Coder’s Corner: PLCopen Standards Architecture & Data Typing

Coder's Corner: PLCopen Standards Architecture & Data Typing

 
By Dr. Ken Ryan, Alexandria Technical College
 
Dr. Ken Ryan is a PLCopen board member and an instructor in the Center for Automation and Motion Control at Alexandria Technical College. He is the founder and director of the Manufacturing Automation Research Laboratory and directs the Automation Systems Integration program at the center.
 
This is the first in a series of articles focused on writing code using the IEC 61131-3 programming standard. The first few articles will focus on orientation to the architecture of the standard and the data typing conventions. After covering these, this series will explore code writing for a diverse field of application situations.
 
THE IEC 61131-3 SOFTWARE MODEL
 
Figure 1
 
The IEC 61131-3 standard has a hierarchal approach to programming structure. The software model in Figure 1 depicts the block diagram on this structure. Let’s decompose this structure from the top down.
 
Configuration:
 
At the top level of the software structure for any control application is the configuration. This is the “configuration” or the control architecture of the software defining the function of a particular PLC in a specific application. This PLC may have many processors and may be one of several used in an overall application such as a processing plant. We generally discuss one configuration as encompassing only one PLC but with PC-based control this may be extended to include one PC that may have the capability of several PLCs. A configuration may need to communicate with other configurations in the overall process using defined interfaces which provide access paths for communication functions. These must be formally specified using standard language elements.
 
Resource:
 
Beneath each configuration reside one or more resources. The resource supplies the support for program execution. This is defined by the standard as:
 
‘A resource corresponds to a “signal processing function” and its “man-machine interface” and “sensor and actuator interface” functions (if any) as defined in IEC 61131-3’.
 
An IEC program cannot execute unless loaded on a resource. A resource may be a runtime application existing in a controller that may exist in a PLC or on a PC. In fact, in many integrated development environments today, the runtime system can be used to simulate control program execution for development and debug purposes. In most cases a single configuration will contain a single resource but the standard provides for multiple resources in a single configuration. Figure 1 shows 2 resources under one configuration.
 
Task:
 
Tasks are the execution control mechanism for the resource. There may be no specifically defined task or multiple tasks defined for any given resource. If no task is declared the runtime software needs to have a specific program it recognizes for default execution. As you can see from Figure 1 tasks are able to call programs and function blocks. However, some implementations of the IEC 61131-3 standard limit tasks to calling programs only and not function blocks. Tasks have 3 attributes:
 
1.  Name
2.  Type – Continuous, Cyclic or Event-based
3.  Priority – 0 = Highest priority
 
The next article in this series will focus exclusively on tasks and their configuration and associations to programs and function blocks. For now we will continue our decomposition of the software model.
 
Program Organization Units:
 
The lower three levels of the software model are referred to collectively as Program Organization Units (POUs).
  • Programs
  • Function Blocks
  • Functions
Programs:
 
A program, when used as a noun, refers to a software object that can incorporate or ‘invoke’ a number of function blocks or functions to perform the signal processing necessary to accomplish partial or complete control of a machine or process by a programmable controller system. This is usually done through the linking of several function blocks and the exchange of data through software connections created using variables. Instances (copies of a program can only be created at the resource level. Programs can read and write I/O data using global and directly represented variables. Programs can invoke and exchange data with other programs using resource-level global variables. Programs can exchange data with programs in other configurations using communication function blocks and via access paths.
 
Function Blocks:
 
The real workhorses of this hierarchal software structure are the function blocks. It is common to link function blocks both vertically (one function block extends another) or horizontally (one function block invokes another) in order to create a well structured control architecture. Function Blocks encapsulate both the data (as internal variables and the input and output variable that interface the function blocks to other software objects) and an encoded algorithm that determines the value of internal and output variables based on the current value of input and internal variables. The key differentiator between function blocks and functions is the retention of values in memory which is unique to function blocks and not an attribute of functions. Since a function block can have a defined state by virtue of its memory, its class description can be copied (instantiated) multiple times. One of the simplest examples of a function block is a timer. Once the class object “timer” is described multiple copies of the class can be instantiated (timer1, timer2, timer3… etc.) each having a unique state based on the value of its variables.
 
Functions:
 
The ‘lowest’ level of program organization unit it the function. A function is a software object which when invoked and supplied with a unique set of input variables will return a single value with the same name and of the same data type as those of the function. The sine qua non of a function is the behavior that returns the same value anytime the same input values are supplied. The best example of a function is the ADD function. Any time I supply 2 and 2 to the ADD function inputs I will receive a 4 as the return value. Since there is no other solution for 2+2 then there is no need to store information about the previous invocation of the ADD function (no instantiation) and thus no need for internal memory.
 
Access paths:
 
The method provided for exchange of data between different configurations is that of access paths. Access paths supply a named variable that through which a configuration can transfer data values to/from other remote configurations. The standard does not define the lower layer protocol to be used for this transfer but rather defines the creation of a construct (‘container’) in which the data can travel.
 
Global Variable:
 
Finally we come to the variables which are declared to be “visible” to all members of a specific level on the hierarchy. If a global variable is declared at the program level then all programs, function blocks and functions that are members of this program have access to this data. We say that the data is within their scope. Likewise, a global variable declared at the resource level will be available to ALL programs located on this resource.
 
Conclusion:
 
The IEC 61131-3 software model is modular and hierarchal. We have outlined its major components in this first tutorial. Next time we will look at details of the task mechanism. Later tutorials will focus on specifics of the POUs with emphasis on the differences between programs, function blocks and functions. Access paths will be the focus of another tutorial along with the concepts of data typing.
 
If you have applications ideas or questions please send them to: Dr. Ken Ryan - PLCopen Board of Management - [email protected].
 
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