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USER`S GUIDE

1. ST Equivalence selected MUX4 RAND 4 1 4 8 16 random selection of 1 of 4 pre defined values the value issued of RAND call is in set 0 3 so selected issued from MUX4 will get randomly the value 1 if 0 is issued from RAND or 4 if 1 is issued from RAND or 8 if 2 is issued from RAND or 16 if 3 is issued from RAND IL Equivalence LD 4 RAND MUX4 1 4 8 16 ST selected B 300 ICS Triplex ISaGRAF Inc Language Reference SEL Arguments SEL BOO indicates the chosen value IN1 IN2 INT any integer analog values Q INT value if SEL is FALSE value2 if SEL is TRUE Description Binary selector selects a value between 2 integer values FBD program using SEL block AutoMode SEL ManuCmd m1 InpCmd m2 Q ProCmd ST Equivalence ProCmd SEL AutoMode ManuCmd InpCmd process command selection IL Equivalence LD AutoMode SEL ManuCmd InpCmd ST ProCmd ASCII Arguments IN MSG any non empty string Pos INT position of the selected character in set 1 len len is the length of the IN message Code INT code of the selected character in set 0 255 returns 0 is Pos is out of the string Description Gives the ASCII code of one character in a message string ICS Triplex ISaGRAF Inc B 301 Language Reference FBD program using ASCII b
2. complete_string Pos q sub_string ST Equivalence complete_string ABCD EFGH complete_string is ABCDEFGH sub_string DELETE complete_string 4 3 sub_string is ABGH IL Equivalence LD ADD ST DELETE ST FIND ABCD EFGH complete_string 4 3 sub_string find ICS Triplex ISaGRAF Inc B 303 Language Reference Arguments In Pat Pos Description MSG any message string MSG any non empty string Pattern INT 0 if sub string Pat not found position of the first character of the first occurrence of the sub string Pat first position is 1 this function is case sensitive Finds a sub string in a message string Gives the position in the string of the sub string FBD program using FIND block CAT ABCD EFGH complete_string CDEF P Po found ST Equivalence complete_string ABCD EFGH complete_string is ABCDEFGH found FIND complete_string CDEF found is 3 IL Equivalence LD ABCD ADD EFGH ST complete_string FIND CDEF ST found INSERT insert Arguments IN MSG initial string Str MSG string to be inserted Pos INT position of the insertion the insertion is done before the p
3. Base q rest_of_division ST Equivalence division_result value divider integer division rest_of_division MOD value divider rest of the division IL Equivalence LD Arguments SEL IN1 IN4 value divider division_result value divider rest_of_division INT selector integer value must be in set 0 3 INT any integer analog values ICS Triplex ISaGRAF Inc B 297 Language Reference Q INT value1 if SEL 0 value2 if SEL 1 value3 if SEL 2 value4 if SEL 3 0 for all other values of the selector Description Multiplexer with 4 entries selects a value between 4 integer values FBD program using MUX4 block choice 10 100 1000 range ST Equivalence range MUX4 choice 1 10 100 1000 select from 4 predefined ranges for example if choice is 1 range will be 10 IL Equivalence LD choice MUX4 1 10 100 1000 ST range MUX8 Arguments SEL INT selector integer value must be in set 0 7 IN1 IN8 INT any integer analog values Q INT value if selector 0 value2 if selector 1 value8 if selector 7 0 for all other values of the selector B 298 ICS Triplex ISaGRAF Inc Language Reference Description Multiplexer with 8 entries selects a value between 8 integer values FBD program using MUX8 block
4. LD register ROL 1 ST result ROR ror IN NbR Q Arguments IN INT any integer analog value NbR INT number of 1 bit rotations in set 1 31 Q INT right rotated value no effect if NbR lt 0 B 292 ICS Triplex ISaGRAF Inc Language Reference Description Make the bits of an integer rotate to the right Rotation is made on 32 bits gt FBD program using ROR block ror register m 1R a result ST Equivalence result ROR register 1 register 24 0100_1101_0011_0101 result 2 1010_0110_1001_1010 IL Equivalence LD register ROR 1 ST result SHL shl IN NbS Q Arguments IN INT any integer analog value NbS INT number of 1 bit shifts in set 1 31 Q INT left shifted value no effect if NbS lt 0 0 is used to replace lowest bit Description Make the bits of an integer shift to the left Shift is made on 32 bits FBD program using SHL block shl register IN 1s a result ST Equivalence ICS Triplex ISaGRAF Inc B 293 Language Reference result SHL register 1 register 2 0100_1101_0011_0101 result 2 1001_1010_0110_1010 IL Equivalence LD register SHL 1 ST result SHR shr IN NbS Q Arguments IN INT any integer analog value NbS INT number of 1 bit shifts in set 1 31 Q INT right shifted value
5. eeeeeee ACOS ASIN ATAN COS SIN TAN Register control 0e ROL ROR SHL SHR Data manipulation 00 MIN MAX LIMIT MOD MUX4 MUX8 SEL ODD RAND Data conversion 000000 ASCII String management MLEN FIND REPLACE Absolute value Exponent Power calculation Logarithm Square root Truncate decimal part Arc cosine Arc sine Arc tangent Cosine Sine Tangent Rotate Left Rotate Right Shift Left Shift Right Minimum Maximum Limit Modulo Multiplexer 4 or 8 entries Binary selector Odd parity Random value Character gt ASCII code ASCII code gt Character Get string length Delete sub string Insert string Find sub string Replace sub string ICS Triplex ISaGRAF Inc B 283 Language Reference LEFT MID RIGHT DAY_TIME Array manipulation ARCREATE ARREAD ARWRITE Binary file management F_ROPEN F_WOPEN F_CLOSE F_EOF FA_READ FA_WRITE FM_READ FM_WRITE Arguments IN REAL Q REAL Description Extract left middle or right of a string Time of day Create array of integer values Read Write array element Open a binary file in Read mode Open a binary file in Write mode Close a binary file Test the end of a binary file Read an analog value in a binary file Write an analog value to a binary file Read a message string in a binary file Write a message string to a binary file
6. c ccesceeseesseesseeseeeeeeseeeeeeeteeeeneenseenseenaes C 409 C 10 Appendix Error list and description ccccsscssessssssessseseeesees C 411 D GLOSSARY gassscsccasecsccectecssccissacirentenatecaseccsceteeanects D 422 E GENERAL INDEX ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaes E 430 x ICS Triplex ISaGRAF Inc User s Guide A User s Guide ICS Triplex ISaGRAF Inc A 11 User s Guide A 1 Getting started A 1 1 This chapter covers the installation of the ISaGRAF workbench It also includes a short example of an ISaGRAF application giving the user a brief outline of its main features and enabling the immediate use of ISaGRAF Installing ISaGRAF This chapter covers the installation of the ISaGRAF Workbench and how to set up the computer for application development Hardware and software requirements The ISaGRAF Workbench can be installed on any computer meeting the minimum qualifications for Windows Version 3 1 However the following hardware is recommended for application development e A personal computer using an 80486 or higher microprocessor Pentium processor recommended e 8 megabytes of conventional and extended memory 16 megabytes recommended e One 3 5 inch 1 44 megabyte disk drive e One hard disk with at least 20 megabytes of available space e A graphic VGA or SVGA adapter and compatible monitor e A mouse required for graphic development tools e A parallel LPT
7. choice 10 100 500 1000 5000 SEL IN IN2 IN3 INn4 INS ING IN7 INS mux8 ql range ST Equivalence range MUX8 choice 1 5 10 50 100 500 1000 5000 select from 8 predefined ranges for example if choice is 3 range will be 50 IL Equivalence LD MUX8 ST ODD Arguments IN Q Description Tests the parity of an integer result is odd or even choice 1 5 10 50 100 500 1000 5000 range INT BOO odd any signed integer analog value TRUE if input value is odd FALSE if input value is even FBD program using ODD block value IN odd a lt RETURN gt value ST Equivalence If Not ODD value Then Return End_if value value 1 makes value always even ICS Triplex ISaGRAF Inc B 299 Language Reference IL Equivalence LD value ODD RETNC LD value ADD 1 ST value RAND rand base Q Arguments base INT defines the allowed set of number Q INT random value in set 0 base 1 Description Gives a random integer value in a given range FBD program using RAND block rand mux4 4 base aj seL IN1 IN2 IN3 Co A ING Q selected
8. this is a comment expressed on two lines c counter you can put comments anywhere base_value 1 Interleave comments cannot be used This means that the characters cannot be used within a comment Warning The IL language only accepts comments as the last component of an instruction line B 2 5 Defined words The ISaGRAF system allows the re definition of constant expressions true and false Boolean expressions keywords or complex ST expressions To achieve this an identifier name has to be given to the corresponding expression For example YES is TRUE PI is 3 14159 OK is auto mode AND NOT alarm When such equivalence is defined its identifier can be used anywhere in a ST program to replace the attached expression This is an example of ST programming using defines If OK Then angle PI 2 0 is done YES Endive Defined words can be LOCAL to one program GLOBAL or COMMON Local defined words can be used by only one program Global defined words can be used in any program of the project Common defined words can be used in any program of any project Note that common defined can be stored separately with the Archive manager Warning When the same identifier is defined twice with different ST equivalencies the last defined expression is used For example Define OPEN is FALSE OPEN is TRUE means OPEN is TRUE Naming defined words must conform to following rules name cannot
9. Complete example Below is the complete programming of a sample function block which is an up counter Below is the technical note of the function block name SAMPLE description Up counter creation date 01 February 1994 author ICS Triplex ISaGRAF call CU counting input R reset command PV maximum programmed value Q max detection CV counting result SAMPLE count reset_command maximum_value max_detect SAMPLE Q count_result SAMPLE CV Below is the interface of the function block cu sample R PY a cv Below is the C source header of the function block function block interface name SAMPLE definition of standard ISaGRAF data types typedef long T_BOO typedef long T_ANA typedef float T REAL typedef long T_TMR typedef char T_MSG definition of the calling parameters structure typedef struct T_BOO cu C 390 ICS Triplex ISaGRAF Inc Target User s Guide T BOO r T_ANA pv str_arg identifiers used to access the calling parameters define CU arg gt _cu define R arg gt _r define PV arg gt _pv return parameters logical numbering define FBLPNO Q 0 define FBLPNO_CV 1 end of file Below is the C source code of the function block Only the C programmer manually entered the lines printed with bold characters function block name SAMPLE include lt tasyOdef h gt required for data types
10. ICS Triplex ISaGRAF Inc A 163 User s Guide A 26 3 A 26 4 PC PLC link validation Most of the problems related to poor communication between the ISaGRAF workbench and the target PLC are represented in the debugger window by the disconnected status message Before any diagnostic tests are performed the communication should be validated when no application is active in the target PLC This way the serial communication link can be validated on its own isolating it from execution related effects The C language used for description of the conversion functions and C functions allows direct access to the target system A programming error in such a software component may generate system errors or incorrect ISaGRAF system behavior Such problems may occur when I O drivers are developed with the ISaGRAF I O toolkit System errors for example may be caused if an I O board is connected on an invalid bus address The following table gives a synthetic summary of error diagnostics status context Diagnostic disconnected target is not running before no cable invalid cable download invalid link parameters ISaGRAF target badly installed disconnected cycle to cycle invalid I O configuration after download starting mode system crash real time invalid I O configuration starting mode system crash due of C programming no application application not downloaded application not started due of
11. Input and output variables inputs and outputs of the function blocks are wired together with connection lines Single lines may be used to connect two logical points of the diagram An input variable and an input of a function block An output of a function block and an input of another block An output of a function block and an output variable The connection is oriented meaning that the line carries associated data from the left extremity to the right extremity The left and right extremities of the connection line must be of the same type Multiple right connection can be used to broadcast an information from its left extremity to each of its right extremities All the extremities of the connection must be of the same type B 5 2 RETURN statement The lt RETURN gt keyword may occur as a diagram output It must be connected to a Boolean output connection point of a function block The RETURN statement represents a conditional end of the program if the output of the box connected to the statement has the Boolean value TRUE the end remaining part of the diagram is not executed Example of an FBD program using RETURN statement gt 1 auto_mode alarm lt RETURN gt bi10 bi23 x cmd C r ST equivalence If auto_mode OR alarm Then Return End_if bo67 bi10 AND bi23 OR x_cmd B 5 3 Jumps and labels Labels and jumps are used to control the execution of the d
12. a Q gt D O x gt D O Q 5 5 D O o fa 5 38 cannot input analog board application 5 z gt D lt gt amp fo 3 fa a D 3 a on lo D a 5 23 D 3 D 2 gs v An error has been detected while refreshing an analog input board Check the I O connection in the workbench as well as board parameters 39 cannot input message board application 5 gt z9 2 3 gS a 2 AD Ton D 50 Oo 0 38 So on S Q 2 o aa oZ eRe o oO 23 ae a oa D o Gao 2 5 a i 3 Oo a 7 i Q D 5 a gt o O D a Q F o O Q Ak F o O Q le 2 3 o O fe 5 C 416 ICS Triplex ISaGRAF Inc Target User s Guide 40 cannot output boolean output variable application 41 cannot output analog output variable application 42 cannot output message output variable application 43 cannot operate boolean variable application fe U m x S o m ge o D w 3 oO Q 3 n o fo oO O o Qa jag n oO 5 n O e oO gt Q D 29 gt Q9D gt 5 95 Q5 95 0 5 5 5 3 2S D 2 a2 3 oa QR o3 3 oO me ne o o 7 o D a gt 3 3s D 59 5 58 g So gt So D o oo 28 2 z2 o o a io 65 fo 0 xo x xo D So oe S o O oo oe O gt 36 30 53 0 z a8 20 ag 50 ae so g es a6 as a lt as T os a2 Oo Oo oD z D Do D Q as Qe ac v De coins 38 5 oa D 5 Soh at st Oo 95 or oe 9 30a 35 3a m o aQ pa pa
13. to specify that there are no storage unit Example TSK_FUNIT host name C ISaGRAF target apl Specify ISaGRAF target apl on root of C unit on the host_name PC as application file backup directory Be careful not to forget the last slash otherwise the backup is done on ISaGRAF target directory with apl prefixed file names If needed this variable can be set to different path units for each target to start before each kernel spawn You will find more detailed information on application backup files in the specific features application backup chapter a End of Cycle control The TSK_NBTCKSCHED uint 32 variable can be set to a value specifying a delay in tick used by the ISaGRAF target at the end of the cycle The default value is 0 same priority task scheduling If needed this variable can be set to different value for each kernel before each kernel spawn You will find more detailed information in the specific features Cycle duration task behaviors and task priorities chapter ICS Triplex ISaGRAF Inc C 343 Target User s Guide ISaGRAF kernel spawning Once the configuration environment has been set one of the last steps consists in spawning the ISaGRAF kernel s isa_main uchar isa_main uchar slave Slave number char com NOT USED Empty string is OK Description Starts an ISaGRAF kernel task return value return a value different from zero if errors occur
14. where ICS Triplex ISaGRAF Inc C 407 Target User s Guide SYS_SAVxxx can be SYS_SAVBOO to ask for all Boolean variables backup SYS_SAVANA to ask for all analog variables backup SYS_SAVTMR to ask for all timer variables backup SYS_SAVALL to ask for all Boolean analog and timer variables backup lt error gt gets an error status different from zero when operation has failed SYS_INITxxx has not been called Finally you may want to restore variables This procedure can be called at any time in the application the restoration will be done at the end of the current cycle and once only To ensure the data backed up are valid an analog variable should be set to a constant value used as a signature lt error gt SYSTEM SYS_RESTxxx 0 where SYS_RESTxxx can be SYS_RESTBOO to restore all Boolean variables SYS_RESTANA to restore all analog variables SYS _RESTTMR to restore all timer variables SYS_RESTALL to restore all Boolean analog and timer variables lt error gt gets an error status different from zero when operation has failed SYS_INITxxx has not been done The following is a sum up of commands of the SYSTEM function to manage backup variables SYS_SAVxxx zero ifOK S OE SYS_RESTox zero ifOK S C 408 ICS Triplex ISaGRAF Inc Target User s Guide Customized implementation Finally using C functions or function blocks you may develop specific user
15. INT REAL MSG both inputs must have the same type BOOLEAN TRUE if IN1 gt IN2 Test if one value is GREATER THAN or EQUAL TO another one on analog or messages FBD example with Greater or Equal to blocks gt ST Equivalence aresult 10 gt 25 aresult is FALSE mresult ab gt ab mresult is TRUE 10 m1 25 Ina aresult gt p m1 ab Ina mresult ICS Triplex ISaGRAF Inc B 257 Language Reference IL equivalence LD 10 GE 25 ST aresult LD ab GE ab ST mresult IN4 IN2 Q Arguments IN1 INT REAL MSG IN2 INT REAL MSG both inputs must have the same type Q BOOLEAN TRUE if IN1 IN2 Description Test if one value is EQUAL TO another one on analog or messages FBD example with Is Equal to blocks 25 25 2 q aresult ab InI ab ig ol mresult ST Equivalence aresult 10 25 aresult is FALSE mresult ab ab mresult is TRUE IL equivalence LD 10 EQ 25 ST aresult LD ab EQ ab ST mresult B 258 ICS Triplex ISaGRAF Inc Language Reference lt gt lt gt IN4 IN2 Q Arguments IN1 INT REAL MSG IN2 INT REAL MSG both inputs must have the same type Q BOOLEAN TRUE if first lt gt second Description Test if on
16. strcpy name XX X name of the f block initproc IBP FBINIT_xxx initialization service readproc RBP FBREAD_xxx read service return ABP FBACT_ xxx activation service xxx is the name of the function block The name of the function block used for strcpy statement must be written in uppercase Lowercase must be used for the name of the implemented services and in the name of the declaration service Using the FBACT_ FBINIT_ FBREAD_ and fbldef_ prefixes for implemented services and definition service enables the user to name a function block with a reserved C 388 ICS Triplex ISaGRAF Inc Target User s Guide keyword of the C language or the name of an existing function of the C ISaGRAF libraries No other statement should be added to the declaration service The declaration service is called for any integrated C function block even if it is not used in the programs of the ISaGRAF application The ISaGRAF kernel will detect a fatal error if a C function block used in the application is not integrated to the kernel Before linking new function blocks with the kernel the user must write another C source file named GRFBOLIB C and insert it with the retained function blocks in the list of files for the link The GRFBOLIB C only contains an array of declaration services This array is read during application initializations to create a dynamic link with the C
17. xxx is the name of the f block return sizeof str_data The hinstance argument is the logical number of the instance It is reserved for ISaGRAF internal operations and should not be used in the programming of the service The initialization service returns the number of memory bytes required for the data of one instance The amount of required memory return value cannot exceed 64 Kbytes No other operation should be performed in this service The ISaGRAF Library Manager automatically generates the C source code of this service when the function block is created e The activation service The activation service is called on each target cycle for each function block instance used in the application This service processes the calling parameters and runs the main function block algorithm in order to update the hidden static data and the value of return parameters Below is the standard frame of the activation service void FBACT_ xxx ICS Triplex ISaGRAF Inc C 383 Target User s Guide uint16 hinstance xxx is the name of the function block logical number of the instance str_data data data pointer to the instance data structure str_arg arg pointer to the calling parameters structure The hinstance argument is the logical number of the instance It is reserved for ISaGRAF internal operations and should not be used in the programming of the service The data a
18. file_id nb written file_id nb written file_id nb written file_id Ana IN a C daim 2 nb written F_CLOSE file id _ o jl ok z NOERROR nb written m CI e o RETURN ERR FILE I ERROR ST Equivalence file_id F_WOPEN voltramp bin nb_written 0 B 318 ICS Triplex ISaGRAF Inc Language Reference nb_written nb_written ana FA_WRITE file_id vstart nb_written nb_written ana FA_WRITE file_id vend nb_written nb_written ana FA_WRITE file_id vinc nb_written nb_written ana FA_WRITE file_id ana delta_tim ok F_CLOSE file_id IF nb_written lt gt 4 THEN ERROR ERR_FILE END_IF IL Equivalence L voltramp bin F_ROPEN ST file _id LD 0 ST nb_written LD file_id write vstart FA_WRITE vstart ANA ADD nb_written ST nb_written LD file_id write vend FA_WRITE vend ANA ADD nb_written ST nb_written LD file_id write vinc FA_WRITE vinc ANA ADD nb_written LD write delta_tim ANA convert it to an integer ST ana_delta_tim LD file_id FA_WRITE ana_delta_tim ANA ADD nb_written ST nb_written F_CLOSE ST ok LD nb_written EQ 4 RETC return if equal 4 LD ERR_FILE else error ST ERROR FM_READ FM_READ ID Q ICS Triplex ISaGRAF Inc B 319 Language Reference Arguments ID INT file number returned by FLROPEN Q MSG message val
19. voltramp Path 19 file_id FA_READ file_id I ql vstart FA_READ file _id D ql vend FA_READ file _id p q vinc FA_READ Tmr file_id I ql N a delat_tim F_CLOSE file_id D ok ok ST Equivalence file_id F_LROPEN voltramp bin vstart FA_READ file_id vend FA_READ file_id vinc FA_READ file_id delta_tim tmr FA_READ file_id ok F_CLOSE file_id IL Equivalence LD voltramp bin F_ROPEN ST file_id FA_READ read vstart ST vstart LD file_id FA_READ read vend ST vend LD file_id FA_READ read vinc ST vinc LD file _id FA_READ read delta_tim TMR conversion into a timer ST delta_tim LD file _id F_CLOSE ST ok FA_WRITE FA_WRITE D N ok ICS Triplex ISaGRAF Inc B 317 Language Reference Arguments ID INT file number returned by F_WOPEN IN INT integer analog value To be written in the file OK BOO execution status TRUE if ok Description Writes ANALOG variables to a binary file This procedure makes a sequential access to the file from the previous position The first call after F_WOPEN writes the first 4 bytes of the file each call pushes the writing pointer This function is not included in the ISaGRAF simulator FBD program F_WOPEN data bin Pan o L__file ia Lo nb written
20. A 15 5 Display the lock state and device value When Boolean and analog I Os are locked the workbench reads their lock state and actual device value Actual device values include forced values The lock state of I Os is displayed in the following editors FBD editor LD editor Quick LD Dictionary List of variable spy list In the FBD and LD editor when an O is locked its name is marked with the a symbol The following LD example shows the MainPw I O marked with the locked symbol Control light command according to both left and right switches 1 x MainPyy SwLett SwRight CmcLight HH o l SwLeft SwRight H H MainPw is locked The following FBD example shows the counter I O marked with the locked symbol counter is locked In the Dictionary and List of variables Spy list in addition to displaying the lock state and the application value for an I O the actual device value is also displayed This information is displayed using the following syntax AppValue Device value The following example in the dictionary shows the locked counter variable having an application value of 3 and a forced device value of 127 ICS Triplex ISaGRAF Inc A 115 User s Guide ISaGRAF BLINKALL untitled List of variables OF x File Edit Options Help AA a EAA Name Value Comment FBDO FALSE first FBD variable counter ProgFBD lt end of Counter is lo
21. An FBD program can call any C function block A function block is used as a standard function box Its calling parameters are connected to the left hand side of the function box Its return parameters are connected to the right hand side of the box A standard format for a function box appears as follows Name of the function block Calling XXX Return parameters parameters Function blocks used in FBD language do not have to be declared because the ISaGRAF FBD editor automatically declares the instances of the used blocks Function block instances automatically declared by the FBD editor are always LOCAL to the edited program Below is the previous example programmed in FBD language _ Command _ Defining the interface of a C function block The Parameters command of the Edit menu is used to define the calling and return parameters of a new function block A function block can have up to 32 parameters freely arranged as calling or return parameters Unlike a C function a function block may have several return parameters boo_input1 boo_input2 The list in the upper side of the window shows the parameters of the C function block based on the order of the function calling prototype first the calling parameters then return parameters The lower part of the window shows the detailed description of the parameter currently selected in the list the name of the parameter the direction call return of the par
22. Output Labels Meaning Syntax Arguments Notes Example Suspends the execution of the script until a delay is elapsed Wait lt delay gt lt delay gt delay expressed according to IEC conventions for time constant expression The T or TIME prefix can be omitted Delay value must between 10 milliseconds and 1 hour Accuracy of the Wait instruction is not precise as it depends on the host Windows system Also the delay should be considered with an accuracy of plus or minus one ISaGRAF cycle When a Wait instruction is reached ISaGRAF cycles are performed until the delay is elapsed and before continuing the script execution PrintTime Wait 2s PrintTime 15 45 27 15 45 29 Labels can be placed anywhere in the script They are used as a destination by Goto instructions and allow flow control for script instructions lt labelname gt lt labelname gt unique name according to ISaGRAF variable naming conventions limited to 16 characters beginning with a letter followed by letters digits or underscore characters When defined label name should be followed by a character No instruction should be placed on the line where a label is defined Label name should not be the same as a declared ISaGRAF variable symbol example of a script with an infinite loop loop PrintTime Wait 1s Goto loop ICS Triplex ISaGRAF Inc A 141 User s Guide Goto Meaning Syntax Argu
23. The ENO output On some operators functions or function blocks the first output does not have Boolean data type As the first output must always be connected to the rung another output is automatically inserted at the first position called ENO The ENO output always takes the same state as the first input of the block Below is an example with AVERAGE function block and the equivalent code expressed in ST AVERAGE rung state Signal 100 OutSignal AVERAGE XOUT Out Signal eno rung state continue rung with eno state The EN and ENO parameters On some cases both EN and ENO are required Below is an example with an arithmetic operator and the equivalent code expressed in ST IF rung state THEN result valuel value2 END_IF eno rung state continue rung with eno state value1 f value ICS Triplex ISaGRAF Inc B 219 Language Reference B 6 7 In Line Blocks in LD In Line function blocks have the same definition as other function blocks according to the IEC syntax and common ISaGRAF 3 implementation In Line function blocks have input and output parameters Each input or output parameter has a well defined data type The total number of inputs and outputs together cannot exceed 32 O In Line function blocks have local variables declared in the ISaGRAF dictionary that are instanciated duplicated on each use of the function block in a diagram The
24. The above information is called the Level 1 of the transition Reference number 102 Comment Weighing command B 3 2 3 Oriented links Single lines are used to link steps and transitions These are oriented links When the orientation is not explicitly given the link is oriented from the top to the bottom Explicit orientation from t ition 11 rom transition 100 to setp 100 N Implicit orientation 10 from step 100 to t transition 10 101 B 188 ICS Triplex ISaGRAF Inc Language Reference B 3 2 4 Jump toa step Jump symbols may be used to indicate a connection link from a transition to a step without having to draw the connection line The jump symbol must be referenced with the number of the destination step Jump to step 102 a 102 A jump symbol cannot be used to represent a link from a step to a transition Example of jumps the following charts are equivalent B 3 3 Divergences and convergences Divergences are multiple connection links from one SFC symbol step or transition to many other SFC symbols Convergences are multiple connection links from more than one SFC symbols to one other symbol Divergences and convergences can be single or double B 3 3 1 single divergences A single divergence is a multiple link from one step to many transitions It allows the active token to pass into one of a number of branches A single convergence is a multiple link f
25. The slave number is the same as discussed in the slave registration chapter More than one kernels can be started as long as their slave number are different ISaGRAF communication task spawning Once the configuration environment has been set one of the last steps consists in spawning the ISaGRAF communication task s tst_main_ex uchar tst_main_ex char com Communication device name uchar slave Location of a 4 Bytes field specifying kernel s slave to link to uchar com_id communication task identifier Description Starts an ISaGRAF communication task return value return a value different from zero if errors occur The 4 Bytes field specifies the kernel slave s the communication task is linked to If less than 4 kernel slaves are needed the field must be completed with zero Once the task has started this filed is not needed any more The communication device name corresponds to the serial device name to be used for the communication link More than one communication tasks can be started as long as their task identifier are different When using the workbench debugger make sure the workbench communication link parameters see user s guide Managing programs match with an existing target kernel and communication tasks Example This example shows how to start An ISaGRAF kernel task with slave number 1 C 344 ICS Triplex ISaGRAF Inc Target User s Guide An ISaGRAF commu
26. for integrated functions uspdef_fcl uspdef_fc2 uspdef_fc3 uspdef_fc4 NULL end of file A NULL pointer must terminate the USPDEF array Some clashes may occur when this condition is not met Unresolved references will occur when linking the new ISaGRAF kernel if the USPDEF array is not defined By writing this file a new kernel can be built including all the existing functions A kernel dedicated to one project can also be built by inserting in the USPDEF array only the functions used in the project The ISaGRAF Code Generator automatically generates the GRUSOLIB C file when the code of an application is built The file is placed in the ISaGRAF project directory and groups only the functions used in the project Limits The ISaGRAF library may contain up to 255 C functions Any type of operation may be processed in a function It should be remembered that the functions are called in the ISaGRAF cycle synchronously so that the execution of the function has a direct effect on the cycle timing Complete example Below is the complete programming of a sample function which just performs an addition Below is the technical note of the function name SAMPLE description just performs an integer analog addition creation date 1st July 1992 author ICS Triplex ISaGRAF call par1 par2 integer operands return integer sum prototype sum sample par1 par2 ICS Triplex ISaGRAF Inc C 375
27. B 290 ICS Triplex ISaGRAF Inc Language Reference sin angle asin ST Equivalence sine SIN angle result ASIN sine result is equal to angle IL Equivalence LD SIN ST ASIN ST TAN Arguments IN Q Description angle sine result REAL REAL sine result tan cannot be equal to PI 2 modulo PI tangent of the input value 1E 38 for invalid input Calculates the Tangent of a real value FBD program using TAN and ATAN block tan angle IN o tangent atan ql result ST Equivalence tangent TAN angle result ATAN tangent result is equal to angle IL Equivalence LD TAN ST ATAN ST angle tangent result ICS Triplex ISaGRAF Inc B 291 Language Reference ROL Arguments IN NbR Q Description INT INT INT rol any integer analog value number of 1 bit rotations in set 1 31 left rotated value no effect if NbR lt 0 Make the bits of an integer rotate to the left Rotation is made on 32 bits FBD program using ROL block register rol ST Equivalence result ROL register 1 register 2 0100_1101_0011_0101 result 2 1001_1010_0110_1010 IL Equivalence result
28. B 312 ASCII B 301 Assignment B 245 Assignment in ST B 226 ATAN B 289 Attribute D 422 AVERAGE B 278 B Background picture A 124 Backup A 26 A 146 A 152 A 153 A 159 Backup file unit VxWorks C 340 C 343 Bargraph A 124 Base B 179 Baud rate A 35 Begin A 27 B 201 Begin section D 422 E 430 ICS Triplex ISaGRAF Inc General Index Beginning step A 39 A 41 B 192 D 422 Binary selector B 301 BinaryFile A 103 Bit field A 125 Bitmap A 124 BLINK B 282 Board A 91 A 92 Board parameter A 93 A 148 Board type A 92 Body of a macro step B 192 BOO B 259 Boolean A 84 B 183 D 422 Boolean action A 44 B 192 D 422 Breakpoint A 112 A 114 D 422 BY B 230 C C code A 101 A 146 C compiler C 364 C 393 C function A 151 C 364 C 370 D 422 C function block A 151 C 364 C language C 364 C 366 C 368 C 372 C 380 C 382 C 393 D 422 C source code C 368 C 373 C 382 C 393 D 422 C source header C 366 C 372 C 380 C 393 D 422 CAL operator IL B 243 CASE B 228 Cat B 263 Cell D 422 Channel A 92 A 93 A 94 A 148 A 160 Channel comment A 93 CHAR B 302 Child A 28 B 175 Child SFC program B 200 D 422 Clearing a transition B 199 D 423 CLKRATE C 339 CMP B 275 Code generation A 32 A 98 Coil A 54 A 63 B 212 D 423 Coil direct B 214 Coil inverted B 214 Coil negative B 217 Coil positive B 216
29. Coil reset B 216 Coil set B 215 Coil type A 58 Comment B 184 B 204 B 222 B 237 D 423 Comment SFC B 187 B 188 D 423 Common A 152 D 423 Communication A 35 A 113 A 129 A 164 C 326 C 330 C 331 C 332 C 335 C 339 C 344 C 351 C 360 C 362 Communication logical number C 332 C 333 C 343 Comparison B 275 Compile A 32 A 98 A 145 A 149 Compiler message A 101 Compiler option A 32 A 130 Compiler options A 99 Compression A 153 Condition B 202 Condition for a transition B 197 B 198 D 423 Connection A 64 A 65 A 66 Connector A 49 B 204 D 423 Constant expression B 179 D 423 Contact A 54 A 63 B 212 D 423 Contact direct B 212 Contact inverted B 213 Contact negative edge B 213 Contact Positive edge B 213 Contact type A 58 Control panel A 110 Convergence A 38 A 40 B 189 Conversion A 96 D 423 Conversion ASCII gt character B 302 Conversion character gt ASCII B 301 Conversion function A 151 C 364 C 365 D 423 Conversion table A 96 A 97 D 423 Convert to boolean B 259 Convert to integer B 260 Convert to message B 262 ICS Triplex ISaGRAF Inc E 431 General Index Convert to real B 261 Convert to timer B 262 Copy FBD A 66 Copy FC A 51 Copy LD A 59 Copy library A 145 Copy program A 31 Copy SFC A 41 Copy text A 73 Copy variable A 83 Corner A 64 COS B 290 Cosine B 290 Counter down B 271
30. Declared function block instances may be GLOBAL known by any program in the project or LOCAL to one program Function blocks used in FBD or LD languages do not have to be declared because the ISaGRAF FBD editor automatically declares the instances of the used blocks b1 R_TRIG b2 R_TRIG two_edges The function blocks always have the name of the block defined in the library The ISaGRAF FBD and Quick LD editors automatically declare an instance each time a block is inserted in the diagram Function block instances automatically declared by the FBD and Quick LD editors are always LOCAL to the edited program ICS Triplex ISaGRAF Inc A 81 User s Guide A 10 1 G A 10 2 Network addresses Network addresses are optional A variable with a non zero network address can be spied by an external system for example a process visualisation system at run time More generally the network address provides an identifying mechanism for each run time communication system that cannot handle symbolic names A network address may be entered for each variable during its complete description when the variable is created or modified The dictionary main window The dictionary editing window shows a list of variables with same type and range The type and range of edited variables is always displayed in the title bar The editing window shows only main fields of variable description name attribute and network address and te
31. ICS Triplex ISaGRAF Inc User s Guide T w RET Contacts A contact modifies the Boolean data flow according to the state of a Boolean variable The name of the variable is displayed upon the contact symbol ISaGRAF FBD LD editor supports the following types of contacts deasewedeacaeuniees Direct contact tH EAE Negated contact H ET Contact with positive rising edge detection 4H ERTE Contact with negative falling edge detection Coils A coil represents an action It must be connected on the left to a Boolean symbol such as a contact The name of the variable is displayed upon the coil symbol ISaGRAF FBD LD editor supports the following types of coils Maesa olasan Direct coil e E Negated coil E EE Set action coil ieee Reset action coil Function blocks A block in an FBD diagram can represent a function a function block a sub program or an operator Inputs and outputs must be connected to variables contacts or coils or other block inputs or outputs Formal parameter names are displayed inside of the block rectangle Labels Labels can be placed everywhere in the diagram Labels are used as targets for jump instructions to change the execution order in the diagram Labels are not connected to other elements It is highly recommended to place labels on the left of the diagram in order to increase the diagram readability Jumps A jump symbol always refers to a label placed elsewhere in
32. LANGUAGE REFERENCE cccccssssseeeeeeees B 173 B 1 Project architectUre csscssccssccssessscssssssesssesssssssssscsssssesssssseseees B 174 B 1 1 PLOSTAMS eric sctvavescdsseaeiestosiinasicataae tekaeevede haue ton shea E A B 174 B 1 2 Cyclic and sequential operations cccceeseeceeseeeteeeteceeeneeeeeenes B 174 B 1 3 Child SFC and FC programs ccccsccsceesseeeceeseeeeeeseceseenseenseenaes B 175 B 1 4 Functions and sub programs cccccccsceesseessceeeceseceeceseceseenseeneeenes B 175 B 1 5 Punction DLO CKS it sistas ese apis AR AER Nn la ads B 176 B 1 6 Description language cccccesceescssscesceesceeecesceeeeeeeeseeeenseensenseens B 177 B 1 7 Execution rule senene eiiiai E E EK E ens B 178 B 2 COMMON ODjCCHS cscccscssecsscesecssscsscsesssscsssessessseesssesssesseeesesseess B 179 B 2 1 Basic ty pests scsi ested oh ek eS Re E E B 179 B 2 2 Constant EXPIreSSiONS ccsccesecesecseecsceeseeseeececeeeeeeeeeeenseeeseecneeenes B 179 B 2 3 Maral EE E dei cease de settcycs scestucest E tuctanensts B 181 B 2 4 COMMENDS AO AEE S EEEE E EO B 184 B 2 5 Defined words eres rerceniorenii i ei B 185 B 3 SEC ETITA ae 50 553 EEE ETTE TTTS B 187 B 3 1 SFC chart main format esesesesesseseeeseseosersreressesersserersorsessesersosses B 187 B 3 2 SFC basic compon ntsi casen e e a E E E E B 187 B 3 3 Divergences and COnVergences ee seeseesessreesstseesresresersreressesees B 189 B 3 4
33. Modifying a point To modify the values of an existing point first select it from the list The new electrical external and the physical internal values of the point can then be entered Values are stored as simple precision floating point numbers When both values are entered pressing the Store button updates the point in the table Clearing a point Selecting it from the list and pressing the Clear button clears an existing point Remember that at least two points must be entered to define a table Rules and limits The rules shown below must be followed when defining a conversion table The table can be used to convert both input and output analog variables e Two points cannot be defined with the same electrical value e The curve must be continuously increasing or decreasing e Two points cannot be defined with the same physical value The following limits apply when defining conversion tables for a project e No more than 127 conversion tables can be defined in the same project e No more than 32 points can be defined for the same conversion table ICS Triplex ISaGRAF Inc A 97 User s Guide A 13 Using the code generator A 13 1 The Verify and Make commands of the other ISaGRAF Workbench windows automatically open the code generation window The code generation window is not automatically closed when the requested code generation operation ends so that the user still has access to all the code generation comm
34. Multiple connection links are used to represents divergences and convergences Actions and Tests can be described with ST LD or IL languages Functions and Function blocks of any language except SFC can be called from actions and tests A Flow Chart program can call another Flow Chart program The called FC program is a sub program of the calling FC program B 4 1 FC components Below are graphic components of the Flow Chart language Beginning of FC chart A begin symbol must appear at the beginning of a Flow Chart program It is unique and cannot be omitted It represents the initial state of the chart when it is activated Below is the drawing of a begin symbol Begin The Begin symbol always has a connection on the bottom to the other objects of the chart A flow chart is not valid if no connection is drawn from Begin to another object Ending of FC chart An end symbol must appear at the end of a Flow Chart program It is unique and cannot be omitted It is possible that no connection is drawn to the End symbol always looping chart but End symbol is still drawn anyway at the bottom of the chart It represents the final state of the chart when its execution has been completed Below is the drawing of an end symbol End The End symbol generally has a connection on the top to the other objects of the chart A flow chart may have no connection to the End object always looping chart The End
35. N aH trunc y result 2 0891 n al ST Equivalence result TRUNC 2 67 TRUNC 2 0891 means result 2 0 2 0 0 0 IL Equivalence LD 2 67 TRUNC ICS Triplex ISaGRAF Inc B 287 Language Reference ST temporary temporary result of first TRUNC LD 2 0891 TRUNC ADD temporary ST result ACOS acos IN Q Arguments IN REAL must be in set 1 0 1 0 Q REAL arc cosine of the input value in set 0 0 Pl 0 0 for invalid input Description Calculates the Arc cosine of a real value FBD program using COS and ACOS blocks cos angle In oj cosine acos n ol result ST Equivalence cosine COS angle result ACOS cosine result is equal to angle IL Equivalence LD angle COS ST cosine ACOS ST result ASIN asin IN Q Arguments XE ASIN XE Arc sine IN REAL must be in set 1 0 1 0 Q REAL arc sine of the input value in set P1 2 P1 2 0 0 for invalid input Description B 288 ICS Triplex ISaGRAF Inc Language Reference Calculates the Arc sine of a real value FBD program using SIN and ASIN blocks sin angle m q sine asin m o result ST Equivalence sine S
36. PSelect B 226 ICS Triplex ISaGRAF Inc Language Reference assignment with function call limited_value min 16 max 0 input_value RETURN statement Name RETURN Meaning terminates the execution of the current program Syntax RETURN Operands none In a SFC action block the RETURN statement indicates the end of the execution of that block only Example FBD specification of the program programmable counter ST implementation of the program using RETURN statement If not CU then Q false CV 0 RETURN terminates the program end_if if R then CV 0 else if CV lt PV then CV CV 1 end_if end_if Q CV gt PV IF THEN ELSIF ELSE statement Name IF THEN ELSIF THEN ELSE END_IF Meaning executes one of two lists of ST statements selection is made according to the value of a Boolean expression Syntax IF lt boolean_expression gt THEN lt statement gt lt statement gt ELSIF lt boolean_expression gt THEN ICS Triplex ISaGRAF Inc B 227 Language Reference lt statement gt lt statement gt ELSE lt statement gt lt statement gt ENDIF The ELSE and ELSIF statements are optional If the ELSE statement is not written no instruction is executed when the condition is FALSE Example ST program using IF statement IF manual AND not alarm THEN level manual_level
37. R_TRIG Input parameters Algorithm Output parameters rising edge boolean_value and not previous_state previous_state boolean_value oe eee Hidden data boolean_value gt rising edge previous_state The hidden static variable previous_state is needed for the calculation of the edge This variable must be different for each use of the function block TRIG in the application The instances of the function blocks used in the ST language must be declared in the dictionary Because a function block has internal hidden data each copy instance of a function block must be identified by a unique name Naming the type of block is made by using the library manager Naming the instances is made by using the dictionary editor Function blocks used in FBD language do not have to be declared because the ISaGRAF FBD editor automatically declares the instances of the used blocks Function block instances automatically declared by the FBD editor are always LOCAL to the edited program Adding a function block to the ISaGRAF library The ISaGRAF Library Manager must be used to add a new C function block to the ISaGRAF library in the Workbench The New command of the Files menu is used when the C function blocks library is selected When a new function block has been created its technical note must be written The ISaGRAF Library Manager automatically generates the frame of the C source code for
38. SCC nets structured C source code produces a structured C source code This style should be preferred if your target software is based on ISaGRAF release 3 23 or later The following two files are created in the project directory APPLI C common source code of the application APPLI H common C language definitions In the case structured C source code generation a C source file and a H definition file are created for each program of the application in addition to common APPLI C and APPLI H files These files must be compiled and linked to the ISaGRAF target libraries in order to produce the final executable code Refer to the ISaGRAF I O development toolkit User s Guide for further information about recommended implementation techniques Note Some debugging features such as application downloading on line modification and breakpoints are no more available when the ISaGRAF application is C compiled A 13 4 Viewing information The Edit menu contains the commands for viewing the different text files built during code generation or syntax checking operations on the code generator ICS Triplex ISaGRAF Inc A 101 User s Guide A 13 5 window The code generation window is a text area that contains messages during code generation or syntax checking operations All information is stored on the disk so it can be examined using the Edit menu commands Editing commands The Clea
39. SFC evolution rules B 199 SFC gallery A 46 Shift left B 293 Shift right B 294 SHL B 293 SHR B 294 SIG_GEN B 282 Signal generator B 282 Simulator A 34 A 133 A 135 A 136 C 365 C 370 C 377 SIN B 290 Sine B 290 Slave number A 35 C 326 C 330 C 331 C 332 C 333 C 340 C 342 C 351 C 360 C 362 SlavesLink C 345 Slot A 92 A 94 Software key A 14 Sort A 83 Source code A 146 SpotLight A 124 Spy A 121 A 123 A 124 Spy variable A 121 SQRT B 286 Square root B 286 SR B 266 SSR x 1 space C 348 ST A 45 A 73 A 123 B 222 C 371 C 378 D 428 ST editor A 75 ST operator IL B 239 Stack of integer analogs B 276 STACKINT B 276 Start A 111 Statement B 222 D 428 Step A 37 A 42 A 114 B 187 D 428 Stop A 111 String B 180 D 428 String length B 307 Structured Text B 222 D 428 Style A 70 A 126 Sub program A 28 B 175 B 196 B 199 B 208 D 428 Sub Program B 203 Sub program call ST B 223 Sub program call in IL B 242 Sub string delete B 303 Sub string extraction left B 305 Sub string extraction middle B 306 Sub string extraction right B 309 Sub string find B 304 Sub string insert B 304 Sub string replace B 308 Subtraction B 250 Symbol table A 166 Symbols application symbols C 328 SYSTEM B 264 System clock rate VxWorks C 339 SYSTEM function C 407 T Table of contents A 155 TAN B 291 Tangent
40. The Delete button removes the selected single board from the list The Rename and Parameters button are used to change the name and the parameters of the selected single board Refer to the following section for a complete explanation of single board parameters A complex I O equipment can group up to 16 single I O boards The name of a single board within an I O equipment cannot exceed 8 characters ICS Triplex ISaGRAF Inc A 147 User s Guide A 22 4 VO board The ISaGRAF I O board library defines a standard interface between the application variables and the target hardware During the description of the application all the I O variables are connected to the channels of the target I O boards A name and an OEM key code that identifies its supplier define an ISAGRAF I O board Other I O board parameters describe the I O board topology number of channels channel direction and type and its hardware or software configuration I O board parameters There are two different types of parameters for an I O board common parameters which are defined for any ISaGRAF library board and OEM parameters which are specific to the board implementation provided by the hardware supplier Common parameters are entered in the upper part of the I O board parameters definition box These parameters plus the I O board name identify the ISaGRAF standard I O board interface The OEM key code is a simple number that defines the hardware s
41. User s Guide RFDEMO Cycle Profiler iof x View INIT 12 06 GMAIN 41 76 DRIVE 7 09 LEAD 39 10 FLASH 0 00 RANDOM 0 00 When the View Average option is set displayed information is an average of percentages calculated since the application has been started or since the last time the View Reset command has been run If the View Average option is not set displayed information shows measurements done during the execution of the last cycle You can also use this feature when the application is in Cycle to Cycle mode to have a set of measurements depending on the application context Use the View Copy command to copy program names and percentages to the Windows Clipboard in ASCII format Then data can be pasted into text documents or common spreadsheets Important notes These are not precise measurements Percentage calculation is based on TIC instructions counting taking into account various instruction execution times Calculation does not include the time spent in C functions and function blocks The value displayed for a function or a function block is the sum of all the calling times from the application programs in the same cycle Time calculation is based on TIC code and does not provide reliable information if the actual application code is generated in C language and built using a C compiler A 21 7 Simulation scripts ISaGRAF simulator includes a tool to build and run simulation sc
42. WHILE B 204 B 229 WISAKER EXE NT C 350 X XOR B 248 XOR MASK B 254 Z Zoom A 53 A 60 A 68 ICS Triplex ISaGRAF Inc E 439
43. You can insert the following basic elements E EE Action programmed in ST IL or Quick LD ee I O specific action highlights a particular non portable action gt ee Test decision programmed in ST IL or Quick LD o eee Connector ae Call to a FC sub program eer Comment description text The ISaGRAF Flow Chart editor also proposes you a list of classical Flow Chart structures Such structures can only be inserted on an existing flow link They cannot be put in an empty area A 48 ICS Triplex ISaGRAF Inc User s Guide oa EEEE If Then Else binary selection z alenia dueni Repeat until waits for a condition oF rrue ieda AR While loops while a condition is true N Selecting objects Selecting graphic objects is needed for most of the editing commands The ISaGRAF FC graphic editor enables the selection of one or more objects existing in the diagram area To select objects the select button with an arrow choice must be checked in the editor toolbar To select one object the user only has to click on its symbol To select a list of objects drag the mouse in the diagram to draw a rectangle area All graphic objects in the selection rectangle are marked as selected A selected object is drawn in dark blue color with little black squares around its graphic symbol It is also possible to add or remove one object to a multiple selection by clicking on its symbol with Shift or Ctrl key pressed By mak
44. lt statement gt lt statement gt END_FOR Operands index internal analog variable increased at any loop mini initial value for index before first loop maxi maximum allowed value for index step index increment at each loop The BY step statement is optional If not specified the increment step is 1 Warning Because ISaGRAF is a synchronous system input variables are not refreshed during FOR iterations This is the while equivalent of a FOR statement index mini while index lt maxi do lt statement gt lt statement gt index index step end_while Example ST program using FOR statement this program extracts the digit characters of a string length mlen message B 230 ICS Triplex ISaGRAF Inc Language Reference target empty string FOR index 1 TO length BY 1 DO code ascii message index IF code gt 48 amp code lt 57 THEN target target char code END_IF END_FOR a EXIT statement Name EXIT Meaning exit from a FOR WHILE or REPEAT iteration statement Syntax EXIT Operands none The EXIT is commonly used within an IF statement inside a FOR WHILE or REPEAT block Example ST program using EXIT statement this program searches for a character in a string length mlen message found NO FOR index 1 TO length BY 1 DO code ascii message index IF code searched_char THEN foun
45. none Operand none Example ICS Triplex ISaGRAF Inc B 241 Language Reference The following program interleaves delayed operations res a1 a2 a3 a4 a5 a6 Delayed LD al result a1 ADD a2 delayed ADD result a2 MUL a3 delayed MUL result a3 SUB a4 result a3 a4 execute delayed MUL result a2 a3 a4 MUL a5 result a2 a3 a4 a5 execute delayed ADD result a1 a2 a3 a4 a5 ADD a6 result a1 a2 a3 a4 a5 a6 ST res store current result in variable res Calling sub programs or functions A sub program or a function written in any of the IL ST LD FBD or C language is called from the IL language using its name as an operator Operation executes a sub program or a function the value returned by the sub program or function is stored into the IL current result Allowed modifiers none Operand The first calling parameter must be stored in the current result before the call The following ones are expressed in the operand field separated by comas Example Calling program converts an analog value into a time value Main LD bid bi1 bi2 result vmax result 1000 tmval call sub program to get analog value result value returned by sub program test value overflow return if overflow converts seconds in milli
46. s 2 isaker Isatst slave 2 isanet logical Nb 2 Starts An ISaGRAF kernel task with slave number 2 An ISaGRAF serial Ethernet communication task on t0 com Port Port number 1100 linked to slave number 2 and with default logical number last specified slave number 2 Isaker s 1 amp isaker s 2 amp isatst t t0 s 1 s 2 respectively isanet t 1100 s 1 s 2 i saner Isatst SAVE isanet logical Nb 2 isaker slave 2 Starts An ISaGRAF kernel task with slave number 1 An ISaGRAF kernel task with slave number 2 An ISaGRAF serial Ethernet communication task on t0 com Port Port number 1100 linked to slaves number 1 and 2 and with default logical number last specified slave number 2 Isaker s 1 amp isatst t t0 s 1 c 1 amp respectively isanet t 1100 s 1 c 1 amp isatst t t1 s 1 c 2 respectively isanet t 1101 s 1 c 2 isaker isatst slave 1 isanet logical Nb 1 isatst isanet logical Nb 2 Starts C 334 ICS Triplex ISaGRAF Inc Target User s Guide An ISaGRAF kernel task with slave number 1 An ISaGRAF serial Ethernet communication task on t0 com Port Port number 1100 linked to slaves number 1 and with logical number 1 An ISaGRAF serial Ethernet communication task on t1 com Port Port number 1101 linked to slaves number 1 and with logical number 2 Note Serial and Ethernet communication tasks can be mixed C 4 3
47. stop the application from the debugger or from the Stop Start push button this will close the IO boards stop ISaGRAF target from the system menu C 358 ICS Triplex ISaGRAF Inc Target User s Guide C 6 4 User interface This is the user interface of the ISaGRAF NT target Stop Start push button Errors and messages output Status Icon W indow s title ISaGRAF rfmatnew Target Options Messags View Help gt 1 gt 1100 gt ISASRY1 Menus a D Status bar There are the main items a window title a menu bar a running status icon a Start Stop push button an errors and messages output and a status bar The window title contains ISaGRAF name_of_appli target where name_of_appli is the name of the running application It contains only ISaGRAF Target when there is no running application ISaGRAF NT target menu bar The menu bar has four menus Options Messages View Help e Options menu see also first section on NT General information on options The Options menu gives access to the running options It proposes the following options ICS Triplex ISaGRAF Inc C 359 Target User s Guide Slave gives access to the slave number modification The modified option will be activated only after next start of the target This feature isn t available if the target has been started with at least one option in the command line Communication g
48. the rest of the rectangle can be filled with color A bar graph can be either horizontal or vertical Unipolar bar graphs can grow in any direction to the top to the bottom to the left or to the right Bipolar bar graphs can grow either in positive or negative direction according to the value of attached variable In case of a bipolar bar graph the maximum allowed value is the same for both negative and positive scales A 124 ICS Triplex ISaGRAF Inc User s Guide Unipolar Bipolar horizontal vertical Ps Curves It is possible to insert a curve in a document A curve shows the history of the attached variable Although it is not a precise measurement tool it can give useful debug information about synchronism between various variables A curve stores the 200 last values of a variable The number of samples is not changed when the curve item is resized in the graphic layout last registered point Jil Boolean icons A Boolean icon item is used to display a binary state One icon ICO file is defined for FALSE or 0 value Another icon is defined for all other non zero values As SpotLight does not include an icon editor icon files should be prepared with another tool FALSE TRUE Bit fields A bit field item shows in a graphic panel the 32 bits of an integer value The less significant bit is always displayed on the right It is not recommended to use bit field for other data types such as real ana
49. the variables which can be accessed via DDE VARIABLE NAME is the name of a variable DDE advise loop rate for ISaGRAF NT target d Option The DDE client generally polls the variables each time it needs them This can take a large amount of time if there are a lot of variables There is another mode which is called advise mode advise loop in which the server itself will only send modified variables So that communications are minimized and efficient In this mode the server periodically looks at the variables marked as advised variables to know which should be sent This period is called the DDE advise loop rate With this option it is possible to specify the rate in ms for the DDE advise loop Default value The default value is 1000 ms or the one in the ISaGRAF INI file Example WISAKER d 100 User interface This window is displayed from the Options DDE command of the main window of ISaGRAF NT target DDE Setup Set Timer Rate for DDE Efi l advise loop refresh eg Error management and output messages The ISaGRAF target software integrates an error detection management You will find the warning error list and their description in appendix Error detection is processed as follows An error is composed of an error and argument number sent to the ISaGRAF error routine If the error detection flag is set in the workbench Make options the error is processed If not the information is lost and
50. which is not linked to an input or output device SFC graphic component which represents a link from a transition to a step The graphic symbol of a jump is an arrow numbered with the reference of the destination step Reserved word of the language Identifier put at the beginning of an IL instruction line which identifies the instruction and can be used as an operand for the JMP operations Graphic language mixing contacts and coils for the design of Boolean equations Ladder Diagram language Main description of a SFC program Level 1 groups the chart steps and transitions and the attached comments Detailed description of a SFC program It is the description of the actions within the steps and the Boolean conditions attached to the transitions ICS Triplex ISaGRAF Inc D 425 Glossary the SFC Library Local Locked I O Macro step Matrix Message Modbus Modifier IL Network address Non stored action OEM key code I O board OEM parameter I O board Operand IL Operation IL Output Parameter Set of hardware or software resources which can be directly inserted in any application Range of variables or defined words Such objects can be used in only one program of one project Input or output variable disconnected logically from the corresponding I O device by a Lock command sent by the user from the debugger SFC graphic component A macro step is a
51. 11 A l Getting started ccscssscssscssecsssssscssscssscsesssessssscsecesecssesssssssseseessees A 12 A 1 1 Installing ISaGRAF 0 00 ceccececcseecessceeeceeeceeeeseceseeecnaeeseeceeeeeeneeees A 12 A 1 2 TIC ON sienne cet cere sceetd ote ces E E O E R E ee A 14 A 1 3 Using on line inforimation ccceeceeseeeeceseeeseeeeceteceseesseeseeeeeeneeees A 18 A 1 4 A sample application ccccecceeseessceseceseeeseceeceecaeeeseeneeseeeeerenseens A 18 A 2 Managing projects csccccssecssessscsssssssssssssscsssssesssesssesesssssessssesees A 23 A 2 1 Creating and working with projects c cccccescceseestecsseesecseeeseeeneeees A 23 A 2 2 Working with several groups of projects cc cesceeseeteeeteeseeteeees A 25 A 2 3 QOPtlONS see 8 acdoe Sgt ein eine er ee een eee n A 25 A 2 4 TOOLS gen e aE EOE ERREN E N anaes A 26 A 3 Managing programs csscssccssecsssssessssssssssssssssesssesscsssesssssessssesees A 27 A 3 1 The components of a Project ssssesessssseeessreseesessteeessessesresersessee A 27 A 3 2 Working with programs ccccsccesccsseesseeseeeeeeeeeeesceseeesseeeeeaeeeneenes A 29 A 3 3 Running the code generation tools cccccsceseseeceteeseceteenseeeeeeseees A 32 A 3 4 Other ISaGRAF tools an naa iae anie A 33 A 3 5 Adding commands to the Tools menu cecceeceesseeseeeeeeeeseeeereees A 34 A 3 6 Simulating and debugging the application eceeeeeeseeeteetees A 34 A 4 Using the
52. 1101 Serial configuration Some options can only be used if the t COMx option is specified Those are configuration options for the serial link ICS Triplex ISaGRAF Inc C 351 Target User s Guide Option Values Meaning baud 600 Baud rate 1200 2400 4800 9600 19200 parity n No parity e Even o Odd stop 1or2 Length of the stop bit flow h Hardware control n No control The defaults values are 19200 no parity 8 data bits 1 stop no flow control Example WISAKER t COM1 baud 1200 data 8 parity n stop 2 User interface This window is displayed from the Options Communication command of the main window of ISaGRAF NT target Communication Setup C 352 ICS Triplex ISaGRAF Inc Target User s Guide It is possible to choose the serial communication or the Ethernet communication The Ethernet communication gives the possibility to modify the port number This port number should be the same as in the workbench PC PLC Link specification Communication Setup Select Ethernet Serial Setup Port Number coM1 Baud Rate Speed fiszoo Data Bits js Parity None Stop Bits i Flow Control None gt By choosing the serial communication the configuration will appear This configuration should be the same as in the workbench PC PLC Link specification Graphic simulation of virtual boards x Option If this option is set th
53. 74 68 69 73 20 69 73 20 6l 20 74 65 78 74 20 73 this is a text s 10 74 72 69 6E 67 tring randprog GS101 gmain Dump display is very useful for spying and understanding message strings containing non printable characters A 122 ICS Triplex ISaGRAF Inc User s Guide A 17 Debugging ST and IL programs uk ie During simulation or on line debugging of ST and IL program no modification can be entered in the program text IL For IL programs instructions are formatted in a list view Current value of a variable used in an instruction is displayed on the same line You can double click on an instruction to change the value of the corresponding variable ST For ST programs a Spy List window is embedded in the editor window You can resize views by dragging with the mouse the separation line between them For each variable of the list ISaGRAF displays its name its current value and its comment text Columns can be resized by dragging separation lines with mouse in the list title bar Saving list on hard disk The File Save list command save the lists of variables on the disk under the same name as the edited program This list will be automatically re loaded each time ST or IL program is open in debug mode This list can also be freely open and modified using the Spy List tool run by the Spy Spy list command of the debugger window Inserting variables in the list The Edit Insert variable command i
54. A 76 A 9 4 Updating the program diafty eeeseeeesseseessesersreseesessteessseseesreserseesee A 77 A 9 5 Selecting a variable from dictionary seseeessseeeeseesersreseesersreresses A 77 A 9 6 The output Window isce e E e EE A 78 A 10 Using the dictionary editor e ssesesseeseeeesoeseseoeseseoeseeoesoeeeesoesesoeeessoesee A 80 A 10 1 The dictionary main Window cccccceseesscesseeseceecesecseeeseeeneeeneenes A 82 A 10 2 Managing variables 0 cecceceeseeeessceesceeecesecesecaecnsecseceeeeeeneenes A 82 A 10 3 Description of ObDjects cccccceesseescessceeseeesceeeceseceaesesecaeceeeaeeeaeenes A 84 A 10 4 Quick declaration cc ce ccccccccccssseescecsseceeseecseseeseecseceeseecseeeeseees A 85 A 10 5 Modbus SCADA addressing map ceccesseeseesseeeteesecseeeneeeseeees A 86 A 10 6 Exchanging information with other applications eeseeeeeee A 87 iv ICS Triplex ISaGRAF Inc User s Guide A 11 Using I O connection editor cccsscssscsssssesssesrsecssessescsecssessseesees A 91 A L1 1 Defining VO boards ce ceccecceseeceeeceesceeecesecesecesecesecseeeneeeeeeneenes A 92 A 11 2 Setting board parameters cccccceesceesceeeceeeceeeceecesecseeeseeeeeeneeses A 93 A 11 3 Connecting I O channels 0 eccecccesceeceeeceeeceseceeeceecseeeseeeneenneenes A 93 A 11 4 Directly represented variables cccesceeseesseeseeeteeeeeeeeeneeeeeeneeees A 93 AWS Numbering i scccce
55. C programming Intel Motorola mismatch Invalid target version ISaGRAF directories The ISaGRAF Workbench works on a dedicated disk directory structure The user during the installation of ISaGRAF specifies the root directory of this architecture The default name for the ISaGRAF root directory is ISAWIN This is the standard disk architecture created by the installation program A 164 ICS Triplex ISaGRAF Inc User s Guide CREATION PROJECT1 These are the standard ISaGRAF sub directories DIRECTORY CONTENTS APL COM EXE LIB LIB IOC LIB FNC LIB FBL LIB SRC LIB DEFS LIB RELS LIB DEV TMP root directory for the ISaGRAF projects each project corresponds to one sub directory which contains all the data of the project other directories may exist for other project groups ISaGRAF installation program creates SMP directory where are stored samples applications common range data Data can be used by any project ISaGRAF programs and help files ISaGRAF libraries lists of elements parameters or interface for each element technical notes source code for I O configurations source code of functions written in IEC languages source code of function blocks written in IEC languages source code for conversions and C functions source header for conversions and C functions Conversions and C functions object code command files for developing C libraries makef
56. C unit on the host_name PC as application file backup directory Be careful not to forget the last slash otherwise the backup is done on ISaGRAF target directory with apl prefixed file names If needed this variable can be set to different path units for each target before each spawn You will find more detailed information on application backup files in the specific features application backup chapter End of Cycle control The TSK_NBTCKSCHED uint 32 variable can be set to a value specifying a delay in tick used by the ISaGRAF target at the end of the cycle C 340 ICS Triplex ISaGRAF Inc Target User s Guide The default value is 0 same priority task scheduling If needed this variable can be set to different value for each target to start before each spawn You will find more detailed information in the specific features Cycle duration task behaviors and task priorities chapter ISaGRAF target spawning Once the configuration environment has been set the last step consists in spawning the ISaGRAF target s isa_main uchar isa_main uchar slave Slave number char com Serial device name Description Starts an ISaGRAF target task return value Returns a value different from zero if errors occur The slave number is the same as discussed in the slave registration chapter More than one target can be started as long as their slave number and communication port are different Wh
57. Command variable option is set the user can modify the value of the linked variable during debug by double clicking on the item graphic symbol Commands of the File menu The File menu contains commands that allow the user to manage the complete document b The New command of the File menu starts the editing of a new document The number of documents defined for a project is not limited by ISaGRAF Before editing the new chart the previously opened chart is closed The SpotLight cannot be used to edit several charts at once However multiple SpotLight windows can be opened simultaneously with each used to edit a different document The Open command of the File menu allows the user to close the currently edited document and to start editing another document of the current project The new selected document replaces the current one in the editing window When selecting the new document the Delete button can be used to delete an existing file in order to clean up the project directory Icon and bitmap files referenced in a chart are not erased when the chart is deleted ICS Triplex ISaGRAF Inc A 127 User s Guide A 18 5 eo The Save command of the File menu stores the currently edited document on the disk If it is a new untitled document the user must give it a name before saving it Naming a document must conform to the following rules e The length of the name cannot exceed 8 characters e The first chara
58. File Program comment text command to enter or change the comment attached to the selected program Editing the contents of a program This command allows the modification of a program s contents The editor used to enter a program depends on the language chosen for that program Program editing ICS Triplex ISaGRAF Inc A 29 User s Guide is carried out in individual windows so that it is possible to edit more than one program through parallel windows Pressing the ENTER key allows the editing of the highlighted program The user can also double click with the mouse on the name of the program to edit it Editing the diary file A diary file is attached to each program This is a text file which contains all the notes about the modifications made to the program during its lifetime The diary file can be edited freely modified or printed at any time When leaving the editor used to modify the source code of a program a window is automatically opened to enter notes for the diary list Such notes are inserted with the correct date and time into the diary file The dictionary of variables The File Dictionary command runs the dictionary editor where are declared the variables of the project Variables may be global known by any program in the project or local to the selected program The dictionary editor may also be used to declare defined words which are semantic aliases used to replace a name or an expression in the so
59. Mbyte of free space on your disk The install bat delivered with the disk installs all needed files for a specified platform on your PC Example a install a c path will install files from disk drive a to c on path directory The following directory architecture is used the ROOT directory contains some tools and readme files the CMDS directory contains executable files the DEFS directory contains header definition files the LIB directory contains libraries the RELS directory contains relocatable object files the USER directory contains user s C procedures for C functions function blocks and conversion functions source and header files Then just get started with the installed platform ICS Triplex ISaGRAF Inc C 325 Target User s Guide C 3 Getting started with ISaGRAF DOS target C 3 1 Running ISaGRAF ISA EXE In the MS DOS implementation the target runs as a single program ISA EXE To get started you can simply run the help command isa from CMDS directory In such a system operations can be critical It is for instance recommended not to overload the communication link to guarantee good performance The target program does not prevent the running of interrupt driven routines Communication link and configuration t Option The ISaGRAF target uses a serial link for debugger communication The name of the port is specified with the t option As the communication interface is designed to be com
60. NULL end of file A NULL pointer must terminate the CNVDEF array Some clashes may occur when this condition is not met Unresolved references will occur when linking the new ISaGRAF kernel if the CNVDEF array is not defined By writing this file a new kernel can be built including all the existing conversions A kernel can also be built customized for one project by inserting in the CNVDEF array only the conversions used in the project The ISaGRAF Code Generator automatically generates the GRCNOLIB C file when the code of an application is built The file is placed in the ISaGRAF project directory and groups only the conversions used in the project Limits The ISaGRAF library may contain up to 128 conversion functions Any type of operation may be processed in a conversion function It should be noted that the functions are called in the ISaGRAF cycle in a synchronous way so that the execution of the function has direct effect on the cycle timing C 7 3 C Functions C functions are used to increase standard capabilities of ST and FBD languages They can be used to realize any specific calculations system calls communications or to install a set of services for dialog between an ISaGRAF application and other tasks Functions are written in C language compiled and linked with the ISaGRAF kernel The increased kernel must be installed on the ISaGRAF target PLC before using new functions in ISaGRAF projects New fu
61. Not locked When an output variable is locked the run time kernel and the output driver are disconnected In this case access is still possible to the output device via the output driver with the ISaGRAF debugger Run time OUTPUTS Kernel User OEM application Not user oem key locked Output devices Debugger When setting the virtual attribute for an input the input database and the associated input devices are disconnected A virtual I O driver replaces the real one A 162 ICS Triplex ISaGRAF Inc User s Guide Virtual OEM oem key 0 INPUTS Run time DATA BASE Kernel application User OEM user oem key Input devices Debugger Setting the virtual attribute follows the same rules for an input board or an output board For output boards the ISaGRAF kernel updates the output database This database and the associated output devices are however disconnected A virtual I O driver replaces the real one Virtual OEM oem key 0 Run time OUTPUTS Kernel application User OEM user oem key Debugger To summarise all possibilities Virtual OEM Virtual OEM oem key 0 oem key 0 meuts Run time gt outputs DATA Kernel DATA BASE Fe BASE application Not aes o User OEM User OEM user oem key user oem key Input devices H it Not X OO Not Debugger virtual lout i fog Output virtual devices Not locked
62. OPERATE Operate Arguments IO ANY input or output variable Funct INT action to be operated Arg INT argument for I O action Q INT return check Description Access to an I O channel The meaning of OPERATE arguments depends on the I O interface implementation Refer to your hardware manual or corresponding I O board technical note to learn more about OPERATE capabilities B 9 2 Standard function blocks These are standard function blocks supported by the ISaGRAF system Such function blocks are pre defined and do not have to be declared in the library BOGIGAMS 1 s cssdveentesdi ate eee heels SR Set dominant bistable ICS Triplex ISaGRAF Inc B 265 Language Reference RS Reset dominant bistable R_Trig Rising edge detection F_Trig Falling edge detection SEMA Semaphore Counting inaani paene eaea CTU Up counter CTD Down counter CTUD Up down counter TME aeea a TON On delay timing TOF Off delay timing TP Pulse timing Integer analogS cceee CMP Full comparison function block Stackint Stack of integer analogs Real analog cceeeees AVERAGE Running average over N samples HYSTER Boolean hysteresis on difference of reals LIM_ALRM High low limit alarm with hysteresis INTEGRAL Integration over time DERIVATE Differentiation according to time Signal generation 05 BLINK Blinking Boolean signal SIG_GEN Signal generator Note When new C function blocks are created they can be called from t
63. SFC editor csscsssssscssecesscssscssssssssesesscsssessssssssssesens A 37 A4 1 SFC language main topics cecceceseceseceseeseceseceseeeensecnseceenaeenaes A 37 A 4 2 Entering asSEG charts scott secsciseig E A 39 A 4 3 Working on an existing SFC chart cccccecsesseeseeeseeeteeeeeeseeeeeeees A 41 A 4 4 Entering the level 2 programming ssessseseseeseeeesseeeessrseesreserseesee A 42 A 4 5 Using the SFC gallery cccsc0cccc ionini core ntseeed A 46 AS Using the Flow Chart editor sscsscssscsssssssssscssssssesssscsssesenesseeees A 47 A 5 1 Basics of the FC langages cer e AE EEA ek A 47 A 5 2 Entering a Flow Chatt soeiscsirsnsciesiisisirieis isrtri sisirin A 48 A 5 3 Working on an existing chart sseeessseeesseseeseeseesssteresseseesresrrseesee A 51 A 5 4 Entering level 2 programs sssssseeesssreessseserseesrsessesresseseesreserseesse A 51 ICS Triplex ISaGRAF Inc iii User s Guide A 5 5 Programming level 2 with Quick LD cceceeeeeeeseeeteeeeeeneeeneeees A 52 A 5 6 Display Options eee ee A 53 A 6 Using the Quick LD editor cssssscsssssssccesscscssscsssssesesesesesssssens A 54 A 6 1 Basics of the LD language ccceccceseeseeeeceseceteeeeceeeeeeeeneenseens A 54 A 6 2 Entering an LD diagram ccececseesseeceesceeeceeeceeceseensecneeeeeeneeses A 56 A 6 3 Working on an existing diagram cceeceeseesceseceseceseeeseeseeeseeeneeees A 59 A 6 4 Display O
64. ST aresult LD zZ LT B ST mresult ICS Triplex ISaGRAF Inc B 255 Language Reference lt Arguments IN1 INT REAL MSG IN2 INT REAL MSG both inputs must have the same type Q BOOLEAN TRUE if IN1 lt IN2 Description Test if one value is LESS THAN or EQUAL TO another one on analog or messages FBD example with Less or equal to blocks lt 10 nt 25 n2 al aresult lt lt ab nt ab n2 mresult ST Equivalence aresult 10 lt 25 aresult is TRUE mresult ab lt ab mresult is TRUE IL equivalence LD 10 LE 25 ST aresult LD ab LE ab ST mresult gt gt IN4 IN2 Q Arguments IN1 INT REAL TMR MSG IN2 INT REAL TMR MSG _ both inputs must have the same type Q BOOLEAN TRUE if IN1 gt IN2 B 256 ICS Triplex ISaGRAF Inc Language Reference Description Test if one value is GREATER THAN another one on analog timer or messages FBD example with Greater than blocks 10 25 o aresult ab a o mresult ST Equivalence aresult 10 gt 25 aresult is FALSE mresult ab gt a mresult is TRUE IL equivalence LD 10 GT 25 ST aresult LD ab GT a ST mresult gt Arguments IN1 INT REAL MSG IN2 Q Description
65. Specific features Communication link As OS 9 Serial Character Manager is very flexible almost any bi directional physical device supported by Microware may be used Example The serial link can be a network path to a physical port located on an another CPU Then the t option would be used for example as following t nr MASTER tO Where the communication link is deported on a CPU called MASTER on a ramnet network The physical port used is t0 ISaGRAF start up When the target is started the following algorithm is executed Look for application from disk to load it into memory Available application on memory No available application on memory wait for application download Application OK save application to disk A g Execute Application Stop application e Definitions The application code is the binary data base generated and downloaded by the workbench and then executed by the target The symbol table may complete it The application symbol table is an ASCII database generated and downloaded by the workbench This table makes the link between symbol objects and internal target objects It is not required on target except for user s specific symbols management For more information on symbol table see user s guide Advanced programming techniques ICS Triplex ISaGRAF Inc C 335 Target User s Guide e ISaGRAF OS 9 objects and Multi application Every ISaGRAF pub
