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L-1072, System Manual PLCmodule-C32

1. Figure 17 Selecting the appropriate firmware version for the PLCmodule C32 After completing the configuration all preconditions for a Linux Autostart must be reestablished according to section 7 1 Alternatively the appropriate firmware version may be selected directly in the start script home etc autostart Therefore delete part Select PLC Type and insert the appropriate firmware instead e g PLC FIRMWARE SPLC DIR plcmodule c32 z5 7 7 Predefined user accounts All user accounts listed in Table 16 are predefined upon delivery of the PLCmodule C32 Those allow for a login to the command shell serial RS232 connection or Telnet and at the FTP server of the PLCmodule C32 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 43 System Manual PLCmodule C32 Table 16 Predefined user accounts of the PLCmodule C32 User name Password Remark PlcAdmin Plc123 Predefined user account for the administration of the PLCmodule C32 configuration user administration software updates etc root Sys123 Main user account root of the PLCmodule C32 7 8 Login to the PLCmodule C32 7 8 1 Login to the command shell In some cases the administration of the PLCmodule C32 requires the entry of Linux commands in the command shell Therefore the user must be directly logged in at the module There are two different possibilities e Logging in is possible with the help of a Terminal program e g HyperTerminal or Tera
2. Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restricted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does 1 You may copy and distribute verbatim copies of the Program s source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this License along with the Program You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions a You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change b You must cause any work that you distribute or publish that in whole or in part contains or is derived from the Program or an
3. DIO DIT IB0 0 as Byte with DIO DI7 961X0 0 Y IX0 7 as single Bit for each input DI8 DI15 IB1 0 as Byte with DI8 DI15 961X1 0 9oIX1 7 as single Bit for each input DI16 DI23 IB2 0 as Byte with DI16 DI23 961X2 0 YIX2 7 as single Bit for each input AI1 IW10 0 15Bit sign 0 32767 Ap i po 0 132760 CO ID40 0 31Bit sign 2 2 1 counter input DI24 IX3 0 direction D121 961X2 5 see section 6 6 1 C1 1ID44 0 31Bit sign 2 2 4 counter input DI25 IX3 1 direction DI22 961X2 6 see section 6 6 1 C2 ID48 0 31Bit sign 2 2 1 counter input DI26 IX3 2 direction DI23 96IX2 7 see section 6 6 1 On board Temperature Sensor ID72 0 31Bit sign as 1 10000 C see DOO DO7 QB0 0 as Byte with DOO DO7 QX0 0 QX0 7 as single Bit for each output O8 D DO15 QB1 0 as Byte with DO8 DO15 QX1 0 QX1 7 as single Bit for each output RELO REL3 QB2 0 as Byte with RELO REL3 corresponds to DO16 D019 QX2 0 QX2 3 as single Bit for each Relay QX2 4 default value for inactive generator Impulse output DO20 see section 6 6 2 P1 QX2 5 default value for inactive generator Impulse output DO21 see section 6 6 2 AO1 QW8 0 15Bit sign 0 32767 AOT QMAOO 15Bit sign 0 32767 o This marked components are only available in the process image if the Option Enable extended
4. Function ShPimgCintSetNewDataSigHandler BOOL ShPImgClntSetNewDataSigHandler tShPImgAppNewDataSigHandler pfnShPImgAppNewDataSigHandler p Function ShPimgCintSetNewDataSigHandler registers a user specific callback handler This callback handler is called after a synchronization of both images Registered callback handlers are cleared by the parameter NULL The callback handler is called within the context of a Linux signal handler Accordingly all common restrictions for the Linux signal handler also apply to the callback handler see section 8 1 If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE Function ShPlmgCIntGetHeader tShPImgHeader ShPImgClntGetHeader void Function ShPlmgCIntGetHeader provides a pointer to the internally used structure type tShPlmgHeader to manage the shared process image The client application does usually not need this structure because all data that it includes can be read and written through functions of the API provided by the shared process image client O SYS TEC electronic GmbH 2009 L 1072e 1 Page 60 System Manual PLCmodule C32 Function ShPimgCintGetDataSect BYTE ShPImgClntGetDataSect void Function ShPimgCintGetDataSect provides a pointer to the beginning of the shared process image This pointer represents the basic address for all accesses to the shared process image including the definition of sect
5. 1 24VDC PWM Output Uo at lo 500mA lt 1V Low Side Switch lonvoft 20pA lou max 0 6A ton at lo 500mA 2 5us tor at lo 500mA 3 5us Digital Outputs RELO 3 Relay output N O Switching Voltage 250AC Switching Current 5A Durability mech 100000x 5A 250VAC ohmic load Durability elec 200000x 2A 250VAC cosq0 4 ton 5ms tor 2 5ms Isolation 1000Vrms Digital Inputs DIO 23 24VDC Inputs Uin 15V 30V plus switching SYS TEC electronic GmbH 2009 L 1072e_1 Page 72 System Manual PLCmodule C32 Un 3V 5V lin 3mA 8 5mA Counter Inputs CO 2 24VDC Inputs Un 15V 30V plus switching Ui 3V 5V lin 3mA 8 5mA Frequency 70kHz l O configuration analog Typical Maximum Analog Inputs AIO 3 0 10V Measurement range U 0 10V Destructive voltage U max gt 30V Input resistance R 59kQ 0 1 Reference voltage Unger 4 528V t 0 696 Physical Resolution 10Bit 0 20mA optional Measurement range U 0 20mA mounting Destructive voltage U max gt 35mA Input resistance R 2000 0 1 Reference voltage Urer 4 528V 0 696 Physical Resolution 10Bit Analog Outputs AO 0 1 0 10V Voltage Range Uo 0 10V Output current lo 30mA Output capacity 10nF Reference voltage Urer 4 528V 0 6 Internal Resolution 10 Bit Communication Interfaces Minimum Maximum C
6. L 1072e 1 Page 80 System Manual PLCmodule C32 Document System Manual PLCmodule C32 Document number L 1072e 1 1 Edition September 2009 How would you improve this manual Did you detect any mistakes in this manual Page Submitted by Customer number Name Company Address Please return your SYS TEC electronic GmbH suggestions to August Bebel Str 29 D 07973 Greiz GERMANY Fax 49 0 36 61 6279 99 Email info systec electronic com O SYS TEC electronic GmbH 2009 L 1072e 1 Page 81
7. olilo set ip 192 168 10 248 IP address 192 168 10 248 olilo set netnask 255 255 255 0 etnask 255 255 255 0 olilo config save urning 5312 bytes to flash Oxfe020000 fron 20000970 tarting sector 1 128K sector s uill be erased starting fron sector 1 address Oxfe020000 5312 bytes uritten olilo gt Figure 14 Ethernet configuration of the PLCmodule C32 SYS TEC electronic GmbH 2009 L 1072e 1 Page 35 System Manual PLCmodule C32 After the configuration is finished and according to section 7 1 all conditions for a Linux Autostart must be re established Upon Reset the module starts using the active configurations Advice After the configuration is finished the serial connection between PC and PLCmodule C32 is no longer necessary 7 4 PLC configuration of the PLCmodule C32 7 4 1 PLC configuration via WEB Frontend After finishing the Ethernet configuration see section 7 3 all further adjustments can take place via the integrated WEB Frontend of the PLCmodule C32 For the application of the PLCmodule C32 using the Development Kit basic configurations may also be set via local control elements see section 7 4 2 To configure the PLCmodule C32 via WEB Frontend it needs a WEB Browser on the PC e g Microsoft Internet Explorer Mozilla Firefox etc To call the configuration page prefix htip must be entered into the address bar of the WEB Browser prior to entering the IP address of the PLCmodule
8. 1 Afterwards all sections defined in WriteSectorTable are taken over from the shared process image into the local process image 2 By following this sequence a Client application for example is able to overwrite the value of a physical input This may be used for simulation purposes as well as for setting input data to constant values Forcen Similarly prior to writing the process image onto the physical outputs 6 sections defined in WriteSectorTable are taken over from the shared process image into the local process image 4 Thus a Client application is able to overwrite output information generated by the PLC program The PLC firmware provides the setup of the process image The Client application receives information about the setup of the process image via function ShPimgCintSetup This function enters start offsets and values of the input output and marker sections into the structure of type tShPImgLayoutDscrpt Function ShPlmgCIntGetDataSect provides the start address of the shared process image Upon defining a variable within the PLC program its absolute position within the process image is determined through sections l Input Q Output M Marker and offset e g MB128 0 In each section the offset starts at zero so that for example creating a new variable in the marker section would be independent of values in the input and output section Creating a corresponding pair of variables in the PLC program as well as
9. 7 Configuration and Administration of the PLCmodule C32 32 7 1 System requirements and necessary software tools ssssseeeee 32 7 2 Activation Deactivation of Linux Autostart esssssseeee emen 33 7 3 Ethernet configuration of the PLCmodule C32 ssseee eee emen 34 7 4 PLC configuration of the PLCmodule C32 sssssse eee eene 36 7 4 4 PLC configuration via WEB Frontend eseeeeeeeem 36 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 3 System Manual PLCmodule C32 7 4 2 PLC configuration via control elements of the PLCmodule C32 38 7 4 3 Setup of the configuration file plemodule c32 cfg ssseeeeees 39 7 5 Boot configuration of the PLCmodule C32 sssssssse eee emen 41 7 6 Selecting the appropriate firmware version ssssssssseeeee 41 TT Predeftined user accounts dne erar ER ERES 43 7 8 Login to the PLCmodule C32 ssssssssssesee enne nennen enne enne 44 7 8 1 Login to the command shell ssssseee eene 44 8 2 Login tothe FTP setver ute Aeon det etu duced aed ie ee e ania 45 7 9 Adding and deleting user accounts ssssssssee eene enne 47 7 10 How to change the password for user accounts ssssss eene 47 LIT Setting the system tme ied een EC A aree Te dea eee ntn 48 7 12
10. BoardID Firmware Version Remark 1006004 plcmodule c32 z4 PLCmodule C32 Z4 CANopen communication with the programming PC via CANopen protocol Interface CANO 1006005 plcmodule c32 z5 PLCmodule C32 Z5 Ethernet communication with the programming PC via UDP protocol Interface ETHO The configuration of BoardIDs takes place via the serial interface ASCO resp COMO Therefore the CoLilo command prompt must be activated as described in section 7 1 Setting BoardIDs is carried out via the CoLilo command assign boardid by entering the corresponding number listed in Table 15 e g assign boardid 1006005 The modified setting can be verified by entering boardinfo at the CoLilo command prompt Command config save persistently saves the current selection in the Flash of the PLCmodule C32 Figure 17 visualizes the configuration of the BoardID SYS TEC electronic GmbH 2009 L 1072e_1 Page 42 System Manual PLCmodule C32 LM COM1 19200baud Tera Term YT Mi x File Edit Setup Control Window Help CUcore 5484 boot ress SPACE key to abort autoboot procedure Autoboot aborted olilo gt assign boardid 1006005 oard type ID 1006005 olilo boardinfo PCB 4152 0 1 PLO 1 00 5 on ECUcore 5484 1006005 3090002 111861 urning 5312 bytes to flash Oxfe020000 fron O 20000970 tarting sector 1 126K sector s will erased starting fron sector 1 address Oxfef20000 5312 butes uritten olilo gt
11. Config GANT ndo tiis 31 Configuration CANO nE 38 Gomlinand ote 34 Room 36 Configuration Mode esses 33 Control Elements Eror LED i ciens 26 Run Stop switch micao aniei 25 RUNLED C 25 Counter ImputS cccccccccncncncnenenonenenenenones 15 24 D Gate soiree vie eae nO heath 48 Deletion of PLC Program 27 del ser 2 ec teet 47 DIO DI23 cani tota ette eed 15 Digital Inputs i eiit 15 Digital outputs e aneian 16 DIMENSIONS i ile 8 DIP Switch iiu oil 38 DOO DO 23 iiic eic tha 16 Driver Development Kit 11 E Embedded Linux eee 9 EMG BW eite toe Ea eeu 5 Environmental Parameters 72 Ertor LED Eee 26 ETEO 45 a reete 19 24 PLC program example 24 F Fil System ui ini 49 Firmware version Selection e donec te eoe 42 FTP Login to the PLCmodule C32 45 ETP Glient z xum ti nal 32 EB cid tego efe rie 9 G GNU o te Eee etta 9 GPL EE aed 74 H Hex Encoding Switch ssss 38 NWElOCk iae eiit es 48 I O BOA tot aaa 10 L 1072e_1 Page 79 System Manual PLCmodule C32 K KOP aida tese reiten gu dede s Dried 9 L limiting values sen 72 EIL de 9 M Manuals OVetVIeW inrer redis 6 Master Mode sss 39 Master Mode CANO sss 39
12. N Node Address 39 Node Address CANO sssssssses 39 O OPENPES Ad 9 P AO A m E ts 17 eri 47 PIN ASSIM tdci 12 PLC program example CANA oi et iia 31 O ta tee 24 PLCcore 5484 sssssssseseeeeee 9 plcmodule c32 cfg ssss 37 39 52 PIcPData bin ite 71 Powersupply eenaa eaey aaa 14 VO PU teri E EAEE E A 14 MOa ETE NODE TEM 15 Power Supply cocccccnconoconccnncnnccncnnonononnnnnccnnnnnnns 72 Predefined User Accounts 43 Process Image Layout and Addressing 22 Programming eiriaa 21 P lse outputs aat eee 25 Pulse outputs ri 17 R ReadSectorTable ssssssssuss 56 REEO REE3 netta ERR 16 Relay Outputs taie ti gere A 16 RTO SOHO atico 48 Run Stop SWitCh oooooonococcccconccccocococccnccncnnnnnnnos 25 Run Stop Switch Deletion of PLC Program 27 Run ED iso eb tns 25 S Selecting the firmware version 42 SYS TEC electronic GmbH 2009 Setting the System Time 48 Shared Process Image ACtIVAtiON ooooooonnnccccoccccccnccocnnonanonnnnnnnanananns 56 API DescriptiON oooooooccccnnccinocococccccnncncnnnnnns 59 Example ere retra 65 Overview ee 55 Sigiialilg 2 id 58 Variable Pairs sss 56 ShPImgCintGetDataSect uuuss 61 ShPlmgCintGetHeader
13. ssss 60 ShPImgCintLockSegment 61 ShPImgCintRelease ssssss 60 ShPimgCintSetNewDataSigHandler 60 ShPImgCintSetup sss 60 ShPimgCintSetupReadSectTable 61 ShPImgCintSetupWriteSectTable 62 ShPImgCintUnlockSegment 61 ShPImgCIntWriteSeciMarkNewData 62 shpimgdemo sse 63 shpimgdemo tar gz eene 63 SQ 21095 cet bonne des 62 Software Update PLC Firmware sss 50 Softwareupdate Linux Imagen a ao aaea 52 pe A a ERES 9 System Start oaoa EE R 20 SysWORXX Automation Series 9 T Technical Specifications 72 Telnet Login to the PLCmodule C32 44 Telnet Client 32 Terminal Configuration 34 Terminal Program esee 32 TFETPD32 i tiir eor ed ane eee 52 tShPImgLayoutDscrpt ssessssss 59 tShPImgSectDscrp sss 59 U UdpRemoteCtrl ssssssses 24 USB RS232 Adapter Cable 10 User Accounts Adding and deleting 47 Changing Passwords ssss 47 Predefined sss 43 Ww WEB Frontend een 36 WINSCP eia oam decies rial 45 WriteSectorTable ssssesssssss 56
14. too much they should enter the critical section as less as possible and only as long as necessary Otherwise the PLC cycle time may be extended and runtime variations Jitter may occur O SYS TEC electronic GmbH 2009 L 1072e 1 Page 57 System Manual PLCmodule C32 The client application has available two functions to set the semaphore and to block exclusive access to the shared process image Function ShPImgCIntLockSegment is necessary to enter the critical section and function ShPImgCIntUnlockSegment to leave it The segment between both functions is called protected section because in this segment the client application holds access to the shared process image without competition The consistency of read or written data is only guaranteed within such a protected section Outside the protected section the shared process image may anytime be manipulated by the PLC runtime system The following example shows the exclusive access to the shared process image in the C C application ShPImgClntLockSegment write new data value into Varl pbVarl bAnyData mark new data for WriteSectorTable entry number 0 ShPImgC1ntWriteSectMarkNewData 0 ShPImgClntUnlockSegment For the example above kShPimgSyncOnDemand was defined as SyncType upon generating entry WriteSectorTable Hence taking over variable Var from the shared process image into the local image can only take place if the respective section was beforehand exp
15. 11 ACUUSEM ite dtes taber ee 47 Administration System Requirements 32 AIO 5c ATO otn tette tes 17 Analog inputs ecn ana 17 Analog outputs eean aa 18 AO00 AO Vaina entis 18 ASG ope ton tet cen ritu eei etie sch efe 23 Sep RES 19 23 ASC una tnter eh teat 19 23 O RUM ve 19 24 auUtoStalt ooccococncncccccoccncccocnncncccnnncnnnncnncnnons 20 41 A A OA 9 B Bl dt a 39 Bitrate CANO a 39 Boot conditions sessssssssss 33 Boot configuration 41 C CU Ot eee ee Pe Ree 15 CANO s eddie 24 28 CANO CANT 1i ean 19 GANT 2288 takin EI ADU IT 24 29 Network variables ssssssss 23 PLC program example 31 GANOPON sitios het 9 27 CANopen lO modules sssesssss 9 CANopen Master ssssssseee 9 CE conformity oiiire seriene 5 CRG Flint ae 39 CoLilo command BoardID configuration 42 CoLilo Command Update Linux Image eeessses 53 CoLilo Command Prompt ACtIVatlol eto ett ids 33 Terminal Configuration 34 CoLilo Commands Ethernet Configuration 34 COM it denn idee 23 Communication FB sssssssssss 21 Communication interfaces ASG ii dai 18 23 CAN iS 24 CAN cian ad 19 O SYS TEC electronic GmbH 2009 GOM E 18 23 ud eR 24 Ethernet notions 19
16. ASC1 may be used from a PLC program via function blocks of type S O Xxx see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual no L 1054 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 23 System Manual PLCmodule C32 ASC2 Interface ASC2 also termed as COM2 is disposable and modem compatible It supports data exchange between the PLCmodule C32 and other field devices kept under control of the PLC program Interface ASC2 may be used from a PLC program via function blocks of type S O Xxx see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual no L 1054 6 5 2 CAN interfaces The PLCmodule C32 features 2 CAN interfaces CANO CAN1 Details about the hardware activation are included in section 5 4 2 Both CAN interfaces allow for data exchange with other devices via network variables and they are accessible from a PLC program via function blocks of type CAN Xxx see section 6 9 and User Manual CANopen Extension for IEC 61131 3 Manual no L 1008 Section 6 9 provides detailed information about the usage of the CAN interfaces in connection with CANopen 6 5 3 Ethernet interface The PLCmodule C32 features 1 Ethernet interface ETHO also termed as ETHERNET Details about the hardware activation are included in section 5 4 3 The Ethernet interface serves as service interface to administer the PLCmodule C32 and it enables data exchange with other devices The interface is accessib
