IEC
IEC 61131-3
61131-3 Basics
Basics and
and PLCopen
PLCopen
European Panasonic Headquarter, Germany
created by
created by
Ralf Wohlschlaeger
Ralf Wohlschlaeger
General Manager Factory Automation
General Manager Factory Automation
Panasonic Electric Works (Europe) AG
Panasonic Electric Works (Europe) AG
Chairman of PLCopen PC1 committee (promotion)
Chairman of PLCopen PC1 committee (promotion)
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Contents
Contents::
--What
WhatisisIEC
IEC61131-3
61131-3??
--History
History
--Advantages
Advantages
--Explanation
Explanation
--What
WhatisisPLCopen
PLCopen??
--Organisation
Organisation
--Current
Currenttopics
topics
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
The Way to IEC61131-3 Programming
NEMA Programmable Controllers Committee formed (USA)
GRAFCET (France)
DIN 40719, Function Charts (Germany)
NEMA ICS-3-304, Programmable Controllers (USA)
IEC SC65A/WG6 formed
DIN 19 239, Programmable Controller (Germany)
IEC 65A(Sec)38, Programmable Controllers
MIL-STD-1815 Ada (USA)
IEC SC65A(Sec)49, PC Languages
IEC SC65A(Sec)67
IEC 848, Function Charts
IEC 64A(Sec)90
IEC 1131-3 Type 3 report
recommendation
IEC 61131-3
name change
70
77
78
79
80
81
82
83
84
85
86
Source: Dr. J. Christensen (-1995) / R. Wohlschlaeger (-2003)
Panasonic Electric Works Europe AG
87
88
89
90
91
92
93
94
95
96
2003
IEC 61131-3
second edition
Wohlschlaeger / January 2006
Style of Software
Conventional
Conventional styled
styled software
software IEC
IEC61131-3
61131-3styled
styled software
software
Direct
Directhardware
hardwareaddress
address::
-- X0,
X0,X1...Y0,Y1....DT0,DT1.....
X1...Y0,Y1....DT0,DT1.....
11Program
Programfrom
fromstart
startto
toend
end
IEC
IECaddress:
address:
-- %IX0.....%QX0.....%MW5.0
%IX0.....%QX0.....%MW5.0
-- each
eachVariable
Variablehave
haveaaname
name
-- each
eachVariable
Variablehave
haveaadata
datatype
type
-- global
globaland
andlocal
localVariables
Variables
POU
POUconcept:
concept:
-- 11program
programor
ormore
moreprograms
programs
-- Function
FunctionBlocks
Blocksand
andFunctions
Functions
Panasonic
PanasonicControl
ControlFPWIN
FPWINPro
Procan
canuse
useboth
bothstyles
styles
Both
Bothstyles
stylescan
canbe
bemixed
mixed
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Why IEC 61131-3?
IEC 61131-3
An internationally accepted standard
••Unified
Unifiedrules
rulesin
insystems
systemsworldwide,
worldwide,
reduces
reducesmisunderstandings
misunderstandingsand
andshortens
shortenstraining
training
••Reuse
Reuseof
ofready-made
ready-madeFunctions
Functionsand
andFunction
FunctionBlocks,
Blocks,
saves
savestime
timefor
forprogramming
programmingand
anddebugging
debugging
••Better
Betteroverview
overviewthrough
throughstructure
structureand
andmodularity
modularity
••Fewer
Fewererrors
errorsthrough
throughdefined
defineddata
datatypes
typesand
andencapsulation
encapsulation
••Safe
Safeinvestment
investmentdue
dueto
to standardisation
standardisation
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Examples of IEC 61131-3 advantages
Variables :
l better documentation --> programming by names / symbols
l I/O connection list already stored in the project
l Base for the re-use of software
POUs
:
SFC
:
General
:
Panasonic Electric Works Europe AG
l structured programming
l well defined interface --> other variables can be used in other projects
l re-use of Function Blocks saves time and debugging
l flowchart on the monitor
l divide big programs into small and easy parts
l top down development / bottom up --> well structured
l different languages in the program
l easy debugging and error locating - only the current step is active
l save training time for programmers
l enables parallel software development by more programmers
l certification ensures users to protect their investments for the future
Wohlschlaeger / January 2006
Use Variable Names instead of Addresses
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
IEC 61131-3 Functions
Conventional programming requires
different functions for e.g.:
16-bit
EN
s1
s2
32-bit
EN
s1
s2
4-digit
BCD data
8-digit
BCD data
Floating
point data
Panasonic Electric Works Europe AG
EN
s1
s2
EN
s1
s2
EN
s1
s2
Flexible IEC instructions:
1 function instead of several
F22_ADD2
ENO
d
F23_ADD2
ENO
d
ADD
F42_ADD2
ENO
d
F43_ADD2
ENO
d
EN
a_NumN
a_NumN
ENO
Input data must be
of the same data type!
