information at plcopen for efficiency in automation iec 61131.3 the industrial programming standard...

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www.PLCopen.org PLCopen for efficiency in automation

IEC 61131.3 the Industrial Programming Standard

of 38Mile High Industrial and Automation Conference March 31st and April 1st, 2009

PLCopen - IEC 61131 - 3

Overview

"Any sufficiently advanced technology is indistinguishable from magic.“ Arthur Charles Clarke

“There are three classes of people: those who see. Those who see when they are shown.

Those who do not see.”

Leonardo da Vinci (Italian draftsman, Painter, Sculptor, Architect and Engineer whose genius epitomized the Renaissance humanist ideal. 1452-1519)

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IEC = International Electro-technical Commission

A World organization that prepares and publishes international standards for all electrical and electronic related technologies

Founded in 1906 * Over 50 participating countries * Different levels of membership

The goal of this presentation is to provide the attendees with information and a review of the IEC 61131-3 control system

automation software standard which is an open (non-propriety) based standard applicable to the implementation of a PLC Open system including the application of Field Bus technology. The attendees will gain knowledge involving the IEC 61131-3 software standard utilizing RTU/PLC/DCS.

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What is the IEC 61131 standard ?IEC 61131 is an international standard for programmable controllers consisting of 5 parts:

Part 1: General information

Part 2: Equipment characteristics

Part 3: Programming languages

Part 4: User guidelines

Part 5: Communication

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IEC 61131 and PLC Open – Mission

PLC Open is a vendor and product independent world-wide organization that brings greater value to users of Industrial Control Systems through

the pursuit of the IEC 61131-3 software development standard

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Goals of IEC 61131.3 and PLC Open PLC Open Certification and compliance testing

Definition of several levels of IEC 61131-3 compliance(Base Level, Portability Level, Full compliance Level)

Establish strict test proceduresEstablish certification tests at independent test institutes

Ultimate Goal: Portability of PLC programs

Program once run on any hardware platform

not hardware specific or dependent

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Table of contents

Advantages of IEC61131-3 for programmers

History and international standards 1970 to 1995

7 parts of the IEC 61131 standard

IEC 61131-3 software models

the 5 languages of the IEC 61131-3

FBs (Function blocks) and POUs (Programmable Organizational Units)

IEC data types, standard functions and standard function blocks

PLCopen certification

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Table of contents - continued

PLCopen compliance levels

PLCopen training logo

PLCopen address

"Concern for man himself and his fate must always form the chief interest of all technical endeavors, concern for the great unsolved problems of the organization of labor and the distribution of goods--in order that the creations of our mind shall be a

blessing and not a curse to mankind. Never forget this in the midst of your diagrams and equations." Albert Einstein

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Advantages of IEC 61131-3

International accepted standard• Step by step all suppliers will support it

• Uniform structures, languages, and the way of handling

It saves you time• Unique software model and data/ type concept

• You only have to learn it once for different controller types

• Reduced misunderstandings and errors

• Standard functions and function blocks

• Reusability of tested software

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Advantages of IEC 61131-3

Supports safety and quality programming• Easy and comfortable structuring

• Data typing prohibits programming errors

Provides the best language for each problem• Consistent specifications of 5 languages

• Two textual and two graphical languages

• One structuring language, providing an overview

• Availability of high level language

• Possibility to mix different languages

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International Language Standardization

Source: Dr. J. Christensen

77 78 79 8180 93 94 9570 82 83 84 85 8786 88 89 90 91 92

NEMA Programmable Controllers Committee formed (USA)GRAFCET (France)

IEC 848, Function Charts

DIN 40719, Function Charts (Germany)NEMA ICS-3-304, Programmable Controllers (USA)

IEC SC65A/WG6 formedDIN 19 239, Programmable Controller (Germany)

MIL-STD-1815 Ada (USA)

IEC SC65A(Sec)67

Type 3 report recommendation

96

IEC 65A(Sec)38, Programmable Controllers

IEC 1131-3

IEC SC65A(Sec)49, PC Languages

IEC 64A(Sec)90

IEC 61131-3name change

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The 7 Parts of The IEC 61131 Standard

