EP2729855A1 - Procédé et dispositif de programmation et de configuration d'un automate programmable industriel - Google Patents

Procédé et dispositif de programmation et de configuration d'un automate programmable industriel

Info

Publication number
EP2729855A1
EP2729855A1 EP12734808.4A EP12734808A EP2729855A1 EP 2729855 A1 EP2729855 A1 EP 2729855A1 EP 12734808 A EP12734808 A EP 12734808A EP 2729855 A1 EP2729855 A1 EP 2729855A1
Authority
EP
European Patent Office
Prior art keywords
code
programming
library
programmable logic
logic controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12734808.4A
Other languages
German (de)
English (en)
Inventor
Anke Frohberger
Brigitte Blei
Christian Meyer
Harald Staab
Thomas Reisinger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB AG Germany
Original Assignee
ABB AG Germany
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB AG Germany filed Critical ABB AG Germany
Priority to EP12734808.4A priority Critical patent/EP2729855A1/fr
Publication of EP2729855A1 publication Critical patent/EP2729855A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/056—Programming the PLC
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/13—Plc programming
    • G05B2219/13105—Two or more languages, ladder diagram or progression, basic program
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/13—Plc programming
    • G05B2219/13123—C language

Definitions

  • the invention relates to a method for programming and configuring a programmable logic controller according to claim 1. Furthermore, the invention relates to a device or a system for carrying out the method.
  • the invention finds particular use in the integration of intelligent field devices into a control or automation system, in process automation or in machine controls for controlling technical processes and / or plant components.
  • PLC programmable logic controller
  • the programming and configuration of the programmable logic controllers is realized by means of a PC-based programming tool or programming device, also called engineering tool, as a sequence of individual program instructions, each of which is technologically or functionally related
  • CONFIRMATION COPY Program instructions form a program block, also called a function block.
  • a complete PLC program typically contains a large number of such program blocks.
  • the blocks can be entered in one of the PLC application-related programming languages mentioned above, for example as an instruction list, as a ladder diagram, as a logic diagram, as a function diagram, as a sequence language or as structured text via the programming tool.
  • PC-based tools exist for creating, translating, checking and downloading the PLC code to the devices of the automation system.
  • a method for entering the program instructions in the high-level language "C” is described, for example, in EP 860 758 A1.
  • an input device of the programming device is shown, which is connected via a first data line to a conversion device and is connected via a second data line to a high-level language compiler, which translates the program instructions into a readable or processable by the programmable logic controller code.
  • Another solution relates to the runtime system of the programmable logic controller according to IEC61131.
  • the C-code functions only Variables are called with the programs described in IEC61131-3.
  • An access to the system resources, such as inputs and / or outputs or the memory of the devices connected to the programmable logic controller is not provided.
  • the invention has for its object to provide a method and apparatus with which the programming and configuration of a programmable logic controller is particularly simplified by the fact that created in a high-level language, such as C code Pogrammanreteen on the connected to the programmable logic controller devices in parallel to which run the program instructions created in accordance with IEC 61131-3 and thus provide direct access to the system resources, such as inputs and / or outputs or the memory of the devices connected to the programmable logic controller.
  • a high-level language such as C code Pogrammanreteen
  • IEC 61131-3 run the program instructions created in accordance with IEC 61131-3 and thus provide direct access to the system resources, such as inputs and / or outputs or the memory of the devices connected to the programmable logic controller.
  • For the user it is possible to edit code in the high level language as well as in IEC61131 languages.
  • the inventive method for programming and configuring a programmable logic controller is based on a configuration tool located in a programming tool, wherein in the configuration tool next to a module in an IEC61131 language at least one further module is integrated, with the programming of the programmable logic controller using a C code Editors in a high-level language.
  • a definition of interfaces between an IEC61131 code and a high-level language code and the configuration of the high-level language code is provided.
  • figurationswerkmaschine an additional module, and also referred to as a plug-in integrated, which library functions in a high-level language, preferably C code, generates and inserts for programming the controller, whereby the creation and integration of created in a high-level language program instructions in the devices of the automation system in easy way is executable.
  • a high-level language editor In the add-on module, a high-level language editor, a library administration and an IEC 61131 interface (2A) are integrated according to the invention.
  • the library administration is used to create and manage user-defined libraries.
  • libraries with operating-program modules executable in a high-level language, for example C code are first configured together with corresponding compiler options as C code plug-in tab configuration.
  • an image of hardware devices that can be connected to the programmable logic controller is configured with its inputs, outputs and / or local variables in a library project as a C-code plug-in tab IEC 61131 interface.
  • Plug-in Tab Configuration and the Plug-in Tab IEC61131 interface are edited and saved in the add-on module.