66. TRUE END_IF IF input2 THEN output1 FALSE END_IF Coil with rising edge detection Positive coils enable Boolean output of a connection line Boolean state This type of coils is only available using the Quick ladder editor boo_ variable P Left connection w E Right connection The associated variable is set to TRUE when the Boolean state of the left connection rises from FALSE to TRUE The output variable resets to FALSE in all other cases The state of the left connection is propagated into the right connection Right connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL B 216 ICS Triplex ISaGRAF Inc Language Reference Example using a Positive coil input1 output P ST Equivalence IF input and NOT input1prev THEN output1 TRUE ELSE output1 FALSE END_IF input1prev is the value of input1 at the previous cycle Coil with falling edge detection Negative coils enable Boolean output of a connection line Boolean state This type of coils is only available using the Quick ladder editor boo_variable _ N j Left connection ake eT NG Right connection The associated variable is set to TRUE when the Boolean state of the left connection falls from TRUE to FALSE The output variable resets to FALSE in all other cases The state of the left connection is propagated into the right connection Right
67. Target User s Guide Below is the interface of the function sample par2 Below is the C source header of the function File GRUS0255 h user C function definitions Name sample definition of standard ISaGRAF data types typedef long T_BOO typedef long T_ANA typedef float T REAL typedef long T_TMR typedef char T_MSG definition of the calling and return parameter structure typedef struct T_ ANA parl calling parameter 1 T_ANA _par2 calling parameter 2 T_ANA sum return parameter str_arg identifiers used to access call and return parameters define PARI arg gt _parl define PAR2 arg gt _par2 define SUM arg gt _sum end of file Below is the C source code of the function Only the C programmer manually entered the lines printed with bold characters File GRUS0255 c user C function Name SAMPLE include tasyOdef h required for types definition include grus0255 h C function source header C 376 ICS Triplex ISaGRAF Inc Target User s Guide C main service calculates the addition void USP_ sample str_arg arg SUM PARI PAR2 declaration service required for dynamic link with ISaGRAF kernel UFP uspdef_sample char name strepy name SAMPLE return USP_ sample end of file C 7 4 C FUNCTION BLOCKS C function blocks associate operations
68. User s Guide A 6 Using the Quick LD editor The LD language enables graphic representation of Boolean expressions Boolean AND OR NOT operators are explicitly represented by the diagram topology Boolean input variables are attached to graphic contacts Boolean output variables are attached to graphic coils The ISaGRAF Quick LD editor provides easy LD diagram entering using either keyboard or mouse Elements are automatically linked and arranged on rungs by the Quick LD editor No connection is drawn manually by the user The Quick LD editor also arranges rungs in the diagram so that the space filled by the diagram is always optimised A 6 1 Basics of the LD language An LD program is expressed as a list of rungs where contacts and coils are arranged Below are the basic components of an LD diagram Rung head left power rail Each rung begins with a left power rail which represents the initial TRUE state ISaGRAF Quick LD editor automatically creates the left power rail when the first contact of the rung is placed by the user Each rung may have a logical name which can be used as a label for jump instructions dF Contacts A contact modifies the Boolean data flow according to the state of a Boolean variable The name of the variable is displayed upon the contact symbol ISaGRAF Quick LD editor supports the following types of contacts Direct contact Negated contact H pilen pehini a eseei Contact with positive ri
69. ah4ini min_value m2 a new_value ST Equivalence new_value MAX MIN max_value value min_value bounds the value to the min_value max_value set IL Equivalence LD max_value MIN value MAX min_value ST new_value LIMIT Arguments MIN INT minimum allowed value IN INT any signed integer analog value MAX INT maximum allowed value Q INT input value bounded to allowed range Description Limits an integer value into a given interval Whether it keeps its value if it is between minimum and maximum or it is changed to maximum if it is above or it is changed to minimum if it is below FBD program using LIMIT block min_value value max_value q new_value ST Equivalence new_value LIMIT min_value value max_value bounds the value to the min_value max_value set IL Equivalence LD min_value LIMIT value max_value ST new_value B 296 ICS Triplex ISaGRAF Inc Language Reference MOD Arguments IN Base Q Description mod IN Base Q INT any signed INTEGER analog value INT must be greater than zero INT modulo calculation input MOD base returns 1 if Base lt 0 Calculates the modulo of an integer value FBD program using MOD block 7 value divider n2 ql division_result mod
70. an integer analog variable This means that the same conversion can be used for both real or integer analog I O variables Source code Because the conversion function can be used for both input and output analog variables the C source code of the function is divided into two main parts the input conversion and the output conversion The direction field of the interface structure is used to select the conversion to be applied The ISaGRAF Library Manager automatically generates the complete frame of the function when the conversion function has been created This includes the main selecting IF structure Below is the standard frame of a conversion function ok conversion function name sample include lt tasyOdef h gt include lt tacnOdef h gt void CNV_ sample str_cnv arg if DIRECTION DIR_INPUT INPUT CONV j else OUTPUT CONV The following function shows the link with the ISaGRAF I O manager using the name of the conversion This function is completely generated by the ISaGRAF Library Manager UFP cnvdef_sample char name sys_strcpy name SAMPLE gives the name of the conversion return CNV_ sample returns the implementation function The best way to complete the specific part of the function is to write two separate local functions for input conversion and output conversion These functions will be called by the main algorithm as shown in commen
71. any signed real analog value absolute value always positive Gives the absolute positive value of a real value FBD program using ABS block abs gt delta m tint range INZ o over ST Equivalence over ABS delta gt range IL Equivalence LD delta ABS GT range ST over EXPT expt IN EXP Q B 284 ICS Triplex ISaGRAF Inc Language Reference Arguments IN REAL any signed real analog value EXP INT integer analog exponent Q REAL IN amp Description Gives the real result of the operation base XPONENt hase being the first argument and exponent the second one FBD program using EXPT block expt 2 0 IN Ana range EXP n tb_size ST Equivalence tb_size ANA EXPT 2 0 range IL Equivalence LD 2 0 EXPT range ANA ST tb_size LOG Arguments IN REAL must be greater than zero Q REAL logarithm base 10 of the input value Description Calculates the logarithm base 10 of a real value FBD program using LOG block abs xval iN o xpos log n xlog ST Equivalence xpos ABS xval xlog LOG xpos IL Equivalence LD xval ICS Triplex ISaGRAF Inc B 285 Language Reference ABS ST xpos LOG ST xlog POW Argum
72. are generally not available on the Windows system The ISaGRAF Simulator provides the following standard behavior for any user defined conversion function or function block e When the simulator processes a new conversion it is replaced by a null conversion This means that the physical value of the analog variables is always equal to the electrical value as entered or displayed on the Simulator panel e When a new C function or function block is run by the simulator it does not process any operation The result value is not set A 21 4 Options The commands of the Options menu enable the user to control the display of I Os in the simulator panel The user can set or remove these options at any time during debug A 134 ICS Triplex ISaGRAF Inc User s Guide When the Color display option is set I O channels are displayed as color bitmaps If colors cannot be distinguished on some LCD screens the user should remove this option to get pure black and white input and output graphics for I O channels When the Variable names option is set a sticker is displayed beside any I O channel with the name of the connected I O variable Removing this option enables the user to reduce the size of the simulator panel When the Hexadecimal values option is set any input or output analog channel is displayed or entered in hexadecimal format When the Always on top option is set the simulator window is always vi
73. are built when debugging the application The lists can be stored on the disk and opened again during other debug sessions A list may contain up to 32 variables Variables of different types may be mixed in the same list Global and local variables can be inserted in a list A list of variables is dedicated to one particular project Lists of variables are very useful for the functional testing of an application They allow the user to watch the changes of a limited part of the controlled process independent of the corresponding source code in the application programs Lists of variables are also useful while debugging ST and IL text programs The user can easily group in a list the set of variables used in a program in order to control or monitor the execution of the programmed instructions For each variable of the list ISaGRAF displays its name its current value and its comment text Columns can be resized by dragging separation lines with mouse in the list title bar Saving lists on hard disk The commands of the File menu are used to create open and save the lists of variables ISaGRAF does not limit the number of lists for one project While naming the lists of variables to be saved on disk the rules shown below have to be followed e name cannot exceed 8 characters e the first character must be a letter e the following characters can be letters digits or underscore character e naming of lists is case insensitive The list edito
74. be written according to ST conventions between and characters or prefixed by a character A 138 ICS Triplex ISaGRAF Inc User s Guide Assignment Meaning Syntax Arguments Notes Warning Example Print Meaning Syntax Arguments Notes Example Force the value of an ISaGRAF variable It can be an internal variable an input channel or an output channel lt varname gt lt constant_expression gt lt varname gt lt constant_expression gt lt varname gt is a valid symbol of a declared application variable or a directly represented I O variable using writing conventions lt constant_expression gt is a valid constant expression that matches the type of the specified variable For Booleans 0 and 1 can be used instead of FALSE and TRUE For timers the T or TIME prefix can be omitted Input variable forced by a script does not need to be locked The drawing of the corresponding input channel is updated when a script forces input variable do not force input or output analog variable attached to a conversion as script execution does not support conversion functions or tables MyBooVar 1 same as TRUE MyIntVar 1234 MyRealVar 1 2345 MyMsgVar Hello MyTmrVar t 12s Writes a string or the value of a variable in the output window Text is output as one new line at the end of text already written in output window Print
75. bi51 XOR bi52 XOR bi53 IL equivalence LD bi101 XORN bi102 ST bo10 LD bi51 XOR bi52 XOR bi53 ST bo5 Note For this operator the number of its inputs can be extended to more than two Arguments inputs INT REAL can be INTEGER or REAL all inputs must have the same format output INT REAL signed addition of the input terms Description Addition of two or more analog variables FBD example with Addition Blocks ai101 ai102 aid1 ai52 ai53 ao5 ICS Triplex ISaGRAF Inc B 249 Language Reference ST equivalence ao10 ai101 ai102 aod ai51 ai52 ai53 IL equivalence LD Arguments IN1 IN2 Q Description Subtraction of two analog variables first second ai101 ai102 ao10 ai51 ai52 ai53 ao5 INT REAL can be INTEGER or REAL INT REAL IN1 and IN2 must have the same format INT REAL subtraction first second FBD example with Subtraction Blocks ai101 m1 ai102 N2 q ao10 ai51 N1 1 IN2 fo n1 ai53 IN2 a ao5 ST equivalence ao10 ai101 ai102 ao5 ai51 1 ai53 IL equivalence LD ai101 SUB ai102 ST ao10 LD ai51 SUB 1 SUB ai53 ST ao5 B 250 ICS Triplex ISaGRAF Inc Language Reference Note For this operator the number of its inp
76. bit to bit mask FBD example with XOR_MASK blocks xor_mask preverc m nextc Msk ol crc32 xor_mask 16 012 m 16 011 sk result ST Equivalence crc32 XOR_MASK preverc nextc result XOR_MASK 16 012 16 011 equals 16 003 IL equivalence LD prevcrc XOR_MASK nexte ST crc32 LD 16 012 XOR_MASK 16 011 ST result NOT_MASK not_mask IN Q Arguments IN INT must have integer format Q INT bit to bit negation on 32 bits of IN Description Integer analog bit to bit negation mask B 254 ICS Triplex ISaGRAF Inc Language Reference FBD example with NOT_MASK blocks not_mask 16 1234 m o result ST equivalence result NOT_MASK 16 1234 result is 16 FFFF_EDCB IL equivalence LD 16 1234 NOT_MASK ST result lt lt IN4 IN2 Q Arguments IN1 INT REAL TMR MSG IN2 INT REAL TMR MSG both inputs must have the same type Q BOOLEAN TRUE if IN1 lt IN2 Description Test if one value is LESS THAN another one on analog timer or messages FBD example with Less than blocks lt 10 m 25 ino ql aresult lt Pa N1 B nz mresult ST Equivalence aresult 10 lt 25 aresult is TRUE mresult z lt B mresult is FALSE IL equivalence LD 10 LT 25
77. block before the selected symbol FE peaagu dish insert a block in parallel with the selected symbol You can also click on the function key bar at the bottom of the level 2 window instead of hitting function keys Hit RETURN when the selection is on a contact or a block I O parameter to select a variable or enter a constant value Hit RETURN when the selection is on a function block to select the type of the function block You can also double click on a symbol for the same effect Hit SPACE bar when a contact is selected to change the type of contact direct negated or with pulse detection Refer to the chapter Using the Quick LD editor in this document for more details about Quick LD capabilities ICS Triplex ISaGRAF Inc A 45 User s Guide A 4 5 Using the SFC gallery The ISaGRAF SFC editor manages a SFC gallery it is a collection of SFC structures that can be inserted in any SFC chart Elements of the SFC gallery can optionally embed the level 2 programming of steps and transitions Use the following commands of the Tools menu Copy to SFC gallery copy selected elements to SFC gallery Paste from SFC gallery paste a SFC gallery element at the current location When copying to SFC gallery i e creating a new SFC gallery element you can optionally ask to embed level 2 programming of selected SFC symbols A 46 ICS Triplex ISaGRAF Inc User s Guide A 5 Using the Flow Chart editor The ISaGRAF Flow Chart g
78. bx126 bi12 OR bi45 ELSIF over_mode THEN level max_level ELSE level Iv16 100 scale END_IF IF structure without ELSE If overflow THEN alarm_level true END_IF CASE statement Name CASE OF ELSE END_CASE Meaning executes one of several lists of ST statements selection is made according to an integer expression Syntax CASE lt integer_expression gt OF lt value gt lt statements gt lt value gt lt value gt lt statements gt ELSE lt statements gt END_CASE Case values must be integer constant expressions Several values separated by comas can lead to the same list of statements The ELSE statement is optional Example ST program using CASE statement CASE error_code OF 255 err_msg Division by zero B 228 ICS Triplex ISaGRAF Inc Language Reference fatal_error TRUE 1 err_msg Overflow 2 3 err_msg Bad sign ELSE err_msg Unknown error END_CASE eo WHILE statement Name WHILE DO END_WHILE Meaning iteration structure for a group of ST statements the continue condition is evaluated BEFORE any iteration Syntax WHILE lt boolean_expression gt DO lt statement gt lt statement gt END_WHILE Warning Because ISaGRAF is a synchronous system input variables are not refreshed during WHILE iterations The change of state of an input variable cannot be used to describe the condition of a WHILE s
79. call parameters of the function are written after the name of the function between parentheses and separated by commas The expression represents the value returned by the function A C function call may be inserted into any assignment statement or complex expression This is an example of a C function call in an assignment statement result ProcName par1 par2 parN An FBD program can call any C function A function is used as a standard function box Its call parameters are connected to the left hand side of the function box The return parameter is connected to the right hand side of the box Here is the standard aspect of such a function box Name of the function Calling XXX parameters return parameter A C function can be called from any SFC action block or in any Boolean condition attached to a transition Defining the interface of a C function The Parameters command of the Edit menu is used to define the call and return parameters of a new function A function can have up to 31 call parameters and always has one return parameter The list in the upper side of the window shows the parameters of the C function according to the order of the function calling prototype first the calling parameters lastly the return parameter The lower part of the window shows the detailed description of the parameter currently selected in the list the name of the parameter the direction call
80. channels are available using standard OEM features and the OPERATE function Run time operations Modifying a running application consists of the following operations e modify the application source code on the workbench e generate the new application code e download the new application code using update command instead of download e switch from the old application to the new one in between PLC execution cycles using the Realise update command This procedure guarantees that the target PLC always has a complete and reliable running application and enables the user to control the timing of the sample operations in a very safe and efficient way It also enables the user to modify the project as often as possible Regardless to the process itself the on line modification is essentially the same as a normal stop start and download set of commands The only differences are that no variable state is lost and the switching time is very short usually 1 or 2 cycle duration During the switch no variable is modified and all internal input or output variables keeps the same value before and after the application modification During the switch no action is performed and SFC tokens are not moved Memory requirements In order to support the n line modification capability the target PLC must have free memory space to enable the storage of the modified version of the application code Both versions of the application code have
81. connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL Example using a Positive coil input output oH ST Equivalence IF NOT input1 and input1prev THEN output1 TRUE ELSE output1 FALSE END_IF input1prev is the value of input1 at the previous cycle B 6 4 RETURN statement The RETURN label can be used as an output to represent a conditional end of the program No connection can be put on the right of a RETURN symbol RETURN ICS Triplex ISaGRAF Inc B 217 Language Reference If the left connection line has the TRUE Boolean state the program ends without executing the equations entered on the following lines of the diagram Note When the LD program is a sub program its name has to be associated with an output coil to set the return value returned to the calling program Example using RETURN symbol manual mode P l input1 input2 result 1 I C input3 ST Equivalence If Not manual_mode Then RETURN End_if result input OR input3 AND input2 B 6 5 Jumps and labels Labels conditional and unconditional JUMPS symbols can be used to control the execution of the diagram No connection can be put on the right of the label and jump symbol The following notations are used POLAB or jump to label named LAB LAB iteu on ns definition of the label named LAB If the co
82. corresponds to one instance and one data structure The following example shows the correspondence between C data structures and the function block instances used in an FBD program C 382 ICS Triplex ISaGRAF Inc Target User s Guide R_TRIG C data instance 1 R_TRIG C data instance 2 GATE C code GATE C data instance 1 The memory needed for data structure of each instance is allocated by the ISaGRAF system when the application starts A pointer to the associated instance data structure is passed to the activate and read services FBD program C implementation R_TRIG C code The ISaGRAF Library Manager automatically generates the frame of the C source code for data structure type definition The type of the data structure is always called str_data The programmer should not change this name to ensure compatibility with service headers The hidden data generally groups internal variables with an image of the return parameters The function block read service is only used to access the return parameter and should not be used to perform other operations e The initialization service The ISaGRAF kernel calls the initialize service of a function block when the application starts It allows the C programmer to ask the system to allocate memory for an instance Below is the standard programming of the initialization service uintl6 FBINIT_xxx uint16 hinstance
83. definition include lt grfb0255 h gt function block C source header definition of the structure which contains the data for one instance typedef struct T_BOO overflow true counting value gt programmed value T_ANA value counting current value str_data initialization service requires memory for instance data word FBINIT_ sample uint16 hinstance return sizeof str_data activation service up counting algorithm ICS Triplex ISaGRAF Inc C 391 Target User s Guide void FBACT_ sample uint16 hinstance str_data data str_arg arg if R data gt value 0 else if CU amp amp data gt value lt PV data gt value data gt overflow data gt value gt PV T_BOO 1 T_BOO 0 cast operation required to copy parameters to ISaGRAF buffer define BOO_VALUE T_BOO value define ANA VALUE T_ANA value define REAL VALUE T_REAL value define TMR_ VALUE T_TMR value define MSG_ VALUE T_MSG value read service get the value of one return parameter void FBREAD sample uintl6 hinstance str data data uintl6 parno void value switch parno case FBLPNO_Q_ BOO_VALUE data gt overflow break case FBLPNO_CV ANA_VALUE data gt value break declaration service used for dynamic link with the ISaGRAF kernel ABP fbldef_sample char name IBP initproc RBP readproc strepy
84. does not have to be used in the programming The direction field indicates whether the conversion must be applied on an input variable or an output variable It contains the DIR_INPUT value for an input conversion or the DIR_OUTPUT value for an output conversion The before field points to the value before the conversion This field has a different meaning for an input or an output conversion It represents the electrical value read on the input device for an input conversion when the direction field takes the DIR_INPUT value It represents the physical value used in the programmed equations for an output conversion when the direction field takes the DIR_OUTPUT value The after field points to the value after the conversion This field has a different meaning for an input or an output conversion It represents the physical value used in the programmed equations for an input conversion when the direction field takes the DIR_INPUT value It represents the electrical value sent to the output device for an output conversion when the direction field takes the DIR_OUTPUT value The programmer can use the ARG_BEFORE and ARG_AFTER definitions to directly access the before and after field of the structure passed to the C conversion function ICS Triplex ISaGRAF Inc C 367 Target User s Guide Processed values are single precision floating values The result is converted to a long integer when the conversion is applied to
85. exceed 16 characters first character must be a letter following characters can be letters digits or underscore _ character ICS Triplex ISaGRAF Inc B 185 Language Reference Warning A defined word can not use a defined word in its definition for example you can not have PI is 3 14159 Pi2 is P 2 write the complete equivalence using constants or variables and operations PI2 is 6 28318 B 186 ICS Triplex ISaGRAF Inc Language Reference B 3 SFC language Sequential Function Chart SFC is a graphic language used to describe sequential operations The process is represented as a set of well defined steps linked by transitions A Boolean condition is attached to each transition Actions within the steps are detailed by using other languages ST IL LD and FDB B 3 1 SFC chart main format A SFC program is a graphic set of steps and transitions linked together by oriented links Multiple connection links are used to represent divergences and convergences Some parts of the complete program may be separated and represented in the main chart by a single symbol called macro steps The basic graphic rules of the SFC are A step cannot be followed by another step A transition cannot be followed by another transition B 3 2 SFC basic components The basic components graphic symbols of the SFC language are steps and initial steps transitions oriented links and jumps to a step B 3 2 1 Steps a
86. executed and other ISaGRAF applications are not blocked The ISaGRAF script interpreter decides to break script execution if the same label is encountered more than once in the same target cycle Script execution can also be normally broken by Cycle or Wait instructions Script description language e Script description language is a very simple text language similar to ST but where each instruction is entered on a separate text line and does not need to be terminated by a semicolon Use the following button of the toolbar to know the list of available instructions and to insert a keyword at the caret position Insert instruction keyword and help as comments There are various types of instructions First is the assignment forcing of a variable E a Assignment Other instructions allow the output of messages to the output window Print osiris outputs a text string or a variable value PrintTime outputs current time stamp Other instructions are used to synchronise script instructions with ISaGRAF cycle let ISaGRAF simulator execute one cycle waits during a specified time Other instructions are used to control instruction flow in the script Labels can be placed anywhere in the script Goto iais unconditional jump to a label If goto conditional jump to a label Bnd cee terminates script Script language is not case sensitive Comments can be inserted at the end of any text line Comments can either
87. for example ref_step_X Then you insert in the step the variable with the N qualifier ref_step_X N Then in the program which wants to test the activity of the step you use the variable Prog program the other program which needs step activity of Prog program SS 101 l 2 _lref_step_X N Te ref_step_X GS2 prog X i 102 2 TSTART statement Name TSTART Meaning starts the counting of a timer variable timer value is not modified by the TSTART command i e the counting starts from the current value of the timer Syntax TSTART lt timer_variable gt Operands any inactive timer variable Return value none Example SFC program using TSTART and TSTOP statements B 232 ICS Triplex ISaGRAF Inc Language Reference 10 _JACTION P END_ACTION bo100 TRUE boolean output tm_ctrl t 0s TSTART tm_ctrl bi100 OR tm_ctrl gt time_out 11 JACTION P END_ACTION TSTOP tm_ctrl alarm not bi100 Time diagram if bi100 is always FALSE GS10 X GS11 X timeout tm ctrl The timer keeps the same value during one cycle TSTOP statement Name TSTOP Meaning stops updating a timer variable Syntax Operands Return value timer value is not modified by the TSTOP command TSTOP lt timer_variable gt any active timer variable none Exa
88. g 5 D y D g 2 Ep aos a m S o 2 S O c Ss no aa Z S g 3 a w v n J 8 D 2 D ius e 8 S 5 D lt g 5 5 5 i 3 D D D 5 CF en o D D D a z Q Q Q D gt a gt D D 5 2 x x h os gt gt gt a D D D Q S O O O 44 cannot operate analog variable application fe U m D S m Eci o D o 3 gt Q z n o j Q o O o Qa n oO ip n O e o gt 5 fo 3 3 D o o to D 5 a 0 D lal Q D 2 g 0 la g a 5 20 U 2 m Q D 5 D a lt o Z D ox D lt D 3 lt lt a Z 5 45 cannot operate message variable application fe U m a S m ge Q o 3 oO Q z non oO O D Q E n oO n je O fe o gt 5 0 3 3 5 gt D o o fo D 5 a o LA o O Q o a 0 x O la c 5 a 5 O U a m Q D m e o 3 D a 7 0 a o lt S a D kem D lt D y lt lt O fad s 46 cannot open board application a EY PEE 5 5 0 Se 399 a re 530 a er on a aa oe go oF O pu lt a 23 o oO Sa 25 PMT o S SS Oo a gc 5 23 zo a5 22 a O oF 30 os O Q a 0 oa zo Sa SS cnx a 3 O 2o 47 cannot close board application o T Oo Ke nok 5 o a O j D a D gt Q o o O D Q 3 S oO i O oO z O A
89. ge D oO a eo eg oO E 3 oO o pe noe O feb O S oJ a SS D go 3 33 re ome Qa lt a 3 z a QO v O w ke 35 gos oo O DS i g 2 S 38 cee 0 Fo 3 33 O Q cg ion cad o gt j a o po 2s D og g2 530 O o 8 a 3g C a n oO D D n e 8 3 3 D D v 3 5 2 D fe 5 a 5 lt D S ion D F je N a 5 8 x o g D o z g v a D D 2 2 2 D Q a 3 lt 2 76 cannot update different set of message variables application Q o 3 mo D oO a a e oO O wa 3 oO aa o ke noe O feb Er O a a gt 3 fe 2 a i Kej pes S QO S e Q o o n a 5 a D a loy O ae n 530 n 3 3 D n n D Q D lt S D Ss D n a D lt o D D Q Q a zi 3 lt D a ICS Triplex ISaGRAF Inc C 419 Target User s Guide 77 cannot update cannot find new application application The modified application cannot be found in memory something wrong may have happened during the download C 420 ICS Triplex ISaGRAF Inc Target User s Guide ICS Triplex ISaGRAF Inc C 421 Glossary D Glossary Action List of statements or assignments executed when a step of a SFC program is active Action FC Symbol of a Flow Chart diagram An action represents a list of instructions to be performed
90. if necessary the application symbol table from the PROM to the RAM as ISAx1 and if necessary ISAx6 memory data module s with your own tools WARNING The breakpoint management of the ISaGRAF debugger cannot run correctly if the application code module is not accessible for writing This is not a problem as your application has normally been fully tested before On the PC host if the ISaGRAF workbench is installed on the standard ISAWIN directory the application code file of the project MYPRO4J is ISAWIN APL MYPROJ appli x6m corresponding to isax1 on the target the application symbols file of the project MYPRO4J is ISAWIN APL MYPROJ appli tst corresponding to isax6 on the target Error management and output messages The ISaGRAF target software integrates an error detection management You will find the warning error list and their description in appendix Error detection is processed as follows An error is composed of an error and argument number sent to the ISaGRAF error routine If the error detection flag is set in the workbench Make options the error is processed If not the information is lost and the error management ends When processed Error number decimal value and argument hexadecimal value are displayed on the default stdout output Error number and argument are pushed into a ring FIFO error buffer in order to be retrieved at a later time The error buffer size is set in the work
91. implemented through the I O driver e Application backup When a new application is downloaded from the workbench debugger into the target the application code is saved on the target current directory with the file name ISAx1 ISaGRAF application code backup file where x is the slave number Furthermore if the application symbol table has been downloaded before it is also saved on the target current directory with the file name ICS Triplex ISaGRAF Inc C 355 Target User s Guide ISAx6 ISaGRAF application symbols backup file where x is the slave number When the ISaGRAF target is started these application code and application symbols files are searched on the current directory and loaded into memory If no symbols file is available then the target starts running the application code with no symbols loaded If no application code is available then the target is waiting for an application to be downloaded In order to start the target with a specific application at power up without using the debugger link these files can be directly copied to the target current directory disk from the same disk if the workbench is on the same PC or using a floppy disk If the ISaGRAF workbench is installed on the standard ISAWIN directory the application code file of the project MYPROJ is ISAWIN APL MYPROJ appli x8m the application symbols file of the project MYPRO4J is ISAWIN APL MYPROJ appii tst Example From the directory
92. kernel task associated to a communication task on a serial Ethernet link Kernel task Com task slave 1 logical Nb 1 Kernel task slave 2 An another configuration consists in 2 kernel associated to a communication task on a serial Ethernet link In this case SlavesLink 0x01020000 C 5 5 Specific features ISaGRAF start up When the target is started the following algorithm is executed C 346 ICS Triplex ISaGRAF Inc Target User s Guide Look for application from disk to load it into memory Available application on memory No available application on memory E Wait for application download Application OK E Save application to disk Execute Application Stop application e Definitions The application code is the binary data base generated and downloaded by the workbench and then executed by the target The symbol table may complete it The application symbol table is an ASCII database generated and downloaded by the workbench This table makes the link between symbol objects and internal target objects It is not required on target except for user s specific symbol management For more information on symbol table see user s guide Advanced programming techniques The path to the disk file unit is specified at the ISaGRAF target startup using the global variable TSK_FUNIT default value to specify there are no disk file unit e ISaGRAF Multi applica
93. lt text gt Print lt varname gt lt text gt is any text string expressed between single quotes lt varname gt is the valid symbol of a declared application variable or a directly represented I O variable using writing conventions Output of variable values is always formatted according to IEC conventions Print Hello Print MyBooVar ICS Triplex ISaGRAF Inc A 139 User s Guide Output Hello MyBoovar TRUE PrintTime Meaning Writes the current time stamp in the output window Text is output as one new line at the end of text already written in output window Syntax PrintTime Notes Time stamp is formatted according to current setting of Windows System Example Print Time now is PrintTime Output Time now is 15 45 22 Cycle Meaning Suspends the execution of the script until the next ISaGRAF cycle is performed Syntax Cycle Notes Script instructions are executed at the beginning of an ISaGRAF cycle If the simulator is in Cycle to Cycle mode the cycle instruction is immediately followed by a cycle The following instructions of the script will be performed on the next Execute one cycle command from the debugger Example the ISaGRAF program copies A to B A 0 Cycle Print B A Sh L Print B no cycle performed B not set to 1 Cycle Print B Output B 0 B 0 B 1 A 140 ICS Triplex ISaGRAF Inc User s Guide Wait Meaning Syntax Arguments Notes Example
94. may be resized by dragging the corners of its border when it is selected Moving objects To move objects in the diagram you have to select them and drag the mouse to move the selected area in the diagram To move connected objects the user simply has to move the graphic symbols put on the diagram The ISaGRAF LD FBD editor will automatically redraw the connection lines between the objects that were moved based on their new location Drawing links Select one of these buttons in the toolbar to draw a link between connection points of existing elements If you draw a link from a connection point to an empty location in the diagram a user defined corner automatically terminates it so that you can continue drawing another segment Changing link drawing The Tools Move line command is used when a link is selected in the diagram to change its automatic routing This command has no effect when the link is ICS Triplex ISaGRAF Inc A 65 User s Guide T connected to a user defined corner When a link is drawn as three segments this command changes the position of the second segment Below are examples gt F Changing the type of a link You can easily change the type of link with or without Boolean negation by double clicking with the mouse on its right extremity Drawing LD rungs To draw a new LD rung first insert the left power rail Then place a coil it will be automatically linked to
95. mouse in the FBD drawing area a popup menu is displayed It contains the following commands that can be used to insert or remove free space at the location of the mouse cursor Insert rows This command inserts horizontal free space made of 4 rows according to the grid step starting at the position of the mouse cursor where popup menu is open ICS Triplex ISaGRAF Inc A 67 User s Guide Delete rows This command removes unused horizontal space rows starting at the position of the mouse cursor where popup menu is open This command cannot be used to remove FBD elements When popup menu is open a grey line in the FBD drawing area indicates where empty space will be inserted or removed A 7 4 Display options The commands of the Options menu are used to customise the drawing of the FBD diagram on the screen Tooltips Use the Options Tooltips command to hide or display variable comments as tooltips in the whole diagram The comments appear as a tooltips when the cursor moves over the corresponding variable block This option is available in off line and on line modes Layout customisation The Options Layout command opens a dialog box where are grouped all the parameters and options concerning the editor workspace and the drawing of the graphic diagram Use the check boxes in the Workspace group to display or hide editor toolbars and status bar Option of the Document group allows you to sho
96. name SAMPLE initproc IBP FBINIT_sample readproc RBP FBREAD sample return ABP FBACT_ sample end of file C 392 ICS Triplex ISaGRAF Inc Target User s Guide C 7 5 Compiling and linking techniques The ISaGRAF Workbench does not include any C compiler or linker However this chapter explains the main techniques which can be applied to easily use the files created by the ISaGRAF Library Manager and pass them to other tools such as compilers and linkers C source files The C source files of conversions functions and function blocks are put by the ISaGRAF Library Manager into the ISAWIN LIB DEFS and ISAWIN LIB SRC directories The name of a source file is built with the number of the corresponding conversion function or function block in the ISaGRAF library These are the used filenames isawin lib defs TACNODEF H definition file for any conversion functions isawin lib src GRCNOnnn H source file of a conversion function isawin lib defs GRUSOnnn H definition file of a function isawin lib src GRUSOnnn C source file of a function isawin lib defs GRFBOnnn H definition file of a function block isawin lib src GRFBOnnn C source file of a function block nnn is the number of the conversion function or function block Warning When renaming or copying library elements its text and programming lines are not updated by the ISaGRAF Library Manager according to new element name and logical nu
97. needed to distinguish slaves from each other when more than one target are running When using the workbench debugger make sure the workbench slave parameter see users guide Managing programs matches with an existing target kernel and communication tasks Default value The default slave number is 1 same as the workbench one Communication task logical number c Option This option specifies the communication task logical number It is used to manage more than one communication task at a time It can be from 1 to 255 and must be different for each communication task Default value The last s specified option is used The default value ensure compatibility with previous 3 0 ISaGRAF versions C 4 2 4 Examples isaker amp isatst t t0 isatst logical Nb 1 Starts An ISaGRAF kernel task with default slave number 1 An ISaGRAF serial communication task on t0 com Port linked to default slave number 1 and with default logical number last specified slave number default 1 isaker amp isanet t 1100 isaker isanet slave 1 logical Nb 1 Starts ICS Triplex ISaGRAF Inc C 333 Target User s Guide An ISaGRAF kernel task with default slave number 1 An ISaGRAF Ethernet communication task on Port number 1100 linked to default slave number 1 and with default logical number last specified slave number default 1 isaker s 2 amp isatst t t0 s 2 respectively isanet t 1100
98. no effect if NbS lt 0 highest bit is copied at each shift Description Make the bits of an integer shift to the right Shift is made on 32 bits 4 FBD program using SHR block shr register IN 1 nbs al result ST Equivalence result SHR register 1 register 2 1100_1101_0011_0101 result 2 1110_0110_1001_1010 IL Equivalence LD register SHR 1 ST result B 294 ICS Triplex ISaGRAF Inc Language Reference MIN min IN4 IN2 Q Arguments IN1 INT any signed integer analog value IN2 INT cannot be REAL Q INT minimum of both input values Description Gives the minimum of two integer values FBD program using MIN and MAX block min max_value m max value m2 a tint min_value m2 al new_value ST Equivalence new_value MAX MIN max_value value min_value bounds the value to the min_value max_value set IL Equivalence LD max_value MIN value MAX min_value ST new_value MAX max IN4 IN2 Q Arguments IN1 INT any signed integer analog value IN2 INT cannot be REAL Q INT maximum of both input values Description Gives the maximum of two integer values FBD program using MIN and MAX block ICS Triplex ISaGRAF Inc B 295 Language Reference min max_value m1 max value ina
99. not to overload the communication link to guarantee good performance On the OS 9 multitasking system different ISaGRAF single task targets can be run on the same CPU as long as their slave number and communication port are different This single task implementation has mainly been designed for poor hardware platform such as low cost boards or MS DOS PC s or to make a first prototype when porting on a new platform Therefore the multitasking ISaGRAF target implementation should be preferred The ISaGRAF single task target does not prevent the running of background processes or interrupt driven routines Communication link and configuration t Option The ISaGRAF single task target uses a serial link for debugger communication The name of the descriptor is specified with the t option No Default value If this option is not used no communication with the target is possible In such a case error number 7 may be displayed Communication using an Ethernet link is not available with the single task implementation The serial link device is opened in binary data transfer mode no control characters no XON XOFF Other communication parameters have to be set before starting ISaGRAF so that the user is totally free to use the parameters needed When using the workbench debugger make sure the workbench communication parameters see user s guide Managing programs match with the target ones Example xmode t0 baud 19200 Sets up comm
100. number returned by FLROPEN or F_WOPEN return status ID Q CLOSE file_id error TRUE if file close is OK FALSE if an error occurred LD c data data bin F_WOPEN ST file_id EQ 0 ST error F_CLOSE D Arguments ID INT ok BOO Description Closes a binary file open with functions F_ROPEN or F_WOPEN This function is not included in the ISaGRAF simulator FBD program using file management blocks data bin F_ROPEN Path 10 file _id file_id F_CLOSE ID k ok ST Equivalence file _id F_ROPEN data bin ok F_CLOSE file_id B 314 ICS Triplex ISaGRAF Inc Language Reference IL Equivalence LD F_ROPEN ST F_CLOSE ST F_EOF data bin file_id ok Arguments ID ok Description Tests if end of file has been reached This function is not included in the ISaGRAF simulator INT BOO file_id is already in the current IL result file number returned by FLROPEN or F_WOPEN end of file indicator TRUE if end of file has been reached at the last read or write procedure call With FM_READ the last message read from a file may not be correct if the last character is not a string terminator FBD program using file management blocks not_eof F_ROPEN d
101. object is still visible at the bottom of the chart in this case a FC flow links A flow link is a line that represents a flow between two points of the diagram An arrow always terminates a link Below is the drawing of a flow link ICS Triplex ISaGRAF Inc B 201 Language Reference Two links cannot start from the same source connection point FC actions An action symbol represents actions to be performed A number and a name identify an action Below is the drawing of an action symbol nn Name Two different objects of the same chart cannot have the same name or logical number Programming language for an action can be ST LD or IL An action is always connected with links one arriving to it one starting from it FC conditions A condition represents a Boolean test A number and a name identify a condition According to the evaluation of attached ST LD or IL expression the flow is directed to YES or NO path Below are the possible drawings for a condition symbol NO NO YES YES YES YES O NO Two different objects of the same chart cannot have the same name or logical number The programming of a test is either an expression in ST or a single rung in LD with no symbol attached to the unique coil or several instructions in IL The IL register or current result is used to evaluate the condition When programmed in ST text a semicolon may optionally follow the expression When pr
102. of a name is 8 characters e the first character must be a letter e the following characters must be letters digits or _ character e the naming of a program is case insensitive Next select the editing language chosen to describe the new program Sequential Function Chart Flow Chart Functional Block Diagram may include parts in LD Ladder Diagram entered with Quick LD editor Structured Text Instruction List Finally select an execution style for the program Begin nikies top level of the Begin section Sequential top level of the Sequential section End top level of the End section Function in the Functions section Function block in the Function Blocks section Child of SFC or FC child or sub program of an existing program By selecting one of the first five choices the program is put at the top level of a Begin End Sequential Functions or Function Blocks section The selection of the latter indicates that the new program is a SFC child program or a FC sub program or a sub program Remember that a top level sequential program must be described in the SFC or FC language and that the SFC and FC languages cannot be used for cyclic programs and their sub programs Entering comments for each program ISaGRAF allows you to attach a description text to each program of the project This comment text is displayed with smaller character font beside the name of the program Use the
103. of data where are stored SFC step dynamic attributes its activity time and flag Adding or removing SFC steps change the application database and is denied for on line change Hidden variables allocated by compilers The ISaGRAF Compiler generates hidden temporary variables to solve complex expressions In some case the change of an expression may lead to a different set of non visible temporary variables and that leads to an impossible on line change To avoid this situation you can add the following entries in ISA INI file in order to force a minimum number of temporary variables to be allocated for each program even if not used for the compiling of the first application version Values given here are examples DEBUG MNTVboo 8 for Booleans MNTVana 4 for integers and reals MNTVtmr 4 for timers MNTVmsg 2 for messages When such a setting is written in ISA INI the compiler outputs a warning message if a new compiling of the application leads to a greater number of allocated temporary variables ICS Triplex ISaGRAF Inc A 117 User s Guide Inputs and outputs As the ISaGRAF I O system is very open required modifications should be implemented by the OEM using specific features of the corresponding hardware The ISaGRAF system does not allow the user to add connect or remove an I O variable or to modify the description of an I O board on line Operations such as modifying board parameters and locking I O
104. or transition in a SFC program Current result of an IL sequence Value returned by a sub program at the end of its execution The return value is used in the operations of the owner program Application error detected by the ISaGRAF target system at run time Group of programs executed with the same dynamic rules Special character or group of characters used to separate the identifiers in a literal language A separator may represent an operation Graphic language the process is described as a set of steps linked by transitions Actions are attached to the steps Transitions are detailed as ICS Triplex ISaGRAF Inc D 427 Glossary Chart Boolean conditions Sequential Group of the programs of a project The execution of those programs follows section the dynamic rules of the SFC language SFC Sequential Function Chart language ST Structured Text language Statement Basic ST complete operation Step Basic graphic component of the SFC language A step represents a steady situation of the process and is drawn as a square A number references a step The activity of a step is used to control the execution of the corresponding actions String Set of characters stored in a message variable Structured High level structured literal language combining assignments high level Text structures such as If Then Else and function calls Sub Program written with any language but SFC and called by another program pr
105. program Note that such a link represents parallel operations Programming languages Each program is described in only one language This language selected when the program is created cannot be changed afterwards However FBD diagrams may include parts in LD and LD diagrams may include function block calls Available graphic languages are SFC Sequential Function Chart FC Flow Chart FBD Functional Block Diagram and LD Ladder Diagram Available literal languages are ST Structured Text and IL Instruction List SFC and FC languages are reserved for main and child programs of the sequential section The language of each program is shown as an icon beside the program name in the Program Management window Below are the icons used to represent the languages Sequential Function Chart Flow Chart Functional Block Diagram Ladder Diagram entered with Quick LD editor Structured Text Instruction List A 28 ICS Triplex ISaGRAF Inc User s Guide A 3 2 Working with programs The File menu groups all the commands used to create update or modify programs It also launches appropriate editors to enter the contents of application programs Creating a new program The New function of the File menu allows the creation of top level child or sub programs into each program section The first piece of information to be entered is the name of the new program according to the following naming rules e the maximum length
106. programming syntax of the currently edited program In case of SFC language both level 1 and 2 are checked When syntax verification is complete the code generator window must be closed to continue work on the program If there is only one program in the application the edited one the application code is generated if no syntax error is detected The Options Compiling options command is used to set compiling and optimising parameters Refer to chapter Using the code generator in this document for further information about compiling and code generation Simulate or debug the application The File Simulate and File Debug commands run the ISaGRAF graphic debugger either in simulation or real connected mode and re opens the edited SFC program in debug mode Used in debug mode no modification can be entered in the program m Editing the dictionary of variables The File Dictionary command is used to edit the dictionary of variables for the current application and the current program It also contains the entry points to edit the user defined words The local declarations or defined words relate to the currently edited program A 9 2 Parameters of the program When the edited program is a function a function block or a sub program the File Parameters command is used to define its calling and return parameters This command has no effect if the edited program is a SFC or top level program from section Begin or End Su
107. project cc eccecseecceesceesceeeceeeeceeeeeeeeeeeeeeeeeerens A 131 A 19 7 Compatibility issues 00 0 eececcecsceesceeeceeeceeeeeseeeecesecesecnseenseeeeeaees A 131 A 20 Using the Diagnosis tool csscsssssccsscesseeccsecesseecccesscersceeesseeeees A 132 A 21 Using the ISaGRAF simulator csscsssssccsscessescssseessersseeeeseeeees A 133 A 21 1 Links with the debugger ccceceeccesceesceeeceseeeseeeeeeteeeeeneeneeneees A 133 A22 VO sulla h orr arnat E R a LE E Epa TEAR A 133 A 21 3 Library Component cecceceeseessceeeceeeceseceseceecaeeeseeeeeeeeeeereeeens A 134 AZLA OPONSE a E E nae ees E ieee A 134 A 21 5 Saving and restoring input states 0 cceeceseceecseeeseeeeeeeeeeeeeeeeees A 135 A 21 6 The cycle profiler okna a E E EEE A 135 A217 Simulation Scripts segonte nnar nnee aei is A 136 A 22 Using the Library Manager e sseseeserseeeesoeseseorseeeeeseeoesoeeeeeoeseseoeseeeee A 144 A 22 1 Managing library elements s sssseneeeseeeesseseesseeesseeresseseesreserseeseene A 144 A 22 2 WO configuration ssseesesseesessesseeessseseesrestsresteresseeresseseeseeseesreseene A 146 A 22 3 VO complex eqg ipment eeen a i E A 147 AZLA VO board orasenesti EAER E E ER ER A 148 A 22 5 Functions and blocks written in IEC languages cesses A 149 A 22 6 C Functions and function blocks 20 0 ce eeseseeeeeceeeeeeneeeeeeseeetenes A 151 A 22 7 Conversion FUNCTIONS eceteeeeeeecneeeecneeecce
108. return of the parameter the type of the parameter Any of the ISaGRAF data types may be used for a parameter Boolean Integer analog Real analog Timer or Message Integer and real analogs must be distinguished Below is the correspondence between ISaGRAF types and C types ICS Triplex ISaGRAF Inc C 371 Target User s Guide BOOLEAN unsigned long unsigned 32 bit word 1 true O false ANALOG signed integer 32 bit word REAL single precision floating value TIMER unsigned long unsigned integer 32 bit word unit is 1 millisecond MESSAGE character string When a message value is passed onto a C function it cannot contain null characters The string passed to the C code is null terminated Do not forget that the return parameter must be the last one in the list The rules shown below must be followed while naming parameters the length of the name cannot exceed 16 characters the first character must be a letter the following characters must be letters digits or underscore character naming is case insensitive The same name cannot be used for more than one parameter of the function A call parameter cannot have the same name as the return parameter The same name can be used for parameters of different functions The default name for return parameter is Q This name can be freely modified The name of a parameter is used to identify the parameter in the C source code The Insert command is used to insert
109. s procedures to have access to a battery backed up memory to store and restore variables at any moment in the application Examples 1 Procedure dedicated to an application backup restore_temp restore_date restore_cpt would be C user s procedures backup temperature date cnt store 3 critical data temperature restore_temp restore temperature date restore_date restore date cnt restore_cnt restore counter 2 General purpose procedures backup_init backup backup_link restore would be C user s procedures save_id backup_init address size allocate a memory backed up array backup save_id cpt 3 save cpt1 as the 3rd element rest_id backup_link address size link backed up memory cpt1 restore rest_id 3 restore backed up value of cpt1 C 9 3 Program state backup It could be possible to store every state of every application program but it seems dangerous to restore every program in the state it was at the last backup for at least 3 reasons Some processes require specific operations before restarting Dealing with every status of a complete application is tedious Some external resources such as C programs peripherals etc cannot be automatically restarted The best solution seems to backup analog or Boolean variables to describe the status of the process when the programmer thinks the restart stages will be able to use these information Then it should be possibl
110. set of edited objects and stores this text either in the Windows clipboard or in a file Such information is typically used by another application The Import text command imports variable declaration description fields described in pure ASCII text format stored either in the Windows clipboard or in a file and updates the currently edited list with imported fields Such information is typically produced by another application Exporting data The following dialog box appears when the Export text command is run It enables the user to control the export mechanism Export variables x a oi i Selected variables Cancel Send to ____ __ _ Browse Clipboard Keywords ee Format Tab separators Z Checking the Complete list choice indicates that the complete edited list has to be exported The current selection is ignored in this case Checking the Selected variables choice indicates that only highlighted variables will be exported If the Clipboard option is checked the exported information is stored in pure ASCII text format in the Windows clipboard The text is then available for paste commands in other applications If the File option is checked the exported ICS Triplex ISaGRAF Inc A 87 User s Guide text is stored in an ASCII file The complete pathname of this file has to be entered The Browse command may be used to find an existing pathname Then the us
111. siv 03 nbb vH vL orc erel nbb corresponds to the number of vH vL bytes ICS Triplex ISaGRAF Inc C 401 Target User s Guide FUNCTION 5 write 1 bit Write a bit Boolean at network address addH addL Question slv__ 05___JaddH JaddL_ vH _ 00 orcH crci Answer__ slv__ 05___ addH JaddL_ vH _ 00 orcH crci FUNCTION 6 write 1 word Write a word at network address addH addL Question siv o6 JaddH add vH vL orcH cret Answer_ siv o6 JaddH add vH vL Jorch cret FUNCTION 16 write N words Write nbw words starting from network address addH addL nbb 2nbw Question _ siv_f10 adah adat o0 __ nbw nbb vH vif orc feret Answer__ slv_ 10__JaddH adat 00 _ nbw _ orcH eret Examples Function 1 read 15 bits starting from network address 0x1020 on slave 1 Question 01 ot 10 20 o0 or 79 04 Answer o1 01 02 oo 12 39 F1 The value read is 0x0012 which gives 00000000 00010010 as a bit field In this example variables 0x1029 and 0x102C are TRUE all others are FALSE Function 16 write 2 words at address 0x2100 on slave 1 values written are 0x1234 and 0x5678 Question 01 10 21 oo oo o2 o4 12 34 se 78 iC cA Answer_ 01 10 21 oo oo o2 4B F4 File transfer Compared to modern field buses Modbus protocol offers very poor services if it is not extended by specific manufacturers functions codes In our situation running ISaG
112. statement variable expression sub program or function call function block call selection statements IF THEN ELSE CASE iteration statements FOR WHILE REPEAT control statements RETURN EXIT special statements for links with other languages such as SFC Inactive separators may be freely entered between active separators constant expressions and identifiers ST inactive separators are Space blank character Tabs and End of line character Unlike line formatted languages such as IL end of lines may be entered anywhere in the program The rules shown below should be followed when using inactive separators to increase ST program readability Do not write more than one statement on one line Use tabs to indent complex statements Insert comments to increase readability of lines or paragraphs B 7 2 Expression and parentheses ST expressions combine ST operators and variable or constant operands For each single expression combining operands with one ST operator the type of the operands must be the same This single expression has the same type as its operands and can be used in a more complex expression For example boo_var1 AND boo_var2 has BOO type not boo_var1 has BOO type sin 3 14 0 72 has REAL ANALOG type t 1s23 1 78 is an invalid expression B 222 ICS Triplex ISaGRAF Inc Language Reference Parentheses are used to isolate sub parts of the expression and to ex
113. symbol for the same effect Hit Control SPACE bar when a contact is selected to change the type of contact or coil direct negated Refer to the chapter Using the Quick LD editor in this document for more details about Quick LD capabilities A 5 6 Display options The Options Layout command opens a dialog box where are grouped all the parameters and options concerning the editor workspace and the drawing of the diagram Use the check boxes in the Workspace group to display or hide editor toolbars and status bar Option of the Document group allow you to show or hide points of the editing grid and to display chart either in black and white or with colors Q Use the Zoom button of the toolbar to change current zoom ratio This command is also available when working on a Quick LD program attached to an action or a test 3333 Use the Grid button of the toolbar to show or hide points of the editing grid This command is also available when working on a Quick LD program attached to an action or a test Use the Options Font command to select the name of the character font to be used in all ISaGRAF documents When called from a ST or IL block you can specify size of the font When selecting font for a graphic view FC or Quick LD font style and size are not relevant and do not need to be specified ISaGRAF graphic editors always calculate the font size according to the current zoom ratio ICS Triplex ISaGRAF Inc A 53
114. target basically uses a serial link for debugger communication When opened no configuration are performed on the specified serial link device by the ISaGRAF target So that the user is totally free to use the parameters needed Nevertheless a binary data transfer mode RAW mode is required In that way the SAMOD subroutine is provided uchar ISAMOD char desc Serial device name uint32 baudrate Baud rate Description Configure specified serial link device for binary data transfer with specified baud rate return value 0 if successful BAD_RET if errors occur When using the workbench debugger make sure the workbench communication parameters see user s guide Managing programs match with the target ones System clock rate The global variable CLKRATE uint32 needs to be initialized to the VxWorks system clock rate In that way you can use CLKRATE sysClkRateGet The default value of CLKRATE is 60Hz ICS Triplex ISaGRAF Inc C 339 Target User s Guide C 5 3 Running the ISaGRAF single task isa o The ISaGRAF target can be run as single task But in such a configuration operations can be critical It is for instance recommended not to overload the communication link to guarantee good performance On the VxWorks multitasking system different ISaGRAF single task targets can be run on the same CPU as long as their slave number and communication port are different This single task implementa
115. technical note user manual of the element currently selected on the element list The menus of the library manager contain the commands to create define or modify elements of the active library The File Other library command allows the selection of one of the ISaGRAF libraries The combo box on the left of the toolbar can also be used to select a library lO configurations lO complex equipments IO boards Functions Function blocks C functions C function blocks Conversion functions Managing library elements Use the commands of the File menu to create elements and work on existing ones in the open library Creating a new element The New command of the File menu creates a new element into the selected library The name of the new element is entered based on the following naming rules e the maximum length of a name is 8 characters e the first character must be a letter e the following characters must be letters digits or _ character e the naming of a library element is case insensitive A text comment is associated to each library element This comment is entered while creating the element When a new element is created the following must be entered e its definition for an I O configuration e its parameters for an I O board A 144 ICS Triplex ISaGRAF Inc User s Guide e its user interface for a function or function block When a C conversion C function or C function block is crea
116. the parameters so that the return parameters are put at the end of the list A 9 3 Other commands of the File menu The following commands are available in the File menu of all program editors Open another program The File Open command allows the user to close the currently edited program and start editing another program of the current project with the same language This function cannot be used to edit a program written in another language The new selected program replaces the current one in the editing window A 76 ICS Triplex ISaGRAF Inc User s Guide Printing the program The File Print command outputs the edited program on printer This command automatically runs the ISaGRAF document generator to printout the edited program and attached local variables For some graphic programs SFC FBD and Quick LD You can also use the Edit Copy drawing command to copy in the clipboard the drawing of the chart in metafile format so that it can be pasted in other applications such as word processors For SFC programs only the level 1 information chart numbering and level 1 comments appears on the copied metafile A 9 4 Updating the program diary The diary file attached to the edited program may be manually entered using the File Diary command The diary file is automatically updated with syntax checking output messages each time that the program is compiled Compiling outputs are completed with t
117. the interface call and return parameters if the element is a function or a function block The C source header file is automatically generated With the ISaGRAF Library Manager enter the text of the detailed technical note user s guide of the element With the ISaGRAF Library Manager complete the C source file by entering the C programming of the conversion function or function block algorithm The source code of the element is now complete Note that another editor may be used Select the Show logical number option of the Library Manager to know what logical number is attached to the new element This number is used in the pathnames of the corresponding C and H source files Copy Download the C and H files to your target if native compiler or to the corresponding environment if cross compiler where the ISaGRAF target libraries and tasks have been installed Run the C compiler on the new source file and correct syntax errors if any Insert the name of the new element declaration service in the GR 0LIB C source file which defines the array of inserted elements Run the C compiler to compile the GR 7 0LIB C file Insert the name of the object module in the list of object files used to build the corresponding library Run the C library builder Run the C linker to build the new kernel Install the new created kernel on your target machine Write a sample ISaGRAF application that tests the acti
118. the power rail Other contacts and vertical OR connections may be directly inserted on the rung line without drawing any new connection link When a new LD contact or coil is inserted in an empty space of the editing area the new horizontal rung line is automatically drawn from the new inserted element to the existing power rails on the left and on the right This line is not automatically drawn if the new contact or coil is not placed between power rails The new inserted contact or coil can then be freely moved on the drawn rung The horizontal lines created by the editor while inserting an LD contact or coil symbol can be selected and deleted You can insert a new LD contact or coil symbol on the horizontal line of an existing rung The editor automatically cuts the rungs and connects it to the left and right connection points of the new inserted contact or coil Multiple connections A multiple connection can be created on the right of any output point It means that the information is broadcasted to several other points in the diagram The same state is propagated on each extremity on the right The number of lines drawn at the right of an output connection point is not limited Two connection lines cannot have their right extremity connected on the same input point except for the following LD symbols 4 AT Right power rail F EEE NTE Multiple connection on the left OR operator These LD symbols can have an unlimited number of inputs A
119. the source of conversions functions and function blocks can be system independent Below are the names of these constant values DOS cee for DOS based systems INTEL processor ISAWNT for Windows NT based systems INTEL processor OSS enan for OS9 system MOTOROLA processor VxWorks for VxWorks system MOTOROLA processor The utility command files to compile and link delivered with the ISaGRAF target software show how to define the convenient constant value in the compiler command line Supported compiler The following compilers are supported for the development of conversions functions and function blocks and the link with the ISaGRAF Kernel Microsoft MSC 7 00 compiler for DOS based targets Microsoft MSVC 4 00 compiler for Windows NT based targets Microware ULTRA C compiler for OS 9 targets Tornado 1 0 GNU Toolkit 2 6 for VxWorks targets Contact ICS Triplex ISaGRAF for using other compilers Summary Below is the summary of the operations that have to be performed when developing a new conversion function or function block gt 1 With the ISaGRAF Library Manager create the new element give it a name and a comment text The frame of the C source file is automatically generated ICS Triplex ISaGRAF Inc C 397 Target User s Guide gt 2 gt 3 gt 4 95 6 7 8 9 gt 10 gt 11 gt 12 gt 13 With the ISaGRAF Library Manager describe
120. this variable This method ensures that the memory variable is not overwritten during other REDGE evaluations Example ST program using REDGE operator this program counts the rising edges of a Boolean input Bi120 is an input Boolean variable Edge_Bi120 is the memory of the Bi120 variable state If REDGE Bi120 Edge_Bi120 Then Counter Counter 1 End_if Note this operator is not in the IEC1131 3 norm You may prefer the use of R_TRIG standard block It has been kept for compatibility reasons FEDGE operator Name FEDGE Meaning evaluates the falling edge of a Boolean expression Syntax lt edge gt FEDGE lt boo_expression gt lt memo_variable gt Operands first operand is any Boolean variable or complex expression second operand is an internal Boolean variable used to store the last state of the expression Return value TRUE when the expression changes from TRUE to FALSE FALSE for all other cases The falling edge of an expression cannot be detected more than once in the same execution cycle using the REDGE operator The operator can be used to describe the condition attached to a SFC transition Warning The memory Boolean variable used to store the last state of the expression cannot be used as a trigger for edges of different expressions When the expression is a Boolean variable named xxx a unique internal variable named EDGE_xxx should be declared and used it in the FEDG
121. to be stored in PLC memory during the switch operation Limitations As described before only modifications to code sequences are allowed Variable definition application parameters and I O connections cannot be modified When downloading a modified version of the application ISaGRAF makes a comparison between the modified application and the running one in order to detect any unsafe change If the switch seems dangerous or impossible a download error is generated One of the safeguards performed by ISaGRAF is to compare the symbol table checksum so that any variable program or SFC element name change is detected If a step is active when the switch occurs its non stored N actions are lost The new step activation actions are not executed Actions executed at the de activation of the step are the ones carried over in the new application code If a transition is valid when the switch occurs its receptivity equation is updated The new downloaded application code is not backed up on the PLC The backup is the version which was previously downloaded with standard download commands A 118 ICS Triplex ISaGRAF Inc User s Guide Operations To update the code of a running application the following operations have to be performed e Before making any change on a running application it is highly recommended to make a copy of the current project under another name The modifications may be performed on the copies e Before e
122. to give more time to ISaGRAF use dynamic cycle duration modification to adapt the cycle duration to different process stages set cycle duration to zero to let the ISaGRAF kernel run as fast as possible without any overflow checking 63 user function not implemented application A program is using a C function which is unknown in the target Your workbench library may not correspond to your target version 64 integer divided by zero program A program tries to divide an integer analog by zero Your application should prevent such an event which may have unpredictable effects When this occurs ISaGRAF places the maximum analog value as the result When the operand is negative the result is inverted 65 conversion function not implemented application A program is using a C conversion function which is unknown in the target Your workbench library may not correspond to your target version When this occurs SaGRAF does not convert the value C 418 ICS Triplex ISaGRAF Inc Target User s Guide 66 function block not implemented application A program is using a C function block which is unknown in the target Your workbench library may not correspond to your target version 67 standard function not implemented application A program is using a function block which is unknown in the target although it is supposed to be available on most targets Ask your supplier 68 real divided by zero A program tr
123. to the Password protection section at the end of the first part in this manual for further information about password levels and data protection Passwords are only relative to the selected element They have no influence on other elements of ISaGRAF libraries Compiling functions and function blocks When the library of functions or function blocks written in IEC languages is selected the Verify compile command of the File menu is used to check the syntax of the selected element and create its object code Functions and blocks written in IEC languages have to be compiled without errors before they can be used in ISaGRAF projects This command has no effect if another library is selected Technical notes The Edit Technical note command allows the user to enter the technical note of the element selected in the active library The technical note is entered with the ISaGRAF text editor The technical note of an element is its user guide It will be consulted by the user of the element during its integration in an ISaGRAF project The technical note on how to use the element should contain the description of its ICS Triplex ISaGRAF Inc A 145 User s Guide main function the detailed explanation of its programming interface and parameters and its context and limits The Tools Standard note format command allows the user to define a standard text format for all the elements of the currently selected library When editing
124. when the dynamic flow encounters the action symbol Activity of a Attribute of a step which is marked by a SFC token The actions attached to step the step are executed according to its activity Analog Type of variables These are continuous integer or real variables Attribute Class of variables Available variable attributes are internal input or output Begin Group of cyclic programs executed at the beginning of each target cycle section Beginning First step of the body of a macro step A beginning step is not linked to any step preceding transition Boolean Type of variables Such variables con only take true or false values Boolean SFC action a Boolean variable is assigned with the activity signal of a step action Breakpoint Mark placed by the user at debug time on a SFC step or transition The target system stops when a SFC token is moved on a breakpoint C function Function written with the C language called from the ISaGRAF programs written with other languages in a synchronous way C functions are delivered by ICS Triplex ISaGRAF or developed by the user C language High level literal language used to describe the computer operations such as C functions and conversion functions C source Text file which contains the C source code of a function or a conversion code function C source Text file which contains the C definitions and types required for the header programming of a C function or a conversion func
125. where WISAKER EXE is installed if the following command is entered copy ISAWIN APL MYPRO J appli x8misa11 Then WISAKER EXE will find and execute myproj application All these commands can be grouped for instance into a batch file and then started from the workbench tool menu see user s guide Managing programs DDE specification The ISaGRAF NT target is a DDE server Dynamic Data Exchange Any software that can be a client can be connected with the target to exchange variables For example MSEXCEL can animate graphics with values coming from ISaGRAF target via DDE The DDE feature requires on the target the application symbols table DDE subjects are defined as follows Server name ISASRVs Note s is the slave number Se sameaa nma ate Topics SYSTEM lt APPLICATION NAME gt Items TOPICS TOPICITEMLIST lt VARIABLE NAME gt ISASRVs is the name of the DDE server s is the slave number SYSTEM is a standard topic which gives access to the TOPICS item TOPICS gives the list of the topics currently defined system and the name of the application which is running into the ISaGRAF NT target APPLICATION NAME is the name of the application C 356 ICS Triplex ISaGRAF Inc Target User s Guide TOPICITEMLIST is the list of items available under the current topic this gives the list of
126. written function blocks This is an example of such a file File grfbOlib c implemented function blocks include lt tasy0def h gt extern ABP fbldef_fb1 char name IBP init RBP read extern ABP fbldef_fb2 char name IBP init RBP read FBL_LIST FBLDEF foldef_fb1 foldef_fb2 NULL end of file A NULL pointer must terminate the FBLDEF array Some clashes may occur when this condition is not met Unresolved references will occur when linking the new ISaGRAF kernel if the FBLDEF array is not defined By writing this file a new kernel can be built including all the existing function blocks A kernel dedicated to one project can also be built by inserting in the FBLDEF array only the function blocks used in the project The SaGRAF Code Generator automatically generates the GRFBOLIB C file when the code of an application is built The file is placed in the ISaGRAF project directory and groups only the function blocks used in the project Limits The ISaGRAF library may contain up to 255 C function blocks Any type of operation may be processed in a function Each type of function block may be copied instanced up to 255 times in the same project It should be remembered that the function block services are called in the ISaGRAF cycle synchronously so that the execution of the function block has a direct effect on the cycle timing ICS Triplex ISaGRAF Inc C 389 Target User s Guide
127. 1 port required for protection key Before installing the ISaGRAF workbench the following software should already be included on the system e Windows Version 3 1 running in 386 enhanced mode e Windows 95 e Windows NT Version 3 51 or 4 00 Using the installation program The ISaGRAF workbench is installed by using INSTALL the ISaGRAF installation program This program copies the ISaGRAF software from the ISaGRAF CD ROM or disks onto the user s hard disk INSTALL also adds the group ISaGRAF to the Program Manager window and creates an initialisation file named ISA ini in the installed EXE sub directory INSTALL is a Windows program which must be run from the Windows Program Manager or the Run command of the Start menu of Windows 95 To install ISaGRAF the following steps must be performed e Insert ISaGRAF CD ROM or floppy disk 1 into the appropriate drives e From the Program Manager or the Start menu run SETUP EXE on the root folder of the CD ROM or A INSTALL EXE in the case of floppy disks A 12 ICS Triplex ISaGRAF Inc User s Guide e Follow the on line instructions to complete the installation It is recommended that the ISaGRAF Workbench be installed on a new directory to avoid confusing files with files from other ISaGRAF versions INSTALL will ask whether the following components are required e ISaGRAF executable programs e On line information and help files e ISaGRAF standard libraries e ISaGRAF
128. 123 B 197 B 198 B 237 D 425 IL editor A 75 Import A 87 Import function A 31 Import function block A 31 Initial situation B 188 B 199 D 425 Initial step B 188 B 199 D 425 Input A 91 A 109 A 133 A 135 A 148 B 178 D 425 INSERT B 304 Insert coil A 57 Insert contact A 57 Insert FBD A 67 Insert FBD element A 65 Insert FC element A 48 Insert file A 73 Insert rung A 59 Insert slot A 91 Insert variable A 43 Installation A 12 Instance A 81 A 84 Instruction B 237 D 425 Instruction List B 237 D 425 Integer A 84 B 179 D 425 INTEGRAL B 280 Interface A 30 A 150 Internal D 425 Inverted coil B 214 Inverted contact B 213 IO variable C 365 C 366 Is equal B 258 Is not equal B 259 ISA task OS9 C 330 ISA EXE C 326 ISA O VxWorks C 339 C 340 isa_main C 341 C 344 isa_register_slave C 340 ISAGRAF INI NT target C 350 ISAKER task OS9 C 331 ISAKERET O VxWorks C 339 C 342 E 434 ICS Triplex ISaGRAF Inc General Index ISAKERSE O VxWorks C 339 C 342 ISAMOD VxWorks C 339 ISAMOD EXE C 326 ISANET task OS9 C 332 ISASSR O VxWorks C 339 ISATST task OS9 C 331 ISAx0 C 336 ISAx1 C 327 C 336 ISAx1 NT target C 355 ISAx1 VxWorks C 347 ISAx2 C 336 ISAx3 C 336 ISAx4 C 336 ISAx5 C 336 ISAx6 C 328 C 336 ISAx6 NT target C 356 ISAx6 VxWorks C 347 J JMP operator IL B 240 Jump A 55 A 63
