the controller system, or you can alternatively click onto “No”, and the source code is not loaded into the controller.

• The option “Implicit an create boot project” allows the selcted file range to be automatically loaded into the controller system on the command ’Online’ / Create boot project’

• The option “On demand” loads the source code only, if ’Online / Sourcecode download’ is selected in the “Online” menu

Download “Source code” from the controller


IndraLogic − “Symbol configuration”

FunctionThe settings made here, are used to configure the handling of the “Symbol file”“Projectname.sym” or as a Binary−File of the name “Projectname.sdb”.The “Symbol file” is required for the data exchange with the controller, and is used by the “OPC−” or“GateWay DDE“ − Server.Settings• If the option “Dump symbol entries” is activated, all project variables will be stored automatically

into the “Symbol file” during the compiler run (Projectname.SYM)• If the option “Dump XML Symbol table” is activated, all project variables will be additionally

stored into a XML−Version of the “Symbol file” (Projectname.SYM_XML)• both files will be stored into the project directoryConfiguration of the Symbol file entries with the button “Configure symbol file”• If the option “Symbol configuration from “INI−File” is activated in the “Target settings”, the

symbol file entries will be generated using the “IndraLogic.ini” file or from another “*.INI” file which is defined in the “Indralogic.ini” file (in this case, the object attributes cannot be edited)

• If option “Symbol configuration from “INI−File” is not activated in the “Target settings”, the symbol file entries will be generated according to the selection made with “Configure symbol file”


IndraLogic − “Symbol configuration”

The following options are available:Export varibales of objects• All variables of the selected objects are

taken over into the “Symbol file”Export data entries• for structures and arrays of an object

entries for the access to the main variable are generated

Export structure components• each structure variable is generated

as an individual entry in “Symbol file”Export array entries• each element is genertated as an

individual entry in the “Symbol file”Write access• all variables in the “Symbol file” are

enabled for “Write” access

Select all objects from which the variableshave to be stored into the “Symbol file”


“Target System” − Basic setup − “General”

Depending on the selected “Target System”, certain functions can be set / reset by “IndraLogic”using “Resources / Target System / General”

Note !Adaptions of the functions is only possible, if the “Target System” is checked out from the ENI−Database


“Target System” − Basic setup − “General”I/O−Configuration / No address check

An I/O−Address can be defined only once.n The same I/O address can be defined in several tasks.

Support preemptive multitaskingn A Task with a low priority can be interrupted immediately by a task with a higher priority.

The Task with low priority is continued after the high priority task has been completed.

Byte addressing modeEach variable allocates memory according to its size.

The addressing of the Variables is done according to their size (B, W, D)n The addressing of the Variables is done generally Byte by Byte.

Online ChangeLoading of changes requires a STOP of the controller.

n Changes are loaded without of a STOP of the controller.

Update unused I/O’sVariables not used in theprogram are not updated in the I/O Update Cycle

n all Variables no matter if they are used in the program or not, are updated in the I/O Update Cycle

Download symbol fileSymbol files are used as address references for external OPC−Clients or for the Communicationrequests of VCP− or VPP − Panels. They are generated, if the checkbox in ’Project / Options /Symbol configuration’ is checked.

The Symbol file is not loaded into the L40n The Symbol file is loaded into the L40

Symbol config from INI fileThe Symbol configuration is defined in ’Project’ / Options’ under the function’Configure symbol file’ .

n The Symbol configuration is read out of the INDRALOGIC.INI file. The button’Configure symbol file’ is not available with this selection.

PLC BrowserThe PLC Browser is a tool, which can communicate with the L40 via command line commands

The PLC Browser is not available in the Resources.n The PLC Browser is available in the Resources.

TraceThe Trace function makes available a 8−channel Oscilloscope for digital and analogue values, whichcan be used to monitor “Global” − Variables.

Trace is not available in the Resources.n Trace is available in the Resources.

Load boot project automatically The boot project must be updated manually with the command ’Online / Create boot project’ in the L40.

n The Boot project is updated with each “LogIn” (Load / Online Change) in the L40 Flash−Memory

Retain forcing• The active forcings remain active, after a new program is loaded

11IndraLogic Project Structures CHAP 4

Project structure

Project

Programs /Modules Global Variables Data Types

Declarations Code

Main program “PLC_PRG”

Update of input status

Processing of forcing list inputs

Processinh of the IndraLogicApplication

Callup of additionalPrograms, Functions and

Function Blocks

Update of output status

Functions of theIndralogic

Runtime system

IndraLogic Application( user specific program)

The module “PLC_PRG”has a special status among allother modules.

“PLC_PRG” is the only module,which is directly called by the“runtime system

Processing of forcing list outputs


IndraLogic directory structure on harddrive (Development system)Um

Development systemDirectory structure is generated during theinstallation process


IndraLogic directory structure on harddrive (Project data)Um

Example :


Files in the Indralogic programming systemThe following table shows the predefined file extensions and their assignment to theused files:

File extension corresponding files

<Project name>.pro the IndraLogic project file *.lib, *.obj, *.hex libraries and if available the corresponding object and hex−files *.ci compiler information *.ri download/reference information IndraLogic.ini INI file

*.trg target files in binary format for all installed targets*.txt target files for the installed targets in text format, if available*.tnf target files in text format (only for installation − reference to *.trg)

*.cfg, *.gsd *.eds, files used for PLC configuration (configuration files, device files, *.dib, *.ico icons etc.) *.sdb, *.sym symbolic informations generated from the project

*.log project log file *.bmp bitmaps for project POUs and visualization

Retain.BIN Pointer to the adresses of remanent ’RETAIN’ variables, in NvRAM

Persist.DAT remanent ’PERSIST’ variables on the FLASH card

MPS.BIN Master Parameter Set for the Profibus−DP configuration

Ethernet.BIN Contains the IP address, Subnet Mask and Gateway address

Config.DAT Stored data of the control configuration

Bootrom.SYS Boot sector for VxWorks operating system

Default.STS Status of the control after a restart

Default.PRG Boot project − Program codeDefault.CHK Boot project − Checksum

Source.DAT Compressed source code stored on the FLASH card


Display structure IndraLogic

Modules Data Types ResourcesVisualization

Declaration window for variables

Program window

Message and Error display


Generation of a new “Folder”

1. Select level under which the new structure is to be generatede.g. POU’s

2. Press right mouse buttonand select “New Folder”

3. Select “New Folder” object, press right mouse buttonand select “Rename Object”


Generation of a new “Object”

1. Select the “Level” and the “Folder” under which the “New Object” is to be inserted

2. Press the right mouse buttonand select “Add Object”

3. Select “Type of POU”,“Language of POU” and enterthe “Name” of the new POU

CHAP 4IndraLogic Program Structures 18

Elements of Program Organization Units (POU)

Configuration Ressource Task

Data types & variables

Program Organization Units (POU)

Program (PRG)

Function Block (FB)

Function (FUN)

• The modules which a project is made of are called Program Organization Units by the IEC61131 standard

• POU’s are the same as the Program, Organization, Sequence and Function modules used in the PLC−Programming world

• To reduce the large variety, very specific meanings of module types and to simlify the programming of them, is the most important goal of the standardization


Elements of Program Organization Units (POU)

OM

PM

SM

FMDM

Organizationmodule

ProgrammoduleSequence

module

Datamodule

Functionmodule

(PRG)

(FB)

(FUN)

Programming languages for POU’s

POU − Type Keyword Description

Program Program Main program with allocation of PLC−I/O devices,Global Variables and Access Paths

Functionblock Function_Block Module with Input and Output VariablesIs the mainly used POU−Type for programming

Function Function Module with Return Value to extend the instruction set of aPLC

LDR

LIST

FUP

ST

SFC


Elements of a Program Organization Unit (POU)The following three POU−Types differ by the the properties of their usage:

Function (FUN)• Parameterized POU without static variables (without memorized values), which returns

always the same result with the same input parameters as a function result value.

Function block (FB)• Parameterized POU with static variables (with memorized values)• A Function Block (e.g. Timer or Counter module) with the same input parameters returns

results, which depend on the status of the internal (VAR) and external (VAR_EXTERNAL)variables, which remain unchanged between FB−Calls.

Program (PRG)• This POU−Type represents the “Main Program”• All variables of the complete program, to which physical address have been assigned

(e.g. Inputs and Outputs of the PLC) must be declared inside of this POU or above (Ressources, Configuration)

• remaining properties like FB

Usage of parameters• Programs (PRG) and Function Block (FB) can be programmed together with parameters,

which can be passed together with the call of the module• Functions have “Input” parameters and one “Function Return Value”• Such properties have been previously only available with Function Blocks• This makes an IEC 61131−3 FUNCTION_BLOCK with Inputs and Output parameters

equivalent to the previously used Function Modules in PLC’s• As a result of the extended or restricted properties of the POU−Types PROGRAM and

FUNCTION, there are no eqivalent counterparts in modules according to DIN 19239

General Specifications• A POU is a self contained unit, which can be compiled independently from other program

parts by the compiler• However the compiler requires information about the calling interface of the POU’s, which

are called inside of the module (Prototypes)• To build the complete program, compiled POU’s can be linked together later on• The name of a POU is known inside of the complete project and must not be allocated

several times at different locations• Local Subroutines, which are possible with other high level languages, are not known by

the IEC 61131−3 standard• This makes the name of a POU and its calling interface globally available to all other

POU’s in a project, as soon as the POU has been declared • This autonomy of the POU’s, makes not only possible an extensive modularization of an

application, but also the reusability of already implemented and tested programs


Elements of Program Organization Units (POU)A POU consist of the following parts:− Definitionof the POU Type with POU Name (and Data type with Functions)− Declaration sectin with the variable declarations− POU−Body with the program code

Program Prog name Function_Block FB name Function FUN name

Interface variables

Local variables

Program code(POU Body)

Declaration section

Code section

Declaration section• Declarations are are used to define all variables of a POU• A difference is made between the “Local” (internal) variables of a POU and the

“Interface” (In /Out) variables, which can be seen by the outside program

Program code section (POU Body)• In the Program section of a POU the binary logic and/ or the data processing

is to be programmed using one of the following progrmming languages− Instruction list (IL)− Ladder Diagram (LD)− Functions Plan (FBD)− Structured Text (ST)Function_Block FB name Function_Block Continue

Interface variables

Local variables

Program code(POU Body)

VAR_INPUT VarIN : BOOL; END_VARVAR_OUTPUT VarOUT1 : BYTE ;

VarOUT2 : BOOL ; END_VAR

VAR VarLocal : BYTE ; END_VAR

LD VarIN...LD VarLocalST VarOUT1...ST VarOUT2


Deklaration section of Program Organisation Units (POU)Usage of Variable types inside of the 3 POU Types

Variable type permitted inside of

PROGRAM FUNCTION_BLOCK FUNCTION

VAR yes yes yes

VAR_INPUT yes yes yes

VAR_OUTPUT yes yes no

VAR_IN_OUT yes yes no

VAR_EXTERNAL yes yes no

VAR_GLOBAL yes no no

VAR_ACCESS yes no no

• as shown in the table above, all variable types can be used together with a “Program”• Function blocks cannot provide global variables to other POU’s, this is only permitted in

Programs, Ressources and Configurations• Function blocks can acces such global variables only by using the variable type

“VAR_External”• Functions are the most restrictive POU’s, because they can only use “VAR” and

“VAR_INPUT” variable types• Functions return their “Result” via the Function Value• Except for the “Local” variable type “VAR”, all other variable types can be used to

exchange information between different POU’s


Characteristics of the POU−InterfaceBy allocating the “POE−Variables” to “Variable types” inside of the declaration block,the interface of the POU and its “Local data” range is determined.

