introduction in iec 61131-3
DESCRIPTION
Introduction in IEC 61131-3. Check also the notes coupled to each slide for further explanation. PLCopen TC1 : Standards links to IEC 61131-3 Harmonizing the way people look to control. the future is here. Fiction?. Imagine *you are in industrial control - PowerPoint PPT PresentationTRANSCRIPT
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Introduction in IEC 61131-3
Check also the notes coupled to each slidefor further explanation
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the future is here
PLCopen TC1 : Standards links to IEC 61131-3
Harmonizing the way people look to control
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Fiction?Imagine
* you are in industrial control* working with 4 different brands of controls* using different dialects in their programming languages* struggling to match the level of your software engineers
with the operators and maintenance people on the factory floor
* & seeing that your competitor does better
Why? What’s wrong ?
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Out of the jungle
The current variety of problems can be vastly reduced via standardization
... and such a standard is available
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IEC 61131-3“The best thing that happened
to industrial control”Sugar Lantic on Automation Maillist
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The 9 parts of the IEC 61131 StandardProject Title Valid till
61131- 1, Ed 2.0 General information, 2003-05 2013
61131- 2, Ed 3.0 Equipment requirements and tests, 2007-07 2012
61131- 3, Ed 3.0 Programming languages (Currently CDV - Committee Draft for Voting) 2012+5
61131- 4, Ed 2.0 User guidelines (TR), 2004-07 2010
61131- 5, Ed 1.0 Communications, 2000-11 2013
61131- 6, Ed 1.0 Functional safety for PLC (Currently CDV - Committee Draft for Voting) 2012+5
61131- 7, Ed 1.0 Fuzzy control programming, 2000-08 2013
61131- 8, Ed 2.0 Guidelines applic. & implem. progr. languages (TR), 2003-09 2008
61131- 9, Ed 1.0 Single-drop digital communication interface for small sensorsand actuators (SDCI) aka “IO-Link” (Currently CD - Committee Draft)
2012+5
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IEC 1131 versus IEC 61131
The good news is – there is no difference
It is an international harmonization of all the IEC standards
and the localized versions
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IEC 61131-3 Programming languages /Industrial Control Programming
Standardizing the way people work with controls
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IEC 61131-3 Programming languages /Industrial Control Programming
...with support for people with different backgrounds
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The IEC 61131-3 Standard
Common Elements
Programming Languages
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IEC 61131-3 : Common ElementsVariables & Data Types
What is this?
01010101 10101010
Historically
• Reference to a physical memory location
• Reference to a physical Input
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IEC 61131-3 : Common ElementsVariables & Data types
Temperature_Sensor_1 : Integer • Symbolic representation via labels• Restricted area for I/O mapping• Hardware independent software code• Result: higher transparency & readability• And less errors
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IEC 61131-3 : Common Elements
Software Model
• Configuration• Resources
• Tasks
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IEC 61131-3 Software ModelConfiguration
Communication Function
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IEC 61131-3 Software ModelConfiguration
Communication Function
Resource Resource
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IEC 61131-3 Software Model
Task Task Task Task
Resource Resource
Configuration
Communication Function
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IEC 61131-3 Software Model
Execution control path
Task
Program Program
Task
Program
Task
Program
Task
Resource Resource
Configuration
Communication Function
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IEC 61131-3 Software Model
Global and direct variables
Access path
Execution control path
Variable access path
FBTask
Program ProgramFB FB
Task
Program
Task
ProgramFB FB
Task
Resource Resource
Configuration
Communication Function
Function Block
Variable
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IEC 61131-3 vs conventional PLC
Global and direct variables
Access path
Execution control path
Variable access path
FBTask
Program ProgramFB FB
Task
Program
Task
ProgramFB FB
Task
Resource Resource
Configuration
Communication Function
Function Block
Variable
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Conventional PLC vs IEC 61131-3
Task 1
Program
Task
Resource
Read inputs
Do Calculations
Set Outputs
Endless Loop:
Task 2
Task 3
Task 4
Time based
Events based
Events based
Time based
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Common Elements: Tasks
IEC 61131-3
EmbeddedPLCs
PC basedControl SoftLogic
Drives
LON nodes
DCS
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Common Elements : Tasks & Datatypes
RPM =2000Windows CE or any other
IEC 61131-3 tasks
SCADA & HMI tasks
I/O Communication tasks
OPC UA
Multi –functional Operator Panel
I/O Communication bus
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IEC 61131-3 : Common ElementsCOMMON ELEMENTS
a.o.