129. 3 IL equivalence bi101 bi102 bo10 bi51 bi52 bi53 bo5 current result bi101 current result bi101 AND not bi102 bo10 current result current result bi51 current result bi51 AND bi52 current result bi51 AND bi52 AND bi53 bod current result ICS Triplex ISaGRAF Inc B 247 Language Reference gt 1 OR Note For this operator the number of its inputs can be extended to more than two Arguments inputs output Description Boolean OR of two or more terms BOOLEAN BOOLEAN Boolean OR of the input terms FBD example with OR Blocks gt 1 bi101 bi102 me 4 bo10 gt 1 bi51 bi52 bi53 bod ST equivalence bo10 bi101 OR NOT bi102 bod bi 1 OR bi52 OR bi53 IL equivalence LD bi101 ORN bi102 ST bo10 LD bi51 OR bi52 OR bi53 ST bod 1 XOR Arguments IN1 BOOLEAN IN2 BOOLEAN Q BOOLEAN Boolean exclusive OR of the 2 input terms B 248 ICS Triplex ISaGRAF Inc Language Reference Description Boolean exclusive OR between two terms FBD example with XOR Blocks bi101 m bi102 onz al bo10 bi51 IN 1 bi52 IN2 o n1 bi53 IN2 ql bo5 ST equivalence bo10 bi101 XOR NOT bi102 bod
130. 3 D a ja 5 O Z S 5 as a a 0 a 5 Q Co pe O oO O Q a oO a Q S O Q pr 5 y e S o D j Q a 50 cannot overwrite boolean output variable program located at the same level the result is unpredictable ICS Triplex ISaGRAF Inc C 417 Target User s Guide 51 cannot overwrite analog output variable Two SFC programs are writing the same analog output variable in the same target cycle See above comment 52 cannot overwrite message output variable Two SFC programs are writing the same message output variable in the same target cycle See above comment 61 unknown system request code program A program is using the SYSTEM call with an invalid code 62 sampling period overflow program The target cycle period is longer than specified in the workbench menu On a multitasking system this means that there is not enough CPU time to execute a cycle even if the current cycle duration is less than the specified period On a single task system this always means that there are too many operations in one of the target cycle There are many possible ways to remove this warning reduce the number of operations performed at the instant where the warning is detected reduce number of tokens of valid transitions optimize complex processing etc reduce other tasks CPU load to give more time to ISaGRAF reduce communication traffic
131. 427 REAL B 261 Real board A 92 D 427 Real time A 32 A 112 Real time mode D 427 REDGE B 224 Reference number B 187 B 188 B 189 B 192 D 427 Register IL B 237 D 427 Removing licensing A 17 Rename library A 145 Renumber A 42 A 51 REPEAT B 204 B 229 Replace A 42 A 51 A 59 A 67 A 73 REPLACE B 308 Resize FC A 50 Resize SpotLight A 126 Resource A 33 A 102 Resource definition file A 102 Restore A 26 A 146 A 152 A 153 A 159 RET operator IL B 241 Retain C 406 Return A 55 A 63 RETURN B 207 B 217 B 227 Return value D 427 RIGHT B 309 ROL B 292 ROR B 292 Rotation left B 292 Rotation right B 292 RS B 267 Run time error B 264 D 427 Rung A 54 A 55 A 59 A 66 Rung comment A 57 A 60 A 68 Tooltips A 60 Rung label A 57 Run time A 32 Run time error A 32 A 113 ICS Triplex ISaGRAF Inc E 437 General Index S S set operator IL B 239 Save list A 121 Scientific B 180 Script A 136 A 138 Section A 27 D 427 SEL B 301 Select FBD element A 65 Select FC element A 49 Select SpotLight A 126 SEMA B 269 SEMAPHORE B 269 Sentinel driver A 14 Separator B 222 D 427 Sequential A 27 B 174 B 187 Sequential Function Chart B 187 D 428 Sequential section D 428 Serial link A 35 Set coil B 215 SFC A 37 A 99 A 114 A 157 B 187 C 371 D 428 SFC child A 28 A 44 B 175 SFC editor A 37 A 75
132. 5 The higher access level is numbered 0 When a user knows a password he can access all the items protected by the corresponding access level plus all the ones protected with lower levels Each elementary command or data of a project or library element can be separately protected with an access level For example the Make application code command from the ISaGRAF menus can be protected separately Elementary data can be a program a list of options the technical note of a library element etc Defining password protection The Set password command of the ISaGRAF menus is used to define the passwords and access levels for one project or one library element This command is called from the menus of the ISaGRAF Project Manager for a project or the ISaGRAF Library Manager for a library element No password is required when first running this command If passwords are already defined the user must enter the highest level password he knows before accessing this command Upper level passwords and protected items then cannot be modified The Set password command enables the user to define the passwords corresponding to the different access levels and to protect elementary commands or data with the defined levels Double clicking on a line of the upper list enters passwords corresponding to protection levels The following box is used to enter a password Enter password Ed Level 00 Cancel The list in the lower area sh
133. 7 3 Working on an existing diagram The commands of the Edit menu are used to change or complete an existing diagram Most of these commands act on the elements currently selected in the diagram Correcting a diagram The DEL key can be used to remove the selected elements Pending links are deleted with selected elements Use Edit Undo command to restore elements after a DEL command The DEL command can also be applied to a group of A 66 ICS Triplex ISaGRAF Inc User s Guide elements selected in the diagram The Cut Copy Paste commands of the Edit menu are used to move or copy selected elements Find and replace The Edit Find and Edit Replace menu commands are used to find and replace texts in the diagram Only complete names can be found Research acts on contacts coils block names variables and labels It cannot be used to find a string in a comment text The Replace command cannot be used to change the name of a block The research can be made upward or downward starting at the current selection position It loops when the limits of the diagram are reached Displaying the execution order When an FBD diagram includes backward loops the execution order cannot follow the single left to right top to bottom method In order to avoid confusion use the Tools Show execution order command or press Control F1 keys to display the execution order that will be used at compiling time Tags num
134. AF Inc C 381 Target User s Guide Source code The C language implementation of a function block is divided into three different entry points U initialization service Q activation service processing of the calling parameters O return parameters read service The same code is used for each instance of a same function block and is not duplicated A static data structure is associated to each instance Such data cannot be accessed directly by the ISaGRAF programming and contain the function block instance hidden variables The activation service is called once for each instance of each used block on each target cycle It processes the calling parameters and updates the associated data It represents the main algorithm of the function block The read service is called by the ISaGRAF kernel to read the current value of one return parameter for one instance No special calculation has to be performed in such a service It only operates transfer between hidden data and the ISaGRAF application Functional diagram Calling Function block implementation Return parameters parameters gt activate read gt Hidden data f Allocate Initialize e Function block static data A function block associates operations and static data A data structure is associated to each instance of a same function block Each time a function block is used in ST or FBD programming it
135. AF Project Management or Library Management windows To create and maintain reliable archives it is suggested that the following guidelines be used e Write the name and description of the saved object on the disk sticker e Do not save projects and libraries on the same diskette e Do not save different projects on the same diskette Calling the archive manager The Archive dialog box can be called from the Tools Archive menu of the Project Management window to save or restore either a project or common data The Archive dialog box can also be run from the Tools Archive command of the ISaGRAF Library Manager to save or restore elements of the library currently selected in the Library Management window Projects A project is always saved in its entire form All the components of the project program source files object code and application executable code are saved together in the same archive file Selection of the compression option reduces the size of the project archive Library elements The elements of ISaGRAF libraries can be saved individually All the components of a library element technical note definition interface source code are saved together in the same archive file Common data The Tool Archive Common data command of the Project Management window enables the user to backup or restore the common range data existing in the ISaGRAF Workbench This command does not act on the ISaGRAF librar
136. B 197 Language Reference Warning When no expression is attached to the transition the default condition is TRUE B 3 6 1 ST convention The Structured Text ST language can be used to describe the condition attached to a transition The complete expression must have Boolean type and must be terminated by a semicolon according to the following syntax lt boolean_expression gt The expression may be a TRUE or FALSE constant expression a single input or an internal Boolean variable or a combination of variables that leads to a Boolean value Below is an example of ST programming for transitions SFC program with ST programming for transitions S Run amp not Error B 3 6 2 LD convention The Ladder Diagram LD language can be used to describe the condition attached to a transition The diagram is composed of only one rung with one coil The coil value represents the transition value Below is an example of LD programming for transitions 1 Run Error aba CH B 3 6 3 IL convention Instruction List IL programming may be directly used to describe a SFC transition according to the following syntax info IL lt instruction gt lt instruction gt endinfo The value contained by the current result IL register at the end of the IL sequence causes the resulting of the condition to be attached to the transition current result 0 gt condition is FALSE curren
137. B 207 B 218 Jump to a step A 39 B 189 D 425 K Keyword B 181 B 238 D 425 L Label A 63 A 141 B 207 B 218 Label IL B 237 D 425 Ladder Diagram B 210 D 425 Language A 28 B 177 LD A 45 A 52 A 54 A 62 B 210 D 425 LD editor A 54 LD operator IL B 239 LE operator IL B 256 LEFT B 305 Less or equal B 256 Less than B 255 Level 1 of the SFC B 187 B 188 D 425 Level 2 A 42 A 51 Level 2 of the SFC B 192 D 426 Level of protection A 158 Library A 26 A 31 A 32 A 92 A 108 A 134 A 144 A 152 C 364 D 426 Library manager A 144 C 364 C 366 C 370 C 378 Licensing A 14 LIM_ALRM B 279 LIMIT B 296 Link A 35 A 64 A 65 A 66 A 113 A 129 A 164 B 201 B 204 B 205 Link FBD B 207 Link LD B 210 Link SFC B 188 List of variables A 121 A 123 A 126 Local A 150 B 181 D 426 Lock A 112 A 161 Locked I O D 426 LOG B 285 Logarithm B 285 LT operator IL B 255 M Macro step A 39 A 41 B 191 D 426 Make A 32 A 98 Mask on integer bits and B 252 Mask on integer bits not B 254 Mask on integer bits or B 253 Mask on integer bits xor B 254 Matrix D 426 MAX B 295 Maximum B 295 Memory A 12 Message A 84 A 121 B 180 B 184 D 426 Message concatenation B 263 Message length B 307 Metafile A 124 MID B 306 MIN B 295 Minimum B 295 MLEN B 307 MOD B 297 ICS Triplex ISaGRAF Inc E 435 General Ind
138. B 291 E 438 ICS Triplex ISaGRAF Inc General Index Target A 99 A 104 D 428 Target architecture C 325 Target cycle D 428 Technical note A 92 A 145 C 364 C 366 C 371 C 378 D 428 Terminal mode C 338 Test A 47 A 50 A 51 A 110 A 133 B 202 D 428 Text display A 124 Text editor A 73 TextFile A 104 THEN B 227 Time unit B 180 Time out A 35 Timer A 84 B 180 B 184 D 428 TMR B 262 To A 105 TO B 230 TOF B 274 Token SFC B 187 D 428 Toolbox D 428 Tools menu A 34 Top level A 27 Top level program D 428 Touch A 32 A 98 TP B 275 Transferring licensing A 16 Transition A 37 A 42 A 114 D 428 Trial period A 14 TRUE A 84 B 179 TRUNC B 287 Truncate decimal part B 287 TSK_FUNIT C 340 C 343 TSK_NBTCKSCHED C 340 C 343 C 349 tst_main_ex C 344 TSTART B 232 TSTOP B 233 Type A 80 A 82 A 91 A 108 A 148 B 179 D 429 U ULongData A 102 Unlock A 112 UNTIL B 229 Update A 112 Upload A 129 Upload options A 130 Upload prepare A 130 V Validity of a transition D 429 Variable A 30 A 43 A 58 A 64 A 67 A 73 A 80 A 108 A 109 A 113 A 150 A 160 B 181 B 206 D 429 Variable name B 181 VarList A 103 Verify A 32 A 98 A 149 Version number A 111 Virtual board A 92 A 161 D 429 Virtual boards simulation with NT target C 360 C 362 Virtual boards simulation with NT C 353 W Wait A 141
139. B 304 Flow A 49 B 201 B 204 B 205 Flow Chart A 47 B 201 D 424 Flow Chart editor A 47 FM_READ B 320 FM_WRITE B 321 Font A 157 FOR B 230 From A 105 Function A 27 A 30 A 145 A 149 B 175 function block B 224 Function block A 27 A 30 A 55 A 63 A 67 A 81 A 84 A 145 B 176 B 206 C 377 D 424 Function block call in IL B 243 Function block instance C 377 Function call ST B 223 Function call in IL B 242 Functional Block Diagram B 206 D 424 ICS Triplex ISaGRAF Inc E 433 General Index G gain 1 B 245 Gallery A 46 GE operator IL B 257 GFREEZE B 200 B 234 GKILL B 200 B 234 Global B 181 D 424 Go to A 42 A 51 A 73 Goto A 142 Graphic A 124 A 128 Greater or equal B 257 Greater than B 256 Grid A 56 Group A 13 A 25 A 126 GRST B 200 B 235 GSTART B 200 B 233 GSTATUS B 200 B 235 GT operator IL B 256 H Hardware key A 14 Hierarchy A 27 A 30 B 174 B 200 D 424 History A 24 A 33 HYSTER B 279 Hysteresis B 279 I T O A 33 A 91 A 92 A 93 A 109 A 112 A 133 A 146 A 147 A 148 A 160 A 161 T O board A 148 D 425 T O channel D 425 T O channel OPERATE B 265 T O complex equipment A 147 T O configuration A 23 A 146 T O connection A 91 D 425 I O specific B 202 B 203 T O variable D 425 1 O wiring A 33 Icon A 125 Icons A 13 Identifier D 425 If A 142 IF B 204 B 227 IL A 73 A
140. C Flow Chart FBD Function Block Diagram LD Ladder Diagram Although licenses are only valid on a single computer you can transfer them from one computer to another To access the License Manager gt From the Start menu of Windows choose Programs then ISaGRAF 3 5 then Licensing A 1 2 1 Adding Licensing You can obtain authorized licenses for ISaGRAF To obtain authorized licenses for ISaGRAF You need only one set of user codes and registration keys when licensing ISaGRAF 1 On the Add Licensing tab from the list of available components select ISaGRAF 2 Click gt to move your selection to the list of Selected Components You will be prompted to select a feature set Limited number of I Os or Large For the limited number of I Os set you need to indicate a specific number of I Os ranging from 1 to 4095 A Setup Code User Code 1 and User Code 2 appear in their respective fields 3 Send the licensing information a Click Send ICS Triplex ISaGRAF Inc A 15 User s Guide A pre addressed email appears holding the setup code and both user codes into which you need to include your contact information and purchase order number For additional purchases you need to provide a credit card number b Include all required information then send the email The original setup code and user codes as well as a Registration Key 1 and Registration Key 2 will be returned via e mail 4 Upon reception ma
141. CS Triplex ISaGRAF Inc Language Reference i Double divergence L Double convergence Example of double divergence and convergence SFC program with double divergence and convergence 1 IInitialize Run 1 2 _ Process1 101 _ Process2 _ End of Process 1 EE End of Process 2 2 101 3 _ Wait for process 2 102 _ Wait for process 2 _ true 3 Y ad B 3 4 Macro steps A macro step is a unique representation of a unique group of steps and transitions The body of the macro step is described separately elsewhere in the same SFC program It appears as a single symbol in the main SFC chart This is the symbol used for a macro step Reference number Comment 102 Process A ICS Triplex ISaGRAF Inc B 191 Language Reference The reference number written in the macro step symbol is the reference number of the first step in the body of the macro step The macro step body must begin with a beginning step and terminate with an ending step The chart must be self contained A beginning step has no upper link no backward transition An ending step has no lower link no forward transition A macro step symbol may be put in the body of another macro step Warning Because macro step is a unique set of steps and transitions the same macro step cannot be used more th
142. CS Triplex ISaGRAF Inc User s Guide ok UT zE Creating new variables The Edit New command allows the user to create new variables function block instances or defined words for the selected range and type New variables are inserted just before the variable currently pointed to by the selection bar When this command is run an input box is opened to enter the variable description When the description is complete pressing the Store button puts it onto the list The input box is automatically re opened so the user can enter other variables with the same Edit command Pressing the Cancel button of the dialog box breaks the variable creation process Modifying existing variables The Edit command of the Edit menu allows the user to modify the description of the variable currently pointed at by the selection bar When this command is run an input box is opened to modify the variable description When description is complete pressing the Store button enables modification The user also can press Next and Previous buttons to extend the modification command to adjoining variables Pressing the Cancel button closes the dialog box without storing any modification Cut and paste The ISaGRAF dictionary editing tool enables multiple line selection Many commands are available to work on the currently edited list of variables Below are available Edit menu commands COPY Copy the selected group of
143. Counter up B 270 Counter up down B 272 Cross reference A 108 Cross references A 33 D 423 CTD B 271 CTU B 270 CTUD B 272 Current result IL B 237 B 238 D 423 Curve A 124 A 125 A 128 Cut FBD A 66 Cut FC A 51 Cut LD A 59 Cut SFC A 41 Cut text A 73 Cut variable A 83 Cycle A 140 B 174 B 178 C 324 Cycle profiler A 135 Cycle time C 329 C 338 C 349 C 358 Cycle timing A 32 A 112 A 135 B 264 C 366 C 370 C 377 D 423 Cycle to cycle A 32 A 112 Cycle to cycle mode D 423 Cyclic B 174 D 423 D DAY_ TIME B 309 DDE A 119 DDE NT target C 356 C 360 C 362 Debug A 34 Debug workspace A 35 Debugger A 110 A 132 Decimal B 180 Decision A 47 A 50 A 51 B 202 D 424 Declaration A 30 A 80 Defined word A 80 A 84 B 185 D 424 Delayed operation IL B 238 B 241 D 424 DELETE B 303 Delete board A 92 Delete FBD A 66 Delete FC A 51 Delete LD A 59 Delete library A 145 Delete program A 31 Delete SFC A 41 Delete text A 73 Deleted style A 71 DERIVATE B 281 Descriptor A 23 A 33 Diagnosis A 132 Diary A 30 D 424 Dictionary A 30 A 75 A 80 A 108 A 150 C 366 C 377 D 424 Differentiation B 281 Direct coil B 214 Direct contact B 212 Directly represented variable A 93 B 182 Directory A 164 Disabled transition B 199 Disk A 12 Dissociate A 126 Divergence A 38 A 40 B 189 Divergence FBD B 207 Divi
144. E _TO BCD TIME_TO_BOOL TIME_TO_INT TIME_TO_REAL TIME_TO STRING TMR TO TOD TRUE TSTART TSTOP TYPE UDINT UINT ULINT UNTIL USINT VAR VAR_ACCESS VAR_EXTERNAL VAR_GLOBAL VAR_IN_OUT VAR_INPUT VAR_OUTPUT WHILE WITH WORD XOR XOR_MASK XORN All keywords beginning with an underscore _ character are internal keywords and must not be used in textual instructions B 2 3 2 Directly represented variables ISaGRAF enables the use of directly represented variables in the source of the programs to represent a free channel Free channels are the ones which are not linked to a declared I O variable The identifier of a directly represented variable always begins with character Below are the naming conventions of a directly represented variable for a channel of a single board s is the slot number of the board c is the number of the channel IXs c_ free channel of a Boolean input board IDs c free channel of an integer input board ISs c free channel of a message input board QXs c free channel of a Boolean output board QDs c free channel of an integer output board QSs c free channel of a message output board B 182 ICS Triplex ISaGRAF Inc Language Reference Below are the naming conventions of a directly represented variable for a channel of a complex equipment s is the slot number of the equipment b is the index of the single board within the complex equipment c is the number of the ch
145. E expressions for this variable This method ensures that the memory variable is not overwritten during other FEDGE evaluations ICS Triplex ISaGRAF Inc B 225 Language Reference Example ST program using FEDGE operator this program counts the falling edges of a Boolean input Bi120 is an input Boolean variable Edge_Bi120 is the memory of the Bi120 variable state If FEDGE Bi120 Edge_Bi120 Then Counter Counter 1 End_if Note this operator is not in the IEC1131 3 norm You may prefer the use of F_TRIG standard block It has been kept for compatibility reasons B 7 5 ST basic statements The basic statements of the ST language are Assignment RETURN statement IF THEN ELSIF ELSE structure CASE statement WHILE iteration statement REPEAT iteration statement FOR iteration statement EXIT statement Assignment Name Meaning assigns a variable to an expression Syntax lt variable gt lt any_expression gt Operands variable must be internal or output variable and expression must have the same type The expression can be a call to a sub program or a function from the ISaGRAF library Example ST program with assignments variable lt lt variable bo23 bo10 variable lt lt expression bo56 bx34 OR alrm100 amp level gt over_value result 100 input_value scale assignment with sub program return value rc
146. F Inc User s Guide B 9 3 Standard functions 0 0 0 0 ceeesesecesscsecesesecesecseteeeesecesaeeeseseseseeseneees B 283 C TARGET USER S GUIDE ccccceceeeeeeeeeeeeeees C 323 C 1 IN tPOMUCUON si ccccdsciccsscssetacscsctevessecestenee coeagesubeseccesesdescetesesdecueseevedetee C 324 C 2 Dns tall ati Ons iis ices cssnccessisvsesvevsasensdisncessassosens dovdecevessese codges exes SES e SooS C 325 C 3 Getting started with ISaGRAF DOS target csccssssssessseseeeees C 326 C 3 1 Running ISaGRAF ISA EXE c ce cceceseeeeceseceeeeeeeeeceseeneenseens C 326 C 3 2 Specificteatures onenen e aie ee RRs C 327 C 4 Getting started with ISaGRAF OS9 target sscsssssssrseseeesees C 330 C41 Running the ISaGRAF single task isa eeesecseeseeseeseeeteeeeeeeees C 330 C 4 2 Running the ISaGRAF multitasks isaker isatst isanet C 331 C 4 3 Specific feature Sace nenei eni e E EE E E K C 335 C 5 Getting started with ISaGRAF VxWorks target ssessssssseees C 339 C 5 1 The system resource Manager ISASST O cccceeseeeceeeeeteeeteeneenees C 339 C 5 2 Common features to isa o isakerse o and isakeret o 00 C 339 C 5 3 Running the ISaGRAF single task 182 0 cceccecsesseeseeseeeteeeeeeeees C 340 C 5 4 Running the ISaGRAF multitasks isakerse o and isakeret o C 342 C 5 5 Specific features ec neinn kenaii e AEE E ERE E ets C 346 C 6 Getting started with ISa
147. GRAF Inc B 239 Language Reference Allowed modifiers none Operand output or internal Boolean variable Example EXAMPLES OF S OPERATIONS SETex LD true current result TRUE S boo_var1 boo_var1 TRUE current result is not modified LD false current result FALSE S boo_var1 nothing done boo_var1 unchanged R operator Operation stores the Boolean value FALSE in a Boolean variable if the current result has the Boolean value TRUE No operation is processed if current result is FALSE The current result is not modified by this operation Allowed modifiers none Operand output or internal Boolean variable Example EXAMPLES OF R OPERATIONS RESETex LD true current result TRUE R boo_var1 boo_var1 FALSE current result is not modified ST boo_var2 boo_var2 TRUE LD false current result FALSE R boo_var1 nothing done boo_var1 unchanged JMP operator Operation jumps to the specified label Allowed modifiers CN Operand label defined in the same IL program Example the following example tests the value of an analog selector 0 or 1 or 2 to set one from 3 output Booleans Test is equal to 0 is made with the JMPC operator JMPex LD selector selector is 0 or 1 or 2 BOO conversion to Boolean JMPC test1 if selector 0 then LD true ST bo0 bo0 true JMP JMPend end of the program t
148. GRAF NT target scsscsssesesseseeeeeees C 350 C 6 1 Running TSaGRAF esscdscsesensss ies cet hovde nen kaa gator C 350 C 6 2 General information on Options ccsceesseesceesceeeeeeeeeteeeteenseenees C 350 C 6 3 Specriic RELAKS AEE E E crtedica tae eeeceseaes C 355 C 6 4 Wser interface maa saat ene Gh oe eh koa Aoi C 359 C 7 CH Programmi csccccccssccsscesscscecssscssssessssssssesesssssesesssssseeesees C 364 C 7 1 OVETVICW ie hit pe rat nice a A aalitir tienen heated C 364 C 7 2 C Conversion fUNCtIONS cece ceeecceteeeeeeceesecereeceeeeeeeaeeeeeaeens C 365 C 7 3 O Futictions s2 s54scnewivsin e n a n ate C 370 C 7 4 CY FUNCTION BLOCKS 31 20 0Ge elec Said one aa esate C 377 C 7 5 Compiling and linking techniques cccceeseesceseceteeeeeseeeeeenes C 393 C8 Modbus Vikas snic cecd csesivies covecdesceveessocenssetaeseas sovseece cosvcsuvcstsesteteveasuevensce C 399 C 8 1 MODBUS network and protocol cceeceecseesseeseeeeeeeseeeeeeeenseenaes C 399 C 8 2 TSaGRAF implementation cccccceesseesceceesceesceseceeeeeesseeneeeeees C 400 ICS Triplex ISaGRAF Inc ix User s Guide C 9 Power fail management cccccsessesssecssessecssssssscssssssssssesseessees C 405 C 9 1 Bales fecisesseivshecvege teeta ieigeaite teeta eae e ven eeediecieap ses C 405 C 9 2 Application variables backup c cesccesesseeeceeeeeeeeeseeeeeeeeeeeeeees C 406 C 9 3 Program state backup
149. I O variable Conversion auu E Aucun SCALE Both conversion functions and tables appear in the list This implies that the same name cannot be used for a function and a table A variable cannot be attached to a conversion function that has yet to be defined or integrated into the ISaGRAF kernel a Standard C interface The interface of a conversion function always has the same format Calling and return parameters are passed through a structure This structure is defined in the TACNODEF h file Name tacnOdef h C 366 ICS Triplex ISaGRAF Inc Target User s Guide Target conversions definition file sa define DIR_INPUT 0 direction input conversion define DIR OUTPUT 1 direction output conversion typedef int32 T ANA integer ANA type A typedef float T REAL real ANA type typedef struct conversion structure uint 16 number conversion number reserved uint16 direction conversion direction T_REAL before value before conversion T_REAL after value after conversion str_cnv define ARG_BEFORE arg gt before define ARG AFTER arg gt after define DIRECTION arg gt direction eof The str_cnv structure completely describes the interface The only parameter of a C conversion function is a pointer to such a structure The number field is the logical number of the conversion function location in the ISaGRAF library and
150. IN angle result ASIN sine result is equal to angle IL Equivalence LD angle SIN ST sine ASIN ST result ATAN atan IN Q Arguments IN REAL any real analog value Q REAL arc tangent of the input value in set P1 2 PI 2 0 0 for invalid input Description Calculates the Arc tangent of a real value FBD program using TAN and ATAN block tan angle in ql tangent atan n ql result ST Equivalence tangent TAN angle result ATAN tangent result is equal to angle IL Equivalence LD angle TAN ST tangent ATAN ST result ICS Triplex ISaGRAF Inc B 289 Language Reference cos cos IN Q Arguments IN REAL any REAL analog value Q REAL cosine of the input value in set 1 0 1 0 Description Calculates the Cosine of a real value FBD program using COS and ACOS blocks cos angle m o cosine acos N result ST Equivalence cosine COS angle result ACOS cosine result is equal to angle IL Equivalence LD angle COS ST cosine ACOS ST result SIN sin Arguments IN REAL any REAL analog value Q REAL sine of the input value in set 1 0 1 0 Description Calculates the Sine of a real value FBD program using SIN and ASIN blocks
151. ISAGRAF Version 3 5 USER S GUIDE ICS Triplex ISGGRAF Inc Information in this document is subject to change without notice and does not represent a commitment on the part of ICS Triplex ISaGRAF Inc The software which includes information contained in any databases described in this document is furnished under a license agreement or nondisclosure agreement and may be used or copied only in accordance with the terms of that agreement It is against the law to copy the software except as specifically allowed in the license or nondisclosure agreement No part of this manual may be reproduced in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of ICS Triplex ISaGRAF Inc 1994 2004 ICS Triplex ISaGRAF Inc All rights reserved Published in Canada by ICS Triplex ISaGRAF Inc ISaGRAF is a registered trademark of ICS Triplex ISaGRAF Inc MS DOS is a registered trademark of Microsoft Corporation Windows is a registered trademark of Microsoft Corporation Windows NT is a registered trademark of Microsoft Corporation OS 9 and ULTRA C are registered trademarks of Microware Corporation VxWorks and Tornado are registered trademarks of Wind River Systems Inc All other brand or product names are trademarks or registered trademarks of their respective holders User s Guide Table of contents A USER S GUIDE i eae ee iae aea eaaa iak A
152. KINT1 err_detect acknowledge manual_mode err_code max_err appli_alarm auto_mode AND NOT STACKINT1 EMPTY err_alarm STACKINT1 OFLO last_error STACKINT1 OUT IL Equivalence LD err_detect ST STACKINT1 push LD acknowledge ST STACKINT1 pop LD manual_mode ST STACKINT1 r1 LD err_code ST STACKINT1 IN LD max_err ST STACKINT1 N CAL STACKINT1 LD auto_mode ANDN STACKINT1 empty ST appli_alarm LD STACKINT1 OFLO ST err_alarm LD STACKINT1 0UT ST last_error ICS Triplex ISaGRAF Inc B 277 Language Reference AVERAGE average Arguments RUN BOO TRUE run FALSE reset XIN REAL any real analog variable N INT application defined number of samples XOUT REAL running average of XIN value Description Stores a value at each cycle and calculates the average value of all already stored values Only the N last values are stored The number of samples N cannot exceed 128 If the RUN command is FALSE reset mode the output value is equal to the input value When the maximum N of stored values is reached the last one erases the first stored value FBD program using AVERAGE block amp auto_mode average store_cmd RUN sensor_value xmn 100 N xou ave_value ST Equivalence AVERAGE1 instance of AVERAGE block AVERAGE 1 auto_mode amp store_cmd sensor_value 100 ave_value A
153. LD program It represents the status of an input variable Filter attached to an input or output analog variable The conversion is automatically applied each time the variable is input or output C written function which describes a conversion Such a conversion can be attached to any input or output analog variable Set of points which defines a linear by segment conversion Such a conversion can be applied to any input or output analog variable Information calculated by the ISaGRAF workbench about the dictionary of variables and where those variables are used in a project Result of an instruction in an IL program The current result can be modified by an instruction or used to set a variable Duration of the target execution cycle Execution mode in this mode cycles are executed one by one according to the orders given by the user of the debugger Attribute of a program that is always executed ICS Triplex ISaGRAF Inc D 423 Glossary Decision Also called test Flow chart symbol attached to a Boolean expression The flow FC is directed to either YES or NO symbol output depending on the state of the expression Defined Unique identifier used to replace any expression in a program word Delayed Operation of an IL program executed when the instruction occurs later in operation the program IL Diary Text file that contains all the notes about the changes made to one program Each note is comple
154. LEN complete_string If nbchar lt 3 Then Return End_if prefix LEFT complete_string 3 this program extracts the 3 characters on the left of the string and put the result in the prefix message variable nothing is done if the string length is less than 3 characters IL Equivalence LD complete_string MLEN ST nbchar LT 3 RETC LD complete_string LEFT 3 ST prefix ICS Triplex ISaGRAF Inc B 307 Language Reference REPLACE Arguments IN MSG any string Str MSG string to be inserted to replace NbC chars NbC INT number of characters to be deleted Pos INT position of the first modified character first valid position is 1 Q MSG modified string NbC characters are deleted at position Pos then substring Str is inserted at this position returns empty string if Pos lt 0 returns strings concatenation IN Str if Pos is greater than the length of the IN string returns initial string IN if NbC lt 0 Description Replaces a part of a message string by a new set of characters FBD program using REPLACE block replace Mr X JONES Frank 1 4 MyName ST Equivalence MyName REPLACE Mr X JONES Frank 1 4 MyName is Mr Frank JONES IL Equivalence LD Mr X JONES REPLACE Frank 1 4 ST MyName RIGHT right IN NbC Q B 308 ICS Triplex ISaGRAF Inc Language Reference Arg
155. MAChO SLEDS cise E EE E sec craseetatustctesencinyss B 191 B 3 5 Actions within the steps cccccccssesscsseeeseceeceeecseeeseeeseeeeeeeeeeneeses B 192 B 3 6 Conditions attached to transitions c ceccceeceseceteeeteeeeenseeseenees B 197 ICS Triplex ISaGRAF Inc vii User s Guide B 3 7 SFG dynamic rules 24 acces asecan wisi date E B 199 B 3 8 SFC program hierarchy cccccsceesseeceeeceeseeeeeeseceaeessecseeeneeeneeses B 200 B 4 Flow Chart language sscssssssssssssssssssssssssessescsessssssssnsesnsesseees B 201 B 4 1 FC COMPONEMIS eoe s e eae tesserae a SEE eae B 201 B 4 2 FC complex Structures ccccsccesseesceeseeeseeeseeeceseceaeensecseeeneeeneeenes B 204 B 4 3 FC dynamic behavior cccesccesecseesceeseeeeeeeeeeeseeeeeeeeeneenseenaeeenes B 205 B 4 4 BC cheChan e222 2 sciee ahs Yoni ese el tlio ae eae B 205 B 5 FBD language ccccssccsscssssssssssccscsssessssssssesssessnsesesssnsssnsesnsesssoes B 206 B 5 1 FBD diagram main forimat ccccececsceesceeeeeeceeseeeeeeseceeenseenaeenaes B 206 B 5 2 RETURN statement ncnion reis B 207 B 5 3 Jumps and label sci sc sec sccevccvs cescvtscecescxss cas leiabectesseateecviseacecckeesee cance B 207 B 5 4 Boolean negation cccccescsseessecseecseeeseeeseeeeceeseessecsaeeaeeneeeaeeenes B 208 B 5 5 Calling function or function blocks from the FBD eee B 208 B 6 DD VAN SWAG 6 sii ccsecscvesntssssosesnesensedesesonnssosnnssan
156. Pressing the Clear button resets the parameter description and removes it from the parameter list Warning this command cannot be undone The name of a parameter is used to identify the corresponding input field during the I O board connection if the automation operator must define the field The name of a parameter must conform to the following rules e the maximum length of a name is 16 characters e the first character must be a letter e the following characters must be letters digits or _ character A 148 ICS Triplex ISaGRAF Inc User s Guide The type of a parameter defines the internal format of the parameter and its input format during application I O connection Below is the list of available internal formats word unsigned 16 bit word long unsigned 32 bit word word hexa unsigned 16 bit word long hexa unsigned 32 bit word boolean unsigned 16 bit word only lowest bit is used character unsigned 16 bit word only lowest byte is used string array of 16 bytes containing a null terminated string fl t nni single precision 32 bit floating value Below are available input formats word unsigned decimal word Kela EET decimal long word word hexa unsigned hexadecimal word long hexa unsigned hexadecimal long word boolean true or false character single character string ascii string 15 characters max float
157. R NOT operators are explicitly represented by the diagram topology Boolean input variables are attached to graphic contacts Boolean output variables are attached to graphic coils Contacts and coils are connected together and to left and right power rails by horizontal lines Each line segment has a Boolean state of FALSE or TRUE The Boolean state is the same for all the segments directly linked together Any horizontal line connected to the left vertical power rail has the TRUE state LD and FBD diagrams are always interpreted from the left to the right and from the top to the bottom Refer to the ISaGRAF Language reference Manual for more details about LD and FBD languages These are the basic graphic components of the LD and FBD languages such as supported by the FBD LD editor Left power rail Rungs must be connected on the left to a left power rail which represents the initial TRUE state ISaGRAF FBD editor also allows connecting any Boolean symbol to a left power rail Right power rail Coils may be connected on the right to a right power rail This is an optional feature when using the ISaGRAF FBD LD editor If a coil is not connected on the right it includes a right power rail in its own drawing LD vertical OR connection LD vertical connection accepts several connections on the left and several connections on the right Each connection on the right is equal to the OR combination of the connections on the left A 62
158. RAF on a powerful and flexible computer base there are two restrictions to the Modbus protocol C 402 ICS Triplex ISaGRAF Inc Target User s Guide Itis only possible to access ISaGRAF variables Itis difficult to execute fast transfer of a large amount of data These are the reasons why ISaGRAF offers a set of file transfer Modbus like requests or a remote file management protocol These features have been implemented to enable Binary or ASCII file download Binary or ASCII file upload Dynamic data exchange through virtual or physical shared file Thus with the ISaGRAF communication link any application independent from ISaGRAF can easily communicate with a remote target The protocol is based on the following concepts The file on the ISaGRAF target side is called remote file The file on the master computer is called local file Each byte in a file is accessed with a 32 bit base address plus a 16 bit byte address There are requests to select the remote file name to select the base address to read or write data of the remote file using the 16 bits byte address FUNCTION 17 write data nbb correspond to the number of vH vL bytes Question Sv n_n Joao o e e PH oer Jor Answer sv 11 Jedd Joao o pe oor Joc The meaning of this request differs according to the address range addH addL OxF000 Initialize remote file name nbb correspond to the number of character
159. RIG1 clk CAL R_TRIG1 LD R_TRIG1 Q ST CTU1 cu LDN auto_mode ST CTU1 reset LD 100 ST CTU1 pv CAL CTU1 LD CTU1 Q ST overflow LD CTU1 cv ST result FBD equivalent ICS Triplex ISaGRAF Inc B 243 Language Reference command auto_mode overflow 100 result B 244 ICS Triplex ISaGRAF Inc Language Reference B 9 Standard operators function blocks and functions B 9 1 Standard operators The following are standard operators of the IEC languages Data manipulation 0 Assignment Analog negation Boolean operations Boolean AND Boolean OR Boolean Exclusive OR Arithmetic operations Addition Subtraction Multiplication Division Logic operations 0 008 Analog bit to bit AND mask Analog bit to bit OR mask Analog bit to bit Exclusive OR mask Bit to bit negation Comparison tests 68 Less than Less or equal to Greater than Greater or equal to Is equal to Is not equal to Data conversion s s s Convert to Boolean Convert to Integer Analog Convert to Real Analog Convert to Timer Convert to Message Other iahon Message concatenation System access Operate I O channel 1 gain 1 IN Q Arguments IN any type Q any type Description assignment of one variable into another one ICS Triplex ISaGRAF Inc B 245 Language Reference This block is very useful to directly l
160. Reads an element in an array of integers FBD program using array management blocks array_error RETURN gt arread ident ID index Pos al read_value ST Equivalence If array_error Then Return End_if read_value ARREAD ident index array_error comes from the ARCREATE call ICS Triplex ISaGRAF Inc B 311 Language Reference IL Equivalence LD array_error RETC LD ident ARREAD index ST read_value ARWRITE arwrite Arguments ID INT identifier of the array must be in set 0 15 Pos INT position of the element in the array must be in set 0 size 1 IN INT new value for the element ok INT execution status 1 writing has succeeded 2 invalid array identifier 3 invalid index Description Stores writes a value in an array of integers FBD program using array management blocks array_error RETURN gt arwrite ident ID index Pos value N write_status ST Equivalence If array_error Then Return End_if write_status ARWRITE Ident Index value array_error comes from the ARCREATE call IL Equivalence LD array_error RETC LD ident ARWRITE index value ST write_status B 312 ICS Triplex ISaGRAF Inc Language Reference F_ROPEN Arguments Path ID Description MSG INT F_ROPEN Path ID file n
161. Run the document generator 2 Select the printer paper size and orientation 3 Close the document generator without printing 4 Open the FBD program 5 Display the grid Q Options of the Zoom group allow you to select a main zoom ratio You can also use the zoom button in the editor toolbar to swap between default zoom ratios Use the Options Font command to select the name of the character font to be used in all ISaGRAF graphic documents When selecting font font style and size are not relevant and do not need to be specified ISaGRAF graphic editors always calculate the font size according to selected zoom ratio ICS Triplex ISaGRAF Inc A 69 User s Guide A 7 5 Styles and modification tracking The ISaGRAF LD FBD editor enables you to assign a graphic style to any component of an LD FBD diagram A style is mainly defined as a special diagram coloring But ISaGRAF also uses styles to enable modification tracking in diagrams for version control purpose Note that styles are visible during simulation or on line debug as colors red and blue are used in that mode to highlight TRUE FALSE states of spied variables A 70 ICS Triplex ISaGRAF Inc User s Guide a Predefined styles The following styles are pre defined Normal Default drawing black For modification tracking normal style indicates that elements having that style are part of the original diagram Normal style elem
162. S starts the child sequence when the step becomes active nothing is done when the step becomes inactive lt child_program gt R kills the child sequence when the step becomes active nothing is done when the step becomes inactive The SFC sequence specified as an action must be an existing child SFC program of the currently edited program created with the ISaGRAF program manager Transitions written in ST The level 2 of a transition is a Boolean expression To program it in ST language just enter the Boolean condition according to the ST syntax Optionally a semicolon may be added at the end of the expression a Transitions written in Quick Ladder Quick LD editor is available to program the level 2 condition of a transition In this case the diagram is made of just one rung with only one coil which represents the transition The name of the transition is not repeated with the coil symbol Below is an example of transition condition programmed in Quick LD toggle Cmd100 HHI oo _ ManMode When programming in Quick LD use the keyboard arrows to move the selection in the programming logical grid and then use the following shortcuts to insert symbols F2S Mise eieh law insert a contact after the selected symbol initiate the rung F3 insert a contact before the selected symbol Fats Avance insert a contact in parallel with the selected symbol FOr ia insert a block after the selected symbol F7 insert a
163. S Triplex ISaGRAF Inc B 263 Language Reference means myname Mr Jones IL equivalence LD Mr ADD s ADD Jones ST myname SYSTEM Arguments Mode INT identifies the system parameter and the access mode Arg INT TMR new value for a write access Param INT value of the accessed parameter Description Access to the system parameters The following is the list of available commands pre defined keywords for the SYSTEM function command meaning These are expected arguments for pre defined functions of the SYSTEM function command argument return value SYS_TALLOWED o allowed cycle timing SYS_TCURRENT 0 current cycle timing SYS TMAXIMUM 0 maximum detected timing OU imi itten ti SYS_TRESET_ _ Jo new allowed cycle timing SYSERRTEST 0 Oifnoerrordetected a number of timing overflows SYS_ERR_READ oldest error code B 264 ICS Triplex ISaGRAF Inc Language Reference FBD example with System blocks System SYS_TOVERFLO Mode lt gt OL Aas Param tint n2 al alarm alarm RETURN gt nb_err 1 nb_err System SYS_TRESET ode 0 larg Param rc ST Equivalence alarm SYSTEM SYS_TOVERFLOW 0 lt gt 0 If alarm Then nb_err nb_err 1 rc SYSTEM SYS_TRESET 0 End_If
164. SFC programs Main SFC programs are activated by the system when the application starts A program can have several child programs Achild of a program cannot have more than one father Its father can only control a child program A program cannot control the children of one of its own children The basic actions that a father SFC program can take to control its child program are Start GSTART Starts the child program activates each of its initial steps Children of this child program are not automatically started Kill GKILL Kills the child program by deactivating each of its active steps All the children of the child program are also killed Freeze GFREEZE Suspends the execution of the program deactivates actions of each of the active steps and suspend transition calculation and memorises the status of the program steps so the program can be restarted All the children of the child program are also frozen Restart GRST Restarts a frozen SFC program by reactivating all the suspended steps Children of the program are not automatically restarted Get status GSTATUS Gets the current status active inactive or frozen of a child program B 200 ICS Triplex ISaGRAF Inc Language Reference B 4 Flow Chart language Flow Chart FC is a graphic language used to describe sequential operations A Flow Chart diagram is composed of Actions and Tests Between Actions and test are oriented links representing data flow
165. SaGRAF document However the Document Generator provides the same features in both cases The commands of the Edit menu are used to define the elements of the project that must be inserted in the document Doing this the user builds the table of contents for the desired document Any information about the project programs variables options I O connection may be inserted in the project document No information from another project or from ISaGRAF libraries may appear in this document amp The File Print command generates the document and send it to the printer according to the specified table of contents The Print job may take few minutes to build and format the document It is highly recommended to wait until Printing Job is done in the ISaGRAF Document Generator window before running other commands of the ISaGRAF Workbench Building the whole document may require a large space on the hard disk An error message will be displayed if the disk is full In such a case the user will have to either free up disk space by removing files or reduce the size of the print job When the Print command is run a dialog box appears It allows the user to enter a note describing the actual print command Those notes are stored in a history file and will be printed on the first page of any future document including the present one Customising the table of contents The Edit menu contains the commands to define the Table of Content
166. SaGRAF editors Real debugging The Debug command opens the debugger main window and closes the Program Management window The Program Management window is then re opened in debug mode as soon as communication is established between the debugger and the target application The debugger cannot be started if the target code has not been generated The debugger cannot be started when child windows editors code generation I O connection are opened Each of them must be closed before running this command This command is also available from menus of ISaGRAF editors A 34 ICS Triplex ISaGRAF Inc User s Guide Preparing the debug workspace The Debug Workspace command enables you to define a list of documents for initial workspace Such documents can be programs SpotLight graphics and lists of variables Graphics and lists of time diagrams from previous ISaGRAF versions are also listed with project documents Documents defined in the initial workspace are automatically opened when simulation or On line monitoring is launched Debugging Workspace EI Documents Workspace agitate program agitate list dtv1 time diagram dtv2 time diagram init program ilprog program soaptemp list simulate program The dialog box shows the existing documents of the project on the left and documents selected for the initial workspace on the right Use gt gt and lt lt push buttons to move documents from one
167. TO_REAL BOOL_TO_STRING BOOL_TO_TIME BY BYTE CAL CALC CALCN CALN CALNC CASE CONCAT CONSTANT COS DATE DATE_AND_TIME DELETE DINT DIV DO DT DWORD ELSE ELSIF EN END_CASE END FOR END FUNCTION END_IF END PROGRAM END REPEAT END RESSOURCE END STRUCT END_TYPE END_VAR END_WHILE ENO EQ EXIT EXP EXPT F FALSE FEDGE FIND FOR FUNCTION G GE GFREEZE GKILL GRST GSTART GSTATUS GT moO ICS Triplex ISaGRAF Inc B 181 Language Reference AVOZserc 4o xs lt c IF INSERT INT INT_TO_BCD INT_TO_BOOL INT_TO_REAL INT_TO_STRING INT_TO_TIME JMP JMPC JMPCN JMPN JMPNC LD LDN LE LEFT LEN LIMIT LINT LN LOG LREAL LT LWORD MAX MID MIN MOD MOVE MSG MUL MUX NE NOT OF ON OPERATE OR OR_MASK ORN PROGRAM R REDGE READ ONLY READ WRITE REAL REAL TO BCD REAL_TO BOOL REAL_TO_INT REAL_TO STRING REAL_TO_TIME REDGE REPEAT REPLACE RESSOURCE RET RETAIN RETC RETCN RETN RETNC RETURN RIGHT ROL ROR S SEL SHL SHR SIN SINT SQRT ST STN STRING STRING _TO BCD STRING_TO_BOOL STRING_TO_INT STRING_TO_REAL STRING_TO_TIME STRUCT SUB SYS_ERR_READ SYS_ERR_TEST SYS_INITALL SYS_INITANA SYS_INITBOO SYS_INITTMR SYS _RESTALL SYS_RESTANA SYS RESTBOO SYS_RESTTMR SYS SAVALL SYS _SAVANA SYS_SAVBOO SYS_SAVTMR SYS _TALLOWED SYS TCURRENT SYS_TMAXIMUM SYS_TOVERFLOW SYS_TRESET SYS_TWRITE SYSTEM TAN TASK THEN TIME TIME_OF DAY TIM
168. The standard default name of an I O channel has the following format lt direction gt lt type gt lt slot_number gt _ lt channel_number gt The first character indicates the direction of the I O channel AET input channel VQ orinni output channel The second character indicates the type of the I O channel TARY E T Boolean E DE ere analog ena isasi message Below are examples of a standard I O channel names IXO T orerar Boolean input board 0 channel 7 QD2_4 oe integer output board 2 channel 4 The Connect I O channels command of the I O Connection Editor is used to modify the default name attached to an I O channel A 22 3 I O complex equipment All the channels of a single board have the same type Boolean analog or message and direction input or output Complex I O equipment represents an I O device with channels of different types or directions Complex I O equipment is represented as a list of single I O boards It uses only one slot in the I O connection rack list 2 To define complex I O equipment the user has to define the list of single boards which define the I O equipment He also has to enter the detailed parameters of each single board The list of single I O boards is entered through a dialog box Pressing the Append button allows the user to add a single board at the end of the current list The Insert button is used to insert a new single board before the one currently selected in the list
169. The structure of the block used to describe the programs of the application is shown below PROGRAMS lt nbprg gt lt va gt lt name gt ICS Triplex ISaGRAF Inc A 167 User s Guide CARLO SAAD number of programs defined in this block virtual address of the program eN Ah program name The structure of the block used to describe the SFC steps of the application is shown below Note that there is one virtual step defined for each non SFC program STEPS lt nbsteps gt lt va gt lt name gt lt father gt nbsteps number of steps defined in this block Val E co ee virtual address of the step name step name father virtual address of the father The structure of the block used to describe the SFC transitions of the application is shown below TRANSITIONS lt nbtrans gt lt va gt lt name gt lt father gt Eosi nbtrans number of transitions defined in this block va Virtual address of the transition name transition name father virtual address of the father The structure of the block used to describe the Boolean variables of the application is shown below BOOLEANS lt nb_boo gt lt va gt lt name gt lt attr gt lt program gt lt eq false gt lt eq_true gt Eass and if variable number exceeds 4095 X 1 lt varno gt lt name gt lt attr gt lt program gt lt eq_false gt lt eq_true gt number of varia
170. VATE1 instance of DERIVATE block DERIVATE1 manual_mode sensor_value t 100ms derivated_value DERIVATE1 XOUT IL Equivalence LD manual_mode ST DERIVATE1 run LD sensor_value ST DERIVATE1 XIN LD t 100ms ST DERIVATE1 CYCLE CAL DERIVATE1 ICS Triplex ISaGRAF Inc B 281 Language Reference LD DERIVATE1 XOUT ST derivated_value BLINK Arguments RUN BOO mode TRUE blinking FALSE reset the output to false CYCLE TMR blinking period Q BOO output blinking signal Description Generates a blinking signal Timing diagram SIG_GEN sig_gen Arguments RUN BOO mode TRUE running FALSE reset to false PERIOD TMR duration of one sample MAXIMUM INT maximum counting value PULSE BOO inverted after each sample UP INT up counter increased on each sample END BOO TRUE when up counting ends SINE REAL sine signal period counting duration Description Generates various signal blink on a Boolean a integer counter up and real sine wave When counting reaches maximum value it restarts from 0 zero So END keeps the TRUE value only during 1 PERIOD B 282 ICS Triplex ISaGRAF Inc Language Reference Timing diagram PERIOD RUN PULSE MAXIMUM UP END SINE B 9 3 Standard functions These are standard functions supported by the ISaGRAF system Such functions are pre defined and do not have to be declared in the library EXPT POW LOG SQRT TRUNC Trigonometric
171. VERAGE1 XOUT IL Equivalence LD auto_mode AND store_cmd ST AVERAGE 1 run LD sensor_value ST AVERAGE1 xin LD 100 ST AVERAGE1 N CAL AVERAGE1 LD AVERAGE1 XOUT ST ave_value HYSTER B 278 ICS Triplex ISaGRAF Inc Language Reference Arguments XIN1 XIN2 EPS Q Description REAL REAL REAL BOO any real analog value to test if XIN1 has exceeded XIN2 EPS hysteresis value must be greater than zero TRUE if XIN1 has exceeded XIN2 EPS and is not yet below XIN2 EPS Hysteresis on a real value for a high limit Example of timing diagram LIM_ALRM Arguments H X L EPS QH Q QL Description XIN2 EPS XIN2 XIN2 EPS REAL REAL REAL REAL BOO BOO BOO lim_alrm high limit value input any real analog value low limit value hysteresis value must be greater than zero high alarm TRUE if X above high limit H alarm output TRUE if X out of limits low alarm TRUE if X below low limit L Hysteresis on a real value for high and low limits An hysteresis is applied on high and low limits The hysteresis delta used for either high or low limit is one half of the EPS parameter Below is an example of timing diagram ICS Triplex ISaGRAF Inc B 279 Language Reference INTEGRAL integral Arguments RUN BOO mode TRUE integrate FALSE hold R1 BOO overriding reset XIN REAL input any real analog value X0 REAL initial value CYCLE TMR sampling pe
172. _CLOSE ST ok FM_WRITE FM_WRITE Arguments ID INT file number returned by F_WOPEN IN MSG message value to be written in the file ok BOO execution status TRUE if succeeded Description Writes MESSAGE variables to a binary file To be used with F_WOPEN and F_CLOSE A message is written in the file as a null terminated string This procedure makes a sequential access to the file from the previous position The first call after F_WOPEN writes the first string to the file each call pushes the writing pointer This function is not included in the ISaGRAF simulator FBD program using file management blocks ICS Triplex ISaGRAF Inc B 321 Language Reference F_WOPEN P 1D trace txt ath file _id FM_WRITE file _id p First message N ox ok FM_WRITE file _id p Last message N ok ok F_CLOSE file_id ID ok ok ST Equivalence file_id F_WOPEN trace txt ok FM_WRITE file_id First message ok FM_WRITE file_id Last message ok F_CLOSE file_id IL Equivalence LD F_WOPEN ST ST LD ST LD F_CLOSE ST trace txt file_id FM_WRITE First message file_id FM_WRITE Last message file_id write first msg write second msg B 322 ICS Triplex ISaGRAF Inc Target User s Guide C Target User s Guide ICS Triplex ISaGRAF Inc C 323 Targ
173. a complete data protection system based on hierarchised passwords Variable declaration and I O connection can be globally protected by a password Additionally ISaGRAF enables you to set individual protection to any variable or I O channel This assumes that passwords are already defined in the password definition system use the Project Set password command of the Project Management window so that protection levels are available for individual protection you use protection levels with higher priority for individual protection compared to global variable or I O protection When a variable or an I O channel has individual protection a small icon is draw close to its name in dictionary or I O connection window Use the Set protection and Remove protection commands of the Edit menu in dictionary or I O connection windows to set or remove an individual protection for selected variable or channel Both commands ask you to enter a valid password so that a protection level can be attached to the variable or channel Then each time you want to change a variable or a connection to a channel having individual protection you must enter a password with sufficient priority level Warning if a variable or channel is protected with a level and the corresponding password is removed from protection system and if no higher level password is defined variable or channel cannot be changed anymore unless a new password with sufficient level is de
174. a flow by the identification of the target point generally the name of the target symbol Below is the standard drawing of a connector _ nn Name A connector always targets a defined Flow Chart symbol Its logical number identifies the destination symbol FC comments A comment block contains text that has no sense for the semantic of the chart It can be inserted anywhere on an unused space of the Flow Chart document window and is used to document the program Below is the drawing of a comment symbol comment text can A be on several lines B 4 2 FC complex structures This section shows complex structure examples that can be defined in a Flow Chart diagram Such structures are combinations of basic objects linked together lt Tet Y IF THEN ELSE YES D 1 place for THEN actions to be inserted 2 place for ELSE actions to be inserted REPEAT UNTIL 3 place for repeated actions to be inserted B 204 ICS Triplex ISaGRAF Inc Language Reference WHILE DO 3 place for repeated actions to be inserted B 4 3 FC dynamic behavior The execution of a Flow Chart diagram can be explained as follows The Begin symbol takes one target cycle The End symbol takes one target cycle and ends the execution of the chart After this symbol is reached no more actions of the chart are executed The flow is broken each time an item action decision is encountered that has already been reache
175. a new parameter before the selected parameter The Delete command is used to erase the selected parameter The Arrange command automatically rearranges sorts the parameters so that the return parameter is put at the end of the list Pressing the OK button stores the definition of the function interface and closes the dialog box Pressing the Cancel button closes the dialog box without changing the definition of the function interface a Function C interface The interface of a function depends on the definition of its parameters Calling and return parameters are passed through a structure This structure is defined in the GRUSOnnn H file where nnn is the logical number of the function in the ISaGRAF library This is an example of the C interface for the SIN function sine calculation File GRUS0255 h function sample typedef long T_BOO typedef long T_ANA typedef float T_REAL typedef long T_TMR typedef char T_MSG typedef struct CALL T_REAL _paraml RETURN T_REAL _param2 str_arg C 372 ICS Triplex ISaGRAF Inc Target User s Guide define PARAM arg gt _param1 define PARAM2 arg gt _param2 end of file The relationship between ISaGRAF types and C types is shown below The ISaGRAF types are defined as C types in the definition file of the function T_BOO long 32 bits Integer analog T_ANA Real analog T_REAL float 32 bits single precision lo
176. able a Boolean output of a connection line Boolean state boo_variable S j Left connection gt ee Right connection The associated variable is SET TO TRUE when the Boolean state of the left connection becomes TRUE The output variable keeps this value until a RESET coil makes an inverse order The state of the left connection is propagated into the right connection Right connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL Example using SET and RESET coils input output input2 output4 I R ST Equivalence IF input THEN output1 TRUE END_IF ICS Triplex ISaGRAF Inc B 215 Language Reference IF input2 THEN output1 FALSE END_IF RESET coil Reset coils enable Boolean output of a connection line Boolean state boo_ variable R Left connection a TA A Right connection The associated variable is RESET TO FALSE when the Boolean state of the left connection becomes TRUE The output variable keeps this value until a SET coil makes an inverse order The state of the left connection is propagated into the right connection Right connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL Example using SET and RESET coils input1 output S input2 output4 R ST Equivalence IF input4 THEN output1
177. ailable to directly act on a Boolean variable according to the step activity Such actions consist of attaching the step activity signal to an internal or output Boolean variable This is the syntax of the basic Boolean actions lt boolean_variable gt N assigns the step activity signal to the variable lt boolean _variable gt same effect N attribute is optional lt boolean _variable gt assigns the negation of the step activity signal to the variable Other features are available to set or reset a Boolean variable when the step becomes active This is the syntax of set and reset Boolean actions lt boolean _variable gt S sets the variable to TRUE when the step activity signal becomes TRUE lt boolean _variable gt R resets the variable to FALSE when the step activity signal becomes TRUE SFC actions Other text semantics are available to control the execution of a child SFC program A SFC action is a child SFC sequence started or killed according to the condition of the step activity signal A SFC action can have the N Non stored S Set or R Reset qualifier This is the syntax of the basic SFC actions lt child_program gt N starts the child sequence when the step becomes active and kills the child sequence when the step becomes inactive lt child_program gt same effect as the preceding syntax N attribute is optional A 44 ICS Triplex ISaGRAF Inc User s Guide lt child_program gt
178. ak ICS Triplex ISaGRAF Inc C 385 Target User s Guide Pea The hinstance argument is the logical number of the instance It is reserved for ISaGRAF internal operations and should not be used in the programming of the service The data argument is a far pointer to the data structure associated to the instance The parno argument is the logical number of the return parameter which value is required Use the identifiers defined in the function block C header to identify return parameters Such identifiers begin with the FBLPNO_ prefix The value argument is a far pointer to the buffer where to copy the current value of the accessed return parameter The type of data pointed to by this argument depends on the ISaGRAF type of the return parameter The following table gives the relationship between ISaGRAF types and buffer C data type 32 bit unsigned word 0 false 1 true 32 bit signed word oS O 32 bit signed word The following macros are used to have access to the copy buffer according to the type of the accessed return parameter define BOO_VALUE T_BOO value define ANA_VALUE T_ANA value define REAL_VALUE T_REAL value define TMR_VALUE T_TMR value define MSG_VALUE T_MSG value These are commonly used programmed operations to copy the value or the parameter to the ISaGRAF buffer for a Boolean parameter BOO_VALUE parameter_value for an integer analog paramete
179. alid No application Connection is OK but no ISaGRAF application currently exists in the target system Download an application Application active Connection is OK and an active application exists in the target system Debugger is now establishing the communications with this application if it is the same as the one on the Workbench RUN aninion Target application is in Real Time mode A 110 ICS Triplex ISaGRAF Inc User s Guide A 15 2 dhi STOP fa Saiki Target application is in Cycle to Cycle mode BreakPoint Target application is in Cycle to Cycle mode because a breakpoint is encountered Fatal Error Target application failed because a serious error occurred Information on the run time cycle timing is as follows Allowed 05 programmed timing Current EE exact timing of the last complete execution cycle Maximum maximum timing detected since the application started Overflow 0 8 number of execution cycles detected with timing greater than the allowed timing All time values are given in milliseconds Time values are not displayed when debugger is used in simulation mode Controlling the application The File and Control menus contain the commands for the installation and the control of the currently edited ISaGRAF application on the ISaGRAF target system Note Some of these commands are no
180. alue 0 program is inactive killed 1 program is active started 2 program is frozen Note GSTATUS is not in the IEC 1131 3 norm Example ICS Triplex ISaGRAF Inc B 235 Language Reference 1 Run_cmd 1 2 _JACTION P 201 _JACTION N GSTART Schild if GSTATUS Schild 0 then END_ACTION Mstat Stopped else Mstat Running NOT Run_cmd end_if R END_ACTION 3 _JACTION P GKILL Schild END_ACTION Run_cmd 2 B 236 ICS Triplex ISaGRAF Inc Language Reference B 8 IL language Instruction List or IL is a low level language Instructions always relate to the current result or IL register The operator indicates the operation that must be made between the current value and the operand The result of the operation is stored again in the current result B 8 1 IL main syntax An IL program is a list of instructions Each instruction must begin on a new line and must contain an operator completed with optional modifiers and if necessary for the specific operation one or more operands separated with commas A label followed by a colon may precede the instruction If a comment is attached to the instruction it must be the last component of the line Comments always begin with and ends with Empty lines may be entered between instructions Comments may be put on empty lines Below
181. ame It may include the access path to the file using the or symbol to specify a directory To ease application portability or is equivalent file number 0 if an error occurs file does not exists Opens a binary file in read mode To be used with FX_READ and F_CLOSE This function is not included in the ISaGRAF simulator FBD program using file management blocks c data data bin file_id ne ST Equivalence file_id F_LROPEN c data data bin error file_id 0 IL Equivalence LD F_ROPEN ST EQ ST F_WOPEN Arguments Path c data data bin file_id 0 error MSG INT F_ROPEN Path ID file_id IN2 Q error F_WOPEN Path ID file name It may include the access path to the file using the or symbol to specify a directory To ease application portability or is equivalent file number O if an error occurs If the file already exists it is overwritten ICS Triplex ISaGRAF Inc B 313 Language Reference Description Opens a binary file in write mode To be used with FX_WRITE and F_CLOSE This function is not included in the ISaGRAF simulator FBD program using file management blocks c data data bin file_id ST Equivalence F_WOPEN Path ne IN2 file _id F_WOPEN c data data bin error file_id 0 IL Equivalence file
182. ameter the type of the parameter ICS Triplex ISaGRAF Inc C 379 Target User s Guide Any of the ISaGRAF data types may be used for a parameter Boolean Integer analog Real analog Timer or Message Integer and real analogs must be distinguished Below is the relationship between ISaGRAF types and C types BOOLEAN unsigned long unsigned 32 bit word 1 true O false ANALOG signed integer 32 bit word REAL single precision floating value TIMER unsigned long unsigned integer 32 bit word unit is 1 millisecond MESSAGE character string When a message value is passed onto a C function it cannot contain null characters The string passed to the C code is null terminated Do not forget that return parameters must be the last ones in the list The rules shown below must be followed while naming parameters the length of the name cannot exceed 16 characters the first character must be a letter the following characters must be letters digits or _ character naming is case insensitive The same name cannot be used for more than one parameter of the function block A calling parameter cannot have the same name as a return parameter The same name can be used for parameters of different function blocks The name of a parameter is used to identify the parameter in the C source code The Insert command is used to insert a new parameter before the selected parameter The Delete command is used to erase the sel
183. ample ANYTARGET Specifies the name of a target code that has to include the resource Refer to the previous section compiler options for further information about handled targets The Target statement can appear more than once in the same resource block in order to select several targets This statement cannot be used if the AnyTarget statement is specified TARGET lt target_name gt BinaryFile MYFILE Begin Target ISA86M Target ISA68M B a Meaning Specifies that the resource must be merged to all the target codes built by the Code Generator The ISaGRAF Code Generator can produce several target codes during the same Make command This A 104 ICS Triplex ISaGRAF Inc User s Guide statement cannot be used if one or several Target statements are specified Syntax ANYTARGET Example ULongData MYDATA Begin AnyTarget End Meaning Specifies the source pathname on the PC where the ISaGRAF Workbench is installed of a BinaryFile or TextFile resource The characters used to isolate the components of the pathname drive directory prefix suffix must conform to the MS DOS system conventions Syntax FROM lt target pathname gt Example BinaryFile MYFILE Begin From c user config dat To dd user appl config dat End Meaning Specifies the destination pathname on the target system of a BinaryFile or TextFile resource The characters used to isolate the componen
184. an once in a SFC program Example of macro step SFC program with macro step Main chart Body of the macro step 1 IJInitialize 201 Fill WUnit _ unit full 201 Error _ Run amp not Error 202 Weigh 1 101 2 Alarm 201 Weighing Siis weighing done _ Ack _ __ true 203 _ Empty WUnit 2 102 _ unit empty 203 204 _ Store weight 1 B 3 5 Actions within the steps The level 2 of a SFC step is the detailed description of the actions executed during the step activity Using SFC literal features and other languages such as Structured Text ST makes this description The basic types of actions are Boolean actions Pulse actions programmed in ST Non stored actions programmed in ST SFC actions Several actions with same or different types can be described in the same step The special features that enable the use of any of the other languages are Calling sub programs Instruction List IL language convention B 3 5 1 Boolean actions Boolean actions assign a Boolean variable with the activity of the step The Boolean variable can be an output or an internal It is assigned each time the step activity starts or stops This is the syntax of the basic Boolean actions lt boolean_variable gt N assigns the step activity signal to the variable lt boolean_variable gt same effect N attribute is
185. analog I O conversion at run time on the ISaGRAF target PLC This utility does not require any C development as it is limited to strictly increasing or decreasing continuous functions Refer to the ISaGRAF User s Guide for a complete description of these tools Conversion functions enable the user to apply any complex conversion with specific operations described in the C language Basically a conversion function is defined for both inputs and outputs Even if one direction is not used implementation and tests have to be made before integrating the conversion to the ISaGRAF kernel to prevent any system crash due to a wrong call Conversion functions are written in C language compiled and linked with the ISaGRAF kernel The increased kernel must be installed on the ISaGRAF target PLC before using new conversion functions in ISaGRAF projects New conversion functions cannot be integrated in ICS Triplex ISaGRAF Inc C 365 Target User s Guide the ISaGRAF Simulator The ISaGRAF applications have to be simulated before inserting the non standard conversion functions The C source code of the standard conversions written by ICS Triplex ISaGRAF are installed with the ISaGRAF Workbench They can be used as examples for creating new functions It is recommended not to modify the standard functions so they can be used in any ISaGRAF application The ISaGRAF simulator supports the standard conversions delivered with the ISaGRAF Workbenc
186. and static data They complete the set of C functions by allowing the processing of static objects They are commonly used to increase standard capabilities of ST and FBD languages Unlike functions which process values function blocks can process static data This means that a function block algorithm can manage the variations of data over time Function blocks are written in C language compiled and linked with the ISaGRAF kernel The increased kernel must be installed on the ISaGRAF target PLC before using new function blocks in ISaGRAF projects New function blocks cannot be integrated in the ISaGRAF Simulator The ISaGRAF applications have to be simulated before using the non standard functions Warning Function block calls are synchronous operations activated at run time by the ISaGRAF kernel during the application cycle Time spent for the execution of a function block activation or read service is included in the ISaGRAF application cycle timing The user has to ensure that no wait operation is programmed in a function block so that the ISaGRAF cycle processing time does not exceed the max time allowed Declaring function block instances A function block is an object which combines operations and static data Below is the example of the R_TRIG function block which detects the rising edge of a Boolean expression Here is the functional description of the block ICS Triplex ISaGRAF Inc C 377 Target User s Guide
187. ands and options from the window menu Main commands The Files menu contains the commands for program syntax checking and code generation Make application code The Make command constructs the entire code of the project Before generating anything this command checks the syntax of the declarations and programs Any error that cannot be detected during single program compiling is detected during code generation This applies to tables of conversion I O variable connections and links with the libraries The code generation halts the compiling of a program when errors are detected This program must be corrected before continuing the code generation Programs which have already been checked with no error detected and that have not been modified since their last Verify operation are not re compiled Variable declaration verification and application coherence checking are always processed During program checking the Make operation can be aborted by hitting the ESCAPE key Note If the declaration of a local variable of a program has been modified this program is verified If a global variable has been modified all the programs are verified Program syntax checking The Verify program command allows the user to verify only one program The selected program is compiled even if it has not been modified since its last verification The Verify dictionary command allows the user to verify the declarations of all the variables of
188. ange of the address within timer data type PGi iig name of the variable attribute of the variable always X internal Janie virtual address of the parent program dati estecoesdiieey aed or 10000 for a global variable The structure of the block used to describe the message variables of the application is shown below MESSAGES lt nb_msg gt lt va gt lt name gt lt attr gt lt program gt lt max_len gt and if variable number exceeds 4095 X 4 lt varno gt lt name gt lt attr gt lt program gt lt max_len gt ICS Triplex ISaGRAF Inc A 169 User s Guide number of variables in this block virtual address of the variable range of the address within message data type name of the variable attribute of the variable virtual address of the parent program or 10000 for a global variable maximum length declared capacity The structure of the block used to describe the C functions used in the application is shown below USP lt nb_usp gt lt va gt lt name gt Hees nb_usp number of C functions in this block Vaer aidea virtual address of the C function name a name of the C function The structure of the block used to describe the C function block instances used in the application is shown below FBINSTANCES lt nb_fb gt lt va gt lt inst_name gt lt fb name gt Nth nals number of instances of a C function blocks in this bl
189. annel IXs b c free channel of a Boolean input board IDs b c free channel of an integer input board ISs b c free channel of a message input board QXs b c free channel of a Boolean output board QDs b c free channel of an integer output board QSs b c free channel of a message output board Below are examples QX1 6 6th channel of the board 1 Boolean output ID2 1 7 7th channel of the board 1 in the equipment 2 integer input A directly represented variable cannot have the real data type B 2 3 3 Boolean variables Boolean means logic Such variables can take one of the Boolean values TRUE or FALSE Boolean variables are typically used in Boolean expressions Boolean variables can have one of the following attributes Internal memory variable updated by the program Constant read only memory variable with an initial value Input variable connected to an input device refreshed by the system Output variable connected to an output device Warning When declaring a Boolean variable strings can be defined to replace true and false values during debug Those strings cannot be used in the programs unless entered as defined words for the language B 2 3 4 Analog variables Analog means continuous Such variables have signed integer or real floating values Available formats for an analog variable are Integer 32 bit signed integer from 2147483647 to 2147483647 Real standard IEEE 32 bit floating value
190. ard c is the number of the channel SILKS CLAN free channel of a Boolean input board SIDS Coie free channel of an integer input board SE C pesin free channel of a message input board ICS Triplex ISaGRAF Inc A 93 User s Guide free channel of a Boolean output board free channel of an integer output board BOSS Coes free channel of a message output board Below are the naming conventions of a directly represented variable for a channel of complex equipment s is the slot number of the equipment b is the index of the single board within the complex equipment c is the number of the channel SIXA bi Cunn free channel of a Boolean input board VIDS b C free channel of an integer input board ISs b c free channel of a message input board VQXS bo CG free channel of a Boolean output board SQDS D C free channel of an integer output board VSS bo C na free channel of a message output board Below are examples QX1 6 6th channel of the board 1 Boolean output ID2 1 7 7th channel of the board 1 in the equipment 2 integer input A directly represented variable cannot have the real data type A 11 5 Numbering Use the Options Numbering command to set numbering conventions You can specify the number used for the first slot and the number used for the first channel of each board in the following dialog box First number for ial CH Cancel Channels i as As default slot numberin
191. are examples of instruction lines Label Operator Operand Comments Start LD 1X1 push button ANDN MX5 command is not forbidden ST QX2 start motor Labels A label followed by a colon may precede the instruction A label can be put on an empty line Labels are used as operands for some operations such as jumps Naming labels must conform to the following rules name cannot exceed 16 characters first character must be a letter following characters must be letters digits or _ character The same name cannot be used for more than one label in the same IL program A label can have the same name as a variable Operator modifiers The available operator modifiers are shown below The modifier character must complete the name of the operator with no blank characters between them N Boolean negation of the operand delayed operation Cc conditional operation The N modifier indicates a Boolean negation of the operand For example the instruction ORN 1X12 is interpreted as result result OR NOT 1X12 The parenthesis modifier indicates that the evaluation of the instruction must be delayed until the closing parenthesis operator is encountered ICS Triplex ISaGRAF Inc B 237 Language Reference The C modifier indicates that the attached instruction must be executed only if the current result has the Boolean value TRUE different than 0 for non Boolean values The C modifier
192. ariable of the group results in network addresses of the variables of the group being set with consecutive addresses Entering a null basis address resets to zero the network address of all the selected variables Importing Boolean true false strings When editing defined words the Tools Import true false definitions allows the user to automatically define as language keywords the strings attached to Boolean variables to represent TRUE and FALSE states Such strings are normally defined for debug formatting They have to be specified as defined words if they are to be used in programs This command searches for Boolean true false strings in the declarations with the same range as the one currently selected for the editing of the defined words A 10 3 Description of objects A complete description must be entered for each variable function block instance or defined word Description fields are different for each type of object The following fields are common for any type of variables Name ceceeeeeeseeeessseeeees Name of the variable first character must be a letter following characters must be letters digits or _ Network address Hexadecimal network address optional When this field is non zero the variable can be spied by external systems at run time Comment Free comment for variable description Retains iisi This option indicates that the variable must be saved on backup memory These are