F310_FADD
ENO
d
Wohlschlaeger / January 2006
The IEC 61131 Standard - The PLC Standard
l Part 1
l Part 2
General overview, definitions
Hardware
l I/O signals, safety requirements, environment
l Part 3
l Part 4
l Part 5
Programming Languages
User Guidelines
Communication
l Part 6
l Part 7
l Part 8
Reserved
Fuzzy control
Technical Report
International Standard
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
IEC 61131-3 Software Model
Configuration A
Resource L
Task1
Program P1
Resource L
Task2
Task3
Program P2
Program P3
FB1
FB3
FB2
Task4
Program P4
FB4
global and direct adressed variables
access paths
Task association
Access path association
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Common Elements of the IEC 61131-3
IEC
IEC61131-3:
61131-3: The
The55Programming
ProgrammingLanguages
Languages
and
and
The
TheCommon
CommonElements
Elements
• Character set
(English.........)
• Data types
(BOOL, WORD, INTEGER.................)
• Variables
(VAR, VAR_input, VAR_output..........)
• POUs, Program Organisation Units
(Function, Function Block...)
• SFC Elements
(Steps, Transitions.................................)
• Configuration elements:
(Tasks)
••Basis
Basisfor
forsoftware
softwarere-use
re-use
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
IEC 61131-3 Elementary Data Types
No.
Keyword
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Panasonic Electric Works Europe AG
Data Type
Bits
BOOL
SINT
INT
DINT
LINT
USINT
Boolean
Short integer
Integer
Double integer
Long integer
Unsigned short integer
1
8
16
32
64
8
UINT
UDINT
ULINT
REAL
LREAL
TIME
DATE
TIME_OF_DAY
or TOD
DATE_AND_TIME
or DT
STRING
BYTE
WORD
DWORD
LWORD
Unsigned integer
Unsigned double integer
Unsigned long integer
Real numbers
Long reals
Duration
Date (only)
Time of day (only)
16
32
64
32
64
Date and time of day
Character string
Bit string of length 8
Bit string of length 16
Bit string of length 32
Bit string of length 64
8
16
32
64
Wohlschlaeger / January 2006
The 5 Languages of IEC 61131-3
Instruction List
LD
A
ANDN
B
ST
C
Structured Text
C:= A AND NOT B
Step 1
N
FILL
Transition 1
Function Block Diagram
Ladder Diagram
A B
AND
A
Sequential Function Chart
C
B
Panasonic Electric Works Europe AG
Step 2
C
S
Empty
Transition 2
-| |--|/|----------------( )
Step 3
Wohlschlaeger / January 2006
POU = Program Organization Unit
• A POU consists of a header (variable declaration) and the
body (instructions)
• POUs enable the re-use of software from macro level (Programs)
to micro level (FB and Functions)
POU Type
Program
Function Block
Replicated as:
Program instance
FB instance
Function
Function
Panasonic Electric Works Europe AG
Comments
Main program
Subroutine with own