The POU−Interface is arranged as follows:− Calling interface: Formal parameters (Input and Input / Output parameters)− Return values: Output parameter or Funktion value− Globale interface with globale / external variables and access paths

• Calling interface and Return values / Function values of a POU can also entered in a graphical format using “LDR” or “ FUP”

• The Variables of the Calling interface are also refered to as “Formal “ parameters• At the time when a POU is called the “Formal” parameters are assigned to “Actual”

parameters• this means they are assigned to actual variables, values, signals or constants

Variable type Description

Calling interface(Formal parameters)

VAR_INPUTVAR_OUTPUT

Input / Output parameters displayable in graphicalrepresentation

Return value VAR_OUTPUT Output parameters displayable in graphicalrepresentation

Global interface VAR_GLOBALVAR_EXTERNALVAR_ACCESS

Global data

Local data VAR Internal POU data


Formal parameters and Return values of a POUThe two calling interfaces respectively the Return values differ in the access methoderespectively the access right

Formal parameter (VAR_INPUT)• The actual parameters are passed on to the POU as values i.e. not the variable itself is

passed to the POU but a copy of it• this assures that the value passed via the input variable cannot be altered inside of the

called POU• This concept is also known as call by value

Formal parameter (VAR_IN_OUT)• The actual parameters are passed on to the POU as a pointer to its memory location,

i.e. the variable itself is passed on to the POU and can be read and altered inside of the called POU

• Alterations of the value affect directly the value of passed variable outside of the POU• This concept is also know as call by reference• This type of variable offers “Pointers”, like in high level languages (e.g. “C”),• in a high level language they are used as Return values from subroutines, by returning

the memory address of the corresponding parameter

Return value (VAR_OUTPUT)• Return values are not passed to the calling POU, but they are available as values in the

calling POU• They are not part of the calling interface• They are graphically represented together with VAR_INPUT and VAR_IN_OUT

but their values are further processed as read only in text base languages like “LIST” and “ST”

• the returned value is passed back to the calling POU using the return by value concept, i.e the value is available for the calling instance (FB or PRG)

• this protects the output parameters from being altered by the calling POU• Together with the POE−Type “PROGRAM”, the output parameters are passed on to the

actual parameter and can be used for further processing in the calling module• If arrays or user defined data structures are passed as variables, the usage of

VAR_IN_OUT can result in very efficent programs,• reason is, that the variables must not be copied at runtime like VAR_INPUT or

VAR_OUTPUT, only their pointers have to be passed• but this has also the disadvantage, that the variables are not protected from unwanted

manipulations from the caling POU


External and internal access to POE−Variables• one characteristic of Formal parameters and Return values is their visibility outside

(external) of the POU in which they are used• the calling POU can (but must not) use their names explicit to set input variables• this results in a better documentation of the calling POU and paremeters can be

exchanged or ommited• Input and output variables possess in this context an additional protection against

unwanted Read or Write operations

Variable type Access rights DescriptionVariable type Access rights Description

external internal

VARLocal variable

− RW A local variable is only vissble inside of a POUand can only be altered inside of this POU

VAR_INPUTInput variale

W R An input variable is visible in the calling POU andcan be altered there. Inside of the called POU, thevariable is read only

VAR_OUTPUTOutput variable

R RW An output variable is visible in the calling POU andcan only be read there. Inside of the called POU,the variable has read / write access rights

VAR_IN_OUTInput and Outputvariable

RW RW An input / output variable has the combined capa-bilities of VAR_INPUT and VAR_OUTPUT. Thevariable has read / write access rightsinside and outside of the called POU

VAR_EXTERNALExternal variable

RW RW An external variable was declared as a global va-riable in another POU. This variable isavailable to all other POU’s with read / writeaccess rights. Every change inside of a POU isalso available to the outside.

VAR_GLOBALGlobal variable

RW RW A global variable is declared inside of a POU. This variable is available to all other POU’s withread / write access rights. Every change inside ofa POU is also available to the outside.

VAR_ACCESSAccess path

RW RW A global variable of configurations, used as acommunication channel between components(Ressources) of configurations. This variable canbe used like a global variable inside of a POU

W = Write accessRL = Read accessRW = Read / Write access

© 2004




CHAP 5 ILoad / Unload

Chapter 5

Program

Load / Unload

CHAP 5Load PLC−Program 1

Load options and Memory structure

PC with Indralogic PLC Memory

newly loadedprogram

actual runningprogram

Boot project

Name :Default.prg

Source codecompressedOriginal Project

Name:Source.DAT

IndralogicProject file

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Name.SYMName.SDB

PC with IndralogicPLC Memory

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Check and compile complete PLC−Program

1. Select “Project / Rebuild all” in the menubar, to check/compile PLC−Program

2. Check if compiler result is error free

Note !If errors are displayed at the end of the compiler run, press “F4” to jump directly to theincorrect program statement.If you have lots of errors, check, if you have included all required libraries.


Check interface setting to PLC (IP−Address)

1. Select “Online / Communication Parameters” in the menubar, to check/setthe IP−Address of the CPS21−Panel and the internal IP−Address for theSoftware − PLC

2. Confirm settings, by clicking onto the “OK” button

VPP / BTV PanelsSoftware PLC

L20 / L40 / VEP30Hardware PLC


Load PLC−Program into the PLC

1. Select “Online / Login” in the menubar, to load the error free compiledPLC−Program into the PLC

2. Confirm “Loading” by clicking onto the “Yes” button

3. Start the PLC−Program”


Generate “Boot Project” in PLC−Controller

1. Select “Online / Create Boot project” in the menubar, to generate a “Boot” project in the PLC−Controller

2. Check if you are “Online” (Logout is displayed,if you are logged in and online)”

© 2004




CHAP 6 IExport / Import

Chapter 6

Export / Import

of Project data

CHAP 6Export / Import 1

Export of Project data

Note !IndraLogic handles the data entered in a project, in individual sections, inside of the developmentenviroment. If individual program sections have to be taken over into another project, it would be todifficult to export the data with “Copy” and “Paste”.However if the function “Export” is used, not only the data is copied, but also the structures and thevariables. The “Export” file generated, is a plain ASCII − File, which includes all selected programs,structures and variables in ASCII − Format.

1. Select “Project / Export” in the menubar

2. Press the “CTRL” key and keep it pressed, then select all directories, individual programs, Variables and datastructures in the displayed window, which you want to export


Export of Project data

3. Select the “Target” directory in the displayed “Explorer” window, into which the “Export” file is to be stored

4. Enter the name of the “Export” file and take over the data, by clicking onto the “Save” button

6. Close the current project via “File / Close”, before you open the new project into which you want to “Import” the exported data


Import of exported project data

Note !In order to insert the previously exported project data from an “Export” file into another project, thefunction “Import” must be used .Caution !With the “Import” function not only the program data, but also the directory structures, variables anddata types are inserted into the current project (i.e. existing structures, variables and datatypes in the current project can be overwritten by the imported data).

1. Select “Project / Import” in the menubar

2. Select the directory from which you want to import the “Export” file, in the displayed “Explorer” window

3. Select the “Export” file, which is to be imported intothe current project, by clicking onto the “Open” button

4. If structures, variables or programs of the same name are present in the current project,a warning message is displayed. In the displayed window the further processing of the import can be selected (i.e. a selection can be made, if the existing data is to beoverwritten or if the imported data is to be discarded)

Yes− existing Structure

is overwritten

No− existing Structure

remains unchanged, a new structure with the extension “_1” is created


Import of exported project data

5. Check the current project for existing errors, by carrying out a new “Compiler” run(Project / Rebuild all)

© 2004




CHAP 7 IProgramming

Chapter 7Programming

with Indralogic

CHAP 7I/O Definition 1

Address definition of Inputs, Outputs and Markers

Structure of address definition

% Percentage signI − InputQ − Output M − Marker

X − Single Bitwithout − Single BitB − ByteW − WordD − Double Word

2.7 − Bit− Address13 − Byte Address18 − Word Address20 − Double Word Address

Addressing examples:

%QX2.7%IB13%IW18%MD20

Addressing example with Symbolic names:

Valve_1 AT %QX2.7 : BOOLLedBar AT %IB13 : BYTEST1_Value AT %IW18 : WORDTemp1 AT %MD20 : DWORD

Important note !The address format in Indralogic is set to Byte−Addressing mode by default.This means, the Profibus−DP I/O addresses and the addresses used inside ofIndralogic are identicalIf Word addressing mode is selected, the Profibus−DP I/O addresses must bedivided by 2, in order to get the correct IndraLogic Word address.

Examples Byte addressing mode:IndraLogic Profibus%QX2.7 Q2.7 %IX7.4 I7.4%IX7.7 I7.7

Examples Word addressing mode:IndraLogic Profibus%QX2.7 Q4.7 %IX3.12 I7.4%IX3.15 I7.7


Definition of Input, Outputs and Markers

Using bit signals in the program


Monitoring of Bit−Signals

Important note !The status of a signal in the display below, is only updated and displayed, if the signal isused somewhere else in the program (Program must be called and processed)

CHAP 7Standard Data Types 4

Standard Data Types in Indralogic

The IEC 61131−3 standard defines five groups of basic data types− Bit sequence (ANY_BIT),− Integer with / without sign (ANY_INT),− Floating point (ANY_REAL),− Date, and Time (ANY_DATE),− String, Duration, Abgeleitete (ANY).

In the following table the properties of the five data type groups are described:

− Name (Keyword)− Description (Short description)− Number of Bits (Data width)− value range (with related IEC−Literal)− Defaullt values „initial“

The data width and the value range given below, is depending on the target system and theimplementation of the software

Data type Description Bits Range DefaultBOOL boolean 8 0,...,255 0WORD Bit sequence 16 16 0,...,65535 0DWORD Bit sequence 32 32 0,...,4294967295 0SINT short integer 8 −128,...,+127 0INT integer 16 −32768,...,+32767 0DINT Double integer 32 −2147483648,...,2147483647 0USINT Unsigned short integer 8 0,...,+255 0UINT Unsigned integer 16 0,...,+65535 0UDINT Unsigned Double int 32 0 ,..., + 4294967295 0REAL Float 32 0.0LREAL long float 64 0.0

Data type Description DefaultDATE Date d#0001−01−01 (treated like a D−Word)TOD Time of day tod#00:00:00 (treated like a D−Word)DT Date & Time dt#0001−01−01−00:00:00 (treated like a D−Word)TIME Duration t#0s (treated like a D−Word)STRING Sequence of characters. (max. 255 char., Default without definition 80)

Instead of the keyword TOD it also possible to use the keyword TIME_OF_DAYInstead of keyword DT it also possible to use the keyword DATE_AND_TIMEDefault value for a string is an empty character sequence.

CHAP 7Variable declaration 5

Validity of Variables

Global VariablesVAR_GLOBAL.END_VAR

LocalVariables

VAR.END_VAR

Program (PRG)

LocalVariables

Program (PRG)

Interface Variables

VAR_INPUT.END_VAR

VAR_OUTPUT.END_VAR

Var_IN_OUT.END_VAR

VAR.END_VAR

Program (FUN & FB)

ProgramProgram

Program

VAR.END_VAR

LocalVariables

P r o g r a m


Declaration of Variables


Declaration of Constants


Global Variables in POU’s via “VAR_EXTERNAL”


Online − Status display of variables in declaration window


Resizing the Online Window


Selection of display format in Online mode

© 2004




Programming in LIST CHAP 8


in LIST

1Programming in LIST CHAP 8

Creation of a program in LIST

Input :

AND( S0

After input :AND ( S0

1.Click with the left mouse button onto the “Level” and the “Folder” under which the “New Object” is to be inserted

3. Select “Type of POU”, “Language of POU”and enter the “Name” of the new POU



Calling of POU’s with and without parameters in “LIST”


Programming of logic operations in LIST (Example 1)

• Logic operations in “List” are programmed using the statements “AND”, ANDNOT”, “OR” and so on

• the first statement of a rung must be always “LD”• If brackets have to be used, the rules of the Boolean Algebra cannot be applied 100%

Note ! Only round brackets “(” and “)” are valid

Bracket rules:The result of an operation is always set with the close bracket ”)“ statementThe result produced at this point, is used as a logical “AND” with the next contact or the nextblock of brackets

