02 TwinCAT Ru

7/26/2019 02 TwinCAT Ru

1/131

TwinCAT Training: Programmer 1

TwinCAT-Training:

BeckhoffIndustrial PC

Beckhoff DriveTechnology

BeckhoffLightbus

BeckhoffTwinCAT

Beckhoff Bus

Terminal

Beckhoff

Fieldbus Box

BeckhoffEmbedded PC

Beckhoff

PC Fieldbuscards,Switches

BeckhoffEtherCAT

7/26/2019 02 TwinCAT Ru

2/131


IEC 61131-3 (3)

(11)

(14) (31)

REAL TIME, TwinCAT System Service (36)

(46)

(54)ST - (67)

IL , (90)

SFC (113)

IEC (145)

7/26/2019 02 TwinCAT Ru

3/131


IEC 61131-3 (3)

1 .(, )

2 . (, )

3

4 , , ,

5 (3)

6

7

7/26/2019 02 TwinCAT Ru

4/131


HMI

7/26/2019 02 TwinCAT Ru

5/131


HMI

Other systems

ADS/AMS

Ethernet, RS 232,Modem

ADS OCX, ADS DLL,TwinCAT OPC

, , , SystemManager, Scope View

7/26/2019 02 TwinCAT Ru

6/131


Win NT, 2000, XP

PLC Server 1,

PLC Server 2,PLC Server 3,PLC Server 4,NC Server,Cam Server

ADS-, -

7/26/2019 02 TwinCAT Ru

7/131


DP RAM PAPLC

O I

F-Field-Device

DP/PA

F-ActuatorF-Sensor

7/26/2019 02 TwinCAT Ru

8/131


Main Motion

Task1 Task2 Task1 Task2

Program Program Program Program

FB FB FB FB FB

7/26/2019 02 TwinCAT Ru

9/131


-

Main Motion

BC9020

Task1 Task2 Task1

Program Program Program

FB FB FB FB

TwinCAT System Manager

: 1 run time , 1 BC9020 (Ethernet)

7/26/2019 02 TwinCAT Ru

10/131


(10)

, ,

,

(!,,,$..)

7/26/2019 02 TwinCAT Ru

11/131


(11)

.

:

b Booleenr Reals - StringST_ -st FB_ -

fb M_ -

bEndschalterLinksrSollPositionsRxDaten

ST_MotorDaten (declaration)stM1Parameter (instance)

FB_Ueberlast (declaration)fbM1Ueberlast (instance)

: ..

7/26/2019 02 TwinCAT Ru

12/131


IEC61131-3.

.

TRUE, FALSE, AND, FUNCTION,.... AutoFormat

(* *) .

, .: .

(*digital inputs*)

bStart AT%IX0.0:BOOL;(*machine start*)(*analog inputs*)TemK1 AT%IW10(*Byte 10-11*):WORD;

7/26/2019 02 TwinCAT Ru

13/131


ANY-Type

(Bit)

..

Boolean ANY_Bit BOOL 1 FALSE TRUE/FALSE

Bit string (8) BYTE 8 0 0..16#FFBit string (16) WORD 16 0 0..16#FFFF

Bit string (32) DWORD 32 0 0..16#FFFF_FFFF

Short integer ANY_Num SINT 8 0 -27...27-1

Integer INT 16 0 -215...215-1

Double integer DINT 32 0 -231...231-1

Unsigned shortinteger

USINT 8 0 0...28-1

Unsignedinteger

UINT 16 0 0...216-1

Unsigneddouble integer

UDINT 32 0 0...232-1

7/26/2019 02 TwinCAT Ru

14/131


ANY-Type

(Bit)

. .

Real ANY_Real REAL 32 0.0 -1.18*10-38

..3.4*1038

Long real LREAL 64 0.0 -2.22*10-308..1.798*10308

Date ANY_Date DATE (D) 32 D#1970-01-01

Time of day TIME_OF_DAY(TOD)

32 TOD#00:00 TOD#00:00..

TOD#23:59

Date

Time

DATE_AND_TIM

E (DT)

32 DT#1970-01-

01-00:00

Time ANY_Time TIME 32 T#0ms T#0ms..T#71582m47s295ms

String ANY_String STRING (80+1)*8

7/26/2019 02 TwinCAT Ru

15/131


(15)

BOOL 0,1 16#0, 16#1 TRUE (equal)

BYTE, WORD,DWORD 10 16#0A 2#1010 (equal)

DWORD, UINT 32768 16#8000 2#1000_0000 (equal)

INT -10 --- ---

TIME T#1h2m4s11ms, T#62m4s11ms, T#3724011ms (equal)

REAL, LREAL 0.22, 2.2e-1 (equal)

1000, 1000.0, 1e3 (equal)

STRING ,

Text$0D$0A, Text$R$N ()

7/26/2019 02 TwinCAT Ru

16/131


(16)

STRING

.

.

(1 255) , 80 .

, ,

..

