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PLCopen - IEC 61131 - 3
Overview
Version 2.1, September 2006 PLCopen 2006
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Table of contents
Advantages of IEC61131-3 for programmers
History and international standards 1970 to 1995
7 parts of the IEC 61131 standard
IEC 61131-3 software models
the 5 languages of the IEC 61131-3
Function blocks and POUs
IEC data types, standard functions and standard function blocks
PLCopen certification
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Table of contents - continued
PLCopen compliance levels
PLCopen training logo
PLCopen address
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Advantages of IEC 61131-3
International accepted standard
Step by step all suppliers will support it
Uniform structures, languages, and the way of handling
It saves you time
Unique software model and data/ type concept
You only have to learn it once for different controller types
Reduced misunderstandings and errors
Standard functions and function blocks
Reusability of tested software
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Advantages of IEC 61131-3
Supports safety and quality programming
Easy and comfortable structuring
Data typing prohibits programming errors
Provides the best language for each problem
Consistent specifications of 5 languages
Two textual and two graphical languages
One structuring language, providing an overview
Availability of high level language
Possibility to mix different languages
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Source: Dr. J. Christensen
77 78 79 81 80 93 94 95 70 82 83 84 85 87 86 88 89 90 91 92 96
International Language Standardisation
NEMA Programmable Controllers Committee formed (USA)
GRAFCET (France)
DIN 40719, Function Charts (Germany)
NEMA ICS-3-304, Programmable Controllers (USA)
IEC SC65A/WG6 formed
DIN 19 239, Programmable Controller (Germany)
IEC 65A(Sec)38, Programmable Controllers
MIL-STD-1815 Ada (USA)
IEC SC65A(Sec)49, PC Languages
IEC SC65A(Sec)67
IEC 848, Function Charts
IEC 64A(Sec)90
IEC 1131-3
Type 3 report
recommendation
IEC 61131-3
name change
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The 7 Parts of The IEC 61131 Standard
IS
IS
IS
IS
IS
IS
Part 1
Part 2
Part 3
Part 4
Part 5
Part 7
Part 8
General overview, definitions
Hardware
Programming Languages
User Guidelines
Communication
Fuzzy Logic
Technical Report
IS = International Standard
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IEC 61131 - Part 1 - General Overview
Definitions and glossary of terms used in the standard
List of related / referenced IEC standards
Principal functional characteristics of programmable
controller systems
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IEC 61131 - Part 2 - Hardware
Electrical, mechanical and functional requirements for
Programmable Controllers and associated peripherals
Service, storage and transportation conditions
Information to be supplied by manufacturer
Test methods and procedures for verification of compliance
of programmable controllers and associated peripherals
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IEC 61131 - Part 3 - Programming
Languages
Software-, communication- and programming-model
Definition of five interlinked programming languages
Syntax and semantics of two textual and two graphical
languages: Instruction List (IL), Structured Text (ST), Ladder
Diagram (LD) and Function Block Diagram (FBD)
Sequential Function Chart (SFC) for program structuring
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IEC 61131 - Part 4 User Guidelines
Assists the user in:
Utilizing the other parts of the programmable controller
standard
Specifying the requirements for applications
Selecting and implementing systems
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IEC 61131 - Part 5 Communication
Based on MMS (Manufacturing Message Specifications)
(still in progress)
The provider is allowed to add more items!
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IEC 61131 - Part 7 Fuzzy Logic
Provides the definition of fuzzy control sets
The provider is allowed to add more items!
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IEC 61131 - Part 8 Technical Report
Provides guidelines for the application and implementation
of programming languages for programmable controller
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IEC 61131-3 Software Model
Configuration A
FB2
Task1
Program P1
Task2
Program P2
Resource L
FB1 FB4
Task3
Program P3
Task4
Program P4
Resource L
FB3
global and direct adressed variables
access paths
Task association
Access path association
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Definition of Software Model Terms
Configuration
A language element corresponding to a programmable controller system
Resource
A language element corresponding to a signal processing function and its human-
machine interface and sensor actuator functions, like a CPU in your system
Task
An execution control element providing for periodic or triggered execution of a group
of associated program organization units
Program
Highest level program organization unit, several in - and outputs possible, can call
FBs and Functions
FB
Program organization unit Function Block, several in - and outputs possible, can call
other FBs and Functions
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IEC 61131-3:
Character set
Data types
Variables
The Common Elements
(English.........)
(BOOL, WORD, INTEGER.................)
(VAR, VAR_input, VAR_output..........)
POUs,Program Organisation Units
SFC Elements
Configuration elements:
(Function, Function Block...)
(Steps, Transitions.................................)