Rule• If more than one contact is connected in parallel to an

other contact, this “OR−Branch” must be set into brackets• If only one contact is connected in parallel, the rule “AND”

before “OR” applies and no bracket is required

/



Rule• If more than one contact is connected in parallel to an other contact, this “OR−Branch”

must be set into brackets• If only one contact is connected in parallel, the rule “AND” before “OR” applies and no

bracket is required



Rule• If a contact is in front of another contact block, the complete contact block has to be

set into brackets• Inside of the contact block which is set into brackets the following rules apply:• If more than one contact is connected in parallel to another contact, this “OR−Branch”


bracket is required






bracket is required






bracket is required


Monitor display in LIST (PRG’s)


Creation of a “Function” in LIST





Definition and Usage of a “Function” (FUN)

Program inside of a “Function”

Calling a “Function” in the program


Online − Status display of “Functions”

Status display in the calling program

Status display inside of the “Function”


Creation of a “Function block” in LIST





Definition and Usage of a “Function block” (FB)

Program inside of a “Function block”

Signals used together with the call of the “Function Block”


Definition and Usage of a “Function block” (FB)

Call of a “Function Block in a program

Manual_Move(FB) Robot_1_Right1.Instance

Memory1.InstanceVar_Input

Work_limit :Manual_mode :E_Stop :Jog_Work :Jog_Base :

End_Var

Var_OutputMovement :

End_Var

Inputs:_Right_Manual_ESTOP_Key_Work_Key_Base

Outputs:_Y1_Right

Robot_1_Left2.Instance

Memory2.Instance

Inputs:_Left_Manual_ESTOP_Key_Base_Key_Work

Outputs:_Y1_Left

Inputs:_Left_Manual_ESTOP_Key_Base_Key_Work

Outputs:_Y1_Left

Inputs:_Right_Manual_ESTOP_Key_Work_Key_Base

Outputs:_Y1_Right


Online − Status display of “Function blocks”

Monitoring in the Global variable definition window

Monitoring of the function block in the calling module


Online − Status display of “Function blocks”

Monitoring inside of the Function Block

1. Double click onto the functionblock in the left window

2. Select instance by double clicking on it

3. Signal status inside of the selected instance is displayed

© 2004




Programming in LDR CHAP 9


in LDR

1Programming in Ladder CHAP 9

Creation of a program in LDR





Input of a program in LDR

1. Empty program branch, with selectionmark at the end of the branchs

2. Click onto the “AND” button

3. Enter the symbolic name of the signal

4. Click with the left mouse button onto an existing contact, in order to mark the start position for the next input

5. Click onto the parallel contact button (OR)


7. Click with the left mouse button onto thebasic line, in order to insert a new “AND” contact or an “Output” element


Alteration of program in LDR

Addition of a new OR − Element

1. Press the “Shift” key and keep it pressed, then select allcontacts to which you want to connect the new “OR” element in parallel, by clicking with the left mouse button on them

2. Click onto the “OR” button

Addition of a new “AND” element

1. Click with the left mouse button onto the element, where you want to insert the new “AND” element in front of it

2. Click onto the “AND” element button




Adding a new LDR−Network branch

1. Press the right mouse button and select “Network (after)“ or “Network ( before)”

2. Enter the logic for the new network in LDR


Addition of “Function blocks” in LDR

1. Click onto the position where you want to insert the “Function block” and position the mouse pointer at this position

2. Press the right mouse button, to call up themenu, then select “Function block”

4. Enter the parameters of the “Function block” andif required declare a new instance for the “FB”

3. Select the desired “Function block” andconfirm by clicking onto the “OK” button


Addition of “FBD−Operators” in LDR

1. Click onto the position where you want to add a “FBD−Operator“

2. Press the right mouse buttonand select “Box with EN”

3. Click with the left mouse button onto“AND” and than press function key “F2”


Addition of “FBD−Operators” in LDR

4. Click onto “FBD−Operators“ in the left window and select the “FBD−Operation” that you want to insert (e.g. “MUL”)

F2

5. Enter the Variables / Signals, which youwant to use with the “FBD−Operator”


Call of Programs (PRG’s) in LDR

1. Click onto the base line of the network into which you want to add a program call

2. Press the right mouse buttonand select “Box with EN”

3. Click with the left mouse button onto“AND” and than press function key “F2”


Call of Programs (PRG’s) in LDR

F2

5. Click with the left mouse button directly onto the base line in front of “???”,and than press the “Delete” key to delete the output assignment and “???”

Note !Only if the output assignment is deleted an error free compiler run is possible

4. Click onto “Standard Programs“ or “User defined Programs“ in the left window, and than select with the left mouse button, the “Program” that you want to insert


Call of Functions (FUN’s) in LDR

F2 4. Click onto “Standard Functions“ or “User defined Functions“in the left window, and than select with the left mouse button, the “Function” that you want to insert

5. Enter the Variables / Signals, which youwant to use with the “Function”


Call of Function Blocks (FB’s) in LDR

F2

5. Enter the Variables / Signals, which youwant to use with the “Function Block”

4. Click onto “Standard Function Blocks“ or “User defined Function Blocks“ in the left window, and than select with the left mouse button, the “Function Block” that you want to insert


Conditional calls of PRG’s, FUN’s and FB’s in LDR

Note !If Programs, Functions and Function Block have to be called conditionally, the function “Box with EN” has to be used in Ladder diagram

1. Click with the left mouse button onto the base line in front of the Program, Function or Function Block, which has to called conditionally

2. Click onto the “AND” contact in the toolbar

3. Enter additional logic to be used with the conditional call


Online display of POU’s written in LDR

Logic result is “TRUE”

Logic result is “FALSE”


Additional display options in LDR

1. Select “Extras / Options” in the menubar

Default setting

2. Activate the desired additional options in the displayed selection window


Comment input in LDR

1. Press the right mouse button and select “Comment”

2. Enter the first line of the comment(to make a new line, pressthe “Enter” key)


Jump instruction in LDR

3. Enter the jump destination label according to the nemae usedtogether with the “Jump” statement (e.g. End:)

Caution ! This is a comment line

2. Alter the default label from “Label” to a desired label (e.g. “End”)

1. Press the right mouse button and select “Jump”

© 2004




Programming in FBD CHAP 10


in FBD

1Programming in FBD CHAP 10

Creation of a program in FBD





Input of a program in FBD

1. Select “???” and delete the questionmarks with the “Del” key

2. Click onto button “Box” to insert aBasic FBD−Element

3. Press the “F2” key, to call up a“Function” selection window

F2

4. Enter the names of the signals to be used


Adding of new Logic − Elements in FBD

Connection points for new FBD−Elements

At this “Connection point” the following FBD−Elementscan be added:− Box− Assignment− Jump− Return− Set (S) / Reset (R)

At this “Connection point” the following FBD−Ele-ments can be added:− Box− Negation

At this “Connection point” the followingFBD−Elements can be added:− Output


Definition / Alteration the logic or function of a Basic−FBD−Element

1. Click with the left mouse button onto the text displayed inside of the element (Text background is changed to black color)

2. Press “F2” key to call up the Function selection window

F2

3. First select the “Function Group” then the “Function” itself


Deletion of Inputs, Outputs and Elements

Select the Input − Pin to be deleted by aclick with the left mouse button anddelete the pin by pressing the “Del” key

Deletion of an Input pin

Del

Deletion of an Output pin

Deletion of a complete Element

Del

Del

Important note !If an element is deleted to which other elements are connected to, all elements connectedto the input pins of this element will be deleted and the logic is adapted accordingly

Select the Output − Pin to be deletedby a click with the left mouse buttonand delete the pin by pressing the“Del” key

Select the Elemet to be deleted by aclick with the left mouse button anddelete the pin by pressing the “Del” key


Adding a new FBD−Network

1. Press the right mouse button and select“Network (after)” or “Network (before)”

2. Enter the logic into the new FBD−Network


Direct switchover from “FBD” to “LDR” display

1. Select “Extras / View” in the menubar and select the desired display mode


Monitor display in FBD

Representation in BlueLogic result = TRUE

Representation in BlackLogic result = False

Note !The color for the signal status representation can be adaptedunder “Project / Options / Colors”


Input of Comment in FBD

2. Enter comment,to make a new comment line, press the “Enter” key

1. Press the right mouse buttonand select “Comment“


Jumps in FBD

3. Enter the target label according to the entered label (e.g. End: )

Caution ! This is the comment line

2. Adapt the default text for the targete.g. “Label” to “End”)

1. Press the right mousebutton and select “Jump“


Call of Programs, Functions and Function blocks in FBD

F2

1. Select “???” and delete the questionmarks with the “Del” key


3. Press the “F2” key, to call up the“Function” selection window


Call of Programs, Functions and Function blocks in FBD

4. If are there are any parameters,enter the required information


Definition and usage of Timers

F2

4. Select the desired Timer −Function block

1. Select “???” and delete the question marks with the “Del” key




Definition and usage of Timers

5. Enter the name of the instance for the timer functionand define the remaining parameters


Monitoring of Timers / Diagram Switch On Delay (TON)

Time diagram Switch On Delay

Input VariablesIN : Start signal (BOOL)PT : Time command value (TIME) Example T#2s, T#2000ms

Output VariablesQ : Timer check Bit (Bool)

− “Q” = “1”, if “IN” = “1” and if the actual time (ET) is equal to command value (PT)− in alle other cases “Q” = “0”

ET : actual time value (Time)− actual time (ET) is counted up as soon as “IN” = “1” − if command value (PT) is reached, actual time (ET) is stopped


Monitoring of Timers / Diagram Switch Off Delay (TOF)



− “Q” = “0”, if “IN” = “0” and if the actual time (ET) is equal to command value (PT)− in alle other cases “Q” = “1”


Time diagram Switch Off Delay


Monitoring of Timers / Diagram Pulse function (TP)



− “Q” = “1”, if “IN” = “1” and if the actual time (ET) is less than command value (PT)− in alle other cases “Q” = “0”


Time diagram Pulse function (TP)


Monitoring of Timers / Diagram Real Time Clock (RTC)

Input VariablesEN : Enable signal (BOOL)PT : Date/Time command value (DT) Example : DT#2004−04−15−14:00:00

Output VariablesQ : Time check Bit (Bool)

− “Q” = “1”, if “EN” = “1“− in alle other cases “Q” = “0”

CDT : active Date and Time (DT) Example : DT#2004−07−30−22:10:23− as soon as “EN” = “1”, the given command value at “PDT” is set at the output

parameter “CDT” and “CDT” is incremented in steps of seconds as longas “EN” = “1”

− if “EN” = “0”, then “DT#1970−01−01−00:00” is output at “CDT”


Definition and usage of Counters

F2

4. Select the desired Counter −Function block

1. Select “???” and delete the question marks with the “Del” key




Definition and usage of Counters

5. Enter the name of the instance forthe counter function and define theremaining parameters


Online − Status display Up Counter (CTU)

Input VariableCU : Count signal (BOOL) edge triggertReset : Reset signal (BOOL) resets actual counter value “CV” and result bit “Q” to “0”PV : Command value (INT) max. 65535

Output variablesQ : Result Bit (Bool)

− “Q” = “1”, if actual counter value (CV) is equal or greater thancommand value (PV)

− in all other cases “Q” = “0”

CV : actual counter value (INT)− actual counter value (CV) is incremented by 1 as soon as the count signal (CU)

is changing form “0” to “1” or from “1” to “0”− if “Reset” = “1” the actual counter value (CV) and ouput (Q) are reset to “0”− as long as “Reset” = “1” counting is blocked


Online − Status display Down Counter (CTD)

Input VariableCU : Count signal (BOOL) edge triggertLoad : Load signal (BOOL) sets actual counter value “CV” to command value (PV)PV : Command value (INT) max. 65535 Reset : Reset signal (BOOL) resets actual counter value “CV” and result bit “Q” to “0”

Output variablesQ : Result Bit (Bool)

− “Q” = “1”, if actual counter value (CV) is equal to “0”− in all other cases “Q” = “0”

CV : actual counter value (INT)− actual counter value (CV) is decremented by 1 as soon as the count signal (CD)

is changing form “0” to “1” or from “1” to “0”− if “Load” = “1” actual counter value (CV) ist set to the command value (PV)− as long as “Load” = “1” counting is blocked− if actual counter (CV) value reaches “0”, counting is stopped− if “Reset” = “1” the actual counter value (CV) and ouput (Q) are reset to “0”− as long as “Reset” = “1” counting is blocked


Online − Status display Up / Down Counter (CTUD)

Input VariableCU : Count up signal (BOOL) edge triggertCD : Count down signal (BOOL) edge triggertLoad : Load signal (BOOL) sets actual counter value “CV” to command value (PV)Reset : Reset signal (BOOL) resets actual counter value “CV” and result bit “Q” to “0”PV : Command value (INT) max. 65535

Output variablesQU : Result Bit (Bool)

− “QU” = “1”, if actual counter value (CV) is equal or greater thancommand value (PV)

− in all other cases “QU” = “0”

QD : Result Bit (Bool)− “Q” = “1”, if actual counter value (CV) is equal to “0”− in all other cases “Q” = “0”

CV : actual counter value (INT)− actual counter value (CV) is incremented by 1 as soon as the count signal (CU)

is changing form “=” t0 “1” or from “1” to “0”− actual counter value (CV) is decremented by 1 as soon as the count signal (CD)

is changing form “0” to “1” or from “1” to “0”− if “Load” = “1” actual counter value (CV) ist set to the command value (PV)− as long as “Load” = “1” counting is blocked− if actual counter (CV) value reaches “0”, counting is stopped− if “Reset” = “1” the actual counter value (CV) and ouput (Q) are reset to “0”− as long as “Reset” = “1” counting is blocked

Sequence Programming CHAP 11

Chapter 11Sequence

Programmingwith Indralogic

1Sequence Programming CHAP 11

Selection of IEC compliant SFC Input Mode

Note !Indralogic offers 2 different types of SFC−Programming modes. The so called simplified mode, is notcompliant to IEC61131. The other SFC−Mode is compliant to IEC. Before SFC Programming isstarted, the required mode should be activated, because it is not possible to convert it afterwards.