Data Types & Variables
Configuration, Resources, Tasks
Programming Organization Units, POUs* Functions* Function Blocks* Programs
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Functions …..* Standard functions
ADD, SQRT, SIN, COS, GT, MIN, MAX, AND, OR, etc.
* Your own defined functions: FUNCTION SIMPLE_FUN : REAL
VAR_INPUTA, B : REAL;C : REAL := 1.0;
END_VARSIMPLE_FUN := A*B/C;END FUNCTION
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…. & Function Blocks Standard Function Blocks
FUNCTION_BLOCK
I NPUT OUTPUT I N_OUT EXTERNAL
LocalType
HysterisisQXIN1
XIN2EPS
BOOLREALREALREAL
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…. & Function Blocks Standard Function Blocks Additional supplied
Function BlocksFUNCTION_BLOCK
I NPUT OUTPUT I N_OUT EXTERNAL
LocalType
HysterisisQXIN1
XIN2EPS
BOOLREALREALREAL
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…. & Function Blocks Standard Function Blocks Additional supplied
Function Blocks Your own defined Function
Blocks
FUNCTION_BLOCK
I NPUT OUTPUT I N_OUT EXTERNAL
LocalType
HysterisisQXIN1
XIN2EPS
BOOLREALREALREAL
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…. & Function Blocks Standard Function Blocks Additional supplied
Function Blocks Your own defined Function
Blocks All FBs are highly re-usable
in same program, different programs or project
FUNCTION_BLOCK
I NPUT OUTPUT I N_OUT EXTERNAL
LocalType
HysterisisQXIN1
XIN2EPS
BOOLREALREALREAL
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Function Block exampleHysterisis
QXIN1XIN2EPS
BOOLREALREALREAL
1
EPSEPS
0
XIN2
Q
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Function Block exampleFUNCTION_BLOCK HYSTERISIS VAR_INPUT XIN1, XIN2 : REAL; EPS : REAL; (* Hysterisis band *) END_VAR VAR_OUTPUT Q : BOOL := 0 END_VAR IF Q THEN IF XIN1 < (XIN2-EPS) THEN Q := 0 (* XIN1 decreasing *) END_IF; ELSIF XIN1 > (XIN2 + EPS ) THEN Q := 1; (* XIN1 increasing *) END_IF;END_FUNCTION_BLOCK
Hysterisis
QXIN1XIN2EPS
BOOLREALREALREAL
1
EPSEPS
0
XIN2
Q
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Programs : design via building bricks
Automation
application
Start : BOOL;Emergency : BOOL;Limit : INT;
PROGRAM
GLOBAL
LocalType
FUNCTION
INPUT
LocalType
FUNCTION_BLOCK
INPUT OUTPUT IN_OUT EXTERNAL
LocalType
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Structure & Advantages of POUs
Create own Function Block Libraries (per application area)
FBs are tested and documented
Make libraries (world wide) accessible
Re-use as much as possible
Change programming to creating networks of FBs
Save 40% on next project
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Sequential Function Chart, SFC Powerful graphical technique for
describing the sequential behavior of a control program
Used to partition a control problem
Shows overview, also suitable for rapid diagnostics
Step 1 N FILL
Step 3
Step 2 S Empty
Transition 1
Transition 2
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Sequential Function Chart, SFC Powerful graphical technique for
describing the sequential behaviour of a control program
Used to partition a control problem
Shows overview, also suitable for rapid diagnostics
The basic elements are STEPS with ACTION BLOCKS and TRANSITIONS
Support for alternative and parallel sequences
Step 1 N FILL
Step 3
Step 2 S Empty
Transition 1
Transition 2
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SFC : alternative sequences
Step 1 N FILL
Step 3
Step 2 b S Empty
Transition 1b
Transition 2b
Step 2 a S Empty
Transition 1a
Transition 2a
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The IEC 61131-3 Standard
Common Elements
Programming Languages
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The IEC 61131-3 Programming LanguagesInstruction List Structured Text
Function Block Diagram Ladder Diagram
C:= A AND NOT B
A B C
-| |--|/|----------------( )
LD A
ANDN B
ST C
AND
A C
B
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The IEC 61131-3 Standard
Common Elements
Programming Languages
Top Down
Bottom Up
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IEC Programming EnvironmentsMany of them offer: graphical programming
screens support for multiple
windows mouse operation pull-down menus built-in hypertext help
function software verification during
design
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What are the benefits ?
