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PCWorx

Software Architecture

Chapter 1Chapter 1Workspaces

Workspaces

Process dataassignmentassignment

IECiBus

configuration

programming

Projectcomparisoncomparison

Bus StructureWorkspaceWorkspace

Process Data Assignment WorkspaceAssignment Workspace

Project ComparisonWorkspaceWorkspace

IEC ProgrammingWorkspaceWorkspace

Connected Bus

Device Catalog

Excel Link

Diag+ 2.0

Hardware Architecture

Chapter 2Chapter 2

Overview

Multitasking

Communication PC - Control System

Chapter 3Chapter 3

Communication PC - Control System

Chapter 3Chapter 3

Communication Paths

SerialInterfaceInterface

TCP/IP

Control System yNetwork Settings

Setting the IP Adress/Real-Time Clock on the Control SystemReal Time Clock on the Control System

ValidationValidationthrough

Assigning the IP Address via BootP

BootP service(default upon

delivery)

Entering the MAC AddressActivating the BootP ServerActivating the BootP Server

See addresssticker

Network Communication

Selecting the Network ConnectionNetwork Connection

Manualinput of anIP address

Connection via station

Editing theStation NamesStation Names

IBS Configuration

Chapter 4Chapter 4

Online Configuration

Read-In of the ConnectedBus SystemBus System

Inserting the DetectedDevicesDevices

Offline Configuration

Insert Devices From Device CatalogFrom Device Catalog

Insert to same level

Insertto branch

Device ReplacementUsing the Device CatalogUsing the Device Catalog

Device replacemen

Device Catalog and gDevice Files

Display

User-DefinedDevice CatalogDevice Catalog

Registration of Device Files(Import)(Import)

XML ICOXML

PN Configuration

Chapter 5Chapter 5

Basic Settingsg

Setting the Address Area

First IP addressLast IP addressSubnetmask

192.168.0.2192.168.0.254255.255.255.0

Importing Addresses

Direct IP Address Assignment

192.168.0.2

Online/Offline Configuration

Offline Configuration

Online Configuration

Show Reachable Devices

Inserting Devices into the Project

Device Settingsg

Transmission Intervals

Device Names

PROFINET Devices in the Network

PROFINET Device Naming

Process Data as Variables

Chapter 6Chapter 6

Process Data Assignment WorkspaceAssignment Workspace

PLC address area

Modules ≈ Process d t it f th bdata items of the bus

1. Creating Process Data Variables

2. Connecting Process DataItems with Global VariablesItems with Global Variables

via Drag & Dropvia Drag & Drop

via context menu

Global Variableswith Process Data Connectionwith Process Data Connection

C tConnecteddd

CreatedCreated automatically

Data Management

Chapter 9Chapter 9

Principle of Variable DeclarationDefinition of the identifier: Character set for symbols