IEC−LibraryIn order to use the IEC−Comliant Sequence, the SFC−Library “IECSFC.LIB” must be added to thelibrary window (Window / Library Manager / Additional Library)

IEC compliant SFC−Programmingmode is active


IEC−Step−Action commandsThe following Step−Action output commands are available in the IEC compliant sequence:

N Non−stored Action is active as long as the step is active

R overriding Reset Action is deactivated

S Set (Stored) Action is activated and remains active until a Reset for thisaction is issued

L time Limited Action is activated for a certain time, but only as long as the stepremains active

D time Delayed Action is activated after a certain time, if the step is still active atthis point and remains active as long as the step is active

P Pulse Action is carried out one time, when the step is activated

SD Stored and time Delayed Action is activated after a certain time and remains active until aReset for this action is issued

DS Delayed and Stored Action is activated after a certain time, if the step is still active atthis point and remains active until a Reset for this action isissued

SL Stored and time Limited Action is activated for a limited time

The Step−Action commands “L”, “D”, “SD”, “DS” and “SL” require a time value in the TIME−Constant format, e.g. T#5s or T#500ms


Creation of an IEC−Sequence program

4. Change the default text from “Init” to “N000” and “Trans0” toe.g. _S1 = TRUE and enter the action to be carried out by this step e.g. “_Y1”

1. Select with the left mouse button the folder under which the new SFC−Programis to created

2. Press the right mouse button and select“Add Object” in the menu

3. Select “Program” and “SFC” in the propertywindow and enter name of sequence module


Adding a new step element

2. Change the default text from “Step2” to “N001” and “Trans1” to e.g. “_S3 = TRUE“ and“Action_1” to e.g. “_Y2”

1. Select “Transition” with left mouse button, press right mouse button and select “Step−Transition (after)” in the popup menu


Copy / Paste an existing “Step” in a “Sequence” module

1. Select “Transition” with left mousebutton, press ”CTRL” key and keep it pressed, then select “Step element”with left mouse button

2. Select “Edit / Copy” in the menubar

3. Select “Transition” after which you want to insert the copied step element, with left mouse button, press the “CTRL” key and keep it pressed, than press right mouse button and select “Paste after”

5. Adapt the “Step number” in the step element

4. Select “Paste after” in the menubar


Deletion of an existing Step−Element

2. Select “Edit / Delete” in the menubar

3. If required, adapt step number

1. Select “Transition” with left mousebutton, press ”CTRL” key and keep it pressed, then select “Step element” with left mouse button


Adding a new Step − Action

1. Click with the left mouse button onto the step element, to which a new action is to be added

3. Adapt the “Default” values to your needs

2. Press the right mouse button andselect “Associate Action”


Deletion of a Step−Action

3. Select the action which is to be deleted and confirm deletion with the “OK” button

1. Click with the left mouse button onto the step element, at which an “Action is to be deleted

2. Press the right mouse button andselect “Clear Action / Transition”


Programming of a step continuation logic

3. Select the programminglanguage, in which thecontinuation logic is to beprogrammed

2. Press the right mouse button andselect “Zoom Action / Transition”

continuation on the next page

1. Click with the left mouse button onto the Transition, for which the continuation logic has to be programmed


Programming of a step continuation logic (continuation)

4. Enter the “Continuation logic”in the selected language

5. By double clicking with the left mouse button onto the object name, you can switch backto the graphical display

6. An active “Continuation logic” is indicated by a black triangle

NoteBy double clicking onto the black triangle, the “Continuation logic” can be called up and edited


Programming an Action−Logic

3. Select the desired“Programming language” and enter the name of the “Action” program

1. Enter the name of the “Action” program

2. Select the name of sequence program inthe left window, press the right mousebutton and select “Add Action”

Continuation on next page


Programming an Action−Logic (continuation)

4. Enter the “Action logic”in the selected language


Programming a step “Entry” logic

Note !The step “Entry” logic is processed only once when the step is selected the first time.

continuation on next page

1. Click with the left mouse button ontothe Step, for which an “Entry” logic isto be programmed

2. Press the right mouse button andselect “Add Entry−Action”

3. Select the desired “Programming language” in which the “Entry” logic is to be programmed


Programming a step “Entry” logic (continuation)

4. Enter the “Entry“ logicin the selected language


Programming a step “Exit” logic

Note !The step “Exit” logic is processed only once when the step is exited.

continuation on the next page

1. Click with the left mouse button ontothe Step, for which an “Exit” logic isto be programmed

2. Press the right mouse button andselect “Add Exit−Action”

3. Select the desired “Programming language” in which the “Exit” logic is to be programmed


Programming a step “Exit” logic (continuation)

4. Enter the “Exit“ logicin the selected language


Deletion of a step “Entry” or “Exit” logic

3. Select the actions to be removed,and confirm by clicking on the “OK” button

1. Click with the left mouse button onto the Step, for which an “Entry/ Exit” logic is to be removed

2. Press the right mouse button andselect “Clear Action / Transition“

4. Click onto the “OK” button, withoutselecting a step action in thedisplayed window

18Sequence programming CHAP 11

Step−Property−Variables

Step variables in SFC

• Default variables are used together with SFC, to make it possible to check the status of asequence in other parts of the program

• Each step has a Flag, which is used to store the status of the step• The Step_Flag − active or inactive status of a step is called:

“Stepname.x“ − IEC−Sequence −> SqA_080_Robot1.N005.x “Stepname” − Simplified sequence −> SqA_080_Robot1.N005

• This boolean variable is set to “TRUE”, if the corresponding step is active, and set to “FALSE”,if the corresponding step is inactive

• this variable can be used in each “Action” and “Transition” of the SFC−POU• To check, if an “IEC−Action” is active or not, the variable “Actionname.x” can be used• Together with IEC−Steps, the active time a step has been active, can be checked using the

default variable “Stepname.t” • it is also possible to access the default variables from other programs inside of the project

Example:act_step_1 : = SqA_050_Loadstation.N001.xHere the default variable “N001.x” is used, to check the status of IEC−Step “N001” inPOU “SqA_050_Loadstation”

act_step_1_Time : = SqA_050_Loadstation.N001.tHere the default variable “N001.t“ is used, to check the time the step has been active


Step−Prpoperty−FlagsIEC−Library

To use the complete set of the IEC−Sequence Flags, the SFC−Library “AnalyzationNew.lib” mustbe linked into the project (Window / Library Manager / Aditional library)

SFC−Flags

For controlling the operation of SFC POUs flags can be used, which are created implicitely duringrunning the project. To read this flags you have to define appropriate global or local variables as in-puts or outputs. Example: If in a SFC POU a step is active for a longer time than defined in the stepattributes, then a flag will be set, which is accessible by using a variable ”SFCError” (SFCError getsTRUE in this case).

• For controlling the operation of SFC POUs flags can be used, which are created implicitely

during running the project• To read this flags you have to define appropriate global or local variables as inputs or outputs

Example:If in a SFC−POU, a step is active for a longer time than defined in the step attributes, then a flag will be set, which is accessible by using the variable “SFCError”(SFCError gets TRUE in this case).

The following flag variables can be used:

SFCEnableLimit − Type BOOL• When it has the value TRUE, the timeouts of the steps will be registered in SFCError• Other timeouts will be ignored• the usage can be helpful during first time installation or manual mode

SFCInit − Type BOOL• When this 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

SFCReset − Type BOOL• This variable 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

SFCQuitError − Type BOOL• Provided that the 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• The declaration of the flag SFCError is a prerequisite, to registers all timeouts in the SFC

SFCPause − Type BOOL• Execution of the SFC diagram is stopped for as long as this boolean variable has the value TRUE

SFCError − Type 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• The declaration of the flag SFCError is a prerequisite for the functioning of the other Flag−

Varaiables (SFCErrorStep, SFCErrorPOU, SFCQuitError, SFCErrorAnalyzationTable)


Step−Property−Flags

SFCTrans − Type BOOL• This variable is set to TRUE, when a transition is actuated (next step is selected)

SFCErrorStep − Type STRING• If “SFCError” registers a timeout, the name of the step, which has caused the timeout, is stored

into this variable• The declaration of the flag SFCError is a prerequisite, to registers all timeouts in the SFC

SFCErrorPOU − Type STRING• If “SFCError” registers a timeout, the name of the POU, which has caused the timeout, is stored

into this variable• The declaration of the flag SFCError is a prerequisite, to registers all timeouts in the SFC

SFCCurrentStep − Type STRING • The name of the active step is stored in this variable• this is done independently of the time monitoring• If parallel branches exist in a sequence, the step in the branch on the outer right is stored

into this variable

SFCErrorAnalyzationTable − Type Array [0..15] of ExpressionResult• This variable provides the result of an analyzation of a transition expression• For each component of the expression, which is contributing to a FALSE of the transition and

thereby to a timeout of the previous step, the following information is written to the structureExpressionResult :− Name− Address− Comment− actual status

• This is possible for maximum 16 variables (Array−Size max. 0..15)• The structure ExpressionResult as well as the implicitely used analyzation modules are

provided with the library AnalyzationNew.lib• The analyzation modules also can be used in other POUs, which are not programmed in SFC

Note !• It is a pre−condition for the analyzation of a transition expression, that a timeout is registered

in the preceeding step• So a time monitoring must be implemented there and also the variable SFCError (see above)

must be defined in the declaration window

SFCTip, SFCTipMode − Type BOOL• This variables allow Jog−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 even possible to skip over transitions


Programming of Step−Property−Flags


Online display of Step−Property−Flags


Sample sequence program in “LDR” − Step elements & Parameters

In this example, the command output of the sequence is programmed in a separate module, using thestep variables. This has the advantage, that the movement can be stooped or canceled any time,independent of the sequence module.