193. arts of the process m Single divergence OR 4 Warning following transitions are not implicitely exclusive Pe e Single convergence OR Double divergences represent parallel processes a __ Double divergence AND These are parallel processes 4 Double convergence AND A 38 ICS Triplex ISaGRAF Inc User s Guide Jump to a step The SFC editor only allows the user to draw links in the up to down direction A jump to a step can be used to represent a link to an upper part of the chart Following charts are equivalent 1 Jump to a transition is forbidden and must be explicitly represented as a double AND convergence Macro steps A macro step is a unique representation of a stand alone group of steps and transitions A macro step begins with a beginning step and terminates with an ending step NG The detailed representation of a macro step must be described in the same SFC program The macro step symbol must have the same reference number as the macro beginning step A macro step description may contain another macro step A 4 2 Entering a SFC chart To draw a SFC chart the user simply has to introduce the significant components of the chart All the single lines joining two elements horizontally or vertically are drawn automatically by the SFC editor To place a SFC componen
194. as The name of the resource cannot exceed 15 characters Syntax VARLIST lt resource_ name gt BEGIN target selection list of variable names END Example VarList LIST Begin Var100 MyParameter Command Alarm End BINARYFILE Meaning Specifies a Binary File resource The source data is stored in an MS DOS file The target resource definition is completed with a target pathname The ISaGRAF Resource Compiler does not convert ends of line characters The name of the resource cannot exceed 15 characters Syntax BINARYFILE lt resource name gt BEGIN target selection FROM lt source pathname gt TO lt destination_pathname gt END Example BinaryFile MYFILE ICS Triplex ISaGRAF Inc A 103 User s Guide TEXTFILE Begin From c user config bin To dd user appl config dat End Meaning Syntax Example Specifies a Text File resource The source data is stored in an ASCII file The target resource definition is completed with a target pathname The ISaGRAF Resource Compiler according to the target host system conventions converts ends of line characters The name of the resource cannot exceed 15 characters TEXTFILE lt resource name gt BEGIN target selection FROM lt source pathname gt TO lt destination_ pathname gt END TextFile MYFILE Begin From c user config bin To dd user appl config dat End TARGET Meaning Syntax Ex
195. ata bin Pan 10 file_id FA_READ file_id p al VAL F_EOF file_id ID oxf lt gt gt gt not_eof last val gt CAT Msg U VAL n a message F_CLOSE file_id ID ok ok ST Equivalence file _id F_LROPEN data bin WHILE not F_EOF file_id VAL FA_READ file_id END_WHILE MESSAGE last val msg VAL ok F_CLOSE file_id ICS Triplex ISaGRAF Inc B 315 Language Reference IL Equivalence LD data bin F_ROPEN ST file_id LD file_id F_EOF JMPC END_OF_FILE NOT_EOF LD file_id FA_READ ST VAL LD file_id F_EOF JMPNC NOT_EOF if not eof go on reading END_OF_FILE LD VAL MSG ST val_msg conversion of VAL into a message LD last val ADD val_msg ST MESSAGE LD file_id F_CLOSE ST ok FA_READ FA_READ ID Q Arguments ID INT file number returned by F_ROPEN Q INT integer analog value read from file Description Reads ANALOG variables from a binary file To be used with F_ROPEN and F_CLOSE This procedure makes a sequential access to the file from the previous position The first call after F_ROPEN reads the first 4 bytes of the file each call pushes the reading pointer To check if the end of file is reached use F_EOF This function is not included in the ISaGRAF simulator FBD program using file management blocks B 316 ICS Triplex ISaGRAF Inc Language Reference F_ROPEN
196. b programs functions or function blocks may have up to 32 parameters input or output A function or sub program always has one and only one return parameter which must have the same name as the function in order to conform to ST language writing conventions The following dialog box is used to describe the parameters of the sub program ICS Triplex ISaGRAF Inc A 75 User s Guide Parameters Filter Lx a min_vyalue Cancel Ama max_yalue Filter Name ee Boolean Imsen C Analog 6 Call C Real Delete Return Timer Arrange Message The list in the upper left side of the window shows the parameters in the order of the calling model first the calling parameters last the return parameters The lower part of the window shows the detailed description of the parameter currently selected in the list Any of the ISaGRAF data types may be used for a parameter The return parameters must be located after calling parameters in the list Naming parameters must conform to the following rules e the length of the name cannot exceed 16 characters e the first character must be a letter e the following characters must be letters digits or underscore character e naming is case insensitive The Insert command is used to insert a new parameter before the selected parameter The Delete command is used to erase the selected parameter The Arrange command automatically rearranges sorts
197. bal variable is declared as an str_ssr structure type which is defined in tasyOssr h file WARNING The breakpoint management of the ISaGRAF debugger cannot run correctly if the application code is not accessible for writing This is not a problem as your application has normally been fully tested before On the PC host if the ISaGRAF workbench is installed on the standard ISAWIN directory the application code file of the project MYPRO4J is ISAWIN APL MYPROJ appli x6m corresponding to isax1 on the target the application symbols file of the project MYPRO4 is ISAWIN APL MYPRO J appli tst corresponding to isax6 on the target Error management and output messages The ISaGRAF target software integrates an error detection management You will find the warning error list and their description in appendix Error detection is processed as follows An error is composed of an error and argument number sent to the ISaGRAF error routine C 348 ICS Triplex ISaGRAF Inc Target User s Guide If the error detection flag is set in the workbench Make options the error is processed If not the information is lost and the error management ends When processed Error number decimal value and argument hexadecimal value are displayed on the default stdout output Error number and argument are pushed into a ring FIFO error buffer in order to be retrieved at a later time The error buffer size is set in the workben
198. be changed is done by double clicking on its name or its drawing in an editing window when the debugger window is opened Variables A variable status is changed by double clicking on its name in one of the following windows e Dictionary e Lists of variables or time diagrams ICS Triplex ISaGRAF Inc A 113 User s Guide e LD or FBD Programs e I O connection The following commands are offered in the debug dialog box e Write the variable to a new value e Lock the variable for I O variables only e Unlock the variable for locked I O variables only e Start or stop a timer variable set automatic refresh mode Symbolic values used to represent Boolean FALSE and TRUE values are the strings defined for that specific Boolean variable in the dictionary The analog value specified for a Write command must be entered in an integer or real format according to the variable definition in the dictionary The string specified for a Write command for a message cannot be longer than the message capacity attached to that specific variable in the dictionary SFC objects To observe a control operation on a SFC program while debugging the application commands of the File menu are used in the Program Management window The SFC program must be selected from the list of programs The following commands are available Start SFC program Enables the selected program by putting a SFC token into each of its initial steps K
199. bench Make options When the buffer is full at each new incoming error the oldest one is lost Errors can be pulled either from the debugger or from the running application using the SYSTEM call see user s guide When the debugger detects an error a message describing the error is displayed in the error window Depending on the context of the application running or not the debugger may display the name of the object variable or program where the error comes from or the argument error decimal value into brackets x which has a different meaning for each error A welcome message and error values are displayed on the default stdout output when the target starts and when an error is detected If the display is not wanted on the standard output channel a redirection command can be used such as prog_name options gt gt gt I nil ICS Triplex ISaGRAF Inc C 337 Target User s Guide Cycle duration task behaviors and task priorities At the end of an ISaGRAF cycle just before starting a new one the following algorithm is performed If a cycle timing is specified from the workbench see user s guide Managing programs then the CPU is relinquished for the remained time period specified cycle time current application one If this remained time period is negative an overflow is generated and the CPU is relinquished for 1 tick to force the scheduling If no cycle timing is specified or if the remained time i
200. ber Furthermore if the application symbol table has been downloaded before it is also saved on the target current directory with the file name ISAx6 ISaGRAF application symbols backup file where x is the slave number When the ISaGRAF target is started these application code and application symbols files are searched on the current directory and loaded into memory as data modules with same names Then if no symbol table is available on memory the target starts running the application code with no symbols loaded If no application code is available on memory then the target is waiting for an application to be downloaded In order to start the target with a specific application at power up without using the debugger link e A first way may consists in directly copying these files to the target current directory disk from the PC host where the workbench is installed using any file transfer tool You can use the workbench tool menu see user s guide Managing programs to ease these manipulations C 336 ICS Triplex ISaGRAF Inc Target User s Guide e A second way may consists in storing the application code and if necessary the application symbol table in a non volatile memory like a PROM or EPROM from files from the PC host where the workbench is installed with your own tools Then at system power up if required for example because of faster access or breakpoint management you may load the application code and
201. bered from 1 to N are displayed close to symbols that lead to an action coils set variables and function blocks ly Entering symbols and texts Double click with the mouse on an element to enter the associated symbol or text This applies to variables contacts and coils comment texts and labels When used on acontact or coil this also allows to change its type direct negated Dialog boxes including variable or block selection lists are normally used for text input If the Manual keyboard input mode is checked in the Options menu variable symbols and block names are entered directly in a single text edit box Enter new text and hit Enter key to validate it or hit Escape key to exit modification and close the text editing box The text edit box used in manual keyboard input mode cannot be closed with the mouse If the Auto input mode is checked in the Options menu the variable symbol must be entered immediately each time a new contact or coil is inserted The symbol must always be entered immediately when a variable or label is inserted X Selecting function block type Double click with the mouse on a block is used to change its type The block type is selected from the list of available operators functions and function blocks This command also allows changing the number of input points in the case of a commutative operator E g AND OR ADD MUL Getting free space When you press the right button of the
202. bject variable or program where the error comes from or the argument error decimal value into brackets x which has a different meaning for each error A welcome message and error values are displayed on the default stdout output when the target starts and when an error is detected If the display is not wanted on the standard output channel a redirection command can be used such as isa t COM1 s 1 gt NUL System clock As the ISaGRAF target is designed to run on any system the time reference used for both cycle synchronization and timer variables refresh is the standard tick which is about 55 milliseconds Thus it is not possible to have an accuracy on timer variables better than 55 ms For the same reason a specified cycle duration less or equal to 55 ms and different from zero will generate an cycle duration overflow error error 62 and no triggered cycles The advantage of not modifying the system tick is that any of the resident applications or C functions and function blocks integrated into the application will never be disturbed by the ISaGRAF execution Ask your supplier for a special implementation if your application requires more accuracy Exit key While testing an application in non industrial conditions on a desktop PC the user may wish to stop ISaGRAF pressing a complex combination of keys to prevent unexpected stops does this This key sequence is shift ctrl alt Of course if the industrial app
203. bject cannot be found if it is not actually listed when using a selected display It is recommended before searching for an object to activate the All selection in the toolbar Open program The list on the right contains the occurrences of the selected object in the source files and I O connection of the open project The Edit Open program command enables the user to directly open a program where the object appears It is also possible to double click the mouse on an occurrence in the occurrence list to open the corresponding program ICS Triplex ISaGRAF Inc A 109 User s Guide A 15 Using the graphic debugger ISaGRAF includes a complete graphic and symbolic debugger The Debug command of the program management window runs the debugger to control the application downloaded in the target PLC In this mode the debugger communicates with the target system via hardware link The Simulate command of the program management window simultaneously runs the debugger and a complete target simulator This enables the user to test his application when the target s I O system is not yet complete The debugger window contains the commands to control the entire application When the debugger starts and if the application in the target PLC is the same as the one on the workbench it automatically opens the program management window in debug mode Commands of this window may be used to open other ISaGRAF windows graphic and text edito
204. bles in this block virtual address of the variable range of the address within Boolean data type name of the variable attribute of the variable virtual address of the parent program 0r 10000 for a global variable eee string used for false value EE string used for true value A 168 ICS Triplex ISaGRAF Inc User s Guide The structure of the block used to describe the analog variables of the application is shown below ANALOGS lt nb_ana gt lt va gt lt name gt lt attr gt lt program gt lt format gt lt unit gt and if variable number exceeds 4095 X 2 lt varno gt lt name gt lt attr gt lt program gt lt format gt lt unit gt Tease ais number of variables in this block E cae ee virtual address of the variable fange of the address within analog data type bhatt ate name of the variable E NAE SEEN attribute of the variable virtual address of the parent program 0r 10000 for a global variable I for an integer variable do aherteh eae tier F for a real variable UNG akn unit string The structure of the block used to describe the timer variables of the application is shown below TIMERS lt nb_tmr gt lt va gt lt name gt lt attr gt lt program gt Hees and if variable number exceeds 4095 X 3 lt varno gt lt name gt lt attr gt lt program gt piua number of variables in this block virtual address of the variable E AA r
205. board the board identification must be entered A library of pre defined boards is available on the ISaGRAF workbench One or more I O device suppliers may have compiled this library The Edit Set Board Equipment command is used to set up board identification This command can be used to select either a single board or complex I O equipment from the ISaGRAF library It is also possible to double click on a slot to set the corresponding board or equipment All the channels of a single board have the same type Boolean integer real or message and direction input or output Real and integer variables are not distinguished during I O connection Complex I O equipment represents an I O device with channels of different types or directions Complex I O equipment is represented as a list of single I O boards It uses only one slot in the rack list Removing a board The Edit Clear slot command is used to remove the currently selected board or I O equipment If variables are already connected to the corresponding channels they are automatically disconnected when clearing the slot Real boards and virtual boards The Edit Real virtual board command sets the validity of the selected board or complex I O equipment The following icons are displayed in the rack list to show the validity of a board re Real I O board FB eee Virtual I O board In Real Mode I O variables are directly linked to the corresponding I O devices Input or out
206. can be combined with the N modifier to indicate that the instruction must be executed only if the current result has the Boolean value FALSE or 0 for non Boolean values Delayed operations Because there is only one IL register current result some operations may have to be delayed so that the execution order or the instructions can be changed Parentheses are used to indicate delayed operations x is a modifier indicates the operation to be delayed Y is an operator executes the delayed operation The opening parenthesis modifier indicates that the evaluation of the instruction must be delayed until the closing parenthesis operator is encountered For example following sequence AND 1X12 OR IX35 is interpreted as result result AND 1X12 OR IX35 B 8 2 IL operators The following table summarizes the standard operators of the IL language Modifiers BOO variable Resets to FALSE BOO Boolean AND Boolean AND Boolean OR exclusive OR variable constant Addition variable constant Subtraction variable constant Multiplication variable constant Division variable constant Test gt variable constant Test gt variable constant Test variable constant Test lt variable constant Test lt variable constant Test lt gt B 238 ICS Triplex ISaGRAF Inc Language Reference Calls a function block Jumps to label Returns from sub program OCO Executes delayed operation In the n
207. ce LD start_cmd ST RS1 set LD stop_cmd OR alarm ST RS1 reset1 CAL RS1 LD RS1 Q1 ST command R_TRIG r_trig CLK Q Arguments CLK BOO any Boolean variable Q BOO TRUE when CLK rises from FALSE to TRUE FALSE if all other cases Description Detects a rising edge of a Boolean variable FBD program using R_TRIG block r_trig Ana cmd ax ofn a nb_edge i y ST Equivalence We suppose R_TRIG1 is an instance of R_TRIG block R_TRIG1 cmd nb_edge ANA R_TRIG1 Q nb_edge IL Equivalence LD cmd ST R_TRIG1 clk CAL R_TRIG1 LD R_TRIG1 Q ANA ADD nb_edge ST nb_edge B 268 ICS Triplex ISaGRAF Inc Language Reference F_TRIG f_trig CLK Q Arguments CLK BOO any Boolean variable Q BOO TRUE when CLK changes from TRUE to FALSE FALSE if all other cases Description Detects a falling edge of a Boolean variable FBD program using F_TRIG block f_trig Ana cmd ux ol wl ST Equivalence We suppose F_TRIG1 is an instance of F_TRIG block F_TRIG1 cmd nb_edge ANA F_TRIG1 Q nb_edge nb_edge IL Equivalence LD cmd ST F_TRIG1 clk CAL F_TRIG1 LD F_TRIG1 Q ANA ADD nb_edge ST nb_edge SEMA Arguments CLAIM BOOLEAN test and set command RELEASE BOOLEAN releases the semaphore BUSY BOOLEAN state of the semaphore Description x is a Boolean variable in
208. ces the size of data rows and files are not limited by ISaGRAF Resources are stored at the end of the generated code with a resource directory Below is the format using C notations of the resource directory format __RESOURCE long nbres number of defined resources char name 16 resource name long type resource data type long size exact size of data block uint32 data uint32 path offset points to a string nb of records Below are the possible values of the type field e 1 binary file e 2 text file e 3 ulong data path_offset field is not used in this case e 4 variable list path_offset field is not used in this case ICS Triplex ISaGRAF Inc User s Guide For text files end of line characters are translated by the resource compiler according to the target system conventions All pointers are 32 bit offsets from the address of the corresponding structure All resource names and pathnames are NULL terminated strings Pathnames and data follow the resource directory ICS Triplex ISaGRAF Inc A 107 User s Guide A 14 Cross References The ISaGRAF workbench includes a cross reference editor which provides user with a total view of the declared variables in the project s programs and where they are used The aim of the cross reference is to list all the variables declared in the project and to localise at the source of each program the parts of source c
209. ch Make options When the buffer is full at each new incoming error the oldest one is lost Errors can be pulled either from the debugger or from the running application using the SYSTEM call see user s guide When the debugger detects an error a message describing the error is displayed in the error window Depending on the context of the application running or not the debugger may display the name of the object variable or program where the error comes from or the argument error decimal value into brackets x which has a different meaning for each error On the target when an error is detected error values are displayed on the default stdout output Thus the display can be directed using VxWorks routines such as ioGlobalStdSet or ioTaskStdSet In last case not that either the kernel or the communication tasks can generate errors Cycle duration task behaviors and task priorities At the end of an ISaGRAF cycle just before starting a new one the following algorithm is performed If a cycle timing is specified from the workbench see user s guide Managing programs then the CPU is relinquished for the remained time period specified cycle time current application one If this remained time period is negative an overflow is generated and the CPU is relinquished for TSK_NBTCKSCHED variable set at ISaGRAF startup tick s to force the scheduling If no cycle timing is specified or if the remained time is l
210. cked and forced to 127 A 15 6 On line modification The On line modification feature enables the user to modify the application while the process is running This is sometimes necessary for chemical processes where any interruption may jeopardise production or safety This function should be used very carefully ISaGRAF may not be able to detect all possible conflicts generated by user defined operations as a result of these on line changes Code sequences As ISaGRAF offers many possibilities for access to variables programs or I O boards from the debugger the On line modification function described here applies only to the code sequences modification A sequence of code is a complete set of ST IL LD or FBD instructions executed in a row In a beginning of cycle or end of cycle program a code sequence is the entire list of instructions written in the program In a SFC program a code sequence is the Level 2 programming of one step or transition The On line modification consists of replacing one or more code sequences without stopping the PLC execution cycle As the control of the SFC tokens is very critical it is not possible to modify a SFC structure to add renumber or remove a step a transition or a SFC program Variables As the variable database is a very critical part of the application it can be accessed at any time by other processes on multitasking PLC It is also possible to modify variable values from the debugg
211. clared objects the combo box in the editor toolbar is used to select the type of objects which must be listed in the window This allows the user to have access to selected information Each time the cross references are re calculated the selection is reset to All objects in order to present the complete list Re calculate cross references The File Re calculate command can be used at any time to update the cross references according to the modifications entered in other ISaGRAF editing windows Export cross references The Tools Export command is used to write the complete listing of the cross references in an ASCII text file This file can then be opened with other applications such as Windows Notepad or word processors B Dictionary errors The Edit Dictionary errors command displays in a dialog box the list of errors detected when the project dictionary was loaded A 108 ICS Triplex ISaGRAF Inc User s Guide Ml Statistics The Tools Statistics command displays in a dialog box the number of objects and variables declared in the project according to variable types and attributes A particular application of this command is to know the number of I O variables declared in the project in order to ensure that it can be compiled if a limited version of the ISaGRAF Workbench is used Search in object list The Edit Search command enables you to directly select an object in the editor list The searched o
212. code in the target A general rough estimation is that minimum EZS no extra option selected for source embedding has one and a half the size of the executable code This means that the embedding of EZS will multiply the size of downloaded code by 2 5 Special limitation may appear on some target system based on segmented memory As EZS are stored as resources in generated code they must be stored in the same data segment as the application code A 19 6 About uploaded project The uploaded project contains all the files and data required for re compiling Depending on the options selected during its previous compiling it may also contain auxiliary files such as project descriptor and program diary files You have to compile make the project before debugging or monitoring it Warning as ISaGRAF uses the compiling date stamp to compare applications you will be informed when opening the debugger that workbench and target applications have different version codes Important note Libraries are not downloaded with embedded source code You have to ensure that the appropriate library functions and function blocks are installed with your ISaGRAF workbench before re compiling the uploaded application A 19 7 Compatibility issues Upload is supported by ISaGRAF target and workbench version 3 22 or later Extensions have been made to the communication protocol to support upload There is no restriction in embedding zipped source code EZS in a ta
213. commands are used to find and replace texts in the diagram Only complete names can be found Search acts on contacts coils block names block parameters and run labels It cannot be used to find a string in a rung comment The Replace command cannot be used to change the type of a block The research can be made upward or downward starting at position of the current selection It loops when the limits of the diagram are reached The following shortcuts are also available for quick research of variable names ICS Triplex ISaGRAF Inc A 59 User s Guide ALT F2 finds the next element with the same variable name as the element currently selected This feature can also be applied to function blocks and rung labels ALT F5 finds the next coil with the same variable name as the element currently selected This feature is mainly used in debug mode to quickly find out the rungs which forces a suspicious variable A 6 4 Display options The commands of the Options menu are used to customise the drawing of the LD diagram on the screen and to hide or display some types of information Tooltips Use the Options Tooltips command to hide or display variable comments appearing as tooltips in the whole diagram The comment appears as a tooltip when the cursor moves over the corresponding variable block This option is available in off line and on line modes Rung comments Use the Options Rung comments command to hide or displa
214. csces si nck ees genri ii i EE E R R A 94 A 11 6 Setting individual protections cccceeceeseceseceseeeeceteeseecseeeeeeneeees A 95 A 12 Creating Conversion tables sccsscssscssscssscssscsscsssssssssesssessseesees A 96 AJI MainsCommands ceense i A N RARE A 96 A 12 2 Entering points of a table eee ccceeseeseeesceeeeeeeceseceseceeeeeeeeeeneeses A 96 AJZ Rulestaind tS aenean a eestens a A 97 A 13 Using the code generator seesereesseseeeoeseeeeroeeoesoesereorseseorseeoesoeeessoesee A 98 ATS M n commandS eain E baited eam A 98 AcI3 2 Compiler options eessen ene Gain A S A 99 A 13 3 Producing C source code ssesseesseseesssessesreseeresseeresseseesresrrseeseene A 101 A 13 4 Viewing information esssesessseserseeseeresersreseeresseeresseseeseesrrsesseene A 101 A 13 5 Defining resources se seeseesesseeesseeeesresrtsresteressteressesresresersesseene A 102 A L4 Cross Reference 6 ccesesscssscessssceaseneses seasensesosnesdaseessbaecensescoseesnsoseasses A 108 A 15 Using the graphic debugger cssssssssssssssscsssssssssssssesessesssesees A 110 A 15 1 The debugger window 0 ccecccesecssesseeeseceeeeeeeeeeeseeeseeneeeneeeerenrens A 110 A 15 2 Controlling the application cccecceseeseeseeeseeeeeeeeseeeeeeeeeerens A 111 A T53 OPOS eee ee a aaar na n E ERE ARTE nS A 113 A1540 Wite commands senienas ci ediavectiondiieniees A 113 A 15 5 Display the lock state and device
215. cter must be a letter e The following ones must be letters digits or underscore characters e Naming is case insensitive The Save as command of the File menu allows the user to store the currently edited document under another name Note for ISaGRAF V3 2 users Spotlight can read graphics and lists of time diagrams built with the tools of ISaGRAF V3 0 or V3 2 Such files appear in the Open dialog box with the description of their origin Files can be read and freely modified with SpotLight When opening an ISaGRAF V3 2 graphic the document is automatically marked as Locked Remove the Lock option from the File menu if you want to make changes in the graphic When an ISaGRAF 3 2 graphic or list of time diagram is open SpotLight always proposes to save it in native SpotLight format The Save As dialog box is systematically open when closing such a document A 128 ICS Triplex ISaGRAF Inc User s Guide A 19 Uploading applications A 19 1 ISaGRAF supports the uploading of the application stored in the target The upload procedure communicates with the target to load the embedded zipped source code EZS and then restore the loaded project in the workbench environment The project running on the connected target system can be uploaded if the target version is V3 22 or later and if zipped source code have been embedded with the application Embedding source code for upload is an optional feature Uploading a proj
216. cterizes a parameter D 426 ICS Triplex ISaGRAF Inc Glossary C function Parameter I O board Parent program Power rail Program Project Pulse action Range Real Real board Real time mode Reference number SFC Register IL Return value of a sub program Run time error Section Separator Sequential Function User defined or constant parameter of a standard I O board The programmer during the I O connection enters a user defined parameter Program written in any language which controls calls another non SFC program called its sub program Main left and right vertical rails at the extremities of an ladder diagram Basic programming unit in a project A program is described with one language and is placed in the hierarchy architecture of the project Programming area which groups all the information programs variables target code for one ISaGRAF application SFC action it is a list of statements executed only once when the corresponding step is activated Set of programs that can use an object Pre defined ISaGRAF ranges are common global and local Class of analog variables stored in a floating IEEE single precision 32 bit format I O board physically connected to an I O device on the target machine Run time normal execution mode the programmed cycle timing triggers the target cycles Decimal number from 1 to 65535 which identifies a SFC step
217. ction P j nb_edge 0 End_action nn Cmd 5 aston P nb_edge nb_edge 1 End_action B 3 5 3 Non stored actions A non stored normal action is a list of ST or IL instructions which are executed at each cycle during the whole active period of the step Instructions are written according to the following SFC syntax ACTION N ST statements END_ACTION The following is the results of a non stored action Step activity Execution Example of non stored action B 194 ICS Triplex ISaGRAF Inc Language Reference Action P nb_edge 0 End_action Cm kr Action N If nb_egde lt 10 then nb_edge nb_edge 1 End_if End_action B 3 5 4 SFC actions A SFC action is a child SFC sequence started or killed according to the change of the step activity signal A SFC action can have the N Non stored S Set or R Reset qualifier This is the syntax of the basic SFC actions lt child lt child lt child lt child _prog gt N _prog gt _prog gt S _prog gt R starts the child sequence when the step becomes active and kills the child sequence when the step becomes inactive same effect N attribute is optional starts the child sequence when the step becomes active Nothing is done when the step becomes inactive kills the child sequence w
218. curs in a request processing the slave may issue an error message instead of sending the expected answer frame Modbus is a Modicon protocol but not an international standard there are many different implementations of Modbus compatible protocols with many possible differences such as ICS Triplex ISaGRAF Inc C 399 Target User s Guide List of implemented function codes Address mapping RTU binary codes or ASCII protocol etc C 8 2 ISaGRAF implementation Application Variables access The ISaGRAF communication link recognizes five Modbus function codes read N bits write 1 bit 6 write 1 word _ ISaGRAF application variables can be accessed through their network address if of course they have been defined in the workbench dictionary These variables can be Boolean or Analog variables inputs outputs or internal variables local or global variables To write a Boolean variable either function 5 6 or 16 may be used A TRUE value for writing is any non zero value To read a Boolean variable either function 1 or 3 may be used With the function 1 values are retrieved in a bit field with function 3 they are retrieved in Bytes a TRUE value correspond to OxFFFF To write an analog variable either function 6 or 16 may be used The value is a 16 bits integer ranging from 32768 up to 32767 ISaGRAF target variable are 32 bits To read an Analog variable function 3 sh
219. d YES EXIT END_IF END_FOR B 7 6 ST extensions The following functions are extensions of the ST language TSTART TSTOP timer control The following statements and functions are available to control the execution of the SFC child programs They may be used inside ACTION END ACTION blocks in SFC steps GSTART starts a SFC program GKILL kills a SFC program GFREEZE freezes a SFC program GRST restarts a frozen SFC program GSTATUS gets current status of a SFC program Warning These functions are not in the IEC 1131 3 norm Easy equivalent can be found for GSTART and GKILL using the following syntax in the SFC step child_name S equivalent to GSTART child_name child_name R equivalent to GKILL child_name ICS Triplex ISaGRAF Inc B 231 Language Reference The following fields can be used to access the status of a SFC step GSnnn x Boolean value that represents the activity of the step GSnnn t time elapsed since the last activation of the step nnn is the reference number of the SFC step It is also possible to test the activity of a step declared in another SFC program by using the following syntax GSnnn progname x Warning referencing a step of an other program using this syntax is not in the IEC 1131 3 norm An easy way to do the same respecting IEC rules is to declare a global Boolean variable in the dictionary which will represent the step activity to be tested
220. d FBD program named SPlimit min_value Input_value max_value Example2 Function call SPlimit functions used in complex expressions min max right mlen and left are standard C functions ICS Triplex ISaGRAF Inc B 223 Language Reference limited_value min 16 max 0 input_value rol_msg right message mlen message 1 left message 1 Calling function blocks Name name of the function block instance Meaning calls a function block from the ISaGRAF library or from the user s library and accesses its return parameters Syntax call of the function block lt blockname gt lt p1 gt lt p2 gt gets its return parameters lt result gt lt blockname gt lt ret_param1 gt lt result gt lt blockname gt lt ret_paramN gt Operands parameters are expressions which match the type of the parameters specified for that function block Return value See Syntax to get the return parameters Consult the ISaGRAF library to find the meaning and type of each function block parameter The function block instance name of the copy must be declared in the dictionary Example ST program calling a function block declare the instance of the block in the dictionary trigb1 block R_TRIG rising edge detection function block activation from ST language trigb1 b1 return parameters access If trigb1 Q Then nb_e
221. d a new ISaGRAF kernel dedicated to the project which contains only the conversions functions and function blocks used in the project Downloading source files to a native system The C source and definition files created by the ISaGRAF Library Manager may be downloaded to the target ISaGRAF system if it supports a native compiling tool To do that the standard TERMINAL tool delivered with Windows can be used When source files are managed on the target system definition files have to be updated with a new download operation each time a function interface is modified with the ISaGRAF Library Manager Commands lines to download files can be grouped for instance into a batch file and then started from the workbench tool menu see user s guide Managing programs Using a cross compiler Source files can also be managed directly on your PC if the target is a PC or a cross compiler is available running on the PC and generating code for the target system In this case the user can run the ISaGRAF Library Manager to complete and modify the sources of conversions functions or function blocks Commands lines for running the compiler and the linker can be grouped for instance into a batch file and then started from the workbench tool menu see user s guide Managing programs When conversions functions and function blocks are compiled on the PC the user simply has to download the new generated ISaGRAF kernel linked with new compo
222. d escapes from the import command The names used to identify the fields in the first imported line may be changed by pressing the Keyword button This command is described in further sections The first line of the text must contain the name of the fields according to the order used in the following lines Each object must be described on one line of text The end of line separator is the standard MS DOS sequence 0d 0a Fields can appear in any order If some fields are missing they are automatically filled in the imported object description by default values If an imported object already exists in the edited list the user has to confirm that it will be overwritten The object description is then updated with imported fields If some fields are missing they are not updated in the object description A 88 ICS Triplex ISaGRAF Inc User s Guide Available text formats Below is the list of available formats for export command The import command automatically recognises these formats e tab separators Description Fields are separated by tab characters Example Name Attribute Comment Level internal internal calculated water level Alrm1 output main alarm output e comma separators Description Fields are separated by commas Example Name Attribute Comment Level internal internal calculated water level Alrm1 output main alarm output e semicolon separators Description Fields are separated by semicolon
223. d in the same cycle In such a case the flow will continue on the next cycle Note Contrary to SFC an action is not a stable state There is no repetition of instructions while the action symbol is highlighted B 4 4 FC checking Apart of attached ST LD or IL programming some other syntactic rules apply to flow chart itself Below is the list of main rules All connection points of all symbols must be wired connection to End symbol may be omitted All symbols must be linked together no isolated part should appear All connectors should have valid destination Other minor syntax errors can be reported Empty actions no programming are considered as steps during run time scheduling Empty tests no programming are considered as always true ICS Triplex ISaGRAF Inc B 205 Language Reference B 5 FBD language The Functional Block Diagram FBD is a graphic language It allows the programmer to build complex procedures by taking existing functions from the ISaGRAF library and wiring them together in the graphic diagram area B 5 1 FBD diagram main format FBD diagram describes a function between input variables and output variables A function is described as a set of elementary function blocks Input and output variables are connected to blocks by connection lines An output of a function block may also be connected to an input of another block Function Inputs T Outputs An entire function o
224. d integer value from 37 to 37 Below are examples of real analog constant expressions 3 14159 1 0E 12 1 0 1 0F 15 789 56 1 0E 37 The expression 123 does not represent a real constant expression Its correct real representation is 123 0 B 2 2 4 Timer constant expressions Timer constant expressions represent time values from 0 second to 23h59m59s999ms The lowest allowed unit is a millisecond Standard time units used in constant expressions are Hour The h letter must follow the number of hours Minute The m letter must follow the number of minutes Second The s letter must follow the number of seconds Millisecond The ms letters must follow the number of milliseconds The time constant expression must begin with T or TIME prefix Prefixes and unit letters are case insensitive Some units may not appear These are examples of timer constant expressions T 1H450MS 1 hour 450 milliseconds time 1H3M 1 hour 3 minutes The expression 0 does not represent a time value but an analog constant B 2 2 5 Message string constant expressions String or message constant expressions represent character strings Characters must be preceded by a quote and followed by an apostrophe For example THIS IS A MESSAGE Warning The apostrophe character cannot be used within a string constant expression A string constant expression must be expressed on one line of the program source code Its length cannot exceed 255 c
225. d size are not relevant and do not need to be specified ISaGRAF graphic editors always calculate the font size according to selected zoom ratio A 6 5 On line help To get help about function blocks from the Quick LD editor Select an existing function block on the LD diagram Press on F1 Help about the function block is displayed In case of custom C or IEC function or function block the help displayed is the technical note entered in the library editor text only ICS Triplex ISaGRAF Inc A 61 User s Guide A 7 Using the FBD LD editor The ISaGRAF FBD LD graphic editor allows the user to enter complete FBD programs which may includes parts in LD It combines graphic and text editing capabilities so both diagrams and corresponding inputs and outputs can be entered As this editor is more dedicated to FBD language pure LD diagrams should rather be entered using the ISaGRAF Quick LD editor A 7 1 Basics of the FBD LD languages The FBD language is a graphic representation of many different types of equations Rectangular function boxes represent operators Function inputs are connected to the left side of the box Function outputs are connected to the right side Diagram inputs and outputs variables are connected to the function boxes with logical links An output of a function box may be connected to the input of another box The LD language enables graphic representation of Boolean expressions Boolean AND O
226. d table as a graphic curve Using the box commands enters the points The user must comply with the number rules for the definition of points described at the end of this chapter The box on the left always contains the list of existing points for the currently edited table The column on the left shows the A 96 ICS Triplex ISaGRAF Inc User s Guide A 12 3 electrical external value of the points The column on the right shows the physical internal values The user has to select a point on the list in order to modify its values or to clear remove it The last choice of the list _ is used to define a new point The box on the lower right shows the currently edited table as a graphical curve No axes or co ordinates are shown as this is a proportional representation of the curve This representation is useful as a quick check that the curve is properly defined Defining a new point When defining a new point select the last entry _ on the list of points This is also the default mode when starting to define a new conversion table The user has to enter the electrical external and the physical internal values of each point Values are stored as simple precision floating point numbers Remember that at least two points have to be entered to define a curve When both values are entered pressing the Store button adds the point to the table A maximum of 32 points can be defined for each conversion table
227. d together in a tree like architecture Programs can be described using any of SFC FC Flow Chart FBD LD ST or IL graphic or literal languages B 1 1 Programs A program is a logical programming unit which describes operations between variables of the process Programs describe either sequential or cyclic operations Cyclic programs are executed at each target system cycle The execution of sequential programs follows the dynamic rules of either the SFC language or the FC language Programs are linked together in a hierarchy tree Programs placed on the top of the hierarchy are activated by the system Their father activates sub programs lower level of the hierarchy A program can be described with any of the available graphic or literal following languages Sequential Function Chart SFC for high level programming Flow Chart FC for high level programming Function Block Diagram FBD for cyclic complex operations Ladder Diagram LD for Boolean operations only Structured Text ST for any cyclic operations Instruction List IL for low level operations The same program cannot mix several languages except LD and FBD can be combined in one diagram B 1 2 Cyclic and sequential operations The hierarchy of programs is divided into four main sections or groups Begin programs executed at the beginning of each target cycle Sequential programs following SFC or FC dynamic rules End programs executed at the end of each target cycle F
228. data uintl6 parno void value switch parno case FBLPNO XX VALUE break case FBLPNO YY VALUE break ICS Triplex ISaGRAF Inc C 387 Target User s Guide The following function is used for the initialization of the function block and the declaration of its implementation It realizes the link with the ISaGRAF kernel using the name of the function block This service is completely generated by the ISaGRAF Library Manager ABP fbldef_xxx char name IBP initproc RBP readproc strcpy name XXX initproc IBP FBINIT_xxx readproc RBP FBREAD_xxx return ABP FBACT_ xxx end of file The TASYODEF H include file from the ISaGRAF kernel is required for system dependent definitions It also contains the definition of data types representing far pointers to the implemented services Links between projects and C implementation The logical link between the implementation of a C function block and its use in the programs of an ISaGRAF project is accomplished by using the name of the function A declaration service is added to the C source code of the function block This service is called only once when the application starts and indicates to the ISaGRAF kernel the C function block name which corresponds to the implemented services This is the standard format of such a declaration service ABP fbldef_xxx char name IBP initproc RBP readproc
229. data types To select a variable click on its name in the list Its name and comment are then displayed on the top of the list Then press the OK button to confirm its selection It is also possible to directly enter a variable name in the edit control without using the list A 9 6 The output window The following commands are available in the Tools menu of all language editors They are used to display information in a small text list at the bottom of the editing window and use it for program browsing Show compiler output Displays in the output window the error messages from the last compiling of the edited program Find in Finds occurrences of a text in the whole edited program and list them in the output window For SFC and FC languages this command searches in all level 2 programs A 78 ICS Triplex ISaGRAF Inc User s Guide Hide output window Closes the output list window When error messages or occurrences are displayed in the output window double click on a line to directly move selection to the corresponding location For SFC and FC languages this command opens corresponding level 2 programming window ICS Triplex ISaGRAF Inc A 79 User s Guide A 10 Using the dictionary editor The ISaGRAF dictionary is an editing tool for the declaration of the internal variables I O variables function block instances and defined words of the application The dictionary groups together the
230. de Start TRUE Wait no special action RunCmd QX1_1 NOT RunCmd Running the ISaGRAF workbench To run the ISaGRAF Workbench run the Projects command in the ISaGRAF group from the Start menu of Windows Creating the project Create the project called RunStop using the New command of the File menu or the New button In the open dialog box Enter project name RunStop Select I O configuration Sim_Boo Press the OK button The project has now been created Opening the project The programs of the project are defined by opening the ISaGRAF program management window Use the Open command of the Project management window or double click the mouse on the name of the project or use the Edit button Creating the programs The Program Management window is now open and empty no programs defined The first program is created using the New command of the File menu or the New button In the open dialog box Enter the name of the program Command Select the Quick LD language Select the Beginning of cycle section Press the OK button to create the program The same operation must be repeated for the second program Use the New command of the File menu or the New button In the open dialog box Enter the name of the program RunStop Select the SFC language Select the Sequential section Press the OK button to create t
231. declared variables and function block instances of the application and the words defined as constant strings Variables function blocks and defined words must be declared in the dictionary before using them in source code Variables and defined words can be used with any of the automation languages SFC FBD LD ST and IL Function blocks used in FBD language do not have to be declared because the ISaGRAF FBD and Quick LD editors automatically declare the instances of the used blocks Variables The variables are sorted according to their range and type Only variables of the same type and the same range can be entered on the same input grid These are basic ranges for variables GLOBAL can be used by any program of the current project LOCAL can be used by only one program These are basic types of variables E BOOLEAN true false binary values E ANALOG real or integer values TIMER time values ea MESSAGE character strings A name a comment an attribute a network address and other specific fields identify a variable Here are the basic variable attributes memory variable variable linked to an input device variable linked to an output device read only internal variable with initial value Note Timers are always internal variables Input and Output variables always have the GLOBAL range E Defined words A defined word is an alias that can be used in any language to replace a text str
232. dge nb_edge 1 End_if B 7 4 ST specific Boolean operators The following Boolean operators are specific to the ST language REDGE rising edge detection FEDGE falling edge detection Other standard Boolean operators such as NOT Boolean negation AND amp logical AND OR logical OR XOR logical exclusive OR can be used Their description is to be found in the section Standard operators function blocks and functions REDGE operator Name REDGE Meaning evaluates the rising edge of a complete Boolean expression Syntax lt edge gt REDGE lt boo_expression gt lt memo_variable gt B 224 ICS Triplex ISaGRAF Inc Language Reference Operands first operand is any Boolean variable or complex expression second operand is an internal Boolean variable used to store the last state of the expression Return value TRUE when the expression changes from FALSE to TRUE FALSE for all other cases The rising edge of an expression cannot be detected more than once in the same execution cycle using the REDGE operator This operator can be used to describe the condition attached to a SFC transition Warning The memory Boolean variable used to store the last state of the expression cannot be used as a trigger for edges of different expressions When the expression is a Boolean variable named xxx a unique internal variable named EDGE_xxx should be declared and used it in the REDGE expressions for
233. different languages ST assign the return parameter using its name the same name as the sub program subprog_name lt expression gt IL the value of the current result IL register at the end of the sequence is stored in the return parameter LD 10 ADD 20 return parameter value 30 FBD set the return parameter using its name ia gt 1 amp subprog_name LD use a coil symbol with the name of the return parameter subprog_name B 1 5 Function blocks Function blocks can use the languages LD FBD ST or IL Function blocks are instantiated It means local variables of a function block are copied for each instance When calling a block in a program you actually call the instance of the block the same code is called but the data used are the one which have been allocated for the instance Values of the variables of the instance are stored from one cycle to the other B 176 ICS Triplex ISaGRAF Inc Language Reference cake CEST programming Function Block FB1 is a declared instance implementation of the SAMPLE function block FB1 high value low 1 0 high alarm FB1 QH low_alarm FB1 QL any_alarm FB1 Q Warnings A function block written with one of the IEC languages can not call other function blocks the instantiation mechanism only manages the local variables of the block itself Here is the list of standard function blocks that you cannot use
234. diting any program the user should check that the update diary option of the editing tools is set to ease future program maintenance e When one or more sequences have been modified without modifying SFC structures and program hierarchy the code of the new application must be generated on the workbench before downloading e Using the debugger from within the old project the user must connect the target PLC and perform any operation which can make the application update faster or more safety e Using the debugger from inside the new project the user must connect the target PLC If the application name is changed the target database cannot be accessed The user must run the File Update command e The modified application is downloaded by selecting the update later option This may slightly slow down the PLC during transfer e When download is complete the user can run the File Realise update command to enable the switch at the most adequate moment The switch will have 1 or 2 cycle duration e When the switch has been correctly performed the programs of the modified running application are displayed If not the existing running application remains as is A 15 7 DDE exchanges The ISaGRAF debugger includes a DDE Dynamic Data Exchange server An advice loop can be installed between the ISaGRAF debugger and other applications in order to dynamically display the current value of variables in non ISaGRAF applications Only ad
235. done is call to LEFT LD 12345678 LEFT 4 ST sub_string intermediate result LD 12345678 RIGHT 4 ADD sub_string ST complete_string MID mid IN NbC Pos Q Arguments IN MSG any non empty string NbC INT number of characters to be extracted cannot be greater than the length of the IN string Pos INT position of the sub string the sub string first character will be the one pointed to by Pos first valid position is 1 Q MSG middle part of the string its length NbC empty string if parameters are not valid Description Extracts a part of a message string The number of characters to be extracted and the position of the first character are given FBD program using MID block mid abcdefgh 2 nbc 4 Pos ol sub_string ST Equivalence sub_string MID abcdefgh 2 4 sub_string is de IL Equivalence LD abcdefgh MID 2 4 B 306 ICS Triplex ISaGRAF Inc Language Reference ST sub_string MLEN mlen IN NbC Arguments IN MSG any string message NbC INT number of characters in the IN string Description Calculates the length of a message string FBD program using MLEN block mien complete_string m No nbchar lt 3 m2 q RETURN left Mec prefix ST Equivalence nbchar M
236. e Ty oe Analog outputs An analog output channel is a numerical output field The output value can be displayed as either a decimal or hexadecimal number The user on an output channel can perform no action W4 Message inputs A message input channel is a simple text field where the value of the corresponding input is entered Clicking on the box displays the caret A new value for the channel can then be entered It is not necessary to use the ENTER key after input WZ Message outputs A message output channel is a text output field No action can be performed by the user on an output channel A 21 3 Library components The ISaGRAF simulator fully supports the standard conversions functions and function blocks delivered by ICS Triplex ISaGRAF Below is the list of supported objects Conversion functions bcd scale Functions abs acos ArCreate ArRead ArWrite ascii asin atan char cos delete expt find insert left limit log max mid min mlen mod mux4 mux8 odd rand replace right rol ror sel shl shr sin sqrt tan trunc Function blocks average blink cmp ctd ctu ctud derivate f_trig hyster integral lim_alrm r_trig rs sema sr stackint tof ton tp User defined conversions C functions and function blocks are commonly not integrated with the ISaGRAF Simulator Typically such objects are designed to use software and hardware resources of the target system Such resources
237. e Zoom button in the toolbar to increase size of cells and give space to display level 2 instructions Here is the chart 1 E 2 H e 3 H BR 2 lt To enter the programming of transition 2 select it using the keyboard arrows and press Enter key The Level 2 programming window is open Enter level 2 programming for transition 2 RunCmd ATAB Press Control Tab keys to move focus back to the SFC chart move selection on step 3 and press Enter key to edit its level 2 text QX1_1 And do the same to enter text of transition 3 Not RunCmd AF4 Press Control F4 keys to close the level 2 window The SFC program is now complete Exit from the editor with Menu File and Command Exit and save the modifications entered clicking on YES E Building the application code Use the Make menu and command Make Application from the Program Management window to build the application code or the button in the Toolbar When the code generation is complete a dialog box appears which asks you to exit the code generation now or to continue working with it Press the button Exit ICS Triplex ISaGRAF Inc A 21 User s Guide Simulation Use the Debug menu and command Simulate from the Program Management window to run the ISaGRAF kernel simulator or the button in the Toolbar When the Simulator window appears the application can be tested In this example both inputs 1 and 2 green buttons must be pressed to r
238. e selected project From this window all the contents programs application parameters of the project can be managed It is also possible to double click on a project name to edit it The history of modifications The ISaGRAF system stores any modification relative to a component of a project in a history file Each modification is identified in the history by a title a date and a time The history file contains the last 500 modifications There is one history file for each project The history of modifications for the project is the complement of the diary files attached to the programs of the project The Project History command allows the user to view or print the history of modifications for the selected project The user can select one or more items in the main list and press the following buttons ORe closes this window sends the contents of the list to the printer Help displays help about this dialog box erase Selected removes deletes the selected lines from the list erase All clears the complete list Fines E yeetsa finds a pattern in the list The input box above the Find button is used to enter a search pattern This function is case insensitive When the search reaches the bottom of the list it continues from the top of the list to the starting position Printing a complete document The Project Print command allows the user to build and print a complete document about the selected p
239. e boards declared virtual in the I O connection editor See Part A will be simulated Possible values are 0 or 1 0 means no simulation and 1 means simulation on Default value The default value is 0 or the one in the ISaGRAF INI file Example WISAKER x 1 will simulate virtual boards User interface The menu item will be checked or unchecked reflecting the state of the option Simulated boards appear in a graphic panel ICS Triplex ISaGRAF Inc C 353 Target User s Guide Priority of the ISaGRAF NT target p Option As the target is running under NT it is very useful to specify a priority level It is for instance possible to have a time critical ISaGRAF application running within a target with the higher priority and one or more targets running in background with lower priorities Possible values are 0 1 2 or 3 0 is the highest priority and 3 is the lowest priority Examples WISAKER p 0 WISAKER p 1 User interface This window is displayed from the Options Priority command of the main window of ISaGRAF NT target Setup priority Bs asss ity High priority C Normal priority C Idle priority The highest priority is the real time and the lowest is the idle priority 0 Real time priority 1 High priority 2 Normal priority 3 Idle priority Examples wisaker t COM1 Starts the ISaGRAF target with default slave number 1 and with COM1 as the communication port w
240. e dictionary Use the Options Contacts and coils Update aliases command to update all aliases in edited diagram You can also set the Always update on Open option from Options Contacts and coils to ask ISaGRAF to automatically update all used aliases each time a Quick LD program is open Warning Setting this option may significantly increase the time spent to open a program Drawing options The Options Layout command opens a dialog box where are grouped all the parameters and options concerning the editor workspace and the drawing of the graphic LD diagram Use the check boxes in the Workspace group to display or hide editor tool bar status bar and LD toolbar Options of the Document group allow you to show or hide points of the editing grid and to enable disable the use of colors for the drawing E Options of the Zoom group allow you to select a main zoom ratio You can also use the zoom button in the editor toolbar to swap between default zoom ratios E You can also customise the X Y aspect ratio of cells in the editing grid This last option can be used to reduce the default cell width if you commonly use short names for variables You can also use the width button in the editor toolbar to change the X Y aspect ratio without entering the Layout dialog box Use the Options Font command to select the name of the character font to be used in all ISaGRAF graphic documents When selecting font font style an
241. e equivalent code expressed in ST AVERAGE rung state Signal 100 OutSignal AVERAGE XOUT eno rung state continue rung with eno state On some cases both EN and ENO are required Below is an example with an arithmetic operator and the equivalent code expressed in ST IF rung_state THEN result valuel valuet value2 END_IF valued A eno rung state continue rung with eno state H HH Limitations of Quick LD editor The ISaGRAF Quick LD editor does not allow to continue a rung insert other contacts or coils on the right of a coil If several outputs have to be made on the same rung the corresponding coils must be drawn in parallel A 6 2 Entering an LD diagram All the editing commands of the Quick LD editor may be achieved either with the keyboard or with the mouse ie The editing grid The LD diagram is entered in a logical matrix Each cell of the matrix may contain up to one LD symbol Use the arrows of the keyboard or click on a cell to move the current selection The selected cell is marked in reverse For some cut copy paste operations it is possible to select several cells To do that with the mouse just drag the mouse cursor in the diagram With keyboard use arrow keys with SHIFT key pressed Starting a new rung To add a new rung to a diagram move the selection after the last existing rung and insert a contact hit F2 or press the corresponding button in the LD
242. e from an uncompleted but intelligent image of the process to start kill or freeze SFC programs and to initialize variables to put the application in the adequate state But ISaGRAF can provide no automatic start up procedure Example ICS Triplex ISaGRAF Inc C 409 Target User s Guide init backup power fail false power fail true restore only status status xx restore all status yy restore specified data save all C 410 ICS Triplex ISaGRAF Inc Target User s Guide C 10 Appendix Error list and description Error list Type system application system system system 6 time out waiting answer from kernel system system 8 cannot allocate memory for retained variables application 9 application stopped i application application application application application system system system system system system system system system system system application application application application application application application application application application application application application application application application application ICS Triplex ISaGRAF Inc C 411 Target User s Guide application program program program program program application program application 66 __ function block not implemented application application 68 _ real divided by zero program 69 ___ invalid operate parameters applicatio
243. e such variables Programs of the End section are typically used to describe security operations on the variables operated on by the Sequential section before sending values to output devices B 1 3 Child SFC and FC programs Any SFC program of the sequential section may control other SFC programs Such low level programs are called child SFC programs A child SFC program is a parallel program that can be started killed frozen or restarted by its parent program The parent program and child program must both be described with the SFC language A child SFC program may have local variables and defined words When a parent program starts a child SFC program it puts a SFC token activates into each initial step of the child program This command is described with the GSTART statement When a parent program kills a child SFC program it clears all the tokens existing in the steps of the child Such a command is described with the GKILL statement When a parent program freezes a child SFC program it suspends its execution The suspended program can then be restarted using the GRST statement Any FC program of the sequential section may control other FC sub programs A FC father program is blocked waits during execution of a FC sub program It is not possible that simultaneous operations are done in father FC program and one of its FC sub programs B 1 4 Functions and sub programs Its parent program drives a sub program or a function executi
244. e value is NOT EQUAL TO another one on analog or messages FBD example with Is Not Equal to blocks lt gt 10 Nt 25 m2 a aresult lt gt ab Int ab n2 a mresult ST Equivalence aresult 10 lt gt 25 aresult is TRUE mresult ab lt gt ab mresult is FALSE IL equivalence LD 10 NE 25 ST aresult LD ab NE ab ST mresult BOO Boo IN Q Arguments IN ANY any non Boolean value Q BOO TRUE for non zero numerical value FALSE for zero numerical value TRUE for TRUE message FALSE for FALSE message Description Convert any variable to a Boolean one ICS Triplex ISaGRAF Inc B 259 Language Reference FBD example with Convert to Boolean blocks Boo 10 m al ares Boo t 0s I a tres Boo false IN a mres ST Equivalence ares BOO 10 tres BOO t 0s mres BOO false IL equivalence LD 10 BOO ST ares LD t 0s BOO ST tres LD false BOO ST mres ANA Arguments IN Q Description ANY INT any non integer analog value ares is TRUE tres is FALSE mres is FALSE 0 if IN is FALSE 1 if IN is TRUE number of milliseconds for a timer integer part for real analog decimal number represented by a string Convert a
245. e window to use the full screen size F2 F3 Press F2 and F3 key a a E E O lt Associate variables to the LD symbols move the cursor using the keyboard arrows Place the cursor on each symbol and press Enter key The variable section dialog box is opened For the first contact type in the variable selection box IX0_1 then Enter For the second contact type in the variable selection box IX0_2 then Enter For the coil type in the variable selection box RunCmd then Enter The program is now complete Here is the result x01 DO 2 RunCmd m E O l Exit from the editor and save the modifications entered Menu File Command Exit Click on YES to save modifications A 20 ICS Triplex ISaGRAF Inc User s Guide Editing the SFC program To start editing the RunStop SFC program double click on its name in the Program Management window or use the Edit button ME The SFC Editor window is now open To increase the working area resize the window to use the full screen size 4 The initial step already exists and is selected Press the Down keyboard arrow to select the empty cell after the initial step 0 1 F4 F3 Press F4 then F3 to insert a step and a transition F4 F3 Press F4 then F3 to insert one more step and transition F5 Press F5 to insert a jump to a step and select GS2 as the destination of the jump Q The chart is now complete Press th
246. east one variable has the retained attribute ISaGRAF looks for the retained variables If the same application has run before ISaGRAF recognizes the stored values and assigns them to every retained variables If the previous application was a different one or if no application has run before ISaGRAF recognizes that the retained values are not valid and resets all the retained variables to null The specification of the memory area used to store the different types of variables is specified in the workbench in the Make menu Application run time option retained variables The specified string must have the following format boo_add boo_size ana_add ana_size tmr_add tmr_size msg_add msg_size with boo_add Hexadecimal address used to store Boolean variables Need to be always different from zero boo_size Hexadecimal size in bytes available at this address One byte per Boolean variable to store is required ana_add Hexadecimal address used to store analog variables Need to be always different from zero ana_size Hexadecimal size in bytes available at this address Minimum of four bytes always required plus four bytes per analog variable to store tmr_add Hexadecimal address used to store timer variables Need to be always different from zero tmr_size Hexadecimal size in bytes available at this address Five bytes per timer variable to store is required msg_add Hexadecima
247. ect The Upload dialog box is run from the Files command of the ISaGRAF Project Manager Upload does not refer to an existing project on the Workbench The currently selected project in project management list has no relationship with upload mechanism To upload the application running on the target you must 1 ensure that the target is properly connected 2 set up the communication parameters according to the connection link 3 press the Run button Uploading embedded zipped source EZS and decompressing them may take few seconds Messages in the dialog box will inform you when upload is complete or in case of error The name used to create the ISaGRAF project is the one read in the target through communication If this name is already used for an existing project in the workbench you will be prompt to either overwrite it or select an unused name You cannot cancel the registration of loaded sources as a project when upload is complete The uploaded project is now ready and can be opened Possible errors The following errors may occur when uploading a project You are informed of the error in the Upload dialog box Communication cannot be established with the target Connected target is an ISaGRAF system before version 3 22 There is no application running in the target There is no EZS embedded in the target A 19 2 Communication settings Pressing the Set up button enables the user to define the parameters of the l
248. ect Module Kernel library Kernel library Kernel library User library User library User library tastOmai tatsOcom isaker isaoem isausp isafbl isacnv isasys user defined functions user defined function blocks user defined conversion functions refer to your C compiler manual tastOmai tast0com isaker isatst isaoem isausp isafbl isacnv user defined functions user defined function blocks user defined conversion functions C 396 ICS Triplex ISaGRAF Inc Target User s Guide Kernel library isasys System libraries refer to your C compiler manual The programmer may have to follow the exact order of object modules and libraries shown in the preceding figures Object modules and libraries have standard extensions lib obj I r according to the target system Required compiling and linking options Convenient options can be selected during compiling and linking They depend on the type of operations processed in conversions functions and function blocks Some operations require other system libraries math graphics during link All the C source files of the ISaGRAF Kernel have been compiled with the LARGE memory model The programmer must use the same model for compiling conversions functions and function blocks A special constant has to be defined for compiling C library components It indicates the type of target system and processors so that
249. ected on the left side of a vertical line and one line connected on its right side The Boolean state of the right extremity is the LOGICAL OR between all the left extremities Example of multiple LEFT connection vi v2 vB right extremity state is v1 OR v2 OR v3 A multiple connection on the right combines one horizontal line connected on the left side of a vertical line and more than one line connected on its right side The Boolean state of the left extremity is propagated into each of the right extremities Example of multiple RIGHT connection input1 output O D output2 Saai ST equivalence output1 input1 output2 input1 A multiple connection on the left and on the right combines more than one horizontal line connected on the left side of a vertical line and more than one line connected on its right side The Boolean state of each of the right extremities is the LOGICAL OR between all the left extremities ICS Triplex ISaGRAF Inc B 211 Language Reference Example of multiple LEFT and RIGHT connection input output input2 output2 O outputs ST Equivalence output1 input1 OR input2 output2 input1 OR input2 output3 input1 OR input2 B 6 3 Basic LD contacts and coils There are several symbols available for input contacts Direct contact Inverted contact Contacts with edge detection Th
250. ected parameter The Arrange command automatically rearranges sorts the parameters so that the return parameters are put at the end of the list Pressing the OK button stores the definition of the function block interface and closes the dialog box Pressing the Cancel button closes the dialog box without changing the definition of the function block Function block C interface The interface of a function block depends on the definition of its parameters Calling parameters are passed through a structure This structure is defined in the GRFBOnnn H file where nnn is the logical number of the function block in the ISaGRAF library Return logical numbers which are also defined in the GRFBOnnn h file represents parameters This is an example of the C interface for the LIM_ALRM function block alarm on limits function block interface name sample standard ISaGRAF data types typedef long T BOO typedef long T_ANA typedef float T REAL typedef long T_TMR typedef char T MSG C 380 ICS Triplex ISaGRAF Inc Target User s Guide structure of calling parameters typedef struct CALL T BOO _parl CALL T_BOO _par2 str_arg access to fields of str_arg structure define PARI arg gt _parl define PAR2 arg gt _par2 return parameter logical numbers define FBLPNO QI 0 define FBLPNO Q2 1 end of file The relationship between ISaGRAF typ
251. elected symbol initiate the rung FI orai ensada insert a contact before the selected symbol insert a contact in parallel with the selected symbol add a coil in parallel with the selected one not for tests Ge woni aias insert a block after the selected symbol Piaam insert a block before the selected symbol insert a block in parallel with the selected symbol AEA EA TAE add a jump symbol in parallel with the selected coil not for tests A 52 ICS Triplex ISaGRAF Inc User s Guide A jump leads to a rung name The name of a rung can be entered by hitting ENTER when selection is on the rung head The ISaGRAF editor keeps the memory of the rung labels you already entered whether it has been specified for a rung name or a jump operation The Jump Label dialog box gives you the possibility either to enter a new label or to select an existing one If you enter a new name it will automatically be added to the list The Remove button is used to remove the selected name from the list It does not remove the label on the rung you selected in the diagram To do this just press OK when the edit box is empty You can also press buttons in the LD toolbar instead of hitting function keys Hit ENTER when the selection is on a contact or a block I O parameter to select a variable or enter a constant value Hit ENTER when the selection is on a function block to select the type of the function block You can also double click on a
252. em This appears each time the connection is closed when the debugger is closed the system is working OK Otherwise it means that an Ethernet communication error is detected Check connection and system configuration on both target and master sides A second field is given it can be 1 error while sending or receiving 2 error while creating the socket 3 error while binding or listening the socket 4 error while accepting a new client 25 communication synchro error system Bad synchronization between the communication task on the target and the master Check connection and system configuration communication parameters on both target and master sides 28 cannot allocate memory for application system No memory available Check the hardware according to the size of the application 29 cannot allocate memory for application update system No memory available Check the hardware according to the size of the application 30 unknown OEM key code application The application is using a board which manufacturer code is not recognized by the target Check the I O connection in the workbench and use VIRTUAL attribute to locate the incorrect board Your workbench library may not correspond to your target version ICS Triplex ISaGRAF Inc C 415 Target User s Guide 31 cannot init boolean input board application 32 cannot init analog input board application no 5 BS p 35 3 35 36 D 2o gS a Tg T d Go a gt
253. en using the workbench debugger make sure the workbench slave parameter see user s guide Managing programs matches with an existing target Example This example shows how to start an ISaGRAF single task target with slave number 1 and with tyCo 1 device for the serial link The current host directory is the one where the target is installed load isassr o module Id lt RELS isassr o load isa o module Id lt CMDS isa o serial communication configuration ISAMOD tyCo 1 19200 System clock rate CLKRATE sysClkRateGet slave registration isa_register_slave 1 File storage unit could be skipped because default set TSK_FUNIT End of cycle control could be skipped because default set ICS Triplex ISaGRAF Inc C 341 Target User s Guide TSK_NBTCKSCHED 0 ISaGRAF target spawning sp isa_main 1 tyCo 1 C 5 4 Running the ISaGRAF multitasks isakerse o and isakeret o To improve the response time of the ISaGRAF target kernel and of the communication link the target is split into two tasks separating communication job communication task from application execution kernel task Such architecture is more flexible It allows the user to run more than one communication task linked with the same kernel task or to run up to 4 kernels with the same communication task This makes easy some integration such as a process visualization link and the workbench debugger link on the same application or a