17. C32 To enable the execution of the shared process image demo without previous introduction into the Linux based C C programming for the PLCmodule C32 the module comes with a preinstalled translated and ready to run program version and PLC firmware home pic shpimgdemo The following description refers to this program version Alternatively the demo project can be newly generated from the corresponding source files see section 8 3 and can be started afterwards As I O Simulator for practical controlling of the demo program an l O Box is available from SYS TEC Ordering code phyPS 451 see also Chapter 4 1 The following steps are necessary to run the shared process image demo on the PLCmodule C32 1 Activate option Shared PLC process image in the PLC configuration see sections 8 1 7 4 1 and 7 4 3 2 Open the PLC program example RunLight in the OpenPCS IEC 61131 programming system und build the project for a target hardware of the type SYSTEC PLCmodule C32 3 Select the network connection to the PLCmodule C32 und download the program 4 Start the PLC program on the PLCmodule C32 5 Login to the command shell of the PLCmodule C32 as described in section 7 8 1 6 Switch to the directory home plc and call the demo program shpimgdemo cd home plc shpimgdemo The digital outputs of the PLCmodule C32 are selected as runlight The speed is modifiable via the analog input AIO With the help of digital inputs DIO
18. C32 as set in section 7 1 e g http 192 168 10 248 Figure 15 exemplifies calling the PLCmodule C32 configuration page in the WEB Browser The standard setting factory setting requires a user login to configure the PLCmodule C32 via WEB Frontend This is to prevent unauthorized access Therefore user name and password must be entered see Figure 15 On delivery of the module the following user account is preconfigured see section 7 7 User PlcAdmin Password Plc123 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 36 System Manual PLCmodule C32 Figure 15 User login dialog of the WEB Frontend All configuration adjustments for the PLCmodule C32 are based on dialogs They are adopted into the file home plc plemodule c32 cfg of the PLCmodule C32 by activating the pushbutton Save Configuration also compare section 7 4 3 After activating Reset the PLCmodule C32 starts automatically using the active configuration Figure 16 shows the configuration of the PLCmodule C32 via WEB Frontend SYS TEC electronic GmbH 2009 L 1072e 1 Page 37 System Manual PLCmodule C32 File Edit View Favorites Tools Help ay Qm O d 5e dom eC LBS Address fa http 192 168 10 248 cgi bin cfgsetup cai Ee Links Es B Interface CANO Interface CAN1 Enable State DIP7Hex Switch y Enable State Disabled gt NodelD Hex Ox Joxzo NodelD Hex Ox 0x30 Baudrate 125 kBit s Baudrate 125 kBit s y
19. File system of the PLCmodule C32 sse nennen eene 49 7 13 Software update of the PLCmodule C32 sss eene 50 7 13 1 Updating the PLC firmware ssessseeene eene 50 7 13 2 How to update the Linux Image ssseeee eene 52 8 Data exchange via shared process image eese 55 8 1 Overview of the shared process image ssssssee eene 55 8 2 API of the shared process image client ssssseee eene 59 8 3 Creating a user specific client application sssssseseeem 62 8 4 Example for using the shared process image ssseeee eene 65 Appendix A Firmware function scope of PLCmodule C32 69 Appendix B Technical Specification eeeeeeseeeeeeeeeeeeeeeee ener nnn 72 Appendix C GNU GENERAL PUBLIC LICENSE ceeeeeeeeeeeee eene nennen 74 o Lore vesc deua aaa tee viv di TTT 79 O SYS TEC electronic GmbH 2009 L 1072e 1 Page4 System Manual PLCmodule C32 1 Introduction Thank you that you have decided for the SYS TEC PLCmodule C32 This product provides to you an innovative Linux based and high capacity compact controller to process standard industrial signals Due to its numerous in and outputs and communication interfaces it is well suitable as central control in distributed automation appliances
20. MB MB MB MB MB MB MB SINT USING 0 0 1 0 2 0 i 4 0 A 6 0 7 0 244 0 245 0 246 0 247 0 248 0 249 0 250 0 251 0 d Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte244 Byte245 Byte246 Byte247 Byte248 Byte249 Byte250 Byte251 9 MW 9e MW 90 MW MW NOIRE 244 0 246 0 248 0 250 0 t Word122 Word123 Word124 Word125 DWORD MD MD DINT UDINT 244 0 248 0 Dword61 Dword62 CAN1 Output Variables CAN1 CAN1 CAN1 CANI CANI CANI CANI CANI CANI CANt CANT CANT CANI CANI CAN CAN1 OUTO OUT OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT244 OUT245 OUT246 OUT247 OUT248 OUT2490UT250 OUT251 BYTE MB MB MB MB MB MB MB MB MB MB MB MB MB MB MB MB snr usmr 256 0 257 0 258 0 259 0 260 0 261 0 262 0 263 0 500 0 501 0 502 0 503 0 504 0 505 0 506 0 507 0 A Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte244 Byte245 Byte246 Byte247 Byte248 Byte249 Byte250 Byte251 WORD 9 MW MW MW MW MW MW MW MW INT UINT 256 0 258 0 260 0 262 0 500 0 502 0 504 0 506 0 i Word0 Word1 Word2 Word3 Word122 Word123 Word124 Word125 DWORD MD MD MD DINT UDINT 260 0 500 0 504 0 Dw ord1 Dword61 Dword62 Figure 12 Positioning of network variables for CAN1 within the marker section Table 9 shows the representation of network variables through appropriate inputs i
21. Master Mode Vv Master Mode E Interface ETHO Port Number to communicate with eses OpenPCS PC Process Image User Authorization IV Enable extended I O s IV This configuration requires a Login T Share PLC process image Save Configuration E e a igni a Di Figure 16 PLC configuration via WEB Frontend If DIP Hex Switch is chosen as Enable State of Interface CANO the configuration of this interface takes place via local control elements of the PLCmodule C32 see section 7 4 2 The standard setting factory setting of the PLCmodule C32 requires a user login to access the WEB Frontend Therefore only the user name indicated in configuration file home plc plemodule c32 cfg is valid entry Userz in section Login see section 7 4 3 Procedures to modify the user login password are described in section 7 10 To allow module configuration to another user an appropriate user account is to be opened as described in section 7 9 Afterwards the new user name must be entered into the configuration file home ple plemodule c32 cfg Limiting the user login to one user account is cancelled by deleting the entry Userz in section Login see 7 4 3 Thus any user account may be used to configure the module By deactivating control box This configuration requires a Login in the field User Authorization of the configuration page see Figure 16 free access to the module configuration is made available without previous user
22. Of x File Edit Setup Control Window Help CUcore 5484 boot ress SPACE key to abort autoboot procedure Autoboot aborted olilo gt set server 192 168 10 52 TP Server 192 168 10 52 C 0 700 50 02 39 34 38 7192 168 10 249 oard netnask 255 255 255 oard gateway 0 0 0 0 TP server 192 168 10 52 Inage inage bin gz Initializing TCP IP stack eceiving file inage bin gz fron 192 168 10 52 Inage size 3362816 04335000 butes olilo flash Oxfel 400009 Figure 30 Downloading the Linux Image to the PLCmodule C32 After completing the configuration conditions for a Linux Autostart must be reestablished according to instructions in section 7 1 After Reset is activated e g pushbutton on the top of the module the PLCmodule C32 starts automatically using the current Linux Image Advice After the configuration is finished the serial connection between the computer and the PLCmodule C32 is no longer necessary O SYS TEC electronic GmbH 2009 L 1072e 1 Page 54 System Manual PLCmodule C32 8 Data exchange via shared process image 8 1 Overview of the shared process image The PLCmodule C32 is based on the operating system Embedded Linux Thus it is possible to execute other user specific programs simultaneously to running the PLC firmware The PLC program and a user specific C C application can exchange data by using the same process image shared process image Implementing user specific C C a
23. Please take some time to read through this manual carefully It contains important information about the commissioning configuration and programming of PLCmodule C32 It will assist you in getting familiar with the functional range and usage of the PLCmodule C32 This document is complemented by other manuals e g for the OpenPCS IEC 61131 programming system and the CANopen extension for IEC 61131 3 Table 1 in section 2 lists relevant manuals for PLCmodule C32 Please also refer to those complementary documents For more information optional products updates et cetera we recommend you to visit our website http www systec electronic com The content of this website is updated periodically and provides to you downloads of latest software releases and manual versions Declaration of Electro Magnetic Conformity for PLCmodule C32 EMC law The PLCmodule C32 is a ready to use and tested device and must only be used in this condition During its operation no cables longer than 3m length are allowed to be connected to the module without further protective circuit and inspection In particular only screened CAN and Ethernet cables must be used The CE conformity is only valid for the application area described in this document and only under compliance with the following commissioning instructions O SYS TEC electronic GmbH 2009 L 1072e 1 Page 5 System Manual PLCmodule C32 2 Overview Where to find what Table 1 lists all manuals rele
24. ShPimgCintSetup This function enters start offsets and values of input output and marker sections into the structure provided upon function calling Structure tShPImgSectiDscrpt typedef struct definition of data exchange section unsigned int m uiPImgDataSectOffs unsigned int m uiPImgDataSectSize tshPImgSyncType m_SyncType only used for WriteSectTab BOOL m_fNewData tShPImgSectDscrpt Structure tShPImgSeciDscrpt describes the setup of a ReadSectorTable or WriteSectorTable entry that must be defined by the client Both tables support the synchronization between the local image of the PLC runtime system and the shared process image see section 8 1 Member element m uiPImgDataSectOffs defines the absolute start offset of the section within the shared process images The respective start offsets of the input output and marker sections can be determined through structure tShPImgLayoutDscrpt Member element m uiPImgDataSectSize determines the size of the section which may include one or more variables Member element m SyncType only applies to entries of the WriteSectorTable It determines whether the section is generally taken over from the shared process image into the local image whenever there are two successive PLC cycles kShPImgSyncAlways or whether it is taken over on demand kShPlmgSyncOnDemand If classified as SyncOnDemand the data must be marked as modified by calling function ShPImgCintWriteSectMarkNewData
25. The first 4 TPDO and RPDO are preconfigured and activated according to the Predefined Connection Set The first 32 Byte of input and output variables are mapped to those PDOs Table 10 in detail lists all preconfigured PDOs for interface CAN1 SYS TEC electronic GmbH 2009 L 1072e 1 Page 30 System Manual PLCmodule C32 Table 10 Preconfigured PDOs for interface CAN1 PDO CAN ID Data 1 RPDO 0x200 NodelD MBO O MB7 0 2 RPDO 0x300 NodelD MB8 0 MB15 0 3 RPDO 0x400 NodelD MB16 0 MB23 0 4 RPDO 0x500 NodelD MB24 0 MB31 0 1 TPDO 0x180 NodelD MB256 0 MB263 0 2 TPDO 0x280 NodelD MB264 0 MB271 0 3 TPDO 0x380 NodelD MB272 0 MB279 0 4 TPDO 0x480 NodelD MB280 0 MB287 0 Due to limitation to 16 TPDO and 16 RPDO only 256 Bytes 2 16PDO 8Byte PDO of total 504 Bytes for network variables in the marker section 2 252Bytes can be transferred via PDO Irrespective of that it is possible to access all variables via SDO The configuration mapping CAN Identifier etc of interface CAN1 typically takes place via an external Configuration Manager that parameterizes the object dictionary on the basis of a DCF file created by the CANopen configurator By using default object inputs 1010H und 1011H the PLCmodule C32 supports the persistent storage and reload of a backed configuration Alternatively the configuration mapping CAN Iden
26. and DI1 the running direction can be changed After starting the demo program shpimgdemo on the PLCmodule C32 actual status information about the runlight is indicated cyclically in the terminal see Figure 34 EX Telnet 192 168 10 248 6 PLCmodule C32_192 168 16 248 login PlcAdmin Password sh 2 05 cd home plc sh 2 5 plc shpimgdemo Shared Process Image demo application for SYSTEC PLCcore 5484 Version 1 00 Cc 2086 2889 SYS TEC electronic GmbH wwu suystec electronic com Setup shared process image client Shared process image layout MarkerSize 4088 pShPImgHeader 6x461208008 pabShPImgDataSect 6x4 126138 Register signal handler Setup read and write sector table Pointer to process image vaiables pbPImgVar_61131_bButtonGroup Bx46120138 pbPI mgVar_61131_bLEDGroup Bx46120938 pbPI mg Var_61131_bLEDGroup1 8x480120939 pbhPImgVar_61131_usiSlidbarLen 0x48121338 pbPI mgVar_61131_bStatus Bx4812133A pbhPI mgVar_61131_bDirCtrl 6x4 12133B psiPI mgVar_61131_iSpeedCtrl 6x4812133C Run program cycle exchange process image SET START PARAMETER Dir Left Speed 8 Slidebar 8 gt A a Figure 34 Terminal outputs of the demo program shpimgdemo after start 7 Byactivating of digital input DI3 the control of the runlight direction and speed is handed over to the demo program shpimgdemo Afterwards the running direction may be set by the C O SYS TEC electronic GmbH 2009 L 1072e 1 Pa
27. can only be generated and modified by the producer it is not identical with the PLC user program which is created by the PLC user The PLC user program is directly transferred from the OpenPCS programming environment onto the module No additional software is needed Updating the PLC firmware requires login to the command shell of the PLCmodule C32 as described in section 7 8 1 and login to the FTP server as described in section 7 8 2 Updating the PLC firmware takes place via a self extracting firmware archive that is transferred onto the PLCmodule C32 via FTP After starting the FTP server on the PLCmodule C32 command ftpd D see section 7 8 2 the respective firmware archive can be transferred into directory tmp of the PLCmodule C32 see Figure 27 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 50 System Manual PLCmodule C32 3 PLCmodule C32 PlcAdmin 192 168 10 248 WinSCP lol xl Local Mark Files Commands Session Options Remote Help e Us m3emam vs AC 19 ge C HardDisk ie gt if Gi a 2 te tmp iec gt ifif is C PLCmodule C32 tmp size Type changed Attr Name Ext size changed Rights owner Parent directory 7 28 2009 2 08 07 AM c we Ef gt a a E ua E 3 o a c F i N E N e e D mS i a o o 2 OB of 384 KiB in O of 1 OB of 384 KiB in 0 of 1 P F2Rename j F4Edit 23 FS Copy F6 Move j F7 Create Directory gt lt F8 Delete f F9 Pr
28. enter new password Password changed sh 2 85 lt n Figure 23 Adding a new user account Advice If the new user account shall be used to access WEB Frontend the user name must be entered into the configuration file plemodule c32 cfg for details about logging in to WEB Frontend please compare section 7 4 1 and 7 4 3 To delete an existing user account from the PLCmodule C32 Linux command deluser plus the respective user name must be used deluser username 7 10 How to change the password for user accounts Changing the password for user accounts requires login to the PLCmodule C32 as described in section 7 8 1 To change the password for an existing user account on the PLCmodule C32 Linux command passwd plus the respective user name must be entered passwd username O SYS TEC electronic GmbH 2009 L 1072e 1 Page 47 System Manual PLCmodule C32 Figure 24 exemplifies the password change for user PlcAdmin c Telnet 192 168 10 248 f PLCmodule C32_192 168 10 248 login PlcAdmin Password 3 P ES ERE passwd PlcAdmin Changing password for PlcAdmin Enter the new password minimum of 5 maximum of 8 characters Please use a combination of upper and lower case letters and numbers Enter new password Re enter new password Password changed sh 2 85 lt n Figure 24 Changing the password for an user account 7 11 Setting the system time Setting the system time requires login to the PLCmodul
29. implies that communication parameters used CAN Identifier etc and the allocation of network variables to each Byte of a CAN telegram mapping can be set and modified by the user Thus only the amount of objects amount of network variables and PDOs is strongly specified in the static object dictionary Consequently application and characteristics of objects can be modified during runtime For this reason at interface CAN1 the PLCmodule C32 acts as a CANopen I O device All network variables of the PLC program are available through the marker section of the process image Therefore 252 Bytes are usable as input variables and also 252 Bytes as output variables To enable any data exchange with other CANopen I O devices the section of static network variables is mapped to different data types in the object dictionary BYTE SINT WORD INT DWORD DINT Variables of the different data types are located within the same memory area which means that all variables represent the same physical storage location Hence a WORD variable interferes with 2 BYTE variables a DWORD variable with 2 WORD or 4 BYTE variables Figure 12 the positioning of network variables for CAN1 within the marker section CAN1 Input Variables CAN1 CAN CAN1 CANT CANI CAN CANI CAN CAN CANT CAN CAN CANT CANI CANI CANI INO IN1 IN2 IN3 INA INS ING IN7 IN244 IN245 IN246 IN247 IN248 1N249 1N250 IN251 BYTE MB MB MB MB MB MB MB MB MB
30. in accord with Subsection b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compilation and installation of the executable However as a special exception the source code distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place counts as distribution of the source code even though third parties are not compelled to copy the source along with the object code 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 5 You are not required to accept this L
31. in the C C application allows for data exchange between the PLC program and the external application Therefore both sides must refer to the same address Structure tShP mgLayoutDscrpt reflects the physical setup of the process image in the PLC firmware including input output and marker sections This is to use an addressing procedure for defining appropriate variables in the C C application that is comparable to the PLC program Hence also in the C C program a variable is defined in the shared process image by indicating the respective section and its offset The following example illustrates the creation of a corresponding variable pair in the PLC program and C C application O SYS TEC electronic GmbH 2009 L 1072e 1 Page 56 System Manual PLCmodule C32 PLC Program C C Application VAR A BYTE pbVarl Varl AT MB128 0 BYTE END VAR x pbVarl ShPImgClntGetDataSect n ShPImgLayoutDscrpt m uiPImgMarkerOffs 128 Offset for MB128 0 As described above ReadSectorTable and WriteSectorTable manage the copy process to exchange variable contents between the PLC and the C C program Following the example illustrated the Client C C application must enter an appropriate value into the WriteSectorTable to transfer the value of a variable from the C C application to the PLC program WriteSectorTable because the Client writes the variable to the Server specify offset and size of Varl and define sy