VAR

strVar :STRING(5);

lenVar: INT;

sizeVar: INT;

END_VAR

7/26/2019 02 TwinCAT Ru

17/131


(17)

,LEN SIZEOF VAR

strVar :STRING(5);

lenVar: INT;

sizeVar: INT;

END_VAR

Character

LEN -

SIZEOF

7/26/2019 02 TwinCAT Ru

18/131


, $.

page feed$P or $pline break$R or $r

single quotation mark$

dollar signs$$

line feed$L or $l

new line$N or $n

tab$T or $t

CR LF

CR LF

7/26/2019 02 TwinCAT Ru

19/131


ASCII CHR (19)

ASCII ,

:1.

.

2. ASC CHR,

ChrAsc.lib.

7/26/2019 02 TwinCAT Ru

20/131


. .

bStellerUntenLinks:BOOL:=TRUE;

Identifier Data type Initial value

(unlocated)

.

7/26/2019 02 TwinCAT Ru

21/131


Identifier

%M

%Q

%I

.,

.

bStellerUntenLinks AT%IX0.0:BOOL;

AT : ;

AT X

B

W

D

Byte Data type

Byte

Bit

(located)

TwinCAT 2.8 .. bStellerUntenLinks AT%I*:BOOL;

.

7/26/2019 02 TwinCAT Ru

22/131


Ain AT%IB0 : INT;IB1 IB0

IW0

Ain AT%IW0 : INT;

Din0 AT%IX10.0 : BOOL;IX10.7 IX10.6 IX10.5 IX10.4 IX10.3 IX10.2 IX10.1 IX10.0

IB10

Posi AT%IB20 : UDINT;IB23 IB22

Posi AT%ID20 : UDINT;

IB21 IB20IW22 IW20

ID20

equal

equal

IX22.7 IX22.6 IX22.5 IX22.4 IX22.3 IX22.2 IX22.1 IX22.0

:

BitVar AT%IX22.1 : BOOL;

7/26/2019 02 TwinCAT Ru

23/131


, )

.

VAR ..

END_VARVAR_INPUT ..

END_VARVAR_IN_OUT ..

END_VARVAR_OUTPUT ..

END_VAR

VAR_GLOBAL ..

END_VARVAR_CONFIG ..

END_VAR

.

7/26/2019 02 TwinCAT Ru

24/131


VAR_CONFIG (24)

.

Mapping .

TwinCAT System.

7/26/2019 02 TwinCAT Ru

25/131


(25)

AlocVar B %MB2.

PROGRAM A

VAR

END_VAR

PROGRAM B

VARlocVar AT%MB2:WORD;END_VAR

LD %MB2

:

7/26/2019 02 TwinCAT Ru

26/131


26)

Var1.

Var1.

!

PROGRAM A

VARVar1 :WORD;

END_VAR

LD Var1

:

VAR_GLOBAL

Var1:WORD;END_VAR

7/26/2019 02 TwinCAT Ru

27/131


(27)

.

:

.

VAR RETAIN VAR PERSISTENT

Counter:UINT; Counter:UINT;END_VAR END_VAR

7/26/2019 02 TwinCAT Ru

28/131


(28)

.

VAR

AccelerationTime : TIME := T#3s200ms;

END_VAR

7/26/2019 02 TwinCAT Ru

29/131


() (29)

,

.

VAR_GLOBAL .. END_VARCONSTANT.

!

VAR_GLOBAL CONSTANTpi:REAL:=3.141592654;

END_VAR

PROGRAM A

VAR CONSTANT

END_VAR

VAR_GLOBAL CONSTANT

END_VAR

7/26/2019 02 TwinCAT Ru

30/131


(program organisation units) (30)

IEC 61131-3 POU`s (PROGRAM ORGANISATION UNIT):

Program

Function block

Function

POU task configurator.

7/26/2019 02 TwinCAT Ru

31/131


PRG (31)

PRG ()

: , , ()

: .. .

: , VAR_INPUT

: , but VAR_OUTPUT

VAR_IN_OUT

: online PLC Control

7/26/2019 02 TwinCAT Ru

32/131


FB (32)

FB

:

: .. . .

: 0,1,2,3 VAR_INPUT

: 0,1,2,3 VAR_OUTPUT

: 0,1,2,3 VAR_IN_OUT: online PLC Control

. .

: , .

7/26/2019 02 TwinCAT Ru

33/131


: FC (33)

: FC ,

:

: , . .

: 1,2,3........ VAR_INPUT

: 1!, .

. : 0,1,2,3 VAR_IN_OUT,

: online PLCControl ???, .. .

: (breakpoints)

: , ., ......

7/26/2019 02 TwinCAT Ru

34/131


FC (34)

- Scale.

Scale

(Write/Read)

7/26/2019 02 TwinCAT Ru

35/131


REAL TIME, TwinCAT System Service (35)

The TwinCAT System Service Windows NT . , TwinCAT System Service

Windows NT . TwinCAT System Service task bar

. , TwinCAT.

TwinCAT System Service TwinCAT run time .

TwinCAT.

TwinCAT stopped

TwinCAT startingTwinCAT running

TwinCAT Config Mode

7/26/2019 02 TwinCAT Ru

36/131


TwinCAT System Service (36)

TwinCAT I/O TwinCAT System Service.