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Users? Which Users?
Education
InstallationMaintenance
Programming
Process cntrlDiscrete Mnf
System Integrator YOU ??
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Users? Which Users?• Automobile production lines• Water treatment plant• Food processing and packaging machinery• Cable manufacturing• Semi-conductor clean room automation• Theme-park roller coasters• Nuclear waste treatment plant
This wide range encompass different skills
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Benefits Reduced waste of human resources (in training,
debugging, maintenance and consultancy)
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
Reduced misunderstandings and errors
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
Reduced misunderstandings and errors
Programming techniques usable in more environments (general industrial control)
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
Reduced misunderstandings and errors Programming techniques usable in more
environments (general industrial control)
Combining harmoniously different components from differentlocations, companies or countries, or projects
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
Reduced misunderstandings and errors Programming techniques usable in more
environments (general industrial control) Combining harmoniously different
components from different locations, companies or countries, or projects
Increased connectivity (investment protection)
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Benefits Reduced waste of human resources (in
training, debugging, maintenance and consultancy)
Creating a focus to problem solving via software re-usability (reduced application investment and supplier dependency)
Reduced misunderstandings and errors Programming techniques usable in more
environments (general industrial control) Combining harmoniously different
components from different locations, companies or countries, or projects
Increased connectivity (investment protection)
Function "LIMIT"
Function "TEST"
Function Block"Turning"
Function Block"Feeding"
Function Block"Heating"
SoftwareLibrary
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How to use IEC 61131-3
an example:
Structuring Software Developmentwith IEC 61131-3
7 steps to success
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Software Development CycleDesign
/ Development
/Installation
/Maintenance..
phases
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… software development cycle...enhancements…..
….. new requirements ...
…. new functionality ….
…. new wishes ...
“… the never ending story of software ”
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What’s the topic here?
Structuring Software Development with IEC 61131-3
meaning: internal Software Quality
In the sense of:
Understandable, Reusable, Verifiable, Maintainable, Isolation
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Managing Complexity
100 – 10,000 – 1mio – 100mio Lines of Code
Exponentially increasing complexity
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Why Structuring ?
The ever increasing role of Software on system quality: errors cost money
Requirements increased dramatically: 100 lines of codes now 10,000 lines
SW development: not a one-man job anymore, but a team with different know how and background
Commissioning, Installation, Maintenance, and Improvements are essential parts of the development process
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Advantages of Structuring
• Better Overview
• Better Basis for (internal) Communication
• Better Focus to problem solving
• Basis for reusable software
• “Self-documenting”
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Software Program vs. Software Product Made by an individual for
own use Limited functionality User interface less
important Little documentation Individual development
style
Made by a group for usage by others
Larger functionality User interface very important Well documented Accepted SW engineering
methods
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Exploratory Style vs.Software Engineering Method
Based on error correction Finding errors during final
product testing Coding is the goal, creating
quickly a working system, and modifying till satisfactory
Focused to error prevention Find errors as early as
possible A structured approach,
clear specifications, clear phases
Periodic reviews during all stages of the project
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(Costly) Engineering Habits
Reuse work from similar former projects
Include them into the new project
And start adapting them to the new project
requirements
Copy - Paste & Modify
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Dangers of copy paste & modify
• The “not-invented-here syndrome” – only own artifacts (developed in the past)
• Non-predictable quality• Prone to errors and reuse potential is wasted• Unsystematically• Difficult to maintain and manage• Very costly over the life cycle
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Modern Software Development Process
A small overview
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Modern Software Development Process
Defined in several clearly separated phases - project definition
Top-down approach
Multiple disciplines involved
Multiple people involved
Different backgrounds
Based on Functional Requirements
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Example of Software Development Process
Different Phases
“Waterfall – model”
Analysis
Design
Development
Installation
Maintenance..