32. login 7 4 2 PLC configuration via control elements of the PLCmodule C32 The configuration via control elements of the PLCmodule C32 is preset upon delivery of the PLCmodule C32 This allows for an easy commissioning of the module by using CAN interface CANO Due to a limited number of switch elements the initial setting of CANO is restricted Using interface CAN1 requires a configuration via WEB Frontend as described in section 7 4 1 This allows for other adjustments as well O SYS TEC electronic GmbH 2009 L 1072e 1 Page 38 System Manual PLCmodule C32 Node address CANO The node address for interface CANO is set via Hex Encoding switches of the PLCmodule C32 left towards to DIP Switch High part of the node address right towards to Run Stop switch Low part of the node address Example left 2 right 0 gt resulting node address 20 Hex Bitrate CANO The bitrate for interface CANO is adjusted via bit positions 1 3 of DIP Switch Table 13 lists the coding of bitrates supported Table 13 Setting the bitrate for CANO via DIP Switch Bitrate Bits DIP DiP2 DIP3 AM Bud o ON OFF OFF OFF OFF OFF OFF Master mode CANO The Master mode is activated via Bit position 4 of DIP Switch DIP4 OFF PLC is NMT Slave DIP4 ON PLC is NMT Master 7 4 3 Setup of the configuration file plcmodule c32 cfg The configuration file home ple plemodule c32 cfg allows for comprehensive configuration of t
33. resp COMO PORT 0 primarily serves as service interface to administer the PLCmodule C32 Hence this interface should only be used for sign output The module always tries to interpret and execute sign inputs as Linux commands see section 6 5 1 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 71 System Manual PLCmodule C32 Appendix B Technical Specification Environmental Parameters Typical Maximum Power Supply Veru 24VDC 15 20 Vio 24VDC 15 20 power fail level 20V power fail delay time 4ms Current Consumption lopy 155mA inactive lOs lio 30mA Temperature Range Storage temperature 20 70 C Operating temperature 0 50 C Protection class Housing IP20 Weight without any cable and packing 325g Dimensions Width 160mm Height 75mm Depth 90mm Connector type Spring type connector RTC Typical Maximum RTC Ipower Down At Vegart 3V 275nA 700nA Batt Low Detection 150nA 175nA capacity 220mAh Clock Voltage Range 0 9 1 0V l O configuration digital Typical Maximum Digital Outputs DOO 15 24VDC Output High Uon at loy 500 mA Vio 0 16V lt Uon lt Vio Side Switch Uo at lo 0 mA 0 5V Current limitation lou max 625mA Max current tbd2x5A loL otf 10pA tor at Loy 500 mA 115us 190us ton at lou 500 mA 75yus 125us Digital Outputs PO
34. which was saved last 6 9 Using CANopen for CAN interfaces The PLCmodule C32 features 2 CAN interfaces CANO CAN1 both are usable as CANopen Manager conform to CiA Draft Standard 302 The configuration of both interfaces active inactive node number Bitrate Master on off is described in section 7 4 Both CAN interfaces allow for data exchange with other devices via network variables and they are usable from a PLC program via function blocks of type CAN Xxx More details are included in User Manual CANopen Extension for IEC 61131 3 Manual no L 1008 The CANopen services PDO Process Data Objects and SDO Service Data Objects are two separate mechanisms for data exchange between single field bus devices Process data sent from a node PDO are available as broadcast to interested receivers PDOs are limited to 1 CAN telegram and therewith to 8 Byte user data maximum because PDOs are executed as non receipt broadcast messages On the contrary SDO transfers are based on logical point to point connections Peer to Peer between two nodes and allow the receipted exchange of data packages that may be larger than 8 Bytes Those data packages are transferred internally via an appropriate amount of CAN telegrams Both services are applicable for interface CANO as well as for CAN1 of the PLCmodule C32 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 27 System Manual PLCmodule C32 SDO communication basically takes place via function
35. 1 1A VIO X301 1B X301 P1 X301 2A VIO X301 2B Counter inputs CO C2 CO X301 3A 8G X301 3B Ground CO X301 C1 X301 4A 9G X301 4B Ground C1 C2 X301 5A 10G X301 5B Ground C2 Analog inputs AIO 3 AIO X600 1A AGND X600 1B analog Ground X600 Al X600 2A AGND X600 2B analog Ground Al2 X600 3A AGND X600 3B analog Ground Al3 X600 4A AGND X600 4B analog Ground Analog outputs AOO 1 AO0 X600 5A AGND X600 5B analog Ground X600 AO1 X600 6A AGND X600 6B analog Ground Relay contacts RELO 3 RELO 1 X500 1 Closed contact RELO 2 X500 2 X500 REL1 1 X500 3 Closed contact REL1 2 X500 4 REL2 1 X500 5 Closed contact REL2 2 X500 6 REL3 1 X500 7 Closed contact REL3 2 X500 8 REL3 3 Closed X500 9 Open contact contact 5 2 Power supply 24VDC The PLCmodule C32 features two separate power supply inputs each 24VDC 20 for CPU unit VCPU and periphery VIO Within the PLCmodule C32 both components are galvanically isolated from one another Connector VCPU supplies the CPU unit the analog in and outputs and activates the Relays This input has reverse polarity protection O SYS TEC electronic GmbH 2009 L 1072e 1 Page 14 System Manual PLCmodule C32 Connector VIO is in charge of supplying Transistor and PWM outputs This input has reverse polarity protection up to a maximum of lyiomax 5 3 In and outputs for industrial standard signals 5 3 1 Digital inputs DIO DI23 24VDC The PLCmodule C32 features 24 digital inpu
36. 12 0 bStatus AT MB514 0 ShPImgReadSectTab 2 m_uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgMarkerOffs 512 ShPImgReadSectTab 2 m uiPImgDataSectSize sizeof unsigned short int sizeof BYTE ShPImgReadSectTab 2 m SyncType kShPImgSyncAlways pbPImgVar 61131 usiSlidbarLen unsigned short int pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 512 pbPImgVar 61131 bStatus BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 514 fRes ShPImgClntSetupReadSectTabl ShPImgReadSectTab 3 if fRes printf n ERROR Initialization of read sector table failed Write Sector Table Marker Section bDirCtrl AT MB513 0 iSpeedCtrl AT MB514 0 ShPImgWriteSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 ShPImgWriteSectTab 0 m uiPImgDataSectSize sizeof BYTE sizeof WORD ShPImgWriteSectTab 0 m SyncType kShPImgSyncOnDemand pbPImgVar 61131 bDirCtrl BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 psiPImgVar 61131 iSpeedCtrl short int pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 516 fRes ShPImgClntSetupWriteSectTable ShPImgWriteSectTab 1 if fRes printf n ERROR Initialization of write sector table failed O SYS TEC electronic GmbH 2009 L 1072e 1 Page 66 System Manual PLCmodule C32 Realization on the PLCmodule
37. AN Bus CAN1 CAN2 Baudrate 5kBaud 1Mbaud Max number of nodes 64 Transceiver PCA82C251 CAN H CAN L short circuit proof towards 24V RS 232 ASCO Baudrate 1200Baud 115200Baud ASC1 Baudrate 1200Baud 115200Baud ASC2 Baudrate 1200Baud 115200Baud Ethernet 10Base T 100Base TX Baudrate 10Mbit s 100Mbit s SYS TEC electronic GmbH 2009 L 1072e_1 Page 73 System Manual PLCmodule C32 Appendix C GNU GENERAL PUBLIC LICENSE The Embedded Linux used on PLCmodule C32 is licensed under GNU General Public License version 2 The entire license text is specified below A German translation is available from http www gnu de documents gpl 2 0 de html Be advised that this translation is not official or legally approved The PLC system used and the PLC and C C programs developed by the user are not subject to the GNU General Public License GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure the software is free for all its users This General Public License applies to most of the Free Soft
38. C in the terminal window O SYS TEC electronic GmbH 2009 L 1072e 1 Page 68 System Manual PLCmodule C32 Appendix A Firmware function scope of PLCmodule C32 Table 20 lists all firmware functions and function blocks available on the PLCcore 5484 Sign explanation FB Function block FUN Function Online Help OpenPCS online help L 1054 Manual SYS TEC specific extensions for OpenPCS IEC 61131 3 Manual no L 1054 PARAM 0 1 2 values 0 1 and 2 are valid for the given parameter Table 20 Firmware functions and function blocks of PLCmodule C32 Name Type Reference Remark PLC standard Functions and Function Blocks SR FB Online Help RS FB Online Help R TRIG FB Online Help F TRIG FB Online Help CTU FB Online Help CTD FB Online Help CTUD FB Online Help TP FB Online Help TON FB Online Help TOF FB Online Help Functions and Function Blocks for string manipulation LEN FUN L 1054 LEFT FUN L 1054 RIGHT FUN L 1054 MID FUN L 1054 CONCAT FUN L 1054 INSERT FUN L 1054 DELETE FUN L 1054 REPLACE FUN L 1054 FIND FUN L 1054 GETSTRINFO FB L 1054 CHR FUN L 1054 ASC FUN L 1054 STR FUN L 1054 VAL FUN L 1054 Functions and Function Blocks for OpenPCS specific task controlling ETRC FB L 1054 PTRC FB L 1054 GETVARDATA FB Online Help GETVARFLATADDRESS FB Online Help GETTASKINFO FB Onl
39. CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 12 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE BE LIABLE TO YOU FOR DAMAGES INCLUDING ANY GENERAL SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS O SYS TEC electronic GmbH 2009 L 1072e 1 Page 77 System Manual PLCmodule C32 How to Apply These Terms to Your New Programs If you develop a new program and you want it to be of the greatest possible use to the public the best way to achieve this is to make it free so
40. GmbH 2009 L 1072e 1 Page 51 System Manual PLCmodule C32 PLCmodule C32_192 168 16M 248 login PlcAdmin Password sh 2 85 H ftpd D sh 2 85 l1 cd tmp sh 2 85 tmpltt chmod x install plcmodule c32 0408 8180 sh sh 2 65 tmp install plcmodule c32 80408 8100 sh PLCmodule C32 Runtime System Installer Checking PLCmodule C32 hardware for update requirements Extract new 1 0 driver plc pmc32dru ko to tmp dir plc pme32dru ko Try to load new 1 0 driver PLCmodule C32 hardware check ok Running installation please wait fetc fetc re usr etc autostart http http html http html1 PLCmodule C32 gif http html systec_logo jpg http html index html http htm1 PmC32Conf ig html http hoa conf http cgi bin http cgi bin cfgsetup cfg http cgi bin cfgsetup cgi http mime types finstall sh plc plc plcmodule c32 cfg plc plemodule c32 24 plc plemodule c32 25 plc shpimgdemo plc iodrudemo plc stopplc plc pmc32drv ko ple pmce32drvu so plce runple plc version plc candru ko Installation has been finished Please restart system to activate the new firmware sh 2 B85 tmpH Figure 28 Installing PLC firmware on the PLCmodule C32 Figure 28 exemplifies the installation of PLC firmware on the PLCmodule C32 After Reset the module is started using the updated firmware Advice If the PLC firmware is updated the configuration file ho
41. I CE 20 6 2 System start of the PLCmodule C32 sss eene enne rar rn 20 6 3 Programming the PLCmodule C32 ssssssssssseee enne enne nnns 21 6 4 Process image of the PLCmodule C32 ssssssssssseeeee enne 22 6 41 Local n and Outputs etra etr pro tre ter cte a eaaa de era Tee be Aum eR eR 22 6 4 2 Network variables for CANT sssssssssseeeeneenememeenenemeenennennnnn 23 6 5 Communication interfaces cassette teint eese ee nr nte EARRA deae nn ce dais 23 6 5 1 Serial interfaces so ce ee ee ot 23 6 9 2 CAN IDteFIaCes c cete ete id i ie eet 24 6 5 3 Ethernetinterface me ree pe rel tet estet rn p ul e eate t re e RE 24 6 6 Specific peripheral interfaces sse enne 24 6 6 1 Counter in puts eec eed rene reo cte ere Tte ma eras eam eae 24 6 0 2 PUulSe OUtpUtS ca nce dete esce Seen ode uo de dv eee ete ire 25 6 7 Control and display elements adreist siiin ninrin inania eene eene nnne 25 o T RUN SOP SWIECI eoe ehe rr e A ra Bim ere epe aaa deere 25 627 2 BRurebED green i enn e ete een a Ape eee eet 25 03 3 Error LED red ehe ROI RIP RENE 26 6 8 Local deletion of a PLC program nennen nene 27 6 9 Using CANopen for CAN interfaces sssssssssseee eene 27 6 9 1 CAN interface CANO enne nennen nnn sn netten nnn nnne ens 28 6 9 2 CAN interface CANT entere nnn nn entente neni nnn niter nns 29
42. IGH X100 4B X100 N C X100 3A X100 3B CANO LOW X100 2A CAN1 LOW X100 2B CAN GND X100 1A X100 1B Supply voltage VCPU 24VDC X1 1 0G X1 2 Ground CPU Digital inputs DIO 7 1G X200 1A Ground DIO 3 DIO X200 2A X200 DI1 X200 3A DI2 X200 4A DI3 X200 5A 2G X200 1B Ground Dl4 7 DI4 X200 2B DI5 X200 3B DI6 X200 4B DI7 X200 5B Digital inputs DI8 15 3G X201 1A Ground DI8 11 DI8 X201 2A X201 DI9 X201 3A DI10 X201 4A DI11 X201 5A 4G X201 1B Ground DI12 15 DI12 X201 2B DI13 X201 3B DI14 X201 4B DI15 X201 5B Digital inputs DI16 23 5G X300 1A Ground DI16 19 DI16 X300 2A X300 DI17 X300 3A DI18 X300 4A DI19 X300 5A 6G X300 1B Ground DI20 23 DI20 X300 2B DI21 X300 3B Counter input C3 DI22 X300 4B Up Down control C2 DI23 X300 5B Up Down control CO Digital outputs DOO 7 7G X400 1A Ground VIO DOO X400 2A X400 DO1 X400 3A DO2 X400 4A DO3 X400 5A 7G X400 1B Ground VIO DO4 X400 2B DO5 X400 3B DOG X400 4B DO7 X400 5B O SYS TEC electronic GmbH 2009 L 1072e 1 Page 13 System Manual PLCmodule C32 Digital outputs DO8 15 7G X402 1A Ground VIO DO8 X402 2A X402 DO9 X402 3A DO10 X402 4A DO11 X402 5A 7G X402 1B Ground VIO DO12 X402 2B DO13 X402 3B DO14 X402 4B DO15 X402 5B Supply voltage VIO 24VDC X401 1 7G X401 2 Ground VIO X401 PWM outputs PO 1 PO X30
43. It sets the member element m_fNewData to TRUE The client application should never directly modify this member element O SYS TEC electronic GmbH 2009 L 1072e 1 Page 59 System Manual PLCmodule C32 Function ShPimgCintSetup BOOL ShPImgClntSetup tShPImgLayoutDscrpt pShPImgLayoutDscrpt p Function ShPilmgCintSetup initializes the shared process image client and connects itself with the storage segment for the shared process image which is generated by the PLC runtime system Afterwards it enters the start offsets and values of the input output and marker sections into the structure of type tShPImgLayoutDscrpt provided upon function call Hence the client application receives notice about the process image setup managed by the PLC firmware If the PLC runtime system is not active when the function is called or if it has not generated a shared process image option Share PLC process image in the PLC configuration deactivated see section 8 1 the function will return with the return value FALSE If the initialization was successful the return value will be TRUE Function ShPimgCintRelease BOOL ShPImgClntRelease void Function ShPImgCIntRelease shuts down the shared process image client and disconnects the connection to the storage segment generated for the shared process image by the PLC runtime system If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE
44. N_SDO_READ_STR FB L 1054 NETNUMBER 0 1 CAN_SDO_WRITE_STR FB L 1054 NETNUMBER 0 1 CAN_GET_STATE FB L 1054 NETNUMBER 0 1 CAN_NMT FB L 1054 NETNUMBER 0 1 CAN_RECV_EMCY_DEV FB L 1054 NETNUMBER 0 1 CAN_RECV_EMCY FB L 1054 NETNUMBER 0 1 CAN_WRITE_EMCY FB L 1054 NETNUMBER 0 1 CAN_RECV_BOOTUP_DEV FB L 1054 NETNUMBER 0 1 CAN_RECV_BOOTUP FB L 1054 NETNUMBER 0 1 CAN_ENABLE_CYCLIC_SYNC FB L 1054 NETNUMBER 0 1 CAN_SEND_SYNC FB L 1054 NETNUMBER 0 1 O SYS TEC electronic GmbH 2009 L 1072e_1 Page 70 System Manual PLCmodule C32 Functions and Function Blocks for Ethernet interfaces UDP LAN GET HOST CONFIG FB L 1054 NETNUMBER 0 LAN ASCII TO INET FB L 1054 NETNUMBER 0 LAN INET TO ASCII FB L 1054 NETNUMBER 0 LAN_GET_HOST_BY_NAME FB L 1054 NETNUMBER 0 LAN_GET_HOST_BY_ADDR FB L 1054 NETNUMBER 0 LAN_UDP_CREATE_SOCKET FB L 1054 NETNUMBER 0 LAN UDP CLOSE SOCKET FB L 1054 NETNUMBER 0 LAN_UDP_RECVFROM_STR FB L 1054 NETNUMBER 0 LAN UDP SENDTO STR FB L 1054 NETNUMBER 0 a All nonvolatile data is filed into directory home plc PlcPData bin on the PLCmodule C32 This file has a fix size of 32 kByte By calling function blocks of type NVDATA Xxx in a writing mode the modified data is directly stored into file home plc PlcPData bin flush Thus unsecured data is not getting lost in case of power interruption e Interface ASCO
45. Page 11 System Manual PLCmodule C32 5 Pinout of the PLCmodule C32 5 1 Pin assignment Analog In Out PO 1 Digital Outputs Relay RELO 3 ind AlO 3 A00 1 CO0 3 DOO 15 VIO X500 X600 X301 X400 X402 X401 ee ee a RELO 3 d00 15 0000000000000000 Lt i Igi X101 X102 X103 X100 x1 CAN1 RS 232 RS 232 OPI ASCOA Asc2 emet CANO Figure 4 Pinout of PLCmodule C32 Figure 4 shows the positioning of connectors on the PLCmodule C32 as an overview Table 2 lists all connectors in detail Table 2 Pin assignment of PLCmodule C32 Interface Assignment Pin Remark RS 232 ASCO RxD X101 4 RJ 11 connector TxD X101 2 X101 GND X101 3 RS 232 ASC1 RxD X101 6 TxD X101 1 X101 GND X101 5 RS 232 ASC2 DSR X102 1 RJ 45 connector CTS X102 2 X102 DCD X102 3 RxD X102 4 GND X102 5 TxD X102 6 RTS X102 7 DTR X102 8 Ethernet TxD X103 1 RJ 45 connector TxD X103 2 X103 RxD X103 3 RxD X103 6 SYS TEC electronic GmbH 2009 L 1072e 1 Page 12 System Manual PLCmodule C32 CANO 1 CAN5V X100 5A CANO and CAN1 are X100 5B galvanically isolated to on X100 another and to the CPU CANO 1 CANO HIGH X100 4A CAN1 H
46. SYS TEC System Manual PLCmodule C32 User Manual Version 1 0 Edition September 2009 Document No L 1072e 1 SYS TEC electronic GmbH August Bebel StraRe 29 D 07973 Greiz Telefon 49 3661 6279 0 Telefax 49 3661 6279 99 Web http www systec electronic com Mail info systec electronic com SYS TEC electronic GmbH System House for distributed Automation System Manual PLCmodule C32 Status Changes Status released 1 0 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 1 System Manual PLCmodule C32 This manual includes descriptions for copyrighted products that are not explicitly indicated as such The absence of the trademark symbol does not infer that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable However SYS TEC electronic GmbH assumes no responsibility for any inaccuracies SYS TEC electronic GmbH neither guarantees nor accepts any liability whatsoever for consequential damages resulting from the use of this manual or its associated product SYS TEC electronic GmbH reserves the right to alter the information contained herein without prior notification and does not accept responsibility for any damages which might result Additionally SYS TEC electronic GmbH neither guarantees nor assumes any liability for damages arising fr