. -

.

Log View . Event logging service

, Windows NT.

7/26/2019 02 TwinCAT Ru

37/131


(37)

Real time

PLC cycle PLC cycle t

tPLC cycle PLC cycle

Win NT & HMI

Real time (1 task)

7/26/2019 02 TwinCAT Ru

38/131


(38)

TwinCAT real-time system TwinCAT System Service.

real-time.1, TwinCAT800s .

.

7/26/2019 02 TwinCAT Ru

39/131


Real time (39)

.

Real time

(2 ms)

t

t

(1ms)

1 ms 2 ms 3 ms 4 ms 5 mse.g.:

Win NT HMI

1 2 3 41 2 31 2

7/26/2019 02 TwinCAT Ru

40/131


(40)

.

. TYPE END_TYPE.

-

Name Data type Initial value Range

Name Data type Initial value Range

7/26/2019 02 TwinCAT Ru

41/131


()

, .

Syntax:

TYPE

:;END_TYPE

Example: Ads_Net_ID

TYPE

Net_ID:STRING(23);

END_TYPE

7/26/2019 02 TwinCAT Ru

42/131


()

:. .

7/26/2019 02 TwinCAT Ru

43/131


()

, .

7/26/2019 02 TwinCAT Ru

44/131


(44)

-. .

.

TYPE END_TYPE.

Syntax:

TYPE :( ,, ...,);END_TYPE

Example:TYPE Week:(Mo, Di, Mi, Dn, Fr, Sa, So:=10);(*Mo = 0 Di = 1..

.. Sa = 6 So = 10*)

END_TYPETYPE Direction:(Up, Dn);(*Up = 0 Dn = 1*)END_TYPE

7/26/2019 02 TwinCAT Ru

45/131


(45)

: .

7/26/2019 02 TwinCAT Ru

46/131


46) ENUM

Enum

7/26/2019 02 TwinCAT Ru

47/131


(47)

Pers_Data

Name: Vorname:

Alter: Anschrift:

TYPE Pers_Data :STRUCT

Name: STRING(25);

Vorname: STRING(25);Alter: USINT;Anschrift: STRING(55);

END_STRUCTEND_TYPE

7/26/2019 02 TwinCAT Ru

48/131


(48)

P1

P3

K2

VARP1, P3 : Pers_Data;

END_VAR

VAR_OUTPUTK2 : Pers_Data;END_VAR

VAR_INPUT

Employees: Pers_Data;END_VAR

P1Name:=MllerFirst name:=Peter

Age:=32Address:=Postweg 34

P3Name:=KoschnikFirst name:=HeinzAge:=37Address:=Domplatz 10

Name_Voll:=CONCAT(P3.First name,P3.Name)

(*HeinzKoschnik*)

7/26/2019 02 TwinCAT Ru

49/131


(49)

. ().

-, -.

VAR Feld_1 :ARRAY[0..9] OF BYTE; Feld_2 :ARRAY[0..9, 0..1] OF UINT; Feld_3 :ARRAY[0..9, 0..1,0..1] OF DINT;

END_VAR

VAR

Feld_1 AT%MB100:ARRAY[1..10] OF BYTE;END_VAR

Feld_1[2] := 120; (* *)Feld_2[i,j] := EXPT(i,j); (**)

7/26/2019 02 TwinCAT Ru

50/131


, (50)

DBZeiten :ARRAY [0..6] OF TIME:= T#1s, T#2s, T#1s, 4(T#0s);

Identifier Array Data type Initial value

0 1 2 3 4 5 6

T#1s T#2s T#1s T#0s T#0s T#0s T#0s

Access:

VAR

WertAusArray : TIME;

END_VAR

WertAusArray := DBZeiten[1];

7/26/2019 02 TwinCAT Ru

51/131


,

Supportpoint:ARRAY [0..1, 0..6] OF REAL:= 0, 1.7, 2, 4(3.33), 6, 6(1.2);

Identifier Field Date type Initial value

0 1 2 3 4 5 6

0 0 1.7 2 3.33 3.33 3.33 3.33

1 6 1.2 1.2 1.2 1.2 1.2 1.2

Access:

VAR

WertAusArray : REAL;

END_VAR

WertAusArray := Supportpoints[1 ,0];

7/26/2019 02 TwinCAT Ru

52/131


(52)

:

Drivingjobs:ARRAY [0..3, 0..1] OF LREAL:=

(* Target position, Velocity *)

(*Job 0*) 20.0, 30.0,

(*Job 1*) 33.75, 30.0,

(*Job 2*) 45.0, 30.0,

(*Job 3*) 70.75, 30.0;

,

7/26/2019 02 TwinCAT Ru

53/131


, (53)

Stuetzpunkte:ARRAY [0..1, 0..2, 0..3] OF UINT:=0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23;

access:

VAR

WertAusArray : UINT;

END_VAR

WertAusArray :=

Stuetzpunkte[ 1,1,3 ];

[0,0,0]=0

[0,0,1]=1

[0,0,2]=2

[0,0,3]=3

[0,1,0]