254. ent for further information about how to use this box To associate a function function block or operator to a block hit ENTER when the selection is on the inside its rectangle To associate a variable symbol to input or output block parameter the selection must be on the corresponding location outside the rectangle of the block Dialog boxes including variable or block selection lists are normally used for text input If the Manual keyboard input mode is checked in the Options menu variable symbols and block names are entered directly in a single text edit box Enter new text and hit Enter key to validate it or hit Escape key to exit modification and close the text editing box The text edit box used in manual keyboard input mode cannot be closed with the mouse Changing the type of contacts and coils The Edit Change coil contact type changes the type of the selected contact or coil A contact may be direct negated with positive or negative edge detection A A 58 ICS Triplex ISaGRAF Inc User s Guide coil may be direct negated set or reset with positive or negative edge detection Hitting the SPACE bar has the same effect Inserting a rung in a diagram The Edit Insert rung command insert a new rung in the diagram before the selected one The rung is initiated with one contact and one coil A 6 3 Working on an existing diagram The commands of the Edit menu are used to change or complete an exi
255. ents IN REAL EXP REAL Q REAL Description pow real analog number to be raised power exponent IN EXP 1 0 if IN is not 0 0 and EXP is 0 0 0 0 if IN is 0 0 and EXP is negative 0 0 if both IN and EXP are 0 0 0 0 if IN is negative and Y does not correspond to an integer Gives the real result of the operation base XPONENt hase being the first argument and exponent the second one The exponent is a real value FBD program using POW block xval m power Exe q result ST Equivalence result POW xval power IL Equivalence LD xval POW power ST result SQRT sqrt IN Q Arguments IN REAL must be greater than or equal to zero B 286 ICS Triplex ISaGRAF Inc Language Reference Q REAL square root of the input value Description Calculates the square root of a real value FBD program using SQRT block abs xval in q xpos sqrt m ol xroot ST Equivalence xpos ABS xval xroot SQRT xpos IL Equivalence LD xval ABS ST xpos SQRT ST xrout TRUNC trunc IN Q Arguments IN REAL any REAL analog value Q REAL if IN gt 0 biggest integer less or equal to the input if IN lt O least integer greater or equal to the input Description Truncates a real value to have just the integer part FBD program using TRUNC block trunc 2 67
256. ents are normally scanned during execution Modified Elements marked as modified are painted in pink For modification tracking the modified style is used to highlight elements that have been added or changed after the original release of the diagram Modified style elements are normally scanned during execution Deleted Elements marked as deleted are painted in grey with dashed lines Such elements are not taken into account for the execution of the diagram This style is used to keep a track of elements removed after the original release when version control is required Custom In addition to predefined style ISaGRAF LD FBD editor allows you to select any color to be applied to a part of the diagram Such elements are considered as having a Custom style The use of Custom style has no effect on the diagram execution at run time Use the commands of Style sub menu in Edit menu to manually apply a style to selected elements Modification tracking The use of styles and the availability of the Deleted style allow automatic modification tracking in an existing diagram Use the Mark modifications command in Edit Style menu to enable or disable modification tracking When the Mark modifications option is set all elements changed in or added to the diagram are automatically set with Modified style When an element is deleted using Delete or Cut commands they are not v
257. er s guide Note that here the backup and the programmer at application level manages the restoration First of all you need to define the memory backup location for a specified type of variable or all types of variables lt new_address gt SYSTEM SYS_INITxxx lt address gt where lt address gt is the memory backup address location 16 value for Hexadecimal format It must be an even address otherwise the operation fails SYS_INITxxx can be SYS_INITBOO to define memory backup location for all Boolean variables SYS_INITANA to define memory backup location for all analog variables SYS_INITTMR to define memory backup location for all timer variables SYS_INITALL to define memory backup location for all Boolean analog and timer variables lt new_address gt gets the next free address that is to say lt address gt backed up variables size in bytes according to SYS_INITxxx This enable to check the required memory backup size If the operation has failed lt new_address gt gets zero Then you may ask for a backup This procedure can be called at any time in the application the backup will be done at the end of the current cycle and once only If the hardware delivers a Boolean input or a C function to inform the user when the power fail arrives and allows at least one ISaGRAF cycle delay before crash down the backup might only be made when the power fail is detected lt error gt SYSTEM SYS_SAVxxx 0
258. er Therefore ISaGRAF does not allow the user to add rename or remove a variable on line Anyway it is possible to modify the way a variable is used in the application It is also possible to reserve unused internal or I O variables in the first version of the application so that future modifications can make use of them They are different styles of variables in ISaGRAF target database Limitations act on all of them Declared variables A 116 ICS Triplex ISaGRAF Inc User s Guide They are the ones declared using the ISaGRAF dictionary They cannot be changed and cannot be renamed for on line change It is recommended that some extra variables are declared and initialised in the application even if not used today Such extra variables will enable future modifications to work on without changing the application data checksum Instances of function blocks Each instance of C or IEC written function block corresponds to data stored in ISaGRAF target real time database When function block instances are added or removed on line change is no more possible So it is better to work in ST with FB instances declared in dictionary rather than adding blocks that will correspond to new automatically declared instances in Quick LD or FBD diagrams Also any modification in the definition of available function blocks in the ISaGRAF library will lead to an impossible on line change Steps Each SFC step corresponds to a piece
259. er chooses a format for the exported text The available formats are described in further sections Pressing the OK button runs the export function Pressing the Cancel button closes the dialog box and escapes from the export command All the fields of the selected objects are stored in the exported text in the standard declaration order The first line of the exported text contains the name of the fields Each object is described on one line of text The end of line separator is the standard MS DOS sequence 0d 0a The names used to identify the fields in the first exported line may be changed by pressing the Keyword button This command is described in further sections Importing data The following dialog box appears when the Import text command is run It enables the user to control the import mechanism Import variables xi py Cancel Browse Keywords If the Clipboard option is checked the imported information is taken from the Windows clipboard in pure ASCII text format If the File option is checked the exported text is read in an ASCII file The complete pathname of this file has to be entered The Browse command may be used to find an existing pathname The import function automatically recognises the format separators used in the imported text The available formats are described in further sections Pressing the OK button runs the import function Pressing the Cancel button closes the dialog box an
260. ere are several symbols available for output coils Direct coil Inverted coil SET coil RESET coil Coils with edge detection The name of the variable is written above any of these graphic symbols Direct contact A direct contact enables a Boolean operation between a connection line state and a Boolean variable boo_ variable Left connection a AN Right connection The state of the connection line on the right of the contact is the LOGICAL AND between the state of the left connection line and the value of the variable associated with the contact Example using DIRECT contacts input1 input2 output1 HEIN CH ST Equivalence output1 input1 AND input2 B 212 ICS Triplex ISaGRAF Inc Language Reference Inverted contact An inverted contact enables a Boolean operation between a connection line state and the Boolean negation of a Boolean variable boo_ variable a vA Right connection The state of the connection line on the right of the contact is the LOGICAL AND between the state of the left connection line and the Boolean negation of the value of the variable associated with the contact Left connection Example using INVERTED contacts input1 input2 output1 LON HAEA O ST Equivalence output1 NOT input1 AND NOT input2 Contact with rising edge detection This contact positive enables a Boolean operation between a connection
261. es and C types is shown below The ISaGRAF types are defined as C types in the definition file of the function T BOO long 32 bits T_ANA T_REAL float 32 bits single precision ong 2 lt lt S Oe T_TMR long T_MSG char 32 bits char pointer Each field of the str_arg structure corresponds to one calling parameter of the function block The parameters appear in the structure in the same order than the one established for the function block definition An uppercase identifier is defined to directly have access to one parameter of the structure passed to the C implementation of the function block activation service Names of the identifiers are the ones entered during the definition of the function block with the ISaGRAF Library Manager The order used for return parameters numbering is the one established for the function block definition The logical number of the first return parameter is always 0 Defined identifiers should be used instead of numerical value to represent the return parameters in the C source programming This ensures that the source file can be easily re compiled after a modification of the interface definition The C definition file is updated each time the interface of the function block is changed by using the ISaGRAF Library Manager This ensures a complete coherence between the implementation of the function block and its use in the programs of the ISaGRAF applications ICS Triplex ISaGR
262. ess than 1 tick or equal to zero then the CPU is relinquished for TSK_NBTCKSCHED tick s to force the scheduling The target timing accuracy correspond to the VxWorks system tick one a specified cycle timing is commonly used to trig cycles or to yield the CPU to other tasks running on the VxWorks system The communication task is in sleep status while there are no incoming data through the communication link When needed this task gets information on the running application through a question answer protocol with the kernel task The communication task asks for a question to the kernel At the end of the cycle to have a synchronous application image the kernel gives the answer to the communication task The ISaGRAF tasks do no modify the priority they have been given The user is free to adjust these priorities according to ISaGRAF task behaviors described above and its whole application requirements ICS Triplex ISaGRAF Inc C 349 Target User s Guide C 6 Getting started with ISaGRAF NT target C 6 1 Running ISaGRAF In the NT implementation the target runs as a single program WISAKER EXE which can be launched several times This allows to have as many as ISaGRAF NT target you want as each instance has a separate slave number The target program does not prevent the running of interrupt driven routines The WISAKER software is designed to run under Windows NT 3 51 or later C 6 2 General information on options O
263. est1 LD selector SUB 1 decrease selector is now 0 or 1 BOO conversion to Boolean B 240 ICS Triplex ISaGRAF Inc Language Reference JMPC test2 if selector 0 then LD true ST bo1 bo1 true JMP JMPend end of the program test2 LD true last possibility ST bo2 bo2 true JMPend end of the IL program RET operator Operation ends the current instruction list If the IL sequence is a sub program the current result is returned to the calling program Allowed modifiers CN Operand none Example the following example tests the value of an analog selector 0 or 1 or 2 to set one from 3 output Booleans Test is equal to 0 is made with the JMPC operator JMPex LD selector selector is 0 or 1 or 2 BOO conversion to Boolean JMPC test1 if selector 0 then LD true ST bo0 bo0 true RET end return O decrease selector test1 LD selector SUB 1 selector is now 0 or 1 BOO conversion to Boolean JMPC test2 if selector 0 then LD true ST bo1 bo1 true LD 1 load real selector value RET end return 1 last possibility test2 RETNC returns if the selector has an invalid value LD true ST bo2 bo2 true LD 2 load real selector value end return 2 operator Operation executes a delayed operation The delayed operation was notified by Allowed modifiers
264. et User s Guide C 1 Introduction The ISaGRAF target is a real time software running an ISaGRAF application on your industrial computer system or board according to the following well known scheme Inputs Scan Execution of Begin Programs ISaGRAF Target Cycle Execution of Sequential Programs Execution of End Programs Outputs Update The target cycle consists in scanning the physical inputs of the process to drive processing application data according to the ISaGRAF workbench 1 application programs and then performing physical outputs update First part of this section explains how getting started with a specific system target Respectively DOS OS 9 VxWorks and NT target For each one you will find first how to run the ISaGRAF target Afterwards you will get information on specific features such as target start up at power up error management general behavior Second part deals with users C functions function blocks and conversion functions implementation method to enhance the ISaGRAF target Third part provides information on Modbus and the ISaGRAF implementation It describes the frames format of the different function codes Fourth part gives some tools for managing power fail and target restart 1 This manual assumes the user is familiar with the ISaGRAF workbench C 324 ICS Triplex ISaGRAF Inc Target User s Guide C 2 Installation The installation requires about 1
265. ex Modbus D 426 MODBUS A 86 C 399 Modification tracking A 70 Modified style A 71 Modifier IL B 237 B 238 D 426 Modify variable A 83 Modulo B 297 Move board A 91 Move FBD A 65 Move FC A 50 Move program A 30 Move project A 23 Move SFC A 41 Move SpotLight A 126 MSG B 262 Multi applications C 336 C 347 C 355 Multiplexer with 4 entries B 297 Multiplexer with 8 entries B 298 Multiplication B 251 MUX4 B 297 MUX8 B 298 N N qualifier A 43 NE operator IL B 259 NEG B 246 Negated link A 64 A 66 Negation B 246 Negation FBD B 208 Negative coil B 217 Negative contact B 213 Network address A 82 A 83 A 86 D 426 New function A 29 New function block A 29 New library element A 144 New program A 29 New project A 23 New rung A 56 New variable A 83 Non stored A 43 Non stored action B 194 D 426 Normal style A 71 NOT A 64 A 66 NOT MASK B 254 A 14 O ODD B 299 OEM key code A 148 D 426 OEM parameter A 148 OEM parameter I O board D 426 OF B 228 Off delay timing B 274 On Line A 34 A 110 On line modification A 112 A 116 Open program A 29 A 109 Open project A 24 Operand IL B 237 B 238 D 426 OPERATE I O channel B 265 Operation IL B 237 B 238 D 426 Optimiser A 100 OR A 62 B 248 OR_MASK B 253 OS 9 shell C 338 Other program A 76 Output A 91 A 109 A 133 A 148 B 178 D 426 Output wi
266. existing in the chart The scrolling position is automatically adapted so that the element is visible The element when reached is selected g Renumbering elements The Edit Renumber command is used to renumber elements of the Flow Chart Any FC element put in the chart is identified with a unique reference number The editor each time new elements are inserted allocates reference numbers The Renumber allows you to re adjust element numbering according to their location in the chart Growing numbering is performed from top to bottom and from left to right A 5 4 Entering level 2 programs To enter the level 2 program the user must double click on the action or test symbol The level 2 programming is displayed on the right of the FC window The separation line between FC chart and level 2 programming can be freely moved You can open one or two level 2 areas at the same time The following commands are available from keyboard mouse or the Edit menu Keyboard Mouse Edit menu Open in last default window Enter Double Click Edit level 2 Open in separate window Ctrl Enter Ctrl Double click Edit Level 2 in a separate window When two level 2 windows are visible the separation between them can be freely moved The button on the right of the level 2 title bar is used to close a level 2 window ICS Triplex ISaGRAF Inc A 51 User s Guide The default language for Level 2 programming is ST Structured Text The programming
267. ext format is YYYY MM DD HH MM SS IL Equivalence First done is call to day_time 1 LD DAY_TIME ST hour_str intermediate result LD 0 DAY_TIME ADD ae ADD hour_str ST Display ARCREATE arcreate Arguments ID INT identifier of the array must be in set 0 15 Size INT number of elements in the array ok INT execution status 1 if array has been successfully created 2 invalid array identifier or array already created 3 invalid size 4 not enough memory Description Creation of an array of integers B 310 ICS Triplex ISaGRAF Inc Language Reference Warning There are at most 16 arrays in an application Arrays contain integer analog values As dynamic memory allocation is performed this function may cause a system error if the array size is too close to the size of the available memory FBD program creating an array of integers arcreate ident lo lt gt 16 size ok IN1 N2 al array_error a ST Equivalence array_error ARCREATE ident 16 lt gt 1 IL Equivalence LD ident ARCREATE 16 NE 1 ST array_error ARREAD arread ID Pos Q Arguments ID INT identifier of the array must be in set 0 15 Pos INT position of the element in the array must be in set 0 size 1 value INT value of the element read 0 if the arguments are not valid Description
268. ext section only operators which are specific to the IL language are described other standard operators can be found in the section standard operators function blocks and functions LD operator Operation loads a value in the current result Allowed modifiers N Operand constant expression internal input or output variable Example EXAMPLES OF LD OPERATIONS LDex LD false result FALSE Boolean constant LD true result TRUE Boolean constant LD 123 result integer constant LD 123 1 result real constant LD t 3ms result time constant LD boo_var1 result Boolean variable LD ana_var1 result analog variable LD tmr_var1 result timer variable LDN boo_var2 result NOT Boolean variable ST operator Operation stores the current result in a variable the current result is not modified by this operation Allowed modifiers N Operand internal or output variable Example EXAMPLES OF ST OPERATIONS STboo LD false ST boo_var1 boo_var1 FALSE STN boo_var2 boo_var2 TRUE STana LD 123 ST ana_var1 ana_var1 123 STtmr LD t 12s ST tmr_var4 tmr_var1 t 12s S operator Operation stores the Boolean value TRUE in a Boolean variable if the current result has the Boolean value TRUE No operation is processed if current result is FALSE The current result is not modified by this operation ICS Triplex ISa
269. fined A 160 ICS Triplex ISaGRAF Inc User s Guide A 26 Advanced programming techniques A 26 1 A 26 2 This chapter contains more information about the ISaGRAF Workbench and target system The user is advised to be familiar with the ISaGRAF tools and methods before reading this section More about ISaGRAF tools When using the ISaGRAF editing tools the user can press the right mouse button to open a popup menu which contains the main editing commands The menu is opened at the current position of the cursor This is very useful to reduce mouse operations during cut and paste commands The ISaGRAF tools support multiple execution Although same tool cannot be opened twice to edit the same document it is possible to open different windows with the same tool and edit different objects as parallel operations Other commands are available to find information about graphic buttons in toolbars Double click an empty area of a toolbar to display the contents of the toolbar as a popup menu Stay with the mouse cursor on a graphic button displays the corresponding text command Locked I Os and virtual I Os Defining an I O board as virtual disconnects the processing of the physical I O channels When a board is defined as virtual the ISaGRAF kernel operations are not changed The only difference is that input sensors are not read and output devices are not updated In this mode it is possible to use the ISaGRAF debugger to mod
270. font and Title font commands of the Options menu are used to define the fonts of characters used when printing text and titles for any item of the document The size and style of characters may also be selected for text and titles The selection of a font is made with the standard dialog box defined by Windows Any text literal programs names within diagrams will be printed with the selected size style and font of characters Only titles will be printed with the font selected for titles If the fonts of characters are not defined the standard font of the printer will be used for any text with the following styles e Normal style for texts and names within diagrams e Bold style for titles ICS Triplex ISaGRAF Inc A 157 User s Guide A 25 Password protection The ISaGRAF Workbench includes a full data protection system which enables the user to protect with password projects and library elements A library element can be an I O configuration an I O board or complex equipment a function or function block written in IEC languages a C function function block or conversion function A password protection database is dedicated to one project or library element and cannot be shared between several ones Protection levels Within one project or library element the user can define up to 16 access levels corresponding to different passwords Access levels are sorted in a hierarchy system They are numbered from 0 to 1
271. for all ISaGRAF variables that must be controlled from the SCADA The Tools Modbus SCADA addressing map is a powerful to quickly create a Modbus virtual map with variables of the application The mapping tools shows two lists The upper one is a segment 4096 locations of the Modbus map showing mapped variables the ones having a network address The lower list shows unmapped variables without network address defined The 0 address cannot be used to map a variable Use the Map and Remove commands of the Edit menu to move a variable from one list to another and thus build the map Same actions can be performed by double clicking on a variable symbol in a list to send it to the other list At any A 86 ICS Triplex ISaGRAF Inc User s Guide moment you can use the Segment drop down list to view another segment of the map The commands of the Options menu can be used at any moment to display addresses either in decimal or in hexadecimal The Edit Find commands is used to search for a declared variable whether it is already mapped or not A 10 6 Exchanging information with other applications The ISaGRAF dictionary editing tool offers import export functions in order to exchange information with other applications such as word processors spreadsheets data base managers These commands are grouped in the Edit menu The Export text command builds a pure ASCII text description of the fields describing a
272. function or a function block written in IEC language described in the library to the Functions or Function blocks section of the open project Local variables and defined words attached to the imported function are copied with it When a function has been correctly imported from the library it can be placed in another section or another location in the hierarchy tree using the File Rename Move command In order to avoid naming clashes the imported function or function block must be renamed when imported in the project area Don t forget to rename also the return parameter in the case of a function ICS Triplex ISaGRAF Inc A 31 User s Guide Exporting function or function block to library The Tools Export to library command is used to send a program of the Functions or Function blocks section in the open project to the appropriate library Local variables and defined words attached to the exported function or function block are copied with it The exported function or block will have to be re compiled verified from the ISaGRAF Library Manager to ensure that it can be used in a library environment Functions and function blocks of the library cannot use global variables A 3 3 Running the code generation tools ia The commands of the Make menu are used to run the code generator and to enter options and additional data used when producing the application code Refer to the chapter Using the code generator
273. g starts at index 0 and channel numbering starts at index 1 Warning be very careful while changing numbering conventions as it has effect on symbols used for directly represented variables and may lead to compiling errors if directly represented I O variables are used in existing programs A 94 ICS Triplex ISaGRAF Inc User s Guide A 11 6 Setting individual protections The ISaGRAF workbench provides a complete data protection system based on hierarchised passwords I O connection can be globally protected by a password Additionally ISaGRAF enables you to set individual protection to any I O channel This assumes that Passwords are already defined in the password definition system use the Project I Set password command of the Project Management window so that protection levels are available for individual protection You use protection levels with higher priority for individual protection compared to global I O protection When an I O channel has individual protection a small icon is draw close to its name in the I O connection window wa ISaGRAF PROTECT 1 0 connection ojx File Edit Tools Options Help aleBAM tl Kia bflash flash animation selection a Q blead lead animation selection z l brandom random animation selection x Ol bstart start stop command Ki Use the Set protection and Remove protection commands of the Edit menu to set or remove a
274. grams in the entire project This function is very useful to detect an access to a variable or any global resource or to list all the occurrences of a global variable in the source code Entering the project descriptor The Project descriptor command is used to edit the project text descriptor This document fully identifies the project from the others on the project list The project descriptor can also be used to record any remarks during the project lifetime The project descriptor is the one displayed in the Project Manager window Printing a complete document The Print project document command allows the user to build and print a complete document about the selected project This document can group any component program variable and parameters of the selected project To build a specific non complete document the user only has to define its table of contents History of modifications This command opens a dialog box where is displayed the history of modifications for the project Refer to the chapter Managing projects in this document for more explanations about this command ICS Triplex ISaGRAF Inc A 33 User s Guide A 3 5 Adding commands to the Tools menu ISaGRAF provides the way to insert other commands in the Tools menu User defined commands to be added are described in ISAWIN COM ISA MNU text file You can add up to 10 commands Comments may be inserted on any line beginning with charac
275. grams then ISaGRAF 3 5 then Licensing c On the Transfer License tab select the drive holding the transfer disk then click Transfer Licenses to Disk The license is removed from the computer and copied to the license transfer disk d Remove the license transfer disk from the computer s drive Install the license on the new computer a In the new computer s drive insert the license transfer disk holding the license b From the Start menu of Windows choose Programs then ISaGRAF 3 5 then Licensing c On the Transfer Licensing tab select the drive holding the transfer disk then click Complete Transfer The license is transferred to the new computer and ISaGRAF 3 5 is activated Removing Licensing You can remove authorized licenses from a computer To remove authorized licenses 1 From the Start menu of Windows choose Programs then ISaGRAF 3 5 then License Manager On the Remove Licensing tab from the list of licensed components select the components for which you want to remove licensing Click gt to move the components to the list of Selected Components A Setup Code as well as a User Code 1 and User Code 2 appear in their respective fields 4 Send the licensing information a Click Send A pre addressed email appears holding the setup code and both user codes and into which you need to include your contact information and order number b Include all required information then send t
276. guage Reference The code of FB1 will be duplicated according to the variables wired on its inputs and outputs Below is the ST equivalence of the code generated when compiling the parent program code of the first call B2 B1 and not PREV1 PREVI Bi code of the second call B4 B3 and not PREV2 PREV2 B37 As shown in this example the compiler must allocate internal variables for FB local variables for each call PREV1 and PREV2 in this example Due to the automatic re naming of internal variables there is no limitation in nesting In Line function blocks When using In Line FBs instead of standard FBs the size of the application code TIC code increases Also In Line FBs provide better execution time as no function calling and parameter passing instruction is required The nesting of In Line FBs also supports the instanciation of edge detection contacts and coils P and N the use of C and standard function blocks and local jumps and labels Limitations In Line FBs are available for Quick LD only This means that In Line FBs must be written in Quick LD All programs calling In Line FBs must be written in Quick LD Pieces of Quick LD in SFCs and Flow Charts can call In Line FBs The following restrictions apply when calling FBs In Line FBs can call other In Line FBs normal FBs cannot call In Line FBs In Line FBs cannot call normal FBs Recursive call
277. h Warning Conversion functions are synchronous operations activated at run time by the ISaGRAF I O manager during the input or output phases of the application cycle Time spent for the execution of a conversion function is included in the ISaGRAF application cycle timing The user has to ensure than no wait operation is programmed in a conversion function so that the ISaGRAF cycle processing is not unnecessarily extended Adding a function to the SaGRAF library The ISaGRAF Library Manager must be used to add a new conversion function to the ISaGRAF library on the Workbench side The New command of the Files menu is used when the conversion function library is selected No parameter has to be defined on the Workbench because conversion functions use a standard predefined interface When a new conversion function has been created its technical note must be written The ISaGRAF Library Manager automatically generates the frame of the C source code for the new conversion function gt Using a conversion in an ISaGRAF project Defined conversion functions can be used to filter values of any input or output analog variable of the selected project To attach a conversion function to a variable the variables declaration editor is run an input or output analog variable selected and then its parameters edited The conversion field of the analog declaration dialog box is used to setup the conversion function attached to an analog
278. haracters including spaces B 180 ICS Triplex ISaGRAF Inc Language Reference Empty string constant expression is represented by two apostrophes with no space or tab character between them this is an empty string The special character dollar followed by other special characters can be used in a string constant expression to represent a non printable character Sequence Meaning ASCII Example hexa 16 24 I paid 5 for this apostrophe 16 27 Enter Y for YES 16 0a next L line R___ carriage return 16 0d lo RHe P__ newpage 16 0c _ lastline P first line hh_ hh is the hexadecimal value of the ASCII code for the expressed character B 2 3 Variables Variables can be LOCAL to one program or GLOBAL Local variables can be used by one program only Global variables can be used in any program of the project Variable names must conform to the following rules name cannot exceed 16 characters first character must be a letter following characters can be letters digits or the underscore character B 2 3 1 Reserved keywords A list of the reserved keywords is shown below Such identifiers cannot be used to name a program a variable or a C function or function block A ANA ABS ACOS ADD ANA AND AND_ MASK ANDN ARRAY ASIN AT ATAN B BCD_TO BOOL BCD _TO_INT BCD TO REAL BCD TO STRING BCD TO TIME BOO BOOL BOOL_TO BCD BOOL TO INT BOOL_
279. hardware To enable a process control system to restart correctly after a power failure 3 problems must be solved ISaGRAF Kernel H Data base Restore Making a data backup Detecting that a power failure has occurred when starting Restoring the backed up data The second problem cannot have a standard software solution but the system supplier may provide the necessary tools to have access to the hardware status from the ISaGRAF application or from a C program Furthermore the important thing is to decide what data have to be stored and retrieved Let s define 2 kinds of data Application variables Such as process variables like number of items processed date of the power failure values of application parameters etc Such as program variables like counters timers intermediate values and flags Program state Such as reference of active steps status of each C program etc These 2 cases are studied in the following chapters to see how ISaGRAF can answer ICS Triplex ISaGRAF Inc C 405 Target User s Guide C 9 2 Application variables backup Retained variables The workbench variable editor offers the possibility to select the retain attribute for each internal variable non IO variable At the end of each target cycle values of retained variables are copied to the specified memory location This memory location is generally a battery backed up RAM At start up if at l
280. hart The whole selected area is marked in grey The commands of the Edit menu can then used aaa cut copy delete paste commands The following commands are available from the Edit menu when the arrow button is selected in the editor toolbar G teniaeve varh Move selected rectangle from the screen to the SFC clipboard COPY etceeeeeeeeeee Copy selected rectangle from the screen to the SFC clipboard Delete Clear delete selected rectangle Pasteis Insert contents SFC clipboard at the current position The Edit Paste copies SFC clipboard to the screen Copy Paste commands work on both SFC chart and step transition level 2 programming It is also possible to copy a chart in a program and paste it in another SFC program Elements are inserted before the currently selected position Move elements When SFC elements are selected in the SFC chart you can move them to another location of the chart by dragging the selection with the mouse While you drag the selection the initial location of selected elements is hatched ICS Triplex ISaGRAF Inc A 41 User s Guide The destination area for moved elements must be empty No insertion is possible while moving SFC symbols Renumbering steps and transitions Each step or transition is identified by a logical number in the SFC chart The Edit Renumber command allows the user to automatically set up numerically sequential reference numbers for any of
281. he C language or the name of an existing function of the C ISaGRAF libraries Other statements can be added to the declaration function to realize any specific initialization operation relative to this conversion The ISaGRAF system ensures the user that this function is called only one time when the application starts The declaration function is called for any integrated conversion function even if it is not used in the ISaGRAF application The ISaGRAF kernel fails in a fatal error if a conversion used in the application is not integrated to the kernel Before linking new functions with the kernel the user must write another C source file named GRCNOLIB C and insert it with the retained conversion functions in the list of files for the linker The GRCNOLIB C only contains an array of declaration functions This array is read during application initializations to make a dynamic link with the conversion functions written in C This is an example of such a file File GRCNOLIB c Example with conversions of standard library include lt tasyOdef h gt required for types definition extern UFP cnvdef scale char name decl function for SCALE conv extern UFP cnvdef_bed char name decl function for BCD conv ICS Triplex ISaGRAF Inc C 369 Target User s Guide UFP_LIST CNVDEF array of declaration functions for integrated conversion functions cnvdef_scale cnvdef_bed
282. he FBD language SR Arguments SET1 BOO if TRUE sets Q1 to TRUE dominant RESET BOO if TRUE resets Q1 to FALSE Q1 BOO Boolean memory state Description Set dominant bistable See True table below Set1 Reset Q1 result Q1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 1 FBD program using SR block B 266 ICS Triplex ISaGRAF Inc Language Reference amp auto_mode SR start_cmd ser stop_cmd RESET a command ST Equivalence We suppose SR1 is an instance of SR block SR1 auto_mode amp start_cmd stop_cmd command SR1 Q1 IL Equivalence LD auto_mode AND start_cmd ST SR1 set1 LD stop_cmd ST SR1 reset CAL SR1 LD SR1 Q1 ST command RS Arguments SET BOO if TRUE sets Q1 to TRUE RESET1 BOO if TRUE resets Q1 to FALSE dominant Q1 BOO Boolean memory state Description Reset dominant bistable See True table below Set Reset Q1 result Q1 0 0 0 0 0 0 1 1 0 1 0 0 0 1 1 0 1 0 0 1 1 0 1 1 1 1 0 0 1 1 1 0 FBD program using RS block RS start_cmd ser gt 1 RESET a command stop_cmd alarm ST Equivalence We suppose RS1 is an instance of RS block ICS Triplex ISaGRAF Inc B 267 Language Reference RS1 start_cmd stop_cmd OR alarm command RS1 Q1 IL Equivalen
283. he caret Below is the format of a Pulse action block Action P ST statement End Action Pulse actions are instructions which are executed only once when the step becomes active Refer to the ISaGRAF language reference for further details on SFC programming N Inserting a Non stored action block in step When programming the level 2 of a step press this button to insert the template of a Non stored action block at the current position of the caret Below is the format of a Non stored action block Action N ST statement End Action ICS Triplex ISaGRAF Inc A 43 User s Guide Non stored actions are instructions which are executed on every PLC cycle when the step is active Refer to the ISaGRAF language reference for further details on SFC programming New P0 and P1 action qualifiers ISaGRAF supports new PO and P1 action qualifiers When programming the level 2 of a step press these buttons to insert the template of a PO or P1 action block at the current position of the caret Below is the format of such blocks Action P0 Action P1 ST statement ST statement End Action End Action P1 actions are instructions which are executed only once when the step becomes active same as Pulse PO actions are instructions which are executed only once when the step becomes inactive Refer to the ISaGRAF language reference for further details on SFC programming Boolean actions Other text semantics are av
284. he compiling date time stamp gt If the Update diary mode is selected in the Options menu of program editors the following dialog box is opened each time the program is saved on disk Update diary for program main x Text note to be added to the diary file with current date time stamp If OK button is pressed the entered text note is then stored at the end of the diary file with current date time stamp This feature is very useful for maintenance of complete programs as it provides useful help about the program life cycle A 9 5 Selecting a variable from dictionary E When editing a text program ST or IL the Edit Insert variable allows the selection of a declared variable name to be inserted at the current position of the caret When editing LD or FBD programs variable selection is required for the description of contacts coils block I O parameters or FBD variable boxes In both cases the following dialog box is open to select a declared variable ICS Triplex ISaGRAF Inc A 77 User s Guide Select variable xi ao random animation selection flash animation selection lead animation selection random animation selection start stop command The Scope selection box is used to select between global and local variables The selection box on the right allows the selection of the data type Small icons beside the type selection box are buttons that can be used as shortcuts to select most current
285. he email A User Code as well as a Registration Key 1 and Registration Key 2 will be returned via e mail ICS Triplex ISaGRAF Inc A 17 User s Guide 5 Upon reception enter the user code and both registration keys into their respective fields then click Proceed A confirmation code appears in the Confirmation Code field 6 Reply to the email including the Confirmation Code as well as your name address and telephone number A 1 3 Using on line information On line information is installed with the ISaGRAF workbench for the following topics e ISaGRAF languages reference e Complete user s guide for any ISaGRAF tool e Technical note for elements in the libraries From any ISaGRAF window select the choices of the Help menu to display online information A 1 4 A sample application This chapter explains step by step all the basic operations required to make design generate and test a short but complete multi language application Below are the complete specifications of this application mixing LD and SFC representations Boolean variables IX0_1 IX0_2 input variables for process command RunCmd internal run stop command QX1_1 output variable status of the Program Command Cyclic begin section LD language Evaluates the internal run stop command x01 DO 2 RunCmd Program RunStop Sequential section SFC language Controls the process A 18 ICS Triplex ISaGRAF Inc User s Gui
286. he program The programs are now created They appear in the Program Management window ICS Triplex ISaGRAF Inc A 19 User s Guide Declaring the variables Before entering the programs the internal variable to be used in the programming must be declared This is done using the command Dictionary of the File menu or the Dictionary button I O variables are automatically declared when the project is created oz The dictionary window is now opened With the menu File the Sub menu Other the Sub menu Global variables and then the command Booleans select the Global Boolean dictionary Buttons Global objects and Boolean can be used for the same effect The New command of the Edit menu is used to create new Boolean variables You can also use the Insert objects button In the open dialog box enter the description of the internal variable name RunCmd comment Run Stop command internal attribute Select the Internal attribute Press the Store button the variable is created Press the Cancel button to exit the dialog box Finally exit the dictionary editor and save the modifications entered Menu File Command Exit Click on YES to save modifications Editing the Quick LD program To start editing the Command LD program double click on its name in the Program Management window or use the Edit button Ha The ISaGRAF Quick LD Editor window is now open To increase the working area resize th
287. he target code Closing the simulator window implies that the debugger window and any ISaGRAF window opened during the debug session is also closed I O simulation I O boards appear in the simulator window titled by their name and slot number Any of the ISaGRAF standard types of I Os Boolean analog or message are handled The channels of the input boards are displayed with special buttons and fields The channels of the output boards are displayed with graphic status lights and data fields ep Boolean inputs a square green button represents A Boolean input The number of the channel is displayed with the I O button The input value is TRUE when the button is pressed Clicking on the button changes the corresponding I O value Use the right button of the mouse to set the input only when the button is pressed IL oe Boolean outputs a small circle represents A Boolean output The number of the channel is displayed with the I O The output value is TRUE when the graphic symbol is highlighted ah Analog inputs An analog input channel is a simple numerical field where the value of the corresponding input can be entered Clicking on the box displays the caret A new value for the channel can then be entered It is not necessary to use the ENTER key after input Analog inputs can be entered in either decimal or hexadecimal base Use up down buttons to increase or decrease the current value ICS Triplex ISaGRAF Inc A 133 User s Guid
288. hen Ethernet is selected as a communication port the Set up button is used to enter the Internet Address and Internet port number for TCP IP communication These fields use the standard formats defined by the Socket interface The Workbench uses the WINSOCK DLL Version 1 1 library for TCP IP communications This file must be correctly installed on the hard disk 1100 is the default port number used if not specified when running the ISaGRAF target A 36 ICS Triplex ISaGRAF Inc User s Guide A 4 Using the SFC editor The SFC language is used to describe operations of a sequential process It uses a simple graphic representation for the different steps of a process and conditions that enable the change of active steps A SFC program is entered by using the ISaGRAF graphic SFC editor SFC is the core of the IEC 1131 3 standard The other languages usually describe the actions within the steps and the logical conditions for the transitions The ISaGRAF graphic SFC editor allows the user to enter complete SFC programs It combines graphic and text editing capabilities thus allowing the entry of both the SFC chart and the corresponding actions and conditions A 4 1 SFC language main topics The SFC language is used to represent sequential processes It divides the process cycle into a number of well defined successive steps self contained situations separated by transitions Refer to the ISaGRAF Languages Reference Manual f
289. hen the step becomes active Nothing is done when the step becomes inactive The SFC sequence specified as an action must be a child SFC program of the program currently being edited Note that using the S Set or R Reset qualifiers for a SFC action has exactly the same effect as the GSTART and GKILL statements programmed in a ST pulse action Below is an example of a SFC action The main SFC program is named Father It has two SFC children called SeqMIx and SeqPump The SFC programming of the father SFC program is SFC program using SFC actions ICS Triplex ISaGRAF Inc B 195 Language Reference Start 2 4SeqMIx N 101 SeqPump S Full 102 SeqPump R N B 3 5 5 Calling function and function blocks from an action Sub programs functions or function blocks written in ST IL LD or FBD language or C functions and C function blocks can be directly called from a SFC action block based on the following syntax For sub programs functions and C functions ACTION P result sub_program END_ACTION or ACTION N result sub_program END_ACTION For function blocks in C or in ST IL LD FBD ACTION P Fbinst in1 in2 result1 Fbinst out1 result2 Fbinst out2 END_ACTION or ACTION N Fbinst in1 in2 result1 Fbinst out1 result2 Fbinst ou
290. i ceteris Comment Network address ssnisiriisiiiniieniiriiais Address Attributes internal input output Attribute Boolean False string 0 cee False Boolean True string Format Analog format real or integer Analog unit string ceeceeeseereeeeeeeeee Unit Analog conversion name Conversion Message maximum length s s s MaxLength Function block library type ee Library Defined word equivalence Equivalence Internal attribute 0 eee Internal Input attribute Output attribute eres Constant attribute eee Real analog format Integer analog format ICS Triplex ISaGRAF Inc User s Guide A 11 Using I O connection editor YT The aim of the I O connection operation is to establish a logical link between the I O variables of the application and the physical channels of the boards existing on the target machine To make this link the user has to identify and set up all the boards of the target machine and place I O variables on corresponding I O channels The list on the left shows the rack of the target machine with board slots A slot may be free or used by one I O board or complex equipment An order number identifies each slot The rack may contain up to 255 boards The list on the right shows the board s parameters and the variables connected on the selected board A board may have up to 128 I O channels The total number of single I O boards
291. i x8misa11 Then isa exe will find and execute myproj application All these commands can be grouped for instance into a batch file and then started from the workbench tool menu see user s guide Managing programs Error management and output messages The ISaGRAF target software integrates an error detection management You will find the warning error list and their description in appendix Error detection is processed as follows An error is composed of an error and argument number sent to the ISaGRAF error routine If the error detection flag is set in the workbench Make options the error is processed If not the information is lost and the error management ends When processed Error number decimal value and argument hexadecimal value are displayed on the default stdout output Error number and argument are pushed into a ring FIFO error buffer in order to be retrieved at a later time The error buffer size is set in the workbench Make options When the buffer is full at each new incoming error the oldest one is lost Errors can be pulled either from the debugger or from the running application using the SYSTEM call see user s guide When the debugger detects an error a message describing the error is displayed in the error window Depending on the context of the application running or not the debugger may C 328 ICS Triplex ISaGRAF Inc Target User s Guide display the name of the o
292. iagram No other object may be connected on the right of a jump or label symbol The following notations are used PPLAB iaae jump to a label label name is LAB LAB seia definition of a label label name is LAB If the connection line on the left of the jump symbol has the Boolean state TRUE the execution of the program directly jumps after the corresponding label symbol Example of an FBD program using labels and jumps ICS Triplex ISaGRAF Inc B 207 Language Reference amp manual b1 gt yNOMODIF gt 1 input1 input2 result NOMODIF gt 1 result valid cmd10 IL Equivalence Id manual and b1 jmpc NOMODIF Id input or input2 st result NOMODIF Id result or valid st cmd10 B 5 4 Boolean negation A single connection line with its right extremity connected to an input of a function block can be terminated by a Boolean negation A small circle represents the negation When a Boolean negation is used the left and right extremities of the connection line must have the BOOLEAN type Example of an FBD program using a Boolean negation amp input1 input2 re output ST equivalence output1 input AND NOT input2 B 5 5 Calling function or function blocks from the FBD The FBD language enables the calling of sub prog
293. iaig single precision floating value The access box is used to define how the parameter can be accessed by the end user If the User defined option is set the parameter is shown as an input field during the I O board connection The OEM parameter default value is used as default for the parameter editing If the Hidden option is set the parameter is a constant and does not appear in the I O board connection box The OEM parameter default value defines the value of the constant parameter The Read only option indicates that the parameter is visible for the user but cannot be modified Its default value is used as a constant value A 22 5 Functions and blocks written in IEC languages ISaGRAF handles a library of functions and function blocks written in IEC languages The available languages to describe such a function or block are FBD Function Block Diagram LD Ladder Diagram ST Structured Text or IL Instruction list Note that LD and FBD languages can be mixed in the same diagram SFC language Sequential Function Chart cannot be used to describe a function or a block in library The language attached to a library element is selected when the function is created and cannot be changed later Compiling Functions and blocks defined in the library must be compiled verified before they can be used within an ISaGRAF project Nothing else has to be changed on the Library side concerning functions and blocks Elements of the librar
294. ies Below is the list of the files that can be copied with this command common eqv common defined words oem bat user defined MS DOS command file These files are saved one by one on the archive disk in their original form The corresponding archive files are never compressed A 152 ICS Triplex ISaGRAF Inc User s Guide A 23 2 A 23 3 A 23 4 Options The path used for ISaGRAF archives is displayed at the bottom of the dialog box Press the Browse button to browse the disks and select another archive disk and directory Archive location When the Compression option is set all the archive files created during a Backup procedure are compressed This option is very useful to reduce the size of a large project archive file and save it on only one diskette Archive compression is generally not needed for library components The ISaGRAF Archive Manager automatically recognises the status of an archive file compressed or not when restoring the archive This implies that the compression option has no effect for a Restore procedure T Compress Backup and restore The Workbench list on the left shows the objects existing in the ISaGRAF Workbench installed on the hard disk The Archive list on the right shows the objects saved on the specified archive disk and directory Backup Saving an object on archive is achieved by selecting the object in the list on the left ob
295. ies to divide a real analog by zero Your application should prevent such an event which may have unpredictable effects When this occurs ISaGRAF places the maximum real analog value as the result When the operand is negative the result is inverted 69 invalid operate parameters application 72 application symbols cannot be modified application 22 ze 3 2 He 35 S ge g zg ae oo 83 EF D 2y x of go roe a gt g 5 S 5 2 30 gt O on 2 95 35 S D D g O og 3 v e m D 3 2 a3 oes 3 g im v om En vo gt eo S 2 s o3 Oe ancy a7 os os oO o a 5a x2 55 353 o ag Qa 0 o O 23 23 o5 2 gt fo a 5 2 Zo G J 0 Sa o5 GBH 26 nach 58 o o9 78 o 23 ao a SE EE a gt oD 30 Cee 2 ion al 7D 3 Dg D lt S lt zo 2 3 os 3 0 a added removed or modified compared to the current application 73 cannot update different set of boolean variables application Q o 3 ge D oO a A J 0 O r 3 oO p o pej noe O feb O a a gt 3 fe a D 2 v E2 a 5 S O D J3 J 2 loy n n oa D a o mo O D a ee n gt oO n 3 D w o o D D lt S D Ss D n lt o o D D 5 Q Q a E 3 lt a 74 cannot update different set of analog variables application 75 cannot update different set of timer variables application QO O 3
296. ify the input values The Virtual attribute applies to a complete board It is programmed during the I O board definition before the application code generation The virtual attribute is a static feature and is stored when the application is stopped and restarted Another possibility is the I O variable locking It consists of disconnecting one physical device and the corresponding ISaGRAF I O variable Variable locking and unlocking is performed through the debugger Variable locking is a dynamic operation and is not memorised when the application restarts The lock operation applies to only one variable one I O channel at a time This is the summary of main I O controlling features Virtual Attribute Lock command selection tool I O board connection debugger definition static dynamic selection mode board variable application validation and tests maintenance The following chart explains the I O data flow between the ISaGRAF tasks ICS Triplex ISaGRAF Inc A 161 User s Guide INPUTS Run time DATA OUTPUTS DATA BASE VO driver BASE VO diver User OEM User OEM Input devices Output devices Deb bugger When an input variable is locked the various accesses to the database are not changed but the input device is disconnected Input values can be set with the debugger and processed by the ISaGRAF kernel Run time Kernel User OEM application user oem key Input devices
297. ight connection The associated variable is assigned with the Boolean state of the left connection The state of the left connection is propagated into the right connection The right connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL The associated name can be the name of the program for sub programs only This corresponds to the assignment of the return value of the sub program Example using DIRECT coils input output 1 Q output2 ST Equivalence output1 input1 output2 input1 Inverted coil Inverted coils enable a Boolean output according to the Boolean negation of a connection line state B 214 ICS Triplex ISaGRAF Inc Language Reference boo_ variable Left connection Right connection The associated variable is assigned with the Boolean negation of the state of the left connection The state of the left connection is propagated into the right connection Right connection may be connected to the right vertical power rail The associated Boolean variable must be OUTPUT or INTERNAL The associated name can be the name of the program for sub programs only This corresponds to the assignment of the return value of the sub program Example using INVERTED coils input output i il WO output2 ST Equivalence output1 NOT inputt output2 input SET coil Set coils en
298. iles link lists etc Temporary files sub directories of TMP are reserved for the ISaGRAF Code Generator and cannot be deleted The sub directories can be moved to other disk locations When the user has a non standard architecture the pathnames of the sub directories should be declared in the WS001 section in the ISA ini initialisation file in the EXE sub directory of ISaGRAF Here are the entries of the WS001 section Isa IsaExe root directory for ISaGRAF architecture root directory for SaGRAF programs and help files ICS Triplex ISaGRAF Inc A 165 User s Guide IsaApl root directory for ISaGRAF projects IsaTmp directory for temporary files IsaSrc directory for library source code IsaDefs directory for library source headers Note that if you change the IsaTmp entry to another directory you must create the sub directories OBJS RELS and DATA in the new directory The following example uses the entries of the WS001 section to redefine the standard ISaGRAF disk architecture file c ISAWIN EXE ISA ini WS001 Isa c isawin IsaExe c isawin exe IsaApl c isawin apl IsaTmp c isawin tmp IsaSrc c isawin lib sre IsaDefs c isawin lib defs When you want to add C functions or function blocks to the ISaGRAF target the ISAWIN LIB DEV directory is used to store development files command files makefiles maps etc The ISAWIN LIB RELS directory is used to store the object files generated during C c
299. ill SFC program Kills the selected program by removing all existing tokens Freeze SFC program Suspends the execution of the selected program Restart SFC program Restarts a frozen suspended program For child programs these commands correspond to the GSTART GKILL GFREEZE and GRST functions in the programming language A control operation can be seen in a SFC step when debugging the application by double clicking on its graphic representation in the SFC editing window The following commands are available in the debug dialog box e Install a breakpoint on the step activation e Install a breakpoint on the step de activation e Clear breakpoint added to the step Note Activation and de activation breakpoints cannot be added to the same step A control operation can be seen in a SFC transition when debugging the application by double clicking on its graphic representation in the SFC editing window The following commands are proposed in a debug dialog box e Add a breakpoint on the transition clearing e Clear a breakpoint added to the transition e Manually clear the transition move or add tokens A 114 ICS Triplex ISaGRAF Inc User s Guide Conditional clearing a token is created on the steps following the transition The tokens existing in the preceding steps are removed Unconditional clearing a token is created on the steps following the transition The tokens existing in the preceding steps are not removed
300. imal integers The virtual addresses VA are expressed as hexadecimal 4 digit numbers and are preceded by the character For example 123 this is a decimal number A003 this is an hexadecimal virtual address The main structure of the file APPLI TST is shown below The file is structured as a list of blocks A block is a list of records Each record is described on one line of text Each block begins with a header put on one line of text Start block description blocks end block The general syntax of one block is shown below lt block_name gt lt arguments gt record record The structure of the first block containing the main information about the application is shown below ISA SYMBOLS lt appli_cre gt NAME lt appli_name gt lt version gt DATE lt creation_date gt SIZE G lt nbprg gt S lt nbstep gt T lt nbtra gt L 0 P lt nbpro gt V lt nbvar gt COMMENT ICS Triplex ISaGRAF appli_ere application symbols checksum appli_name name of the application version ISaGRAF workbench version number creation_date application generation date nbprg number of programs nbstep number of SFC steps nbtra 00 number of SFC transitions nbpro 0 number of C functions used nbvar 05 total number of variables The structure of the last block which signals the end of the file is shown below END_SYMBOLS
301. in this document for further information about these tools Make the application code The Make command starts the project code generation The options for target code generation must be set correctly before running this command Before generating the target code any program that is still not verified is checked to detect the syntax errors ISaGRAF includes an incremental compiler which does not re compile programs which have already been compiled Verify the selected program The Verify command allows the user to verify the syntax of the program currently selected in the list When a program is verified with no error detected it is not re verified during the code generation until its contents or dependent defined words or variables change Simulating a modification The Touch command simulates a modification of each program so that all of them will be compiled again during the next code generation Application run time options This command opens a dialog box where are entered the main run time parameters for the execution of the application This includes the cycle timing programming run time error management the starting mode and the hardware implementation of retained variables Refer to the chapter Using the Code Generator in this document for more explanations about this command Compiler options This command is used to set up the options used by the ISaGRAF Code Generator to produce and optimise target code Refe
302. including single equipments and boards of complex equipments cannot exceed 255 Icons The icons displayed on the front face indicate the type and attributes of variables that may be connected to the board channels The ISaGRAF system does not allow the connection of variables of different types on the same board This is the meaning of the used icons T iar anneni Boolean type r AEE Integer real type both types of variables may be connected a E E EE Message type TB Inputs no channel connected Beee Outputs no channel connected na Inputs at least one channel connected WF Outputs at least one channel connected Below are the icons used to show the type of I O device installed on a slot Complex I O equipment re Real I O board FB eee eee Virtual I O board Below are the icons used to draw a parameter or a channel 5008 Board parameter OQ Free channel AE E Connected channel Moving boards in list Use these buttons in the toolbar or Edit Move board up down menu commands to move the selected I O board one line up or down in the main list The Edit Insert slot command inserts an empty slot at the current position ICS Triplex ISaGRAF Inc A 91 User s Guide A 11 1 Defining I O boards The Edit menu contains basic commands to define the selected board set up its parameters and to connect I O variables to its channels Selecting I O board type Before connecting I O variables to a
303. ing The replaced text can be a variable name a constant expression or a complex expression Defined words are sorted according to their range Only defined words of the same type and the same range can be entered on the same input grid Here are basic ranges A 80 ICS Triplex ISaGRAF Inc User s Guide can be used by any program of any project can be used by any program of the current project can be used by only one program A name a well defined block of ST text equivalence and a free comment identify a defined word i Function block instances The instances of the function blocks used in the ST and IL languages must be declared in the dictionary Because a function block has internal hidden data each copy of a function block must be identified The following example shows the function block R_TRIG rising edge detection defined in the library used for edge detection on different variables Each copy of the block must be identified by a unique name Using the library manager makes naming the type of block and definition of its parameters Block name R_TRIG Parameters Input CLK Output Q Using the dictionary editor makes naming the instances Instance name TRIG_B1 Block name R_TRIG Instance name TRIG_B2 Block name R_TRIG The declared instances may be used in ST programs TRIG_B1 b1 edge_b1 TRIG_B1 Q b1 variable edge detection TRIG_B2 b2 edge_b2 TRIG_B2 Q b2 variable edge detection
304. ing a new selection selection of all objects previously selected is removed To remove the existing selection simply click with the mouse in an empty area outside of the rectangle which borders the selected objects For single selection it is possible to use keyboard arrows to move selection from one object to the other in the chart Flow links can also be selected a Inserting comments Comments may be inserted anywhere in an empty part of the diagram Comments have no influence on the program execution They allow a higher readability of the diagram To insert a comment block select the corresponding button in the toolbar and click in the diagram where comment must be put Double click on a comment to enter change its text No special leading or trailing characters such as and are needed when entering the text of a comment block A comment block may be resized by dragging the corners of its border when it is selected Drawing flow links Select this button in the toolbar to draw a flow link between existing elements A link must always be drawn in the direction of the flow First select a non connected output point of a FC element and drag the mouse to the destination point to insert the link The destination point can either be the top input point of a non connected FC element or any location on an existing link Convergence points between links are shown with small grey circles in the Flow Chart Convergence points can al
305. ing in the target PLC No operation can be performed if the project selected in the Diagnosis Tool dialog box is not the same as the one installed and running in the PLC When the limited ISaGRAF debugger is run and correctly connected to the target application the following commands are available e Spy lists of variables e Spy graphic documents with SpotLight A 132 ICS Triplex ISaGRAF Inc User s Guide A 21 Using the ISaGRAF simulator A 21 1 A 21 2 The ISaGRAF Kernel simulator is started with the debugger when the Simulate command of the Debug menu in the Program Management window is run The kernel simulator is a complete ISaGRAF target system supporting ISaGRAF standard features and all the C functions and function blocks of the standard library delivered by ICS Triplex ISaGRAF The I O boards are graphically simulated in a window Any type of I O board can be simulated The boards defined as Virtual boards during the I O connection also appear in the simulation window Links with the debugger The kernel simulator supports full communication with the ISaGRAF debugger so any of the debug possibilities can be used during simulation The kernel simulator always works on the current ISaGRAF application During simulation the debugger commands Start Stop Download or Update are no longer available The simulator cannot be used if the SIMULATE target was not selected in compiler options before building t
306. ing on input values with hidden static data which are copied instanced by the system on each different use of the function block Any program of any section in the project can call the programs of the Function Blocks section They cannot be programmed in SFC or FC language Sub programs Sub programs are functions dedicated to one SFC FC or other father program A sub program can be executed called by its parent program only Each program of each section may have one or more sub programs Any language apart from SFC and FC can be used to describe a sub program Child SFC and FC programs A child SFC program is a parallel program that can be started or killed by its parent program The parent program and child program must both be described in SFC language When a parent program starts a child SFC program it puts a SFC token into each initial step of the child program When a parent program kills a child SFC program it clears all the tokens existing in the steps of the child Any FC program of the sequential section may control other FC sub programs A FC father program is blocked waits during execution of a FC sub program It is not possible that simultaneous operations are done in father FC program and one of its FC sub programs Links between programs and sub programs Sub programs and child programs are linked to their parent program by a line in the hierarchy tree An arrow ends a link between a SFC program and a SFC child
307. ing programs is opened with all fields set up with the attributes of the selected program Enter the name of the destination program and its location in the sections of the hierarchy tree If the destination program does not exist it is created at the specified location If the destination program already exists it is overwritten All the local declarations and defined words are copied with the program The description language of the destination program must be the same as the one used for the source program Press the OK button to copy the program The Copy to other project command of the File menu copies the selected program into another project with the same name The child SFC programs and sub programs of the selected program can be copied with it The names of the selected program and its children must not be used in the target project Programs cannot be overwritten by this command All the attached local declarations and defined words are copied with the programs Deleting programs To delete a program first select it from the list of programs and then run the File Delete command A program owning child or sub programs cannot be deleted In order to delete a program with child or sub programs the child or sub programs must be deleted first All the local declarations and defined words are deleted with the program Importing function or function block from library The Tools Import from library command is used to copy a
308. ink used for communication for upload between ISaGRAF workbench and the target ISaGRAF system You have to ensure that the configured parameters match to the connected target before running upload ICS Triplex ISaGRAF Inc A 129 User s Guide A 19 3 Preparing a project for upload You have to inform the ISaGRAF Code Generator that zipped source code must be embedded with the application code if you want to enable upload later For this press the Upload button in the Compiler options dialog box Another dialog box enables you to check as an option the embedding of zipped source code In this case only minimum required source files will be embedded Use other check boxes to embed also optional files Important note Libraries are not downloaded with embedded source code This includes functions and function blocks and I O boards and equipments Optional files In addition to the minimum required source code the following files can also be embedded They are options as their selection leads to extra memory requirement on the target Project descriptor If not embedded the project descriptor after upload will just indicate the upload date Password protection Upload function is not protected by a password If you want the uploaded project protected you have to embed its password protection system with source code Comments for not connected I O channels SaGRAF gives you the possibility to enter description text for no
309. ink a diagram input and a diagram output It can also be used with a Boolean negation line to invert the state of a line connected to a diagram output FBD example with assignment Blocks 1 ai10 m a023 bil 1 bi2 qm bo100 ST equivalence ao23 ai10 bo100 NOT bi1 AND bi2 IL equivalence LD ai10 ST ao23 LD bit AND bi2 STN bo100 NEG Neg IN Q Arguments IN INT REAL input and output must have same format Q INT REAL Description Assignment of the negation of a variable FBD example with negation Blocks Neg ai10 N q a023 rit Neg ri2 n ro100 ST equivalence ao23 ai10 ro100 ri1 ri2 IL equivalence LD ai10 MUL 1 ST ao23 B 246 ICS Triplex ISaGRAF Inc Language Reference LD ri1 ADD ri2 MUL 1 0 ST ro100 amp AND Note For this operator the number of its inputs can be extended to more than two Arguments inputs BOOLEAN output BOOLEAN Boolean AND of the input terms Description Boolean AND between two or more terms FBD example with AND Blocks amp bi101 bi102 k bo10 amp bi51 bi52 bi53 bo5 ST equivalence bo10 bi101 AND NOT bi102 bo5 bi51 AND bi52 AND bi5
310. inside an IEC function block SR RS R_Trig F_Trig SEMA CTU CTD CTUD TON TOF TP CMP Stackint AVERAGE HYSTER LIM_ALRM INTEGRAL DERIVATE BLINK SIG_GEN For the same reason you can not use Positive or Negative contact or coils or Set and Reset coils TSTART and TSTOP functions to start and stop timers cannot be used in a function block for 3 0x targets It works since the 3 20 target When you need loop in your function block you must use local variable before doing the loop See the example below This will not work This is OK a gt B 1 6 Description language rect A program can be described with any of the following graphic or literal languages Sequential Function Chart SFC for high level operations Flow Chart FC for high level operations Function Block Diagram FBD for cyclic complex operations Ladder Diagram LD for Boolean operations only Structured Text ST for any cyclic operations Instruction List IL for low level operations ICS Triplex ISaGRAF Inc B 177 Language Reference The same program cannot mix several languages The language used to describe a program is chosen when the program is created and cannot be changed later on The exception is that it is possible to combine FBD and LD in a single program B 1 7 Execution rules ISaGRAF is a synchronous system A clock triggers all the operations The basic duration of the clock is called the cyc
311. integration were not supported Refer to your hardware manual to know the type of ISaGRAF target kernel installed on your PLC Other target types machine code C source code may be supported in future releases of the ISaGRAF Workbench SFC processing Check the Use embedded SFC engine box to enable the use of the ISaGRAF SFC engine This mode should be preferred as it leads to higher run time performances However the target engine may be missing on some particular implementations of the ISaGRAF target of more commonly on customised targets based on ISaGRAF code post processing In this case you may have to remove this ICS Triplex ISaGRAF Inc A 99 User s Guide option and let ISaGRAF compiler translate SFC charts into low level instructions Refer to your hardware documentation for more information about the use of this option Optimiser options Below are the parameters used by the ISaGRAF Code Generator to optimise the target code that can be set from the Compiler options dialog box The Default button is used to remove all optimising options in order to reduce the compiling time gt When the Run two optimiser passes option is set the ISaGRAF Code Optimiser is run twice Optimisations made during the second pass are generally less significant than the ones made in the first pass gt When the Evaluate constant expressions option is set the compiler evaluates constant expressions For example the nume
312. ion task linked with the same kernel task or to run up to 4 kernels with the same communication task This makes easy some integration such as a process visualization link and the workbench debugger link on the same application or a single link up to 4 different applications through the same physical port The kernel and communication tasks are independent and can be separately forked The only requirement is that the kernel task s has to be started first so that it initializes its system environment and the communication task s can link it The ISaGRAF multitask target does not prevent the running of background processes or interrupt driven routines C 4 2 1 Running the kernel task isaker Slave number s Option This option specifies the target kernel slave number It can be from 1 to 255 except number 13 0D This slave number is used through the communication link protocol and by the communication task s linked to the kernel It is needed to distinguish slaves from each other when more than one target are running Default value The default slave number is 1 Same as the workbench one C 4 2 2 Running the serial communication task isatst Communication link and configuration t Option The target communication task isatst uses a serial link for debugger communication The name of the descriptor is specified with the t option ICS Triplex ISaGRAF Inc C 331 Target User s Guide No Default value If this option is n
313. is saved on the target current directory with the file name ISAx1 ISaGRAF application code backup file where x is the slave number ICS Triplex ISaGRAF Inc C 327 Target User s Guide Furthermore if the application symbol table has been downloaded before it is also saved on the target current directory with the file name ISAx6 ISaGRAF application symbols backup file where x is the slave number When the ISaGRAF target is started these application code and application symbols files are searched on the current directory and loaded into memory If no symbols file is available then the target starts running the application code with no symbols loaded If no application code is available then the target is waiting for an application to be downloaded In order to start the target with a specific application at power up without using the debugger link these files can be directly copied to the target current directory disk from the same disk if the workbench is on the same PC or using a floppy disk If there is no disk on your target machine you may use a virtual disk If the ISaGRAF workbench is installed on the standard ISAWIN directory the application code file of the project MYPROJ is ISAWIN APL MYPROJ appli x8m the application symbols file of the project MYPRO4J is ISAWIN APL MYPROJ appii tst Example From the directory where isa exe is installed if the following command is entered copy ISAWIN APL MYPRO J appl
314. isaker s 3 t COM1 Starts the ISaGRAF target with slave number 3 and with COM1 as the communication port C 354 ICS Triplex ISaGRAF Inc Target User s Guide C 6 3 Specific features ISaGRAF start up When the target is started the following algorithm is executed Look for application from disk to load it into memory Application OK No available application on disk Execute Application Stop application e Definitions The application code is the binary data base generated and downloaded by the workbench and then executed by the target The symbol table may complete it The application symbol table is an ASCII database generated and downloaded by the workbench This table makes the link between symbol objects and internal target objects It is not required on target except for user s specific symbol management as for instance the DDE feature or I Os simulation with symbol names feature For more information on symbol table see user s guide Advanced programming techniques e ISaGRAF Multi applications Different applications can run at the same time on a CPU as far as they have respectively different slave numbers and different communication task logical numbers Nevertheless while running different application the user must take care of some application objects shared access such as I O boards For instance different application may use distinct physical boards unless some kind of I O server or semaphore is
315. isually removed from the diagram but simply marked with Deleted style This enables the user to automatically keep a trace of all modifications entered in the diagram Use the Edit Style Remove all deleted items to actually remove all elements marked with Deleted style from the LD FBD diagram This command does not take care of the current selection and always applies to the entire diagram To restore one element marked with the Deleted style select the desired element and apply to it the Normal style the Modified style or any Custom style Such operation may lead to invalid connections more than one link connected to the same input point that will be detected during next program verification A 7 6 On line help To get help about function blocks from the LD FBD editor Select an existing function block on the LD FBD diagram OR place the cursor on it ICS Triplex ISaGRAF Inc A 71 User s Guide Press on F1 Help about the function block is displayed In case of custom C or IEC function or function block the help displayed is the technical note entered in the library editor text only A 7 7 Printing an FBD diagram The File Print command outputs the FBD diagram on printer This command automatically runs the ISaGRAF Document Generator to printout the FBD diagram A 72 ICS Triplex ISaGRAF Inc User s Guide A 8 Using the text editor This section describes features and commands of