47. Sharing can directly be set within section ProcImg of the configuration file home plc plemodule c32 cfg see section 7 4 3 The appropriate configuration setting is evaluated upon start of the PLC firmware By activating option Share PLC process image the PLC firmware creates a second process image as Shared Memory Shared Image in Figure 31 Its task is to exchange data with external applications Hereby the PLC firmware functions as Server and the external user specific C C application functions as Client ReadSectorTable and WriteSectorTable both control the copying of data between the two process images Both tables are filled by the Client external user specific C C application and are executed by Server PLC runtime system The Client defines ranges of the PLC process image from which it will read data ReadSectorTable or in which it will write data WriteSectorTable Hence the terms Head and Write refer to data transfer directions from the viewpoint of the Client Sections to read and write may comprise all sections of the entire process image input output as well as marker sections This allows for example that a Client application writes data into the input section of the PLC process image and reads data from the output section Figure 31 shows the sequence of single read and write operations Prior to the execution of a PLC program cycle the physical inputs are imported into the local process image of the PLC
48. Term see section 7 1 via the serial interface COMO of the PLCmodule C32 analog to the procedure described for the Ethernet configuration in section 7 1 For the configuration of the terminal settings pay attention to only use CR carriage return as end of line character Login with user name and password is not possible for CR LF carriage return line feed e Alternatively the login is possible using a Telnet client e g Telnet or also TeraTerm via the Ethernet interface ETHO of the PLCmodule C32 For logging in to the PLCmodule C32 via the Windows standard Telnet client the command te nef must be called by using the IP address provided in section 7 1 e g telnet 192 168 10 248 A a z Type the name of a program Folder document or Internet resource and Windows will open it For you Open telnet 192 168 10 248 y Cancel Browse Figure 18 Calling the Telnet client in Windows Logging in to the PLCmodule C32 is possible in the Terminal window if connected via ASCO or in the Telnet window if connected via ETHO The following user account is preconfigured for the administration of the module upon delivery of the PLCmodule C32 also compare section 7 7 User PlcAdmin Password Plc123 O SYS TEC electronic GmbH 2009 L 1072e_1 Page 44 System Manual PLCmodule C32 c Telnet 192 168 10 248 PLCmodule C32_192 168 106 248 login PlcAdmin Password sh 2 85 it Figure 19 Login to the PLCm
49. X ioni een din aln cata tinal iecit 10 42 USB RS232 Adapter Cable edite ode tee aia eniin 10 43 Driver Development Kit Ine daa aida 11 5 Pinout of the PLCmodule GC32 oerte rn snb ent tne ceca n ine sara an EE DERE Run 12 5 1 PINGASSIQGNIMGN tabs cot ditto pi rtt p rte x at UR ER I P o aed ces RE eau ti indes 12 az Powersupply 24VDGy irit ine nin Mri de rette dip ie 14 5 3 In and outputs for industrial standard signals eee ee 15 5 3 1 Digital inputs DIO DI23 24VDO ssssssssssseeeeeeneneenenee nnns 15 5 3 2 Counter inputs CO C2 24VDC Jaranan T RA ROTE E EERTE 15 5 3 3 Digital outputs DOO DO15 24VDC 0 5A short circuit proof 16 5 3 4 Relay outputs RELO REL3 250VAC 3A ssssssseeeeeeme 16 5 3 5 Pulse outputs PO P1 24VDC 0 5A short circuit proof sssssss 17 5 3 6 Analog inputs AIO AI3 0 10V 0 20mA sssssemmR 17 5 3 7 Analog outputs AOO AO1 0 10V sssssssssseene mene 18 5 4 Communication interfaces ssssssssssseseeeeene nemen nennen enne enn 18 5 4 1 Serial interfaces ASCO ASC2 sssssssssssssseeeeneemeen nennen enn 18 5 4 2 CAN interfaces CANO GANT iiie beat 19 5 4 3 Ethernet interface ETHO a erra elie 19 6 PLC functionality of the PLCmodule C32 eese 20 6 1 SI
50. a shared process image O SYS TEC electronic GmbH 2009 L 1072e 1 Page 7 System Manual PLCmodule C32 3 Product Description The PLCmodule C32 extends the SYS TEC electronic GmbH product range within the field of control applications It is an innovative Linux based compact controller for universal processing purposes of standard industrial signals The controller module provides to the user numerous local in and outputs as well as versatile communication interfaces Due to CAN and Ethernet interfaces the PLCmodule C32 is suited for realizing decentral control tasks in distributed fieldbus systems of automation technology ea SIS TEC Figure 1 Top view of PLCmodule C32 These are some significant features of PLCmodule C32 Linux based compact PLC for industrial controls High capacity CPU kernel Freescale 32 Bit MCF5484 ColdFire 200 MHz CPU clock 300 MIPS 64 MByte SDRAM Memory 16 MByte FLASH Memory 1x 10 100 Mbps Ethernet LAN interface 2x CAN 2 0B interface usable as CANopen Manager CiA 302 conform 3x asynchronous serial ports UART 24 digital inputs 24VDC galvanic isolated 16 digital outputs 24VDC 500mA galvanic isolated short circuit proof 4 Relay outputs 250VAC 3A 3x closed contact 1x two way contact 4 analog inputs 0 10VDC 0 20mA with 10 Bit resolution 2 analog outputs 0 10VDC short circuit proof 3 high speed counter inputs 24VDC 50kHz galvanic isolated 2 PWM PTO outputs 24VDC 500mA RTC ba
51. age of PDO based network variables is different for each CAN interface CANO and CAN1 Sections 6 9 1 and 6 9 2 provide more detail on this In a CANopen network exchanging PDOs only takes place in status OPERATIONAL If the PLCmodule C32 is not in this status it does not process PDOs neither for send site nor for receive site and consequently it does not update the content of network variables The CANopen Manager is in charge of setting the operational status OPERATIONAL PRE OPERATIONAL etc mostly also called CANopen Master In typical CANopen networks a programmable node in the form of a PLC is used as CANopen Manager The PLCmodule C32 is able to take over tasks of the CANopen Manager at both CAN interfaces CANO and CAN1 How the Manager is activated is described in section 7 4 As CANopen Manager the PLCmodule C32 is able to parameterize the CANopen I O devices CANopen Slaves that are connected to the CAN bus Therefore upon system start via SDO it transfers DCF files generated by the CANopen configurator to the respective nodes 6 9 1 CAN interface CANO Interface CANO features a dynamic object dictionary This implicates that after activating the PLC the interface does not provide communication objects for data exchange with other devices After downloading a PLC program or its reload from the non volatile storage after power on the required communication objects are dynamically generated according to the DCF file whi
52. al distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Program specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program does not specify a version number of this License you may choose any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF
53. as linking in and outputs or converting rule algorithms Data and occurrences can be exchanged with other nodes e g superior main controller I O slaves and so forth via CANopen network Ethernet UDP protocol and serial interfaces UART The numerous in and outputs that the module provides can be decentrally extended by CANopen devices CANopen IO modules of sysWORXX Automation Series are well suited for this Those modules are also designed for processing industrial standard signals 24VDC 0 10VDC 0 20mA etc Programming the PLCmodule C32 takes place according to IEC 61131 3 using the programming system OpenPCS of the company infoteam Software GmbH http www infoteam de This programming system has been extended and adjusted for the PLCmodule C32 by the company SYS TEC electronic GmbH Hence it is possible to program the PLCmodule C32 graphically in KOP FUB AS and CFC as well as textually in AWL or ST Downloading the PLC program onto the module takes place via Ethernet or CANopen depending on the firmware that is used Addressing in and outputs and creating a process image follows the SYS TEC scheme for compact control units Hence PLC programs developed by the user can be operated on different SYS TEC control modules without adjustments Like all other SYS TEC controls the PLCmodule C32 supports backward documentation of the PLC program as well as the debug functionality including watching and setting variables single cycles br
54. between ShPimgCintLockSegment and ShPImgCIntUnlockSegment If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE 8 3 Creating a user specific client application Software package SO 1095 VMware image of the Linux development system is the precondition for the implementation of user specific C C applications It contains a complete Linux development system in the form of a VMware image Hence it allows for an easy introduction into the C C software development for the PLCmodule C32 Thus the VMware image is the ideal basis to develop Linux based user programs on the same host PC that already has the OpenPCS IEC 61131 programming system installed on it The VMware image of the Linux development system includes the GNU Crosscompiler Toolchain for Freescale MCF54xx processors Additionally it includes essential server services that are preconfigured and usable for effective software development Details about the VMware image of the Linux development system and instructions for its usage are described in the System Manual ECUcore 5484 Manual no L 1102 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 62 System Manual PLCmodule C32 As illustrated in Figure 31 the user specific C C application uses the API files shpimgclient c and shpimgclient h which is provided by the shared process image client The shared process image client is based on services provided by
55. ble ASCO ASC1 order number 162049 If required it is possible to use a shielded null modem cable plug connector to connect the PLCmodule C32 with the Host PC ASC2 Interface ASC2 also called COM2 is disposable and modem compliant It is normally used for data exchange between the PLCmodule C32 and other field devices under control of the PLC program Signals RxD TxD DTR DCD RTS CTS DSR and GND are available at a RJ45 connector The delivery of the PLCmodule C32 includes an adapter cable which leads through signals on a SUB D9 connector with standard circuit RS 232 modem cable order number 162052 If required it is possible to use a screened null modem cable plug connector to connect the PL Cmodule C32 with the Host PC 5 4 2 CAN interfaces CANO CAN1 The PLCmodule C32 features 2 CAN interfaces CANO CAN1 Those two CAN Bus Transceivers PHILIPS PCA82C251 are galvanically isolated to one another and to the CPU The transceivers are supplied via two on board DC DC converter CAN Bus signals CANO HIGH CANO LOW CAN1 HIGH CAN1 LOW and CAN GND are available from withdrawable screw clamping connectors Section 6 9 provides detailed information about the usage of both CAN interfaces in connection with CANopen CAN cable The CAN Bus usually is a twisted pair line At both ends of the cable a termination resistor of 120 Ohm termination is necessary between CAN H and CAN L CiA CAN in Automation suggests using CAN GND
56. blocks of type CAN SDO Xxx see User Manual CANopen Extension for IEC 61131 3 Manual no L 1008 Function blocks are also available for PDOs CAN PDO Xxx Those should only be used for particular cases in order to also activate non CANopen conform devices For the application of PDO function blocks the CANopen configuration must be known in detail The reason for this is that the PDO function blocks only use 8 Bytes as input output parameter but the assignment of those Bytes to process data is subject to the user Instead of PDO function blocks network variables should mainly be used for PDO based data exchange Network variables represent the easiest way of data exchange with other CANopen nodes Accessing network variables within a PLC program takes place in the same way as accessing internal local variables of the PLC Hence for PLC programmers it is not of importance if e g an input variable is allocated to a local input of the control or if it represents the input of a decentralized extension module The application of network variables is based on the integration of DCF files that are generated by an appropriate CANopen configurator On the one hand DCF files describe communication parameters of any device CAN Identifier etc and on the other hand they allocate network variables to the Bytes of a CAN telegram mapping The application of network variables only requires basic knowledge about CANopen For the PLCmodule C32 the us
57. ch is integrated in the PLC project Thus CAN interface CANO is extremely flexible and also applicable for larger amount of data For the PLC program all network variables are declared as VAR EXTERNAL according to IEC61131 3 Hence they are marked as outside of the control e g VAR EXTERNAL NetVarl BYTE NetVar2 UINT END VAR A detailed procedure about the integration of DCF files into the PLC project and about the declaration of network variables is provided in manual User Manual CANopen Extension for IEC 61131 3 Manual no L 1008 When using CAN interface CANO it must be paid attention that the generation of required objects takes place upon each system start This is due to the dynamic object directory Design instructions O SYS TEC electronic GmbH 2009 L 1072e 1 Page 28 System Manual PLCmodule C32 are included in the DCF file that is integrated in the PLC project Hence changes to the configuration can only be made by modifying the DCF file This implies that after the network configuration is changed modification of DCF file the PLC project must again be translated and loaded onto the PLCmodule C32 6 9 2 CAN interface CAN1 On the contrary to interface CANO interface CAN1 is provided as static object dictionary This means that the amount of network variables communication objects and the amount of PDOs available are both strongly specified During runtime the configuration of PDOs is modifiable This
58. d high actively 1 in process image contact is closed e Q in process image contact is open two way contact is closed Relay outputs RELO REL2 have the internal structure as shown in Figure 7 VCPU REL1 2 REL1 3 REL1 1 Relay Rel1 ton tor U ac dc max lac c max Figure 7 Setup of Relay outputs RELO REL3 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 16 System Manual PLCmodule C32 Attention Country typical technical standards for the usage of power supply voltage must be taken into consideration The Relay outputs are in a PLC program are accessible via the process image see Table 4 in section 6 4 1 5 3 5 Pulse outputs PO P1 24VDC 0 5A short circuit proof The PLCmodule C32 features 2 Pulse outputs PO P1 to output PWM and PTO signal sequences The outputs each activate the ground signal GND of the connected appliance switching negatively The maximum load current for each 24V output is 0 5 A for ohmic inductive or capacitive load The outputs are short circuit proof and galvanically isolated from the CPU unit They are supplied with voltage via connector V O see section 5 2 The outputs have the same ground potential as connection VIO The performance drivers used are protected against reverse polarity The transistor outputs are activated low actively e 1 in process image output transistor active appliance connected with GND e 0 in process ima
59. de 0 ETHO PortNum 8888 ProcImg EnableExtlo 1 EnableSharing 0 7 5 Boot configuration of the PLCmodule C32 The PLCmodule C32 is configured so that after Reset the PLC firmware starts automatically Therefore all necessary commands are provided by the start script home etc autostart Hence the required environment variables are set and drivers are booted If required the start script home etc autostart may be complemented by further entries For example by entering command ftpd D the FTP server is called automatically when the PLCmodule C32 is booted The script can be edited directly on the PLCmodule C32 in the FTP client WinSCP compare section 7 1 using pushbutton F4 or F4 Edit 7 6 Selecting the appropriate firmware version The PLCmodule C32 is delivered with different firmware versions Those vary in the communication protocol for the data exchange with the programming PC and they differ from each other regarding the availability of FB communication classes see section 6 3 The selection of the appropriate firmware version takes place in the start script home etc autostart By default the Board D of the module O SYS TEC electronic GmbH 2009 L 1072e 1 Page 41 System Manual PLCmodule C32 as set in the bootloader CoLilo is analyzed Table 15 lists up the assignments of firmware versions and BoardlDs Table 15 Assignment of BoardlDs and firmware versions for the PLCmodule C32
60. dicates how many elements the section has For each entry in the WriteSectorTable the SyncType must be defined This SyncType defines whether the section is always taken over into the local image between two PLC cycles kShPlmgSyncAlways or only on demand kShPImgSyncOnDemand If taken over on demand the respective section is explicitly marked as updated by calling ShPimgCintWriteSectMarkNewData The maximum amount of possible elements for the WriteSectorTable is defined by the constant SHPIMG_WRITE_SECT_TAB_ENTRIES and can only be modified if the shared library pmc32drv so is generated again and at the same time this requires SO 1098 Driver Development Kit for the ECUcore 5484 If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE Function ShPlmgCIntWriteSectMarkNewData BOOL ShPImgClntWriteSectMarkNewData unsigned int uiWriteDscrptIdx p For the content of a section that is held by the WriteSectorTable function ShPImgCIntWriteSectMarkNewData marks this content as modified This function is used for sections with SyncType kShPlmgSyncOnDemand to initiate the copy process of data from the shared process image into the local image of the PLC Function ShPimgCintWriteSectMarkNewData directly accesses the header of the shared process image without setting a semaphore before Hence it may only be used within the protected section in the code section
61. dule C32 5 3 3 Digital outputs DOO DO15 24VDC 0 5A short circuit proof The PLCmodule C32 features 16 digital transistor outputs DOO DO15 The outputs each connect the supply voltage Vcc of the appliance switching positively The maximum load current for each 24V output is 0 5A for ohmic inductive or capacitive load The outputs are short circuit proof and galvanically isolated from the CPU unit They are supplied with voltage via connector VIO see section 5 2 The performance drivers used are protected against excess voltage reverse polarity and excess temperature The transistor outputs are accessed high actively e 1 in process image output transistor active appliance connected with Vcc e 0 in process image output transistor inactive appliance disconnected from Vcc The digital transistor outputs DOO DO15 have the internal structure as shown in Figure 6 VCC VIO T T Opto Coupler Logic and Protection Circuit Port Port One Coupler Ud lou lou max sPi max EXE B ton lor Figure 6 Setup of digital outputs DOO DO15 The digital outputs in a PLC program are accessible via the process image see Table 4 in section 6 4 1 5 3 4 Relay outputs RELO REL3 250VAC 3A The PLCmodule C32 features 4 Relays outputs Outputs RELO REL2 are closed contacts and REL3 is a two way contact The Relays are activate
