IEC61131软件助力智能制造38

P14e16:10WelcomeP14e16:10IEC61131软件助力智能制造GaryLiang/梁恩泉P14e16:10AboutmePersonalDataGaryLiang/梁恩泉[e-mail]2007–uptonowPhoenixContactSoftwareSoftwareBusinessDevelopmentandTeamManagement.3P14e16:104IEC61131基础概念IEC61131软件解决方案案例分享OverviewP14e16:105IEC61131基础概念IEC61131软件解决方案案例分享OverviewP14e16:106IEC61131•IEC61131focusonPLC-Background-Feature-Development&Outlook-CurrentSituationP14e16:101969PLC的出现——工业3.0的开端1968年美国通用汽车公司对设备供应商下达指令生产线的设备要使用计算机技术作为控制电气技术人员很容易掌握的编程语言......1969年美国著名计算机公司DEC按照通用汽车的要求开发了PDP-14这是世界上第一台PLC标志着计算机和软件以一种全新的方式进入工业界！PLC的诞生是第三次工业革命的标志！P14e16:10PLC从此风靡全球——我们的生活被PLC包围着P14e16:102019/9/30PLC为什么能够风靡世界易用可靠加快产品研发速度为客户带来巨大价值PLC卖的是对客户的服务以及对客户产生的价值，而非产品本身！PLC其实是一种思想理念！P14e16:10BeforeIEC61131wasreleased:Engineerscouldnotunderstandeachother!!!Organisations-baustein?ExecutionFile?工程实施?BackgroundofIEC61131P14e16:10Grafcet(France)DIN40719(Germany-FunctionCharts)NEMAICS-3-304(USA-ProgrammableControllers)MIL-STD-1815Ada(USA)DIN19239(Germany-ProgrammableControllers)IECSC65A(Sec)49,PCLanguagesVDI2880(Germany)•StandardsbeforeIEC61131BackgroundofIEC61131P14e16:10IEC61131wasreleasedin19931.Generaloverview,definitionsIS2.HardwareIS3.ProgramminglanguagesIS4.UserguidelinesIS5.MessagingservicespecificationIS6.FunctionalSafetyIS7.FuzzyLogicIS8.TechnicalReportIS9.Single-dropdigitalCommunicationinterfaceforSDCIISIS=InternationalStandardP14e16:10IEC61131-3Feature(1)InstructionListStructuredTextFunctionBlockDiagramLadderDiagramSequentialFunctionChart•5languagesweredefined.P14e16:10IEC61131-3Feature(2)UnterprogrammIn_01_1In_01_2In_01_3In_01_4Out_01_1ANDIN1IN2IN3IN4OROUT1•User-definedFunction/FunctionBlock•User-definedDatatype-Array-String-StructureP14e16:10IEC61131-3Feature(3)Configuration~1electricalcabinetRes_2~1CPUPROGRAM_1~1TaskPG_3~1TaskFunctionBlock_1Function_1FB_2FU_2FB_4FU_3FB_2FU_3Resource_1~1CPUPROGRAM_1~1TaskFunctionBlock_1PG_2~1TaskFunction_1FB_2FU_2FB_6FU_2FB_2FU_4•SoftwareModelingP14e16:10PLCTiming:MultipleRealtimeTasksTaskrequiresCPUpowerMyFast:Periodictask,intervalof10ms,attachedPROGRAMP1MyMain:Periodictask,intervalof25ms,attachedPROGRAMsP3,P4TaskMyMainP1ProConOSServerTasksP1P1P1P1Time[ms]TaskPriority1020304050SystemPulseTaskMyFastP3P4P3P4P4P14e16:10PLCopenMembersP14e16:10CurrentSituationMORETHANastandardforPLCprogramming.New:OO-Conception!P14e16:1020IEC61131基础概念IEC61131软件解决方案应用案例OverviewP14e16:10PhoenixContactSoftwareGmbH菲尼克斯电气软件有限公司总部：Lemgo,德国成立于1982向全球300百多家客户提供了自动化软件平台RenamingKW-Softwarefrom2015.01.01P14e16:10TechnologyforYourAutomation!IEC61131:SoftPLCruntime+ProgrammingToolSAFETY:SoftPLCruntime+ProgrammingTool(Certified,SIL3)PROFINET:ProfinetIOController/Devicestack(RT/IRT)P14e16:1023AdvantageofIEC61131[FUNCTION_BLOCK]publicclassTriggerCounter{publicvoid__Init(){TriggerLast=false;Status=false;Count=0;}publicvoid__Process(){if(Enable==true){TriggerLast=Trigger;}else{TriggerLast=false;}Status=Enable;}}C/C++LD/FBDDifficulttodevelopComplextomaintainCannotbemodifiedbyEnd-UserEasytodevelop;SimpletomaintainCanbeModifiedbyEnd-UserP14e16:10标准OSIEC61131SoftwareSolutionProConOSP14e16:10ProConOSeCLR:IEC61131-3RuntimeSupportmanyCPUandOSMachinecode,insteadofinterpreterOpenwithmoreinterfacesP14e16:10ProConOSeCLR良好的可移植性P14e16:10SoftPLConChip在片内Flash中运行；资源要求：RAM48kBFlash256kB性能22µsfor1000行IL代码，基于LPC1768（100MHz）片内集成了CANopen协议栈；单芯片支持实时多任务：片内集成了FreeRTOS基于Cortex-M3/M4的嵌入式单芯片解决方案P14e16:10ProConOSembeddedCLR:多核解决方案28MULTIPROGSoft-PLC,Real-timeEthernetIEC61131,HMI,BusConfigurationINtimevirtualmachineeCLRPROFINET/EtherCATP14e16:10机器人控制器开放式解决方案基于PC的实时操作系统INtimeSoftPLC/Robotkernel/EtherCAT/Profinet软件开发包PxCSoftPLCRobotkernelEtherCATPROFINET伺服电机ProfinetIO机器人控制器已完成！P14e16:10系统可扩展性自定义控制器硬件自定义视觉摄像机自定义示教器自定义IO模块自定义驱动系统P14e16:10提供以下类型机器人运动学316自由度机器人SCARA机器人Delta机器人直接坐标机器人P14e16:10MotionControlPlatformArchitecture32Channel1DECChannel2DECChannelnAxiscontrolSAISAISAI+/-10V31114562298SimulationSERCOSStepmotorsProfidriveCANCNC/MCPLC...TGCDynPrepDEC2AX1AX2AXnCH2CH1|||--||--|/|----()-||ABC|IEC61131LogicPositioningGearingCammingDrumSequencerRobotTransformLogicSingleAxisDualAxisMultipleAxisGroups(Channels)MAxIpoTRAFOMAxIpoMAxIpoTRAFOTRAFOTGCTGCDynPrepDynPrepP14e16:10PhoenixContactSoftwareRobotSolution33P14e16:10PhoenixContactSoftwareRobotSolution34P14e16:10CustomerReference-SMTCLX86+Linux+RTAIProConOSeCLR+ProgrammingtoolEtherCATI/OP14e16:10CustomerReference-HoneywellCooperationin2013andreleaseinQ12014.RTU2020withRTUBuilder36P14e16:10CustomerReference-DeltaReleasedinQ42014Motion/Robot/CNC/PLC…37IEC61131是智能设备赖以实现的平台基础！P14e16:10PhoenixContactSoftwareChinaTeam:ThankYou!P14e16:10ThankYou!