Assigning a data type: IEC 61131 data types

Use of variables: keywords

Variable address: Data management

Pre-initializing the variable: SyntaxPre initializing the variable: Syntax

Elementary Data yTypes in IEC 61131

Hierarchy of Data Types

ANY_DATE STRING

ELEMENTARYANY_NUM TIMEANY_BIT

ANY_REAL BOOL

TIME_OF_DAY

DATE AND TIME

TIME STRING

ANY_INT

DATE_AND_TIME

Constants - Literals

Syntax of Constants

BYTE#2#0011_1001 Constant of the01

Tetradseparator

type BYTE inbinary

representation

Example for the Representationof Constantsof Constants

12 0 12 456 986I t t t #12456 -12 0 12_456 +986Integer constants

-12.0 0.0 0.456 +2.635e-12Real constants

Int#12456

Real#1.6e3

Word#12094Word constants Word#16#2F3

EWord#2#0010_1111_0011_11

10also

BYTE and DWORD

Bool constants Bool#1

Time#1 64 t#2d 14h 3 5

Bool#0 True False

Time constants Time#1.64s

t#2d_14h_3.5s

String constants String#‘Break?‘ ‘Right now, please!‘

Use of Variables

Local Data

Global Data

Global VariablesLocal VariablesLocal Variables

POUvariable tables

Globalvariable tables

Localvariables

Interfacevariables

Globalvariables

Programinstance Project

- - - -VAR VAR_EXTERNAL_PG

VAR_EXTERNAL VAR_GLOBAL

VAR_GLOBAL_PG

VAR_INPUTVAR_OUTPUT VAR_EXTERNAL VAR_GLOBALVARVAR_IN_OUT

VAR_INPUT - - - -VAR

Overview ofUse of VariablesUse of Variables

Program Functionblock

Functionblock

Globallyusedvariables

VAR_EXTERNALVAR_EXTERNAL_PG

VAR_EXTERNALVAR_EXTERNAL_PGVAR EXTERNAL FB

Localinterface

VAR_INPUTVAR OUTPUT

VAR_INPUT(o tp t declaredinterface

variables

VAR_OUTPUTVAR_IN_OUT

(output declaredseparately)

VARVAR VARvariables VARVAR VAR

Graphical Overview ofUse of VariablesUse of Variables

Program

FunctionBlock

GlobVarVAR INPUT

VAR_OUTPUT

LocVar

VARLocVar

InVar OutVar

LocVar

VAR_EXTERNA

Function

GlobVar

LLocVar

Managing Variablesg g

Variable GroupsStandard

Edited:Groups forfunctionblocks

Edited:Groups forfunctionsfunctions

Edited:Groups forprograms

Variable DialogAccess to local variable table Access to global

variable tableLocal variable table

Global variable table

Programming languages according to IEC 61131 3IEC 61131-3

Chapter 10Chapter 10

The IEC 61131-3 LanguagesInstruction list Structured Text

Function block diagramFunction block diagramSequential functional chart

Ladder diagram

Function Block Diagram (FBD)

• Graphical language, widely used in Europe• Programming elements in form of function blocksg g• Function blocks can be "wired" similarly as in a circuit diagram• Used in a variety of applications responsible for the flow of

information between control system components.

Ladder Diagram (LD)

• Standardized limited set of programming• Standardized, limited set of programmingsymbols for relay control systems

• Based on the North-American programming style, similarto the US standard for drawing circuit diagramsto the US standard for drawing circuit diagrams

A B C--| |----| / |--------------( )--

Instruction List (IL)

• Assembler model using one accumulator• Assembler model, using one accumulator• Per line one command is allowed,

e.g. saving a value in the accumulator

ANDN B

Structured Text (ST)

• High level language structured through subprograms• High-level language, structured through subprograms • Syntax similar to PASCAL• Complex and nested instructions

C := A AND NOT B;

Sequential Function Chart (SFC)

Step 1

• Powerful, graphical programming language for describing the sequence b h i f t l Action 1Step 1behavior of control programs.

• Used for structuring control problems Transition 1

Action 1

Step 2 Action 2• Clearly arranged programming

language, allows for quick diagnostics

Step 2

Transition 2

Action 2

Step 3• Bacic elements: Steps with action

blocks and transitions

Step 3

• Supports alternative and parallel sequences

Programming in PC WORX

Program gOrganization Units

Inserting POUs

Project tree – ViewPOUs

Insertingposition inproject tree

Onlyavailable foravailable for

functions

POU Properties

POU Groups

Standard Functions

Standard Functions 1

…_TO_... ANYANYData type conversion

F ti ithABS … SQRT

ANY_REAL

ANY_NUM

ANY_REAL

ANY_NUM

Functions with a numercal variable

St d d ith ti ADD…

EXPT….

