IEC 61131-3 Programming

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EngineerITControl Builder FEngineering ManualIEC 61131-3 Programming

NoticeInformation provided in this manual is subject to change without prior notice andrepresents no obligation on the part of ABB Automation Products.The industrial standards and regulations (e.g. DIN, VDE, VDI, etc.) applicable in theFederal Republic of Germany are used. Outside the Federal Republic of Germany, therelevant national specifications, standards and regulations must be observed.ABB Automation Products reserves all rights, especially those arising out of BGB,UWG, UrhG as well as out of industrial property rights (patents, utility models,trademarks, service trademarks and flavor samples).The designations used and the products shown/mentioned in this manual have not beenspecifically marked regarding existing industrial property rights.No part of this manual may be reproduced without prior written permission from ABBAutomation Products.Should you find any mistakes in this manual, please make a copy of the appropriatepage(s) and send it/them to us with your comments. Any suggestions which may help toimprove comprehension or clarity will also be gratefully accepted.Please send your suggestions to:Product Management Dept., DEAPR/LMS-Hannover, Fax: 49 (0)511 6782 701Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Engineering ManualIEC 61131-3 ProgrammingGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

OverviewEngineering ManualsSystem ConfigurationAGeneral InformationBInstallation DigiToolCProject ManagerDProject TreeEHardware StructureFCommissioningGDocumentationGlossaryNew FeaturesIndexIEC 61131-3 ProgrammingAGeneral InformationBVariablesCTagsDFunction Block Diagram (FBD)EInstruction List (IL)FLadder Diagram (LD)GSequential Function Chart (SFC)HUser Function BlocksIndexOperator StationAGeneral InformationBMessages and HintsCStandard DisplaysDGraphic DisplayELogsIndexGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

OverviewEngineering ManualsProcess Station – Rack based System1General2Loading the operating system and EPROM’S3Configuration of resource D-PS and D-PS/RED in project tree4Processing and failure action5Configuration of rack-based process station in the hardware structure6Commissioning the process station7RedundancyProcess Station –FieldControllerGeneral2Loading the operating system and EPROM’S3Configuration of resource D-PS in project tree4Processing and failure action5Configuration of process station FC in the hardware structure6Commissioning of FC1Process Station – ABB FieldController 800General2Loading the operating system and EPROM’S3Configuration of resource D-PS and D-PS/RED in project tree4Processing and failure action5Configuration of process station AC 800F in the hardware structure6Commissioning of AC 800F7Redundancy1Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

OverviewEngineering Reference ManualsFunctions and Function BlocksAGetting StartedBGeneral Description and OverviewCAnalog Function BlocksDBinary Function BlocksEController Function BlocksFAcquisition BlocksGMonitoring Function BlocksHOpen-loop Control Function BlocksJStandard Function BlocksKArithmetic BlocksLConverter BlocksMConstantsNSystem ns and FieldbussesAGetting StartedBGeneral Description and OverviewCProfibusEModbus Master Function BlocksFModbus Slave Function BlocksGSend / Receive BlocksHRack ModulesVAbbreviationsWGlossaryXIndexGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

OverviewOperators ManualOperator StationAGetting started: DigiVisBInstallation DigiVisCOperating PhilosophyDMessages and HintsEOverview DisplayFGroup DisplayGGraphic DisplayHTrend DisplayIFaceplatesJSFC DisplayKTime Scheduler DisplayLLogsMSystem DisplayVSystem MessagesWGlossaryXIndexGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

ContentsContentsAGeneral InformationA 1A 2Visual Orientation Hints . A-5General Hints for Operating DigiTool . neral Description - Tag List. C-5Calling Tag List . C-5Structure of Tag List . C-6Editing the Tag List . C-9Function Block Diagram (FBD)123456789EEEEEGeneral Description - Variables. B-5Overview of Data Types . B-6Variable List . B-8Editing Lists . B-13System Variables. B-33Structured Data Types . B-39General Description - Function Block Diagram . D-5Structure of the Function Block Diagram. D-7Description of FBD Program Elements. D-11Parameterization of FBD program variables . D-14Editing FBD Programs . D-20Commisioning the Function block diagram (FBD) . D-33Variable List and Tag List . D-35Cross References . D-36General Processing Functions . D-37Instruction List (IL)1234General Description - Instruction List . E-5Interface of the IL Program . E-7Editing an IL Program . E-11Commisioning the Instruction list (IL) . E-25Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