memory, several in and outputs
possible
Subroutine without
own memory
Wohlschlaeger / January 2006
Function Blocks can be easily reused
1. Function Block
so
FU_Block
a
ftw
re
OUT_1
IN_1
IN_2
2. Variable Interface
IN_3
FU-Block Header
0
1
2
3
Class
Identifier
VAR_INPUT
VAR_INPUT
VAR_INPUT
VAR_OUPUT
IN_1
IN_2
IN_3
OUT_1
Panasonic Electric Works Europe AG
Type
BOOL
BOOL
BOOL
BOOL
3. Program body
Program
Program
once
once
reuse
reuse
always
always
LD
AND
OR
AND
:
:
:
:
ST
IN_1
IN_2
OUT_1
IN_3
:
:
:
:
OUT_1
Wohlschlaeger / January 2006
Easy Programming of FBs and FUN
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Easy Programming of FBs and FUN
Define
Defineinputs
inputsand
andoutputs
outputs
Panasonic Electric Works Europe AG
Program
ProgramFB
FBcontents
contents
Wohlschlaeger / January 2006
Library Concept
Libraries:
Special_Lib
IEC_Standard_Lib
Vendor_Lib
Pulsed_Lib
Communication_Lib
PID_Lib
Special_Project_Lib
TWO_TRIP
POSITION_2_AX
POSITION_3_AX
WAIT_10s
ELEVAT_4_FL
:
:
:
• Self-created FBs can be stored in libraries
• Comfortable structuring and sorting in the libraries
• Know-how protection of FBs and libraries
• Easy reuse of tested software --> saves time
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
PLCopen is a World-wide association
Main Office in Europe
Office in North America
Panasonic Electric Works Europe AG
Office in Japan
Wohlschlaeger / January 2006
PLCopen
PLCopen
PLCopenwas
wasfounded
foundedon
onJune
June15,
15,1992
1992in
inGiessen,
Giessen,Germany.
Germany.
Target
Targetwas
wasto
topromote
promoteIEC
IEC61131-3,
61131-3,inform
informcustomers
customersand
andgive
give
more
moreweight
weightto
tothe
theIEC
IEC61131-3
61131-3standard.
standard.
PLCopen
Standardization in Industrial
Control programming
TC6
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
PLCopen Mission
We
We want
want to
to be
be the
the leading
leading association
association resolving
resolving
topics
topics related
related to
to
control
control programming
programming
to
to support
support the
the use
use of
of
international
international standards
standards in
in this
this field.
field.
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
PLCopen is a World-wide association
> 80 members (June 2004)
from 19 countries all over the world
Suppliers, institutes and users
See newsletter / website for up-to-date list
Details
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
The Essence of Compliancy
--The
TheIEC
IEC61131
61131standard
standardgives
givesrules
rulesfor
forcompliancy
compliancy
--Certification
Certificationguides
guidesusers
userstowards
towardsreal
realIEC
IEC61131-3
61131-3
programming
programmingsystems
systems(e.g.