  • an application library is now created for the user using a compiler and additional library-specific header files, and the generated application library is added to the programmable controller's target project code which is not visible to the user. Thereafter, in the programming tool for the target project to be executed on the programmable logic controller, the code is generated in the corresponding high-level language and the program organization unit instances, also referred to as program organization units (POL! Instances, implemented and programmed by the programming tool together with the POUs for the IEC61131-3 applications are transferred to the programmable logic controller.
  • POL program organization unit
  • the course of the program instructions generated under C code takes place under a shell or shell referred to as shell according to the IEC 61131 standard, so that only the shell and not the background C code is visible to the user or user , This means that access to the system resources is only required via the existing IEC 61131 interfaces.
  • the runtime environment of a C code routine appears as a sequence of program instructions under an IEC 61131 environment.
  • the method described above according to the present invention advantageously allows the programmer to use his own C code programs or program instructions, hereinafter referred to as C code, within an IEC61131 project.
  • the program instructions previously created in C code run on the devices connected to the programmable logic controller in parallel with those of the IEC 61131-3 program instructions. This provides direct access to the system resources, such as inputs and / or outputs or the memory of the devices connected to the programmable logic controller executable.
  • the invention also relates to a device or a system for programming and configuring a programmable logic controller.
  • the device for programming and configuring the programmable logic controller comprises a programming tool located in a programming tool, in addition to a module (80) in an IEC61131 language at least one further module is integrated, with which the programming of the programmable logic controller is executable using a C-code editor in a high-level language, and which allows a definition of interfaces between an IEC61131 code and a high-level language code and the configuration of the high-level code.
  • an additional module is integrated in the configuration tool of the controller development system, in which generated library functions in a high-level language, preferably C-code, are inserted for programming the controller, whereby the creation and integration of created in a high level program instructions in the devices of the automation system in a simple manner becomes executable.
  • the additional module includes
  • a high-level language editor for example a C code editor
  • a library administration in which a library with high-level language, for example C code, executable program modules together with corresponding compiler options as a high-level language additional program, the tab configuration, is defined or configured and serves for creating and managing user-defined libraries;
  • a library with high-level language for example C code, executable program modules together with corresponding compiler options as a high-level language additional program, the tab configuration, is defined or configured and serves for creating and managing user-defined libraries;
  • An IEC 61131 interface in the high-level language for example C code, which maps the hardware devices that can be connected to the controller with their inputs, outputs and / or local variables in a library project. This interface is also referred to as C code add-on tab IEC61131 interface.
  • the novelty of the invention is further based on the fact that the PC-based configuration tool provides the user with the option of combining the various programming languages according to IEC 61131-3 and C.
  • a selection unit or interface is provided for selecting between programming using a high-level language, such as C code or programming language based on IEC 61131-3.
  • the programming tool has, in addition to a first application module or interface for programming according to IEC 6113-3, a second application module or interface for programming in the programming language "C", wherein switching between programming using a high-level language, such as C-code or under the IEC 61131-3 based programming language is provided by means of a selection unit.
  • FIG. 2 shows an exemplary embodiment of the method according to the invention for programming a programmable logic controller
  • Fig. 3, 4 show an example of the use of application modules from the
  • FIG. 5 shows an exemplary embodiment of a system structure of the C code integration by means of a programming tool
  • FIG. 6 shows an exemplary method sequence for transmitting the created
  • Fig. 7 shows a C code library added to the target project code of the programmable logic controller.
  • FIG. 1 is a programming environment for a programmable logic controller or controller according to the prior art with various programming interfaces 10 based on the respective programming languages in which the programmer the corresponding software for developing and executing the User programs writes, shown.
  • a first programming interface 11 is provided for programming according to the IEC61131-3 standard.
  • a second programming interface 12 forms an integrated development environment offered by the company Microsoft for various high-level languages, such as C, C ++, C #, which is referred to as Visual Studio. This allows the programmer to develop classic Windows programs or dynamic web pages or web services for the Internet / Intranet, with a particular focus on creating applications for the .NET Framework, a software platform 1 based on the common language runtime developed by Microsoft.
  • the second programming interface 12 interacts with a meanwhile standardized intermediate language or intermediate code 20, which is stored on the software platform 1 and is referred to as the Common Intermediate Language (CIL), which translates the programs that have been created and already reproduces them in a simplified manner.