62. e C32 as described in section 7 8 1 There are two steps for setting the system time of the PLCmodule C32 At first the current date and time must be set using Linux command date Afterwards by using Linux command hwclock w the system time is taken over into RTC module of the PLCmodule C32 Linux command date is structured as follows date options MMDDhhmm CC YY ss Example date 09 22 10 20 2008 55 second Spaces in the parameter list are only inserted to present the example above clearly All spaces do not apply when the command is actually used To set the system time of the PLCmodule C32 to 2008 09 22 and 10 20 55 as shown in the example above the following commands are necessary date 092210202008 55 hwclock w The current system time is displayed by entering Linux command date without parameter Linux command hwclock r can be used to recall current values from the RTC Figure 25 exemplifies setting and displaying the system time O SYS TEC electronic GmbH 2009 L 1072e 1 Page 48 System Manual PLCmodule C32 c Telnet 192 168 10 248 PLCmodule C32_192 168 16 248 login PlcAdmin Password date 692216262088 55 18 28 55 UTC 2008 hwelock w date 18 21 27 UTC 2008 hwelock r 18 21 33 2008 6 600000 seconds Figure 25 Setting and displaying the system time Upon start of the PLCmodule C32 date and time are taken over from the RTC and set as current system time of the module Th
63. eakpoints and single steps The PLCmodule C32 is based on the SYS TEC PLCcore 5484 which is an insert ready core module that realizes a complete compact PLC It is also separately available as core module The PLCmodule C32 adapts all in and outputs of PLCcore 5484 to industrial standard signals 24VDC 0 10VDC 0 20mA etc and complements the core module by a housing which is industry proven and suitable for DIN rail mounting The configuration and programming of PLCmodule C32 are almost identical to the procedures for PLCcore 5484 The PLCmodule C32 uses Embedded Linux as operating system This allows for an execution of other user specific programs while PLC firmware is running If necessary those other user specific programs may interchange data with the PLC program via the process image More information about this is provided in section 8 The Embedded Linux applied to PLCmodule C32 is licensed under GNU General Public License version 2 Appendix C contains the license text All sources of LinuxBSP are included in the software package SO 1095 VMware Image of the Linux development system for ECUcore 5484 If you require the LinuxBSP sources independently from the VMware Image of the Linux development system please contact our support support systec electronic com The PLC system and the PLC and C C programs developed by the user are not subject to GNU General Public License SYS TEC electronic GmbH 2009 L 1072e_1 Page 9 Sy
64. emark MAC address set mac lt XX XX XX XX XX XX gt The MAC address worldwide is a clear identification oft he module and is assigned by the producer It should not be modified by the user IP address set ip lt XXX XXX XXX XXX gt This command sets the local IP address of the PLCmodule C32 The IP address is to be defined by the network administrator Network mask set netmask lt xxx xxx Xxx xxx gt This command sets the network mask of the PLCmodule C32 The network mask is to be defined by the network administrator Gateway address set gw lt XXX XXX XXX XXX gt This command defines the IP address of the gateway which is to be used by the PLCmodule C32 The gateway address is set by the network administrator Advice If PLCmodule C32 and Programming PC are located within the same sub net defining the gateway address may be skipped and value 0 0 0 0 may be used instead Saving the config save This command saves active configurations in configuration the flash of the PLCmodule C32 Modified configurations may be verified again by entering in the CoLilo command prompt Active configurations are permanently saved in the Flash of the PLCmodule C32 by command config save Modifications are adopted upon next Reset of the PLCmodule C32 LM COM1 19200baud Tera Term YT Of x File Edit Setup Control Window Help CUcore 5484 boot ress SPACE key to abort autoboot procedure Autoboot aborted
65. emote control via shared process image uiRemoteSlidbarLen AT MW512 0 UINT out length of slidebar bRemoteStatus AT MB514 0 BYTE out Bit0 RemoteControl on off bRemoteDirCtrl AT MB515 0 2 BYTE in direction left right iRemoteSpeedCtrl AT MW516 0 INT in speed Variables of the PLC program are accessible from a C C application via the shared process image Therefore sections must be generated for the HeadSectorTable and WriteSectorTable on the one hand and on the other hand pointers must be defined for accessing the variables The following program extract shows this using the example shpimgdemo c Function ShPimgCintSetup inserts the start offsets of input output and marker sections into the structure ShP mgLayoutDscrpt Hence on the basis of the initial address provided by ShPImgCiIntGetDataSect the absolute initial addresses of each section in the shared process image can be determined To identify the address of a variable the variable s offset within the particular section must be added For example the absolute address to access the variable bRemoteDirCtrl AT MB515 0 BYTE results from the sum of the initial address of the shared process image pabShPImgDataSect the start offset of the marker section ShPImgLayoutDscrpt m uiPImgMarkerOffs fir M as well as the direct address within the marker section which was defined in the PLC program 515 for MB515 0 pbPImgVar 61131 bDirCt
66. ent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the Program or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License O SYS TEC electronic GmbH 2009 L 1072e 1 Page 75 System Manual PLCmodule C32 3 You may copy and distribute the Program or a work based on it under Section 2 in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following a Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or b Accompany it with a written offer valid for at least three years to give any third party for a charge no more than your cost of physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or c Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer
67. er breakdown tmp 8192 kByte RAM disk suitable as intermediate buffer for FTP downloads but no data preservation in case of power breakdown var 1024 kByte RAM disk which is used by the system to store temporary files no data preservation in case of power breakdown mnt Target for integrating remote directories it is not part of the PLCmodule C32 standard functionality Sizes of file system paths that are configured or still available can be identified by using Linux command df DiskFree see Figure 26 SYS TEC electronic GmbH 2009 L 1072e_1 Page 49 System Manual PLCmodule C32 c Telnet 192 168 10 248 PLCmodule C32_192 168 16 248 login PlcAdmin Password sh 2 85 tH df Filesystem 1k blocks Used Available Usezx Mounted on 5836 5836 O 18807 8192 8 8192 0z tmp 1024 48 976 5 var 5632 928 4764 16 home Figure 26 Display of information about the file system Particular information about the system login and handling the Linux command shell of the PLCmodule C32 is given attention in section 7 8 7 13 Software update of the PLCmodule C32 All necessary firmware components to run the PLCmodule C32 are already installed on the module upon delivery Hence firmware updates should only be required in exceptional cases e g to input new software that includes new functionality 7 13 1 Updating the PLC firmware PLC firmware indicates the run time environment of the PLC PLC firmware
68. erefore Linux command hwclock r is necessary which is included in start script etc rc d rc modules 7 12 File system of the PLCmodule C32 Pre installed Embedded Linux on the PLCmodule C32 provides part of the system memory in form of a file system Being usual for embedded systems most of this file system is read only which means that changes to this part can only be made by creating a new Linux Image for the PLCmodule C32 The advantage hereby is the resistance of a read only file system against damages in case of power breakdowns Those occur relatively often in embedded systems because embedded systems are usually simply turned off without previous shutdown Table 17 lists up writable paths of the file system during runtime Path home comprises a flash disk that provides part of the on board flash memory of the PLCmodule C32 as file system This path is used to store all files modifiable and updatable by the user e g configuration files PLC firmware and PLC program files that have been loaded onto the module Directory tmp is appropriately sized to function as temporary buffer for FTP downloads of firmware archives for PLC software updates see section 7 13 1 Table 17 File system configuration of the PLCmodule C32 Path Size Description home 5632 kByte Flash disk to permanently store files modifiable and updatable by the user e g configuration files PLC firmware PLC program data preservation in case of pow
69. ftware which everyone can redistribute and change under these terms To do so attach the following notices to the program It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found one line to give the program s name and a brief idea of what it does Copyright C year name of author This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Also add information on how to contact you by electronic and paper mail If the program is interactive make it output a short notice like this when it starts in an interactive mode Gnomovision version 69 Copyright C year name of author Gnomovision comes with ABSOLUTELY NO WARRANTY for details type show w This is free softwa
70. ge output transistor inactive appliance disconnected from GND Pulse outputs PO P1 have an internal structure as shown in Figure 8 VIO VIO VIO 1 RL Port 2 Opto Fonni n Coupler s OL OL max ton lor Figure 8 Setup of Pulse outputs PO P1 In a PLC program the PWM PTO functionality of Pulse outputs is accessible via function block PTO PWM see section 6 6 2 as well as manual SYS TEC specific extensions for OpenPCS IEC 61131 3 manual no L 1054 5 3 6 Analog inputs AIO AIB 0 10V 0 20mA In its standard configuration the PLCmodule C32 features 4 analog inputs for a voltage range of 0 10 V and a resolution of 10Bit Alternatively voltage inputs can be substituted with current inputs of 0 20 mA This must be indicated when ordering the module Analog inputs AIO AI3 have the same internal structure as shown in Figure 9 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 17 System Manual PLCmodule C32 VCC AIO 3 AN Ui max ADC Urer Figure 9 Setup of analog inputs AIO AI3 The analog inputs in a PLC program are accessible via the process image see Table 4 in section 6 4 1 5 3 7 Analog outputs AOO AO1 0 10V The PLCmodule C32 features 2 analog outputs AOO AO1 for a voltage range of 0 10 V with a resolution of 10Bit Internally the analog outputs are realized via PWM cha
71. ge 67 System Manual PLCmodule C32 application by using the cursor pushbuttons left and right und in the terminal window and the speed may be changed by using cursor pushbuttons up and down T und ci Telnet 192 168 10 248 Register signal handler Setup read and write sector table Pointer to process image vaiables pbPImgUar 61131 bButtonGroup pbhPI mgVar_61131_bLEDGroup8 pbPI mgVar_61131_bLEDGroup1 phPImgUlar_61131_usiSlidhbarLen pbPImglar_61131_bStatus pbPImgVar_61131_bDirCtrl psiPI mgVar_61131_iSpeedCtrl Run program cycle exchange proces 6x46126138 Gx 46128938 9x40120939 x46121338 x4612133A x4612133B x4612133C image gt 9 n wm SET START PARAMETER Dir Left Speed 8 S lidebar 8 gt ELL ButtonGroup 8x88 RemoteControl enabled But tonGroup 6x B Slidebar lt 8 gt A SET NEW PARAMETER p DIR Bett Speed 1 Slidebarc lt 8 gt SET NEM PARAMETER Dir Left Speed 2 Slidebar 8 gt SET NEW PARAMETERS e Left Speed 3 Slidebar 8 gt SET NEW PARAMETER p Left Speed 4 Slidebar 8 gt FL SET NEW PARAMETER Dir Left Speed 5 Slidebar 8 gt XX SET NEM PARAMETER Right Speed 5 Slidebar 8 gt A Figure 35 Terminal outputs of the demo program shpimgdemo after user inputs Figure 35 shows the terminal outputs of the demo program shpimgdemo in answer to activating the cursor pushbuttons The demo program shpimgdemo may be terminated by pressing Ctrl
72. h prefix Ox Baudrate 10 20 50 125 250 Bitrate for interface CAN1 500 800 1000 MasterMode 0 1 1 Master mode is activated 0 Master mode is deactivated ETHO PortNum Default Port no Port number for the communication with the 8888 Programming PC and for program download only for PLCmodule C32 Z5 order number 3090002 Proclmg EnableExtlo 0 1 0 only process l O s of the PLCmodule C32 are used for the process image except on board Temperature Sensor 1 All I O s are used for the process image incl on board Temperature Sensor EnableSharing 0 1 0 No sharing of process image 1 Sharing of process image is enabled see section 8 SYS TEC electronic GmbH 2009 L 1072e 1 Page 40 System Manual PLCmodule C32 Login Authorization 0 1 0 Configuration via WEB Frontend is possible without user login 1 Configuration via WEB Frontend requires user login User Default Name If entry Userz is available only the user PlcAdmin name defined is accepted for the login to configure via WEB Frontend If the entry is not available any user registered on the PLCmodule C32 see section 7 9 may login via WEB Frontend The configuration file home plc plemodule c32 cfg includes the following factory settings Login Authorization 1 User PlcAdmin CANO Enabled 1 odeID 0x20 Baudrate 125 asterMode 1 CAN1 Enabled 0 odeID 0x30 Baudrate 125 asterMo
73. he PLCmodule C32 Although working in it manually does not always make sense because most of the adjustments may easily be edited via WEB Frontend compare section 7 4 1 The setup of the configuration file is similar to the file format Windows INI File It is divided into Sections which include different entries Entry Table 14 shows all configuration entries Entries of section ICANOJ take priority over settings via control elements see section 7 4 2 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 39 System Manual PLCmodule C32 Table 14 Configuration entries of the CFG file Section Entry Value Meaning CANO Enabled 1 0 1 1 Interface CANO is activated configuration takes place via control elements of the PLCmodule C32 factory setting see section 7 4 2 0 Interface CANO is deactivated 1 Interface CANO is activated configuration takes place via entries of the configuration file below NodelD 1 127 or Node number for interface CANO 0x01 Ox7F decimal or hexadecimal with prefix Ox Baudrate 10 20 50 125 250 Bitrate for interface CANO 500 800 1000 MasterMode 0 1 1 Master mode is activated 0 Master mode is deactivated CAN1 Enabled 0 1 0 Interface CAN1 is deactivated 1 Interface CANT is activated configuration takes place via entries of the configuration file below NodelD 1 127 or Node number for interface CAN1 0x01 Ox7F decimal or hexadecimal wit
74. he client hereby determines those sections of the PLC process image from which it wants to read data see section 8 1 Parameter paShPimgReadSectTab_p holds elements of the structure tShPimgSectDscrpt and must be transferred as start address of a section Parameter uiNumOfReadDscrptUsed_p indicates how many elements the section has kShPlmgSyncAlways is provided as SyncType for the ReadSectorTable The maximum amount of possible elements for the ReadSectorTable is defined by the constant SHPIMG READ SECT TAB ENTRIES and can only be modified if the shared library pmc32darv so is generated again and at the time this requires SO 1098 Driver Development Kit for the ECUcore 5484 If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE O SYS TEC electronic GmbH 2009 L 1072e 1 Page 61 System Manual PLCmodule C32 Function ShPimgCintSetupWriteSectTable BOOL ShPImgClntSetupWriteSectTable tShPImgSectDscrpt paShPImgWriteSectTab p unsigned int uiNumOfWriteDscrptUsed p Function ShPIlmgClIntSetupWriteSectTable initializes the WriteSectorTable with the values defined by the client The client hereby determines those sections of the PLC process image from which it wants to write data see section 8 1 Parameter paShPImgWriteSectTab p holds elements of structure tShPImgSectDscrpt and must be transferred as start address of a section Parameter uiNumOfWriteDscrptUsed p in
75. icense since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it 6 Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are not responsible for enforcing compliance by third parties to this License T f as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Program at all For example if a patent license would not permit royalty free redistribution of
76. in CiA DRP 303 1 For more information please refer to the appropriate CiA standards 5 4 3 Ethernet interface ETHO The PLCmodule C32 features one Ethernet interface ETHO also called ETHERNET which is designed as 10Base T 100Base TX The connection takes place via a standard RJ 45 connector The Ethernet interface serves as service interface to administer the PLCmodule C32 and it can be used fort data exchange with any other devices O SYS TEC electronic GmbH 2009 L 1072e 1 Page 19 System Manual PLCmodule C32 6 PLC functionality of the PLCmodule C32 6 1 Overview The PLCmodule C32 is provided with the SYS TEC PLCcore 5484 a complete Linux based compact PLC as plug in core module The PLCmodule C32 adapt all inputs and outputs of the PLCcore 5484 to industrial standard level 24VDC 0 10VDC 0 20mA etc and completes the core module with a industrial suited DIN rail enclosure Both modules PLCmodule C32 and PLCcore 5484 are using the same Embedded Linux as operating system So configuration and programming of PLCmodule C32 is nearly identical to PLCcore 5484 6 2 System start of the PLCmodule C32 By default the PLCmodule C32 loads all necessary firmware components upon Power on or Reset and starts running the PLC program afterwards Hence the PLCmodule C32 is suitable for the usage in autarchic control systems In case of power breakdown such systems resume the execution of the PLC program independently and without user i
77. ine Help SYS TEC electronic GmbH 2009 L 1072e_1 Page 69 System Manual PLCmodule C32 Functions and Function Blocks for handling of non volatile data NVDATA BIT FB L 1054 DEVICE 0 see NVDATA INT FB L 1054 DEVICE 0 see NVDATA STR FB L 1054 DEVICE 0 see Functions and Function Blocks for handling of time GetTime FUN Online Help GetTimeCS FUN Online Help DT CLOCK FB L 1054 DT ABS TO REL FB L 1054 DT REL TO ABS FB L 1054 Functions and Function Blocks for counter inputs and pulse outputs CNT FUD FB L 1054 CHANNEL 0 1 2 PTO PWM FB L 1054 CHANNEL 0 1 PTO_TAB FB L 1054 CHANNEL 0 1 Functions and Function Blocks for Serial interfaces SIO INIT FB L 1054 PORT 0 1 2 see SIO STATE FB L 1054 PORT 0 1 2 see SIO READ CHR FB L 1054 PORT 0 1 2 see SIO WRITE CHR FB L 1054 PORT 0 1 2 see SIO READ STR FB L 1054 PORT 0 1 2 see SIO_WRITE_STR FB L 1054 PORT 0 1 2 see Functions and Function Blocks for CAN interfaces CANopen CAN GET LOCALNODE ID FB L 1054 NETNUMBER 0 1 CAN_CANOPEN_KERNEL_STATE FB L 1054 NETNUMBER 0 1 CAN_REGISTER_COBID FB L 1054 NETNUMBER 0 1 CAN_PDO_READ8 FB L 1054 NETNUMBER 0 1 CAN PDO WRITE8 FB L 1054 NETNUMBER 0 1 CAN_SDO_READ8 FB L 1054 NETNUMBER 0 1 CAN SDO WRITE8 FB L 1054 NETNUMBER 0 1 CA