=4

[0,1,1]

=5

[0,1,2]

=6

[0,1,3]

=7[0,2,0]=8

[0,2,1]=9

[0,2,2]=10

[0,2,3]=11

[1,0,0]=12

[1,0,1]=13

[1,0,2]=14

[1,0,3]=15

[1,1,0]=16

[1,1,1]=17

[1,1,2]=18

[1,1,3]=19

[1,2,0]=20

[1,2,1]=21

[1,2,2]=22

[1,2,3]=23

ARRAY [0..1, 0..2, 0..3]

ARRAY [0..1, 0..2, 0..3]

ARRAY [0..1, 0..2, 0..3]

)

7/26/2019 02 TwinCAT Ru

54/131


)

.

VARFeld_1 :ARRAY[1..10] OF BYTE;Feld_2 :ARRAY[1..10, 2..5] OF UINT;Feld_3 :ARRAY[1..10] OF DINT;

END_VAR

i:= 9 9Feld_1[i+2] := 120;

Feld_1[9]; 0

Feld_2[1,2]; 120

CheckBounds (FUN) (55)

7/26/2019 02 TwinCAT Ru

55/131



.

.

i

MinMax

Limited

value

FUNCTION CheckBounds :DINT

VAR_INPUT

I,L,U : DINT;

END_VAR

IF I< L THEN

CheckBounds := L;

ELSIF I > U THEN

CheckBounds := U;

ELSE

CheckBounds := I;

END_IF

Error case

Error case

OK case

CheckBounds 1 (FUN) (56)

7/26/2019 02 TwinCAT Ru

56/131



CheckBounds Copy Project ( . ). Checkbounds .


7/26/2019 02 TwinCAT Ru

57/131



CheckBounds, :

I,L U

(CheckBounds) (DINT)

.


7/26/2019 02 TwinCAT Ru

58/131



10

10

Checkbounds

(

)

:

:

7/26/2019 02 TwinCAT Ru

59/131


(59)

Check division by 0

CheckDivByte

CheckDivWord CheckDivDWord

CheckDivReal

Check value ranges

CheckRangeSigned

CheckRangeUnsigned

(see appendix)

: (60)

7/26/2019 02 TwinCAT Ru

60/131


: (60)

:

Structure:TYPE DrillPos :STRUCT

XPos: LREAL;FeedrateX: LREAL;AccelerationX: LREAL;DeccelerationX: LREAL;JerkX: LREAL;YPos: LREAL;FeedrateY: LREAL;AcceleartionY: LREAL;DeccelerationY: LREAL;JerkY: LREAL;FeedDrill: LREAL;Kuehlen: BOOL; (*Pump ?*)

END_STRUCTEND_TYPE

:

Positions :ARRAY[0..100] OF DrillPos;

: (61)

7/26/2019 02 TwinCAT Ru

61/131


: (61)

Drillpos 55:

MoveXAx (*FB Instanz*)

(Execute:= TRUE,

Position:= Positions[55].XPos ,

Velocity:= Positions[55].FeedrateX

Acceleration:= Positions[55].AccelerationX,

Deceleration:= Positions[55].DeccelerationX,

Jerk:= Positions[55].JerkX,

Direction:= .........,Axis:= .............,

);

ST - (62)

7/26/2019 02 TwinCAT Ru

62/131


ST (62)

() ()

()

EXPT

Negate -

Bulid complements NOT

Multiply *

Divide /

Modulo MODAdd +

Subtract -

,=

=

BOOL AND AND

BOOL XOR XOR

BOOL OR OR

(10/2*5 = 25 )

ST - (63)

7/26/2019 02 TwinCAT Ru

63/131


( )

Instruction Example

Assignment := Posvalue := 10;

Call of function block Ton1(IN:=Start, PT:=T2s); Output:= Ton1.Q;

RETURN RETURN;

IF More details and examples on the followingpages

CASE

FOR

WHILE

REPEAT

EXIT

Empty instruction ;

IF (64)

7/26/2019 02 TwinCAT Ru

64/131


( )

, .

IF .

GOTO

:

IF THEN

ELSIF

ELSE

END_IF

IF (65)

7/26/2019 02 TwinCAT Ru

65/131


( )

Yes

No

IF THEN

;

END_IF

IF(66)

7/26/2019 02 TwinCAT Ru

66/131


IF a>b THEN

A;

ELSEB;

END_IF

Yes

No

A B

IF(67)

7/26/2019 02 TwinCAT Ru

67/131


IF 1 THEN

A;

ELSE

IF 2 THEN

B;

ELSE

IF 3 THEN

C;ELSE

D;

END_IF

END_IF

END_IF A

1

YesNo

B

2

Yes

No

3

YesNo

C

D

IF(68)

7/26/2019 02 TwinCAT Ru

68/131


IF 1 THEN

A;

ELSIF 2 THENB;

ELSIF 3 THEN

C;

ELSE

D;END_IF

A

1

YesNo

B

2

Yes

No

3

YesNo

C

D

IF(69)

7/26/2019 02 TwinCAT Ru

69/131


?