ANY_NUM

Standard arithmeticfunctions

SHL…

ANY_BIT

ANY_INT

ANY_BITStandard bit shiftfunctions

AND…

ANY_BITANY_BIT

ANY_BIT

Bit-wise booleanfunctions

Standard Functions 2

Selection functionsSEL…

ANYBOOL/ANY

….Selection functionsMUX

BOOLANY

Comparison functionsGT…NE

LEN…

ANY_BIT

ANY_INT

ANY_BITString functions

LEFT…

INSERT

ANY_DATE

ANY_DATE/ANY_INT

ANY_DATEString functions

Standard Function Blocks

Standard Function Blocks 1

Fallingedge

Risingedge

Edge evaluationEdge evaluation

Bistable blocksBistable blocks (flipflops)

Primaryreset

Primarysetting

Standard Function Blocks 2Counter countingup/down

Counter counting

Counter

Timers

Impulse Switch off Switch onImpulse encoder

Switch-offdelay

Switch-ondelay

FBD - Function Block Diagramm

Language Elements of Function Block DiagramFunction Block Diagram

FB callFB callFU call

FeedbackGreen:ProjectFB/FU

NegatioNegation

Blue:Library

DiagramDiagramin

FB/FUFB/FU FB/FUExecution

Red:Firmware FB/FUFirmware FB/FU

of IECYellow:FB/FU not

Accessing Variables

F5Insertmark

Markedparameter

Accessing Functions

Accessing Function Blocks

Insertmark

Editing Blocks

IL - Instruction List

Language Elementsin Instruction Listin Instruction List

Ld I xInput1Ld I_xInput1AndN I_xInput2Not St Q_xAccess1 Ld xPulse

St CTU_Access.CULd iM i l

Assignmentsand operators

Ld iMinLimit iBasis, iMaxSt iCorrected

Ld iMaximumvalueSt CTU_Access.PVLd xStopSt CTU_Access.RESET

FU callsand arguments FB calls

Ld I_xInput1JmpC JumpFlag

Cal CTU_Access

Ld CTU_Access.QVSt iDisplayLd CTU Access Q

and arguments

J pC Ju p ag…RetJumpFlag:Ld I_xInput2St Q A 1

Ld CTU_Access.QSt xFullConditional

processing

St Q_xAccess1

Assignment and Operators

Ld I I t1Loading an operand

Accumulator content

Ld I_xInput1

AndN I_xInput2

Loading an operandinto the accumulator

Linking the accumulator contentto the operand

E1 * E2_

Or I_xInput3

pE1 * E2

E1 * E2 + E3

Linking the accumulator contentto the operand

St Q_xOutput1E1 * E2 + E3

Saving the accumulator contenton the target operand

Operators in Instruction List

ANY ANY_NUM ANY_BIT

SaveANDORXOR

Exclusive Or

ADDSUBMUL

Addition

Subtraction

Multiplication

GT Greater than

XORNOT

Exclusive Or

Complement

MULDIV

Multiplication

DivisionANY_NUM and ANY_BIT

GEEQNE

Greater or equal

Not equal S SetJMPRET

JumpBOOL

NELELT

Not equal

Less or equal

Less than

SR Reset

RETCAL)

Return

FB call

Modifying the Operators

LdN I xInput1 E1 * E2 = E1 + E2LdN I_xInput1AndN I_xInput2And( I_xInput3NotOr I_xInput4)St Q_xOutput1

Function Calls

1. Operand explicitely loaded

Ld iMinLimit iQuantity, iMaxSt iCorrectionSt iCorrection

Ld wMinWord_To_Int

accumulator

1. Operand from the

accumulator_ _

Limit iQuantity, iMaxSt iCorrection

Editing in PC WORXInserting via the edit wizard

Comments asdummies

LD (* IN as ANY_BIT *)ROR (* N as ANY_INT *)ST (* Result as ANY BIT *) P tST (* Result as ANY_BIT *)