78. ions ReadSectorTable and WriteSectorTable see section 8 1 Funktionen Functions ShPlmgCIntLockSegment and ShPlmgCIntUnlockSegment BOOL ShPImgClntLockSegment void BOOL ShPImgClntUnlockSegment void To exclusively access the shared process image the client application has available two functions function ShPlmgCIntLockSegment to enter the critical section and function ShPImgCIntUnlockSegment to leave it The segment between both functions is called protected section because in this segment the client application holds unrivaled access to the shared process image see section 8 1 The consistency of read or written data is only guaranteed within such a protected section Outside the protected section the shared process image may anytime be manipulated by the PLC runtime system To ensure that the client application does not interfere with the PLC runtime system too much the critical sections should be set as less as possible and only as long as necessary Otherwise the PLC cycle time may be extended and runtime variations Jitter may occur If executed successfully the function delivers return value TRUE If an error occurs it will deliver return value FALSE Function ShPimgCintSetupReadSectTable BOOL ShPImgClntSetupReadSectTable tShPImgSectDscrpt paShPImgReadSectTab_p unsigned int uiNumOfReadDscrptUsed p Function ShPlmgCintSetupReadSectTable initializes the ReadSectorTable with the values defined by the client T
79. l O s is activated within the PLC configuration see section 7 4 1 Alternatively entry EnableExtloz can directly be set within section ProcImg of the O SYS TEC electronic GmbH 2009 L 1072e 1 Page 22 System Manual PLCmodule C32 configuration file home plc plemodule c32 cfg see section 7 4 3 The appropriate configuration setting is evaluated upon start of the PLC firmware Advice The PLCmodule C32 works with Big Endian format Motorola Notation Consequently and on the contrary to controls using Little Endian format Intel Notation it is not possible to sum up several BYTE variables of the process image to one WORD or DWORD and to access Bits above Bit7 The following example shows issue described bInByte0 AT IBO 0 BYTE bInBytel AT IB1 0 BYTE wInWord AT IWO 0 BYTE wlInWord 0 lt gt bInByte0 0 due to Big Endian wInWord 0 InBytel 0 wInWord 8 lt gt bInBytel 0 due to Big Endian wInWord 8 b bInByte0 0 In and outputs of the PLCmodule C32 are not negated in the process image Hence the H level at one input leads to value 1 at the corresponding address in the process image Contrariwise value 1 in the process image leads to an H level at the appropriate output 6 4 2 Network variables for CAN1 Contrary to interface CANO interface CAN1 of the PLCmodule C32 is designed as static object dictionary Thus at interface CAN1 the PLCmodule C32 acts as a CANopen I O device All static netwo
80. le be necessary if an error occurs and the PLC program is running an infinite loop and consequently accessing the OpenPCS programming environment is no longer possible To prevent deleting a PLC program by mistake it is necessary to keep to the following order 1 Position the Run Stop switch to MRes 2 Reset the PLCmodule C32 by pressing the reset pushbutton on the top of the module or through temporary power interrupt Run LED green is flashing quickly in relation 1 1 to the pulse 3 Position the Run Stop switch to Run gt Error LED red is flashing quickly in relation 1 1 to the pulse 4 Reposition Run Stop switch back to WRes within 2 seconds c PLCmodule C32 is deleting PLC program Run LED green and Error LED red are both flashing alternately 5 Reposition Run Stop switch to Stop or Hun and reset again to start the PLCmodule C32 and bring it into normal working state If Reset of the PLCmodule C32 is activated e g through temporary power interrupt while at the same time the Run Stop switch is positioned to WRes the module recognizes a reset requirement This is visible through quick flashing of the Run LED green This mode can be stopped without risk Therefore the Run Stop switch must be positioned to Run or Stop Error LED is flashing and it must be waited for 2 seconds The PL Cmodule C32 independently stops the reset process after 2 seconds and starts a normal working state with the PLC program
81. le from a PLC program via function blocks of type LAN Xxx see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual no L 1054 The exemplary PLC program UdpRemoteCtrI illustrates the usage of function blocks of type LAN Xxx within a PLC program 6 6 Specific peripheral interfaces 6 6 1 Counter inputs The PLCmodule C32 features 3 fast counter input CO C2 Prior to its usage all counter inputs must be parameterized via function block CNT FUD see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual no L 1054 Afterwards in a PLC program the current counter value is accessible via the process image see Table 4 in section 6 4 1 or via function block CNT FUD Table 5 lists the allocation between counter channels and inputs Table 5 Allocation between counter channels and inputs Counter Counter input Optional direction Counter value in channel input process image CO CO DI24 IlX3 0 DI21 961X2 5 961D40 0 C1 C1 DI25 96IX3 1 DI22 961X2 6 961D44 0 C2 C2 DI26 961X3 2 DI23 961X2 7 961D48 0 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 24 System Manual PLCmodule C32 6 6 2 Pulse outputs To release PWM and PTO signal sequences the PLCmodule C32 features 2 pulse outputs PO P1 Prior to its usage all pulse outputs must be parameterized using function block PTO PWM see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual n
82. licitly marked as updated Therefore it is necessary to call function ShPimgCintWriteSectMarkNewData Since function ShPImgCintWriteSectMarkNewData does not modify the semaphore it may only be used within a protected section see example such as the code section between ShPImgClIntLockSegment and ShPImgCintUnlockSegment The synchronization between local image and shared process image by the PLC runtime system only takes place in between two successive PLC cycles A client application user specific C C program is not directly informed about this point of time but it can get information about the update of the shared process image from the PLC runtime system Therefore the client application must define a callback handler of the type tShP imgAppNewDataSigHandler e g static void AppSigHandlerNewData void fNewDataSignaled 1 TRUE This callback handler must be registered with the help of function ShPImgCIntSetNewDataSigHandler The handler is selected subsequent to a synchronization of the two images The callback handler of the client application is called within the context of a Linux signal handler the PLC runtime system informs the client using Linux function kill Accordingly all common restrictions for the Linux signal handler also apply to the callback handler of the client application In particular it is only allowed to call a few operating system functions that are explicitly marked as reentrant pr
83. me plc plemodule c32 cfg is overwritten This results in a reset of the PLC configuration to default settings Consequently after an update the configuration described in section 7 4 should be checked and if necessary it should be reset 7 13 2 How to update the Linux Image Updating the Linux Image takes place via TFTP Trivial FTP within Linux bootloader CoLilo Therefore an appropriate TFTP server is necessary on the computer e g freeware TFTPD32 compare section 7 1 The program consists of only one EXE file that requires no installation and can be run immediately After the program start an appropriate working directory Current Directory should be created by clicking on pushbutton Browse e g C PLCmodule C32 The Linux Image for the PLCmodule C32 must be located in this directory mage bin gz O SYS TEC electronic GmbH 2009 L 1072e 1 Page 52 System Manual PLCmodule C32 Tftpd32 by Ph Jounin lof x Current Directory C PLCmodule C32 Y Browse Server interface 192 168 10 52 M Show Dir Tftp Server Tftp Client DHCP server Syslog server Log viewer start time progress bytes Settings Help Figure 29 TFTP server for Windows TFTPD32 A TFTP download of the Linux Image requires that the Ethernet configuration of the PLCmodule C32 is completed according to procedures describes in section 7 3 To update the Linux Image it is necessary to have available another serial connectio
84. mio c vmware vm xubuntu projects ECUcore 5484 user shpimgdemo make Make Settings CFLAGS 09 g Wall mcfv4e I malign int D DEBUG LDFLAGS mcfvde LDLIBS uL Compiling shpimgdemo c Compiling shpimgclient c Compiling shmclient c Compiling trmio c Compiling trace c Linking shpimgdemo Done Copy executeable shpimgdemo to destination tftpboot done vmware vm xubuntu projects ECUcore 5484 user shpimgdemo Figure 33 Generating the demo project shpimgdemo in the Linux development system Section 8 4 describes the usage and handling of the demo project shpimgdemo on the PLCmodule C32 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 64 System Manual PLCmodule C32 8 4 Example for using the shared process image The demo project shpimgdemo described in section 8 3 in connection with the PLC program example RunLight both exemplify the data exchange between a PLC program and a user specific C C application Technical background The PLC program generates some variables in the process image as directly addressable variables In a C C application all those variables are usable via the shared process image For the PLC program example RunLight those are the following variables variables for local control via on board I O s bButtonGroup AT IBO 0 BYTE iAnalogValue AT 1W8 0 INT bLEDGroup0 AT 0B0 0 2 BYTE bLEDGroupl AT 0B1 0 BYLE variables for r
85. mming environment is no longer possible The procedure for deleting a PLC program is described in section 6 8 6 7 2 Run LED green The Run LED provides information about the activity state of the control system The activity state is shown through different modes O SYS TEC electronic GmbH 2009 L 1072e 1 Page 25 System Manual PLCmodule C32 Table 7 Display status of the Run LED LED Mode PLC Activity State The PLC is in state Stop the PLC does not have a valid program the PLC has received a stop command from the OpenPCS programming environment or the execution of the program has been canceled due to an internal error Quick flashing in The PLC is on standby but is not yet executing relation 1 8 to pulse e The PLC has received a start command from the OpenPCS programming environment but the local Run Stop switch is still positioned to Stop Slow flashing in The PLC is in state Run and executes the PLC program relation 1 1 to pulse Quick flashing in The PLC is in mode Heset compare section 6 8 relation 1 1 to pulse 6 7 3 Error LED red The Error LED provides information about the error state of the control system The error state is represented through different modes Table 8 Display status of the Error LED LED Mode PLC Error State No error has occurred the PLC is in normal state Permanent light A severe error has occurred e The PLC was started using an invalid configuratio
86. n e g CAN node address 0x00 and had to be stopped or e A severe error occurred during the execution of the program and caused the PLC to independently stop its state Run division by zero invalid Array access see below Slow flashing in A network error occurred during communication to the programming system the relation 1 1 to execution of a running program is continued This error state will be reset pulse independently by the PLC as soon as further communication to the programming system is successful Quick flashing in The PLC is in mode Heset compare section 6 8 relation 1 1 to pulse Quick flashing in The PLC is on standby but is not yet running relation 1 8 to pulse e The PLC has received a start command from the OpenPCS programming environment but the local Run Stop switch is positioned to Stop In case of severe system errors such as division by zero of invalid Array access the control system passes itself from state Fun into state Stop This is recognizable by the permanent light of the O SYS TEC electronic GmbH 2009 L 1072e 1 Page 26 System Manual PLCmodule C32 Error LED red In this case the error cause is saved by the PLC and is transferred to the computer and shown upon next power on 6 8 Local deletion of a PLC program If the Run Stop switch is positioned to MRes Modul Reset see section 6 7 1 it is possible to delete a program from the PLCmodule C32 This might for examp
87. n the object dictionary of interface CANO O SYS TEC electronic GmbH 2009 L 1072e 1 Page 29 System Manual PLCmodule C32 Table 9 Repr sentation der Netzwerkvariablen f r CAN1 durch Eintr ge im Object Dictionary OD section OD variable Data type CANopen Data type IEC 61131 3 EDS input Inputs inputs for the PLCmodule C32 Index 2000H CAN1InByteO Unsigned8 BYTE USINT Sub 1 252 CAN1InByte251 Index 2001H CAN1InSInt0 Integer8 SINT Sub 1 252 CAN1InSInt251 Index 2010H CAN1InWordo Unsigned16 WORD UINT Sub 1 126 CAN1InWord125 Index 2011H CAN1InInt0 Integer16 INT Sub 1 126 CAN1InInt125 Index 2020H CAN 1InDword0 Unsigned32 DWORD UDINT Sub 1 63 CAN1InDword62 Index 2021H CAN1InDInt0 Integer32 DINT Sub 1 63 CAN1InDInt62 Outputs outputs for the PLCmodule C32 Index 2030H CAN10OUtByteO Unsigned8 BYTE USINT Sub 1 252 CAN 10utByte251 Index 2031H CAN10utSIntO Integer8 SINT Sub 1 252 CAN 10OutSInt251 Index 2040H CAN1OutWordo Unsigned16 WORD UINT Sub 1 126 CAN10utWord125 Index 2041H CAN10utInt0 Integer16 INT Sub 1 126 CAN10OutInt125 Index 2050H CAN1OutDwordo Unsigned32 DWORD UDINT Sub 1 63 CAN10OutDword62 Index 2051H CAN 10OutDIntO Integer32 DINT Sub 1 63 CAN10utDInt62 The object dictionary of interface CANO in total has available 16 TPDO and 16 RPDO
88. n to the PLCmodule C32 in addition to the Ethernet connection All configurations for the terminal program as described in section 7 1 apply 19200 Baud 8 Data bit 1 Stop bit no parity and no flow control Updating the Linux Image of the PLCmodule C32 is only possible if Linux is not running Hence Linux Autostart must be disabled prior to the updating process and CoLilo command prompt must be used instead Procedures are described in section 7 1 After disabling of Linux Autostart the CoLilo command prompt answers To update the Linux Image the following commands must be entered according to the following sequence Table 18 Command sequence to update the Linux Image on the PLCmodule C32 Command Meaning set server host ip addr Setting the IP address of the TFTP server If TFTPD32 is used the address is shown in field Server Interface on the PC set image image bin gz Setting the file names for the Linux Image to be loaded tftp OxC2000000 Downloading the Linux Image from the PC to the PLCmodule C32 flash OxFE040000 Saving the Linux Image in the Flash of the PLCmodule C32 set kfl 1 To validate the Linux Image stored in the Flash of the PLCmodule C32 set auto 1 Autostart of the Linux Image after Reset is activated config save Saving the current configurations in the Flash O SYS TEC electronic GmbH 2009 L 1072e 1 Page 53 System Manual PLCmodule C32 G_ COM1 19200baud Tera Term YT
89. name IP address for the PLCmodule C32 as set in section 7 3 User name PlcAdmin for predefined user account see section 7 7 Password Pic123 for predefined user account see section 7 7 Session Session Stored sessions Host name Port number Environment 192 168 10 248 az Directories Preferences User name Password Pic amp dmin eee eel Private key file Protocol Eile protocol FTP v Insecure Select color Advanced options About Languages Save Close Figure 21 Login settings for WinSCP After using pushbutton Login the FTP client logs in to the PLCmodule C32 and lists up the active content of directory home in the right window Figure 22 shows FTP client WinSCP after successful login to the PLCmodule C32 7 3 PLCmodule C32 PlcAdmin 192 168 10 248 WinSCP lel ni xi Local Mark Files Commands Session Options Remote Help m m e m Sue C HardDisk aie gt Ai 0465 2 ts home aie gt AAAA C PLCmodule C32 HE 5 Default i 7 9 2009 12 45 PM 7 9 2009 12 45 PM 7 9 2009 12 45 PM ES bash_history 339 9 22 2008 3 install sh 2 163 7 9 2009 12 45 PM OB of 384 KiB in O of 1 OB of 2502 B in 0 of 5 Y F2Rename F4 Edit 23 FS Copy 3 F6 Move 7j F7 Create Directory gt lt F8 Delete f F9 Properties JT F10 Quit Figure 22 FTP client for Windows WinSCP After successful login configuration files on the PLCmodule C32 may be edited by usi
90. nc type always or on demand WriteSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgMarkerOffs 128 WriteSectTab 0 m uiPImgDataSectSize sizeof BYTE WriteSectTab 0 m SyncType kShPImgSyncOnDemand define the WriteSectorTable with the size of 1 entry ShPImgC1ntSetupWriteSectTable WriteSectTab 1 If several variable pairs are generated within the same transfer direction for the data exchange between the PLC program and the C C application they should possibly all be defined in one coherent address range Thus it is possible to list them as one entry in the appropriate SectorTable The address of the first variable must be set as the SectorOffset and the sum of the variable sizes as SectorSize Combining the variables improves the efficiency and the performance of the copy processes For each entry of the WriteSectorTable an appropriate SyncType must be defined It determines whether the section is generally taken over from the shared process image into the local image whenever there are two successive PLC cycles kShPlmgSyncAlways or whether it is taken over on demand kShPlImgSyncOnDemand If classified as SyncOnDemand the data only is copied if the respective section before was explicitly marked as updated This takes places by calling function ShPImgCIntWriteSectMarkNewData and entering the corresponding WriteSectorTable Index e g 0 for WriteSectTab 0 etc kShPlmgSyncAlways is provided as SyncType fo
91. ne help about the OpenPCS programming system Online help about the OpenPCS programming system User Manual SYS TEC specific extensions for OpenPCS IEC 61131 3 Manual no L 1054 User Manual CANopen extension for IEC 61131 3 Manual no L 1008 IEC 61131 3 Programming Industrial Automation Systems John Tiegelkamp Springer Verlag ISBN 3 540 67752 6 a short version is available as PDF on the OpenPCS installation CD SYS TEC electronic GmbH 2009 L 1072e 1 Page 6 System Manual PLCmodule C32 Section 5 Section 6 Section 7 Section 8 this manual describes electric connections of PLCmodule C32 and their application moreover it documents their internal structure includes details about the usage of PLCmodule C32 e g the setup of the process image the meaning of control elements and this section provides basic information about programming the module Furthermore it gives information about the usage of CAN interfaces in combination with CANopen makes available details about the configuration of PLCmodule C32 e g the configuration of Ethernet and CAN interfaces the procedure of Linux Autostart and the selection of the firmware version In addition the administration of PLCmodule C32 is explained e g the login to the system the user administration and the execution of software updates covers information about data exchange between a PLC program and a user specific C C application vi