IF bVar THEN.

IF a>b THEN

.

IF LEFT(STR:= strVar, SIZE:=7) = 'TwinCAT'THEN

.

IF Ton1.Q THEN

.IF Ton1(IN:=bVar, PT:=T#1s ) THEN

:

!

CASE (70)

7/26/2019 02 TwinCAT Ru

70/131


CASE OF

1: 1

2, 4, 6: 27..10: 3

..

ELSE

END_CASE;

.

1

= 1

Yes

No

2

= 2

or 4 or 6

Yes

No

YesNo

3

= 7

8 9 10?

CASE :

7/26/2019 02 TwinCAT Ru

71/131


CASE State OF

0: Q0:=TRUE;

IF Transition THEN state := 1; END_IF

1: Q1:=TRUE;


2: Q2:=TRUE;


3: Q3:=TRUE;

IF Transition THEN state := 0; END_IFEND_CASE

(Actions)

(Transition)

CASE (72)

7/26/2019 02 TwinCAT Ru

72/131


CASE State OF

0: ;(*State=0*)

IF THEN

1: ;(*State=1*)

2: ;(*State=2*)

3: ;(*State=3*)

END_CASE

(72)

IF State = 0

IF State = 1

IF State = 2

IF State = 3

CASE 73)

7/26/2019 02 TwinCAT Ru

73/131


)

Enum-Typ:

TYPE Steps :

(INIT:=0, START, AUTOMATIC, END);

END_TYPE

CASE State OF

INIT: ;(*State=0*)

START: ;(*State=1*)

AUTOMATIC: ;(*State=2*)

END: ;(*State=3*)

END_CASE

state, online .

VAR

State:Steps;

(* State:INT also possible*)

END_VAR

CASE :

7/26/2019 02 TwinCAT Ru

74/131


TYPE Steps :

( INIT:=0, START, AUTOMATIC, END);

END_TYPE

CASE State OF

INIT: Q0:=TRUE;

IF Transition THEN state := START; END_IF

START: Q1:=TRUE;

IF Transition THEN state := AUTOMATIC; END_IF

AUTOMATIC: Q2:=TRUE;

IF Transition THEN state := END; END_IF

END: Q3:=TRUE;

IF Transition THEN state := INIT; END_IF

END_CASE

.

(actions)

(Transition)

Step

CASE (75)

7/26/2019 02 TwinCAT Ru

75/131


( )

VAR CONSTANT

Step1 : INT:= 0;

Step2 : INT:= 1;

Step3 : INT:= 2;Step4 : INT:= 3;

END_VAR

VAR

State:INT;END_VAR

CASE State OF

Step1: ;(*State=0*)

Step2: ;(*State=1*)

Step3..Step4: ;(*State=2 oder 3*)

END_CASE

(76)

7/26/2019 02 TwinCAT Ru

76/131


. run time.

:

.

real-time,

. .

1ms 2ms 3ms 4ms 5mse.g.:

1 2 3 41 1 11 1

Win NT

() (77)

7/26/2019 02 TwinCAT Ru

77/131


EXIT,.

-

FOR SINT/INT/DINT

WHILE BOOL

REPEAT BOOL

FOR (78)

7/26/2019 02 TwinCAT Ru

78/131


i (. ). ( BY)

i ( TO), .

FOR i:=1 TO 12 BY 2 DOField[i]:=i*2;(* *)

END_FOR

cycle n Start i:=Startvalue

Instruction block

cycle n

i>Endvalue

Yes

No

I:= i+ step width

WHILE (79)

7/26/2019 02 TwinCAT Ru

79/131


WHILETRUE., .

FALSE, WHILE.

i:=0;WHILE i

7/26/2019 02 TwinCAT Ru

80/131


REPEAT(UNTIL).

.

i:=0;

REPEATField[i]:=i*2;(*Instruction*)i:=i+1;

UNTIL i>100

END_REPEAT

I:= i+ step width

cycle n

cycle n

No Yes

ST (81)

7/26/2019 02 TwinCAT Ru

81/131


TON1 (IN:= NOT TON1.Q , PT:=T#1s );

Q0:= TON1.Q;

VAR

TON1:TON;

END_VAR

TON1(IN:= NOT TON1.Q, PT:=T#1s , Q=>Q0 );

ST (() (82)

7/26/2019 02 TwinCAT Ru

82/131


TON1.IN:= NOT TON1.Q;

TON1. PT:=T#1s;

TON1();

Q0:= TON1.Q;

VAR

TON1:TON;

END_VAR

ST)

7/26/2019 02 TwinCAT Ru

83/131


Result:=Scale (x:=Input, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);

(* equal:*)

Result:=Scale (Input, 0.0, 32767.0, 0.0, 100.0);

(* equal:*)Result:=Scale (

x:= Input,

xug:= 0.0,

xog:= 32767.0,

yug:= 0.0,

yog:= 100.0

);

ST(84)

7/26/2019 02 TwinCAT Ru

84/131


Result := Scale (x:=Input, xug:=0.0, xog:=32767.0, yug:=0.0,yog:=100.0);

(* equal:*)

Result:=Scale (

x:= Input,

xug:= 0.0,

xog:= 32767.0,

yug:= 0.0,

yog:= 100.0

);

SFC Sequential Function Chart (85)

7/26/2019 02 TwinCAT Ru

85/131


Only one step is active at atime

The condition to change fromone step to another is thetransition.