316. itialized to FALSE busy x If claim Then ICS Triplex ISaGRAF Inc B 269 Language Reference x True Else If release Then busy False x False End_if End_if CTU Arguments CU BOO counting input counting when CU is TRUE RESET BOO reset command dominant PV INT programmed maximum value Q BOO overflow TRUE when CV PV CV INT counter result Warning The CTU block does not detect the rising or falling edges of the counting input CU It must be associated with an R_TRIG or F_TRIG block to create a pulse counter Description Count integer from 0 up to a given value 1 by 1 FBD program using CTU block r_trig CTU command lok ajeu auto_mode C Rreset o overflow 100 v cy result ST Equivalence We suppose R_TRIG 1 is an instance of R_TRIG block and CTU1 is an instance of CTU block CTU1 R_TRIG1 command NOT auto_mode 100 overflow CTU1 Q result CTU1 CV IL Equivalence LD command ST R_TRIG1 clk CAL R_TRIG1 LD R_TRIG1 Q ST CTU1 cu LDN auto_mode ST CTU1 reset LD 100 ST CTU1 pv B 270 ICS Triplex ISaGRAF Inc Language Reference CAL CTU1 LD CTU1 Q ST overflow LD CTU1 cv ST result CTD Arguments cD BOO counting input down counting when CD is TRUE LOAD BOO load command dominant CV PV when LOAD is TRUE PV INT programmed initial value Q BOO underflo
317. ives access to the communication configuration The modified option will be activated only after next start of the target This feature isn t available if the target has been started with at least one option different from s option DDE gives access to the DDE advise loop rate modification The modified option will be activated only after next start of the target This option isn t available if the target has been started with at least one option different from s option Simulate I O is checked or unchecked reflecting the state of the option The modified option will be activated only after next Stop Start of the application Priority gives access to the priority modification The modified option is activated immediately Default Options retrieves the default running options for the following only Communication DDE Coordinates of the window on the screen The modified options will be activated only after next start of the target This feature isn t available if the target has been started with at least one option different from s option e Messages menu The Messages menu is the management of the output It contains the two following commands Acknowledge stops the red blink in case of errors or messages Clear totally erases the output ISaGRAF NT target icon The icon reflects the states of the target application is running then the icon turns no application or application stopped then the icon i
318. jects of the ISaGRAF workbench and pressing the Backup button More than one object on the list can be selected The Backup button is disabled when an element is selected from the list on the right restore mode Restore Copying an object from the archive to the ISaGRAF Workbench is achieved by selecting the object in the list on the right archive objects and pressing the Restore button More than one object on the list can be selected The Restore button is disabled when an element is selected from the list on the left backup mode Archive files The ISaGRAF archive manager creates a unique archive file for each saved object The archive file has the same name as the object Its file suffix indicates its type Below are the used suffixes Plain tees project ICS Triplex ISaGRAF Inc A 153 User s Guide I O board function in IEC language function block in IEC language C function C function block C conversion function I O configuration I O equipment A 154 ICS Triplex ISaGRAF Inc User s Guide A 24 Printing a complete document A 24 1 The ISaGRAF Document Generator allows the user to build and print a complete document for the selected project It can be called by the Project Print commands of the Project Management or the Program windows to print a complete document The Document Generator is also run by the Print command of all other ISaGRAF editors to print the contents of a single I
319. ke sure the setup and user codes are the same as those in the License Manager window then copy and paste the registration keys in their respective fields 5 Click Proceed If licensing is successful ISaGRAF appears greyed in the Selected Components list 6 When licensing is complete stop then restart ISaGRAF A 1 2 2 Transferring Licensing You can transfer licensing from one computer to another To transfer a license to a new computer Transferring a license from one computer to another requires creating a license transfer disk then removing the license from the currently licensed computer and copying it to this transfer disk before it can be installed on the new computer The floppy disk must be formatted and blank 1 From the new computer prepare the license transfer disk a Install ISaGRAF b Insert a floppy disk in the computer s drive c From the Start menu of Windows choose Programs then ISaGRAF 3 5 then Licensing d On the Transfer License tab select the drive holding the floppy disk then click Create Transfer Disk The license transfer disk is created e Remove the license transfer disk from the new computer s drive 2 Transfer the license from the currently licensed computer to the license transfer disk a Inthe currently licensed computer s drive insert the license transfer disk A 16 ICS Triplex ISaGRAF Inc User s Guide A 1 2 3 b From the Start menu of Windows choose Pro
320. ks between father programs and children programs D 424 ICS Triplex ISaGRAF Inc Glossary I O board 1 0 channel V0 connection I O variable Identifier IL Initial situation Initial step Input Instruction Instruction List Integer Internal Jump toa step Keyword Label IL Ladder Diagram LD Level 1 of the SFC Level 2 of Hardware resource A type and a direction input or output characterize an I O board The parameters of an I O board are described into the ISaGRAF library Single connection point of an I O board An I O channel may receive one I O variable Definition of the links between the variables of the application and the channels of the boards existing on the target system Variable connected to an input or output device An I O variable must be connected on a channel of an I O board Unique word used to represent a variable or a constant expression in the programming Instruction List language Set of the initial steps of a SFC program which represents the context of the program when it is started Special step of a SFC program which is activated when the program starts Attribute of a variable Such variables are linked to an input device Elementary operation of an IL program entered on one line of text Low level literal language entered as a sequential list of elementary operations Class of analog variables stored in a signed integer 32 bit format Attribute of a variable
321. l address used to store message variables Need to be always different from zero msg_size Hexadecimal size in bytes available at this address 256 bytes per message variable to store is required Requirements All fields of all types need to be specified even if you may not need to make a backup of all types of variables In such a case you need to specify a size of zero except for analogs for which you need to specify a size of four bytes and any address different from zero for the non required type s of variables C 406 ICS Triplex ISaGRAF Inc Target User s Guide Example Let s suppose that we need to make a backup of 20 Booleans variables 0 Analog variable 0 Timer variable 3 Message variables The backed up memory is located at Hexadecimal address 0xA2F200 Let s suppose that Booleans will be stored at address OxA2F200 with the exact required size of 20 bytes Analogs minimum required size of 4 bytes will be stored at address 0OxA2F214 Timers dummy address will be OxA2F200 and specified with a size of zero Messages will be stored at address 0x A2F218 with the exact required size of 256 3 bytes Then the workbench entered string should be A2F200 14 A2F214 4 A2F200 0 A2F218 300 a SYSTEM function call If most of the application variables need to be stored then the facilities of the SYSTEM function should be used to deal with a complete set of variables for more information on the SYSTEM function see the us
322. l is run from another ISaGRAF tool for example the Project Manager runs the Program Manager Stored passwords are lost when the last remaining ISaGRAF window is closed Passwords entered during project editing or by using the Library Manager or by using the Archive manager cannot be shared If the user enters a bad password he cannot run the selected function Links with the archive manager When saving an object project or library element on archive disk the data protection item named Backup on archive is invoked This corresponds to the data protection system attached to the object in the Workbench hard disk No test is performed on the data protection system of the object on the archive disk if it already exists The Backup command of the ISaGRAF Archive Manager saves the data protection information with the object on the archive disk When restoring an object which already exists in the Workbench hard disk the data protection item named Overwrite with archive is invoked This corresponds to the data protection system attached to the object in the Workbench hard disk No test is performed on the data protection system of the object on the archive disk If this command is validated the restored data protection information will then replace the existing one on the hard disk ICS Triplex ISaGRAF Inc A 159 User s Guide Setting individual protection for variables and I O channels The ISaGRAF workbench provides
323. l session accessories group with the right communication parameters Hit 3 carriage return You are now logged on an OS 9 Shell Type logout to exit the terminal mode WARNING The terminal mode session must always be left in a clean way using logout and nothing else otherwise next connection with the workbench will be unsuccessful C 338 ICS Triplex ISaGRAF Inc Target User s Guide C 5 Getting started with ISaGRAF VxWorks target To run the ISaGRAF target s a few commands need to be executed on the VxWorks system in order to set the configuration environment and finally spawn the ISaGRAF target s All these commands may be started from a script file They are described in next chapters C 5 1 The system resource manager isassr o This module is always needed in any configuration of the ISaGRAF target and must be the first of the ISaGRAF target loaded modules It enables the system resource managing of multi targets running C 5 2 Common features to isa o isakerse o and isakeret o To run ISaGRAF one of these modules may be loaded isa o enables to start ISaGRAF single task targets serial communication link only Isakerse o enables to start SaGRAF multitask targets serial communication link only Isakeret o enables to start ISaGRAF multitask targets serial or and Ethernet communication link These modules are detailed in next chapters Serial communication link configuration The ISaGRAF
324. l_mode IL Equivalence LD level ST CMP1 val1 LD max_level ST CMP1 val2 CAL CMP1 LD CMP1 LT OR CMP1 EQ ST pump_cmd LD CMP1 GT ANDN manual_mode ST alarm STACKINT stackint Arguments PUSH BOO push command on rising edge only add the IN value on the top of the stack POP BOO pop command on rising edge only delete in the stack the last value pushed top of the stack R1 BOO resets the stack to its empty state IN INT pushed value N INT application defined stack size EMPTY BOO TRUE if the stack is empty OFLO BOO overflow TRUE if the stack is full B 276 ICS Triplex ISaGRAF Inc Language Reference OUT INT value at the top of the stack Description Manage a stack of integer values The STACKINT function block includes a rising edge detection for both PUSH and POP commands The maximum size of the stack is 128 The application defined stack size N cannot be less than 1 or greater than 128 Note that OFLO value is valid only after a reset R1 has been set to TRUE at least once and back to FALSE FBD program using STACKINT block error management stackint err_detect push acknoledge PoP auto_mode ual manual_mode smer q appli_alarm err_code IN OFL err_alarm max_err N ouj last_error ST Equivalence We suppose STACKINT1 is an instance of STACKINT block STAC
325. language can also be IL or Quick LD The name of the selected language is displayed in a small box in the level 2 title bar Run the Options Set Level 2 language command from menus or click on that box to change the active language This command is valid only if the level 2 programming window is empty 04 Start machine M100 IL Language ST Language LD Language A single line edit box appears at the top of the level 2 window It is used to enter a short description text This text will be displayed as an IEC comment in the drawing of FC symbols It is very useful as it is used by other commands such as Go To and also in the FC printout to document FC actions and tests 4 Start machine M100 Start machine M100 The Options Refresh command can be used at any time when level 2 windows are open to refresh the main FC chart with modified level 2 programs A 5 5 Programming level 2 with Quick LD Quick LD editor is available for level 2 programming In the case of a decision test the LD diagram is made of just one rung with only one coil which represents the decision The name of the test is not repeated with the coil symbol Below is an example of a test programmed in Quick LD toggle Cmd100 HHI _ _ ManMode When programming in Quick LD use the keyboard arrows to move the selection in the programming logical grid and then use the following shortcuts to insert symbols Farane a insert a contact after the s
326. le timing Cycle timing Programmed Used Free Basic operations processed during a target cycle are Scan INPUT variables Process Begin section programs ISaGRAF Process Sequential section programs target cycle according to SFC FC evolution rules Process End section programs Update OUTPUT devices This system makes it possible to guarantee that an input variable keeps the same value within a cycle guarantee that an output device is not updated more than once in a cycle work safely on the same global variable from different programs estimate and control the response time of the complete application B 178 ICS Triplex ISaGRAF Inc Language Reference B 2 Common objects These are main features and common objects of the ISaGRAF programming database Such objects can be used in any program written with any of the SFC FC FBD LD ST or IL languages B 2 1 Basic types Any constant expression or variable used in a program written in any language must be characterised by a type Type coherence must be followed in graphic operations and literal statements These are the available basic types for programming objects BOOLEAN logic true or false value ANALOG integer or real floating continuous value TIMER time value MESSAGE character string Note Timers contain values less than one day and cannot be used to store dates B 2 2 Constant expressions Constant expressio
327. lic object name begins with ISAxn where x is the kernel slave number and n a space number with a specific meaning except for ISAy3 where y is the communication task logical number in the multitask implementation Different applications kernels and communication tasks can run at the same time on a CPU as far as they have respectively different slave numbers and different communication task logical numbers Nevertheless while running different applications the user must take care of some application objects shared access such as I O boards For instance different applications kernels may use distinct physical boards unless some kind of I O server or semaphore is implemented through the I O driver OS 9 object names Disk Files ISAx1 ISaGRAF application code backup file ISAx6 ISaGRAF application symbol backup file Memory Modules ISAx0 ISaGRAF kernel system data ISAx1 ISaGRAF application code ISAx2 ISaGRAF kernel real time data base ISAy3 ISaGRAF communication data exchange buffer ISAx4 ISaGRAF on line modification 1 application code ISAx5 ISaGRAF on line modification 2 application code ISAx6 ISaGRAF application symbol Therefore the user must take care to not use the same object names e Application backup When a new application is downloaded from the workbench debugger into the target the application code is saved on the target current directory with the file name ISAx1 ISaGRAF application code backup file where x is the slave num
328. lication should not be stopped when a key is hit something should be provided to disable these combinations One dangerous side effect of these fast exits is that the IO board interface is not closed Thus the clean way for stopping your ISaGRAF target is stop the application from the debugger this will close the IO boards stop ISaGRAF target from the keyboard Application size As the ISaGRAF MS DOS target is designed for Intel real mode the maximum size of a data structure is 64K Thus the application code downloaded by the workbench should not exceed this limit In some very rare cases internal structure allocated by ISaGRAF may also exceed this limit and crash your application after download Furthermore the whole available memory is limited to the 640K of conventional memory Ask your supplier for a special implementation if your application require more memory capacity ICS Triplex ISaGRAF Inc C 329 Target User s Guide C 4 Getting started with ISaGRAF OS9 target First of all you need to transfer files at least executable files from CMDS directory to your OS 9 target using any file transfer tool Then to get started you can simply run the help commands from your OS 9 system CMDS directory isa isaker isatst Isanet C 4 1 Running the ISaGRAF single task isa The ISaGRAF target can be run as single task But in such a configuration operations can be critical It is for instance recommended
329. line state and the rising edge of a Boolean variable boo_ variable P Left connection Right connection The state of the connection line on the right of the contact is set to TRUE when the state of the connection line on the left is TRUE and the state of the associated variable rises from FALSE to TRUE It is reset to FALSE in all other cases Example using RISING EDGE contacts input1 input2 output H 4 H ST Equivalence output1 input1 AND input2 AND NOT input2prev input2prev is the value of input2 at the previous cycle Contact with falling edge detection This contact negative enables a Boolean operation between a connection line state and the falling edge of a Boolean variable ICS Triplex ISaGRAF Inc B 213 Language Reference boo_ variable gt N Left connection Right connection The state of the connection line on the right of the contact is set to TRUE when the state of the connection line on the left is TRUE and the state of the associated variable falls from TRUE to FALSE It is reset to FALSE in all other cases Example using FALLING EDGE contacts input1 input2 output H ni O4 a ST Equivalence output1 input AND NOT input2 AND input2prev input2prev is the value of input2 at the previous cycle Direct coil Direct coils enable a Boolean output of a connection line Boolean state boo_variable Left connection NAN R
330. list to the other Each project has its own list of documents for initial workspace a Link set up The Link set up command enables the user to define the parameters of the link used for communication between the debugger on the host PC and the target ISaGRAF system The Slave number identifies the target ISaGRAF system or task It can be from 1 to 255 Refer to the target supplier manual for the slave number of the target system used The Communication port identifies the hardware media between ISaGRAF workbench and target It can be either the name of a serial port or Ethernet reserved TCP IP communication using the Winsock Version 1 1 The Time out is the time left to the target system for its communication operations between the end of a debugger question and the beginning of its response This time is set as a number in milliseconds The Retries field is the number of automatic trials the debugger executes for a communication operation before detecting a communication error Serial link set up When a serial port COM1 4 is selected the Set up button is used to access to other serial link communication parameters The transmission baud rate parity and format may be selected When the hardware choice is selected for Flow Control the ISaGRAF Workbench controls the CTS and DSR lines to enable hardware handshaking during exchanges ICS Triplex ISaGRAF Inc A 35 User s Guide Ethernet link set up W
331. lock ascii message In IHP Cod FirstChr ST Equivalence FirstChr ASCII message 1 FirstChr is the Ascii code of the first character of the string IL Equivalence LD message ASCII 1 ST FirstChr CHAR char Code Q Arguments Code INT code in set 0 255 Q MSG one character string the character has the ASCII code given in input Code ASCII code is used modulo 256 Description Gives a one character message string from a given ASCII code FBD program using CHAR block value char 48 code a Display ST Equivalence Display CHAR value 48 value is in set 0 9 48 is the ascii code of 0 result is one character string from 0 to 9 IL Equivalence LD value ADD 48 CHAR ST Display B 302 ICS Triplex ISaGRAF Inc Language Reference DELETE Arguments IN NbC Pos Q Description MSG INT INT MSG any non empty message number of characters to be deleted position of the first deleted character first character of the string has position 1 modified string empty string if Pos lt 1 initial string if Pos gt IN string length initial string if NbC lt 0 Deletes a part of a message string FBD program using DELETE block CAT ABCD EFGH
332. log values as the displayed information can lead to confusions COO bit 31 bit 0 ICS Triplex ISaGRAF Inc A 125 User s Guide R A 18 2 A 18 3 Select move or resize items Selecting graphic objects is needed for most of the editing commands SpotLight enables the selection of one or more existing objects in the chart area To select objects the select button with an arrow choice must be checked in the editor toolbar To select one object the user simply has to click on its symbol To select a list of objects drag the mouse in the drawing area to select a rectangle area All the graphic objects that intersect the selection rectangle are marked as selected A selected object is drawn with little black squares around its graphic symbol By making a new selection any previously selected objects are unselected To remove the existing selection s simply click with the mouse on an empty area outside of the rectangle which borders the selected objects To move objects you first have to select them Then place the mouse cursor on the border of the selected item and drag it to other location To resize an object you first have to select it Then place the mouse cursor on one of the small rectangles displayed in the selection border and drag it in appropriate direction to resize the object Pictures can also be resize In such case the corresponding bitmap or metafile is stretched to fit the new specified item recta
333. made according to the current selection You have to select a valid cell position within the rung and hit one of the following function keys to insert ICS Triplex ISaGRAF Inc A 57 User s Guide 142 F2 a contact before the selected symbol on the left F3 a contact after the selected symbol on the right F4 a contact in parallel with the selected symbol F6 a block before the selected symbol on the left F7 a block after the selected symbol on the right a block in parallel with the selected symbol The following commands are valid when the selection is on the rung output coil add a coil in parallel with the selected one add a Jump symbol in parallel with the selected one add a Return symbol in parallel with the selected one For parallel insertion F4 F8 if several contacts of a rung are selected together the symbol is inserted in parallel with the group of selected elements Below is an example F4 gt To insert symbols in the diagram you can also use the commands of the Insert menu With the mouse you can click on the LD toolbar on the type of symbol you want to insert FO 4bE F3 JHE F4 Gel F5 H F6 HE F7 3H F8 IG F9 gt tF9 gt Entering symbols To associate a variable symbol to a contact or a coil select it and hit ENTER With the mouse double click on the contact or coil A variable selection box appears Refer to chapter More about program editors in this docum
334. main characteristic of In Line function blocks is that the body code of the block is duplicated on each use each instance of the block in the application Unlike other function blocks the calling system and parameter passing mechanism is not applied to In Line function blocks The call to an instance is replaced by the actual code of the block This replacement is achieved by the Quick LD compiler Because the instanciation mechanism is operated completely by the compiler there is no limitation in nesting In Line function blocks Therefore an In Line function block may call another In Line FB or a standard or C function block Principle Let s imagine a very simple block with one input one output and one internal instanciated variable This example is an edge detection function block Name FB1 Inputs IN boolean input signal Outputs Q boolean set to TRUE only when IN changes from FALSE TO TRUE Internal instance data to be duplicated on each call PREV boolean state of IN signal at the previous cycle LD programming of the FB1 block IN PREV Q 1_ 1 IN PREV 1 Equivalent code in ST language Q IN and not PREV PREV IN Below is a Quick LD program that calls the function block Bl ee att B2 FB1 EI a nae ie B3 The masa ea B4 FB1 HoSseses B 220 ICS Triplex ISaGRAF Inc Lan
335. mation application according to the ST language function calling interface Functions are synchronous processes The ISaGRAF target application is suspended during the function execution Function blocks associate operations and static hidden data For example a counter function block represents the counting operation as well as the counting result Functions and function blocks may be used to complete the standard automation language capabilities or to access system resources 2 The parameters definition box is used to define the name and the type of each calling or return parameter of the function or function block The Edit menu commands are used to define the parameters of the selected function or function block A function can have up to 31 calling parameters and always has one return parameter A function block can have up to 32 parameters with any mix of call and return parameters Below is the correspondence between ISaGRAF types and C types BOOLEAN unsigned long unsigned 32 bit word 1 true O false ANALOG long signed integer 32 bit word REAL float single precision floating value TIMER unsigned long unsigned integer 32 bit word unit is 1 ms MESSAGE char character string When a message value is passed onto a C function or function block it cannot contain null characters The string passed to the C code is null terminated Refer to the ISaGRAF Target User s Guide for further information on how to manage the C so
336. mber They must be manually updated in the C source file The file ISAWIN LIB USPNUMS gives the relationship between names and logical numbers for the C functions existing in the ISaGRAF library This is as an example of such a file 1 funct_A 10 funct_B 16 funct_C The file ISAWIN LIB FBLNUMS gives the relationship between names and logical numbers for the C function blocks existing in the ISaGRAF library This is as an example of such a file 0 fbl_A 1 fbl B 2 fbl C The file ISAWIN LIB CNVNUMS gives the relationship between names and logical numbers for the conversion functions existing in the ISaGRAF library This is as an example the content of this file for the conversions of the standard library 0 SCALE 1 BCD These files are automatically updated by the ISaGRAF Library Manager each time a conversion function or function block is created renamed copied or deleted The ISaGRAF Code Generator automatically generates the following files when an application is built ICS Triplex ISaGRAF Inc C 393 Target User s Guide isawin apl ppp GRCNOLIB C Declaration as an array of all the conversion functions used in the project isawin apl ppp GRUSOLIB C Declaration as an array of all the functions used in the project isawin ap ppp GRFBOLIB C Declaration as an array of all the function blocks used in the project ppp is the name of the ISaGRAF project These files can be used during link operations to buil
337. mber is used through the communication link protocol It is mainly designed to distinguish slaves from each other when more than one target are connected to the same host workbench or when more than one target run on the same PC When using the workbench debugger make sure the workbench slave setting see user s guide Managing programs matches the target one Default value The default slave number is 1 or the one in the ISaGRAF INI file Example WISAKER EXE s 2 User interface This window is display from the Options Slave command of the main window of ISaGRAF NT target ja slave Number Setup Slave Number ill Using the mouse or the arrows Up and Down it is possible to change the value of this option In order to use it the ISaGRAF NT target should be restarted Communication link and configuration t Option The ISaGRAF target can use a serial link or an Ethernet link for debugger communication The name of the port is specified with the t option As the communication interface is designed to be compatible with any machine ports COM1 COM2 COM3 or COM4 can be used for serial communication and port numbers starting from 1100 can be used for Ethernet communication Default value The default communication port is the 1100 for Ethernet and COM1 for serial communication or the one in the ISaGRAF INI file TO BE NOTED The default communication link is the Ethernet Examples WISAKER t COM2 WISAKER t
338. mbol Building the graphic layout A chart is made of background pictures bitmaps or metafiles and a set of graphic items that will be animated during debug To enter the chart the following operations must be performed Insert background pictures insert graphic items link objects to the variables of the project Background pictures The background pictures are bitmap BMP or metafile WWMF files Numbers of pictures included in the graphic layout is not limited Pictures can be moved or resized in graphic layout They do not appear in list layout Pictures are built with other tools SpotLight does not include a painting tool The Options Background color command is used to select a solid color for empty space in graphic layout Note Bitmaps consume a large amount of memory It is highly recommended to correctly size the picture and limit the unused space inside the bitmap rectangle Single text display A single text item is a text written in a rectangle The text displayed is the value of the attached variable Thus such item can be linked to message string variable The rectangle where text is displayed can be either filled with color or transparent The character font used to display text is adjusted to fit the height of the rectangle when item is resized Unipolar and bipolar bar graphs A bar graph is a rectangle with a colored part that represents the numerical value of the attached variable Optionally
339. mbol A jump symbol always refers to a rung label i e the name of a rung defined somewhere in the same LD diagram It is placed at the end of a rung When the rung state is TRUE the execution of the diagram directly jumps to this target rung Note that backward jumps are dangerous as they may lead to a blocking of the PLC loop in some cases Return symbol A return symbol is placed at the end of a rung It indicates that the execution of the program must be stopped if the rung state is TRUE The EN input On some operators functions or function blocks the first input does not have Boolean data type As the first input must always be connected to the rung another input is automatically inserted at the first position called EN The block is executed only if the EN input is TRUE Below is the example of a comparison operator and the equivalent code expressed in ST IF rung_state THEN q valuel gt value waluet 2 ELSE value q FALSE END_IF continue rung with q state ICS Triplex ISaGRAF Inc A 55 User s Guide TF The ENO output On some operators functions or function blocks the first output does not have Boolean data type As the first output must always be connected to the rung another output is automatically inserted at the first position called ENO The ENO output always takes the same state as the first input of the block Below is an example with AVERAGE function block and th
340. ments Notes Example Output If Goto Meaning Syntax Arguments Unconditional jump to a label Goto lt labelname gt lt labelname gt is the name of a label defined in the script Backward jumps are allowed In case of an infinite loop script execution is automatically broken on each loop in order to preserve execution of ISaGRAF cycles Print Before Jump Goto MyLabel Print Within Jump never performed MyLabel Print After Jump Before Jump After Jump Conditional jump to a label The condition is either a comparison between two ISaGRAF variables or a comparison between a variable and a constant expression If lt varl gt test lt var2 gt Goto lt labelname gt If lt varl gt test lt constant_expr gt Goto lt labelname gt Available comparison tests are true if both members have same value lt gt true if members have different values lt true if first member is less than second lt true if first member is less than or equal to second member gt true if first member is greater than second gt true if first member is greater than or equal to second member lt varl gt lt var2 gt are valid symbols of declared application variables or directly represented I O variables using writing conventions lt constant_expr gt is a valid constant expression that matches the type of specified variable For Booleans 0 and 1 can be used instead of FALSE and TRUE For
341. mple See TSTART the function is described above GSTART statement Name GSTART Meaning starts a child SFC program by putting a token into each of its initial steps Syntax GSTART lt child_program gt Operands the specified SFC program must be a child of the one ICS Triplex ISaGRAF Inc B 233 Language Reference in which the statement is written Return value none The GSTART statement does not automatically start children of the child program Note As GSTART is not in the IEC 1131 3 norm prefer the use of the S qualifier with the following syntax to start a child SFC Child_name S Example Use of GSTART and GKILL Sequence Sfather Sequence Schild 1 1 Bo100 Run_cmd GS1 t gt t 2s 1 1 2 _JACTION P 2 _ Bo101 GSTART Schild END_ACTION GS2 t gt t 2s 2 NOT Run_cmd 2 1 3 _JACTION P GKILL Schild END_ACTION Run_cmd 3 1 GKILL statement Name GKILL Meaning kills a child SFC program by removing the tokens currently existing in its steps Syntax GKILL lt child_program gt Operands the specified SFC program must be a child of the one in which the statement is written Return value none Children of the child program are automatically killed with the specified program Note As GKILL is not in the IEC 1131 3 norm prefer the use of the R qualifier with the followi
342. mple or double is set by selecting one of these buttons in the toolbar Fei EAE Insert an OR divergence or convergence Add branches romas Insert an AND divergence or convergence Add branches Adding branches to divergences The start and stop position of each auxiliary branch is placed on the divergence or convergence line using these buttons in the toolbar The left corner of the divergence or convergence must be present before inserting new branches The right corners have the same style simple or double as the main left corner Right corners cannot be placed if the main left corner has not been added A 40 ICS Triplex ISaGRAF Inc User s Guide Fe Feat Fett Insert an OR divergence or convergence Add branches ierasts Insert an AND divergence or convergence Add branches Inserting a macro step This button is used to insert a macro step in the main chart The body of the macro step must be entered elsewhere in the same SFC program ER FEE Body of a macro step Macro steps must be described in the same SFC program as the main chart A macro step must start with a beginning step and stop with an ending step The sub chart described as the macro implementation must be self contained The macro beginning step must have the same reference as the macro step symbol of the main branch A 4 3 Working on an existing SFC chart You can use either the mouse or keyboards arrows to select a rectangle area in the c
343. munication klPaddr port gt gt 194 50 220 22 1100 194 0 0 1 rDDE Setup Advise loop rate 10000 ms Server name ISASRY2 Topics Items names s ystem Topics lt appli_name gt T opicltemList For Application Status imimew Running mode Software processed 00000 Code size fice bytes Data size 2542 bytes ICS Triplex ISaGRAF Inc C 361 Target User s Guide There are three topics a General setup The slave number the communication configuration If the communication link is the Ethernet one in addition to the port number the list of available IP address on the current NT system is displayed b DDE setup c App the advise loop rate the DDE server name the DDE topics and items name This is a general information this doesn t reflect the real values In fact the fields between lt gt should be replaced by the real values lication The application status which is its name when there is a running application and is the string No application when there is no running application The running mode of application which indicates if the application is running through the software processor It contains in this case the string Software processed Or if the application had been compiled with a C compiler It contains in this case the string C compiled If there is no running application it contains the string No application The code si
344. must then be selected and its parameters edited A variable cannot be attached to a conversion table that is not already defined Main commands The Conversion tables dialog box shows the list of defined conversion tables and contains push buttons for main commands to edit an existing table define its points to create a new table and also to rename or delete a table Press OK to quit the Conversion tables dialog box and save them on disk Creating a new table The New command allows the user to create a new conversion table Up to 127 conversion tables can be created for each project Only used tables the ones attached to analog variables are inserted in the application executable code Naming a table must conform to the following rules e the name cannot exceed 16 characters e the first character must be a letter e the following characters can be letters digits or _ character e the table name is case insensitive Changing the contents of a table The Edit command is used to enter the points of a table selected from the list It is also possible to double click on the name of the table The Edit command is automatically called when a new table is created At least two points must be entered for each table Entering points of a table The Edit dialog box allows the user to define the points of a conversion table The box shows on the left side the list of points already defined The lower right box shows the define
345. n application application application application application application as E ee eee eee gt 100 specific OEM error code ask your supplier for more details The 3 error types correspond to the different sources of trouble System errors Such problems are probably due to target software or hardware not to application setting or to program execution Try a hard reset power off of your target and try to run other applications These errors should be reported to your SaGRAF support Application errors Such problems are due to application parameters size or content These errors should disappear when loading a known and previously validated application If the problem still appears it becomes a system error as listed above Program errors Such problems are due to a particular sequence of program These kind of error should disappear when the application is started in cycle by cycle mode or when the critical program is stopped Errors description 1 cannot allocate memory for run time data base No memory available Check the hardware C 412 ICS Triplex ISaGRAF Inc Target User s Guide 2 incorrect application data base Motorola Intel application o o D S D Q 3 fa D 2 0 2 o 3 o D fa x fo 2 c J 2 Q 3 fo O baa o D 3 3 S v D D a gt D ne ne ne application is generated for INTEL and do
346. n one communication task at a time It can be from 1 to 255 and must be different for each communication task Default value The last s specified option is used The default value ensure compatibility with previous 3 0 ISaGRAF versions C 4 2 3 Running the Ethernet communication task isanet Communication link and configuration t Option The target communication task isanet uses a standard Ethernet link for debugger communication The port number is specified with the t option No Default value If this option is not used no communication with the target is possible In such a case error number 7 may be displayed When using the workbench debugger make sure the workbench communication parameters see user s guide Managing programs match with the target ones For ISaGRAF the OS 9 target is the server and the debugger is the client which connects the specified port number C 332 ICS Triplex ISaGRAF Inc Target User s Guide Before starting your first debug session on Ethernet you should make sure your OS 9 Ethernet device is well configured You may for instance send a ping to the OS 9 system Slave number s Option This option specifies the target kernel slave number s the communication task is linked to It can be from 1 to 255 except number 13 0D This option can be repeated up to 4 times to link up to 4 different kernel slaves This slave number is used through the communication link protocol It is
347. n action Two different objects of the same chart cannot have the same name or logical number Programming language for an action can be ST LD or IL An action is always connected with links one arriving to it one starting from it 2 FC tests A test represents a Boolean condition A number and a name identify a test According to the evaluation of attached ST LD or IL expression the flow is directed to YES or NO path When programmed in ST text a semicolon may optionally follow the expression When programmed in LD the unique coil represents the condition value El FC sub program The system enables the description of a hierarchised structure of FC programs FC programs are organised in a hierarchy tree Each FC program can call other FC programs Such a program is called a child program of the FC program which calls it FC programs which call FC sub programs are called father program FC programs are linked together into a main hierarchy tree ICS Triplex ISaGRAF Inc A 47 User s Guide using a father child relation A sub program symbol in a Flow Chart represents a call to a Flow Chart sub program Execution of the calling FC program is suspended till the sub program execution is complete A FC I O specific action An I O specific action symbol represents actions to be performed As other actions a number and a name identify an I O specific action The same semantic is used on standard actions and I O specific action
348. n connected I O channels Do not check this option is you work with connected I Os only History of modifications This is the global history of modifications for the project Diary files Diary file of each program contains user written notes plus the history of compiler output messages referring to the program Embedding diary files may consume a lot of memory in target Lists of variables and time diagrams These are the files created during debug and containing lists of variable names for list or time diagram monitoring Graphics icons and bitmaps This includes ISaGRAF graphics plus all attached icon and bitmap files if they are located in the project directory Warning embedding diary files may consume a lot of memory in target A 19 4 How zipped source are stored in the target Embedded zipped source EZS is stored in generated code with resources The generated resource is called EZS If source code embedding is selected you cannot choose this name for another resource Embedding source code does not imply any limitation in resource definition The user written resource definition file is not affected by source embedding Please refer to the ISaGRAF documentation about the Code Generator for further details and information about resources A 130 ICS Triplex ISaGRAF Inc User s Guide A 19 5 Memory requirements on the target Embedded zipped source EZS code requires extra memory to be stored with application
349. n enables the user to name a function with a reserved keyword of the C language or the name of an existing function of the C ISaGRAF libraries Other statements can be added to the declaration function to create any specific initialization operation relative to this function The ISaGRAF system ensures the user that this function is called only once when the application starts The declaration function is called for any integrated C function even if it is not used in the programs of the ISaGRAF application The ISaGRAF kernel fails in a fatal error if a C function used in the application is not integrated to the kernel Before linking new functions with the kernel the user must write another C source file named GRUSOLIB C and insert it with the retained functions in the list of files for the link The GRUSOLIB C only contains an array of declaration functions This array is read during application initialization to establish a dynamic link with the functions written in C This is an example of such a file File GRUSOLIB c Example using trigonometric functions include lt tasyOdef h gt required for types definition C 374 ICS Triplex ISaGRAF Inc Target User s Guide extern UFP uspdef_fcl char name declaration functions extern UFP uspdef_fc2 char name extern UFP uspdef_fc3 char name extern UFP uspdef_fc4 char name UFP_LIST USPDEF array of declaration functions
350. n individual protection for selected channel Both commands ask you to enter a valid password so that a protection level can be attached to the channel Then each time you want to change connection to a channel having individual protection you must enter a password with sufficient priority level Warning If a channel is protected with a level and the corresponding password is removed from protection system and if no higher level password is defined connection to the channel cannot be changed anymore unless a new password with sufficient level is defined ICS Triplex ISaGRAF Inc A 95 User s Guide A 12 Creating conversion tables A 12 1 A 12 2 The ISaGRAF workbench allows the user to create conversion tables A conversion table is a set of points used to define an analog conversion A conversion table can be attached to an analog input or output variable A table creates a proportional relationship between electrical values read on input sensor or sent to the output device and physical values used in application programming Conversion tables are edited through a dialog box run by the Tools conversion command in the ISaGRAF dictionary window A defined conversion table can be used to filter values of any input or output analog variable of the selected project Attaching a conversion table to a variable is made using commands of the ISaGRAF dictionary the variable declaration editor An input or output analog variable
351. n the PATH variable ISaGRAF does not use any MS DOS environment variable However the following statements can be added to the CONFIG SYS file ICS Triplex ISaGRAF Inc A 13 User s Guide files 20 buffers 20 The ISaGRAF Workbench uses a serial port to communicate with the ISaGRAF target PLC The default serial port for ISaGRAF is COM1 If the mouse also uses a serial port choose COM2 for the mouse so the default COM1 specification will be valid for any new ISaGRAF applications After updating the CONFIG SYS file it is necessary to restart the computer for the changes to take effect gt Important for Windows NT user When the Workbench is used under Windows NT 3 51 or 4 00 the following line has to be inserted in WS001 section of ISA ini file in ISAWIN EXE directory wS001 NT 1 Isa C ISAWIN IsaExe C ISAWIN EXE IsaAp1 C ISAWIN APL1 IsaTmp C ISAWIN TMP This is absolutely required for RS communication A 1 2 Licensing The version of ISaGRAF you just installed allows you to build control applications You can use ISaGRAF for a trial period of 30 days before requiring licensing When not licensed you cannot export IEC programs to a library export variables download Workbench project source code to a target or upload source code from a target To have a fully operational version of the product you need to license it You can license ISaGRAF using either a hardware or software key When using a hardware ke
352. n this option is not checked levels 1 and 2 appear together on the same printout Page format The Page format command of the Options menu is used to define the main parameters operated by the Document Generator when formatting a page The following parameters can be specified e Left margin 1 or 2 centimetres or no margin e Page border When this option is selected a border is drawn around any printed page Page title template The Page Title command of the Options menu is used to define the contents of the title box printed at the bottom of any page The standard layout of this box is as follows The first line of the main title with the name of the ISaGRAF project the current date and the page number are automatically generated by the Document Manager and cannot be changed The three lines of text on the left side of the box text1 text2 text3 and the second line of the main title are user defined The user also can change the logo printed in the box on the left To use another logo the user has to specify the pathname of a bitmap image file BMP The image can have any dimension It will be stretched or shrunk according to the exact dimensions of the printed page Clicking on the logo area in the dialog box shows the new specified image The image file must be on the disk at the specified directory and with the specified filename when the Print command is run Selecting character fonts The Text
353. nction 8 char Editing for one program Object Maximum Notes SFC rows 600 SFC columns 20 SFC steps 4095 for the whole project grouping steps initial steps beginning and ending steps SFC transitions 4095 for the whole application LD FBD editing 200 cols 2000 rows this is the size of the editing area in cell units Quick LD editing no limit limits are imposed by the PC capacity IL labels 251 in the same IL program Text editing 40KBytes or less according to the system configuration For the dictionary for one project Object Maximum Notes Boolean variables 65535 Analog variables 65535 grouping integer and real variables Timers 65535 Message variables 65535 Defined words 4095 in the same list same range Defined words 255 used in the same program Conversion tables 127 used in the application Points in one table 32 defined in the same conversion table ICS Triplex ISaGRAF Inc A 171 User s Guide The limits given for maximum number of Boolean analog or message variables group internal input and output variables It also includes all hidden temporary or variables allocated by compilers The number of variables edited together same type same scope in the dictionary editor cannot exceed 16000 Depending on PC configuration the limit can be less than 16000 The application cannot run on an ISaGRAF target version V3 21 or earlier if the total number of variable for one type exceeds 4095 The standard Modbus link using netwo
354. nctions cannot be integrated in the ISaGRAF Simulator The ISaGRAF applications have to be simulated before using the non standard functions Warning Functions are synchronous operations activated at run time by the ISaGRAF kernel during the application cycle Time spent for the execution of a function is included in the ISaGRAF application cycle timing The user has to ensure that no wait operation is programmed in a function so that the ISaGRAF cycle processing is not unnecessarily extended Adding a function to the SaGRAF library The ISaGRAF Library Manager must be used to add a new C function to the ISaGRAF library on the Workbench side The New command of the Files menu is used when the C 370 ICS Triplex ISaGRAF Inc Target User s Guide C functions library is selected When a new function has been created its technical note must be written The ISaGRAF Library Manager automatically generates the frame of the C source code for the new function The Parameters command of the Edit menu is used to define the call and return parameters of the new function Using a C function in an ISaGRAF project Any integrated C function can be used as a standard function in the programs of an ISaGRAF project C functions can be called from ST and FBD languages and from special statements of the SFC language Calling a C function from the ST language follows the function call conventions of the language The
355. nd initial steps A step is represented by a single square Each step is referenced by a number written in the step square symbol A main description of the step is written in a rectangle linked to the step symbol This description is a free comment not part of the programming language The above information is called the Level 1 of the step Reference number 102 ree motor 1 At run time a token indicates that the step is active Comment Active step Inactive step Start motor 1 ICS Triplex ISaGRAF Inc B 187 Language Reference The initial situation of a SFC program is expressed with initial steps An initial step has a double bordered graphic symbol A token is automatically placed in each initial step when the program is started Initial step ie motor 1 A SFC program must contain at least one initial step These are the attributes of a step Such fields may be used in any of the other languages GSnnn x 0 0 activity of the step Boolean value GSnnn t ee activation duration of the step time value where nnn is the reference number of the step B 3 2 2 Transitions A small horizontal bar that crosses the connection link represents transitions A number written next to the transition symbol references each transition A main description of the transition is written on the right side of the transition symbol This description is a free comment not part of the programming language
356. ndow A 78 P P qualifier A 43 PO qualifier A 44 P1 qualifier A 44 Page A 157 Parameter A 30 A 150 Parameter C function C 371 D 427 Parameter function block C 379 Parameter I O board D 427 Parent program D 427 Parenthesis B 223 B 237 B 238 Parity A 35 Parity test odd even B 299 Password A 24 A 95 A 145 A 158 Paste FBD A 66 Paste FC A 51 Paste LD A 59 E 436 ICS Triplex ISaGRAF Inc General Index Paste SFC A 41 Paste text A 73 Paste variable A 83 Point A 96 A 97 Positive coil B 216 Positive contact B 213 POW B 286 Power calculation B 286 Power rail A 54 A 55 A 62 B 210 D 427 Print A 24 A 33 A 82 A 139 A 155 A 157 A 72 A 77 PrintTime A 140 Priority C 360 Priority level NT target C 354 Program A 27 A 75 A 135 B 174 D 427 Program comment A 29 Program manager A 27 Program syntax A 75 Project A 23 A 152 D 427 Project descriptor A 24 A 33 Project document A 24 A 33 A 155 Project group A 25 Project list A 23 A 25 Project manager A 23 Project separators A 23 PROM C 337 C 348 Protection A 24 A 95 A 145 A 158 A 14 Protection level A 158 Pulse A 43 Pulse action B 193 D 427 Pulse timing B 275 Q Quick LD A 45 A 52 A 54 Quick LD editor A 75 R R reset operator IL B 240 R_TRIG B 268 RAND B 300 Random number B 300 Range A 80 A 82 D 427 Real A 84 B 180 D
357. nents to the target system before running applications If the target is another PC the new generated ISaGRAF kernel can be loaded into the target machine by using a diskette or through a network es Linking with the ISaGRAF kernel libraries Warning The following are general information which may not exactly correspond to your target system In any case you may consult the readme and TXT files delivered on the target disk The ISaGRAF target diskette contains many utility files to compile and link the conversions functions and function blocks with the ISaGRAF kernel libraries C 394 ICS Triplex ISaGRAF Inc Target User s Guide Two implementations exists single task ISaGRAF all functions are performed in the same program multitask ISaGRAF a separate task or thread is dedicated to communication In either case the C components are grouped in the same libraries for the C programmer no difference is made for single task or multitask For a single task version the user C libraries are linked to the single task generally called isa whereas for the multitask version the libraries are linked to the kernel task generally called isaker Development Target system system WORKBENCH k gt The inner part of ISaGRAF software is independent of the hardware It executes the IEC languages and has its own variable database The first step when making the link with the kernel is to build libra
358. ng ae Rate eee ee O T_TMR long T_MSG char 32 bits char pointer Each field of the str_arg structure corresponds to one parameter of the function The return parameter is the last in the structure The calling parameters appear in the structure with the same order than the one established for the function definition An uppercase identifier is defined to directly have access to one parameter of the structure passed to the C implementation of the function Names of the identifiers are the ones entered during the definition of the function with the ISaGRAF Library Manager The C definition file is updated each time the interface of the function is changed by using the ISaGRAF Library Manager This ensures a complete match between the implementation of the function and its use in the programs of the ISaGRAF applications Source code Below is the standard frame of a C function implementation Example of user function Number is 255 Name is SAMPLE include tasyOdef h SaGRAF kernel common definitions include grus0255 h interface definition for function 255 void USP_sample str_arg arg body of the function The following function is used for the initialization of the function and the declaration of its implementation It realizes the link with the ISaGRAF kernel using the name of the function This function is completely generated by the ISaGRAF Library Manager UFP uspdef_sam
359. ng syntax to kill a child SFC Child_name R Example See GSTART function described above GFREEZE statement Name GFREEZE Meaning Suspends the execution of a child SFC program The GRST statement can restart frozen program Syntax GFREEZE lt child_program gt Operands the specified SFC program must be a child of the one in which the statement is written Return value none B 234 ICS Triplex ISaGRAF Inc Language Reference Children of the child program are automatically frozen along with the specified program Note GFREEZE is not in the IEC 1131 3 norm Example Suspend_cmd 1 2 _JACTION P GFREEZE Schild END_ACTION NOT Suspend_cmd 3 _JACTION P GRST Schild END_ACTION GRST statement Name GRST Meaning Restarts a child SFC program frozen by the GFREEZE statement Syntax GRST lt child_program gt Operands the specified SFC program must be a child of the one in which the statement is written Return value none The GRST statement automatically restarts children of the child program Note GRST is not in the IEC 1131 3 norm Example See GFREEZE function described above GSTATUS statement Name GSTATUS Meaning returns the current status of a SFC program Syntax lt ana_var gt GSTATUS lt child_program gt Operands the specified SFC program must be a child of the one in which the statement is written Return v
360. ng the application code with no symbols loaded If no application code is available on memory then the target is waiting for an application to be downloaded In order to start the target with a specific application at power up without using the debugger link e A first way may consists in directly copying these files to the application backup storage unit from the PC host where the workbench is installed using any file transfer tool You can use the workbench Tools menu see user s guide Managing programs to ease these manipulations A second way may consists in storing the application code and if necessary the application symbol table in a non volatile memory like a PROM or EPROM from files from the PC host where the workbench is installed with your own tools Then at system power up if required for example because of faster access or breakpoint management you may load the application code and if necessary the application symbol table from the PROM to the RAM with your own tools Then at ISaGRAF startup just before tasks spawning you must specify the address es where the application code and if necessary the application symbol table is located in memory In that way you need to initialize the SSR global variable as following SSRJx 1 space address location of application code And if necessary SSRJx 6 space address location of application symbol table In that way you may write a short procedure The SSR glo
361. ngle Group items dissociate groups You can group items together so that they are managed as one item To make a group select items in graphic layout and run the Edit Group command The Edit Dissociate command is used to restore items of the selected group as separated ones A group may contain a picture A group may also contain another group When items are grouped their style cannot be changed anymore Items of the group are still displayed but cannot be used with double click to modify the value of attached variables A group appears at just one line in the list layout The list layout Fal At any time you can swap between graphic and list layout by pressing this button You can also use the Options List Graphic layout command In the list layout items are shown in a classical list box The height of each item is calculated according to its drawing style Pictures bitmaps and metafile are not visible from the list layout A selection is available in list layout and should be used to set item style or change the value of a variable Multiple selection and commands using it are not available in this mode fl You can re order the items in the list using the Edit Move in list commands The item to be moved should be selected in the list Defining the item style The graphic style and settings of an existing item can be modified by double clicking on its symbol in the graphic area or by
362. nication task identified with number 1 linked to the kernel slave 1 and with tyCo 1 device for the serial link An ISaGRAF communication task identified with number 2 linked to the kernel slave 1 and with 1100 port number for the Ethernet communication link The current host directory is the one where the target is installed load isassr o module Id lt RELS isassr o load isakeret o module You may load isakerse o when no Ethernet communication link is needed Id lt CMDS isakeret o serial communication configuration ISAMOD tyCo 1 19200 System clock rate CLKRATE sysClkRateGet slave registration isa_register_slave 1 communication registration isa_register_com 1 isa_register_com 2 File storage unit could be skipped because default set TSK_FUNIT End of cycle control could be skipped because default set TSK_NBTCKSCHED 0 ISaGRAF kernel spawning sp isa_main 1 Communication task slaves link SlavesLink 0x01000000 ISaGRAF communication tasks spawning sp tst_main_ex tyCo 1 amp SlavesLink 1 sp tst_main_ex 1100 amp SlavesLink 2 This startup corresponds to the following figure ICS Triplex ISaGRAF Inc C 345 Target User s Guide Com task logical Nb 1 Kernel task slave 1 Com task logical Nb 2 You also have the choice of the following basic configurations Kernel task Com task slave 1 logical Nb 1 The most basic configuration consists in a
363. nnection on the left of the jump symbol has the TRUE Boolean state the program execution is driven after the label symbol Example using JUMP and LABEL symbols manual_mode OTHER input result H O c OTHER input2 result H ol END IL Equivalence Idn manual_mode jmpc other Id input st result jmp END B 218 ICS Triplex ISaGRAF Inc Language Reference OTHER Id input2 st result END end of program B 6 6 Blocks in LD Using the Quick LD editor you connect function boxes to Boolean lines A function can actually be an operator a function block or a function As all blocks do not have always a Boolean input and or a Boolean output inserting blocks in an LD diagram leads to the addition of new parameters EN ENO to the block interface The EN ENO parameters are not added if you use the FBD LD editor as you can connect the variable with the required type The EN input On some operators functions or function blocks the first input does not have Boolean data type As the first input must always be connected to the rung another input is automatically inserted at the first position called EN The block is executed only if the EN input is TRUE Below is the example of a comparison operator and the equivalent code expressed in ST IF rung state THEN q valuel gt value 2 value1 ELSE q FALSE END_IF value continue rung with q state
364. nnot have more than one father Only its father can call a child program A program cannot call the children of one of its own children The same sub program may appear several times in the father chart A Flow Chart sub program call represents the complete execution of the sub chart The father chart execution is suspended during the child chart is performed The sub program calling blocks must follow the same connection rules as the ones defined for action FC I O specific action An I O specific action symbol represents actions to be performed As other actions a number and a name identify an I O specific action The same semantic is used on standard actions and I O specific actions The aim of I O specific actions is only to make the chart more readable and to give focus on non portable parts of the chart Using I O specific actions is an optional feature Below is the drawing of an I O specific action symbol 7 nn Name I O specific blocks have exactly the same behavior as standard actions This covers their properties ST LD or IL programming and connection rules ICS Triplex ISaGRAF Inc B 203 Language Reference FC connectors Connectors are used to represent a link between two points of the diagram without drawing it A connector is represented as a circle and is connected to the source of the flow The drawing of the connector is completed on the appropriate side depending on the direction of the dat
365. ns are relative to one type The same notation cannot be used to represent constant expressions of different types B 2 2 1 Boolean constant expressions There are only two Boolean constant expressions TRUE is equivalent to the integer value 1 FALSE is equivalent to the integer value 0 True and False keywords are case insensitive B 2 2 2 Integer analog constant expressions Integer constant expressions represent signed long integer 32 bit values from 2147483647 to 2147483647 Integer analog constants may be expressed with one of the following bases Integer constants must begin with a prefix that identifies the bases used Base Prefix Example DECIMAL none 908 HEXADECIMAL 416 16 1A2B3C4D OCTAL 8H 8 1756402 BINARY 2 2 1101_0001_0101_1101 ICS Triplex ISaGRAF Inc B 179 Language Reference The underscore character _ may be used to separate groups of digits It has no particular significance and is used to increase constant expression readability B 2 2 3 Real analog constant expressions Real analog constant expressions can be written with either decimal or scientific representation The decimal point separates the integer and decimal parts The decimal point must be used to differentiate a real constant expression from an integer one The scientific representation uses the E or F letter to separate the mantissa part and the exponent Exponent part of a real scientific expression must be a signe
366. nserts another variable in the list The variable name is selected in the list of objects defined in the project dictionary This way the user does not have to manually enter the identifier The variable is inserted before the variable currently selected in the list The list cannot contain more than 32 variables The same variable cannot appear more than once in the same list A When the name of a variable is highlighted in ST text press this button in the toolbar or run the Edit Spy selection command to directly send the variable to embedded spy list Changing the selected variable The Edit Change variable command replaces the selected variable by another variable You can also use the Cut variable command to remove the selected variable from the list ICS Triplex ISaGRAF Inc A 123 User s Guide A 18 Debugging with SpotLight A 18 1 123 a it ISaGRAF SpotLight tool allows the user to define watch lists that can be displayed either as graphic pictures or as lists during debug Graphic items must be linked to the variables of the ISaGRAF project The graphic picture is both defined and animated on line To force the value of a variable double click on the corresponding item from graphic or list layout or hit ENTER when it is selected You also can lock the document deny any modification using the File Lock command When a document is locked you still can force variables by double clicking on their sy
367. nts so that it can be totally rebuilt using single item insertion Inserting items in the table When the Edit Insert command is run the Add item dialog box appears It allows the user to insert items components of the project into the table of contents For an item relative to a program use the Program combo box to select a program name Press the Add button to insert the selected item to the table of contents The same item can appear only once in the table Options The commands of the Options menu are used to define and customise the format of the generated document Other options are directly available from buttons of the Document Generator window M Front Page NV Table of contents When the Font page option is set a header page is printed at the beginning of the document containing the project title and the history of printouts When this option is not set the first item to be printed starts on the first page When the Table of contents option is set a table of contents is printed at the end of the generated document Both options are initially unchecked when the Document Generator is run from a Print command of an ISaGRAF editor program dictionary A 156 ICS Triplex ISaGRAF Inc User s Guide iD A lk SFC charts The Separate SFC levels option directs the system to print for each SFC program first the level 1 of the SFC chart and comments and then the level 2 programming Whe
368. ny variable to an integer one FBD example with Convert to Analog blocks Ana true m Q bres Ana t is46ms m Q tres Ana 0198 in q mres B 260 ICS Triplex ISaGRAF Inc Language Reference ST Equivalence bres ANA true tres ANA t 1s46ms mres ANA 0198 IL equivalence LD true ANA ST bres LD t 1s46ms ANA ST tres LD 0198 ANA ST mres REAL Arguments IN BOO INT TMR Q REAL Description bres is 1 tres is 1046 mres is 198 Real any non real analog value no message 0 0 if IN is FALSE 1 0 if IN is TRUE number of milliseconds for a timer equivalent number for integer analog Convert any variable to a real one FBD example with Convert to Real blocks Real true m Q bres Real t is46ms n Q tres Real 198 in al ares ST Equivalence bres REAL true tres REAL t 1s46ms ares REAL 198 IL equivalence LD true REAL ST bres LD t 1s46ms bres is 1 0 tres is 1046 0 ares is 198 0 ICS Triplex ISaGRAF Inc B 261 Language Reference Arguments IN Q Description tres 198 ares Tmr INT REAL any non timer value IN or integer part of IN if it is real is the number of milliseconds TIMER time value represented by IN C
369. o5 o5 gt AD ADS lt lt x O Oo Sg Sg 2 o vss a 3 on 9a 6a O D ea 2 D 2 a op 55 So So om h 9 amp g 2 2p So aa Vo o o oO o gt gt D O O x x en gt D D O O Q Q fe fe 5 5 5 5 D O O a fe fe 5 5 5 5 gt D fe fe 3 5 5 a 5 5 o o 5 5 a 2a gt D D 33 cannot init message input board application A message input board init has failed Check the I O connection in the workbench and the parameters of your message input boards 34 cannot init boolean output board application A Boolean output board init has failed Check the I O connection in the workbench and the O o0 7 3 oO Oo 3 n O Q lt e w o io oO feb b O E ge ion O o D om D 35 cannot init analog output board application An analog output board init has failed Check the I O connection in the workbench and the ge o D o 3 oO Q z non O o se O s o 5 D O Q O gal S EF O D Q a 36 cannot init message output board application A message output board init has failed Check the I O connection in the workbench and the parameters of your message output boards 37 cannot input boolean board application gt 5 3 3 s 5 D o o to D 5 a 2 D O Q D 2 f fp o 5 a v ius io D D 5 5 S T fe
370. ock Va asi anna virtual address of the C function block instance inst_name name of the C function block instance fb_name name of the reference C function block A 26 6 Limits of ISaGRAF LARGE WDL workbench There are some limitations for the objects used in the ISaGRAF Workbench Of course many other practical limits are due to the configuration of the computer used available memory and disk space and the capabilities of the ISaGRAF target system available memory available hardware and software resources The following numbers absolute limits that cannot be exceeded For a project Object Maximum Notes Programs 255 grouping main sub and child programs Levels in the hierarchy 20 The number of projects installed on the Workbench is only limited by the available space on the hard disk A 170 ICS Triplex ISaGRAF Inc User s Guide a For names Name for Maximum Notes Project 8 char Program 8 char Variable 32 char 60 characters for comment Defined word label 16 char Defined equivalence 255 char 60 characters for comment Conversion table 16 char List of variables 16 char function f block lib 8 char this applies to C functions C function blocks or functions written in IEC languages function parameter lib 16 char this applies to C functions C function blocks or functions written in IEC languages IO board 8 char IO configuration 8 char Board oem parameter 16 char Conversion fu
371. ode where those variables are used The cross references are very useful for a global view of one variable life cycle They help localise side effects and reduce the time to understand the project during the maintenance The cross references may also be used for a global view of the complete dictionary of a project so unused variables are easily found and the complexity of the project measured The list on the left shows the declared objects of the project programs variables and defined words and the library elements functions and function blocks referenced in the project The list on the right shows the occurrences in the programs of the object currently selected in the first list The description of an occurrence includes the program name the number of the FC or SFC step transition or test plus line number for text languages or co ordinates for LD or FBD diagrams For quick LD diagrams the description is completed with the number of the rung If the variable is used as an output on a coil the rung number is followed by a star character Set the Show unused variables option from the Options menu to display also in main list variables that are not used in the application programs When performing a cross reference search for variables you can search for a specific varaible by typing its name and clicking OK or search for all variables by clicking All Object type selection Because a project can group a huge number of de
372. ogram called its owner program Target ISaGRAF target machine which supports the ISaGRAF kernel software Target Set of the operations executed each time the ISaGRAF target system is cycle activated The cycles are triggered with programmable cycle timing Technical Users guide for an element of the ISaGRAF libraries C function or function note block conversion function or I O board The designer of the element writes the technical note Test FC Also called decision Flow chart symbol attached to a Boolean expression The flow is directed to either YES or NO symbol output depending on the state of the expression Timer Type of variables Such variables contain time values and can be automatically refreshed by the ISaGRAF system at run time Token Graphical marker used to show the active steps of a SFC program SFC Toolbox Small child window of an graphic editing tool window which groups the main buttons for the selection of the graphic components Top level Program put at the top of the hierarchy tree A top level program is activated by program the system Transition Basic graphic SFC component A transition represents the condition between different SFC steps A number references a transition A Boolean condition is attached to each transition D 428 ICS Triplex ISaGRAF Inc Glossary Type Class of variables which have the same format Basic types are Boolean analog timer and message Validity of a Attribute of a
373. ogrammed in LD the unique coil represents the condition value A condition equal to 0 or FALSE directs the flow to NO 1 or TRUE directs the flow to YES A test is always connected with an arriving link and both forward connections must be defined B 202 ICS Triplex ISaGRAF Inc Language Reference FC sub program The system enables the description of the vertical structure of FC programs FC programs are organised in a hierarchy tree Each FC program can call other FC programs Such a program is called a child program of the FC program which calls them FC programs which call FC sub programs are called father program FC programs are linked together into a main hierarchy tree using a father child relation FATHER program CHILD program A sub program symbol in a Flow Chart represents a call to a Flow Chart sub program Execution of the calling FC program is suspended till the sub program execution is complete A number and a name as other programs functions or function blocks identify a Flow Chart sub program Below is the drawing of a sub program call symbol rsr Two different objects of the same chart cannot have the same logical number The basic rules implied by the FC hierarchy structure are FC programs which have no father are called main FC programs Main FC programs are activated by the system when the application starts A program can have several child programs Achild of a program ca
374. ompiling and the ISaGRAF C libraries required for LINK operations A 26 5 Application symbols Each object of an ISaGRAF application is referenced by a name entered during variable declaration and an internal virtual address calculated by the code generator The virtual address of a variable is not its network address entered during the declaration of the variable Virtual addresses are used for communication work and special C applications using the OEM option When the ISaGRAF code generator is run it makes an ASCII file with the logical correspondence between names and virtual addresses for all the objects variable programs steps of the project This file can be easily interrogated for information about the ISaGRAF static database from any user s application The file is named APPLI TST and is located in the directory of the ISaGRAF project ISAWIN APL proname proname is the name of the project This section describes the detailed format of the APPLI TST file The main notations used for the following descriptions is shown below VA virtual address ATTR attribute of a variable USP C function Possible values for the attributes of a variable are shown below Such values occur in the attributes fields X internal variable C read only internal variable I input variable A 166 ICS Triplex ISaGRAF Inc User s Guide 0 output variable All the numbers except virtual addresses are expressed as dec
375. on The ISaGRAF workbench generates the source code file when a new library element is created It also creates and updates the source header based on the parameter definition The programmer can use the ISaGRAF text editor to complete the source code file Archiving library elements The Tools Archive menu command runs the ISaGRAF archive manager to save or restore library elements You first need to select a library before running the Archive command The archive manager shows list of elements for only one library at a time A 22 2 I O configuration The ISaGRAF 1 O configuration library provides an easy way to initialise new ISaGRAF projects with pre defined I O configuration An I O configuration defines e a set of I O boards e default values for I O boards parameters e default names for I O channels When a new ISaGRAF project is created with a library I O configuration the corresponding I O connection is automatically set and the I O variables A 146 ICS Triplex ISaGRAF Inc User s Guide corresponding to channel names are automatically declared in the project dictionary The definition of an I O configuration is made with the ISaGRAF I O Connection tool the same tool used within a project Refer to the I O Connection section in this manual for further information about how to use this tool When inserting a new I O board in the configuration all the channels of the new board are declared with standard default names
376. on e Execute the top level programs of the SEQUENTIAL section e Execute the top level programs of the END section e Refresh outputs The programs of the Begin or End sections describe cyclic operations They are not dependent on Time The programs of the Sequential section describe sequential operations where the Time variable explicitly appears to distinguish basic operations The main programs of the Begin section are systematically executed at the beginning of each run time cycle The main programs of the End section are systematically executed at the end of each run time cycle The main programs of the Sequential section are executed on the basis of the SFC or FC rules and must be written in SFC or FC language The programs of the cyclic sections cannot be described in the SFC or FC language Any program of any section may own one or more sub programs a Functions and function blocks Any program of any section in the project can call the programs of the Functions section A function is an algorithm that processes one output value from several input values A function algorithm only works with volatile intermediate variables erased from one call to the other This implies that a function should never call a function block A program of the Functions section cannot be described in the SFC or FC language ICS Triplex ISaGRAF Inc A 27 User s Guide Unlike functions Function blocks associate an algorithm work
377. on The execution of the parent program is suspended until the sub program or the function ends main sub programs Any program of any section may have one or more sub programs A sub program is owned by only one father program A sub program may have local variables and defines Any language but SFC or FC can be used to describe a sub program Programs of the Functions section are sub programs that can be called by any other program in the project Unlike other sub ICS Triplex ISaGRAF Inc B 175 Language Reference programs they are not dedicated to one father program A program of the Function section can call another program of this section A function can be located in the Library Warning The ISaGRAF system does not support recursive function calls A run time error will occur if a program of the Functions section is called by itself or by one of its called sub program Warning A function or sub program does not store the local value of its local variables A function or sub program is not instantiated and so can not call function blocks The interface of a sub program must be explicitly defined with a type and a unique name for each of its calling or return parameter In order to support the ST language convention the return parameter must have the same name as the sub program The following table shows how to set the value of the return parameter in the body of a sub program in the