92. ng on the firmware version used PLCmodule C32 firmware provides numerous function blocks to the user to access communication interfaces Table 3 specifies the availability of FB communication classes SIO CAN UDP for different PLCmodule C32 firmware versions Section 7 6 describes the selection of the appropriate firmware version Table 3 Support of FB communication classes for different types of the PLCmodule Type of PLCmodule PLCmodule PLCmodule Remark Interface C32 Z3 C32 Z4 C32 Z5 Art no 3090000 Art no 3090001 Art no 3090002 CAN X X FB description see manual L 1008 UDP X X FB description see manual L 1054 SIO X X X FB description see manual L 1054 Table 20 in Appendix A contains a complete listing of firmware functions and function blocks that are supported by the PL Cmodule C32 Detailed information about using the CAN interfaces in connection with CANopen is provided in section 6 9 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 21 System Manual PLCmodule C32 6 4 Process image of the PLCmodule C32 6 4 1 Local In and Outputs Compared to other SYS TEC compact control systems the PLCmodule C32 obtains a process image with identical addresses All in and outputs listed in Table 4 are supported by the PLCmodule C32 Table 4 Assignment of in and outputs to the process image of the PLCmodule C32 1 0 of the PLCmodule C32 Address and Data type in the Process Image
93. ng pushbuttons F4 or F4 Edit within the FTP client WinSCP select transfer mode Text With the help of pushbutton F5 or F5 Copy files may be transferred between the computer and the PLCmodule C32 e g for data backups of the PLCmodule C32 or to transfer installation files for firmware updates select transfer mode Binary SYS TEC electronic GmbH 2009 L 1072e_1 Page 46 System Manual PLCmodule C32 7 9 Adding and deleting user accounts Adding and deleting user accounts requires the login to the PLCmodule C32 as described in section 7 8 1 Adding a new user account takes place via Linux command adduser In embedded systems such as the PLCmodule C32 it does not make sense to open a directory for every user Hence parameter H disables the opening of new directories By using parameter h home instead the given directory home is rather assigned to the new user To open a new user account on the PLCmodule C32 Linux command adduser is to be used as follows adduser h hom H G group username Figure 23 exemplifies adding a new account on the PLCmodule C32 for user admin2 c Telnet 192 168 10 248 PLCmodule C32_192 168 16 248 login PlcAdmin Password sh 2 65 H adduser h home H G users admin2 Changing password for admin2 Enter the new password minimum of 5 maximum of 8 characters Please use a combination of upper and lower case letters and numbers Enter new password Re
94. nnels each in connection with an active low pass filter This allows for a voltage accuracy of 1 Analog outputs AOO AO1 have an internal structure as shown in Figure 10 Figure 10 Setup of analog outputs AOO AO1 The analog outputs in a PLC program are accessible via the process image see Table 4 in section 6 4 1 5 4 Communication interfaces 5 4 1 Serial interfaces ASCO ASC2 The PLCmodule C32 features 3 serial interfaces ASCO ASC2 which are realized as RS 232 ASCO Interface ASCO also called COMO primarily serves as service interface to administer the PLCmodule C32 RS 232 signals RxD TxD and GND are available at a RJ11 connector The delivery of the PLCmodule C32 includes an adapter cable that leads through the signals on a SUB D9 connector with standard circuit RS 232 Y cable ASCO ASC1 order number O SYS TEC electronic GmbH 2009 L 1072e 1 Page 18 System Manual PLCmodule C32 162049 If required it is possible to use a screened RS232 extension cable plug plug 1 1 to connect the PLCmodule C32 with the Host PC ASC1 Interface ASC1 also called COM1 is disposable and usually used for data exchange between the PLCmodule C32 and other field devices under control of the PLC program Signals RxD TxD and GND are available at a RJ11 connector The delivery of the PLCmodule C32 includes an adapter cable which leads through the signals on a SUB D9 connector with standard circuit RS 232 Y ca
95. ntervention Figure 11 shows the system start in detail Power on Reset Start Linux Bootloader CoLilo For more details on how to deactivate the autarchic Linux start and to activate the CoLilo command prompt compare section 7 1 Start Linux Operating System Load Module Drivers VO CAN RTC etc Start Servers HT TP Server FTP Server Start PLC Firmware Run PLC User Program Figure 11 System start of the PLCmodule C32 Details about the start script home etc autostart are covered in section 7 5 Run Boot Script home etc autostart For detailed information about PLC programming of the PLCmodule C32 compare section 6 3 O SYS TEC electronic GmbH 2009 L 1072e_1 Page 20 System Manual PLCmodule C32 6 3 Programming the PLCmodule C32 The PLCmodule C32 is programmed with IEC 61131 3 conform OpenPCS programming environment There exist additional manuals about OpenPCS that describe the handling of this programming tool Those are part of the software package OpenPCS All manuals relevant for the PLCmodule C32 are listed in Table 1 PLCmodule C32 firmware is based on standard firmware for SYS TEC s compact control units Consequently it shows identical properties like other SYS TEC control systems This affects especially the process image setup see section 6 4 as well as the functionality of control elements Hex Encoding switch DIP Switch Run Stop switch Run LED Error LED Dependi
96. o L 1054 After the impulse generator is started it takes over the control of respective outputs After the impulse generator is deactivated the respective output adopts the corresponding value that is filed in the process image for this output see Table 4 in section 6 4 1 Table 6 lists the allocations between impulse channels and outputs Table 6 Allocation between impulse channels and outputs Impulse channel Impulse output PO PO DO21 QX2 4 P1 P1 DO22 QX2 5 6 7 Control and display elements 6 7 1 Run Stop switch The Run Stop switch makes it possible to start and interrupt the execution of the PLC program Together with start and stop pushbuttons of the OpenPCS programming environment the Run Stop switch represents a logical AND relation This means that the PLC program will not start the execution until the local Run Stop switch is positioned to Run AND additionally the start command cold warm or hot start is given by the OpenPCS user interface The order hereby is not relevant A run command given by OpenPCS while at the same time the Run Stop switch is positioned to Stop is visible through quick flashing of the Run LED green Positioned to WRes Modul Reset the Run Stop switch allows for local deletion of a PLC program from the PLCmodule C32 This might for example be necessary if an error occurs and the PLC program is running an infinite loop and consequently accessing the OpenPCS progra
97. o the module from the OpenPCS programming environment No additional software is needed for that Suitable as FTP client would be WinSCP which is available as Open Source download from http winscp net It only consists of one EXE file that needs no installation and can be booted immediately Furthermore freeware Core FTP LE downloadable from http www coreftp com or Total Commander integrated in the file manager are suitable as FTP client O SYS TEC electronic GmbH 2009 L 1072e 1 Page 32 System Manual PLCmodule C32 TFTP server The TFTP server is necessary to update the Linux Image on the PLCmodule C32 Freeware TFTPD32 download from http tftod32 jounin net is suitable as TFTP server It only consists of one EXE file that needs no installation and can be booted immediately For programs that communicate via Ethernet interface such as FTP client or TFTP server it must be paid attention to that rights in the Windows Firewall are released Usually Firewalls signal when a program seeks access to the network and asks if this access should be permitted or denied In this case access is to be permitted 7 2 Activation Deactivation of Linux Autostart During standard operation mode the bootloader CoLilo automatically starts the Linux operating system of the module after Reset or Power on Afterwards the operating system loads all further software components and controls the PLC program execution see section 6 2 Fo
98. odule C32 Figure 19 exemplifies the login to the PLCmodule C32 using a Windows standard Telnet client 7 8 2 Login to the FTP server The PLCmodule C32 has available a FTP server FTP Daemon that allows file exchange with any computer up and download of files Due to security and performance reasons the FTP server is deactivated by default and must be started manually if required Therefore the user must first be logged in to the command shell of the PLCmodule C32 following the procedures described in section 7 8 1 Afterwards the following command must be entered in the Telnet or Terminal window ftpd D Figure 20 illustrates an example for starting the FTP server ci Telnet 192 168 10 248 PLCmodule C32_192 168 16 248 login PlcAdmin Password sh 2 85 t ftpd D sh 2 85 lt Figure 20 Starting the FTP server Advice By entering command ftpd D in the start script home etc autostart the FTP server may be called automatically upon boot of the PLCmodule C32 see section 7 5 WinSCP which is available as open source would be suitable as FTP client for the computer see section 7 1 It consists of only one EXE file needs no installation and may be started immediately After program start dialog WinSCP Login appears see Figure 21 and must be adjusted according to the following configurations O SYS TEC electronic GmbH 2009 L 1072e 1 Page 45 System Manual PLCmodule C32 File protocol FTP Host
99. om the improper usage or improper installation of the hardware or software SYS TEC electronic GmbH further reserves the right to alter the layout and or design of the hardware without prior notification and accepts no liability for doing so Copyright 2009 SYS TEC electronic GmbH All rights including those of translation reprint broadcast photomechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from SYS TEC electronic GmbH Inform yourselves Contact Direct Your local distributor Address SYS TEC electronic GmbH August Bebel Str 29 D 07973 Greiz GERMANY Ordering 49 0 36 61 62 79 0 oe Information info systec electronic com S OOS wader http www systec Technical Support de electronic com distributors Fax 49 3661 67999 9 0 36 61 62 79 0 support systec electronic com 49 03661 6799 36 61 6 79 99 Web Site http www systec electronic com 1st Edition September 2009 SYS TEC electronic GmbH 2009 L 1072e_1 Page 2 System Manual PLCmodule C32 Table of Contents ME A cuacucaataantase canute sila ctctateaseCepbede amia aradan ieie onanii 5 2 Overview Where to find what eccccesseeeeeeseseeeeeeseeneeeeseseeeeeseseeneeeeeseeeeeeeeseeeeeeensees 6 3 Product DESCripto i sese cron nmi a 8 4 Optl hal ACCeSSOLDy uii ec ias 10 4d IO BO
100. on of the PLCmodule C32 as described in section 7 3 After completing the Ethernet configuration all further commands can either be entered in the Terminal program or alternatively in a Telnet client see below Suitable as Terminal program would be HyperTerminal which is included in the Windows delivery or TeraTerm which is available as Open Source and meets higher demands downloadable from http ttssh2 sourceforge jp Telnet Client allows the communication with command shell of the PLCmodule C32 via Ethernet connection to ETHO of the PLCmodule C32 Using Telnet clients requires a completed Ethernet configuration of the PLCmodule C32 according to section 7 3 As alternative solution to Telnet client all commands can be edited via a Terminal program to ASCO resp COMO of the PLCmodule C32 Suitable as Telnet client would be Telnet which is included in the Windows delivery or TeraTerm which can also be used as Terminal program see above An FTP client allows for file exchange between the PLCmodule C32 ETHO and the computer This allows for example editing configuration files by transferring those from the PLCmodule C32 onto the computer where they can be edited and get transferred back to the PLCmodule C32 Downloading files onto the PLCmodule C32 is also necessary to update the PLC firmware Advice The update of PLC firmware is not identical with the update of the PLC user program The PLC program is directly transferred t
101. oof Please pay attention to not make reentrant calls of local functions within the client application As shown in the example only a global flag should be set for the signaling within the callback handler This flag will later on be evaluated and processed in the main loop of the client application O SYS TEC electronic GmbH 2009 L 1072e 1 Page 58 System Manual PLCmodule C32 8 2 API of the shared process image client As illustrated in Figure 31 the user specific C C application exclusively uses the API Application Programming Interface provided by the shared process image client This API is declared in the header file shpimgclient h and implemented in the source file shpimgclient c It contains the following types partly defined in shpimg h and functions Structure tShPImqLayoutDscrpt typedef struct definition of process image sections unsigned int m uiPImgInputOffs start offset of input section unsigned int m uiPImgInputSize size of input section unsigned int m uiPImgOutputOffs start offset of output section unsigned int m uiPImgOutputSize size of output section unsigned int m uiPImgMarkerOffs start offset of marker section unsigned int m uiPImgMarkerSize size of marker section tShPImgLayoutDscrpt Structure tShPImgLayoutDscrpt describes the setup of the process image given by the PLC firmware The client application receives the information about the setup of the process image via function
102. operties FL F10 Quit Figure 27 File transfer in FTP client WinSCP Important To transfer the firmware archive via FTP transfer type Binary must be chosen If FTP client WinSCP is used the appropriate transfer mode is to be chosen from the menu bar After downloading the firmware archive it must be checked if the file transferred to the PLCmodule C32 has the exact same size as the original file on the computer compare Figure 27 Any differences in that would indicate a mistaken transfer mode e g Text In that case the transfer must be repeated using transfer type Binary After downloading the self extracting archive the PLC firmware must be installed on the PLCmodule C32 Therefore the following commands are to be entered in the Telnet window It must be considered that the file name for the firmware archive is labeled with a version identifier e g install plemodule c32 0408 0100 sh for version 4 08 01 00 This number must be adjusted when commands are entered cd tmp chmod x install plcmodule c32 0408 0100 sh install plcmodule c32 0408 0100 sh Advice The command shell of the PLCmodule C32 is able to automatically complete names if the Tab key is used tab completion Hence it should be sufficient to enter the first letters of each file name and the system will complement it automatically For example ins is completed to install plemodule c32 0408 0100 sh if the Tab key is used O SYS TEC electronic
103. or example if the command is called in directory projects ECUcore 5484 user all archive files will be unzipped into the path projects ECUcore 5484 user shpimgdemo Figure 32 exemplifies the unzipping process of shpimgdemo tar gz within the Linux development system O SYS TEC electronic GmbH 2009 L 1072e 1 Page 63 System Manual PLCmodule C32 Fie Edit View Terminal Go Help vmware vm xubuntu cd projects ECUcore 5484 user vmware vm xubuntu projects ECUcore 5484 user tar xzvf shpimgdemo tar gz shpimgdemo shpimgdemo Makefile shpimgdemo shpimg h shpimgdemo shpimgclient c shpimgdemo shpimgclient h shpimgdemo global h shpimgdemo trace c shpimgdemo trmio c shpimgdemo trmio h shpimgdemo shmclient c shpimgdemo shmclient h shpimgdemo shpimgdemo c vmwa reGvm xubuntu projects ECUcore 5484 user Figure 32 Unzipping the archive files shpimgdemo tar gz in the Linux development system After unzipping and switching into subdirectory shpimgdemo the demo project can be created by calling command make cd shpimgdemo make Figure 33 shows how the demo project shpimgdemo is generated in the Linux development system Fie Edit View Terminal Go Help vmwareQvm xubuntu projects ECUcore 5484 user cd shpimgdemo vmware vm xubuntu projects ECUcore 5484 user shpimgdemo ls global h shmclient c shpimgclient c shpimgdemo c trace c trmio h Makefile shmclient h shpimgclient h shpimg h tr
104. pplications is based on the Software package SO 1095 VMware Image of the Linux development system for the ECUcore 5484 IEC 61131 3 PLC System User C C Application Application Application PLC Runtime System User C C Application int main int nArgCnt p char apszArg p PLC Application PROGRAM Prog1 H BYTE pbVar1 BYTE bAnyData 0x55 1 l l l Local Image VAR l get address of variable in shared image Var AT MB128 0 BYTE I pbVar1 ShPlmgCIntGetDataSect END VAR gt I ShPlmgLayoutDscrptm_uiPlmgMarkerOffs B l 128 Offs for MB128 0 IF Var 1655 THEN i Do any thing Output END IF Y Vart AT MB128 0 BYTE Marker i l setup read and write sector table ShPimgCintSetupReadSectTable ShPimgCintSetupWriteSectTable END_PROGRAM access to variable in shared image pb Var1 bAnyData 3 5 Shared Library so Shared Image 2 4 ReadSectTable WriteSectTable pmc32drv so ReadProcimage WriteProclmage Kernel Object ko I O Access Proclmage Exchange Cycle 1 Read Local Inputs 2 Write Shared to Local Run PLC Cycle 4 Write Shared to Local 5 Read Local to Shared Hardware 3 Read Local to Shared 6 Write Local Outpu