In the action must beprogrammed what should beexecuted during the activestep.

Step

Transition

ActionN

Qualifier

Followingstep

Transition

ActionN

Qualifier

Action,

Can be written in StructuredText, Instruction list, LadderDiagram, Function Block

Diagram and in SequentialFunction Chart .

Steps (86)

7/26/2019 02 TwinCAT Ru

86/131


The activity of a step can berequested with Stepname.X.

The duration of the activity of astep can be requested withStepname.T

Both are components of astructure, which are createdautomatically from PLCControl. At the programmingonly the stepname has to be

defined Stepname.X and Stepname.T

are local variable and can onlybe read.

Init

Transition

ActionN

Normalstep

Step1

Transition

ActionN

Initial step,active at the

start

Actions (87)

7/26/2019 02 TwinCAT Ru

87/131


Step1

Transition

bOutputN

Action can be a variable oftype BOOL.

The variable is TRUE byactivating the the step and

FALSE by leaving the step.

Transition

Step1

Transition

ActionN

Action, can be programmed in

-> Structured Text,

-> Instruction List,

-> Ladder Diagram,

-> Functionblock Diagram,CFC/FBD-> Sequential Function Chart, SFC

Transition

Actions, several allowed per step(88)

7/26/2019 02 TwinCAT Ru

88/131


Step1

Transition

N bOutput

P STAction

N LDAction

R FBDAction

Steps /alternative branches (89)

7/26/2019 02 TwinCAT Ru

89/131


Only one branch can becomeactive.

Because only the left or theright branch is important, twotransitions are necessary

before the combination.

Step_a

Init

Transition

ActionN

Transition

ActionN

Transition

Transition

ActionNStep_b

Steps /alternative branches(90)

7/26/2019 02 TwinCAT Ru

90/131


The branches need not tobe symmetrcial.

Step_a

Init

Transition

ActionN

Transition

ActionN

Transition

Transition

ActionNStep_b

Transition

ActionN

Step_c

Steps /alternative branches (91)

7/26/2019 02 TwinCAT Ru

91/131


Branches can be skipped.

Step_a

Init

Transition

ActionN

Transition

ActionN Transition

Steps /simultaneous branches (92)

7/26/2019 02 TwinCAT Ru

92/131


Both branches are processedsimultaneous.

Step_a

Init

Transition

ActionN

Transition

ActionN ActionNStep_b

A transition at the

beginning of thesimultaneous branch.

A transitionat the end

Dobble line,simbolises thesimulaneousbranch

Steps /simultaneous branches (93)

Si l b h d

7/26/2019 02 TwinCAT Ru

93/131


Simultaneous branches neednot to be symmetrical.

Step_a

Transition

Transition

ActionN

ActionN

Step_c

ActionN

Step_b

Transition

Transitions (94)

7/26/2019 02 TwinCAT Ru

94/131


A transition has to be of typeBOOL. Possibilities:

boolean variable

ST instruction

programmed transition

Init

bVariable

ActionN

BOOLEANVARIABLE

Step1

A > B

ActionN

ST instruction:

The result has to be oftype BOOL.

Note:If the instructions are toolong, the display will beshorten automatically.

Transitions (95)

Programmed Transitions

7/26/2019 02 TwinCAT Ru

95/131


Programmed Transitions

Init

ActionN

Step1ActionN

GTANDA

B

INPUT0

001Comment

A > B

Points toprogrammedtransition

NOTHING CONNECT

The result has to be of typeBOOL and is the transition

With thismark its only acomment.

Hides behind

Possible: FBD, LD, IL, ST.

Limitations: one network,one instruction sequence,

Note for FB calls:All transisitions arepassed independentlyfrom the current step.

Final-Scan (96)

If a step is left the processing takes exactly one more cycle This behaviour can

7/26/2019 02 TwinCAT Ru

96/131


If a step is left, the processing takes exactly one more cycle. This behaviour canbe used for cleaningin the action. Example: Reset outputs.

Step1.X

001

At the last pass the step.X =FALSE. Thus the variable

Output is FALSE .

Step1

Go on

ActionN

Followingstep

Transition

ActionN

Output

Step.X

Action processing

t

t

1

0

1

0

1 cycle

Final-Scan (97)

At a certain action the final scan leads to an unwanted behaviour.

7/26/2019 02 TwinCAT Ru

97/131


At a certain action the final scan leads to an unwanted behaviour.