  • CIL Common Intermediate Language
  • the intermediate code 20 is translated by a runtime system (Virtual Execution System) 30 into the native program code, usually a machine code, so as to be able to execute the programs present in CIL 20 in the programmable logic controller ,
  • a runtime system Virtual Execution System
  • the translation into the native program code is not carried out directly, but first a CIL code 20 is generated in a first step, which specifies the corresponding program instructions as a sequence of byte values.
  • the CIL code 20 is translated to native machine code and executed on the execution computer 30 in a runtime system.
  • a third programming interface 13 is provided as a so-called user configuration tool for generating CIL code 20.
  • FIG. 2 shows the features of the method according to the invention for programming and configuring a programmable controller D by means of a configuration tool K located in a programming tool B the procedure with the steps 1 to 8 using an inventively provided additional module A, which is also referred to as a plug-in.
  • the add-on module A comprises a C-code editor 3A, a library manager 1A, in which a library with C-code executable program modules together with corresponding compiler options as a C-code add-on program, the tab configuration, set or configured, an IEC 61131 interface 2A in C code, which maps the hardware devices that can be connected to the controller with their inputs, outputs and / or local variables in a library project.
  • This interface is also referred to as C code add-on tab IEC61131 interface.
  • libraries with C code-executable operating program modules are initially configured in library management 1A together with corresponding compiler options as C code plug-in tab configuration.
  • the IEC 61131 interface 2A is converted into C code for mapping hardware that can be connected to the programmable logic controller (D) with its inputs, outputs and / or local variables in a library project as a C code plug-in tab IEC61131
  • the plug-in Tab Configuration and the plug-in tab IEC61131 interface in add-on module A are edited and saved accordingly.
  • an externally created application library 43 is provided in an application module programmed in C code for the programming tool B, which translates in the background, ie not visible to the user, from the present source code 44 in a compiler 42 into C code using additional library-specific header files 41.
  • the externally created application library 43 is added to the target project code (PLC Target Project Code) of the programmable logic controller D, which is stored in the programming tool B.
  • PLC Target Project Code PLC Target Project Code
  • This process step is also running in the background.
  • the C code is generated in the programming tool B for the program to be executed on the programmable controller, hereinafter also referred to as the target project, and the Program Organization Units instances contained therein, which include the instances of the programs, function blocks and functions, implemented.
  • the target project is now loaded in a further step 7 from the programming tool B to the memory-programmed controller D, whereby a library of C code binary programs, also referred to as C code library Binary, integrated and loaded on the controller D.
  • a library of C code binary programs also referred to as C code library Binary
  • the executable binary code (C code Library Binary) is relocated from the runtime system of the programmable logic controller D and all external application program interface references (API references) are thereby resolved and bound.
  • the C-code POUs can invoke a Firmware API (Application Programming Interface).
  • the user of the programmable logic controller advantageously requires only the functions stored in C code, function blocks and programs, ie no programming knowledge of the particular firmware.
  • the PC-based programming tools B have an interface that allows the programmer to choose between programming in the high-level language and programming in IEC 61131.
  • new functions as well as existing functions in the libraries can be implemented as C-code or in IEC 611131-3 languages and combined in the target application.
  • An advantageous embodiment of the method according to the invention is based on the fact that the programming tool B provides external library POUs that can be implemented in C code.
  • the configurator used supports the plug-ins of the C code libraries, the IEC1131-3 interface specification, the C code editor and the compiler integration, including the display of compiler errors and / or the integration of externally provided libraries in a target project of the PLC.
  • system functions for C code are not mapped as further application modules from the system libraries, but mapped as application program interfaces, also called Application Programming Interface (API), grouped into functional areas for the firmware FW API.
  • API Application Programming Interface
  • 3 and 4 show, by way of example, the use of application modules 90 from the system libraries 94 and the application libraries 43 as source code, which is translated (compiled) in binary format in Engineering Tool B or is present as a precompiled binary format, which is only included.
  • the fifth shows the system structure of the programmable logic controller for C code integration by means of a programming interface 1 integrated in the first programming interface 1 for generating the configuration of a PLC project and a second programming interface 12.
  • the first programming interface 11 is for programming according to the IEC61131-3 Standard and the second programming interface is intended for programming in a high-level language, preferably C code.
  • the dedicated hardware devices 40 in particular intelligent field devices, which are connected via communication coupler and a field bus 70 to a controller 30, mapped in the programming tool B as part of a PLC or control project, in the control project information about A / Output addresses of these hardware devices 40 are stored and made available to the user program.