Sample sequence program in “LDR” − Continuation logic

INIT − Step (N000) − Continuation logic

Movement steps (N005 − N0xx) − Continuation logic


Sample sequence program in “LDR” − Command output

Command output via Step variable “Stepname.x”Format : Sequencename.Stepname.x

e.g. SqA_050_Robot1.N005.x


Sample sequence program in “LDR” − Program callup


Sequence Branching / Jump

1. Select the “Continuation”element at which theBranching / Jump is to beinserted

2. Press the right mouse button and select “Alternative Branch (right)



3. Change the default text from “TRANSXX”to the defined “Continuation” logice.g. “_S3 = False”

4. Select the “Continuation” element and press the right mouse button, then select “Jump” or“Step−Transition (after)”

5. Change default text from“Step” to the step number you want to jump to e.g. “N004”


Sample program sequence Branching / Jump


Input of “Step” comment and “Step” monitoring time

2. Press the right mouse buttonand select “Step Attributes”

1. Click with the left mouse button onto the “Step element” for which you want to enter a “Comment” or a “Monitoring time”

3. Enter the desired “Comment”and/or the “Monitoring time”(Time format : T#2000ms or T#2s)

Note !Display of “Comment” or “Monitoringtime” has to be selected under“Tools / Options” (see next page)

Note !In order to insert additional lines,press “Ctrl” + “Enter” key


Selection of “step comment” or “Step monitoring time” display

1. Press the right mouse buttoninside of the “Sequence” windowand select “Options”

Comment display

Monitoring time display

© 2004




Programming in ST CHAP 12


IN ST

CHAP 12Programming in ST 1

Logic operations with “Structured Text” (ST)

• Logic operations with “Structured Text” are programmed using the commands“IF / THEN / ELSE / END_IF”

• The status of the used signals are checked using the statments “TRUE” or “FALSE” • If brackets have to be used, the rules of the “Boolean Algebra” apply

Note ! only round brackets are valid “(” and “)”

Example : Output with “Assignment” (not latched)


Logic operations with “Structured Text” (ST)

Example : Output with “Set“ and “Reset” (latched)


Calling program modules (PRG’s)


Definition and usage of Functions (FUN)

Program inside of the function

Call of function


Function parameter input

Parameter input in the calling module

Parameter input inside of the function


Online − Status display of of Functions

Monitoring in the calling module

Monitoring inside of the function


Definition and usage of Function Blocks (FB)

Program inside of the function block

Call of function block


Definition of an instance for a function block (Memory allocation)

Manual_Move (FB)

Bas_Manual(Instance)

Bas_Manual_2(Instance)

MemoryBas_Manual

MemoryBas_Manual_2

InputsVAR_INPUT

left_limitright_limit

END_VAR

OutputsVAR_OUTPUT

out_okEND_VAR

Inputs:_S0_S1

Output:_Y9

Inputs:_S2_S3

Output:_Y10

Inputs:_S0_S1

Output:_Y9

Inputs:_S2_S3

Output:_Y10


Monitoring of Function Blocks

Monitoring in the Global variable definition window

Monitoring of the function block in the calling module


Monitoring of Function Blocks

Monitoring inside of the Function Block

1. Double click onto the functionblock in the left window

2. Select instance by double clicking on it

3. Signal status inside of the selected instance is displayed


Selection of SFC Input Mode (simlified SFC non IEC)

NoteCodesys offers 2 different types of SFC−Programming modes. The so called simplified mode, is notcompliant to IEC61131. The other SFC−Mode is compliant to IEC. Before SFC Programming isstarted, the required mode should be activated, because it is not possible to convert it afterwards.

simplified SFC−Programmingmode is active


Creation of a SFC−Sequence programm

4. Change the default text from “Init” to “N000” and “Trans0” to “RetVal=OK”

1. Select with the left mouse button the folder under which the new SFC−Programis to created

2. Press the right mouse button and select“Add Object” in the menu

3. Select “Program” and “SFC” in the propertywindow and enter name of sequence modulee.g. SqA_020_Pusher1


Add a new step element

2. Change the default text from “Step2” to “N001” and “Trans1” to “RetVal=OK”

1. Select “Transition” with left mouse button, press right mouse button and select “Step−Transition (after)” in the popup menu


Copy / Paste an existing “Step” in a “Sequence” module


2. Select “Edit / Copy” in the menubar

3. Select “Transition” after which you want to insert the copied stepelement, with left mouse button, press the “CTRL” key and keep it pressed, then press right mouse button and select “Paste after” in the menu

4. Adapt the “Step number” in the step element


Deletion of an existing Step−Element

2. Select “Edit / Delete” in the menubar

3. If required, adapt step number



Programming a step

1. Double click with the left mouse button onto the step element Note !If the step element is opend the first time, the programminglanguage in which step program is to be written, can be selected

2. Select the Programminglanguage to be used

3. Enter the program in the selected programming language


Sample Sequence program “ST” − Step elements & Parameters

In this example, the command output of the sequence is programmed in a separate module, usingthe step variables. This has the advantage, that the movement can be stooped or canceled any time,independent of the sequence module.


Sample Sequence program “ST” − Continuation logic

INIT − Step (N000) − Continuation logic

Movements steps (N005 − N0xx) − Continuation logic


Sample Sequence program “ST” − Command output

Command output via Step variable “Nxxx”Format : Sequencename.Stepname

e.g. SqA_080_Robot1.N005


Sample Sequence program “ST” − Module callup



1. Select the “Transition” at which the Branching / Jumpis to be added

2. Press the right mouse buton and select “Alternative Branch (right)



3. Change the default text from “TRANSXX”to the defined “Transition” logice.g. “RetVal = JP1”

4. Select the “Continuation” element and press the right mouse button, then select “Jump” or“Step−Transition (after)”

5. Change default text from“Step” to the step number you want to jump toe.g. “N004”





© 2004




CHAP 13 ITask Managment

Chapter 13

Task

Managment

1Task managment CHAP 13

Applications with Task managemant

DescriptionIn addition to declaring the special “PLC_PRG” program, you can also control theprocessing of your project using the task management.• A Task is a time unit in the processing of an IEC program• It is defined by a name, a priority and by a type determining which condition will trigger

the start of the task• This condition can be defined by a time (cyclic, freewheeling) or by an internal or external

event which will trigger the task; e.g. the rising edge of a global project variable or an interrupt event of the controller

• For each task you can specify a series of programs that will be started by the task• If the task is executed in the present cycle, then these programs will be processed for the

length of one cycle.• The combination of priority and condition will determine in which chronological order the

tasks will be executed

Types of Tasks

Free running Task

Cyclic Task

Event controlled Task

Event

Cycle time

Communication

L

L

L

L

L L

S

S S

S S


Time related behavier of Tasks

For the execution of a Task, the following rules apply:• That task is executed, whose condition has been met; i.e., if its specified time has

expired, or after its condition (event) variable exhibits a rising edge• If several tasks have a valid requirement, then the task with the highest priority will be

executed• If several tasks have valid conditions and equivalent priorities, then the task that has had

the longest waiting time will be executed first.• The processing of the program calls will be done according to their order (top down) in the

task editor

Free running TaskPriority 10

Event controlledTask Priority 5

Event

None preemtive behavier

Advantage : Data consistancyDisadvantage : No fast inputs

L S L

L SPark

time delay

Preemtive behavier

Advantage : fast inputsDisadvantage : Data consistancy is not guaranteed

L L

L S

S


Creation of a new Task

1. Click onto “Ressources” / “Task configuration”to create one or several Tasks

2. Click onto “Task configuration” in the middle window, press the right mouse button and select “Append Task”



Creation of a Task − Definition of the Task properties

3. Enter the “Type” and the corresponding “Parameters” for the selected Task


4. Click onto “Task configuration” to take over the new parameters into the Task window


Creation of a Task − Definition of a program module

5. Click onto the “Name” of the Task in the Task window, press the right mouse button and select “Append Program Call”

7. Select the module which is to be called by the task, in the displayed selection list

6. Select the field “Program Call” and press the function key “F2” to callup the program selection windowF2


Description of properties − Cyclic Task

Name• a name for the task; with this name the task is represented in the configuration tree• the name can be edited there after a mouse click on the entry or after pressing the

“Space” key when the entry is selected

Priority (0−31):• a number between 0 and 31• whereas 0 represents the highest, 31 the lowest priority

Type: Cyclic• The task will be processed cyclically according to the time definition given in the

field ’Interval’

Interval• the period of time, after which the task should be restarted• If a number is entered, then you can choose the desired time in the selection box

behind the edit field in milliseconds [ms] or microseconds [µs]• Inputs in [ms] −format will be shown in the TIME format (e.g. ”t#200ms”) as soon as the

window gets a focus change• Inputs in [ms] will always be displayed as a plain number (e.g. ”300”)

WatchdogTime −> Monitoring time, after which the PLC is stopped with a “Cycle time error”Sensitivity−> Number of times the Monitoring time can be triggered, before the PLC

goes to STOP


Description of properties − Free wheeling Task




Type: freewheeling• The task will be processed as soon as the program is started and at the end of the

cycle, it will be automatically restarted in a continuous loop(There is no cycle time definition)

WatchdogTime −> Monitoring time, after which the PLC is stopped with a “Cycle time error”Sensitivity −> Number of times the Monitoring time can be triggered, before the PLC

goes to STOP


Description of properties − Event controlled Task


“Space” key when the entry is selectedPriority (0−31):• a number between 0 and 31• whereas 0 represents the highest, 31 the lowest priorityType: triggered by event• The task will be started as soon as the variable, which is defined in the Event field is

changing its status from “0” to “1”Properties / Single• a “Global” Variable / Signal is to be entered in this field, which is used to start the Task


goes to STOP

F2


Description of properties − External Event controlled Task (Interrupt)




Type: triggered by external event• The task will be started as soon as the onboard input (interrupt) of the L40 PLC − Controller,

which is defined in the Event field is changing its status from “0” to “1”Properties / Event• One of the 7 interupt inputs located on the motherboard of the L40 − Controller


goes to STOP


Description of properties − System events

Note:System event controlled Tasks are related to the selected “Target System” and may not bepresent in this form in every controller

2. Select the field “called POU” by double clicking on it, enter the name of the programor callup a program list window by pressing function key “F2”

1. Click onto the “System event” for which a task is to be defined

F2


Display of “Task Timing Diagram” in Online mode

1. Check if library “SysTaskInfo.Lib” is linked into the project

3. Timing diagram can be monitored after “Online / Login” under “Taskconfiguration”

2. If required, include library via function“Window/Library Manager

− Additional library”

Note !The library is control specific and thereforecan be found in the “Target” − directoryof the selected target system

© 2004




CHAP 14 ILibraries

Chapter 14

Library

managment

CHAP 14Library managment 1

Insertion of a new library into the current project

1. Select “Window / Library Manager” in the menubar

2. All libraries included in the current project are displayed

CHAP 14Library managment 2

Insertion of a new library into the current project

3. Select the upper window with the left mouse button, then press the right mouse button

4. Select the “Library” which is additionallyto be included into the current project

5. All Functions / Function blocks out of this library can now be used in the current project

© 2004




CHAP 15 IRemanence

Chapter 15

Remanence

behaviour

of variables

CHAP 15Remanence behaviour of variables 1

Behavier of variables after Power Off / ON and Stop / Run (Remanence)

Like in the previous generation of PLC’s, the behavier of variables after Power Off / On andStop / Run can be affected by internal settings. Indralogic is using the statements“VAR_RETAIN” and VAR_PERSISTENT” in the declaration section, to determine, if theStatus / Value of a variable is cleared after Power Off / On or Stop / Run or not.

Var RetainRemant_var : DINT

End_Var

Var PersistentRemanent_var : DINT

End_var

All variables declared as “Retain”,keep their status / values, thestatus / value of all other variablesare cleared

Switch Off / OnOnline Reset

Online / LoginOnline / Reset (Cold)

PLC Program

Var Retain PersistentRemant_var : DINT

End_Var

PLC Program

PLC Flash Memory Retain.BINPersist.DAT

All variables declared as“Persistant”, keep theirstatus / values, the status / valueof all other variables are cleared

Switch Off / On Online ResetOnline / Login Online / Reset (Cold) Online / Reset (Original)

All variables declared as “Retain”,keep their status / values, thestatus / value of all other variablesare cleared

All variables declared as “Retain Persistent”,keep their status / values, the status / valueof all other variables are cleared

complete user memory is deleted


Declaration of remanent variables


Usage of remanent variables in POU’s

If a variable is declared in a Function Block as “Retain / Persistent”, the completeinstance of this function block is saved into the “Retain / Persistent” section.But only the variable which is declared as “Retain/Persistent” will be treated as aremanent variable. All other variables will be cleared.