Step1

TRUE

ActionN

Behaviour:

Counter := Counter +1;

(*Counter increases at 2*)

Step.X

Action processing

t

t

1

0

1

0

1 cycle1 cycle

Remedy: the step flag is only for onecyle 1:

IF Schritt1.X THENCounter := Counter +1;

END_IF

(*Counter increases at 1*)

Qualifier (98)

Controls the action processing after activating a step. N: Non Stored

7/26/2019 02 TwinCAT Ru

98/131


Controls the action processing after activating a step. N: Non Stored

Step

TRUE

ActionNStep.X

Action processing

t

t

1

0

1

0

1 cycle

N: Non Stored

Context in FBD

Step.X

001

Action processing

Qualifier (99)

Controls the action processing after activating a step. S: SET

7/26/2019 02 TwinCAT Ru

99/131


Controls the action processing after activating a step. S: SET

Step

TRUE

ActionS

Conetxt in FBD

Step.X

Action processing

t

t

1

0

1

0

1 cycle

Step.X

001

Action processing

SRS

R

Qualifier (100)

Controls the action processing after activating a step. R: RESET

7/26/2019 02 TwinCAT Ru

100/131


p g g p

Step

TRUE

ActionR

Context in FBD

Step.X

001

Action processing

SRS

R

Step.X

Action processing

t

t

1

0

1

0

1 cycle

Qualifier (101)

Controls the action processing after activating a step. D: DELAY

7/26/2019 02 TwinCAT Ru

101/131


p g g p

Context in FBD

Step.X

Action processing

t

t

1

0

1

0

Delay

Step

TRUE

ActionD T#1s

Step.X

001

Action processingTON

IN

PT ET

Q

T#1s

Qualifier (102)

Controls the action processing after activating a step. L: LIMITED

7/26/2019 02 TwinCAT Ru

102/131


p g g p

Step

TRUE

Action

Context in FBD

Step.X

Action processing

t

t

1

0

1

0

Limited

L T#1s

Step.X

001Action processing

TON

IN

PT ET

Q

T#1s

AND

Qualifier (103)

Controls the action processing after activating a step. P: PULSE

7/26/2019 02 TwinCAT Ru

103/131


Step

TRUE

Action

Context in FBD

P

t

t

Step.X

Actions processing

1

0

1

0

1 cycle 1 cycle

Step.X

001

Action processing

R_TRIG

Clk Q

ATTENTION: A SECOND FLOW

PROCESSES!

Qualifier, Combinations (104)

SD: Stored and delayed

7/26/2019 02 TwinCAT Ru

104/131


DS: Delayed and stored

SL: Stored and time limited

Sequential Function chart - step diagnosis(105)

VAR

7/26/2019 02 TwinCAT Ru

105/131


SFCEnableLimit: BOOL;

(*This variable is of the type BOOL. When it has the valueTRUE, the timeouts of the steps will be registered in SFCError.Other timeouts will be ignored.*)

SFCInit: BOOL;

(*When this boolean variable has the value TRUE the sequentialfunction chart is set back to the Init step. The other SFC flagsare reset too (initialization).The Init step remains active, but is not executed, for as long asthe variable has the value TRUE. It is only when SFCInit isagain set to FALSE that the block can be processed normally.*)


SFCReset: BOOL;

7/26/2019 02 TwinCAT Ru

106/131


(* This variable, of type BOOL, behaves similarly to SFCInit.Unlike the latter, however, further processing takes place afterthe initialization of the Init step. Thus for example the

SFCReset flag could be re-set to FALSE in the Init step *)


SFCQuitError: BOOL;

7/26/2019 02 TwinCAT Ru

107/131


(* Execution of the SFC diagram is stopped for as long as thisboolean variable has the value TRUE whereby a possible timeout inthe variable SFCError is reset. All previous times in the active steps

are reset when the variable again assumes the value FALSE.*)

SFCPause: BOOL;

(*Execution of the SFC diagram is stopped for as long as this booleanvariable has the value TRUE.*)

SFCTrans: BOOL;

(* This boolean variable takes on the value TRUE when a transition isactuated.*)


SFCError: BOOL;

7/26/2019 02 TwinCAT Ru

108/131


(* This Boolean variable is TRUE when a timeout has occurred in aSFC diagram. If another timeout occurs in a program after the firstone, it will not be registered unless the variable SFCError is reset

first.*)

SFCErrorStep: STRING;

This variable is of the type STRING. If SFCError registers a timeout,in this variable the name of the step is stored which has caused thetimeout.

SFCErrorPOU: STRING;

In case of timeout this variable of the type STRING contains the nameof the block in which a timeout has occurred.


SFCCurrentStep: : STRING;

7/26/2019 02 TwinCAT Ru

109/131


This variable is of the type STRING. The name of the step isstored in this variable which is active, independently of the timemonitoring. In the case of simultaneous sequences the step is

stored in the branch on the outer right.No further timeout will be registered if a timeout occurs and thevariable SFCError is not reset again.