  • the controller and the input / output units of the hardware 40 are initially configured and configured of a PLC project, also called PLC configuration, created as part of the PLC or control project.
  • the project configured with the programming interface 10 is transmitted via an Ethernet bus 50, to which an operating unit 60 can also be connected, into the controller 30 of the programmable logic controller and from there via the fieldbus 70 to the field devices 40.
  • an application module 80 is provided as a runtime environment in the programmable logic controller in the programming tool B, in which global variables 81, application program interfaces 82, IEC61131-3 applications 83 and C-code based applications 84 are integrated, for a transmission are provided in the Conroll 30.
  • the IEC61131-3 applications 83 are organized in the POUs in a cooperating POL) unit 90, for example as Special Function Block Diagrams (FBD), Structured Text (ST), Ladder Diagrams (LD), Instruction Lists (IL) and / or Function Diagrams (SFC , CFC).
  • BFD Special Function Block Diagrams
  • ST Structured Text
  • LD Ladder Diagrams
  • IL Instruction Lists
  • SFC Function Diagrams
  • C code based applications 84 such as FBD, ST, LD, IL, SFC, CFC are implemented.
  • the applications are accordingly according to the invention of application modules 83, 84 programmed in IEC61131-3 languages and programmed in C code together.
  • All inputs and / or outputs of the hardware devices 40 are mapped as global variables 81 and all POUs 83, 84 share the global variable 81 so that the C code applications 84 have full access to the inputs and / or outputs have the interface of the POU unit 90.
  • System functions such as real-time functions, read and write files, memory management, floating-point operations, real-time functions and real-time clock according to the invention for C-code are not shown as additional application modules from the system libraries but grouped as an application program interface (API) to the firmware FW API in functional areas.
  • API application program interface
  • the generated application library 43 is needed.
  • the library elements stored in the application library 43 such as functions, function blocks and programs, are defined by the POU interface of the POU unit 90 according to the IEC61131-3 runtime system.
  • the POU interface defines the connection points to other POUs, inputs and outputs and to the higher-level control unit as a local variable, such as variables of the type Input IN, Output OUT and / or Input- Output IN_OUT.
  • Any local POU variable created in accordance with IEC61131-3 and in C code is advantageously accessible and addressable via a PC access, for example the operating unit 60, or via a representation via the Internet.
  • FIG. 43 An exemplary procedure for transferring the created application library 43 with the C code POU is shown in FIG. The additional module A for creating the application library 43 is not shown here.
  • a function block in the engineering tool B of the programmable logic controller with all its inputs and outputs and all internal or local variables in a library project as C-code plug-in Tab IEC61131 interface specified and the library project is in the engineering tool B saved.
  • From Engineering Tool B is in a second step 12 in the background the C-code plug-in Tab IEC61131 interface to a header file 41 and a C-code source file or frame (C File Template) exported.
  • the function block is programmed using the C-code plug-in tab IEC 61131 interface previously defined in the header file 41 and the C-code source file in C code, and in a fourth method step 14, the present C source code 44 translated by the compiler 42 into the appropriate binary code.
  • the application library 43 in the PLC target project Z is opened, and in a further method step 16, the function block instances are generated in the target project Z.
  • the PLC target project Z is loaded into the controller 30 invisibly for the user in a following step 17, the applications 83, 84 are connected to one another and the C code Library Binary is downloaded.
  • the C code library contains for application modules the interface description 91 and either the source code of the runtime function 92 or only the executable binary code (Binary) of the runtime function 93. This is shown for example in FIG.
  • the executable binary code (C code Library Binary) can be integrated by the runtime system of the programmable logic controller D and the references to the FW API can be resolved or relocated. This is shown for example in FIG. 4.
  • Fig. 7 shows a C code library executed with a POL) 90 using the C code source files 44 in C code.
  • the created application library 43 is added in step 25 to the target project code Z of the programmable logic controller D.
  • the C code is generated in the programming tool B for the target project to be executed on the programmable controller and the application module instances contained therein are implemented.
  • the target project is now loaded in a further step 28 from the programming tool B to the memory-programmed controller D.
  • the application library 43 with the application modules, interface definition and the binary code generated from C code can advantageously be reused in further projects without the source code files 44 being required.
  • All POUs can now be implemented in the C code or IEC61131-3 languages and share the global variables 81. This provides direct access to system resources, such as inputs and / or outputs, or the memories of the programmable logic controller Although programming in a high-level language, for example C code, is performed, the programming world only appears to the user as an IEC 61131-3 programming system.
  • firmware application program interfaces can be called using the system libraries 94; the functions of the system libraries 94 including the header files 41 are also available for C code programming.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Programmable Controllers (AREA)
  • Stored Programmes (AREA)