Part 1 General overview, definitions IS

Part 2 Hardware IS

Part 3 Programming Languages IS

Part 4 User Guidelines IS

Part 5 Communication IS

Part 7 Fuzzy Logic IS

Part 8 Technical Report

IS = International Standard

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IEC 61131 - Part 1 - General Overview

Definitions and glossary of terms used in the standard

List of related / referenced IEC standards

Principal functional characteristics of programmable

controller systems

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IEC 61131 - Part 2 - Hardware

Electrical, mechanical and functional requirements for

Programmable Controllers and associated peripherals

Service, storage and transportation conditions

Information to be supplied by manufacturer

Test methods and procedures for verification of compliance

of programmable controllers and associated peripherals

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IEC 61131 - Part 3 - Programming Languages

Software-, communication- and programming-model

Definition of five interlinked programming languages

Syntax and semantics of two textual and two graphical

languages: Instruction List (IL), Structured Text (ST), Ladder

Diagram (LD) and Function Block Diagram (FBD)

Sequential Function Chart (SFC) for program structuring

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IEC 61131 - Part 4 User Guidelines

Assists the user in: Utilizing the other parts of the programmable controller

standard Specifying the requirements for applications Selecting and implementing systems

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IEC 61131 - Part 5 Communication

Based on MMS (Manufacturing Message Specifications)(still in progress)

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IEC 61131 - Part 7 Fuzzy Logic

Provides the definition of fuzzy control sets

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IEC 61131 - Part 8 Technical Report

Provides guidelines for the application and implementation of programming languages for programmable controller

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IEC 61131-3 Software ModelConfiguration A

FB2

Program P1 Program P2

Task1 Task2

Resource L

access paths

FB1 FB4

Program P3 Program P4

Task3 Task4

Resource L

FB3

global and direct addressed variables

Task associationAccess path association

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Ope

ratin

g S

yste

m

OB1FC

FB FC

FB

FC

FB

OtherOBs

OB - Organization BlockFC - FunctionFB - Function Block

Memory

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Definition of Software Model Terms Configuration

A language element corresponding to a programmable controller system Resource

A language element corresponding to a signal processing function and its human-machine interface and sensor actuator functions, like a CPU in your system

Task

An execution control element providing for periodic or triggered execution of a group of associated program organization units

Program

Highest level program organization unit, several in - and outputs possible, can call FBs and Functions

FB

Program organization unit Function Block, several in - and outputs possible, can call other FBs and Functions

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IEC 61131-3: The Common 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 for software re-use• Basis for software re-use

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IEC

611

31-3

Ele

men

tary

Dat

a T

ypes

No. Keyword Data Type Bits 1 2 3 4 5 6 7 8 91011121314

15

1617181920

BOOLSINTINTDINTLINTUSINT

UINTUDINTULINTREALLREALTIMEDATETIME_OF_DAYor TODDATE_AND_TIMEor DTSTRINGBYTEWORDDWORDLWORD

BooleanShort integerIntegerDouble integerLong integerUnsigned short integer

Unsigned integerUnsigned double integerUnsigned long integerReal numbersLong realsDurationDate (only)Time of day (only)

Date and time of day

Character stringBit string of length 8Bit string of length 16Bit string of length 32Bit string of length 64

1 8 16 32 64 8

16 32 64 32 64

8 16 32 64

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Directly represented variables – Hardware Addressable Inputs and OutputsThe identifier of a directly represented variable always begins with "%" character.

Below are the naming conventions of a directly represented variable for a channel of a single board. "s" is the slot number of the board. "c" is the number of the channel.

%IXs.c free channel of a Boolean input%IDs.c free channel of an integer input%ISs.c free channel of a message input%QXs.c free channel of a Boolean output%QDs.c free channel of an integer output%QSs.c free channel of a message output

Below are the naming conventions of a directly represented variable for a channel of a complex equipment. "s" is the slot number of the equipment. "b" is the index of the single board within the complex equipment.