105. r service purposes such as configuring the Ethernet interface see section 7 3 or updating the Linux Image see section 7 13 2 it is necessary to disable this Autostart mode and to switch to CoLilo command prompt instead configuration mode The automatic boot of Linux operating system is connected with the simultaneous compliance with various conditions AND relation Consequently for disabling Linux Autostart it is sufficient to simply not comply with one of the conditions Table 11 lists up all conditions that are verified by the bootloader CoLilo All of them must be complied with to start an Autostart for the Linux Image Table 11 Conditions for booting Linux No Condition Remark 1 kfl 1 und auto 1 The Linux Image stored in the Flash must be declared as valid during CoLilo configuration and the Autostart of the image must be activated after Reset for corresponding CoLilo commands see section 7 13 2 2 don t push Boot Button while If at the moment of releasing Reset the Boot button is Reset Button is pushed pushed the CoLilo don t start Linux booting In this case the CoLilo start to it s own command prompt 3 No interruption of Autostart via If all conditions are met CoLilo verifies the serial COMO of the PLCmodule C32 interface COMO of the PLCmodule C32 for about 1 second after Reset regarding the reception of SPACE signals ASCII 20H If such a signal is received within that time CoLilo
106. r the ReadSectorTable the value of the member element m SyncType is ignored The PLC firmware is not able to identify which variables were changed by the PLC program of the cycle before Hence all sections defined in ReadSectorTable are always taken over from the local image into the shared process image Thus the respective variables in the shared process image always hold the actual values The PLC firmware and the C C application both use the shared process image To prevent conflicts due to accesses from both of those in parallel running processes at the same time the shared process image is internally protected by a semaphore If one process requires access to the shared process image this process enters a critical section by setting the semaphore first and receiving exclusive access to the shared process image second If the other process requires access to the shared process image at the same time it also must enter a critical section by trying to set the semaphore In this case the operating system identifies that the shared process image is already being used It blocks the second process until the first process leaves the critical section and releases the semaphore Thereby the operating system assures that only one of the two in parallel running processes PLC runtime system and C C application may enter the critical section and receives access to the shared process image To ensure that both processes do not interfere with each other
107. re and you are welcome to redistribute it under certain conditions type show c for details The hypothetical commands show w and show c should show the appropriate parts of the General Public License Of course the commands you use may be called something other than show w and show c they could even be mouse clicks or menu items whatever suits your program You should also get your employer if you work as a programmer or your school if any to sign a copyright disclaimer for the program if necessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the program Gnomovision which makes passes at compilers written by James Hacker signature of Ty Coon 1 April 1989 Ty Coon President of Vice This General Public License does not permit incorporating your program into proprietary programs If your program is a subroutine library you may consider it more useful to permit linking proprietary applications with the library If this is what you want to do use the GNU Library General Public License instead of this License O SYS TEC electronic GmbH 2009 L 1072e 1 Page 78 System Manual PLCmodule C32 Index JO o ere ipe eI 49 home etc autostart 20 41 home plc plemodule c32 cfg 37 home plc PlcPData bin 71 mpi seed ten ndn ides eto e exc 49 50 A ACCESSONY Lust el ee ie 10
108. rk variables for CAN1 are accessible via the marker section of the process image Section 6 9 2 includes more detailed information about CAN interface CAN1 and the network variables that are provided by it in the marker section 6 5 Communication interfaces 6 5 1 Serial interfaces The PLCmodule C32 features 3 serial interfaces ASCO ASC2 that function as RS 232 Details about hardware activation are included in section 5 4 1 ASCO Interface ASCO also termed as COMO primarily serves as service interface to administer the PLCmodule C32 By default in boot script etc inittab it is assigned to the Linux process getty and is used as Linux console to administer the PLCmodule C32 Even though interface ASCO may be used from a PLC program via function blocks of type SIO Xxx see manual SYS TEC specific Extensions for OpenPCS IEC 61131 3 Manual no L 1054 only signs should be output in this regard The module tries to interpret and to execute signs that it receives as Linux commands To freely use an interface from a PLC program boot script etc inittab must be adjusted appropriately which is only possible by modifying the Linux image This requires software package SO 1095 VMware Image of the Linux Development System for the ECUcore 5484 ASC1 Interface ASC1 also termed as COM1 is disposable and support data exchange between the PLCmodule C32 and other field devices kept under control of the PLC program Interface
109. rl BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 The following code extract shows the complete definition of all variables in the demo project used for exchanging data with the PLC program Setup shared process image client fRes ShPImgClntSetup amp ShPImgLayoutDscrpt if fRes printf n ERROR Init of shared process image client failed pabShPImgDataSect ShPImgClntGetDataSect O SYS TEC electronic GmbH 2009 L 1072e 1 Page 65 System Manual PLCmodule C32 Read Sector Table Input Section bButtonGroup AT IB0 0 ShPImgReadSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgInputOffs 0 ShPImgReadSectTab 0 m uiPImgDataSectSize sizeof BYTE ShPImgReadSectTab 0 m SyncType kShPImgSyncAlways pbPImgVar_61131_bButtonGroup BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgInputOffs 0 Output Section bLEDGroup0 AT 0B0 0 IL bLEDGroupl1 AT QB1 0 ShPImgReadSectTab 1 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgOutputOffs 0 ShPImgReadSectTab 1 m uiPImgDataSectSize sizeof BYTE sizeof BYTE ShPImgReadSectTab 1 m SyncType kShPImgSyncAlways pbPImgVar_61131_bLEDGroup0 BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgOutputOffs 0 pbPImgVar 61131 bLEDGroupl BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgOutputOffs 1 Marker Section uiSlidbarLen AT MW5
110. s no warranty for this free software If the software is modified by someone else and passed on we want its recipients to know that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow O SYS TEC electronic GmbH 2009 L 1072e 1 Page 74 System Manual PLCmodule C32 GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter translation is included without limitation in the term modification Each licensee is addressed as you
111. stem Manual PLCmodule C32 4 Optional Accessory 4 1 IO Box The SYS TEC IO Box order number phyPS 451 is a universal in and output device in robust aluminum housing It allows for easy simulation of analog and digital in and outputs Hence the IO Box makes easy the commissioning of PLCmodule C32 and supports the software development and testing independently from the actual process 5 Device 1 Figure 2 SYS TEC IO Box 4 2 USB RS232 Adapter Cable The SYS TEC USB RS232 Adapter Cable order number 3234000 provides a RS232 interface via an USB Port of the PC Together with a terminal program it enables the configuration of the PLCmodule C32 from PCs e g laptop computers which do not have RS232 interfaces any more see section 7 1 Figure 3 SYS TEC USB RS232 Adapter Cable O SYS TEC electronic GmbH 2009 L 1072e 1 Page 10 System Manual PLCmodule C32 4 3 Driver Development Kit The Driver Development Kit for ECUcore 5484 order number SO 1098 allows the user to independently adjust the I O level to own specific application requirements The Embedded Linux used for PLCmodule C32 resp for the PLCcore 5484 that it contains supports dynamic loading of drivers during runtime and consequently allows for a separation of PLC runtime system and l O driver Hence the user is able to adjust the I O driver to own requirements without having to modify the PLC runtime System itself O SYS TEC electronic GmbH 2009 L 1072e 1
112. the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances O SYS TEC electronic GmbH 2009 L 1072e 1 Page 76 System Manual PLCmodule C32 It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Program under this License may add an explicit geographic
113. the shared memory client files shmclient c and shmclient c Both client implementations are necessary to generate a user specific C C application The archive of the shared process image demos shpimgdemo tar gz contains the respective files To create own user specific client applications it is recommended to use this demo project as the basis for own adaptations and extensions Moreover this demo project contains a Makefile with all relevant configuration adjustments that are necessary to create a Linux application for the PL Cmodule C32 Table 19 lists all files of the archive shpimgdemo tar gz and classifies those as general part of the C C application or as specific component for the demo project shpimgdemo Table 19 Content of the archive files shpimgdemo tar gz File Necessary for all C C In particular for demo applications shpimgdemo shpimgclient c X shpimgclient h X shmclient c X shmclient h X shpimg h x global h x Makefile draft to be adjusted shpimgdemo c x trmio c x trmio h x trace c x The archive file shpimgdemo tar gz including the shared process image demo must be unzipped into any subdirectory following the path orojects ECUcore 5484 user within the Linux development system Therefore command tar must be called tar xzvf shpimgdemo tar gz During the unzipping process command tar independently generates the subdirectory shpimgdemo F
114. tifier etc of the static object dictionary for interface CAN can take place from the PLC program by using SDO function blocks Therefore inputs NETNUMBER and DEVICE must be used as follows NETNUMBER DEVICE lg Interface CAN 0 local Node The PLC program example ConfigCAN1 exemplifies the configuration of interface CANO through a PLC program by using function blocks of type CAN SDO Xxx O SYS TEC electronic GmbH 2009 L 1072e 1 Page 31 System Manual PLCmodule C32 7 Configuration and Administration of the PLCmodule C32 7 1 System requirements and necessary software tools The administration of the PLCmodule C32 requires any Windows or Linux computer that has available an Ethernet interface and a serial interface RS232 As alternative solution to the on board serial interface SYS TEC offers a USB RS232 Adapter Cable order number 3234000 see section 4 2 that provides an appropriate RS232 interface via USB port All examples referred to in this manual are based on an administration of the PLCmodule C32 using a Windows computer Procedures using a Linux computer would be analogous To administrate the PLCmodule C32 the following software tools are necessary Terminal program Telnet client FTP client A Terminal program allows the communication with the command shell of the PLCmodule C32 via a serial RS232 connection to ASCO resp COMO of the PLCmodule C32 This is required for the Ethernet configurati
115. ts Figure 31 Overview of the shared process image SYS TEC electronic GmbH 2009 L 1072e 1 Page 55 System Manual PLCmodule C32 Not all variables are utilizable via the shared process image within a C C application Only those directly addressed variables that the PLC program generates within the process image As shown in Figure 31 two separate process images are used for the data exchange with an external application inside of the PLC runtime system This is necessary to meet the IEC 61131 3 requirement that the initial PLC process image may not be modified during the entire execution of one PLC program cycle Thereby the PLC program always operates with the internal process image that is locally generated within the PLC runtime system Local Image in Figure 31 This is integrated within the PLC runtime system and is protected against direct accesses from the outside On the contrary the user specific external C C application always uses the shared process image Shared Image in Figure 31 This separation of two process images enables isolation between accesses to the PLC program and the external application Those two in parallel and independently running processes now must only be synchronized for a short period of time to copy the process data An activation of option Share PLC process image within the PLC configuration enables data exchange with external applications see section 7 4 1 Alternatively entry Enable
116. ts DIO DI23 The inputs are galvanically isolated in groups of four inputs Each four inputs have the same supply potential DIO 3 DI4 7 DI8 11 The inputs are highly active with the following selector shaft e Input voltage gt 13 VDC is shown as 1 in the process image e Input voltage lt 5 VDC is shown as 0 in the process image Digital inputs DIO DI23 have the internal structure as shown in Figure 5 VCC Opto Coupler L Figure 5 Setup of digital inputs DIO DI23 The digital inputs in a PLC program are accessible via the process image see Table 4 in section 6 4 1 5 3 2 Counter inputs CO C2 24VDC The PLCmodule C32 features 3 high speed counter inputs CO C2 that are galvanically isolated from on another and from the CPU kernel The inputs are highly active with the following selector shafts e Input voltage gt 13 VDC is shown as 1 in the process image e Input voltage lt 5 VDC is shown as 0 in the process image Counter inputs CO C2 have the same internal structure as the digital inputs DIO DI23 shown in Figure 5 The counter inputs in a PLC program are accessible via process image see Table 4 in section 6 4 1 as well as via function block CNT FUD see section 6 6 1 and manual SYS TEC specific extensions for OpenPCS IEC 61131 3 manual no L 1054 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 15 System Manual PLCmo
117. ttery buffered Temperature sensor On board software Linux PLC firmware CANopen Master HTTP and FTP server Programmable according to IEC 61131 3 and in C C Function block libraries for communication CANopen Ethernet and UART Function block libraries for hardware components RTC Counter PWM PTO Linux based other user programs are executable in parallel Easy HTML based configuration via WEB Browser Remote login via Telnet Dimensions 160 x 90 x 75mm Transparent front cover Suitable for DIN top hat rail mounting O SYS TEC electronic GmbH 2009 L 1072e 1 Page 8 System Manual PLCmodule C32 There are different types of firmware available for PLCmodule C32 They differ regarding the protocol used for communication between the Programming PC and the PLCmodule C32 Order no 3090001 PLCmodule C32 Z4 CANopen Communication with Programming PC via CANopen Protocol Interface CANO Order no 3090002 PLCmodule C32 Z5 Ethernet Communication with Programming PC via UDP Protocol Interface ETHO The PLCmodule C32 is an all round PLC for complex industrial control tasks As Linux based compact controller the module is programmable in C C and in IEC 61131 3 It allows for highly efficient software development for this module The on board firmware of PLCmodule C32 contains the entire PLC runtime environment including CANopen connection with CANopen Master functionality Thus the module is able to operate control tasks such
118. vant for PLCmodule C32 To program the PLCmodule C32 as PLC according to IEC 61131 3 the programming environment OpenPCS is used There are also some manuals for OpenPCS that describe the usage and SYS TEC specific extensions Those are part of the software package OpenPCS Table 1 Overview of relevant manuals for the PLCmodule C32 Information about Basic information about the PLCmodule C32 connections configuration administration process image firmware update etc Development of user specific C C applications for PLCmodule C32 the PLCmodule C32 is based on the ECUcore 5484 PLCcore 5484 VMware image of the Linux development system Basics about the OpenPCS IEC 61131 programming system Complete description about the OpenPCS IEC 61131 programming system basics of PLC programming according to IEC 61131 3 Command overview and description of standard function blocks according to IEC 61131 3 SYS TEC extension for IEC 61131 3 String functions UDP function blocks SIO function blocks FB for RTC Counter EEPROM PWM PTO CANopen extension for IEC 61131 3 network variables CANopen function blocks Textbook about PLC programming according to IEC 61131 3 In which manual In this manual System Manual ECUcore 5484 Manual no L 1102 Brief instructions for the programming system Entry OpenPCS Dokumentation in the OpenPCS program group of the start menu Manual no L 1005 Onli
119. ware Foundation s software and to any other program whose authors commit to using it Some other Free Software Foundation software is covered by the GNU Library General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights These restrictions translate to certain responsibilities for you if you distribute copies of the software or if you modify it For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the Source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also for each author s protection and ours we want to make certain that everyone understands that there i
120. will disable the Linux Autostart and will activate its own command prompt instead O SYS TEC electronic GmbH 2009 L 1072e 1 Page 33 System Manual PLCmodule C32 Communicating with the bootloader CoLilo only takes place via the serial interface ASCO resp COMO of the PLCmodule C32 As receiver on the computer one of the terminal programs must be started e g HyperTerminal or TeraTerm see section 7 1 and must be configured as follows see Figure 13 19200 Baud 8 Data bit 1 Stop bit no parity no flow control Tera Term Serial port setup Port Baud rate frsz00 Data fav y Cancel Parity nne Stop he Help Elow control none Fa nectar fo msecfline Figure 13 Terminal configuration using the example of TeraTerm au 7 3 Ethernet configuration of the PLCmodule C32 The main Ethernet configuration of the PLCmodule C32 takes place within the bootloader CoLilo and is taken on for all software components Linux PLC firmware HTTP server etc The Ethernet configuration is carried out via the serial interface ASCO resp COMO Therefore the CoLilo command prompt must be activated as described in section 7 1 Table 12 lists up CoLilo commands necessary for the Ethernet configuration of the PLCmodule C32 O SYS TEC electronic GmbH 2009 L 1072e 1 Page 34 System Manual PLCmodule C32 Table 12 CoLilo configuration commands of the PLCmodule C32 Configuration Command R
121. y part thereof to be licensed as a whole at no charge to all third parties under the terms of this License C If the modified program normally reads commands interactively when run you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work as a whole If identifiable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the int

L-1072, System Manual PLCmodule-C32

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