ContentsFFFFFFFFFFLadder Diagram123456789GGGGGGGSequential Function Chart (SFC)123456HHHHHHXGeneral Description - Ladder Diagram Language . F-5User Interface of the Ladder Diagram Program. F-8Description of the Elements of Ladder Diagram . F-13Defining Parameters for the Ladder Diagram Elements. F-22Editing a Ladder Diagram Program . F-26Commisioning the Ladder diagram (LD). F-34Variable List and Tag List . F-36Cross References . F-37General Processing Functions. F-38General Description - Sequential Function Chart (SFC) .G-5Structure of the Sequential Function Chart.G-9Editing SFC Elements.G-12Edit SFC Program.G-21Commisioning the Sequential function chart (SFC) program .G-50General Editing Function .G-60User Function Blocks12234General Description - User Function Blocks. H-5Definition of User Function Block Classes. H-10Commissioning . H-38Generation of User Function Block Instances . H-41Modification of User Function Blocks. H-48IndexGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

AGeneral InformationGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Section AGeneral InformationContentsA 1Visual Orientation Hints. A-5A 2A 2.1A 2.2General Hints for Operating DigiTool. A-6Operation with mouse or keyboard . A-6Recurring keys . A-7Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827A-3

Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Section AGeneral InformationA 1 Visual Orientation HintsTo grant direct access to information, we have used different types of scripts and symbols.ScriptMeaningItalicsRepresentation for (selectable) menu items or parameters.SMALL CAPITALSInputs to be made via the keyboard, also via virtual keys.boldfaceHighlights important information, also as an orientation hint.SymbolsMeaningSelection with mouse.The various instruction steps are separated by arrows.Example: Edit Dimensions . .In this example, the menu item Edit is to be selected followed by themenu item Dimensions.Operating alternative with the mouseInformation on operation with the keyboard, inasmuch as it differs fromthe Windows Standard.Example:Select module ALT E D . .Having selected the module via the ARROW KEYS, the keys ALT, E and Dmust be pressed successively.If two keys are to be pressed simultaneously:. SHIFT INSERT . .Alternative keyboard operationHintsSpecial hints, must be observed!PreconditionsPreconditions which must be fulfilled to implement commands or forsatisfactory results.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827A-5

Section AGeneral InformationA 2 General Hints for Operating DigiToolOperation of DigiTool is based on the Windows Standard.Therefore knowledge of general operation under Windows is strongly recommended, seeWindows Manual.The "typical Windows operation" will therefore not be dealt with in detail when describing thevarious editors.A 2.1 Operation with mouse or keyboardMouseKeyboardSelect menuitemsCursor on menu item left mouse button.ALT underlined lettersSelect withinpull-down menuCursor on menu item left mouse button.Enter only underline lettersSelect individualelementsCursor on program element left mouse buttonCursor on program element SPACESelect multipleelementsCursor on start positionCursor on start position press left mouse button and Press SPACE and holdkeep pressed down move to desired position and move to desired position andrelease mouse buttonrelease SPACEGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827A-6

Section AGeneral InformationA 2.2 Recurring keysdi0212uk.bmpOKThe active parameter window is quit and the parameter status saved.CANCELThe active parameter window is quit without saving the parameterstatus. A warning appears if parameter definition data are lost.SAVEThe current parameter status is saved and the window remains active.RESETThe parameters of the active parameter window are reset completely tothe previously set values. Any parameters previously saved and differingfrom the default settings can be fetched again by canceling and recallingthe parameter window.CHECKThe function block is checked for plausibility with the current parameters,even if they have not been saved.HELPCall up the Windows On-line help (with F1 also).To get information about functions on monitor without using the documentation. Thematically structured information is displayed in the helpwindow.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827A-7

Section A General InformationChange to the previousor next parameter mask.This is displayed with shading if no further parameter window exist.Check boxesA setting or parameter is turned on or off.Option fieldsOption fields are presented when one of a group of mutuallyparameters are to be chosen.F5The function key F5 calls the list of cross references for the selected variable or tag. This function is also available in parameter mask fields withreferenced variables or tags.F6 bzw. SHIFT F6These functions are available after the list of all existing cross referenceswas called (key F5). F6 calls the program which contains the next occurrence in the cross reference list, SHIFT F6 calls the program of the previous list entry.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827A-8