"c" is the number of the channel.

%IXs.b.c free channel of a Boolean input%IDs.b.c free channel of an integer input%ISs.b.c free channel of a message input%QXs.b.c free channel of a Boolean output%QDs.b.c free channel of an integer output%QSs.b.c free channel of a message output

Below are examples:%QX1.6 is the 6th channel of the board #1 (Boolean output)

%ID2.1.7 is the 7th channel of the board #1 in the equipment #2 (integer input)

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The 5 Languages of IEC 61131-3

Instruction List Structured Text Sequential Function Chart

Function Block Diagram Ladder Diagram

LD A

ANDN B

ST C

C:= A AND NOT B

A B C

-| |--|/|----------------( )

AND

A C

B

Step 1 N FILL

Step 3

Step 2 S Empty

Transition 1

Transition 2

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Ladder Diagram (LD) Standardized, rationalized set of relay ladder programming

symbols Based on well-known US-style of programming, resembling

electrical drawing standard

A B C

-| |--|/|----------------( )

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Ladder Diagram (LD)

Ladder Diagram (LD) is a graphic representation of Boolean equations, combining contacts (input arguments) with coils (output results). The LD language enables the description of tests and modifications of Boolean data by placing graphic symbols into the program chart. LD graphic symbols are organized within the chart exactly as an electric contact diagram. LD diagrams are connected on the left side and on the right side to vertical power rails.

A and not B equals C

-| |--|/|----------------( )

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Instruction List (IL)

Single Accumulator based execution model Based upon the German ‘Anweisungsliste’, AWL Only one operation such as storing a value in the

accumulator register, is allowed per line

LD A

ANDN B

ST C

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Instruction List, or IL is a low level language. It is highly effective for smaller applications or for optimizing parts of an application. Instructions always relate to the current result (or IL register).

The processor indicates the operation that must be made between the current value and the operand. The result of the operation is stored again in the current result.

LD IX1 (* push button *)

ANDN MX5 (* command is not forbidden *)

ST QX2 (* start motor *)

Instruction List (IL)

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Structured Text (ST) High level language, block structured Syntax resembles PASCAL Complex statements and nested instructions possible Support for

• Iteration loops (REPEAT-UNTIL; WHILE-DO)• Conditional execution (IF-THEN-ELSE; CASE) • Functions (SQRT(), SIN())

C:= A AND NOT B

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High level language, Syntaxed structured Syntax resembles traditional programming code

such as C++, JAVA, PASCAL Complex statements and nested instructions possible Support for

Iteration loops (REPEAT-UNTIL; WHILE-DO) Conditional execution (IF-THEN-ELSE; CASE) Advanced Math Functions (SQRT(), SIN())

C:= A AND NOT BApplications with complex calculations and data processing examples would involve two phase

flow calculations, gas calculations, etc.

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Function Block Diagram (FBD) Graphical language, widely used in Europe Allows program elements which appear as blocks to be

"wired" together in a form analogous to a circuit diagram Used in many applications that involve the flow of

information or data between control components

AND

A C

B

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Graphical language, widely used in Distributed Control Systems (DCS) and Analog intensive control systems

Allows program elements which appear as blocks (Function Blocks) to be connected together in a form analogous to a circuit diagram

Most applications apply to analog control Used in many applications that involve the flow

of information or data between control component

Examples include PID and analog scaling

AND

A C

B

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Sequential Function Chart (SFC) Graphical language which provides a

diagrammatic representation of program sequences --> flowchart

Based on the French Grafcet (IEC 848) Main structure and suitable for rapid diagnostics The basic elements are steps with action blocks

and transitions Steps consist of a piece of program that is

carried out until a condition specified in the transition is met

Programming of complex tasks by dividing in smaller parts

Each element can be programmed in any of the IEC- languages such as LD or ST or IL or FB mix or match any of the languages

Step 1 N FILL

Step 3

Step 2 S Empty

Transition 1

Transition 2

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Technological programming language for

describing Sequential Controls

Structured program draft Description of the process with steps and transitions Clear, easy to understand by the process,

production and operations staff Application examples

Presses and Packaging technology Production lines Process technology (start up – shutdown) OEM equipment machinery technology Rotating Machinery e.g. compressors, pumps

Step 1

Transition

Step 2

Transition

Action 1Action 2

Action 1

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POU = Program Organization UnitPOU’s enable re-use of software from macro level (Programs)

to micro level (FB and Functions).