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Example of Software Development Process
V-model
Link between
Specification
and testing
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The X-Model for SW Development
Sub-systemIntegration and Testing
System Installationand Testing
Component Identification
Sub-system Design
ModuleDevelopment
Library Construction
Catalogue Management
System Design
Component Design
Component Development
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The X-Model for SW Development
Sub-systemIntegration and Testing
System Installationand Testing
Component Identification
Sub-system Design
ModuleDevelopment
Library Construction
Catalogue Management
System Design
Component Design
Component Development
Application Software
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The X-Model for SW Development
Sub-systemIntegration and Testing
System Installationand Testing
Component Identification
Sub-system Design
ModuleDevelopment
Library Construction
Catalogue Management
System Design
Component Design
Component Development
Reusable Components (FBs)
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Requirements on Engineering Tools1. Support creation and reuse of technical, non-technical and
combined entities2. Support creation of a structured domain repository (like a
library)3. Enable multi-user access on the components4. Provide configuration management5. Cover more than one engineering phase and discipline6. Encourage a reuse on different levels of granularity
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Decomposition and Reuse
PROGRAM
GLOBAL
LocalType
Automation
application
FUNCTION
INPUT
LocalType
FUNCTION_BLOCK
INPUT OUTPUT IN_OUT EXTERNAL
LocalType
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Decomposition
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Reuse via Standardized Function Blocks
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A hierarchy of abstraction
Top-
down
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Bottom-up after top-down
Top-
down
Bottom
up
First decompose – then fill it in
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How does that look in IEC 61131-3 ?
7 Steps to Success
with a
Fermentation Control System
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Fermentation Process
Heater band
Acidic reagent
Alkali reagent
Harvest valve
pH sensor
Temperaturesensor
Feed valve
Agitator
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How to create a control program for this
in a structured way?
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Step 1 : Identification of external Interfaces to the System
Feedback from the temperature sensor Feedback from the pH sensor Feedback from the valve positions Feedback from the motor (speed) Output to the valves Output to the motor Output to the heater band
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Step 2: Definition of the main signals between System and Plant
In this example there is no coupling to the plant, but it could have been, like:
… coupling to main vessels with liquids … coupling to transportation system / filling station after
harvesting
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Step 3: Definition of all Operator interactions, overrides and
supervisory data
For the operator we define: …a ‘Start’ button …a ‘Stop’ button …a ‘Duration’ input
Now we have defined all the interfaces
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Step 4: Brake down from top in logical partitions
MainSequence - filling, heating, agitating, fermenting, harvesting, cleaning.
ValveControl - operating valves used to fill and empty the vessel's
TemperatureControl - for controlling the temperature
AgitatorControl - agitator motor control
pHControl - PH-control
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Step 5: Definition of the required POUs(Programs and Function Blocks)
Using the definitions above and
representing it in the graphical way …
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Fermentation Control ProgramTempControl
MainSequence
FillState
Agitation
pH
PV
PV
PV
SetPoint
Temp
ValvePositions
AgitateSpeed
TempSensor
pHSensor
Duration
Stop
StartStart
Duration
Stop
pHControl
AddAlkaliAddAlkali
AddAcid
AddAcidSetPoint
AgitateControl
MotorSpeedMotorSpeedSetPoint
ValveControl
FillFill
HarvestHarvest
State
CoolCool
HeatHeat
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MainSequence inSequential Function Chart, SFC
N Initialisation S1
N FillingS2
N HeatingS3
N FermentingS4
N HarvestingS5
N CleaningS6
Presenting the main process states
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The Actions Blocks
and Transitions
can be programmed
in any of the four
IEC Programming Languages
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The IEC 61131-3 Programming LanguagesInstruction List (IL) Structured Text (ST)
Funktion Block Diagram (FBD) Ladder Diagram (LD)
LD A
ANDN B
ST C
C:= A AND NOT B
A B C
-| |--|/|----------------( )
AND
A C
B
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Step 6: Definition of scan cycle time requirements
for the different parts of the application
In this example we have only one cycle in continuous mode
The remaining time can be used for other cycles like:
…. the filling / transportation system
… checking boundaries and error conditions (in a parallel sequence)
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And last but not least: Step 7: Configuration of the System: Definition of Resources, Tasks
and linking of programs with physical I/O
Depending on the system involved Includes physical mapping of symbols to I/O Mapping of the resource (read: CPU’s in the system) Definition of the scan cycles and events (as defined in Step
6)
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Conclusion The Software development process has changed:
more requirements.. more functionalities.. more code.. more people involved.. … more requirements / wishes
Structuring and Decomposition are essential parts of modern software development
IEC 61131-3 has the right basis to fulfill your requirements
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The association PLCopen
Together we can make it happen:
Standardization in Industrial Control Programming
WE NEED YOUR SUPPORT FOR THIS !Join the organization PLCopen
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More Information...
www.PLCopen.org Free-of-Charge electronic Newsletter ‘PLCopening’ (in english)
email: [email protected]