Abstract

L'invention se rapporte à un procédé et à un dispositif pour la mise en oeuvre du processus de programmation et de configuration d'un automate programmable industriel (D) à l'aide d'un outil de programmation (K) contenu dans un outil de programmation (B). Outre un module en langage IEC61131 (80), au moins un module additionnel (C) est intégré dans l'outil de configuration (K), ledit module additionnel (C) servant à la programmation de l'automate programmable industriel (D) dans un langage évolué, au moyen d'un éditeur de code C (3A), et produisant en outre une définition d'interfaces entre un code IEC61131 et un code en langage évolué, ainsi que la configuration du code en langage évolué.
EP12734808.4A 2011-07-06 2012-07-05 Procédé et dispositif de programmation et de configuration d'un automate programmable industriel Withdrawn EP2729855A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12734808.4A EP2729855A1 (fr) 2011-07-06 2012-07-05 Procédé et dispositif de programmation et de configuration d'un automate programmable industriel

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP11005514 2011-07-06
PCT/EP2012/002832 WO2013004389A1 (fr) 2011-07-06 2012-07-05 Procédé et dispositif de programmation et de configuration d'un automate programmable industriel
EP12734808.4A EP2729855A1 (fr) 2011-07-06 2012-07-05 Procédé et dispositif de programmation et de configuration d'un automate programmable industriel

Publications (1)

Publication Number Publication Date
EP2729855A1 true EP2729855A1 (fr) 2014-05-14

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US (1) US9235381B2 (fr)
EP (1) EP2729855A1 (fr)
CN (1) CN103814333B (fr)
WO (1) WO2013004389A1 (fr)

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