(e.g.PLCopen
PLCopencertified
certifiedproducts)
products)
Without
Withouttesting
testing
there
thereisisno
nostandard
standard
Meanwhile
Meanwhileonly
onlytruly
trulycompliant
compliantIEC
IEC61131-3
61131-3systems
systems
are
arepromoted
promotedas
asIEC
IEC61131-3
61131-3products
products
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
TC3: PLCopen Compliance Levels
Application
Program
FB
Variable
Code
Body
FB
FB
Variable
Variable
Code
Code
Body
Body
Panasonic Electric Works Europe AG
Conformity Level &
Reusability Level
Re-usability of Function (Block)
libraries
Base Level
Portability of minimal systems
Application
Program
FB
FB
FB
Variable
Code
Body
Variable
Variable
Code
Code
Body
Body
Wohlschlaeger / January 2006
Certification
Certified products can use these logos
Base
BaseLevel:
Level:
first
firststep
stepinto
intoIEC
IEC61131-3
61131-3software
software
Conformity
ConformityLevel:
Level:
conforms
conformsto
toIEC
IEC61131-3
61131-3based
basedon
on
supported
supporteddata
datatypes
types
Reusability
ReusabilityLevel:
Level:
reuse
reuseof
ofIEC
IEC61131-3
61131-3Function
FunctionBlocks
Blocks
based
basedon
onsupported
supporteddata
datatypes
types
Motion
MotionControl:
Control:
certified
certifiedFunction
FunctionBlocks
Blocksaccording
accordingthe
the
Motion
MotionControl
Controlspecification
specification
XML:
XML:
Opening
Openingup
upthe
thedevelopment
development
environments
environmentsby
byspecifying
specifyingXML
XML
formats
formatsfor
forIEC
IEC61131-3
61131-3
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Reusability Level ST
BOOL
INT
WORD
BOOL
INT
WORD
FU_Body
FU_Body
OUT_1
IN_1
IN_2
IN_2
OK
IN_3
BOOL
LINT
WORD
OUT_1
IN_1
IN_3
BOOL
WORD
FU_Body
OUT_1
IN_1
IN_2
IN_3
no LINT
FU_Body
X
Not possible
OUT_1
IN_1
IN_2
IN_3
Function
FunctionBlock
Blockexchange
exchangein
inST
STlanguage
languageisispossible:
possible:
••ififboth
bothsystems
systemshave
havethe
theReusability
ReusabilityLevel
LevelST
ST
••the
theused
usedinstructions
instructionsare
areIEC
IEC61131-3
61131-3instructions
instructions
••the
thesame
samedata
datatypes
typesare
areavailable
available
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Why Motion Control FBs ?
Revolutionizing the industry
with a global standard
Mechanics do not help anymore,
a standard with software is possible
Reduce maintainance and
sanitation
Less hardware parts, more software
The
Thesolution
solutionis….....
is….....
........Software
........Software
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Motion Control Standardization means:
ü Hardware independent Software Development
ü Consistent Development Environment
ü Consistent Installation and Maintenance Interface
Same
‘Look and Feel’
IEC 61131-3 is a good base
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
The PLCopen Task Force Motion Control
ü Initiated by Users
ü ..to fulfil their requirements
Goal :
To harmonize the access for Motion Control
across different platforms
during development, installation and maintenance
based on the IEC 61131-3 environment
Panasonic Electric Works Europe AG
Users:
Bosch Packaging
Kuka
Kloeckner Tevopharm
Focke EKB
Hershey Foods
Tetra Pak
Suppliers:
Siemens
Elau
Beckhoff Industrial Electronics
SEW Eurodrive
Mitsubishi Electric Europe
Cross Hueller
Lenze
Parker Hannifin
ISG Stuttgart
Control Techniques
Phoenix Contact
Keba
KW Software
Rockwell Automation
Nyquist
Baumueller
infoteam Software
Rexroth Indramat
Wohlschlaeger / January 2006
HW Independence via Function Blocks
Software View
Hardware View
Encapsulation / Information Hiding
Inputs
Name
Sercos Drive
I/F
Motor
Outputs
E
PWM
I/F
Drive
Motor
E
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006
Example of a Function Block
MoveAbsolute
AXIS_REF
BOOL
REAL
REAL
REAL
REAL
REAL
MC_Direction
Panasonic Electric Works Europe AG
Axis
Execute
Position
Velocity
Acceleration
Deceleration
Jerk
Direction
Axis
Done
CommandAborted
Error
ErrorID
AXIS_REF
BOOL
BOOL
BOOL
WORD
Wohlschlaeger / January 2006
Thank you !
Panasonic Electric Works Europe AG
Wohlschlaeger / January 2006