(Tasks)
Basis for software re-use
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IEC 61131-3 Elementary Data Types
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The 5 Languages of IEC 61131-3
Structured Text Sequential Function Chart
Function Block Diagram Ladder Diagram
Instruction List
LD
A
ANDN B
ST C
C:= A AND NOT B
A B C
AND
C
A
B
Page 19 of 38
Step 1 N FILL
-| |--|/|----------------( )
Step 3
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Step 2 S Empty
Transition 1
Transition 2
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Ladder Diagram (LD)
Standardized, rationalized set of relay ladder programming
symbols
Based on well-known US-style of programming, resembling
electrical drawing standard
A B C
-| |--|/|----------------( )
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Instruction List (IL)
Single Accumulator based execution model
Based upon the German Anweisungsliste, AWL
Only one operation such as storing a value in the
accumulator register, is allowed per line
LD
ANDN
ST
A
B
C
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Structured Text (ST)
High level language, block structured
Syntax resembles PASCAL
Complex statements and nested instructions possible
Support for
Iteration loops (REPEAT-UNTIL; WHILE-DO)
Conditional execution (IF-THEN-ELSE; CASE)
Functions (SQRT(), SIN())
C:= A AND NOT B
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Function Block Diagram (FBD)
Graphical language, widely used in Europe
Allows program elements which appear as blocks to be
"wired" together in a form analogous to a circuit diagram
Used in many applications that involve the flow of
information or data between control components
AND
C A
B
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Sequential Function Chart (SFC)
Graphical language which provides a
diagrammatic representation of program
sequences --> flowchart
Based on the French Grafcet (IEC 848)
Main structure and suitable for rapid diagnostics
The basic elements are steps with action blocks
and transitions
Steps consist of a piece of program that is
carried out until a condition specified in the
transition is met
Programming of complex tasks by dividing in
smaller parts
Each element can be programmed in any IEC-
language
Step 1 N FILL
Step 2 S Empty
Transition 1
Transition 2
Step 3
POUType Replicatedas: Comments
Program Programinstance Mainprogram
FunctionBlock FBinstance Subroutinewithown
memory,severalin-
andoutputspossible
Function Function Subroutinewithout
memory
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POU = Program Organization Unit
POUs enable re-use of software from macro level (Programs)
to micro level (FB and Functions).
A POU consists of a header (variable declaration) and the
body (instructions).
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IEC 61131-3 Standard Datatypes
Bit string types
Integer types
(BOOL, BYTE, WORD, DWORD, LWORD)
(SINT, INT, DINT, LINT)
Unsigned integer types (USINT, UINT, UDINT, ULINT)
Real types
Time types
Character types
(REAL, LREAL)
(TIME, DATE, TIME_OF_DAY, DATE_AND_TIME)
(STRING)
Vendor and user defined data types are possible
Direct derived, sub range, enumeration
Array, structure
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IEC 61131-3 Standard Functions
Bit string functions
Numerical functions
(AND, OR, XOR, NOT, SHL, SHR, ROL, ROR)
(ADD, SUB, MUL, DIV, MOD, EXPT, ABS,
SQRT, LN, LOG, EXP, SIN, COS, TAN, ASIN,
ACOS, ATAN)
Type conversions
Selection functions
Comparison functions
String functions
(e.g. USINT_TO_DINT, BOOL_TO_BYTE)
(SEL, MIN, MAX, LIMIT, MUX)
(GT, GE, EQ, LT, LE, NE)
(LEN, LEFT, RIGHT, MID, CONCAT,
INSERT, DELETE, REPLACE, FIND)
Vendor and user defined functions are possible
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IEC 61131-3 Standard Function Blocks
Bistables
Edge detection
Counters
Timers
(SR, RS, SEMA)
(R_TRIG, F_TRIG)
(CTU, CTD, CTUD)
(TP, TON, TOF, RTC)
Vendor and user defined function blocks are possible
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PLCopen
Mission
We want to be the leading association
resolving topics related to
control programming
to support the use of
international standards in this field.
PLCopen
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Giessen, Germany.
Target was to promote IEC 61131-3, inform customers and give
more weight to the IEC 61131-3 standard.
PLCopen
Standardization in Industrial
Control programming
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The Essence of Compliance
without testing there is no standard
The IEC 61131 standard gives rules for compliancy
Certification gives guidance for users towards real IEC
61131-3 programming systems (e.g. PLCopen certified list
shows compliant products)
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PLCopen Compliance Level
To take away the confusion, PLCopen....
.... has defined 2 levels of compliance with a defined set
of features
.... has defined an accreditation procedure
.... has accredited test institutes
.... developed test software, shared amongst members
.... has defined a certification procedure
.... and has members with certified products
This assures compliance now, and in the future.
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PLCopen Compliance Levels
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Compliance
Certified products
can use these logos
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PLCopen Training Logo
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PLCopen
www.plcopen.org
P.O. Box 2015
NL 5300 CA Zaltbommel
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Tel: +31-418-541139
Fax: +31-418-516336
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