Parameter name and

data typeAfter editing by user

Ld wRawsizeRoR INT#8RoR INT#8St wRotates

Function Block Calls

Ld I_xInput1 Data import_St TON_Signal.INLd tDelayLd tDelaySt TON_Signal.PT

Calculation

Cal TON_Signal

Ld TON_Signal.QSt Q_xOutput1Ld

Data export

Ld TON_Signal.ETSt tSequence

Editing in PC WORXInserting

via theedit

wizarda dDeclaration

dialog

LD xActivate

After editing

LD (* BOOL *)ST TON_1.INLD (* TIME *)ST TON_1.PT

LD xActivateST TON_1.INLD TIME#250msST TON_1.PT

by the user

_CAL TON_1LD TON_1.QST (* BOOL *)LD TON_1.ET

CAL TON_1

LD TON_1.QST xDelayed_

ST (* TIME *)ST xDelayedLD TON_1.ETST tSequence

Conditional Code ExecutionJMP | RETJ |

Ld iRawsize

Skip markerGT iMaxJmpC TooGreatLd iRawsize

Conditional jump

Ld iRawsizeLT iMinJmpC TooSmallR t

Skip markerAbsolutefunction block Ret

TooGreat: Ld iMax

St iRawsizeRet

TooSmall: Ld iMinTooSmall: Ld iMinSt iRawsize

LD - Ladder Diagram

Basic Elements

Editing in Ladder Diagram

Insert element

Switch-through options

Contact options

Coil optionsCoil options

Contact / Coil Dialog

Additional

Additional options

compared tovariable dialog

Functions and Function Blocksin Ladder Diagramin Ladder Diagram

FunctionFunctionsVariables blocksFunctionsVariables

Formatting the Ladder Diagram

Arrange leftpower rails

Arrange power railspower rails rails

SFC - Sequential Function Chart

Basic Structure of the Sequential Function Chart

Sequential Function Chart POU in the Project Treein the Project Tree

Transitionfolder

POUbase element

Action

Transition

in ILActionfolder

Transition

Action in FBD

Basic StructureInserting the

basic structure/

further steps

Feedback

Action block

Transition

Basic Elements

The Step

Standard step

Step flag

End stepJumpInitial step

The TransitionDirect Connection

Elements fromLD and FBD

Transition asdirect connectiondirect connection

The TransitionTransition detail

TransitionTransition as detail

Transition name as variable name

The Action Block

Inserting/AddingInserting/Addingan action block

Action blockas action detail

Action blockas booleanparameter

Actionqualifier

Action Variable

Action Detail

Branches

Parellel/simultaneousParellel/simultaneous AlternativeParellel/simultaneousParellel/simultaneousbranch

Alternativebranch

Inserting Branches Later On

User-Defined Data Types

Worksheets forUser-Defined Data TypesUser Defined Data Types

Fields

Principle

WORDWORD

AR_1_4_WWORD

Name exampleName example

AR_<LowerBound>_<UpperBound>_<BasicType>

Declaration

TYPE(*Typename*) : ARRAY [(*From..To*)] OF

(*Typename*);END_TYPE

After editing by the user

One-dimensional array Type

AR_1_4_W : Array [1..4] Of Word;

AR 1 8 1 4 W : Array [1 8] Of AR 1 4 W;

T di i l

basedon

AR_1_8_1_4_W : Array [1..8] Of AR_1_4_W;End_TypeTwo-dimensional

Use in Programming

Assigning two array variablesof the same dimensions

arVariable1 := arVariable2;

A i i i l lAssigning a single valueto an element of an

array variable using a constant

Assigning a single valueAssigning a single valueto an element of an

array varable using an index variableLd wVariableSt arVariable[iIndex]

Structures

Principle

REALREAL

ST_PumpINT

Name exampleName example

ST_<Function>

Declaration

TYPE(*Typename*) :STRUCT

(*Element 1 Name*) : (*DATATYPE*);(*Element 2 Name*) : (*DATATYPE*);(*Element 3 Name*) : (*DATATYPE*);(* . : . *);(* . : . *);(*El t N *) (*DATATYPE*)(*Element n Name*) : (*DATATYPE*);

END_STRUCT; END_TYPE

TypeTypeST_Pump : Struct

rEngineCurrent : Real;iFlow : Int;iMediaTemperature : Int;xBroken : Bool;

End_Struct; End_Type

Use in Programming

Assigning two structure variablesof the same dimensionstP 12 tP 13stPump12 := stPump13;

Assigning a single valueto an element of a structure

variable using named parameters

Combined User-Defined Data Types

Declaration and Use

TypeST_Pump : Struct

rMotorCurrent : Real;Structure iFlow : Int;iMedTemperature : Int;xBroken : Bool;

End_Struct;