If a variable is declared in a Function as “Retain / Persistent” thedeclaraqtion is ignored and the variable is treated like a non remanentvariable (i.e. the Status / value of this variable is cleared, like all the othernon remanent variables).


Usage of remanent variablen in POU’s

If a variable is declared in a “Programm” as “Retain / Persistent”, exactly thisone variable is saved into the “Retain / Persistent” section

© 2004




CHAP 16 IMonitor

Chapter 16

Program

Monitoring

CHAP 16Program Monitoring 1

Monitoring the program flow

Sometimes it is necessary to see if a part of the program is processed or not.With the function “Display Flow Control” every line of the program which is process is markin green on the left side of the window in the line number display.


Enter variable list into “Watch & Recipe Manager“

Sometimes it is necessary to find out what status / value a certain signal / variable has.Occasionally it also required towrite variable values into the PLC to test a function.This function is provided by the “Watch and Recipe Manager“

Important note !In “Watch und Recipe Manager” only “Global Variabls” can be entered and displayed.New variables öcan only be entered, if you are logged off (”Online / Logout”)


Online display of variable list with “Watch and Recipe Manager”


Read and alter Variables with “Recipe” Manager

All values displayed in the “Watch”window are send to the “Recipe Manager”

By double clicking onto a Variable,an input window is called up, intowhich new values can be entered


Write Variables from “ Recipe Manager” into PLC

Note !Only the values displayed in bluecolor are written into the PLC

CHAP 16Programming Monitoring 6

Activation of the “Trace” Function

Note !Before the “Trace” function can be used, it has to be activated in the “Target settings”

1. Select “Ressources”, and open the“Target settings” by double clicking on


Definition of “Trace” Parameters

• Monitoring of variables in the “Trace” window means, that the status / value of variables are monitored and recorded for a certain duration

• the monitored values are stored into a ring buffer (Trace buffer)• If the memory of the ring buffer is full, the oldest values will be overwriten• a maximum of 20 Variables can be monitored and recorded at the same time• for each variable a maximum of 500 values can be recorded• due to the fixed size of the ring buffer in the PLC, it is possible that with a high number of

variables or with a very long variables (DWORD), less than 500 values can be recorded

1. Select “Ressources” and “Sampling Trace“

2. Press the right mouse button andselect “Trace Configuration”

3. Enter the signals / values to bemonitored into the “Trace” configuration window


Definition of “Trace” Parameters

• “Trace” definitions can besaved onto harddrive

• a saved “Trace” configuration canbe loaded from the harddrive

Trace Name• this name is displayed in the “Trace” window at the top right position of the “Selection” listTrigger Variable• a boolean or an analog variable can be entered into this field• if the status / value of the “Trigger Variable” is changing, the recording is started and the defined

number of changes is displayed before and behind the “Trigger” pointTrigger Position• in this field the percentage of values to be displayed before the “Trigger” point can be entered.

(e.g. if a value of 25 is entered, 25 % of the measured values will be displayed before the “Trigger” point and 75% after he “trigger” point. Then “Trace” is stopped)

Trigger Level• In this field the value of an analog variable can be entered, at which the trigger event occursTrigger edge− positive • the trigger is started by the rising edge of a boolean trigger variable, respectively

by the change of an analog trigger variable from the current to a lower value− negative • the trigger is started by the falling edge of a boolean trigger variable, respectively

by the change of an analog trigger variable from the current to a higher value− both • the trigger is started by the falling and the rising edge of a boolean triger variable

respectively at the passing from positive to negative or negative to positive− none • the trigger is not used


Definition of “Trace” ParameterNumber of samples• in this field the number of samples can be entered, after which a new recording cycle is started

and the old values are overwritten by the new valuesSample rate (ms)• time between two recordings in milliseconds• a “0” means : one scan cycle with each PLC CyleRecording− single • the entered number of samples is displayed once− continuous • the sampling is restarted at the end of a samling cycle

• e.g. if you enter a ’35’, the first display includes the samples 1 to 35, then the next sample block (36 − 79) is called up automatically and so on

− Manual • the display of the sample recording must be selected manually in the menu via the function “Read Trace”

Variables• all variables to be monitored have to be entered into this field, for a later selection in the

“Trace” window for the fields “Var 0” to “Var 7”

Note !Entereing a “.” in the fields for the“Trace” variables calls up a selection ofthe available variables

Input format : .Var_name


Start of a “Trace” sample recording

1. First enter the variables to be recorded into the fields “Var 0” to “Var 7”

2. Select “Online / Login” to change over to “Monitor” mode


Start of a “Trace” sample recording

4. As soon as the trigger condition is met, the result is displayed assoon as the number of defined samples have been completed

3. Press the right mouse buttonand select “Start Trace”

© 2004




User specific data structures CHAP 17

Chapter 17User specific

data structures

CHAP 17User specific data structures 1

Definition of Enumerations

Using enumerations in the program


Monitoring of enumerations


Definition and usage of Structures

Using structures in the program


Monitoring of structures of userspecific data types

Status display in the program

Status display in the “Ressources”

Data Backup / Data Restore CHAP 18

Chapter 18Data Backup

andData Restore






1CHAP 18Data Backup / Data Restore

Backup of a complete IndraWorks − ProjectIn order to make a Backup of a complete IndraWorks − Project, inclusive Visualization and all othercomonents included in the project, IndraWorks has an integrated ZIP−Utility, which stores thecomplete project inta a compressed ZIP−File on the harddrive or removeable devices. This ZIP−Filecan than be easily passed on to other persons and restored on a different computer with IndraWorks.

1. Click onto the button “Archive project”

2. Click onto button “Next” to continue


Backup of a complete IndraWorks − Project

4. Protect your archive by enteringa password (Optional)


6. Check if the selectedoptions are correct

3. Enter the drive/directory and the name of the archive file under which you want to store the project (only existing directories can be used)

7. Click onto button “Finish“ to to start archiving


Backup of a complete IndraWorks − Project

8. Project is commpressed and storedunder the entered file name

9. Click onto the button “Close” to complete the backup process


Restoring of an archived IndraWorks−Project (ZIP−File)

Using this function, a previously archived IndraWorks−Project can be restoredinto a fully working project

2. Click onto the button “Restore project“

1. Close the actual IndrWorks−Project via “File/ Close / Project”




5. Select the ZIP−File which is to be restored

6. Click onto button “Open”

4. Select the directory in which the archived ZIP−File is located



8. Select the directory into which you want to restore the archived project

7. Click onto button “Next”

9. Click onto button “Next”



11. ZIP−File is unpacked and the project isrestored into the selected directory

10. Check your settings and click onto button“Finish”, to start the restore process



12. Result is displayed

13. Activate direct loading of the restored project into IndraWorks project window


Adaption of the PLC−DirectoriesSometimes it is necessary to adapt the directories of a restored project. This is always required, if theproject was archived on another computer, with a different directory structures for the “IndraWorks”development software.

1. Select the “Logic” icon with the left mousebutton, press the right mouse buttonand select “Properties”

2. Adapt the IndraWorks−Installation directory.e.g. “C:\Programme\...” to “C:\Program files\....”


Importing a Standalone IndraLogic Program (*.PRO−File)

The function “Import PLC project data” can be used to repair a corrupted IndraWorks−Project orto integrate a Standalone IndraLogic − Project into IndraWorks.

1. Click onto “Drive and Control”, to display the available “Target Systems”

3. Enter the name of the new project andselect the directory, into which you wantto store the new project

2. Click onto “File” and select“New / Project”

4. Click onto “OK” button, to take over your selection



7. Enter the name for the “IndraLogik” Program

5. Select the desired “Target System” withthe left mouse button, keep the leftmouse button pressed

6. Drag the selected “Target System” with the left mouse button still pressed onto the “Project name” and release the left mouse button as soon as you can see a line below the “Project name”



12. Select “Local” and confirm by clicking onto the “OK” button

10. Callup the communication window, in order to enter theparameters to be used for the connection with the “Target System”

11. Click onto “Gateway”, to setup theparameters for a local “Gateway − Server”

8. Select desired firmware version

9. Click onto button “Extended” to select “BYTE” or “WORD” addressing mode





16. Enter the IP−Address of the “L40” controller to which you want to make a connection and confirm the input by pressing the “Enter” key

15. Open the input field for the IP−Address by double clickingonto “localhost”




18. Click onto the button “Finish” totake over the new settings

Note !By clicking with the right mouse button onto theicon “Logic”, the communication window canbe called up again by selecting “Properties”



20. Select the directory in which the “Pro−File” to be imported is located

21. Select the “Pro−File” to be imported

22. Click onto button “Open” to load the selected file

19. Select the Indralogic−Project withthe left mouse button, press theright mouse button and select “Import PLC project data“



24. Click onto the button “Import”,to import the selected objects

23. Select the Objects, which you want to import

25. Enter the following into the three password windows:

User name : ENIPassword : 123456



26. The “PLC−Project data” is now integrated into“IndraWorks” and can be used for further processing

Language translation CHAP 19

Chapter 19Language

translation






1CHAP 19Language translation

Generation of the translation file

The original language used during the development of an IndraLogic PLC−Program can beautomatically translated into any other language by using a translation file. This translation file isautomatically generated with the original language text. The additional languages have than to beentered into the translation file manually by the user. The translation using the translation file can becarried out temporarily or permanent. If the translation is carried out temporary, it is possible to goback to the original language. If the translation is carried using the translate option, the original textsare replaced permantly by the text of the newly selected language.

3. Insert the languages into which you want to translate the original text

1. Select function“Project / Translate into other languages / Create translation file ...”

2. Select the objects you want to include into the tranlation file


Generation of the translation file

4. Start the generation of the translationfile by clicking onto the “OK” button

5. After completion of the generation, the system automatically switches back to IndraLogic

Note !If the translation file already exists, only the newly found objects will be added, existingtranslations will not be effected. Additionally a backup file is generated from the previousversion of the translation file.


Input of the translations into the translation file

1. Check, into whichdirectory the translation file is stored to.

2. Select the directory using the “Windows Explorer”and open the translation file with an ASCII−Editor

In order to enter the translations for the various languages into the translation file, the file has tobe opened with an ASCII−Editor like “Notepad”. The translation file is located in the samedirectory as your “*.Pro − File”. The translation file also has the same name as the“*.PRO−File”, but with the file extension “*.tlt”.


Input of the translations into the translation file

Original−String

Translation text

Original−Comment

Translation text

Original−String

Translation text

Original−Comment

Translation text


Switchover to another language

1. Select “Project / Translate into another languages / View translated project”− View translated project : Original text is replaced temporarily for display only− Translate this project : Original text is replaced permanently and saved into the project

2. Select the language you want to switch to

3. Program is displayed in the selected language

© 2004




CHAP 20 ICommand overview

Chapter 20

Command

overview

CHAP 20Command overview 1

Identifier, Keywords

Identifiers (Variable name)

Sequence of characters, numbers and underscore (_). Must start with a character or anunderscore (_). More than one leading underscor or several underscores in a row areinvalid. Identifiers must also not include any spaces. A minimum of 6 characters must besupported by every system.

