Various Programming Languages

What is a Program

A Program is a user developed series of instructions or commands that directs the PLC to execute actions. A Programming Language provides rules for combining the instructions so that they produce the desired actions. The latest standard (IEC 61131-3) has tried to merge plc programming languages under one international standard. We now have PLCs that are programmable in function block, instruction lists, C and structured text Various Programming Languages are, Ladder Logic Function Block Structured Text Instruction List. Sequential Function Chart

Ladder Logic Programming

Ladder Logic Programming

The most commonly used Programming Language is LADDER LOGIC Ladder Logic is evolved from electrical ladder diagrams, which represents how electrical current flows thru the devices to complete an electrical circuit. The Ladder logic programming language is an adaptation of an electrical relay wiring diagram, also known as ladder diagram. Ladder Logic is a graphical system of symbols and terms even those not familiar with relay wiring diagram can easily learn it.

Ladder Logic

Each electrical circuit in the diagram is considered a rung. Each Rung must be connected to Power Line on Left side. Each Rung must contain at least one control instruction on Extreme Right Side. Every rung has two components It contains at least one device that is controlled It contains the condition(s) that control the device.

Ladder Logic

Connecting Objects

All contacts can be connected in sequence (AND-BOOL) All contacts can be connected in parallel (OR-BOOL) All contacts can be connected in both, parallel and sequence

The network must be connected to the power rail

The power rail refers to the data type BOOL

FFB's can be inserted at any position of the network

Coils have to be connected to contacts or FFB-outputs

Instruction List Programming

Instruction List (IL)

Instruction List (IL) is a low level textual language which has a structure similar to a simple machine assembler. The IEC has developed IL by reviewing the many low level languages offered by PLC manufacturers. IL provides a wide range of operators that represent those most commonly found in proprietary instruction list languages of current day PLCs

Understanding IL

With IL the following operations can be executed:

logical (AND...), arithmetic (ADD...), compare (GT...) operations and assignments (ST, S, R). Jumps within a section unconditioned / conditioned (JMP / JMP C, JMP CN) Functions and function blocks unconditioned / conditioned (CAL / CAL C, CAL CN)

Before invoking an FFB, it has to be declared using VAR and END_VAR. Each FFB instance must be invoked once. FFB-call:

with CAL and a list of input parameters or with CAL and Load/Save of the input parameters or by using the input operators.

Understanding IL Operators
Operator Modifier

Operand / Significance
Loads the value of the operand into the Accumulator Literal, variable, direct address from data type ANY Saves the value of the Accumulator in the operand Literal, variable, direct address from data type ANY Sets the operand to 1 if the Accumulator content is 1 Literal, variable, direct address from data type BOOL Sets the operand to 0 if the Accumulator content is 1 Literal, variable, direct address from data type BOOL Logic AND Logic OR Logic exclusive OR Addition Subtraction Multiplication Division Compare : > Compare : = Compare : <> Compare : < Jump to label FBNAME (name of instance) Invoking a FFB Executing a function Literal, variable, direct address (data type is subject to function) Editing reset operations

LD

ST
S R AND OR XOR ADD SUB MUL DIV GT EQ NE LT JMP CAL FUNCNAME )

N, N(, ( N, N(, ( N, N(, ( ( ( ( ( ( ( ( ( C, CN C, CN

Understanding IL Rules

When entering keywords, separators and comments, there is an immediate spell check If a keyword, a separator or a comment is detected, it is identified with a color shading. If unauthorized keywords (instructions or operators) are entered, this will be identified through color shading as well. Spaces and tabs have no effect on syntax, they can be used anywhere.

Instruction List Example

IL example

Comments FFB-Declaration

AND-Function Assignment FFB call Assignment AND-Function FFB call Assignment

Function Block Programming

Function Block Programming

The primary concept behind a FBD is data flow. In these types of programs the values flow from the inputs to the outputs, through function blocks. A FBD program is constructed using function blocks that are connected together to define the data exchange. The connecting lines will have a data type that must be compatible on both ends.