A POU consists of a header (variable declaration) and the

body (instructions).

POU Type Replicated as: Comments

Program Program instance Main program

Function Block FB instance Subroutine with own memory, several in - and outputs possible

Function Function Subroutine without memory

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IEC 61131-3 Standard Datatypes Bit string types (BOOL, BYTE, WORD, DWORD, LWORD)

Integer types (SINT, INT, DINT, LINT)

Unsigned integer types (USINT, UINT, UDINT, ULINT)

Real types (REAL, LREAL)

Time types (TIME, DATE, TIME_OF_DAY, DATE_AND_TIME)

Character types (STRING)

Vendor and user defined data types are possible• Direct derived, sub range, enumeration

• Array, structure

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IEC 61131-3 Standard Functions Bit string functions (AND, OR, XOR, NOT, SHL, SHR, ROL,

ROR)

Numerical functions (ADD, SUB, MUL, DIV, MOD, EXPT, ABS, SQRT, LN, LOG, EXP, SIN, COS,

TAN, ASIN, ACOS, ATAN)

Type conversions (e.g. USINT_TO_DINT, BOOL_TO_BYTE)

Selection functions (SEL, MIN, MAX, LIMIT, MUX)

Comparison functions (GT, GE, EQ, LT, LE, NE)

String functions (LEN, LEFT, RIGHT, MID, CONCAT, INSERT, DELETE, REPLACE, FIND)

Vendor and user defined functions are possible

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IEC 61131-3 Standard Function Blocks Bitable (SR, RS, SEMA)

Edge detection (R_TRIG, F_TRIG)

Counters (CTU, CTD, CTUD)

Timers (TP, TON, TOF, RTC)

Vendor and user defined function blocks are possible

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PLCopen

Mission

We want to be the leading association resolving topics related to

control programming to support the use of

international standards in this field.

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PLCopen

PLCopen was founded on June 15, 1992 in Giessen, Germany.Target was to promote IEC 61131-3, inform customers and givemore weight to the IEC 61131-3 standard.

PLCopen was founded on June 15, 1992 in Giessen, Germany.Target was to promote IEC 61131-3, inform customers and givemore weight to the IEC 61131-3 standard.

PLCopenStandardization in Industrial

Control programming

TC6

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The Essence of Compliancewithout testing there is no standard

The IEC 61131 standard gives rules for compliancy

Certification gives guidance for users towards real IEC

61131-3 programming systems (e.g. PLCopen certified list

shows compliant products)

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PLCopen Compliance LevelTo take away the confusion, PLCopen.... .... has defined 2 levels of compliance with a defined set

of features .... has defined an accreditation procedure .... has accredited test institutes .... developed test software, shared amongst members .... has defined a certification procedure .... and has members with certified products

This assures compliance now, and in the future.

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PLCopen Compliance Levels

ApplicationProgram

FB

Variable

CodeBody

FB

Variable

CodeBody

FB

Variable

CodeBody

ApplicationProgram

FB

Variable

CodeBody

FB

Variable

CodeBody

FB

Variable

CodeBody

Conformity Level &Reusability Level

Re-usability of Function (Block) libraries

Base LevelPortability of minimal systems

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ComplianceCertified products

can use these logo’s

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PLCopen Training Logo

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PLCopen

P.O. Box 2015

NL 5300 CA Zaltbommel

The Netherlands

Tel: +31-418-541139Fax: +31-418-516336

www.plcopen.org

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