Examples of Identifiers

STARTSTOPVALVE_6VALVE_E_7_16E8_Motor


Identifier, KeywordsKeywordsA keyword consist of a sequence of characters without any “Spaces”.Keywords must not be used for any other purposes e.g. Variable names

KeywordsACTION...END_ACTIONARRAY...OFATCASE...OF...ELSE...END_CASECONFIGURATION...END_CONFIGURATIONCONSTANTENENOEXITFALSEF_EDGEFOR...TO...BY...END_FORFUNCTION...END_FUNCTIONFUNCTION_BLOCK...END_FUNCTION_BLOCKIF...THEN...ELSIF...ELSE...END_IFINITIAL_STEP...END_STEPPROGRAMM...WITH...PROGRAMM...END_PROGRAMMR_EDGEREAD_ONLYREAD_WRITEREPEAT...UNTIL...END_REPEATRESOURCE...ON...END_RESOURCERETAINRETURNSTEP..END_STEPSTRUCT...END_STRUCTTASKTRANSITION...FROM...TO...END_TRANSITIONTRUETYPE...END_TYPEVAR...END_VARVAR_INPUT...END_VARVAR_IN_OUT...END_VARVAR_EXTERNAL...END_VARVAR_ACCESS...END_VARVAR_GLOBAL...END_VARWHILE...DO...END_WHILEWITH

Furthermore:Data type namesFunction namesFunction block namesOperators of the LIST LanguageOperators of the ST Language


Numerical literalsInteger literals and Real literals

Examples

-5 +96 628_26 Integer literalsunderscores between numbersmust be ommitted

-5.0 0.123 12.56 Real literals

6.2E – 4 i.e. 6.2e – 4 -2.6E + 3i.e. -2.6e + 3 12.0E3 i.e. 12.0e3

Real literals with an Exponent

2#1010_1010 Literal Base 2

8#156 Literal Base 8

16#FF Literal Base 16

0 1 Boolean Zero and One

FALSE TRUE Boolean FALSE and TRUE

String-LiteralsSequence of zero or more characters between two single quote characters (’)

Example

‘‘ Empty string with a length of zero

‘X‘ String of the length one with character X

‘ ‘ String of the length one with a space character

‘$“ String of the length one with a quote character

‘$$6.00‘ String of the length five with, $6.00

$$ Dollar-Character $

$‘ Single quote character

$L bzw. $l Line feed

$N bzw. $n New line

$P bzw. $p New page

$R bzw. $r Carriage return

Time literals1.Duration of timeCommand values for time literals must start with the keywords T#, TIME#, t# or time#Underscores can be used to separate the time unit from the time literal.

Examples

T#80 ms T#30.8s T#9.5m T#20.6hT#30h26m t#7d16h12m TIME#2.5h time#2.5hTime#12h_22m_48s T#16h_12m_18s


Date and Time

DATE# bzw. D# Date

TIME_OF_DAY# bzw. TOD# Time of Day

DATE_AND_TIME# bzw. DT# Date and Time

Examples

Date#1996-04-6D#1996-04-6D#1996-04-6TIME_OF_DAY#17 : 19 : 40.12TOD#17 : 19 : 40.12DATE_AND_TIME#1996-04-12-17 : 26 : 45.16Dt#1996-01-12-17 : 26 : 45.16

Boolean Operators

Operator Parameter Comment Example

AND ANY_BIT AND Function STOUT := _S1 AND _S2

LISTLD _S1AND _S2ST OUT

OR ANY_BIT OR Function STOUT := _S1 OR _S2

LISTLD _S1OR _S2ST OUT

NOT ANY_BIT NOT Function, Negation STOUT := _S1 AND NOT _S2

LISTLD _S1ANDN _S2ST OUT

XOR ANY_BIT XOR-Function STOUT := _S1 XOR _S2

LISTLD _S1XOR _S2ST OUT


Arithmetical Operators

OperatorLIST ST

Input-Parameter

Output-Parameter

Comment Example

ADD + ANY_NUM ANY_NUM Addition STResult := Value1 + Value2;

LISTLD Value1ADD Value2ST Result

SUB − ANY_NUM ANY_NUM Subtraction STResult : =Value1 − Value2;

LISTLD Value1SUB Value2ST Result

MUL * ANY_NUM ANY_NUM Multiplication STResult := Value1 * Value2;

LIST

DIV / ANY_NUM ANY_NUM Division; withANY_INT integerdivision

STResult : =Value1 / Value2;

LISTLD Value1MUL Value2ST Result

MOD ANY_INT ANY_INT Modulo (Reminderwith integer division)

STResult : =Value1 MOD Value2;

LISTLD Value1MOD Value2ST Result

EXPT Base:ANY_REALExponent:ANY_NUM

ANY_REAL Power of STResult := EXPT( Value1, Value2);

LISTLD Value1EXPT Value2ST Result

MOVE ANY_NUM ANY_NUM Assignment STResult := MOVE( Value1)

same asResult := Value1;

LISTLD Value1MOVE ResultST Result

same asLD Value1ST Result


Compare Operators

OperatorLIST ST

Input-Parameter

Output-Parameter

Comment Example

GT > ANY_BITANY_NUMSTRINGTIMEANY_DATE

BOOL Greater than STX;= A > B;

LISTLD AGT BST X

GE >= ANY_BITANY_NUMSTRINGTIMEANY_DATE

BOOL Greater than orEqual

STX;= A >= B;

LISTLD AGE BST X

LE <= ANY_BITANY_NUMSTRINGTIMEANY_DATE

BOOL Less than orEqual

STX;= A <= B;

LISTLD ALE BST X

LT < ANY_BITANY_NUMSTRINGTIMEANY_DATE

BOOL Less than STX;= A < B;

LISTLD ALT BST X

EQ = ANY_BITANY_NUMSTRINGTIMEANY_DATE

BOOL Equal STX;= A = B;

LISTLD AEQ BST X

NE <> ANY_BITANY_NUMSTRINGTIMEANY_DATEANY_NUM

BOOL not equal STX;= A <> B;

LISTLD ANE BST X


Bit manipulation

Function Input-Parameter

Output-Parameter

Comment Example

SHL IN:ANY_BITN:ANY_INT

ANY_BIT Shift left of IN byN−Bit

Value : Word := 2#0000_0000_0001_0101;N_Bit : WORD := 3;Result : WORD;

STSHR IN:

ANY_BITN:ANY_INT

ANY_BIT Shift right of IN byN− Bit

STResult := SHL (Value, N_Bit);

LISTLD ValueSHL N_Bit

ROL IN:ANY_BITN:ANY_INT

ANY_BIT Rotate left of INby N−Bit

SHL N_BitST Result

before SHL : 0000_0000_0001_0101 after SHL : 0000_0000_1010_1000

ii i h l f hif d iROR IN:ANY_BITN:ANY_INT

ANY_BIT Rotate right of INby N−Bit

3 posiitions to the left, zeros are shifted infrom the right


Type conversion


Output-Parameter

Comment Examplee

*_TO_** ANY_NUM ANY_NUM Numerical types areconverted into eachother* Input data type**Output data type

Value_int : INT;Value_Real : REAL;

STValue_real := INT_TO_REAL(Value_int);

LISTLD Value_intINT_TO_REALST Value_real

TRUNC ANY_REAL ANY_INT Digits after thecomma are truncated

Value : REAL := 200.2345;Result : DINT;

STResult := TRUNC (Value)

LISTLD ValueTRUNCST Result

Result = 200

BCD_TO_* ANY_BIT ANY_INT *Data type”

Data of the groupANY_BIT inBCD-Format isconverted into theANY_INT-Format

Value_BCD : BYTE := 2#00010110;Value_INT : INT;

STValue_INT:=BCD_TO_INT (Value_BCD);

LISTLD Value_BCDBCD_TO_INTST Value_INT

Value_INT = 16

*_TO_BCD ANY_INT ANY_BIT *Data type“

Data of the typeANY_INT-Formatis converted intoBCD-Format

Value_BCD : BYTE ;Value_INT : INT := 16;

STValue_BCD:=INT_TO_BCD (Value_INT);

LISTLD Value_INTINT_TO_BCDST Value_BCD

Value_BCD = 00010110


Numeric Functions


Output-Parameter

Comment Example

ABS ANY_NUM ANY_NUM Convert a number withsign into an absolutevalue(removes sign)

STResult := ABS(Value1);

LISTLD Value1ABSST Result

SQRT ANY_REAL ANY_REAL Square root STResult := SQRT(Value1);

LISTLD Value1SQRTST Result

LN ANY_REAL ANY_REAL natural Logarithm STResult := LN(Value1);

LIST

LOG ANY_REAL ANY_REAL Logarithm, Base 10 STResult := LOG(Value1);

LISTLD Value1LNST Result

EXP ANY_REAL ANY_REAL Exponential function (e) STResult := EXP(Value1);

LISTLD Value1EXPST Result

SIN ANY_REAL ANY_REAL Sine function (Radian) STResult := SIN(Value1);

LISTLD Value1SINST Result

COS ANY_REAL ANY_REAL Cosine function (Radian) STResult := COS(Value1);

LISTLD Value1COSST Result


Numeric Functions


Output-Parameter

Comment Example

TAN ANY_REAL ANY_REAL Tangent function (Radian) STResult := TAN(Value1);

LISTLD Value1TANST Result

ASIN ANY_REAL ANY_REAL Arcus-Sine function STResult := ASIN(Value1);

LISTLD Value1ASINST Result

ACOS ANY_REAL ANY_REAL Arcus-Cosine function STResult := ACOS(Value1);

LISTLD Value1ACOSST Result

ATAN ANY_REAL ANY_REAL Arcus-Tangent function STResult := ATAN(Value1);

LISTLD Value1ATANST Result


Selection Function


Output-Parameter

Comment Example

SEL G: BOOLIN0: ANYIN1: ANY

ANY Binary selection

OUT = Value1, if test = False

OUT = Value2,if test = True

Pruef : BOOL;Value1 : REAL;Value2 : REAL;OUT : Real

STOUT := SEL(test, Value1, Value2)

LISTLD testSEL Value1, Value2ST OUT

MAX ANY_BITANY_NUMSTRINGANY_DATETIME

ANY_BITANY_NUMSTRINGANY_DATETIME

Maximum-Function

OUT = highestvalue out of a list

STOUT := MAX (Value1, Value2, Value3)

LISTLD Value1MAX Value2MAX Value3ST OUT

MIN ANY_BITANY_NUMSTRINGANY_DATETIME


Minimum-Function

OUT = smallestvalue out of a list

STOUT := MIN (Value1, Value2, Value3)

LISTLD Value1MIN Value2MIN Value3ST OUT

LIMIT MN, IN, MX:



Limiter

OUT = Value_min,if number is smal-ler than Value_min

OUT = Value_max,if number is higherthan Value_max

STOUT := LIMIT (Value_min, Zahl, Va-lue_max)

LISTLD Value_minLIMIT Zahl, Value_maxST OUT

MUX C: ANY_INTothers:ANY

ANY Multiplexer

OUT = W1,if select = 0;OUT = W2,if select =1OUT = W3,if select=2etc.

STOUT := MUX (select, W1, W2, W3, W4)

LISTLD selectMUX W1, W2, W3, W4ST OUT


String Functions


Output-Parameter

Comment Example

LEN STRING INT calculates thenumber ofcharacters in astring

STLenght_INT := LEN(Text_STR);

LISTLD TextLENST Lenght_INT

LEFT IN:STRINGL:ANY_INT

STRING Extractscharacters froma string String(Text_STR)starting at the leftside of a string,number ofcharacters(Nr_INT) areextracted

STLeft_STR := LEFT(Text_STR, Nr_INT);

LISTLD Text_STRLEFT Nr_INTST Left_STR

RIGHT IN:STRINGL:ANY_INT

STRING Extractscharacters froma string String(Text_STR)starting at theright side of astring, number ofcharacters(Nr_INT) areextracted

STRight_STR := RIGHT(Text_STR, Nr_INTl);

LISTLD Text_STRRight Nr_INTST Right_STR

MID IN:STRINGL:ANY_INT

STRING Extractscharacters fromthe middle of astring(Text_STR)starting at acertain position(Start_INT) acertain numberof characters(Nr_INT)

STCentr_STR := MID(Text_STR, Start_INT, Nr_INT);

LISTLD Text_STRMID Start_INT, Nr_INTST Centre_STR

CONCAT STRING STRING Combines2 individualstrings into onestring

STNew_STR := CONCAT(T1_STR, ’Day’);

LISTLD T1_STRCONCAT ’Day’ST New_STR

INSERT IN1, IN2:STRINGP:ANY_INT

STRING Inserts into anexisting string(Org_STR)another string(Ins_STR)starting at acertain position(P_INT)

STNew_STR := INSERT(Org_STR, Ins_STR, P_INT);

LISTLD Org_STRINSERT Ins_STR, P_INTST New_STR


String Funktions


Output-Parameter

Comment Example

DELETE IN:STRINGL, P:ANY_INT

STRING Removes froman existing string(Org_STR)starting at acertain position(Pos_INT) acertain numberof characters(Nr_INT)

STNew_STR := Delete(Org_STR, Pos_INT, Nr_INT);

LISTLD Org_STRDELETE Pos_INT, Nr_INTST New_STR

REPLACE IN1:, IN2:STRINGL, P:ANY_INT

STRING Replacescharacters in anexisting string(O_STR) by anew string(N_STR), startingat a certainposition (P_INT),for a number ofcharacters(Nr_INT)

STNew:= REPLACE(O_STR, N_STR, P_INT, Nr_INT);

LISTLD O_STRREPLACE N_STR, P_INT, Nr_INTST New

FIND IN1, IN2:STRING

INT Searches in anexisting string(Org_STR) for acertain sequenceof characters(Search_STR)and returns thestart positionwhere the searchstring was found.If the searchstring is notfoung, thefunction returnsZero

STPos_INT:= FIND(Org_STR, Search_STR);

LISTLD Org_STRFind Search_STRST Pos_INT


Standard-Function blocksFlip Flop Elements

Functionblock

Input-Parameter

Output-Parameter

Comment

SR S1, R: BOOL Q1: BOOL Flip Flop with priority Set

RS S, R1: BOOL Q1: BOOL lip Flop with priority Reset

Flankenerkennung

Functionblockn

Input-Parameter

Output-Parameter

Comment

R_TRIG CLK: BOOL Q: BOOL at the rising edge at CLK set Q TRUE.