378. ons The conversion C function or function block must be precisely defined in the technical note so that the automation programmer can really use it as a packaged ISaGRAF function For a C function the technical note must describe O the detailed function processed by the function O the complete description of its calling parameters QO the meaning of its return value O the detailed typing of its calling parameters and return value Q the application context For a C function block the technical note must describe O the detailed function processed by the block activation function O the complete description of its calling parameters QO the meaning of its return parameters O the detailed typing of its calling and return parameters Q the application context For a conversion function the technical note must describe O the exact meaning of the conversion when used with an input variable O the exact meaning of the conversion when used with an output variable O the limits of the values the conversion can process Technical notes may also contain information about O the complete identification of the conversion function or function block Q any information about its maintenance and updates Q the supported target system O the special multitasking features O the required system services memory drivers C 7 2 C Conversion functions The ISaGRAF Workbench includes a linear conversion utility to carry out simple
379. onvert any analog variable to a timer one FBD example with Convert to Timer blocks Tmr 1256 N q ares Tmr 1256 3 N o rres ST Equivalence ares TMR 1256 ares t 1s256ms rres TMR 1256 3 rres t 1s256ms IL equivalence LD 1256 TMR ST ares LD 1256 3 TMR ST rres MSG Msg IN Q Arguments IN BOO B 262 ICS Triplex ISaGRAF Inc Language Reference INT REA any non message value Q MSG false or true if IN is a Boolean decimal representation if IN is an analog Description Convert any variable to a message one FBD example with Convert to Message blocks bres true 125 ares ST Equivalence bres MSG true bres is TRUE ares MSG 125 ares is 125 IL equivalence LD true MSG ST bres LD 125 MSG ST ares CAT CAT Note For this operator the number of its inputs can be extended to more than two Arguments inputs MSG addition of all message length must not exceed output message capacity output MSG concatenation of the input messages Description Concat several messages into one FBD example with Message Concatenation blocks CAT Mr Jones myname ST Equivalence use the operator myname Mr Jones IC
380. optional B 192 ICS Triplex ISaGRAF Inc Language Reference I lt boolean_variable gt assigns the negation of the step activity signal to the variable Other features are available to set or reset a Boolean variable when the step becomes active This is the syntax of set and reset Boolean actions lt boolean_variable gt S sets the variable to TRUE when the step activity signal becomes TRUE lt boolean_variable gt R resets the variable to FALSE when the step activity signal becomes TRUE The Boolean variable must be an OUTPUT or an INTERNAL The following SFC programming leads to the following behavior GS10 X step activity Bdirect __ Binvert Bset Breset Example of Boolean actions SFC program using BOOLEAN actions 1 led1 R led4 S group12 R a 2 Hled1 N group12 S GS2 t gt t Hs 3 Hiedz G83 gt t 2s wj 4 led3 group12 R a GS4 t gt t 1s re VV 2 B 3 5 2 Pulse actions A pulse action is a list of ST or IL instructions which are executed only once at the activation of the step Instructions are written according to the following SFC syntax ACTION P ICS Triplex ISaGRAF Inc B 193 Language Reference ST statements END_ACTION The following shows the results of a pulse action Step activity Execution Example of pulse action A
381. or more details on the SFC language Oriented lines join SFC components The default orientation of a line is up to down These are the basic graphic components used to build a SFC chart A ETE EE Initial step oO ESE Step evene ain tee Transition L E Jump to a step TAA Macro step E a dist Macro beginning step Oo E E EAA Macro ending step The SFC programming is usually separated into two different levels The Level 1 shows the graphic chart reference numbers of the steps and the transitions and comments attached to the steps and the transitions The Level 2 is the ST or IL programming of the actions within the steps or the conditions attached to the transitions Actions or conditions may refer to sub programs written in other languages FBD LD ST or IL Below is an example of level 1 and level 2 programming ICS Triplex ISaGRAF Inc A 37 User s Guide Level 1 Level 2 Action P MixLevel 10 End_action Mixing done MixLevel gt 100 The level 2 programming of a step is entered in a text editor It can include action blocks programmed in ST or IL The level 2 programming of a transition can be entered either in IL or ST text languages or with Quick LD editor Divergences and convergences Divergences and convergences are used to represent multiple links between steps and transitions Simple divergences or convergences represent different inclusive possibilities between different sub p
382. ore the selected project it is moved with the project A 2 1 Creating and working with projects O The commands of the project manager menu are used to create new projects edit them and manage existing projects Creating a new project To create a new project first enter its name An empty project is then created with no object in it An I O configuration can be attached to the new created project This I O configuration must be defined in library If a configuration is chosen ISaGRAF will automatically set up the I O connection and declare the corresponding O variables in the new project dictionary When creating or renaming a project you have to conform the following naming rules e name cannot exceed 8 characters e the first character must be a letter e the following characters can be letters digits or underscore character e the project s name is case insensitive When a project is created use the Edit Set comment text command to enter the text to be displayed with the project name in the list ICS Triplex ISaGRAF Inc A 23 User s Guide Editing the project descriptor The Project Project descriptor command is used to edit the project text descriptor This document fully identifies the project from the others on the project list The project descriptor can also be used to record any remarks during the project lifetime Editing project The File Open command opens the Program Management window for th
383. orized instruction or variable type 16 cannot answer read data request system A communication error is detected answering specific SaGRAF Modbus request function code 18 file read Check connection and system configuration on both target and master sides 17 cannot answer write data request system A communication error is detected answering specific SaGRAF Modbus request function code 17 file write Check connection and system configuration on both target and master sides 18 cannot answer debugger session request system A communication error is detected answering a debugger request Check connection and system configuration on both target and master sides 19 cannot answer modbus request system A communication error is detected answering a Modbus request Check connection and system configuration on both target and master sides C 414 ICS Triplex ISaGRAF Inc Target User s Guide 20 cannot answer debugger application request system A communication error is detected answering a debugger request Check connection and system configuration on both target and master sides 21 cannot answer debugger system A communication error is detected answering a debugger request Check connection and system configuration on both target and master sides 23 unknown request code system gt Qa o o Q Q o 3 o 2 G D Oo 3 o pa D n J o n D S n D 24 Ethernet communication error syst
384. osition first valid position is 1 Q MSG modified string empty string if Pos lt 0 concatenation of both strings if Pos is greater than the length of the IN string B 304 ICS Triplex ISaGRAF Inc Language Reference Description Inserts a sub string in a message string at a given position FBD program using INSERT block Mr JONES Franck 4 MyName ST Equivalence MyName INSERT Mr JONES Frank 4 MyName is Mr Frank JONES IL Equivalence LD Mr JONES INSERT Frank 4 ST MyName LEFT left IN NbC Q Arguments IN MSG any non empty string NbC INT Number of characters to be extracted cannot be greater than the length of the IN string Q MSG left part of the IN string its length NbC empty string if NbC lt 0 complete IN string if NbC gt IN string length Description Extracts the left part of a message string The number of characters to be extracted is given FBD program using LEFT and RIGHT blocks right 12345678 IN 4 mc ql CAT left complete_string ST Equivalence complete_string RIGHT 12345678 4 LEFT 12345678 4 complete_string is 56781234 ICS Triplex ISaGRAF Inc B 305 Language Reference the value issued from RIGHT call is 5678 the value issued from LEFT call is 1234 IL Equivalence First
385. ot used no communication with the target is possible In such a case error number 7 may be displayed Communication using an Ethernet link is not available with isatst task implementation The serial link device is opened in binary data transfer mode no control characters no XON XOFF Other communication parameters have to be set before starting ISaGRAF so that the user is totally free to use the parameters needed When using the workbench debugger make sure the workbench communication parameters see user s guide Managing programs match with the target ones Example xmode t0 baud 19200 Sets up communication baud rate to 19200 baud on t0 device Slave number s Option This option specifies the target kernel slave number s the communication task is linked to It can be from 1 to 255 except number 13 0D This option can be repeated up to 4 times to link up to 4 different kernel slaves This slave number is used through the communication link protocol It is needed to distinguish slaves from each other when more than one target are running When using the workbench debugger make sure the workbench slave parameter see users guide Managing programs matches with an existing target kernel and communication tasks Default value The default slave number is 1 same as the workbench one Communication task logical number c Option This option specifies the communication task logical number It is used to manage more tha
386. other description fields for a Boolean variable Attribute c cess Specifies an internal constant input or output variable False string String used for false value at debug time True string String used for true value at debug time Set to true at init The initial value is TRUE if this option is checked otherwise the initial value is FALSE E These are other description fields for an integer or real variable Attribute Specifies an internal constant input or output variable Form t ssrin Specifies an integer or real floating variable Display format used during debug can be selected Unit string String used to identify the physical unit at debug time Conversion c cceeeee Name of the conversion table or conversion function attached to the variable for input or output variables only Initial value ce Initial value of the variable must have the same format as the variable If not specified the initial value is 0 A 84 ICS Triplex ISaGRAF Inc User s Guide A 10 4 These are other description fields for a timer variable Attribute cesses Specifies an internal or constant variable Initial value cee Initial value of the variable time value If not specified the initial value is time Os These are other description fields for a message variable Attribute cesses Specifies an internal constant inp
387. ould be used The read value is a 16 bit integer ranging from 32768 up to 32767 On the target side Analog variables are 32 bits therefore a value on the target over the 16 bits range positive or negative will be read with the maximum 16 bits range value positive or negative Real variables cannot be accessed with a Modbus request Warning The ISaGRAF implementation does not manage the error codes such as unknown modbus address Notations slv slave number nbw number of words C 400 ICS Triplex ISaGRAF Inc Target User s Guide nbb nbi addH addL vH vL V bfd crcH ercL number of bytes number of bits network address High Byte network address Low Byte value High Byte value Low Byte Byte Value Bit field nbb Bytes checksum High Byte checksum Low byte FUNCTION 1 read N bits Read nbi bits Booleans starting from network address addH addL o1 JaddH _Jaddt_ 00 nbi crch crel sz o1 nbb ofa Byte 1 Byte nbb bfd is a bit field of nbb Bytes with the following format Bit 8 Bit 1 Byte 2 Bit nbi Byte nbb X xxx l Bit 1 correspond to the value of the variable at addH addL network address Bit nbi correspond to the value of the variable at addH addL nbi 1 network address X means undefined value FUNCTION 3 read N words Read nbw words starting from network address addH addL Question siv 03 JaddH add 00 _ nbw crch crel Answer
388. ower rail Horizontal connection line Vertical connection line Multiple connection lines all connected together Contact associated with a variable Coil associated to an output or to an internal variable B 6 1 Power rails and connection lines AN LD diagram is limited on the left and right side by vertical lines named left power rail and right power rail respectively Left power rail Right power rail ___ a ba Lal er LD diagram graphic symbols are connected to power rails or to other symbols by connection lines Connection lines are horizontal or vertical B 210 ICS Triplex ISaGRAF Inc Language Reference Horizontal connection lines Yee Ka Vertical Nos Vertical connection connection line with OR meaning Each line segment has a Boolean state FALSE or TRUE The Boolean state is the same for all the segments directly linked together Any horizontal line connected to the left vertical power rail has the TRUE state B 6 2 Multiple connection The Boolean state given to a single horizontal connection line is the same on the left and on the right extremities of the line Combining horizontal and vertical connection lines enables the building of multiple connections The Boolean state of the extremities of a multiple connection follows logic rules A multiple connection on the left combines more than one horizontal lines conn
389. ows the different items data or functions which can be protected and current protection level attached to either read access or full A 158 ICS Triplex ISaGRAF Inc User s Guide access permissions Assigning a protection level to read permission enables you to prevent users without sufficient permission even to open or print a document Double click on a line in the lower list to set permissions for the selected item or data The following box is open Permissions Ed History of modifications Full access 00 psw0 ha Read access free access ha Both permissions can be set either to free access or to a protection level defined by a password Full access permission cannot be attached to a level with less priority than the one selected for read access Note that for some documents naturally visible when using ISaGRAF Workbench such as project descriptor read access cannot be protected with a password Accessing protected data No password or user s name is asked when the Workbench is started Each time a user wants to have access to a protected data or function he must enter the required password in a dialog box If the user enters the required password or a password attached to a higher access level he can continue normally Each time a password is entered by the user it is stored in memory so the user will not have to enter it again later Stored passwords are held each time that an ISaGRAF too
390. patible with any machine ports COM1 COM2 or COM3 can be used depending on the BIOS version No Default value If this option is not used no communication with the target is possible In such a case error number 7 may be displayed Communication using an Ethernet link is not available with DOS ISaGRAF target Ask your supplier for special implementation The communication parameters have to be set before starting ISaGRAF so that the user is totally free to use the parameters needed When using the workbench debugger make sure the workbench communication parameters see user s guide Managing programs match with the target ones Example MODE COM1 9600 N 8 1 Sets up communication parameters to the following values baud rate is 9600 no parity check 8 bits of data 1 stop bit Note that on some BIOS versions the default workbench setting with 19200 baud is not authorized ICS Triplex ISaGRAF Inc provides the ISAMOD EXE utility to set the workbench parameters ISAMOD COM1 Is equivalent to MODE COM1 19200 N 8 1 Slave number s Option This option specifies the target slave number It can be from 1 to 255 except number 13 0D This slave number is used through the communication link protocol It is mainly designed to distinguish slaves from each other when more than one target are connected together When using the workbench debugger make sure the workbench slave parameter see user s guide Managing programs matches wi
391. perated by an FBD program is built with standard elementary function blocks from the ISaGRAF library Each function block has a fixed number of input connection points and a fixed number of output connection points A function block is represented by a single rectangle The inputs are connected on its left border The outputs are connected on its right border An elementary function block performs a single function between its inputs and its outputs The name of the function to be performed by the block is written in its rectangle symbol Each input or output of a block has a well defined type Name of the function f 7 Input variables of an FBD program must be connected to input connection points of function blocks The type of each variable must be the same as the type expected for the associated input Input for FBD diagram can be a constant expression any internal or input variable or an output variable Output variables of an FBD program must be connected to output connection points of function blocks The type of each variable must be the same as the type expected for the associated block output An Output for FBD diagram can be any internal or output variable or the name of the program for sub programs only When an output is the name of the currently edited sub program it represents the assignment of the return value for the sub program returned to the calling program B 206 ICS Triplex ISaGRAF Inc Language Reference
392. piler is automatically run when the application code is built This section explains the syntax of this file The resource definition file uses lexical rules of the ST language Comments beginning with and ending with characters can be inserted anywhere in the text Strings are delimited by single apostrophes Refer to the second part of this manual for more explanations about the lexical formats used to enter numerical values Language reference Below is the list of keywords and statements used in a resource definition file ULONGDATA Meaning Specifies a resource which is a list of integer values Values are stored in target code as unsigned 32 bit integers Values are stored in the order specified in the resource definition file Values must be A 102 ICS Triplex ISaGRAF Inc User s Guide separated by comas The name of the resource cannot exceed 15 characters Syntax ULONGDATA lt resource name gt BEGIN target selection list of values END Example ULongData MYDATA Begin 0 1 100 000 decimal 16 A0B1 2 1011 0101 hexadecimal binary End VARLIST Meaning Specifies a resource which is a list of variable addresses Variables are identified by their name in the resource definition file Variable addresses are stored in target code as unsigned 16 bit integers Addresses are stored in the order specified in the resource definition file Variables must be separated by com
393. ple char name ICS Triplex ISaGRAF Inc C 373 Target User s Guide strcpy name SAMPLE gives the name of the function return USP_sample returns the implementation function end of file The TASYODEF H include file from the ISaGRAF kernel is required for system dependent definitions It also contains the definition of the UFP type which represents a pointer to a void function and is used for the declaration function Links between projects and C implementation The logical link between the implementation of a C function and its use in the programs of an ISaGRAF project is made with the name of the function A declaration function is added to the C source code of the function This function is called only once when the application starts and indicates to the ISaGRAF kernel the C function name which corresponds to the implemented function This is the standard format of such a declaration function UFP uspdef_xxx char name strepy name XXX gives the name of the function return USP_xxx returns the implementation function xxx is the name of the function The name of the C function used for strcpy statement must be written in uppercase It must be written in lowercase in the name of the implementation function and in the name of the declaration function Using the USP_ and uspdef_ prefixes for implementation function and definition functio
394. plicitly order the priority of the operations When no parentheses are given for a complex expression the operation sequence is implicitly given by the default priority between ST operators For example 2 3 6 equals 2 18 20 because multiplication operator has a higher priority 2 3 6 equals 5 6 30 priority is given by parenthesis Warning A maximum number of 8 levels of parentheses can be nested within an expression B 7 3 Function or function block calls Standard ST function calls may be used for each of following objects Sub programs Library functions and function blocks written in IEC languages C functions and function blocks Type conversion functions Calling sub programs or functions Name name of the called sub program or library function written in IEC language or in C Meaning calls a ST IL LD or FBD sub program or function or a C function and gets its return value Syntax lt variable gt lt subprog gt lt par1 gt lt parN gt Operands The type of return value and calling parameters must follow the interface defined for the sub program Return value value returned by the sub program Sub program calls may be used in any expression They also may be used in a SFC transition Example1 Sub program call Main ST program gets an analog value and converts it into a limited time value ana_timeprog SPlimit tprog_cmd appl_timer tmr ana_timeprog 100 Calle
395. ptions are saved and retrieved according to the following diagram There is no option There is at least one There is a slave number and in the command line option inthe command at least one other options in line but no slave number the command line The ISaGRAF NT target will use The ISaGRAF NT target will use The ISaGRAF NT target will use the default set of options the the default set of options the the set of options associated with ISaGRAF section of the ISaGRAF section of the the slave number the ISaGRAFs ISaGRAF INI file ISaGRAF INI file taking into section of the ISaGRAF INI file account the command line where s is the slave number Alt F4 or Exit Alt F4 or Exit Alt F4 or Exit application application application The ISaGRAF NT target will The ISaGRAF NT target will not The ISaGRAF NT target will save save the options into the save the options into the default the options into the set of options default set of options the set of options the ISaGRAF associated with the slave number ISaGRAF section of the section of the ISaGRAF INI file the ISaGRAFs section of the ISaGRAF INI file ISaGRAF INI file Note that ISAGRAF INI file is saved in the current working directory C 350 ICS Triplex ISaGRAF Inc Target User s Guide gt Slave number s Option This option specifies the target slave number It can be from 1 to 255 except number 13 0D This slave nu
396. ptions noen em ass Hitech ona eel A 60 A 6 5 On line help oiai e r A EREE ER E R A 61 A 7 Using the FBD LD editor sseseeesesesseeseeoesoeseeeoesereorseeoesereorseeoesoreeseoesee A 62 A 7 1 Basics of the FBD LD languages 0 ccesseecesseeceeeeeeeeeseenseeneeees A 62 A 7 2 Entering an FBD diagram ceccscesseesceesceeseeeeceteceseenseenteeeeeseenes A 65 A 7 3 Working on an existing diagram cceeceesseeceeeceseceseeeseeeseeeeeseeses A 66 A 7 4 Display Options vc secs tek eee eo nos adn oR a os A 68 A 7 5 Styles and modification tracking cecceseesceeeceseeeeeeseeeeenseenees A 70 A 7 6 On lin helpet i ieee aves edeivsnscshatees cata teens NE RE A 71 A 7 7 Printing an FBD diagram cceecccseesseecseesceeseeeeeeseeeseensecseeeeeeneeees A 72 A8 Using the text editor ccccssscsssssscesscssscssssssssssesesesscsssesesnsessssesees A 73 A 8 1 Editing commands cesccsceeseesseeeeeeeeeeeeeseceseenseenseensecseeeeeeneeses A 73 A 8 2 Syntax Colori E 2 ecco sacestte a Gee en EAEE ES A 73 A 8 3 QOPUOMS ses 30356 wide e Ra Rein ee nace a A A 74 A D More about program editors ccsccsssescescssscsssssscssesssessessseesees A 75 A 9 1 Calling other ISaGRAF tools cceeceescesecesceseceeeceeensecseeeeeeseeees A 75 A 9 2 Parameters of the programm cccccceesseesseesceesceeeceseceseensecseeeaeeeneeees A 75 A 9 3 Other commands of the File menu eee eeeeeceeeeeceeeereeseeeeeneees
397. put operations in the application program tie directly to corresponding input or output conditions of the actual field I O devices In Virtual Mode I O variables are processed exactly as internal variables They can be read or updated by the debugger so that the user can simulate the I O processing but no real world connection is made Technical notes The Tools Technical note command displays the on line user s guide of the selected board or complex equipment The hardware supplier of the I O board writes the board technical note It contains all the information about I O board management It also describes the meaning of its parameters Removing connected variables The Tools Free board channels command disconnects all the I O variables already connected on the selected board A 92 ICS Triplex ISaGRAF Inc User s Guide Defining comments for free channels The Tools Free board channels command disconnects all the I O variables already connected on the selected board A 11 2 Setting board parameters To set the value of a board parameter the user has to double click on its name in the list on the right It is also possible to select highlight it and choose the Set channel parameter command of the Edit menu Parameters are listed at the beginning of the list The following icon is used to represent them in the list B000 L n Board parameter The meaning and input format of the parameter are designed b
398. r ANA_ VALUE parameter_value for a real integer parameter REAL VALUE parameter_value for a time parameter TMR_ VALUE parameter_value for a string parameter strepy MSG_VALUE parameter_value The ISaGRAF Library Manager automatically generates the C source code frame of this service when the function block is created C 386 ICS Triplex ISaGRAF Inc Target User s Guide e Example of C source file Below is the standard frame of a C function block implementation function block xxx is the name of the function block include lt tasyOdef h gt include lt grfbOnnn h gt nnn is the number of the f block in library structure of hidden data for each instance of the block typedef struct fields definition str_data initialization service returns the size of needed hidden data word FBINIT_xxx uint16 hinstance return sizeof str_data activation service processes the calling parameters void FBACT_xxx uint16 hinstance str_data data str_arg arg Pes cast operation used to copy the value of a return parameter define BOO _ VALUE T_BOO value define ANA VALUE T_ANA value define REAL VALUE T_REAL value define TMR VALUE T_TMR value define MSG VALUE T_MSG value return parameters read service called for each return parameter void FBREAD_xxx uint16 hinstance str_data
399. r 1 2 3 4 5 6 7 8 ICS Triplex ISaGRAF Inc C 363 Target User s Guide C 7 C programming C 7 1 Overview This manual is aimed at the user already having experience in ISaGRAF concepts and Workbench tools After developing pure automation applications using conversion functions C functions and function blocks from the ICS Triplex ISaGRAF standard libraries it is possible to develop user defined conversion functions C functions and function blocks This allows the user to enhance the ISaGRAF target PLC by creating new libraries and to get the maximum out of the workstation flexibility and hardware platform With a C development system and with some previous experience in C programming this manual will enable the user to customize his ISaGRAF target PLC for the best possible control Such developments improve the target PLC performance as well as the comfort and quality of development with the ISaGRAF Workbench for the automation programmer Information contained in this document is not dedicated to one special target system Some features however such as multitasking capabilities cannot be applied to some mono tasking systems a Standard ISaGRAF workbench features The ISaGRAF Workbench offers many functions to manage the C component libraries on the automation development side For the automation programming a C conversion function or function block is a black box completely defined by i
400. r Screen command is used to clear the window text area The window is automatically cleared before each code generation or syntax checking operation The Copy command is used to copy the displayed text in the clipboard of Windows so it can be used by other applications such as ISaGRAF text editors Viewing compiler output messages The Execution messages command shows all the messages displayed during the last Make or Verify operation on the window text area This applies to all the error messages Other choices of the Edit menu allow the user to monitor auxiliary text files created during syntax verification and code generation These files are not usually used for a common ISaGRAF project Defining resources The Resources command of the Options menu allows the user to define resources A resource is any user defined data network configuration hardware setting of any format file list of values which has to be merged with the generated code in order to be downloaded with it in the target PLC Such data is not directly operated by the ISaGRAF kernel and is commonly dedicated to other software installed on the target PLC Refer to your hardware manual for further information about available resources The resource definition file The resources are defined in a Resource definition file stored with other files of the ISaGRAF project This is a pure ASCII text file processed by the ISaGRAF Resource Compiler This com
401. r cannot display more that one list of variables at a time in the same window However the list editor can be run more than once in order to spy different lists simultaneously Inserting variables in the list The Edit Insert command inserts another variable in the list The variable name is selected in the list of objects defined in the project dictionary This way the user does not have to manually enter the identifier The variable is inserted before the variable currently selected in the list The list cannot contain more than 32 variables The same variable cannot appear more than once in the same list Changing the selected variable The Edit Modify command replaces the selected variable by another variable You can also use the Cut command to remove the selected variable from the list Dump display At any time you can swap viewing mode between list and Dump view Press the zoom button in toolbar or use Options Dump command to swap viewing mode ICS Triplex ISaGRAF Inc A 121 User s Guide In Dump mode only one variable value is displayed Its value is displayed in numerical symbolic format at the top of the window and is also displayed in binary dump format This mode allows you to spy hexadecimal value of each byte in the variable value ISaGRAF RFDEMO MYLIST List of variables File Edit Options Help Daa lt 4 Q minp this is a text string IX0 7 nbeycle 00
402. r is used to close a level 2 window The default language for Level 2 programming is ST Structured Text For transitions level 2 programming can also be entered with Quick LD editor Use the ST LD button in level 2 title bar to change the active language This command is valid only if the level 2 programming window is empty A 42 ICS Triplex ISaGRAF Inc User s Guide STLD EX Pa Close Level 2 window Change lanquage transitions only A single line edit box appears at the top of the level 2 window It is used to enter a short description text This text will be displayed as an IEC comment in drawing of SFC symbols It is very useful as it is used by other commands such as Go To and also in the SFC printout to document SFC steps and transitions Description text The Options Refresh command can be used at any time when level 2 windows are open to refresh the main SFC chart with modified level 2 programs E Inserting a variable name When programming in text language press this button to select a variable declared in the project dictionary and insert its name at the current position of the caret When programming in Quick LD press this button to select the variable to be attached to the selected contact or block I O parameter Pp Inserting a Pulse action block in step When programming the level 2 of a step press this button to insert the template of a Pulse action block at the current position of t
403. r to the chapter Using the Code Generator in this document for more explanations about this command A 32 ICS Triplex ISaGRAF Inc User s Guide Defining resources A resource is a user defined data for example a file which has to be merged with the target code so it can be downloaded with it Refer to the section Using the Code Generator in this document for more explanations about the format of the resource definition file The definition of resources external data to be merged with the downloaded code accepts relative pathnames You can use the relative path to specify an input file located in the project folder This applies to both TEXTFILE and BINARYFILE resources for the file specified in the FROM statement A 3 4 Other ISaGRAF tools The Project menu groups the commands that run ISaGRAF tools for the selected project Refer to the corresponding chapters in this document for more information about these tools om Wiring I O variables The IO connection command runs the ISaGRAF I O variable connection editor This tool is used to establish the relationship between I O variables declared in the project dictionary and corresponding I O hardware mM Running the cross reference editor The Cross references command allows the user to calculate to view or to print the cross references of the project The cross references show the user all the occurrences of each variable in the source code of the pro
404. rams functions or function blocks A sub program or function or function block is represented by a function box The name written in the box is the name of the sub program or function or function blocks In case of a sub program or a function the return value is the only output of the function box A function block can have more than one output B 208 ICS Triplex ISaGRAF Inc Language Reference Example of an FBD program using SUB PROGRAM block net_weight mode delta OJH a lt RETURN gt T tare_weight weight ST Equivalence net_weight Weighing mode delta call sub program If net_weight 0 Then Return End_if weight net_weight tare_weight ICS Triplex ISaGRAF Inc B 209 Language Reference B 6 LD language Ladder Diagram LD is a graphic representation of Boolean equations combining contacts input arguments with coils output results The LD language enables the description of tests and modifications of Boolean data by placing graphic symbols into the program chart LD graphic symbols are organized within the chart exactly as an electric contact diagram LD diagrams are connected on the left side and on the right side to vertical power rails These are basic graphic components of an LD diagram Left vertical power rail Right vertical p
405. raphic editor allows the user to enter complete FC Flow Chart programs with actions and tests decisions programmed in either ST IL or Quick LD language Flow Chart is a decision diagram which can also be used to describe sequential operations as it enables some advanced features such as non blocking backward jumps A 5 1 Basics of the FC language Flow Chart FC is a graphic language used to describe sequential operations A Flow Chart diagram is composed of Actions and Tests Between Actions and tests are oriented links representing data flow Below are graphic components of the Flow Chart language ie Beginning of FC chart A begin symbol must appear at the beginning of a Flow Chart program It is unique and cannot be omitted It represents the initial state of the chart when it is activated Ending of FC chart An end symbol must appear at the end of a Flow Chart program It is unique and cannot be omitted It is possible that no connection is drawn to the End symbol always looping chart but End symbol is still drawn anyway at the bottom of the chart It represents the final state of the chart when its execution has been completed v FC flow links A flow link is a line that represents a flow between two points of the diagram An arrow always terminates a link Two links cannot start from the same source connection point E FC actions An action symbol represents actions to be performed A number and a name identify a
406. rget based on ISaGRAF systems version 3 03 to 3 21 as EZS are stored in application code as standard resources But embedded information cannot be uploaded in this case as such target does not support required communication services ICS Triplex ISaGRAF Inc A 131 User s Guide A 20 Using the Diagnosis tool The Diagnosis Tool is a subset under the ISaGRAF debugger tool It enables the end user to work on a predefined set of variables in order to examine and control the process The ISaGRAF debugger is a very powerful tool which includes high level functions The Diagnosis Tool provides a safe way to control the target application for final running operations or maintenance The ISaGRAF Diagnosis Tool is run directly from the ISaGRAF group in Program Manager by double clicking on the following icon RS Diagnosis The list of existing projects is displayed in a dialog box It enables the user to run the limited ISaGRAF debugger on an existing already downloaded ISaGRAF application Pressing the OK button starts the limited debugger on the selected project Pressing the Cancel button closes the dialog box The Set up command is used to set up the communication link between the ISaGRAF Workbench and the target PLC Refer to the Managing programs chapter of this manual for more information about this command Note The ISaGRAF Diagnosis Tool limited debugger cannot be used to download stop or update the application runn
407. rgument is a far pointer to the data structure associated to the instance The arg argument is a far pointer to the structure which contains the value of the calling parameters The programmer should use the identifiers defined in the function block C header to have access to the fields of the arg structure The activation algorithm processes the calling parameters stored in arg structure and updates the fields of the data structure The following example shows the activation service of the TRIG rising edge detection function block definitions stored in the function block C header typedef struct calling parameters T BOO clk trigger input str_arg define CLK arg gt _clk function block instance data structure typedef struct T_BOO prev _state previous state of the trigger input T_ BOO edge detect edge value image of return param str_data activation service void FBACT trig uint16 hinstance str_data data str_arg arg data gt edge_detect T_BOO CLK amp amp data gt prev_state data gt prev_state CLK calling parameter C 384 ICS Triplex ISaGRAF Inc Target User s Guide The ISaGRAF Library Manager automatically generates the C source code frame of this service when the function block is created e Reading the return parameters The read service is called each time a return parameter of a function block instance i
408. riables 9 application stopped application This warning is produced every time the application is stopped from the debugger ICS Triplex ISaGRAF Inc C 413 o D 5 a 2 C n D 3 n O fo o 10 too many simultaneous N or P actions application This error occurs if one of the target cycles has to execute too many non stored pulse actions or cyclic blocks It is possible to locate the trouble in CC mode The maximum number of simultaneous actions is 2 4 per SFC program 11 too many simultaneous setting actions application This error occurs if one of the target cycles has to execute too many setting actions executed gt D n o o ne o o Q e 3 O a Q lt o gt vU O QO oO 0 R 7 3 D 5 e 5 O Q o e lt 12 too many simultaneous resetting actions application This error occurs if one of the target cycles has to execute too many resetting actions executed when a step is de activated Proceed as mentioned above 13 unknown TIC instruction application The kernel has detected something wrong in the application code called Target Independent Code in a program There are two possible explanations an external program is probably writing into application code Try to locate the crash in CC mode and make sure no IO interface has wrong parameters your target has a reduced set of instructions and your application uses a non auth
409. rical expression 2 3 is replaced by 5 in the target code When this option is not set constant expressions are calculated at run time gt When the Suppress unused labels option is set the Optimiser simplifies the system of jumps and labels of the programs in order to suppress unused target labels or null jumps gt When the Optimise variable copying option is set the use of temporary variables used to store intermediate results is optimised This option is commonly used with the Optimise expressions option When this option is set the Optimiser re uses the result of expressions and sub expressions which are used more than once in the program gt When the Suppress unused code option is set the Optimiser suppresses the code which is not significant For example if the following statements are programmed var 1 var X the corresponding generated code is only var X gt When the Optimise arithmetic operations option is set the Optimiser simplifies arithmetic operations according to special operands For example the expression A 0 will be replaced by the A When the Optimise Boolean operations option is set the Optimiser simplifies Boolean operations according to special operands For example the Boolean expression A amp A will be replaced by TA gt When the Build binary decision diagrams option is set the Optimiser replaces the Boolean equations mixing AND OR XOR and NOT opera
410. ries of all the conversions functions and function blocks needed for the specific project content ISAUSP GRUSOLIB object file array of declared functions object file of each integrated function ISAFBL GRFBOLIB object file array of declared function blocks object file of each integrated function block ISACNV GRCNOLIB object file array of declared conversions object file of each integrated conversion function Then the programmer has to link these new libraries with other object files and libraries of the ISaGRAF kernel The different phases of a user C development integration are outlined in the following diagram ICS Triplex ISaGRAF Inc C 395 Target User s Guide gren0lib C gren0nnn C Library utility grusOlib C grusOnnn C 1 Library utility grfb0lib C grfbOnnn C l Library utility v isafbl Other libraries Link utility isaker isa This is the exact list of object modules and libraries which have to be joined during the link To build isaker Object Module Object Module Kernel library Kernel library User library User library User library Kernel library System libraries To build isa Object Module Obj
411. riod Q BOO Not R1 XOUT REAL integrated output Description Integration of a real value If the CYCLE parameter value is less than the cycle timing of the ISaGRAF application the sampling period is the cycle timing of the application FBD program using INTEGRAL block integral manual_mode L RUN R1 sensor value xn init_value xo t 100ms cyce xou controlled_value ST Equivalence INTEGRAL1 instance of INTEGRAL block INTEGRAL1 manual_mode NOT manual_mode sensor_value init_value t 100ms controlled_value INTEGRAL1 XOUT IL Equivalence B 280 ICS Triplex ISaGRAF Inc Language Reference LD manual_mode ST INTEGRAL1 run STN INTEGRAL1 R1 LD sensor_value ST INTEGRAL1 XIN LD init_value ST INTEGRAL1 X0 LD t 100ms ST INTEGRAL1 CYCLE CAL INTEGRAL1 LD INTEGRAL1 XOUT ST controlled_value DERIVATE derivate Arguments RUN BOO mode TRUE normal FALSE reset XIN REAL input any real analog value CYCLE TMR sampling period XOUT REAL differentiated output Description Differentiation of a real value If the CYCLE parameter value is less than the cycle timing of the ISaGRAF application the sampling period is the cycle timing of the application FBD program using DERIVATE block derivate manual_mode RUN sensor_value iN t 100ms ovce xou derivated_value ST Equivalence DERI
412. ript A script is described with an easy ST like text language and is used to automate tests with the ISaGRAF simulator The simulation script editor is run by the Tools Simulation scripts command of the Simulator window Below is the frame of the script editor A 136 ICS Triplex ISaGRAF Inc User s Guide RFDEMO TEST Script OF x File Edit Script Options Help ODA xul amp if bstart 1 goto Ll a print bstart 0 goto L2 L1 print bstart 1 v Ki oil bstart 1 A timeprog lt gt 0 status lt gt Stop ne m The upper window is a text editor where script instructions are entered It is used as other ISaGRAF text editors and includes high level features such as mouse selection of a variable symbol You can use commands of the Options menu to set up tab width and select a character font The lower window shows all the messages output when the script is run The separation line between windows can be freely dragged to resize windows The output window can be hidden during script editing but is automatically open each time a script is run Editing scripts Use the commands of the File menu to manage script files New creates a new untitled script Open loads an existing script from file Save oe saves script text and contents of output window to disk in project directory Save as 0 saves script under another name Two files are created in the ISaGRAF project direc
413. rk addresses cannot be used if number of variables for one type exceeds 4095 IO connections Object Maximum Notes IO Boards 256 defined for the same application boards or complex equipments Number of I O boards including single boards and items of complex equipments cannot exceed 256 IO channels 128 on the same board For libraries Object Maximum Notes Functions IEC Lang 255 installed together in the library Function blocks IEC lang 255 installed together in the library C functions 255 installed together in the library C function blocks 255 installed together in the library function blocks instances 4095 for the same type of function block in the same application Function input parameters 31 this applies to C functions and functions written in IEC languages Function block parameters 32 freely distributed between input and output parameters At least 1 output parameter is required Conversion function 128 installed together in the library IO configurations 255 installed together in the library IO boards 255 installed together in the library Complex IO equipt 255 installed together in the library Board oem parameters 16 A 172 ICS Triplex ISaGRAF Inc Language Reference B Language Reference ICS Triplex ISaGRAF Inc B 173 Language Reference B 1 Project architecture An ISaGRAF project is divided into several programming units called programs The programs of the project are linke
414. rogrammed time Q BOO If TRUE total time is not elapsed ET TMR current elapsed time Description Increase an internal timer up to a given value Timing diagram B 274 ICS Triplex ISaGRAF Inc Language Reference TP Arguments IN PT Q ET Description BOO TMR BOO TMR TP If Rising edge starts increasing internal timer if not already increasing If FALSE and only if timer is elapsed resets the internal timer Any change on IN during counting has no effect maximum programmed time If TRUE timer is counting current elapsed time Increase an internal timer up to a given value Timing diagram CMP Arguments VAL1 VAL2 LT EQ GT INT INT BOO BOO BOO any signed integer analog value any signed integer analog value TRUE if val1 is Less Than val2 TRUE if val1 is Equal to val2 TRUE if val1 is Greater Than val2 ICS Triplex ISaGRAF Inc B 275 Language Reference Description Compare two values tell if they are equal or if the first is less or greater than the second one FBD program using CMP block CMP level max_level uy gt 1 var varz EQ pump_cmd cr manual_mode amp G alarm ST Equivalence We suppose CMP1 is an instance of CMP block CMP 1 level max_level pump_cmd CMP1 LT OR CMP1 EQ alarm CMP1 GT AND NOT manua
415. roject This document can group any component program variable and parameters of the selected project To build a specific non complete document the user only has to define its table of contents Password protection The Project Set password command enables the user to define password protection for tools and data of the selected project Refer to the Password protection section at the end of the first part in this manual for further information about password levels and data protection Passwords are only relative to the selected project They have no influence on other projects and ISaGRAF libraries A 24 ICS Triplex ISaGRAF Inc User s Guide A 2 2 Working with several groups of projects An ISaGRAF project corresponds to one directory on the disk where all the project files are store A Project Group corresponds to a list of project directories grouped together under the same root directory A project group is identified by a name As default ISaGRAF creates two project groups Default on ISAWIN APL your working area Samples on ISAWIN SMP sample applications delivered with ISaGRAF workbench The name of the currently selected project group is written in the toolbar close to the button used to select a project group 2 Default You can also run the File Select project group to select an existing group or create a new one The following dialog box is open Projec
416. rom many transitions to the same step A single convergence is generally used to group the SFC branches which were started on a single divergence Single horizontal lines represent single divergences and convergences ICS Triplex ISaGRAF Inc B 189 Language Reference Single divergence r a esa Single convergence Warning The conditions attached to the different transitions at the beginning of a single divergence are not implicitly exclusive The exclusivity has to be explicitly detailed in the conditions of the transitions to ensure that only one token progresses in one branch of the divergence at run time Below is an example of single divergence and convergence SFC program with single divergence and convergence AH Run amp not Error A Error 1 101 2 Start Motor M1 101HAlarm M1 started _ Acknowledge 2 102 3 Start timer timer gt t 3s 4 Stop motor M1 M1 stopped 4 B 3 3 2 Double divergences A double divergence is a multiple link from one transition to many steps It corresponds to parallel operations of the process A double convergence is a multiple link from many steps to the same transition A double convergence is generally used to group the SFC branches started on a double divergence Double horizontal lines represent double divergences and convergences B 190 I
417. rs dictionary lists of variables I O connection All windows opened during a debug session operate in debug mode meaning that the editing command is disabled Displayed program components steps transitions variables are shown with their current run time status or value Double clicking on an object changes its status or value in the target application When running the debugger in simulation mode communication with the ISaGRAF target system is stopped The debugger only communicates with the simulator window Because the target system does not exist in this mode the download stop or activate commands are not available on the debugger menu A 15 1 The debugger window The debugger window only contains information about the complete application status It is linked to other ISaGRAF windows creating a complete interactive debug system Detected run time errors are displayed in the bottom area of the debugger window Commands from the Options menu are used to hide show or clear the list of errors The control panel area under the debugger menu shows the global status of the target application and information about the execution cycle timing The list of possible target status is as follows Logging 0 0c8 Debugger establishes communication with the target system Disconnected Debugger cannot communicate with the target system Ensure connection cable and communication parameters are v
418. running the Edit Set style command when item is selected in graphic or list layout The Style dialog box is A 126 ICS Triplex ISaGRAF Inc User s Guide A 18 4 also opened when a new item is added to the document It groups the following pieces of information to be selected by the user Graphic style and settings The display style single text bar graph curve of an item can be changed dynamically When foreground and background colors are used they can be customised using the corresponding boxes When style is Boolean icon the pathname of corresponding ICO files has to be specified Use buttons close to these controls to browse icon files existing on the disk Scale This is the maximum value that can be displayed in bar graphs and curves For bipolar bar graphs and curves the same absolute value is used for both positive and negative axis Variable name When the Name field is the active field pressing the button close to edit control enables the user to find the names of the variables already declared in the project dictionary Caption A caption can be displayed closed to the graphic item in graphic layout You can customise the location of the caption text top bottom left or right and its contents Caption can be any combination of the variable name and its value formatted as text Caption customisation has no effect on list layout Command variable If the
419. s Example Name Attribute Comment Level internal internal calculated water level Alrm1 output main alarm output e commas and quotes Description Fields are separated by commas Each field is written between quotes Example Name Attribute Comment Level internal internal calculated water level Alrm1 output main alarm output Keywords The names used to identify the fields in the first imported or exported line may be changed by pressing the Keyword button This command opens the following dialog box ICS Triplex ISaGRAF Inc A 89 User s Guide Keywords for variable import export x Variable name Comment Address Attribute Cancel False Boolean True string True Modify Integer real format Format Integer real unit string Unit Default Integer real conversion Conversion M Message maximum length The window shows the list of object fields and the associated keywords To modify a keyword the user must select a field in the list and press the Modify button Pressing the Default button restores the original list of keywords Naming the keywords must conform to the following rules e the name cannot exceed 16 characters e the first character must be a letter e the following characters can be letters digits or _ character e the same name cannot be used for different keywords Below are the standard keywords found in ISaGRAF Object NaMe iirinn Name TEXt COMMENT saris
420. s of the document A choice of commands allow the user to use a default table with all the components of the project build a specific table with only some components or move items in the table and modify it The default list The Default list command of the Edit menu defines a standard table of contents for the document which includes all the components of the project The standard table consists of Project descriptor Hierarchy tree links between programs Source code for any program Diary file for any program Common definitions Global definitions Local definitions for any program Global variables Local variables for any program ICS Triplex ISaGRAF Inc A 155 User s Guide ok I A 24 2 Application options I O Connection Lists of variables Conversion tables Condensed cross references Detailed cross references Declaration summary Network addresses map History of modifications The table of contents can be saved on disk using the File Save command This command is greyed when document generator is run from an ISaGRAF editor to print a single document Cut and paste Use Edit Cut and Edit Paste commands to move items in the list in order to customise the order of the table The Document Generator allows multiple selection so that a group of items may be cut and pasted Clearing the table Use Edit Clear command reset the table of conte
421. s The aim of I O specific actions is only to make the chart more readable and to give focus on non portable parts of the chart Using I O specific actions is an optional feature I O specific blocks have exactly the same behavior as standard actions O FC connectors Connectors are used to represent a link between two points of the diagram without drawing it A connector is represented as a circle and is connected to the source of the flow The drawing of the connector is completed on the appropriate side depending on the direction of the data flow by the identification of the target point generally the name of the target symbol A connector always targets a defined Flow Chart symbol Its logical number identifies the destination symbol E FC comments A comment block contains text that has no sense for the semantic of the chart It can be inserted anywhere on a free space of the Flow Chart document window and is used to document the program A 5 2 Entering a Flow Chart To enter a chart you have to place elements actions decision tests and connectors in the graphic area and draw flow links between them Inserting objects To insert an object in the diagram select the corresponding button in the toolbar and click in the graphic area where you want to insert it You can either put the element on an empty area or insert it in a flow by clicking on a flow link Insertion on a link is allowed for top to bottom vertical links only
422. s referenced in a ST or FBD program It is used to get the value of one return parameter The following example shows the read calls executed while running a ST program ST programming C implementation FB1 is a declared instance of the SAMPLE function block INSTANCE ACTIVATE DATA FB1 high value low 1 0 service high alarm FB1 QH low_alarm FB1 QL READ any_alarm FB1 Q service Because the read service can be called more than once in the same cycle for the same return parameter or the same function block instance no special calculation has to be performed in such a service It only operates transfer between hidden data and the ISaGRAF application Below is the standard frame of the read service cast operation used to copy the value of a return parameter define BOO_VALUE T_BOO value define ANA VALUE T_ANA value define REAL VALUE T_REAL value define TMR_ VALUE T_TMR value define MSG_ VALUE T_MSG value return parameters read service called for each return parameter void FBREAD xxx xxx is the name of the function block uint16 hinstance logical number of the instance str_data data pointer to the instance data structure uint16 parno logical number of read parameter void value buffer where to copy the value of the param switch parno case FBLPNO XX break case FBLPNO_YY bre
423. s are not allowed normal refers to FBs such as implemented in ISaGRAF 3 3 Calling mistakes are detected at compilation Also the compiler automatically ensures that In Line function blocks are compiled according to the calling graph when you run a Verify or Make command In Line function blocks can only be defined in a project The ISaGRAF library does not support these function blocks ICS Triplex ISaGRAF Inc B 221 Language Reference B 7 ST language ST Structured Text is a high level structured language designed for automation processes This language is mainly used to implement complex procedures that cannot be easily expressed with graphic languages ST is the default language for the description of the actions within the steps and conditions attached to the transitions of the SFC language B 7 1 ST main syntax A ST program is a list of ST statements Each statement ends with a semicolon separator Names used in the source code variable identifiers constants language keywords are separated with inactive separators space character end of line or tab stops or by active separators which have a well defined significance for example the gt separator indicates a greater than comparison Comments may be freely inserted into the text A comment must begin with and ends with Each statement terminates with a semicolon separator These are basic types of ST statements assignment
424. s border to change its size When an element is connected to a flow link resizing it horizontally acts on both left and right borders so that the element is still correctly centred on the link when resized Q Swapping the outputs of a test You can swap locations of YES NO outputs on a test decision To do that simply double click on either Yes or No marks displayed close to the test symbol A 50 ICS Triplex ISaGRAF Inc User s Guide A 5 3 Working on an existing chart The commands of the Edit menu are used to change or complete an existing diagram Most of these commands act on the elements currently selected in the diagram Correcting a chart The DEL key can be used to remove the selected elements Pending links are deleted with selected elements Use Edit Undo command to restore elements after a DEL command The DEL command can also be applied to a group of elements selected in the diagram The Cut Copy Paste commands of the Edit menu are used to move or copy selected elements Find and replace The Edit Find Replace commands can be used to find or replace text strings in the complete program all actions and tests programmed in ST IL or Quick LD The Find Replace dialog box is used to enter a text to be searched and to directly open the programming section where the text is found Ee Direct access to an element The Edit Go to command allows the user to access a graphic element
425. s for the file name specified in the vH vL fields in that case High and Low is not meaningful and including 0 for end of string If the file does not exist it is created with writable readable executable attributes 0xF002 Change base address to the specified value nbb should be equal to 4 The first vH vL byte corresponds to the High word of the specified value Any 32 bit value is accepted All future read or write requests will use this base address When this request is not used the default base address value is zero 0xF004 Delete file nbb should be equal to zero The file will be deleted if it exists and if it is possible Greater than 0xF004 Reserved Less than 0xF000 Write bytes The specified address where to write bytes is specified in addH addL It must be less than F000 The specified bytes nbb bytes specified in vH vL fields where High and Low may ICS Triplex ISaGRAF Inc C 403 Target User s Guide be no more meaningful are written in the order given from left to right to the previously selected remote file name The start address written to is the specified address added to the previously selected base address If the resulting addresses access exceed the current file size the file is extended You cannot reduce the file size FUNCTION 18 read data Question _ slv_ 12 addH adat 00 _ nbb__ ercH_ crcl_ Answer siv_ 12 nbb v v Jerch cre The specified address where
426. s less or equal than 1 tick or equal to zero then the CPU is relinquished for 1 tick to force the scheduling The target timing accuracy correspond to the OS 9 system tick one A specified cycle timing is commonly used to trig cycles or to yield the CPU to other tasks running on the OS 9 system The communication task is in sleep status while there are no incoming data through the communication link When needed this task gets information on the running application through a question answer protocol with the kernel task The communication task asks for a question to the kernel At the end of the cycle to have a synchronous application image the kernel gives the answer to the communication task The ISaGRAF tasks do no modify the priority they have been given The user is free to adjust these priorities according to ISaGRAF task behaviors described above and its whole application requirements For instance to make sure that ISaGRAF is not pre empted by a low priority task the OS 9 task management parameters such as MIN_AGE and MAX_AGE can be modified Terminal mode The target serial communication protocol recognizes a sequence of 3 carriage return characters 0D and then starts an OS 9 shell task if it is available on the serial link device This allows to get an OS 9 shell prompt on any terminal using the SaGRAF target serial link Example From the host PC Close the ISaGRAF debugger Start a Windows Termina
427. s or equal to 10 ms and different from zero will generate an cycle duration overflow error error 62 See the following chapter for more information Ask your supplier for a special implementation if your application requires more accuracy Cycle duration and target behavior At the end of an ISaGRAF cycle just before starting a new one the following algorithm is performed If a cycle timing is specified from the workbench see user s guide Managing programs then the CPU is relinquished for the remained time period specified cycle time current application one If this remained time period is negative an overflow is generated and the CPU is relinquished for 1 tick to force the scheduling If no cycle timing is specified or if the remained time is less or equal than 1 tick or equal to zero then the CPU is relinquished for 1 tick to force the scheduling The target timing accuracy correspond to the Windows NT system tick one A specified cycle timing is commonly used to trig cycles or to yield the CPU to other processes running on the Windows NT system Exit key While testing an application in non industrial conditions on a desktop PC the user may wish to stop ISaGRAF this is done by pressing a combination of keys to prevent unexpected stops This key sequence is alt F4 One dangerous side effect of this fast exit is that the IO board interface is not closed Thus the clean way for stopping your ISaGRAF target is
428. s stopped errors or messages are present in the output window The centre of the icon blinks red To stop the blink it possible to choose the Acknowledge item of the Messages menu or the Clear item of the same menu beware that this item will completely erase the output window You will find more information on errors in the error management and output massages chapter C 360 ICS Triplex ISaGRAF Inc Target User s Guide The different states are sum up in the following table no error errors or messages the centre is red CEE seie FaN ISaGRAF NT target Start Stop push button The Start Stop push button is strictly identical to the start stop function of the debugger The text in the push button will reflect the running state of the application If the application is running the text will be Stop If the application is stopped or if there is no application the text will be Start Please note that if there is no application and the start action is requested the push button will toggle into the Stop mode and then it will come back to the Start mode running application no application ISaGRAF NT target general information With the View Information command the following dialog box gives general information on the target configuration and on the running application ISaGRAF NT kernel Global Information General Setup Slave number 2 Com
429. sample applications It is highly recommended that when installing ISaGRAF for the first time all components be included Further components can however be added at a later date by re installing the ISaGRAF Workbench The default name for the ISaGRAF main directory is ISAWIN This allows ISaGRAF for Windows to be easily installed on the same disk as a version of ISaGRAF for MS DOS Refer to the SaGRAF directories section in the Advanced techniques chapter for more about ISaGRAF disk architecture Once all the ISaGRAF files have been copied the following group is added to your Program Manager Window lel Es a ile Edit View Help E a x im Book Diagnosis Libraries Projects Report Read Me 6 object s 212KB 7 Here are the main ISaGRAF icons Book 0 06 On line information about ISaGRAF Diagnosis tool for end user Library management Project management Report Standard Bug report form Read Me Information about the ISaGRAF new version In case you encounter a problem use the standard bug report form Open it fill the items requested and use the File Save As menu command to save it with a given file name Then send this file to ICS Triplex ISaGRAF using Fax or e mail Updating system files Once installation is complete the CONFIG SYS file needs to be updated before restarting the computer The ISaGRAF directory pathname does not have to be inserted i
430. seconds converts to a timer stores converted value in a timer Called sub program named SUBPRO evaluates the analog value given as a binary value on three Boolean inputs inO in1 in2 are the three Boolean input parameters of the sub program LD ANA MUL ST LD ANA ADD MUL ST in2 2 result ana in2 result 2 ana in2 temporary temporary result int temporary result 2 ana in2 ana in 1 2 result 4 ana in2 2 ana in1 temporary temporary result B 242 ICS Triplex ISaGRAF Inc Language Reference LD ind ANA ADD temporary result 4 ana in2 2 ana in1 ana in0 ST SUBPRO return current result to calling program Calling function blocks CAL operator Operation calls a function block Allowed modifiers CN Operand Name of the function block instance The input parameters of the blocks must be assigned before the call using LD ST operations sequence Output parameters are known if used Example1 Calling function block SR SR1 is an instance of SR LD auto_mode start_cmd SR1 set1 stop_cmd SR1 reset SR1 SR1 Q1 command FBD equivalent auto_mode start_cmd stop_cmd command Example 2 We suppose R_TRIG1 is an instance of R_TRIG block and CTU1 is an instance of CTU block LD command ST R_T
431. seeetesecaeeseeneeeeeaeeateaes A 151 A 23 Using the Archive utility cssssssssseesesssssecsssescssessessecssesenseseees A 152 A 23 1 Calling the archive manager ss ssessseesssseseeseeeessteresseseesresersesseese A 152 A 23 2 OptbOMS en pennae iiine n E E E RER RERE TEEN A 153 A 23 3 Backup and restore cccceccsseesseeceeeceeeceeseceseceecaeeeseeseeeeeeeerenseens A 153 ARIA Are Me TICS esaa a E A aren E A A 153 vi ICS Triplex ISaGRAF Inc User s Guide A 24 Printing a complete document cscsssessesscsrssssssesssscesesssseseees A 155 A 24 1 Customising the table of contents cccceseeseeeeeseeeeeeeeeeeeeeeeens A 155 A242 Options A E E E E A 156 A 25 Password protection seseeseeseeoesseseeeoeseeeoeseeoesoeeeesonsereonseeoeneeeoesoreereoes A 158 A 26 Advanced programming techniques seseesoeseeeerseeoesoesereoesesoesereoee A 161 A 26 1 More about ISaGRAF tools sssesseeseesseseeseesreresseeressrseesresersesseese A 161 A 26 2 Locked I Os and virtual V OS ssessessenssesensseseesesseerssseseeseesersesseese A 161 A 26 3 PC PLC link validation 2 0 0 ccceecceseeeecneeeeeeeseeeeeeeeeeeeeeeeeeeeerens A 164 A 26 4 ISaGRAF directories ccccecceesceesceseceseceseeeseceeeeaeeeaeeeseeeeeeereneens A 164 A 26 5 Application symbols s eeeseseesseeeessesessresrssseeresseeresseseeseesersesseese A 166 A 26 6 Limits of ISaGRAF LARGE WDL workbench 08 A 170 B
432. ser to modify the programmed cycle timing This time is titled as Allowed in the debugger control bar window The Cycle to cycle mode should be set before modifying the cycle timing The cycle timing is entered as an integer number in milliseconds Remove all breakpoints The Control Clear all breakpoints command removes all the breakpoints currently installed encountered or still active in the whole application Existing breakpoints are not automatically removed when the debugger window is closed Unlock I O variables The Control Unlock all IO variables command unlocks all the I O variables currently locked in the application When an I O variable is locked no input or A 112 ICS Triplex ISaGRAF Inc User s Guide A 15 3 A 15 4 output status change is made to the corresponding I O device Variables attached to the I O can still be written by the application or by the debugger Currently locked I O variables are not automatically unlocked when the debugger window is closed Options The Options menu contains the options to control the information displayed in the debugger window The communication parameters The communication timing parameters can be adjusted when the debugger is active Only communication time outs can be set here Other communication parameters baud rate parity must be set from the Debug menu of the Program Management window The Communication time out is the time left for
433. sia This item shows the date and time when the code has been built CRG riae ea This is a checksum calculated with the contents of the table of symbols The code generator has calculated this number This value depends on the contents of the dictionary of variables Note The Get version number command is also available during simulation In real debug mode this command cannot be used if the target PLC is not connected On line modification The File Update application command enables the user to achieve on line modification of the running target application This command is detailed in further sections of this chapter It is not available when the debugger is used in simulation mode Real time mode The Control Real time command is not available when no application is active It sets the target application in normal real time mode Normal mode the execution cycles are triggered by the programmed cycle timing Cycle to Cycle mode The Control Cycle to cycle command is not available when no application is active It sets the target application in normal cycle to cycle mode In this mode cycles are executed one by one according to the Execute one cycle commands made by the user from the debugger menu Execute one cycle When target is in cycle to cycle mode the Control Execute one cycle command runs the execution of one cycle The cycle timing The Control Change cycle timing command enables the u
434. sible even if the input focus is on another window A 21 5 Saving and restoring input states Using the ISaGRAF simulator input channels are forced through manual operations acting on toggle buttons and edit controls of the simulation panel You can at any time use the following commands of the Tools menu to save and restore the state of all input channels Load input scheme Set values of input channels with values stored in a file that has been created on disk by Save input scheme command Save input scheme Save state of input channels in a file so that they can be restored later using the Load input scheme command File is stored in the project directory and thus is saved with other project files by the ISaGRAF archive utility Note Only named input channels the ones having a variable connected are saved on disk A 21 6 The cycle profiler The ISaGRAF Cycle Profiler is a powerful diagnostic tool that shows how cycle time is distributed between various programs functions and function blocks of an application This tool is very useful to have a quick diagnostic on the application performances and leads the programmer to the parts of code which may need optimisations The Cycle Profiler is run by the Tools Cycle Profiler command in the menus of the ISaGRAF Simulator window It displays for each program function or function block the percentage of the cycle time spent to execute it ICS Triplex ISaGRAF Inc A 135
435. sing edge detection ir bes raa Pe ea Contact with negative falling edge detection 1F Coils A coil represents an action The rung state state of the link on the left of the coil is used to force a Boolean variable The name of the variable is displayed upon the coil symbol ISaGRAF Quick LD editor supports the following types of coils ae Direct coil E T Negated coil 3 ETE Set action coil AE A Reset action coil f wii inneas Coil with positive rising edge detection ti ie raaa araa Coil with negative falling edge detection A 54 ICS Triplex ISaGRAF Inc User s Guide Su Function blocks A block in an LD diagram can represent a function a function block a sub program or an operator Its first input and output parameters are always connected to the rung Other input and output parameters are literally written outside of the block rectangle time is TBapsed In Line Function blocks In the Quick LD editor you can change an edited Function Block to an In Line Function Block by selecting the block then choosing In Line from the Tools menu This command enables you to set or reset the In Line attribute of the edited FB When the In Line attribute is set a small title bar showing the In Line text is displayed with toolbars Rung end right power rail A rung ends with a right power rail Using the Quick LD editor the right power rail is automatically inserted when the user places a coil Jump sy
436. single link up to 4 different applications through the same physical port The kernel and communication tasks are independent and can be separately spawned The only requirement is that the kernel task s has to be started first so that it initializes its system environment and the communication task s can link it The ISaGRAF multitask target does not prevent the running of background processes or interrupt driven routines Two modules are proposed depending on communication hardware capabilities Kernel and serial link isakerse o This module enable to start the kernel task s and the serial communication task s Kernel and serial or and Ethernet link isakeret o This module enable to start the kernel task s and the serial or and Ethernet communication task s The way of starting ISaGRAF is the same for isakerse o and isakeret o modules except that for isakeret o you can either specify a serial device name or a port number for Ethernet link as communication device name parameter when starting the ISaGRAF communication task s tst_main_ex see below For ISaGRAF the VxWorks target is the server and the debugger is the client which connects the specified port number Kernel s registration An SaGRAF kernel is characterized by its slave number Its value can be from 1 to 255 except number 13 0D This slave number is used through the communication link protocol and by the communication task s linked to the kernel I
437. single precision 1 sign bit 23 mantissa bits 8 exponent bits REAL analog exponent value cannot be less than 37 or greater than 37 Analog variables can have one of the following attributes Internal memory variable updated by the program Constant read only memory variable with an initial value Input variable connected to an input device refreshed by the system Output variable connected to an output device ICS Triplex ISaGRAF Inc B 183 Language Reference Note When a real variable is connected to an I O device the corresponding O driver operates the equivalent integer value Warning Integer and real analog variables or constant expressions cannot be mixed in the same analog expression B 2 3 5 Timer variables Timer means clock or counter Such variables have time values and are typically used in time expressions A timer value cannot exceed 23h59m59s999ms and cannot be negative Timer variables are stored in 32 bit words The internal representation is a positive number of milliseconds Timer variables can have one of the following attributes Internal memory variable managed by the program refreshed by ISaGRAF system Constant read only memory variable with an initial value Warning Timer variables cannot have the INPUT or OUTPUT attributes Timer variables can be automatically refreshed by the ISaGRAF system When a timer is active its value is automatically increased according to the target system real
438. sion B 251 DO B 229 B 230 Document A 24 A 33 A 155 Download A 111 Dump A 121 E 432 ICS Triplex ISaGRAF Inc General Index E Edge D 424 Edge contact B 213 Edit project descriptor A 24 ELSE B 227 B 228 ELSIF B 227 Embedded source code A 130 EN A 55 Enabled transition B 199 End A 27 A 143 B 201 End of cycle control VxWorks C 340 C 343 End section D 424 END_CASE B 228 END_FOR B 230 END_IF B 227 END_REPEAT B 229 END_WHILE B 229 Ending step A 41 B 192 D 424 ENO A 56 EPROM C 337 C 348 EQ operator IL B 258 Error A 101 Error message A 78 Ethernet A 36 Execute one cycle A 112 Execution order A 67 EXIT B 231 Exit key NT target C 358 Exit key on target C 329 Exponent B 285 Export A 87 Export function A 32 Export function block A 32 Expression D 424 EXPT B 285 F F_CLOSE B 314 F_EOF B 315 F_ROPEN B 313 F_TRIG B 269 F_WOPEN B 313 FA_READ B 316 FA_WRITE B 318 FALSE A 84 B 179 Father SFC program B 200 D 424 FBD A 62 B 206 C 371 C 379 D 424 FBD comment A 65 FBD editor A 62 A 75 FC A 47 B 201 D 424 FC comment A 49 FC connector A 49 FC editor A 47 FC link A 49 FC sub program A 28 B 203 FEDGE B 225 File end of file detection B 315 File close B 314 File open B 313 File read B 316 B 320 File write B 318 B 321 Find A 42 A 51 A 59 A 67 A 73 A 78 FIND
439. so be selected and moved in order to arrange the diagram O Using connectors The ISaGRAF Flow Chart editor enables the use of graphic connectors as a replacement of a visible flow link Connectors can be very useful to avoid very long links and increase chart readability A connector cannot be used to establish a link with another FC program ICS Triplex ISaGRAF Inc A 49 User s Guide A connector is put in the chart as other FC objects It is represented by a circle containing the numerical reference of targeted element destination of the flow link The short description text of the target element is displayed close to the connector circle 15 Exception handling I Moving objects To move objects in the chart you have to select them and drag the mouse to move them within the chart You can either move a single element or a multiple selection Elements cannot be overlapped when moving them Moving elements cannot be used to connect them to an existing link When a single element action test is moved the ISaGRAF Flow Chart editor automatically moves with the selected element all objects placed below and connected to it This feature does not operate in the case of a multiple selection El Resizing objects Any graphic element of a flow apart from Begin End symbols and connectors can be resized freely To resize an element you first have to select it Then drag with the mouse the small squares drawn on it