FBDs use data flow from left to right through function blocks Inputs and outputs can be inverted Function blocks can have variable argument list sizes When arguments are left off default values are used

Understanding FBDs
Execution order Value Passed without declaring Programmer Selected Instance Name

Output can be linked to multiple inputs Variable Passed by linking and declared

Inverted (Normally Closed) Input. Outputs can also be inverted.

Various Function Blocks

Basic Logic Functions

Basic Timing Functions

Basic Math Functions

Various Function Blocks

Basic Latches and Comparisons

Basic Counters

FBD Program Example

Structured Text Programming

Structured Text Programming

ST is a high level language, similar to PASCAL or BASIC. ST is a distinct language that has been specifically developed for industrial control applications. Fairly straight forward and easy to learn and to use. Compact formulation of a complex programming task.

Powerful constructs for controlling the instruction flow.

Useful for complex mathematic solutions.

Simple solutions for difficult problems in FBD, LD or IL.

Understanding ST

Statements, Expressions and Operators

A structured text program contains: statements.

A statement contains: Expressions Keywords An expression contains one or more: Operators with Operands

Statements must close with semicolons (;) One line may contain several statements, separated by (;)

Understanding ST Statements
The following statements are available:
VAR ... END_VAR Function Block Calls IF ... THEN ... END_IF ELSIF ... THEN Declaration of FFB's Invoking of FFBs Conditioned execution of statements Conditioned execution of statements, if the preceded expression is not fulfilled (false). Execution of statements, if expressions of preceded statements are not fulfilled (false). A list of statements with given labels. Execution, if the label is true. Repeated execution of statements up to a given number. Repeated execution of statements up to preceded condition = 0. Repeated execution of statements up to succeeded condition = 0. To terminate repeat statements (FOR, WHILE, REPEAT) before the end condition is true.

ELSE ...

CASE ... OF ... END_CASE FOR ... TO ... BY ... DO ... END_FOR WHILE...DO...END_WHILE REPEAT ... UNTIL ... END_REPEAT EXIT

Understanding ST - Operators

Operators are generic, i.e. they automatically adjust to the data type of the operand. The evaluation of an expression consists of applying the operators to the operands in the order defined by the rule of precedence of the operators.

The operator with the highest rule of precedence in an expression will be executed first.
Operators with the same precedence are executed from left to right, as described in the expression.

This order can be changed through the use of parenthesis.

Understanding ST Operators
Operator
() FUNCNAME **
NOT ANY_BIT * / MOD + <

Operand
Expression ANY REAL, ANY_NUM ANY_NUM Complement ANY_NUM or TIME ANY_NUM ANY_NUM
ANY_NUM or TIME ANY_NUM or TIME ANY_ELEM

Significance
Bracketing Function editing (call) Raising to a power Negation
Multiplication Division Modulo Addition Subtraction Less than

Precedence
1 (highest) 2 3 4 4 5 5 5
6 6 7

>
< = ANY_ELEM > = ANY_ELEM = <> &, AND

ANY_ELEM
Less or equal Greater or equal ANY_ELEM ANY_ELEM ANY_BIT

Greater than
7 7 Equality Inequality Logic AND

8 8 9

XOR ANY_BIT
OR ANY_BIT

Logic exclusive OR
Logic OR

10
11

All operands also: Expression, literal, variable, direct address

Structured Text Example

ST Example

Comment FFB-Declaration AND-Function with Allocation FFB call with Allocation AND-Function with Allocation FFB call with Allocation

Sequential Function Chart

Sequential Function Chart (SFC)

A Sequential Function Chart is a graphic method of representing a sequential control system by using a sequence of steps and transitions. Each step is a command or action that is either active or inactive. The flow of control passes from one step to the next through a conditional transition that is either true or false.
Step
S_2_1

SFC - Elements

Jump
S_2_1

Transition

Alternative Branch

Parallel Branch

Alternative Joint

Parallel Joint

Understanding SFC

SFC Rules
1. A Sequential Flow Chart section must have an Initial Step and only one Initial Step.