F_TRIG CLK: BOOL Q: BOOL at the falling edge at CLK set Q TRUE.

Timer

Functionblock

Input-Parameter

Output-Parameter

Comment

TON IN: BOOLPT: TIME

Q: BOOLET: TIME

Switch on delay

IN : rising edge starts timer elementPT : Delay timeQ : If time is elapsed set to TRUEET : actual value of timer

TOF IN: BOOLPT: TIME

Q: BOOLET: TIME

Switch Off delay


TP IN: BOOLPT: TIME

Q: BOOLET: TIME

Pulse


RTC IN: BOOLPDT: DATE

Q: BOOLCDT: DATE

Real Time Clock

IN : rising edge, Date + Time is loadedPDT: Preset for Date + TimeCDT: actual Date+ actual TimeQ : like EN

Note:If a rising edge is detected at IN, the time is set.Time is running as long as IN is TRUE


Counter

Functionblock

Input-Parameter

Output-Parameter

Comment

CTU CU: R_TRIG (BOOL)R: BOOLPV: INT

Q: BOOLET: TIME

Count Up, counts from zero to PV.CU : Count pulse (rising edge)PV : Command value for counterR : Reset (CV to 0)Q : if PV is reached, set Q to “TRUE” CV : actual counter value

CTD CD: R_TRIG (BOOL)LD: BOOLPV: INT

Q: BOOLET: TIME

Count Down, counts from PV down to zeroCD : Count pulse (rising edge)PV : Start value for counterLD : Load start value from PV into CVQ : If PV = 0, than set Q to TRUECV : actual counter value

CTUD CU, CD: R_TRIG(BOOL)R, LD: BOOLPV: INT

QU, QD: BOOLCV: INT

Up / Down CounterQU : If CV Max. value is reached

set QU to “TRUE”QD : If CV Min. value is reached,

set QD to “TRUE” , Rest like CTU and CTD

© 2004




CHAP 21 IExercises

Chapter 21

Exercises

1Exercises CHAP 21

Network structure

PC_1

PC_2

PC_3

PC_8

L40_1

L40_2

L40_5

Trainer−1

192.168.1.101

192.168.1.102

192.168.1.103

192.168.1.108

192.168.1.11

192.168.1.12

192.168.1.15

192.168.1.200

S

W

I

T

C

H

Subnet : 255.255.255.0

L40_1

L40_2

192.168.1.13

192.168.1.14

2Exercises CHAP 21

I/O − Bus Configuration

Interbus L40

Rexroth Inline −−−> Type : R − IB IL 24 DO 16

Rexroth Inline −−−> Type : R − IB IL 24 DI 16

I8.0 ... I9.7

Q8.0 ... Q9.7

OnBoard I/O’s L40

I0.0 ... I0.7

Q0.0 ... Q0.7

Profibus−DP Master 10

12

13

R−ILB PB 24 −−−> Type : ILB PB 24 DI16 DO16

B − IO K − DP −−−> Type : 16DI / 16DA

Switch boxI4.0 ... I5.7Q4.0...Q5.7

I60.0 ... I61.7Q60.0...Q61.7

I62.0 ... I63.7Q62.0...Q63.7

Robot & Transport slide

Press In Station

R−ILB PB 24 −−−> Type : ILB PB 24 DI16 DO16

3Exercises CHAP 21

Program structure

4Exercises CHAP 21

Global Variables Inputs and Outputs

5Exercises CHAP 21

Signal list Switch Box (Bit signals)Inputs I4.0 _S0 Switch 0

I4.1 _S1 Switch 1I4.2 _S2 Switch 2I4.3 _S3 Switch 3I4.4 _S4 Switch 4I4.5 _S5 Switch 5I4.6 _S6 Switch 6I4.7 _S7 Switch 7

I5.0 _S8 Switch 8I5.1 _S9 Switch 9I5.2 _S10 Switch 10I5.3 _S11 Switch 11I5.4 _S12 Switch 12I5.5 _S13 Switch 13I5.6 _S14 Switch 14I5.7 _S15 Switch 15

Outputs Q4.0 _Y0 Led 0Q4.1 _Y1 Led 1Q4.2 _Y2 Led 2Q4.3 _Y3 Led 3Q4.4 _Y4 Led 4Q4.5 _Y5 Led 5Q4.6 _Y6 Led 6Q4.7 _Y7 Led 7

Q5.0 _Y8 Led 8Q5.1 _Y9 Led 9Q5.2 _Y10 Led 10Q5.3 _Y11 Led 11Q5.4 _Y12 Led 12Q5.5 _Y13 Led 13Q5.6 _Y14 Led 14Q5.7 _Y15 Led 15

Signal list Switch Box (Byte & Word)Inputs I4 _S0_S7 Byte

I5 _S8_S15 ByteI4 _S0_S15 Word

Outputs Q4 _Y0_Y7 ByteQ5 _Y8_Y15 ByteQ4 _Y0_Y15 Word

Signal MarkersM20.0 _Auto Automatic modeM20.1 _manual manual modeM20.2 _Jog Jog modeM20.3 _Special Special mode

6Exercises CHAP 21

Example 1

Example 2

7Exercises CHAP 21

Example 3

8Exercises CHAP 21

Example 4

9Exercises CHAP 21

Example 5

10Exercises CHAP 21

Example 6

11Exercises CHAP 21

AND before OR Circuit

1 −S10 & −S11 O −S12 >=1 −S20 & −S21 + = −Y7

12Exercises CHAP 21

Circuit with bracket

2 −S1 & −S2 −S3 −S10 & −S11 >=1 −S12 & −S13 −S17 −S18 >=1 −S20 & −S21 + = −Y8

13Exercises CHAP 21

Circuit with OR−bracket

3 −S12 & −S13 O −S2 O & −S3 >=1 −S4 & −S5 −S16 >=1 −S19 & −S21 O −S22 + = −Y9

14E

xercisesC

HA

P 21

Robot Station

Q60.4Q60.5

I60.7 I61.0

I61.1 I61.2

Transportation Slide

Q60.0

Q60.1

Q60.3

Q60.2

I60.5 I60.4

I60.6

Q60.6

I60.0

I60.1

I62.6

I62.2 I62.3

Q62.3Q62.2

I62.5

I62.4

I62.0

I62.1

I62.7

Q62.1

Q62.0 Q62.4

Q62.5

Q60.7Q61.0

I60.3 I60.2

PressIn Station

15Exercises CHAP 21

Signal list machine modelRobot Station

Inputs

Address Symbol name CommentI60.0 301S101B Robot Rotation Arm at topI60.1 301S101A Robot Rotation Arm at bottomI60.2 301S201A Robot Rotation Arm at rightI60.3 301S201B Robot Rotation Arm at leftI60.4 301S301A Robot Rotation Arm at frontI60.5 301S301B Robot Rotation Arm at rearI60.6 301S401A Robot Gripper closed

Outputs

Address Symbol name CommentQ60.0 301Y101B Move Robot Rotation Arm UpQ60.1 301Y101A Move Robot Rotation Arm DownQ60.2 301Y201B Move Robot Rotation Arm to the leftQ60.3 301Y201A Move Robot Rotation Arm to the rightQ60.4 301Y301A Move Robot Arm to the frontQ60.5 301Y301B Move Robot Arm to the backQ60.6 301Y401A Close Robot Gripper

Transportation slide

Inputs

Address Symbol name CommentI60.7 401S101B Transportation slide at frontI61.0 401S101A Transportation slide at rearI61.1 401S101 Transportation slide occupied at frontI61.2 401S201 Transportation slide occupied at rear

I63.0 400S600 PressIn ready

Outputs

Address Symbol name CommentQ60.7 401Y101B Transportation slide backwardQ61.0 401Y101A Transportation slide forward

Q61.1 400Y600 Enable signal Robot station ready

16Exercises CHAP 21

Signal list machine modelPress In station

Inputs

Address Symbol name CommentI62.0 501S101B Safety gate at topI62.1 501S101A Safety gate at bottomI62.2 501S201B Horizontal unit at frontI62.3 501S201A Horizontal unit at rear

I62.4 501S301B Press In unit at topI62.5 501S301A Press In unit at bottomI62.6 501S101 Part present at frontI62.7 501S201 Part present at rear

I63.0 500S600 Robot ready

Outputs

Address Symbol name CommentQ62.0 501Y201B Safety gate upQ62.1 501Y201A Safety gate downQ62.2 501Y101B Pusher forwardQ62.3 501Y101A Pusher backwardQ62.4 501Y301B Press In unit upQ62.5 501Y301A Press In unit down

Q62.6 500Y600 Enable signal Press In−Station ready

17Exercise CHAP 21

Exercise Programming of a Function

Movement from Work to Base Position

Movement from Base to Work Position

−−−−> −−−−−−>

Base_Move

CallupPLC_PRG Manual_Move_Robot

Work_Move

−−−−−−>

Reset movement to Work

Reset movement to Base

Set movement to Work

Set movement to Base

18Exercise CHAP 21

Exercise Programming of a Function

Logic from Work to Base Position

Logic from Base to Work Position

Switch assignment − Switch box

_S7 _S6 _S5 _S4 _S3 _S2 _S1 _S0

ManualAuto

E−StopJogBase

JogWork

StartDoorJogJogMode

_S15 _S14 _S13 _S12 _S11 _S10 _S9 _S8

GripperCloseOpen

PressInUpDown

GateUpDown

PusherForwBackw

Slide.ForwBackw

RobotUpDown

RobotrightLeft

RobotForwBackw

19Exercise CHAP 21

Exercise Programming of a Function Block

CallupPLC_PRG Manual_Move_Stat120 Instances of BaseMoveFB

−−−−> −−−−−−>

Switch assignment − Switch box

_S7 _S6 _S5 _S4 _S3 _S2 _S1 _S0

ManualAuto

E−StopJogBase

JogWork

StartDoorJogJogMode

_S15 _S14 _S13 _S12 _S11 _S10 _S9 _S8

GripperCloseOpen

PressInUpDown

GateUpDown

PusherForwBackw

Slide.ForwBackw

RobotUpDown

RobotrightLeft

RobotForwBackw

20Exercise CHAP 21

Exercise Programming of a Function Block − Manual logic

Logic − Manual Mode => Input Manual = ”TRUE”

Local variables

21Exercise CHAP 21

Exercise Programming of a Function Block − Automatic logic

Logic − Automatic Mode => Input Manual = ”FALSE”

Logic − Set outputs

22Exercises CHAP 21

Automatic Sequence “Robot Station”

23Exercises CHAP 21


24Exercises CHAP 21


25Exercises CHAP 21

Automatic Sequence “Transportation Slide”

26Exercises CHAP 21

Automatic Sequence “Press In Station”

27Exercises CHAP 21

Automatic Sequence “Press In Station”

IindraLogic Prog 04 2007 e

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