Sequential Function chart (110)

SFCErrorAnalyzation: STRING;

(* Thi i bl f STRING id h i i

7/26/2019 02 TwinCAT Ru

110/131


(* This variable, of type STRING, provides the transitionexpression as well as every variable in an assembledexpression which gives a FALSE result for the transition and

thus produces a timeout in the preceding step. A requirementfor this is declaration of the SFCError flag, which registers thetimeout. SFCErrorAnalyzation refers back to a function calledAppedErrorString in the TcSystem.Lib library. The output string

separates multiple components with the symbol |. *)

Sequential Function chart (111)

SFCTip: BOOL;

SFCTi M d BOOL

7/26/2019 02 TwinCAT Ru

111/131


SFCTipMode: BOOL;

(* This variables of type BOOL allow inching mode of the SFC.When this is switched on by SFCTipMode=TRUE, it is onlypossible to skip to the next step if SFCTip is set to TRUE. Aslong as SFCTipMode is set to FALSE, it is possible to skip evenover transitions.*)

END_VAR

Example Diagnosis (112)

7/26/2019 02 TwinCAT Ru

112/131


Declare variable


Set step attributes for the step to be observed.

7/26/2019 02 TwinCAT Ru

113/131



T i t 1

7/26/2019 02 TwinCAT Ru

114/131


Tracing to 1

Tip mode (115)

Insert implicit variable:

7/26/2019 02 TwinCAT Ru

115/131


Effect:

SFCTipMode SFCTip Transition Effect

TRUE FALSE TRUE Process stays in current step

TRUE TRUE TRUE Change to next step

TRUE TRUE FALSE Change to next step

FALSE TRUE FALSE Process stays in current step

FALSE FALSE TRUE Change to next step

Actions also in other IEC languages possible!(116)

Mainprogram

7/26/2019 02 TwinCAT Ru

116/131


Action step2

Action step1

(117)

7/26/2019 02 TwinCAT Ru

117/131


Standard.LIB.

.

Standard blocks

Function blocks Functions

Timer

Counter

String functions

Memory

Trigger

STFUP / CFC

7/26/2019 02 TwinCAT Ru

118/131


DWORDAND

WORD

AND

BOOL AND

STFUP / CFC

FUP / CFC ST

7/26/2019 02 TwinCAT Ru

119/131


, (INT).

- * /

(

4)

, SEL(120)

7/26/2019 02 TwinCAT Ru

120/131


FUP / CFC

:

If Mode1 = TRUE , StrVarmodeMode1Selected

.

ST

StrVarMode := SEL(Mode1, , Mode1Selected );

SEL

, MUX (121)

FUP /CFC

7/26/2019 02 TwinCAT Ru

121/131


Online:

integer,

FUP /CFC

ST:

(122)

ms

ST

7/26/2019 02 TwinCAT Ru

122/131


:

0.4 FALSE,

>=0.5 TRUE

bVar1:BOOL

iT1:INT

msrt1:REAL

(123)(123)

FUP / CFC ST

7/26/2019 02 TwinCAT Ru

123/131


20000.0

Implicit conversion also

possible

INT up/down

INT up/down

()

R_TRIG F_TRIG(124)

FUP

/

CLK

R TRIG

7/26/2019 02 TwinCAT Ru

124/131


CLK BOOL Trigger input R_TRIG: Rising Edge,

F_TRIG: Falling EdgeQ BOOL Signal output (one for 1 PLC cycle)

/CFC

ST

Q

CLK

Q

R_TRIG

F_TRIG

SR RS (125)

SET1FUP

/C

SR

7/26/2019 02 TwinCAT Ru

125/131


SET1 BOOL Set SR: setRS: resetRESET1 BOOL Reset

Q1 BOOL Output

S

T

CFC

RESET1

Q1

SET1

RESET1

Q1

RS

TON (126)

INFUP

/

7/26/2019 02 TwinCAT Ru

126/131


Q

ET

IN BOOL

PT TIME Q BOOL

ET TIME

CFC

ST

TOF(127)

FUP

/IN

7/26/2019 02 TwinCAT Ru

127/131


ST

CFC

IN BOOL IN,

PT TIME Q BOOL

ET TIME

Q

ET

PT

TP (128)

IN

FUP

/

7/26/2019 02 TwinCAT Ru

128/131


Q

ET

ST

CFC

IN BOOL , PT TIME

Q BOOL

ET TIME

CTU (129)

FUP

/C

7/26/2019 02 TwinCAT Ru

129/131


ST

CFC

CU BOOL Count Up, Counter with edge atCU, output is set if

counter value has thesame value as PV.

RESET BOOL Reset

PV UINT

Q BOOL PV

CV WORD

CTD (130)

FUP

/C

7/26/2019 02 TwinCAT Ru

130/131


ST 0

CFC

CD BOOL Count Down, LOAD ,

CD, Q = True.

LOAD BOOL PV

PV UINT

Q BOOL 0

CV UINT

LOAD

CD

CTUD (131)

FUP

/CF

7/26/2019 02 TwinCAT Ru

131/131


CU

RESET

CV

QD

QU

CV=PV

ST

CU BOOL Count UP, + CV UINT Current counter value

CD BOOL Count DOWN, - CD CU,

RESET BOOL Reset

LOAD BOOL PV

PV UINT

QU BOOL PV

QD BOOL 0

FC

02 TwinCAT Ru

Documents

Transcript of 02 TwinCAT Ru