IEC61131軟件助力智能制造

IEC61131軟件助力智能制造GaryLiang

/梁恩泉AboutmePersonalData

GaryLiang/梁恩泉

liangenquan@2007–uptonow PhoenixContactSoftware

SoftwareBusinessDevelopmentandTeamManagement

.34IEC61131基礎(chǔ)概念I(lǐng)EC61131軟件解決方案案例分享Overview5IEC61131基礎(chǔ)概念I(lǐng)EC61131軟件解決方案案例分享Overview6IEC61131IEC61131focusonPLC-Background-Feature-Development&Outlook-CurrentSituation1969PLC的出現(xiàn)——工業(yè)3.0的開端1968年美國(guó)通用汽車公司對(duì)設(shè)備供應(yīng)商下達(dá)指令生產(chǎn)線的設(shè)備要使用計(jì)算機(jī)技術(shù)作為控制電氣技術(shù)人員很容易掌握的編程語言......1969年美國(guó)著名計(jì)算機(jī)公司DEC按照通用汽車的要求開發(fā)了PDP-14這是世界上第一臺(tái)PLC標(biāo)志著計(jì)算機(jī)和軟件以一種全新的方式進(jìn)入工業(yè)界！PLC的誕生是第三次工業(yè)革命的標(biāo)志！PLC從此風(fēng)靡全球——我們的生活被PLC包圍著2023/7/31PLC為什么能夠風(fēng)靡世界易用可靠加快產(chǎn)品研發(fā)速度為客戶帶來巨大價(jià)值PLC賣的是對(duì)客戶的服務(wù)以及對(duì)客戶產(chǎn)生的價(jià)值，而非產(chǎn)品本身！PLC其實(shí)是一種思想理念！BeforeIEC61131wasreleased:Engineerscouldnotunderstandeachother!!!Organisations-baustein?ExecutionFile?工程實(shí)施?BackgroundofIEC61131Grafcet(France)DIN40719(Germany-FunctionCharts)NEMAICS-3-304(USA-ProgrammableControllers)MIL-STD-1815Ada(USA)DIN19239(Germany-ProgrammableControllers)IECSC65A(Sec)49,PCLanguagesVDI2880(Germany)StandardsbeforeIEC61131BackgroundofIEC61131IEC61131wasreleasedin19931.Generaloverview,definitions IS2.Hardware IS3.Programminglanguages IS4.Userguidelines IS5.Messagingservicespecification IS6.FunctionalSafety IS7.FuzzyLogic IS8.TechnicalReportIS9.Single-dropdigitalCommunicationinterfaceforSDCIIS

IS=InternationalStandardIEC61131-3Feature(1)InstructionListStructuredTextFunctionBlockDiagramLadderDiagramSequentialFunctionChart5languagesweredefined.IEC61131-3Feature(2)UnterprogrammIn_01_1In_01_2In_01_3In_01_4Out_01_1ANDIN1IN2IN3IN4OROUT1User-definedFunction/FunctionBlockUser-definedDatatypeArrayStringStructureIEC61131-3Feature(3)Configuration~1electricalcabinetRes_2

~1CPUPROGRAM_1

~1TaskPG_3

~1TaskFunction

Block_1Function_1FB_2FU_2FB_4FU_3FB_2FU_3Resource_1

~1CPUPROGRAM_1

~1TaskFunction

Block_1PG_2

~1TaskFunction_1FB_2FU_2FB_6FU_2FB_2FU_4SoftwareModelingPLCTiming:MultipleRealtimeTasksTaskrequiresCPUpowerMyFast: Periodictask,intervalof10ms,attachedPROGRAMP1MyMain: Periodictask,intervalof25ms,attachedPROGRAMsP3,P4TaskMyMainP1

ProConOSServerTasksP1P1P1P1Time[ms]TaskPriority1020304050SystemPulseTaskMyFastP3P4P3P4P4PLCopenMembers18AdvantageofIEC61131[FUNCTION_BLOCK]publicclassTriggerCounter

{publicvoid__Init(){TriggerLast=false;Status=false;Count=0;

}publicvoid__Process(){if(Enable==true)

{ TriggerLast=Trigger;

}else{ TriggerLast=false;

}Status=Enable;

}

}VSC/C++LD/FBDDifficulttodevelopComplextomaintainCannotbemodifiedbyEnd-UserEasytodevelop;SimpletomaintainCanbeModifiedbyEnd-UserCurrentSituationMORETHANastandardforPLCprogramming.New:OO-Conception!20IEC61131基礎(chǔ)概念I(lǐng)EC61131軟件解決方案應(yīng)用案例OverviewPhoenixContactSoftwareGmbH菲尼克斯電氣軟件有限公司總部：Lemgo,德國(guó)成立于1982向全球300百多家客戶提供了自動(dòng)化軟件平臺(tái)RenamingKW-Softwarefrom2015.01.01TechnologyforYourAutomation!IEC61131:

SoftPLCruntime+ProgrammingToolSAFETY:

SoftPLCruntime+ProgrammingTool(Certified,SIL3)

PROFINET:

ProfinetIOController/Devicestack(RT/IRT)23AdvantageofIEC61131[FUNCTION_BLOCK]publicclassTriggerCounter

{publicvoid__Init(){TriggerLast=false;Status=false;Count=0;

}publicvoid__Process(){if(Enable==true)

{ TriggerLast=Trigger;

}else{ TriggerLast=false;

}Status=Enable;

}

}VSC/C++LD/FBDDifficulttodevelopComplextomaintainCannotbemodifiedbyEnd-UserEasytodevelop;SimpletomaintainCanbeModifiedbyEnd-User標(biāo)準(zhǔn)

OSIEC61131SoftwareSolutionProConOSProConOSeCLR:IEC61131-3RuntimeSupportmanyCPUandOSMachinecode,insteadofinterpreterOpenwithmoreinterfacesProConOSeCLR良好的可移植性SoftPLConChip

在片內(nèi)Flash中運(yùn)行；

資源要求： RAM>48kB

Flash>256kB性能

22μsfor1000行IL代碼，基于LPC1768（100MHz）片內(nèi)集成了CANopen協(xié)議棧；單芯片支持實(shí)時(shí)多任務(wù)：片內(nèi)集成了FreeRTOS基于Cortex-M3/M4的嵌入式單芯片解決方案ProConOSembeddedCLR:多核解決方案28

MULTIPROGSoft-PLC,Real-timeEthernetIEC61131,HMI,BusConfigurationINtimevirtualmachineeCLRPROFINET/EtherCAT機(jī)器人控制器開放式解決方案

基于PC的實(shí)時(shí)操作系統(tǒng)INtimeSoftPLC/Robot

kernel/EtherCAT/Profinet軟件開發(fā)包

PxCSoftPLCRobotkernelEtherCATPROFINET伺服電機(jī)ProfinetIO機(jī)器人控制器已完成！系統(tǒng)可擴(kuò)展性自定義控制器硬件自定義視覺攝像機(jī)自定義示教器自定義IO模塊自定義驅(qū)動(dòng)系統(tǒng)提供以下類型機(jī)器人運(yùn)動(dòng)學(xué)316自由度機(jī)器人SCARA機(jī)器人Delta機(jī)器人直接坐標(biāo)機(jī)器人MotionControlPlatformArchitecture32PhoenixContactSoftwareRobotSolution33PhoenixContactSoftwareRobotSolution34CustomerReference-SMTCLX86+Linux+RTAIProConOSeCLR+Programm