BVariablesGross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827

Section BVariablesContentsB 1General Description - Variables . B-5B 2B 2.1Overview of Data Types. B-6String variables. B-7BBBBB33.13.23.33.4Variable List . B-8Calling up the variable list . B-8Structure of variable list. B-8Initial values. B-10Menu structure variable list . 4.12.14.12.24.12.3Editing Lists . B-13Sort . B-13Normal view and station view. B-13Import OPC variables . B-15Import OPC variables from file . B-15Import OPC variables via browse. B-18Exit. B-18Search . B-19Type ahead . B-19Define search criteria . B-19Edit list entries . B-21Undo . B-21Insert new variable in list . B-22Create new variable in program . B-23Insert existing variable in a program . B-23Change variable entries . B-24Edit a field in the list . B-24Delete field . B-24Delete unused variables. B-25Block processing . B-25Cut . B-26Copy . B-26Paste . B-26Delete . B-27Import . B-27Export . B-28Station access . B-28Assign block to resource automatically . B-29Assign block to resource manually. B-29Assign block to process image. B-30Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-3

Section s . B-30Hardcopy . B-32Adjust colors . B-32Store column width . B-32Back. B-32BBBBBBBB55.15.25.35.45.55.65.7System Variables. B-33System variables with project information . B-33System variables with resource information. B-34System variables with information of a redundant resource. B-36System variables for powerfail on voltage failure. B-36System variables for error handling task . B-37System variables for I/O Communication. B-37System variables with information for lateral communication. B-38BBBBBB66.16.26.36.46.5Structured Data Types . B-39Calling up structured data types . B-39Define a new data type. B-39Creating data type components. B-39Insert a new variable with structured data type . B-40Using a structured data type in a program . B-41Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-4

Section BVariablesB 1 General Description - VariablesVariables are used for storing and processing information. Various different data types are available in the system, e.g. BYTE, WORD, INTEGER, REAL, DATA&TIME. To enable several variables to be processed jointly even if they have different data types, it is possible to define new,structured data types.Along with the standard data types, user-defined structured data types are also available whendeclaring a variable.System variables are created every time a new resource, process station, FieldController orgateway is added. The status details for the resource are stored in these variables.The system enters all the variables for a project in the variable list.Default values can be assigned to each variable and to the separate elements of a structuredvariable. These values are assumed after a cold start, or when a station is initialized.Variables from Freelance 2000 can be made available to other systems via gateway stations.For this purpose, read/write accesses are configured in the station view of the variables list.From version 5 onwards it is possible to use variables with leading numbers, e.g.2LAB10CF001. A variable name must contain at least one letter to enable variables tobe distinguished from constants. The only special character permitted is the underscore" ".Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-5

Section BVariablesB 2 Overview of Data TypesDatatypeBitREAL32DINT32Value rangeExplanationInput formatsExamples 1.175494351E-38 .Floating point valueIEEE1 format0.0, 3.14159, -1.34E-12, 3.402823466E38-2 147 483 648 .Double-34355, 23456 2 147 483 647integer value-1.2234E-6, 12.6789E10with signINT16-32 768. 32 767Integer value3, -3, 12345with signUDINT320.4294 967 295Double123456787, 4566integer valuewithout signUINT160.65 535Integer value4000, 66without signDWORD320.4294 967 295Double word32(0.2 -1)0, 655,2#0.0.0.0.0.0.0.00018#000 000 000 074, 16#0000 0FFFWORD160.65 535Word16(0.2 -1)2, 554,2#0000 0000 0000 0001,8#000 004, 16#0FFFBYTE80.255Byte8(0.2 -1)BOOL80. 10, 55,2#0000 0011, 8#377, 16#0ABoolean value0, 1, FALSE, TRUEDate time valueDT#1994-02-14-10:00:00.00Time valueT#22s T#3m30s(FALSE, 23:59:59.999TIME32 24d20h31m23s648ms.T#14m7s-24d20h31m23s648msThe following applies for the representation of REAL numbers: due to the internal display,only 7 significant positions can be determined during conversion to displayable characters.Very high and very low numerical values are shown as exponents.1 IEEE Institute of Electrical and Electronic Engineers; American Association of Experts.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-6