Structuredeclaration

AR_1_20_Pump : Array [1..20] Of ST_Pump;End_Type

Arraydeclaration

Use in Programming

array variables of the same dimensionAssigning two complex

array variables of the same dimension

A i i t t i blAssigning a structure variableto an array element of a complex array variable

Assigning a single value

arPumppark[12] := stPump12;

Assigning a single valueto an element of a

complex array variableLd iFlow_Pump12_St arPumppark[12].iFlow

ST - Structured Text

Language Elementsof Structured Textof Structured Text

Q_xAccess1 := False;Q xAccess2 := I xInput2 & Not I xInput4;Assignments, operators Q_ _ p _ p ;

If I_xInput1 & I_xInput2 ThenQ_xAccess1 := True;

ElsIf I_xAccess2 & I_xAccess3 ThenQ xAccess2 : True;

RequestsQ_xAccess2 := True;

End_If;

iCorrected := Limit(iMin, iBasis, iMax);FU calls and arguments

CTU_Access(CU := xPulse,PV := iMaxvalue,RESET := xStop);

iDisplay := CTU Access QV;

FB calls and arguments

iDisplay := CTU_Access.QV;xFull := CTU_Access.Q;

RepeatiLoop := iLoop + 1;

Loops Until iLoop = 100End_Repeat;

Assignments and OperatorsAssignment

operator

Q xOutput1 := I xInput1 & Not I xInput2

Q_ p _ p _ pOr I_xInput3;

Assignment directionAssignment direction

Assignment direction

Calculation11

22 Assignment

Operator HierarchyOperation

Function(Arguments)

(Expression)

Function evaluation

Brackets

SymbolANY

Data typegroup

Function(Arguments)Function evaluation

iNumber1 ** iNumber2Potentialization

NegationComplement

-iNumberNOT wCode

MultiplicationDivisionModulo

iNumber1 * iNumber2rNumber1 / rNumber2

iNumber1 MOD iNumber2

Addition iNumber1 + iNumber2rity NUM

AdditionSubtraction

iNumber1 + iNumber2rNumber1 - rNumber2

Comparison diA > diB wC < wD iE >= iF

Equality iNumber1 = iNumber2b 1 b 2

iG <= iH

**Inequality rNumber1 <> rNumber2

xVar1 XOR xVar2Boolean exclusive OR

Boolean AND xVar1 & xVar2wCode1 AND wCode2

bVar1 OR bVar2

Boolean OR

Boolean exclusive OR

Function Calls

iCorrection := Limit(iMin,iMeasuredvalue,iMax);

Functionname

Functionarguments

iCorrection := Limit(iMin,Word To Int(wRawsize),Word_To_Int(wRawsize),iMax);

Return value of 1st function as argument for 2nd function

Editing in PC WORXInserting via the edit wizard

Parameter name Comments as

data typeand

data type

Comments asdummies

(* Result as ANY_BIT *) := ROR((* IN as ANY_BIT *),(* N as ANY_INT *));

wRotates := RoR(wRawsize, INT#8);

Function Block Calls

TON_Signal(IN := I_xInput,PT := tDelay);

Data importand calculation

Q_xOutput := TON_Signal.Q;tSequence := TON Signal ET;

Data export

tSequence : TON_Signal.ET;

Alternativecall

TON_Signal.IN := I_xInput,;TON Signal.PT := tDelay;_ g y

TON_Signal();

Q xOutput := TON Signal.Q;Q_ p _ g QtSequence := TON_Signal.ET;

Editing in PC WORXInserting

via theedit

wizardD l tiDeclaration

dialog

TON_1(IN:=(* BOOL *), IN:=(* TIME *));(* BOOL *):=TON 1 Q;

Data type only

( BOOL ):=TON_1.Q;(* TIME *):=TON_1.ET;

Comments as dummies

TON_1(IN := xActivate,PT := TIME#250ms);

xDelayed := TON_1.Q;tSequence := TON_1.ET;

FU Call and FB Call in Comparison

Assignment viafunction

Assignmentvia order

iCorrection := Limit(iMin,iMeasuredvalue,FUiMax);