2. A Transition must follow a Step.

3. A Step must follow a Transition.

Understanding SFC

SFC - Elements: The Step

Step types are the initial step or steps.

A step becomes active when the prior transition has been satisfied
A step becomes inactive when the succeeding transition has been satisfied AND the step delay time has elapsed.

None, one or multiple actions, with qualifiers, can be declared for each step.
A supervision time can be defined for each step.

Understanding SFC

SFC - Elements: The Transition A transition is the condition that transfers control from one step to another. Only transitions following active steps are solved / evaluated. When a transition is True on the next scan: The preceding step(s) is deactivated The following step(s) is activated The True transition between the steps is no longer solved The transition following the new active step is solved

Understanding SFC

SFC - Elements: The Jump The jump allows the program to continue from a different location. A jump can be used in two ways: sequence jump sequence loop

Jumps into or out of a parallel sequence area are not possible.

SFC Example
Start

Up Limit SW Slow Speed Limit SW Bottom Limit SW

Wait Start Pushbutton Pressed

Start

Up Limit SW Slow Speed Limit SW Bottom Limit SW

Lower Fast, drill motor on Slow Speed Limit SW reached

Start

Up Limit SW Slow Speed Limit SW Bottom Limit SW

Lower Slow, drill motor on Bottom Limit SW reached

Start

Up Limit SW Slow Speed Limit SW Bottom Limit SW

Raise Drill, drill motor on

Up Limit SW reached

Programming Example

Objective
Here, we want the fill motor to pump lubricating oil into the tank until the high level sensor turns on. At that point we want to turn off the motor until the level falls below the low level sensor. Then we should turn on the fill motor and repeat the process. Here we have a need for 3 I/O (i.e. Inputs/Outputs). 2 are inputs (the sensors) and 1 is an output (the fill motor). Both of our inputs will be NC (normally closed) fiber-optic level sensors. When they are NOT immersed in liquid they will be ON. When they are immersed in liquid they will be OFF.

PLC

Oil Tank

Motor

Drain

Design
Here we have a need for 3 I/O (i.e. Inputs/Outputs). 2 are inputs (the sensors) and 1 is an output (the fill motor). Both of our inputs will be NC (normally closed) fiber-optic level sensors. When they are NOT immersed in liquid they will be ON. When they are immersed in liquid they will be OFF.

Input Address :
PLC

Low : 0000 High : 0001 Output Address :

Oil Tank

Motor

Motor : 0500
Drain

Internal Utility Relay : 1000

The Logic Electrical Diagram

K1-1

Low High

K1-2

Aux. Contactor K1

Motor Contactor

The Logic Ladder Logic

Low High Temp. Bit

0000

0001

1000

1000

Temp. Bit

Motor

1000

0500

Program Scan
1st Scan Start 1st Scan Complete

0000 1000

0001

1000

0000 1000

0001

1000

Low 0000 High 0001 Temp. Bit 1000

1000

0500

1000

0500

Motor 0500

Program Scan
2st Scan Start 2st Scan Complete

0000 1000

0001

1000

0000 1000

0001

1000

Low 0000 High 0001 Temp. Bit 1000

1000

0500

1000

0500

Motor 0500

Program Scan
X Scan Start X Scan Complete

0000 1000

0001

1000

0000 1000

0001

1000

Low 0000 High 0001 Temp. Bit 1000

1000

0500

1000

0500

Motor 0500

Program Scan
X+1 Scan Start X+1 Scan Complete

0000 1000

0001

1000

0000 1000

0001

1000

Low 0000 High 0001 Temp. Bit 1000

1000

0500

1000

0500

Motor 0500

Questions . . .? ? ? ?