Section BVariablesB 2.1 String variablesString variables are used for filing any texts. The variables can be edited e.g. in an FBD programwith the string modules. Texts thus filed can be used e.g. in the operational printout, the AScriterion window or in free graphics, to describe certain states or provide information.Data typeByteExplanationEntry formats, ExamplesSTR888 character textFC 1100STR161616 character textTIC1234STR323232 character textP11400 too lowSTR646464 character textBoilers temp. too highSTR128128128 character textGenerator2 speed to highSTR256256256 character textAutomation unit malfunctioningThe string variables reserve memory as the other variables in the 32 Kbytes RAM of theresource.See Engineering Reference Manual, Functions and Function Blocks,Converter Blocks.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-7

Section BVariablesB 3 Variable ListThe variable list contains all existing variables in the project. In normal representation it may bewider than the screen display allows for. The other columns can be displayed with the scroll barbelow the list. The column width can be adjusted with the mouse, holding the left button down.However a column cannot be made wider than its maximum permissible number of characters.Search criteria can be defined and activated. The total number of entries in the list is shown in thestatus line as well as the number currently displayed. You can tell from these numbers how manyvariables satisfy the active criteria, e.g. specific data types or gateway accesses.B 3.1 Calling up the variable list System Variable listThe variable list is called by menu item System or the relevant toolbar button.di0310uk.bmpB 3.2 Structure of variable listThe status line shows the current number of entries thus: entries of total entries . Wheresearch filters are active this enables you to see how many variables meet the search criteria.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-8

Section BVariablesThe variable list is structured as follows:di0313uk.bmpNameVariable name, max. 16 charactersCommentComment on variable, (max. 33 characters)TypeData type, see Page B-6, Overview of Data TypesRes.A variable is always allocated to one resource. None of the other resources can read it unless the Export attribute YES (X) has been given.XY Variable released for reading by other resources,(Variable input Export ),N Variable available for own resource only,(Variable input Export ).An I/O component can only be exported via a variable, never directly; in other words, theI/O component can not be read in other resources by means of the component name.Note that variables which are to be allocated to an I/O component do not feature gateway write rights. See also page B-28, Station accessObject,PositionFor variables assigned to a hardware component the component type andslot or the variable is entered here, e.g. DDO01 and PS1 90 5 Ch6 for achannel allocation or FC and FC3 ERR for a FieldController error signal.Module type (e.g. DDO 01), see Engineering Manual, System Configuration, Hardware StructureModule slot definition, e.g. PS 1 0 2 Ch0PS 1Station name in hardware structure1Station location0Unit (rack)2SlotCh0Component name (Channel)Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-9

Section BVariablesIf you double-click in one of these two fields, a dialog appears which enables a hardware component or variable to be selected for allocation.PY Process variables processed from the process image(Variables via process image),N Processing direct from I/O module,(Variables via process image).Changing the P attribute causes only newly-referenced variables tobe written via the process image, while existing instances remain unchanged.Initial valueAfter the process station has been cold-started, the variable is initializedwith this value. See Page Fehler! Textmarke nicht definiert., Initial values.OPC addressAddress or name of a variable on the OPC server. For a Freelance OPCgateway this is identical to the variable name in the process station.Variables displayed in red either have no references within theproject or they may be system variables. See Page B-33, SystemVariables.B 3.3 Initial valuesInitial values can be assigned to each variable and to the separate elements of a structured variable; these initial values are adopted following a cold start or the initialization of a station.A double-click in the INITIAL VALUE field for a particular variable allows the initial value for thatvariable to be modified.di0347uk.bmpThe initial values of the I/O components are entered with the help of the I/O editor.If the selected variable has a standard data type, then the initial value may be entered directly. Inthe case of variables with structured data types a mask is displayed which shows all the elementsof the structured variable's basic data type.Gross Automation, 1725 South Johnson Road, New Berlin, WI 53146, www.ssacsales.com, 800-349-5827B-10

Section BVariablesdi0346uk.bmpBy clicking on a variable its default initial value can be replaced by an initial value specifically forthat variable.

Engineering Manual IEC 61131-3 Programming Gross Automation, 1725 South Johnson Ro

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