TON Signal(IN := I xInput,TON_Signal(IN : I_xInput,PT := tDelay);

Q_xOutput := TON_Signal.Q;tS TON Si l ET

A i t itSequence := TON_Signal.ET;

Assignment via

Assignment via named formal

parameters

Assignment viaoutput Parameters

High-Level gLanguage Elements 1Th R tThe Requests

IfOpeningkeyword

If (* Boolean condition *) Then

(* Instructions *)

End If;End_If;

Closing

Instructions are only processed by the control

t if diti i tClosingkeyword

system if condition is met

If Extensions

If I_xSensor1 & Not I_xSensor2 Then _ _(* Instructions 1 *)

ElsIf I_xSensor2 & Not I_xSensor1Then

Repeatedlyoptional

Then (* Instructions 2 *)

ElseIf iM d l < 100 Th

One-time

optionalIf iMeasuredvalue < 100 Then

(* Instructions 3 *)ElsIf iMeasuredvalue > 100 Then

Nestedcondition

(* Instructions 4 *)End_If;

End If;End_If;

If Conditions

If I_xInput1 Then (* I t ti 1 *)

Implicit request f i bl (* Instructions 1 *)

ElsIf iMeasuring >=

of a variable

Boolean result iLimitedvalue Then

(* Instructions 2 *)after operation

Boolean

ElsIf Byte_To_Bool(I_bSensor)Then

(* I t ti 3 *)

return value of a function

(* Instructions 3 *)

Unconditioned

(* Instructions 4 *)

End If;

CaseUse for Process Values

Integer operand

Case iProcesssize Of 7 : (* Instructions 1 *)

-2..1 : (* Instructions 2 *)

2, 4 : (* Instructions 3 *)"Case definitions"

8..16, 20..30 : (* Instructions 4 *)

Else(* Instructions 5 *)

End Case;

One-time

optional End_Case;optional

CaseUse for Control Values

Case iProcessstep Of 0 : (* Initialize *)( )

If xInit_completed Then iProcessstep := 10;End_If;

10 : (* Execute Prozess 1 *)10 : (* Execute Prozess 1 *)If xProcess1_completed Then iProcessstep := 20;End_If;

20 : (* Execute Prozess 2 *)If xProcess2_completed Then iProcessstep := 30;End_If;

(* etc. *)

500 : (* Exceptionalhandling *)iProcessstep := 0;

End_Case;

High-Level gLanguage Elements 2Th LThe Loops

Loop variable

Startvalue

Endvalue

Width of stepoptional

For iIndex := 1 To 20 By 1 Do

(* The following instructions are executed with

*)(* the values 1 to 20 for the variable iIndex

If arrMachine[iIndex].iTemp >= iLimitvalue ThenarrMachine[iIndex].iBroken := True;xAlarm := True;Exit;

End_If;

End For;

Early abortion of

loop executiond_ o ;

Repeat | While

Head-controlled

“Repeat … until …”

Repeat iIndex := iIndex +

controlled

UntiliIndex >= iLimit

eiIndex >= iLimit

DoiI d iI d +

End_Repeat;?

Foot-controlled

iIndex := iIndex + 10;

End While;controlled

“As long as …, do …”

Project Management

Appendix A1Appendix A1

Project Filesj

Saving... / ArchivingSave as ... Archiving

CPU Control Dialogg

CPU Selection

Temporary Project - Bootproject

Project Codesj

Memory Concept

Download bootproject

Download project

Archiving project via

FTP server

Compiledmachine code

Decodablesource code

Standard Archive

ZipFile.zwt

Libraries

Library Directory

Creating Librariesg

Saving

Removal and Compilation

Using Librariesg

Including User Libraries

Including Firmware Libraries

The Library in a User Project

Using Projects With LibrariesWith Libraries

Uncompiled library

Help on Firmware Libraries

Testing & Debugging

Status in Worksheets

Overwriting/Forcing

Powerflow (via Address Status)

Graphicpowerflow

Textualpowerflow

Information on Mouse PointerTooltipsTooltips

PCWorx Detail

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