440. sscsenastenvevessssiesesnssedmessoeas B 210 B 6 1 Power rails and connection lines ccceesceeseeseceseeeseceseenseeseenees B 210 B 6 2 Multiple connection 442 c hcct a ee heh B 211 B 6 3 Basic LD contacts and coils 0 ccecceseesseesceeeeeeseeeeeeeeeneeneeeseeenes B 212 B 6 4 RETURN statement ene ae an tees ine ah R seeds B 217 B 6 5 Jumps and labels c c0x iva stews vr ehcbiaecees a E decease B 218 B 6 6 Blocks in LD iscce ous hoki edie Sodan eiaied aie E B 219 B 6 7 In Line Blocks im LD ccsseesces cepechessonieealeeneeeacveecesceveseeiteeivonieess B 220 B 7 SAETTA E TA A E B 222 B 7 1 ST main SYMAK ere riei O EE E eos B 222 B 7 2 Expression and parentheses cccccsccesseesseeeceeseeseeeeeeeneecseeeaeeenes B 222 B 7 3 Function or function block calls 0 cc ecceeceeeeeeeceteeeseceeenseeeeenes B 223 B 7 4 ST specific Boolean operators ccccecceeseeeseeesceseceeeeeeeseeeseeeseeees B 224 B 7 5 ST basic statement inan enosn iesi aini o a i ie B 226 B 7 6 ST EXtESIONS ie o i ire EE ERE EER AREER B 231 B 8 TORET EN E E A S B 237 B 8 1 TE main Syntax e i esd E ea E E E RE B 237 B 8 2 TsO PETatOrs oea a a TE E EE E E R B 238 B 9 Standard operators function blocks and functions s 0e00 B 245 B 9 1 Standard Operators ic i02 sc ccsccceesssesesiei rian n i i Rk B 245 B 9 2 Standard function blocks 2 0 0 cececcceseesceesceeseeeseceeeceeeseeeseenseeereees B 265 viii ICS Triplex ISaGRA
441. sting diagram Most of these commands act on the elements currently selected in the diagram Correcting a diagram The DEL key can be used to remove the selected elements It is not possible to remove a coil a jump or return symbol when it is the only output of a rung Use Edit Undo command to restore elements after a DEL command The DEL command can also be applied to a group of elements selected in the diagram The DEL command can be used when selection is on the rung comment text to reset it The DEL command used when the selection is on the rung head removes the entire rung Copying symbols The Cut Copy Paste commands of the Edit menu are used to move or copy selected elements These commands do not act on rung comments The Edit I Paste special command gives you the choice to insert the pasted elements e before the selected element on the left e after the selected element on the right e in parallel with the selected element Managing entire rungs All editing commands delete copy cut act on the entire rung if the selection is on the rung header left power rail This provides an easy way to arrange rungs in the diagram just by moving the selection in the first column It is also possible to extend the selection vertically so that it includes several rung headers In this case edition commands may be applied to a list of entire rungs a Find and replace The Edit Find and Edit Replace menu
442. t available during simulation because the ISaGRAF Workbench automatically installs the application processed by the simulator Stop the target application The File Stop application command stops the execution of the application currently active in the ISaGRAF target system Activate the target application The File Start application command runs the application existing in the target system When an application is downloaded it is automatically started so that the Start command does not have to be used The Start command is typically used after a Stop command Note the target application must be stopped inactive before it is possible to download a new application Download the application The File Download command is used to download the application code in the target system Select the type of code to be downloaded according to the target system processor and the application options Display version number The File Get version number command is used to display complete identification of both Workbench and target applications The Workbench application is the one currently open on the ISaGRAF Workbench The target application is the one executed in the target ISaGRAF PLC The following items are displayed ICS Triplex ISaGRAF Inc A 111 User s Guide b gt VERSION 005 This is the version number of the application code The code generator has calculated this number DATE cni
443. t can be produced The gt gt sign is used to indicate the selected target s The ISaGRAF Code Generator can produce up to 3 different codes in the same compiling operation Use the Select and Unselect buttons to set the list of required target codes according to your target hardware Below are the standard ISaGRAF targets SIMULATE This code is dedicated to the ISaGRAF Simulator on the Workbench The simulator cannot be run if this target is not selected to produce the application code ISA86M This is a TIC code Target Independent Code dedicated to ISaGRAF kernels installed on Intel based processors The processor type only concerns byte ordering in the generated code ISA68M This is a TIC code Target Independent Code dedicated to ISaGRAF kernels installed on Motorola based processors The processor type only concerns byte ordering in the generated code SOG riiui Selecting this target leads ISaGRAF compiler to produce structured C language source code to be compiled and linked with ISaGRAF target kernel libraries to produce an embedded executable code CC86M Selecting this target leads ISaGRAF compiler to produce non structured C language source code to be compiled and linked with ISaGRAF target kernel libraries to produce an embedded executable code This selection is provided for compatibility with ISaGRAF versions before V3 23 when structured C code generation and
444. t groups xl d projectsisadsusaviniapl d iprojectsisaSsisawinimyapl fiisawinismp d iprojectsisaSsisawinyfapl New group Close Select a group in the list and press Select to activate it in the project management list You can also double click on its name to select it Use the New group command to create a new group This command can be used either to assign a group name to an existing directory or to create a new group with a new directory Note No group can be selected or created when other ISaGRAF windows program manager editors are open A 2 3 Options The commands of the Options menu are used to display or hide the toolbar select the character font for text and set the Project Manager auto close mode The character font selected is the one used to display the project descriptor and is also used by all ISaGRAF text editors When the Keep Project Manager open option is removed the Project Manager window is automatically closed when a project is entered ICS Triplex ISaGRAF Inc A 25 User s Guide A 2 4 Tools The commands of the Tools menu are used to run other ISaGRAF applications The Tools Archive Projects command runs the ISaGRAF archive manager to save or restore projects The Tools Archive Common data command is used to save or restore files used by all projects such as common defined words The Tools Libraries command runs the ISaGRAF library manager in a separate
445. t is needed to distinguish slaves from each other when more than one target are running Therefore before starting the ISaGRAF kernel task s you need to registered it them In that way the isa_register_slave subroutine is provided uchar isa_register_slave uchar slave slave number C 342 ICS Triplex ISaGRAF Inc Target User s Guide Description Add a new kernel slave registration to the multi targets management system return value 0 if succeeded BAD_RET if errors occur Communication task s registration An ISaGRAF communication task is characterized by its logical number It is used to manage more than one communication task at a time It can be from 1 to 255 and must be different for each communication task Therefore before starting the ISaGRAF communication task s you need to registered it them In that way the isa_register_com subroutine is provided uchar isa_register_com uchar com_id com task identifier Description Add a new communication task registration to the multi targets management system return value 0 if succeeded BAD_RET if errors occur Application backup file storage unit The global variable TSK_FUNIT char can be initialized to a string containing the path unit for application file backup The ISaGRAF target simply uses the standard file management routines fopen fread fwrite fclose for application file backup The default value is an empty string
446. t on the chart the user has to move the selection to appropriate location and select the type of the ICS Triplex ISaGRAF Inc A 39 User s Guide component in the editor toolbar The symbol is inserted at the current position The following keyboard sequences can also be used Insert an initial step Insert a single step Insert a transition Insert a jump to a step Fei Fete Insert an OR divergence or convergence Add branches HFG tt j LBL oe Insert an AND divergence or convergence Add branches Fe E Insert a macro step Fs GI FSE Insert begin or end step for the body of a macro step The op symbol indicates a combination with SHIFT key The editing grid shows matrix cells An editor option allows the user to show or hide the grid during chart input The grid is very useful for initial layout of SFC chart or selecting sub parts of the chart Use the Options Layout command to display or hide the grid The ISaGRAF SFC editor always shows the current position in the matrix The focused cell is marked in grey The small square on its bottom right corner can be used to freely resize the cells The X Y ratio of the cells can also be changed this way C evaluate tmax i ACTION N Creating a divergence or convergence Divergences and convergences are always drawn from the left to the right To draw a divergence or a convergence its left branches has to be placed on the chart area The type of drawing si
447. t result lt gt 0 gt condition is TRUE B 198 ICS Triplex ISaGRAF Inc Language Reference The special info IL and endinfo keywords must be entered exactly this way and are case sensitive Space or tab characters cannot be inserted into after or before the keywords Below is an example of IL programming for transitions SFC program with an IL program for transitions u E info IL LD Run amp N Error endinfo B 3 6 4 Calling functions from a transition Any sub program or a function written in FBD LD ST or IL language or a C function can be called to evaluate the condition attached to a transition according to the following syntax lt sub_program gt The value returned by the sub program or the function must be Boolean and yields the resulting condition return value FALSE gt condition is FALSE return value TRUE gt condition is TRUE Example of a sub program called in a transition SFC program with sub program call for transitions 1 A EvalCond B 3 7 SFC dynamic rules The five dynamic rules of the SFC language are Initial situation The initial situation is characterised by the initial steps which are by definition in the active state at the beginning of the operation At least one initial step must be present in each SFC program e Clearing of a transition A transition is either enabled or disabled It is said to be enabled
448. t2 END_ACTION Detailed syntax can be found in the ST language section Example of a sub program call in action blocks B 196 ICS Triplex ISaGRAF Inc Language Reference SFC program with a sub program call in an action block 1 Action P init SPInit End_action A Init OK B 3 5 6 IL convention Instruction List IL programming may be directly entered in a SFC action block based on the following syntax ACTION P or N info IL lt instruction gt lt instruction gt endinfo END_ACTION The special info IL and endinfo keywords must be entered exactly this way and are case sensitive Space or tab characters cannot be inserted into after or before the keywords Below is an example of an IL program in an action block SFC program with an IL sequence in an action block 4 Action P r info IL LD False ST Led1 ST Led2 endinfo End_action B 3 6 Conditions attached to transitions At each transition a Boolean expression is attached that conditions the clearing of the transition The condition is usually expressed with ST language or using the LD language Quick LD editor This is the Level 2 of the transition Other structures may however be used ST language convention LD language convention IL language convention Calling function from a transition ICS Triplex ISaGRAF Inc
449. tatement Example ST program using WHILE statement this program uses specific C functions to read characters on a serial port string empty string nbchar 0 WHILE nbchar lt 16 amp ComlsReady DO string string ComGetChar nbchar nbchar 1 END_WHILE o REPEAT statement Name REPEAT UNTIL END_REPEAT Meaning iteration structure for a group of ST statements the continue condition is evaluated AFTER any iteration Syntax REPEAT lt statement gt lt statement gt UNTIL lt boolean_condition gt END_REPEAT Warning Because ISaGRAF is a synchronous system input variables are not refreshed during REPEAT iterations The change of state of an input variable cannot be used to describe the ending condition of a REPEAT statement ICS Triplex ISaGRAF Inc B 229 Language Reference Example ST program using REPEAT statement this program uses specific C functions to read characters on a serial port string empty string nbchar 0 IF ComlsReady THEN REPEAT string string ComGetChar nbchar nbchar 1 UNTIL nbchar gt 16 OR NOT ComlsReady END_REPEAT END_IF FOR statement Name FOR TO BY DO END_FOR Meaning executes a limited number of iterations using an integer analog index variable Syntax FOR lt index gt lt mini gt TO lt maxi gt BY lt step gt DO
450. ted a complete frame of its source code is automatically generated Working on existing elements The File Rename command allows the user to change the name or the comment of the element selected from the list of elements The File Copy command allows the user to copy the element highlighted in the active library on another element in the same library If the destination element already exists all its contents are overwritten If the destination element does not exist it is automatically created The File Delete command removes the currently selected element from the active library Rename Copy and Delete commands handle the following components of the element e technical note e complete definition for an I O configuration e parameters for an I O board or complex equipment e interface definition for a function or function block e source code for function and function block written in IEC language e source code for a C conversion a function or a function block A If the element is a C conversion C function or C function block its name is not automatically updated in the attached source code by a Rename or Copy command If the element is a function written in IEC language the return parameter name is not changed by a Rename or Copy command Setting password protection The File Set password command enables the user to define password protection for the selected element in the open library Refer
451. ted with its editing date Dictionary Set of internal input or output variables and defined words used in the programs of one project Edge Change of a Boolean variable A rising edge means a change from false to true A falling edge means a change from true to false End section Group of cyclic programs executed at the end of each target cycle Ending step Last step of the body of a SFC macro step An ending step is not linked to any following transition Expression Set of operators and identifiers which represents the evaluation of a value Father SFC SFC program which controls other SFC programs called its children program FBD Functional Block Diagram language FC Stand for Flow Chart Flow Chart Graphical language used to design a flow The chart consists in action to be performed and decision allowing the selection between various paths in the flow The Flow Chart language enables the drawing of loops to be executed on consecutive cycles Function Graphic component of the FBD language which represents a standard block elementary function from the ISaGRAF libraries Functional Graphic language the equations are built with standard elementary blocks from Block the ISaGRAF library linked together in the diagram Diagram Global Range of variables or defined words Such objects can be used in any program of one project Hierarchy Architecture of a project divided into several programs The hierarchy tree represents the lin
452. ter Each command is described on two lines of text according to the following syntax M menu_string C command_line The menu string is the text to be displayed in the Tools menu The command line is any MS DOS or Windows executable and can be completed with arguments In command line you can use A characters to replace the name of the open project and P characters to replace the name of the selected program The following example runs Notepad to edit the selected program to be used with ST and IL programs M Edit with Notepad C Notepad exe isawin apl SA SP 1sf A 3 6 Simulating and debugging the application gt The command of the Debug menu are used to run the ISaGRAF graphic debugger either in simulation mode or in real connected mode Simulation The Simulate command opens the debugger in simulation mode In this mode another window appears called the simulator This command is very useful to test any application when the target machine is unavailable Starting the simulator closes the Program Management window The Program Management window is then re opened in debug mode after both debugger and simulation windows are opened The simulator cannot be started if the target code has not been generated The simulator cannot be started when child windows editors code generation I O connection are opened Each of them must be closed before running this command This command is also available from menus of I
453. ter More about program editors in this document Insert file The Edit Insert file command inserts the whole contents of a file at the current location of the caret Note that only pure ASCII text files can be handled by this command A 8 2 Syntax coloring The text editor uses several colors for displaying language keywords variable identifiers constant expressions The set of colors applied for syntax coloring cannot be customized ICS Triplex ISaGRAF Inc A 73 User s Guide A 8 3 Options The commands of the Options menu are used to display or hide editor toolbars and select the character font The selected character font will be used for any text editing in all ISaGRAF Workbench When used to enter the source code of a ST IL program the Options Show keywords command is used to show or hide a toolbox that groups the most common keywords of ST or IL language Click on a button in the toolbar to insert the corresponding keyword or operator at the current location of the caret A 74 ICS Triplex ISaGRAF Inc User s Guide A 9 More about program editors This chapter contains useful information about editing features which are common to all the ISaGRAF program editors This mainly concerns links with other ISaGRAF tools and common ISaGRAF dialog boxes A 9 1 Calling other ISaGRAF tools aM Verify compile the program The File Verify command runs the ISaGRAF code generator to verify the
454. th the target one C 326 ICS Triplex ISaGRAF Inc Target User s Guide Default value The default slave number is 1 same as the workbench one Examples isamod COM1 Configure COM1 to 19200 baud no parity 8 data bits 1 stop bit isa t COM1 Starts the ISaGRAF target with default slave number 1 and with COM1 as the communication port isa s 3 t COM1 Starts the ISaGRAF target with slave number 3 and with COM1 as the communication port C 3 2 Specific features ISaGRAF start up When the target is started the following algorithm is executed Look for application from disk to load it into memory Application OK No available application on disk Wait for application download Application OK Save application to disk Execute Application Stop application e Definitions The application code is the binary data base generated and downloaded by the workbench and then executed by the target The symbol table may complete it The application symbol table is an ASCII database generated and downloaded by the workbench This table makes the link between symbol objects and internal target objects It is not required on target except for user s specific symbols management For more information on symbol table see user s guide Advanced programming techniques e Application backup When a new application is downloaded from the workbench debugger into the target the application code
455. the technical note for a new element this format is used as a main frame This allows the user to optimise technical note editing Parameters The parameters of an element describe the interface between the computer operations provided by the element and the use of the element in an ISaGRAF application Parameters have a different meaning for each type of library element The parameters of an I O configuration define the complete set of I O boards of the configuration and default variable names used for I O channels The parameters of an I O board or complex equipment define the physical and logical configuration of the board The parameters of a function or function block define the interface of the element according to ST language function calling conventions There is no parameter for a conversion function because it uses a standard pre defined interface Source code The ISaGRAF Workbench allows the programmer to manage the source code of a library conversion function or function block The source code of a function or a block written in IEC language is a text or a diagram described with the language attached to the function The source code of C components C functions C function blocks and conversion functions is divided in two separate files a source header that contains the exact definition of the interface according to the element s parameter definition and a source code file that contains the element s operation implementati
456. the ISaGRAF text editor particularly when used to enter the source code of ST and IL programs A 8 1 Editing commands zE The commands of the Edit menu are used to work on the edited text Most of these commands act on the characters currently selected in the diagram or perform an action at the current location of the caret Cut and paste The DEL key can be used to remove the selected text Use Edit Undo command to restore elements after a DEL command The Cut Copy Paste commands of the Edit menu are used to move or copy text in the program or to insert pieces of texts copied in the clipboard by other applications Find and replace The Edit Find and Edit Replace menu commands are used to find and replace texts in the program Any character string can be found Research can be performed upward or backward starting at the current location of the caret It does not loops when the limits of the program are reached Go to line The Edit Go to line command is used to move the caret to a specific line number This can be very useful to have access to a line with an error detected by the ISaGRAF compiler in a ST or IL program and referenced by a line number Insert symbol from dictionary Use the Edit Insert variable command to insert at the caret position the symbol of a variable or object declared in the project dictionary Symbol is selected through the common variable selection box described in chap
457. the diagram Its left connection must be linked to a Boolean point When the left connection is TRUE the execution of the diagram directly jumps to this target label Note that backward jumps are dangerous as they may lead to a blocking of the PLC loop in some cases Return symbol A return symbol is connected to a Boolean point It indicates that the execution of the program must be stopped if the rung state is TRUE ICS Triplex ISaGRAF Inc A 63 User s Guide Variables Variables in the diagram are represented inside small rectangles connected on the left or on the right to other elements of the diagram Connection links Connection links are drawn between elements put in the diagram Links are always drawn from an output to an input point in the direction of the data flow Connection links with Boolean negation Some Boolean links are represented with a small circle on their right extremity This represent a Boolean negation of the information transported by the link User defined corners User defined points may be defined on links They allow the user to manually control the routing of a link If no corner is placed the ISaGRAF FBD LD editor uses a default routing algorithm A 64 ICS Triplex ISaGRAF Inc User s Guide A 7 2 Entering an FBD diagram To enter a diagram you have to place elements blocks variables contacts and coils in the graphic area and draw links between them Inser
458. the error management ends When processed Error number decimal value and argument hexadecimal value are displayed on the output window of the WISAKER EXE Error number and argument are pushed into a ring FIFO error buffer in order to be retrieved at a later time The error buffer size is set in the workbench Make options When the buffer is full at each new incoming error the oldest one is lost Errors can be pulled either from the debugger or from the running application using the SYSTEM call see user s guide ICS Triplex ISaGRAF Inc C 357 Target User s Guide When the debugger detects an error a message describing the error is displayed in the error window Depending on the context of the application running or not the debugger may display the name of the object variable or program where the error comes from or the argument error decimal value into brackets x which has a different meaning for each error A welcome message is displayed on the output when the target starts It is composed of the slave number the communication configuration and the DDE server name System clock As the ISaGRAF NT target is designed to run on any system the time reference used for both cycle synchronization and timer variables refresh is the standard tick which is 10 milliseconds Thus it is not possible to have an accuracy on timer variables better than 10 ms For the same reason a specified cycle duration les
459. the new function block The Parameters command of the Edit menu is used to define the calling and return parameters of the new function block Using a C function block in an ISaGRAF project Any integrated C function block can be used in the programs of an ISaGRAF project C function blocks can be called from ST and FBD languages Calling a C function block from the ST language follows the function block calling conventions of the language The calling parameters of the block are written after the name of the function between parentheses and separated by commas The return parameters are accessed one by one Each return parameter is represented by a name combining the name of the block instance and the name of the parameters The components of the name are separated by a dot For example the name FBINSTNAME parname is used to represent the return parameter named parname of the function block instance named FBINSTNAME C 378 ICS Triplex ISaGRAF Inc Target User s Guide The instances of the function blocks used in the ST language must be declared in the dictionary Each copy instance of a function block must be identified by a unique name Below is an example of instance declaration in the ISaGRAF dictionary instance TRIG1 type R_TRIG TRIG2 R_TRIG And below is an example using these declared instances in a ST program TRIG1 boo_input1 TRIG2 boo_input2 Command TRIG1 Q amp TRIG2 Q
460. the project The Verify all programs checks the syntax of all the programs of the project even if some of them have not been modified This command does not stop when an error is detected in a program It can be used to produce a complete listing of all the errors remaining in programs of the project This command may be aborted by hitting the ESCAPE key Simulating a modification The Touch command simulates a modification of the entire project s programs so that they are all verified during the next Make operation The Open command is used to open the last verified program This command is very useful to directly access a program where syntax errors have been detected A 98 ICS Triplex ISaGRAF Inc User s Guide A 13 2 Compiler options The Compiler options command is used to set up main parameters used by the ISaGRAF Code Generator to build and optimise the target code The aim of this command is to select the type of code which has to be generated according to corresponding ISaGRAF targets and to set up the optimiser parameters according to the expected compiling time and application run time requirements The Upload button opens a second dialog box with other options that enable the embedding of zipped source code to downloaded code in order to enable the Upload feature Refer to Upload documentation for further explanations Selecting targets The upper list shows the list of available target codes tha
461. the steps and the transitions of the currently edited SFC program When a step number is changed all the jumps to this step are automatically updated with the new reference number This also applies to macro steps and beginning steps Direct access to a step or transition The Edit Go to command allows the user to access an existing step or transition The scrolling position is automatically adapted so that the step or transition is visible Find and replace texts The Edit Find Replace command can be used to find or replace text strings in the complete program all steps and transitions The Find Replace dialog box is used to enter a searched text and directly open the level 2 programming section where text occurs A 4 4 Entering the level 2 programming To enter the Level 2 text the user must double click on the step or transition symbol The level 2 programming is displayed on the right of the SFC window The separation line between SFC chart and level 2 programming can be freely moved You can open one or two level 2 areas at the same time The following commands are available from keyboard mouse or the Edit menu Keyboard Mouse Edit menu Open in last default window Enter Double click Edit level 2 Open in separate window Ctrl Enter Ctrl Double click Edit Level 2 In separate window When two level 2 windows are visible the separation between them can be freely moved The button on the right of the level 2 title ba
462. the target system to begin the answer to one workbench request The Cyclic refresh duration is the time period required for the read requests to be sent by the debugger in order to refresh data in the opened windows All the time values are displayed and entered as integer numbers in milliseconds The communication timing parameters cannot be set when the debugger is used in simulation mode Display options The Show cycle timing option enables the user to hide or show the cycle timing values in the debugger control bar When this option is set all the cycle timing components allowed current maximum overflows are displayed and refreshed Disabling this option reduces the debugger communication burden When the Show errors option is set detected run time errors are listed in the bottom area of the debugger window When this option is disabled the error list is closed Removing this option reduces the debugger display and communication burden The Options Clear errors command clears the list of run time errors currently displayed in the debugger window The Options minimise window command reduces the size of the debugger window so that it is shown as a small always on top panel containing only the application status and graphic buttons for most commonly used commands Write commands The ISaGRAF symbolic debugger offers many commands to change the value or status of the application components Selecting the component to
463. tically rearranges sorts the parameters so that the return parameters are put at the end of the list Moving a program in the hierarchy tree The Rename move command of the File menu is used to change the name of a program or to move it into another section of the hierarchy tree However the A 30 ICS Triplex ISaGRAF Inc User s Guide description language of an existing program cannot be changed When running this command the same window as the one used for creating programs is opened and all fields are set up with the attributes of the selected program The name of a program can be modified and another section or parent program selected to move it into the hierarchy tree The Arrange programs command of the File menu is used to give an explicit order between a list of programs with same level and father If the selected program is at the top level the command is used to arrange the top level programs of the selected section If the selected program is at a lower level the command arranges only the SFC children and sub programs which have the same father as the selected one When the Arrange programs dialog box is opened select the program you want to move and press the Up or Down button to move it in the list Copying programs To make a copy of a program select the source program from the list of programs and run the File Copy command When running this command the same window as that used for creat
464. time clock The following statements of the ST language can be used to control a timer TSTART starts automatic refresh of a timer TSTOP stops automatic refresh of a timer B 2 3 6 Message string variables Message or string variables contain character strings The length of the string can change during process operations The length of a message variable cannot exceed the capacity maximum length specified when the variable is declared Message capacity is limited to 255 characters Message variables can have one of the following attributes Internal memory variable updated by the program Constant read only memory variable with an initial value Input variable connected to an input device refreshed by the system Output variable connected to an output device String variables can contain any character of the standard ASCII table ASCII code from 0 to 255 The null character can exist in a character string Some C functions of the standard ISaGRAF library will not correctly operate messages which contain null 0 characters B 2 4 Comments Comments may be freely inserted in literal languages such as ST and IL A comment must begin with the special characters and terminate with the characters Comments can be inserted anywhere in an ST program and can be written on more than one line B 184 ICS Triplex ISaGRAF Inc Language Reference These are examples of comments counter ivalue assigns the main counter
465. timers the T or TIME prefix can be omitted A 142 ICS Triplex ISaGRAF Inc User s Guide Notes Example End Meaning Syntax Notes Example lt labelname gt is the name of a label defined in the script Backward jumps are allowed In case of an infinite loop script execution is automatically broken on each loop in order to preserve execution of ISaGRAF cycles This script loops until MyVar is TRUE Loop If MyVar TRUE Goto TheEnd Print MyVar Goto Loop TheEnd Terminates script End It is not mandatory to place an End instruction on the last line of the script This script loops until MyVar is TRUE Loop If MyVar FALSE Goto Continue End Continue Print MyVar Goto Loop ICS Triplex ISaGRAF Inc A 143 User s Guide A 22 Using the Library Manager A 22 1 The ISaGRAF libraries provide a standard interface between automation development and the software or hardware capabilities of the ISaGRAF target system There is one library for each type of interface The ISaGRAF Workbench Library Manager is dedicated to the hardware supplier or to the software engineer He uses the library manager to describe the ISaGRAF programming interface of the objects he creates The ISaGRAF Workbench Library Manager shows the elements of one of the ISaGRAF libraries In the left area of the window is the list of the elements of the selected library In the right area is the
466. ting objects To insert an object in the diagram select the corresponding button in the toolbar and click in the graphic area where you want to insert it Selecting objects Selecting graphic objects is needed for most of the editing commands The ISaGRAF LD FBD graphic editor enables the selection of one or more existing objects in the diagram area To select objects the select button with an arrow choice must be checked in the editor toolbar To select one object the user only has to click on its symbol To select a list of objects drag the mouse in the diagram and select a rectangle area All the graphic objects that intersect the selection rectangle are marked as selected A selected object is drawn with little black squares around its graphic symbol By making a new selection all previously selected objects are unselected To remove the existing selection simply click with the mouse on an empty area outside of the rectangle which borders the selected objects Inserting comments Comments may be inserted anywhere in the diagram Comments have no influence on the program execution They allow a higher readability of the diagram To insert a comment block select this button in the toolbar and drag the mouse to select the rectangle area where comment must be drawn Then enter the text of the comment No special leading or trailing characters such as and are needed when entering the text of a comment block A comment block
467. tion Integer analog AND bit to bit mask FBD example with Analog AND_MASK blocks B 252 ICS Triplex ISaGRAF Inc Language Reference ST Equivalence and_mask xvalue m 1 msk al parity and_mask 16 abc m 16 f0f msk al result parity AND_MASK xvalue 1 1 if xvalue is odd result AND_MASK 16 abc 16 f0f equals 16 a0c IL equivalence LD xvalue AND_MASK 1 ST parity LD 16 abc AND_MASK 16 f0f ST result OR_MASK Arguments IN INT MSK INT Q INT Description must have integer format must have integer format or_mask bit to bit logical OR between IN and MSK Integer analog OR bit to bit mask FBD example with Analog OR_MASK blocks or_mask xvalue N 1 msk parity or_mask 16 abc N 16 f0f msk result ST Equivalence is_odd OR_MASK xvalue 1 makes value always odd result OR_MASK 16 abc 16 f0f equals 16 fbf IL equivalence LD xvalue OR_MASK 1 ST is_odd LD 16 abc ICS Triplex ISaGRAF Inc B 253 Language Reference OR_MASK 16 f0f ST result XOR_MASK xor_mask Arguments IN INT must have integer format MSK INT must have integer format Q INT bit to bit logical Exclusive OR between IN and MSK Description Integer analog exclusive OR
468. tion Cell Elementary area of the graphic matrix for graphic languages such as SFC FBD or LD Child SFC SFC program controlled by another SFC program called its father program D 422 ICS Triplex ISaGRAF Inc Glossary Clearing a transition Coil Comment Comment SFC Common Condition fora transition Connector FC Constant expression Contact Conversion Conversion function Conversion table Cross references Current result IL Cycle timing Cycle to cycle mode Cyclic Run time operation all the tokens existing in the preceding steps are removed A token is created into each of the following steps Graphic component of an LD program used to represent the assignment of an output variable Text included in a program having no impact on the execution of the program Text attached to a SFC step or transition having no impact on the execution of the program Range of defined words Such objects can be used in any program of any project Boolean expression attached to a SFC transition The transition cannot be cleared when its condition is false FC graphic component which represents a link from a point of the flow chart to a FC action or test The graphic symbol of a jump is an small circle numbered with the reference of the destination element Literal expression used to describe a constant value A constant expression is dedicated to one type Graphic component of an
469. tion Count integer from 0 up to a given value 1 by 1 or from a given value down to 0 1 by 1 FBD program using CTUD block r_trig add_elt oK q r_trig sub_elt otk reset_cmd full load_cmd empty 100 nb_elt ST Equivalence We suppose R_TRIG1 and R_TRIG2 are two instances of R_TRIG block and CTUD1 is an instance of CTUD block CTUD1 R_TRIG1 add_elt R_TRIG2 sub_elt reset_cmd load_cmd 100 full CTUD1 QU empty CTUD1 QD nb_elt CTUD1 CV B 272 ICS Triplex ISaGRAF Inc Language Reference IL Equivalence add_elt R_TRIG1 clk R_TRIG1 R_TRIG1 Q CTUD1 cu sub_elt R_TRIG2 clk R_TRIG2 R_TRIG2 Q CTUD1 cd reset_cmd CTUD1 reset load_cmd CTUD1 load 100 CTUD1 pv CTUD1 CTUD1 QU full CTUD1 QD empty CTUD1 CV nb_elt TON Arguments XE TON XE On delay timing BOO If Rising edge starts increasing internal timer If Falling Edge stops and resets internal timer IN PT Q ET Description TMR maximum programmed time BOO If TRUE programmed time is elapsed TMR current elapsed time Increase an internal timer up to a given value Timing diagram ICS Triplex ISaGRAF Inc B 273 Language Reference TOF TOF IN Q PT ET Arguments IN BOO If Falling edge starts increasing internal timer If Rising edge stops and resets internal timer PT TMR maximum p
470. tion has mainly been designed for poor hardware platform such as low cost boards or MS DOS PC s or to make a first prototype when porting on a new platform Therefore the multitasking ISaGRAF target implementation should be preferred The ISaGRAF single task target does not prevent the running of background processes or interrupt driven routines Slave s registration Its slave number characterizes an ISaGRAF target Its value can be from 1 to 255 except number 13 0D This slave number is used through the communication link protocol It is needed to distinguish slaves from each other when more than one target are running Therefore before starting the ISaGRAF target s task you need to register it them In that way the isa_register_slave subroutine is provided uchar isa_register_slave uchar slave slave number Description Add a new slave registration to the multi targets management system return value 0 if succeeded BAD_RET if errors occur Application backup file storage unit The global variable TSK_FUNIT char can be initialized to a string containing the path unit for application file backup The ISaGRAF target simply uses the standard file management routines fopen fread fwrite fclose for application file backup The default value is an empty string to specify that there are no storage unit Example TSK_FUNIT host name C ISaGRAF target apl Specify ISaGRAF target apl on root of
471. tions Different applications kernels and communication tasks can run at the same time on a CPU as far as they have respectively different slave numbers and different communication task logical numbers Nevertheless while running different application the user must take care of some application objects shared access such as I O boards For instance different application kernels may use distinct physical boards unless some kind of I O server or semaphore is implemented through the I O driver e Application backup When a new application is downloaded from the workbench debugger into the target the application code is saved the target uses standard file management routines fopen with the file name pathISAx1 ISaGRAF application code backup file where x is the slave number Furthermore if the application symbol table has been downloaded before it is also saved on the target current directory with the file name pathISAx6 ISaGRAF application symbols backup file where x is the slave number The path is specified at the ISaGRAF target startup using the global variable TSK_FUNIT An empty string will specify there are no disk file unit default value ICS Triplex ISaGRAF Inc C 347 Target User s Guide When the ISaGRAF target is started these application code and application symbols files are searched on the current directory and loaded into memory Then if no symbol table is available on memory the target starts runni
472. to read bytes is specified in addH addL It must be less than F000 Read the specified nbb number of bytes from the previously selected remote file name starting from specified address addH addL with any 16 bit value added to the previously selected base address The Values are retrieved V fields from left to right in the order they are read in the file Example Select remote file name target fil Question Jo1_ i1_ FO_Joo_joo_joB_ joB 74 joo 25 9F JAnswer__ 01 11 Fo oo oo oB_ 8F_ oE _ Select base address 0x10000 Question 01 11 Fo o2 joo 04 o4 foo jot joo joo re 1n Answer_ 01 11 Fo o2 joo o4 jee Jeca Write 4 bytes absolute address 0x107D0 values 01 02 03 04 Question o1 11 o7 Do foo o4 o4 jot joz jos joa 28 eF Answer Jot 11 o7 jbo joo joa Fe e7 Read 4 bytes absolute address 0x107D0 Question o1 12 o7 Do foo fo4 B8 e7 C 404 ICS Triplex ISaGRAF Inc Target User s Guide C 9 Power fail management C 9 1 Basics Managing a power failure is something very critical in an application for three reasons It depends on the process specifications It depends on the hardware capabilities It depends on the programming methods Thus the ISaGRAF answer to the power failure management is not a complete and absolute universal method but a set of principles methods and tools that have to be combined in a specific way for each application or at least
473. toolbar A new rung with one contact and one coil is created A 56 ICS Triplex ISaGRAF Inc User s Guide Entering the rung comment Each rung may be documented with up to two lines of text To enter a rung comment text move the selection on the cell upon the rung and hit ENTER key or double click on this cell with the mouse Hit ENTER on this cell blead brandom led2 HC HH sel2 Entering the rung label Each rung may be identified by a name This name can be used as a target label for jump operations To enter or change the label of a rung move the selection on rung head and hit ENTER key or double click on this cell with the mouse Hit ENTER on this cell blead brandom led2 bj w y sel2 L The ISaGRAF Quick LD editor keeps the memory of the rung labels you already entered whether it has been specified for a rung name or a jump operation The Jump Label dialog box gives you the possibility either to enter a new label or to select an existing one If you enter a new name it will automatically be added to the list The Remove button is used to remove the selected name from the list It does not remove the label on the rung you selected in the diagram To do this just press OK when the edit box is empty Inserting symbols on a rung The insertion of symbols contacts coils blocks on an existing rung is always
474. tors by a reduced list of conditional jump operations The translation is operated only if the expected execution time of the jump sequence is less than the one expected for the original expression A 100 ICS Triplex ISaGRAF Inc User s Guide The following table summarises the expected optimisation and requested compiling time corresponding to each parameter Gain performances compiling time Run 2 passes VOO a a ee ane ie Optimise constant expressions XXXXXXXX na XXXX Suppress unused labels XXXX ad XXXXXXXX Optimise variable copying XXXX eee T XXXXXXXX Optimise expressions XXXX eee vis XXXXXXXX Suppress unused code XXXXK eee we XXXXXXXX Optimise arithmetic operations XXXXXXXX we XXXX Optimise Boolean operations XXXXXXXX we we XXXX Build binary decision diagrams XXXXXXXXXXX eee XXXXXXXXXXX The compiling time is also multiplied by 2 A 13 3 Producing C source code The ISaGRAF workbench enables the production of source code in C language In this case the whole contents of the application including SFC chart description data base definition and sequences of code are generated in C source code format There are two possibilities proposed as two styles of generated code CC86N C source code V3 04 produces non structured C source code This style should be selected if your target software is based on ISaGRAF release previous to 3 23
475. tory for each script lt scriptname gt SCC text of the script instructions lt scriptname gt SCoO contents of the output window where lt scriptname gt is the name of the script Both files are standard text files and can be open using any other text editor While editing a script you can use the Edit Insert symbol command to select a declared variable name to be inserted at the caret position Running scripts Script must be checked and compiled before running it If necessary syntax checking is automatically performed on a Run command Use the following commands of the Script menu A Check checks syntax and compile script ICS Triplex ISaGRAF Inc A 137 User s Guide Ol Run Script start execution of the script currently edited In the case of a new untitled script it must be saved and a name must be entered for it before it is checked In case of a named script script is automatically saved to disk before syntax checking When script is running its contents cannot be changed A message is displayed when end of script is reached You can also abort a running script using the following command of the Script menu Abort Script terminates the running script Script execution is performed between target cycles In the case of an infinite loop programmed in the cycle ISaGRAF simulator ensures that this loop is always broken so that ISaGRAF cycles are still
476. transition A transition is validated when all the preceding steps transition are actives Variable Unique representation of elementary data which is processed in the programs of project Virtual I O board which is not physically connected to an I O device of the target board machine ICS Triplex ISaGRAF Inc D 429 General Index E General Index B 250 sequence B 181 A 93 B 182 amp B 247 operation IL B 241 B 251 B 251 A 139 ST assignment B 226 B 249 lt B 255 lt B 256 lt gt B 259 B 258 1 B 248 gt B 256 gt B 257 gt 1 B 248 1 gain B 245 A ABS B 284 Absolute value B 284 Access right A 158 ACOS B 288 Action A 47 A 51 B 192 B 197 B 202 B 203 D 422 Activate A 111 Activity duration B 188 B 232 Activity of a step B 187 B 188 B 200 B 232 D 422 Adding licensing A 15 Addition B 249 Addition of messages B 263 Alias A 60 ANA B 260 Analog B 179 B 180 B 183 C 365 C 366 D 422 AND B 247 AND_MASK B 252 AnyTarget A 104 appli tst C 328 C 337 C 348 C 356 appli x6m C 337 C 348 appli x8m C 328 C 356 Application size C 362 Application size limit C 329 Arc cosine B 288 Arc tangent B 289 Archive A 26 A 146 A 152 A 159 Archive drive A 153 Archive file A 153 ARCREATE B 310 Argument A 150 Array creation B 310 Array reading B 311 Array writing B 312 ARREAD B 311 ARWRITE
477. ts in the previous example in the main IF structure C 368 ICS Triplex ISaGRAF Inc Target User s Guide The TASYODEF H include file from the ISaGRAF kernel is required for system dependent definitions It also contains the definition of the UFP type which represents a pointer to a void function and is used for the declaration function Links between projects and C implementation The logical link between the implementation of a conversion function and the use of the conversion in an ISaGRAF project is made with the name of the conversion A declaration function is added to the C source code of the conversion function This function is called only one time when the application starts and indicates to the ISaGRAF I O manager the conversion name which corresponds to the function to be implemented This is the standard format of such a declaration function UFP cnvdef_xxx char name strcpy name XX X gives the name of the conversion return CNV_xxx returns the implementation function xxx is the name of the conversion The name of the function used for the strcpy statement must be written in uppercase It must be written in lowercase in the name of the conversion implementation function and in the name of declaration function Using the CNV_ and cnvdef_ prefixes for implementation function and definition function enables the user to name a conversion with a reserved keyword of t
478. ts interface The ISaGRAF Library Manager is used to add components to the existing libraries and define the interface between the C implementation and the use of these components in the ST FBD programming The ISaGRAF Library Manager also provides an automatic generation of the frame of the C source code for conversions functions and function blocks and includes tools for editing such C source files Refer to the ISaGRAF User s Guide for further information about the functions of the Library Manager C language development The ISaGRAF Workbench does not include any C compiler or cross compiler tool The user must own a C compiler dedicated to the ISaGRAF target system to integrate his C components to the ISaGRAF kernel When using a cross compiler the ISaGRAF Workbench offers the user entry points for running a user defined MS DOS command file bat in a DOS window The cross compiler used must run in a DOS emulation window If not Windows must be closed before running the compilers and linkers in a pure MS DOS context Technical notes The ISaGRAF Library Manager allows the user to write a text description for each of the library components This technical note is the user s guide of the C component developed C 364 ICS Triplex ISaGRAF Inc Target User s Guide and is for the benefit of the automation programmer to describe the corresponding conversions functions or function blocks in ISaGRAF applicati
479. ts of the pathname drive directory prefix suffix must conform to the target host system conventions Syntax TO lt target pathname gt Example TextFile MYFILE Begin From c user config dat To dd user appl config dat End Example Below is a complete example of a resource definition file resource definition file ULongData DATA1 list of values Begin Target ISA86M for this target only ICS Triplex ISaGRAF Inc A 105 User s Guide 1 O 16 1A2B3C4D 1 1 numerical values End VarList VLIST1 list of variables Begin Target ISA86M for this target only Valvel StateX Command Alrml variable names End BinaryFile FILE1 binary file resource Begin AnyTarget dedicated to all targets From c user updatef bin source file on PC To updatef cfg target file on PLC End TextFile FILE2 text file resource Begin Target ISA68M From c nw nwbd txt source file on PC To nw dat nwbd target file on PLC End Resource compiling If resources have been entered in resource definition file a dialog box appears at the end of ISaGRAF code generation Press the Start compile button to run resource compiler Output messages and errors will be displayed in the main control Press Exit to avoid resource compiling In this case resources will not be added to the ISaGRAF code Implementation The number of resour
480. ue read from file Description Reads MESSAGE variables from a binary file To be used with F_LROPEN and F_CLOSE This procedure makes a sequential access to the file from the previous position The first call after FLROPEN reads the first string of the file each call pushes the reading pointer A string is a terminated by null 0 end of line n or return r To check if the end of file is reached use F_EOF This function is not included in the ISaGRAF simulator FBD program using file management blocks F_ROPEN voltramp Path D file_id FM_READ file_id o status1 FM_READ F_EOF file_id D K gt gt CLOSE_FILE ERR_FILE ERROR CLOSE_FILE FM_READ file_id D a unused_eof mes F_CLOSE file _id ok ok ST Equivalence file_id F_LROPEN voltramp bin status1 FM_READ file_id status2 FM_READ file_id IF F_EOF file_id THEN ERROR ERR_FILE unused_eof_mes FM_READ file_id END_IF ok F_CLOSE file_id IL Equivalence LD voltramp bin F_ROPEN ST file_id FM_READ read status1 B 320 ICS Triplex ISaGRAF Inc Language Reference ST status1 LD file_id FM_READ read status2 ST status2 LD file_id F_EOF JMPNC CLOSE_FILE if end of file jump not done LD ERR_FILE ST ERROR LD file_id FM_READ read unused_eof_mes ST unused_eof_mes CLOSE_FILE LD file_id F
481. umber in variable symbols Additionally you can specify basic attributes of created variables internal input or output plus some properties depending on the variable type Retain attribute integer or real format message string maximum length You always need to define a text to be inserted before variable number as a variable symbol cannot start with a digit When the number of digits is set to Auto ISaGRAF formats the variable number on the minimum needed number of digits When number of digits is specified ISaGRAF formats all numbers to the specified length by adding leading 0 characters Setting a fixed number of digits for ICS Triplex ISaGRAF Inc A 85 User s Guide variable numbers can be very useful to prevent bad lexicographic sorting Below are some examples Example This setting for quick declaration Numbering Digits m Symbol Name itt x O will create the three following variables Var9xx Var10xx Var11xx Example This setting for quick declaration Bd Digits m Symbol will create 100 variables with names from MyVar001 to MyVar100 A 10 5 Modbus SCADA addressing map ISaGRAF network addresses are often used to establish a link between ISaGRAF system and a SCADA based on Modbus communication In that case the SCADA is a Modbus master and ISaGRAF target acts as a Modbus slave Network addresses are used to create a virtual Modbus map
482. uments IN MSG any non empty string NbC INT cannot be greater than the length of the IN string Q MSG right part of the string length NbC empty string if NbC lt 0 complete string if NbC gt string length Description Extracts the right part of a message string The number of characters to be extracted is given FBD program using LEFT and RIGHT blocks right 12345678 m 4 Mec ql CAT left complete_string ST Equivalence complete_string RIGHT 12345678 4 LEFT 12345678 4 complete_string is 56781234 the value issued from RIGHT call is 5678 the value issued from LEFT call is 1234 IL Equivalence First done is call to LEFT LD 12345678 LEFT 4 ST sub_string intermediate result LD 12345678 RIGHT 4 ADD sub_string ST complete_string DAY_TIME day_time SEL Q Arguments SEL INT output selection O get current date 1 get current time 2 get day of week Q MSG time date expressed on a character string YYYY MM DD if SEL 0 ICS Triplex ISaGRAF Inc B 309 Language Reference HH MM SS if SEL 1 day name if SEL 2 ex Monday Description Gives date or time of the day as a message string FBD program using DAY_TIME block day_time Oj se q CAT day_time Display 1 SEL ol ST Equivalence Display Day_Time 0 Day_Time 1 Display t
483. un the process output red LED lights Close the Debugger window to exit from simulation Menu File Command Exit A 22 ICS Triplex ISaGRAF Inc User s Guide A 2 Managing projects t g To run the ISaGRAF project management tool double click the mouse on the Projects icon in the ISaGRAF group The Project Management window is then opened A project corresponds to one PLC loop run on a target PLC The upper window contains the list of the existing projects The text descriptor of the selected project is displayed in the lower window Resizing windows Just click on the separator splitter between project list and descriptor to resize corresponding windows The descriptor window cannot be completely hidden It always contains at least one line of text Inserting separators A separator line can be inserted before any project name This allows grouping some projects attached to the same application in the list layout Use the Edit Toggle separator command to insert or delete a separator before the selected project Moving projects in the list To move a project in the list you first have to select highlight it Then click on its name and drag it to a new location in the list When dragging the project a small arrow on the left margin indicates where it will be placed You can also use the Move commands of the Edit menu to move the selected project line by line Note that if a separator is placed bef
484. unctions set of non dedicated sub programs Programs of the Begin or End sections describe cyclic operations and are not time dependent Programs of the Sequential section describe sequential operations where the time variable explicitly synchronises basic operations Main programs of the Begin section are systematically executed at the beginning of each run time cycle Main programs of the End section are systematically executed at the end of each run time cycle Main programs of the Sequential section are executed according to either the SFC or the FC dynamic rules Programs of the Functions section are sub programs that can be called by any other program in the project A program of the Function section can call another program of this section B 174 ICS Triplex ISaGRAF Inc Language Reference Main and child programs of the sequential section must be described with SFC or FC language Programs of cyclic sections begin and end cannot be described with SFC or FC language Any program of any section may own one or more sub programs Any program of the sequential section may own one or more SFC or FC child programs according to its own programming language Sub programs cannot be described with SFC or FC language Programs of the Begin section are typically used to describe preliminary operations on input devices to build high level filtered variables The programs of the Sequential section frequently us
485. unication baud rate to 19200 baud on t0 device Slave number s Option This option specifies the target slave number It can be from 1 to 255 except number 13 0D This slave number is used through the communication link protocol It is needed to distinguish slaves from each other when more than one target are running When using the workbench debugger make sure the workbench slave parameter see user s guide Managing programs matches with an existing target C 330 ICS Triplex ISaGRAF Inc Target User s Guide Default value The default slave number is 1 Same as the workbench one Examples isa t t0 Starts an ISaGRAF single task target with default slave number 1 and with t0 as the communication port isa s 3 t t1 Starts an ISaGRAF single task target with slave number 3 and with t1 as the communication port isa t t0 amp isa s 3 t t1 Starts two ISaGRAF single task targets One with default slave number 1 and with t0 as the communication port The other with slave number 3 and with t1 as the communication port C 4 2 Running the ISaGRAF multitasks isaker isatst isanet To improve the response time of the ISaGRAF target kernel and of the communication link the target is split into two tasks separating communication job isatst or isanet communication task from application execution isaker kernel task Such architecture is more flexible It allows the user to run more than one communicat
486. unique group of steps and transitions represented as a unique symbol in the main chart and described separately Logical division of the editing area into rectangular cells while editing a graphic language program Type of variable Such variables contains variable length character strings Master Slave protocol An ISaGRAF target system can be a Modbus slave for the link with an external system such as supervisory systems in a complete architecture Single character put at the end of an IL operation keyword which modifies the meaning of the operation Optional hexadecimal address freely defined for each variable This address is used by the Modbus protocol when the target system is connected to an external system SFC action it is a list of statements executed at each target cycle when the corresponding step is active Hexadecimal 16 bit code defined for each I O board of the ISaGRAF library The OEM code identifies the supplier of the board I O board parameter defined by the designer of the board It can be a constant or a variable parameter entered by the user during the I O connection Variable or constant expression processed by an elementary IL instruction Basic instruction of the IL language An operation is generally associated to an operand in an instruction Attribute of a variable Such variables are linked to an output device of the target machine Value given as an input to a C function A type chara
487. upplier All the boards defined by the same supplier must have the same OEM key code The OEM key code is a 16 bit unsigned word entered in a hexadecimal format The reserved OEM key code for ICS Triplex ISaGRAF is 1 Main parameters define the topology of the I O board The number of channels defines the number of available channels on the board The type of the board is the type of the variables that may be connected on the channels of the board The direction defines whether variables connected on the board are input or output variables Note I O variables of different types or directions cannot be grouped on the same ISaGRAF I O board This feature should require complex I O equipment The OEM parameters The OEM parameters are entered in the lower part of the I O board parameters definition box These parameters are defined by the I O board hardware supplier and are specific to the board There are at most 16 OEM parameters for a board A board may have no OEM parameters The ISaGRAF library manager allows the hardware supplier to define the identification and the format of each parameter and the way the automation programmer enters it The box on the left contains the list of the OEM parameters A name and a logical number from 0 to 15 identify each parameter The area on the right contains the detailed description of the parameter selected on the list A parameter is selected in the list in order to access to its complete description
488. urce code of a function or a function block and how to integrate a new element in the ISaGRAF target system Conversion functions A conversion function is a C function called by the ISaGRAF I O manager each time the analog variables using this conversion are input to or output from the project The function creates the relationship between the electrical value of the variable read on the input sensor or sent to the output device and its physical value used in the application expressions The function is therefore divided into two parts input conversion and output conversion The ISaGRAF library manager allows the user to control the C source code of a conversion function A conversion can be used for an integer or real analog variable This implies that the conversion function interface is always defined by floating values The interface is the same for any conversion function The C definition of this interface is made in the TACNODEF H definition file Refer to the ISaGRAF Target User s Guide for further information on how to manage the C source code of a conversion function and how to integrate a new element in the ISaGRAF target system ICS Triplex ISaGRAF Inc A 151 User s Guide A 23 Using the Archive utility A 23 1 The ISaGRAF archive utility enables the user to save the ISaGRAF projects and libraries on diskettes or backup directory The ISaGRAF archive manager is a dialog box that can be called from ISaGR
489. urce code of a program Parameters of a function sub program or function block The File Parameters command allows the user to define the call and return parameters of the selected sub program function or function block This command has no effect if a main program of the Begin or End section or a SFC program is selected in the Program Management window Sub programs functions or function blocks may have up to 32 parameters input or output A function or sub program always has one and only one return parameter which must have the same name as the function in order to conform to ST language writing conventions The list in the upper left side of the window shows the parameters in the order of the calling model first the calling parameters last the return parameters The lower part of the window shows the detailed description of the parameter currently selected in the list Any of the ISaGRAF data types may be used for a parameter The return parameters must be located after calling parameters in the list Naming parameters must conform to the following rules e the length of the name cannot exceed 16 characters e the first character must be a letter e the following characters must be letters digits or underscore character e naming is case insensitive The Insert command is used to insert a new parameter before the selected parameter The Delete command is used to erase the selected parameter The Arrange command automa
490. ut or output variable Maximum Length Specifies the maximum number of characters that can be stored in the message Initial value Initial value of the variable length cannot exceed the capacity of the message If not specified the initial value is the empty string al These are the description fields for a defined word NamMe ssssssssessseesseeerernesnns Name used in ST source files first character must be a letter following characters must be letters digits or _ D fin siiin String according to ST syntax that replaces the defined word during compiling Example Name PI Equivalence 3 14159 Comment Free comment for defined equivalence T These are the description fields for a function block instance Name eeeceeeeeeeeeeesteeeee Name of the instance used in ST source files first character must be a letter following characters must be letters digits or _ TYPE hiirer asarana Name of the corresponding function block in the library Comment csceeeeee Free comment for the function block instance Quick declaration The Tools Quick declaration command enables you to declare several variables at the same time Variables created by quick declaration are named using a numbering convention For that you have to define The index number of the first and the last variables The text to be added before and after the number in variable symbols The number of digits used to express the n
491. uts can be extended to more than two Arguments inputs INT REAL can be INTEGER or REAL all inputs must have the same format output INT REAL signed multiplication of the input terms Description Multiplication of two or more analog variables FBD example with Multiplication blocks aii01 ai102 ao10 ai51 ai52 ai53 ao5 ST equivalence ao10 ai101 ai102 ao5 ai51 ai52 ai53 IL equivalence LD ai101 MUL ai102 ST ao10 LD ai51 MUL ai52 MUL ai53 ST ao5 IN4 IN2 Q Arguments IN1 INT REAL can be INTEGER or REAL operand IN2 INT REAL non zero analog value divisor IN1 and IN2 must have the same format ICS Triplex ISaGRAF Inc B 251 Language Reference Q INT REAL signed integer or real division of IN1 by IN2 Description Division of two analog variables the first divided by the second FBD example with Division blocks ai101 m ai102 N2 q ao10 aid m 2 IN2 al IN ai53 IN2 a ao5 ST Equivalence ao10 ai101 ai102 ao5 ai5 2 ai53 IL equivalence LD ai101 DIV ai102 ST ao10 LD ai51 DIV 2 DIV ai53 ST ao5 AND_MASK Arguments IN INT must have integer format MSK INT must have integer format Q INT bit to bit logical AND between IN and MSK Descrip
492. value oo eeeeeeeeeceeeeeeeeeeeees A 115 A 15 6 On line Modification eee eeeeseeseeeecneeeeeeeeeeceaecaeeseenerereeeeeeeaes A 116 A V5 7 DDE exchanges s2ccccs ccc ie gee Moen ee en AS ae A 119 A 16 Spying Lists of variables csccsssssssssesecesscssscssssesssssssseseseeees A 121 A 17 Debugging ST and IL program scssccssssscesscssscssssssscrsesnseeee A 123 A 18 Debugging with SpotLight seseseesesseseesoeseesorcesoeseeeonsesoerseeoesoeeereoee A 124 A 18 1 Building the graphic layout 0 ceeceeceeseceseeeseeneeeeeeeeeeseeeeseeeens A 124 A 182 lt The list layout eea a SH el ose a lee A 126 A 18 3 Defining the item style ee eececceseceeeeteceseceecaeeeseeeeeeseeeereeseens A 126 ICS Triplex ISaGRAF Inc v User s Guide A 18 4 Commands of the File Menu cee eeeceseeeeetecneeeecneeeeceaeentenes A 127 A 18 5 Note for SaGRAF V3 2 USEMS cc ceeeccseecceeeeeeeceeeeceeeeeeeaeeatenes A 128 A 19 Uploading applications scscsssesssssssssssesscsessssssssssesssessessseseees A 129 AT9 1 Uploading a project aceesorii ciie i tea a i R A 129 A 19 2 Communication settings ccccceeesseeeeceeeeeeeseeeeeeeeeeeeeseeneeerens A 129 A 19 3 Preparing a project for Upload ee eeeeseeeteeeeeeeeeeseeeeeeseeeeeeeeens A 130 A 19 4 How zipped source are stored in the target A 130 A 19 5 Memory requirements on the target eceeeesesecseeeecneeeeeeseeeeeees A 131 A 19 6 About uploaded
493. variables of an instance keep their values from one call to the other Defining the interface Functions or function blocks may have up to 32 parameters input or output A function always has one and only one return parameter which must have the same name as the function in order to conform to ST language writing conventions The list in the upper left side of the window shows the parameters in the order of the calling model first the calling parameters last the return parameters The lower part of the window shows the detailed description of the parameter currently selected in the list Any of the ISaGRAF data types may be used for a parameter The return parameters must be located after calling parameters in the list Naming parameters must conform to the following rules e the length of the name cannot exceed 16 characters e the first character must be a letter e the following characters must be letters digits or underscore character e naming is case insensitive The Insert command is used to insert a new parameter before the selected parameter The Delete command is used to erase the selected parameter The Arrange command automatically rearranges sorts the parameters so that the return parameters are put at the end of the list A 150 ICS Triplex ISaGRAF Inc User s Guide A 22 6 A 22 7 C Functions and function blocks The C functions and function blocks are computer functions called from the auto
494. variables to the dictionary clipboard CUT cian Copy the selected group of variables and remove it from the edited list CLEAR Remove the selected group of variables from the edited list PASTE Insert the dictionary clipboard before the selected variable Copy Cut Paste functions can be used from one list of variables to another They cannot be used between list of different object types Sorting variables The Tools Sort command sorts the variables or defined words of the currently edited list The sorting order is given by the attributes of the variables e first the internal variables e then the input variables e finally the output variables Variables with the same attribute are sorted into alphabetical order Defined words are always sorted into alphabetical order Setting network addresses Network addresses are optional A variable with a non zero network address can be spied by an external system for example a process visualisation system at run time A network address may be entered for each variable during its complete description when the variable is created or modified The Tools Renumber addresses command allows the user to set up network addresses of an entire ICS Triplex ISaGRAF Inc A 83 User s Guide group of variables When this command is run it acts on the group of variables currently selected on the list Entering a hexadecimal basis address address for the first v
495. vation and the interface of the new element C 398 ICS Triplex ISaGRAF Inc Target User s Guide C 8 Modbus link Once the application is completely developed and tested you may connect it to a process visualization system SaGRAF is an open system offering a large variety of networking possibilities The simplest industrial network is the MODBUS MODICON standard protocol which is available on almost every process visualization system and which only requires a serial link RS232 RS485 Current Loop ISaGRAF communication debugger protocol is MODBUS compatible to enable variable read write access from a Modbus master C 8 1 MODBUS network and protocol A Modbus network is composed of one master station only usually a process visualization system and one or more slave stations usually PLCs The master sends one request at a time to one slave using its slave number and waits for the slave to answer before sending the next question Other non concerned slaves do not answer Each frame contains a slave number a request number and corresponding data and a 16 bit checksum CRC If no answer is received after a time out duration the question can be repeated a certain number of times before the master declares the slave disconnected The time out value and the number of retries have to be adjusted on the master station to fit the slave requirements depending on the application etc If an error oc
496. vise and poke transactions are supported by the ISaGRAF debugger DDE server You can use request transaction only for variables already spied in an advice loop Other DDE services such as execute are not available When an advice loop is established on a variable the value of this variable is updated in the client application each time it changes Variables of any type can be spied The identification of the dynamic link includes the following names Service name SaGRAF Topic name Name of the ISaGRAF project Item name Name of the variable If the variable is local to a program its name must be followed by the name of its father program written between parentheses with the following syntax ICS Triplex ISaGRAF Inc A 119 User s Guide variable_name program_name The ISaGRAF debugger DDE server is dedicated to the ISaGRAF application currently spied by the debugger The ISaGRAF server can spy up to 256 variables The DDE server may be used when the ISaGRAF debugger runs in either connected or simulation mode The refresh duration is the one established for communication between the debugger and the ISaGRAF target system or simulator A 120 ICS Triplex ISaGRAF Inc User s Guide A 16 Spying Lists of variables The Spy lists command in the Spy menu of the Debugger window enables the user to build non contiguous lists of variables which are refreshed with their current values Lists
497. w TRUE when CV 0 CV INT counter result Warning The CTD block does not detect the rising or falling edges of the counting input CD It must be associated with an R_TRIG or F_TRIG block to create a pulse counter Description Count integer from a given value down to 0 1 by 1 FBD program using CTD block f_trig CTD command joK aje load_cmd Loan q underflow 100 Pv cy result ST Equivalence We suppose F_TRIG1 is an instance of F_TRIG block and CTD1 is an instance of CTD block CTD1 F_TRIG1 command load_cmd 100 underflow CTD1 Q result CTD1 CV IL Equivalence LD command ST F_TRIG1 clk CAL F_TRIG1 LD F_TRIG1 Q ST CTD1 cd LD load_cmd ST CTD1 load LD 100 ST CTD1 pv ICS Triplex ISaGRAF Inc B 271 Language Reference CAL CTD1 LD CTD1 Q ST underflow LD CTD1 cv ST result CTUD Arguments CU BOO up counting when CU is TRUE cD BOO down counting when CD is TRUE RESET BOO reset command dominant CV 0 when RESET is TRUE LOAD BOO load command CV PV when LOAD is TRUE PV INT programmed maximum value QU BOO overflow TRUE when CV PV QD BOO underflow TRUE when CV 0 CV INT counter result Warning The CTUD block does not detect the rising or falling edges of the counting inputs CU and CD It must be associated with an R_TRIG or F_TRIG block to create a pulse counter Descrip
498. w or hide points of the editing grid Enable Power flow debugging During simulation or on line debugging of LD FBD programs power flows appear highlighted red or blue in order to easily follow the logic flow However enabling power flow debugging affects memory allocation on the target You enable power flow debugging in the FBD editor while in off line mode from the Options menu by choosing Enable Power flow debugging This feature is enabled by default when you install the Workbench A 68 ICS Triplex ISaGRAF Inc User s Guide The FBD editor animates this power flow graphical links according to the process values All 0 or FALSE state items appear BLUE All non zero values or TRUE state items appear RED b1 TRUE b2 FALSE b3 F ALSE b4 F ALSE Previewing page borders When printed the FBD diagram is split into folios according to the selected printer and paper You can choose to preview the border of each folio in the FBD editor While creating your diagram previewing enables you to avoid placing a symbol where it will be split on two pages The page borders are displayed as plain gray lines in the diagram when the editing grid is visible The FBD editor uses the last selected printer configuration to display the page size You must activate the document printer and select the right printer and paper before viewing page borders in the FBD editor Therefore to preview a diagram you must 1
499. when all immediately preceding steps linked to its corresponding transition symbol are active otherwise it is disabled A transition cannot be cleared unless itis enabled and the associated transition condition is true ICS Triplex ISaGRAF Inc B 199 Language Reference Changing of state of active steps The clearing of a transition simultaneously leads to the active state of the immediately following steps and to the inactive state of the immediately preceding steps Simultaneous clearing of transitions Double lines may be used to indicate transitions which have to be cleared simultaneously If such transitions are shown separately the activity state of preceding steps GSnnn x can be used to express their conditions Simultaneous activation and deactivation of a step If during operation a step is simultaneously activated and deactivated priority is given to the activation B 3 8 SFC program hierarchy The ISaGRAF system enables the description of the vertical structure of SFC programs SFC programs are organised in a hierarchy tree Each SFC program can control start kill other SFC programs Such programs are called children of the SFC program which controls them SFC programs are linked together into a main hierarchy tree using a father child relation FATHER program CHILD program The basic rules implied by the hierarchy structure are SFC programs which have no father are called main
500. window The Tools Import IL program can be used to import a project described as a single IL program in a text file according to PLC Open file exchange format A 26 ICS Triplex ISaGRAF Inc User s Guide A 3 Managing programs The Program Management window shows the programs also called modules or programming units of the application and groups into its menus the available commands to create the project architecture run editors compiler and debugger This window is the workbench kernel during the development of an application The Program Management window opens when running the Open command in the Project Management window A 3 1 The components of a project The components of a project are called programs A program is a logical entity that describes one part of the control execution Any program in the application can use global variables such as I O variables Local variables may be used by only one program Programs are listed in a hierarchy tree divided into different logical sections The window shows the programs and the links between them The Top level programs appear on the left side of the hierarchy tree Top level programs The top level programs appear on the left side of the hierarchy tree Top level programs of the three first sections are always active and are executed in the following order during the run time cycle scan e Read inputs e Execute the top level programs of the BEGIN secti
501. wnloaded on MOTOROLA and reverse or if the file ne ne T D n o co D pe u fo 2 3 cannot allocate communication mailbox system This error is produced by the communication task if it cannot allocate space 3 for inter task communication 4 cannot link kernel data base system This error is produced by the communication task if it cannot find a kernel running with the slave number specified in its command line 5 time out sending question to kernel system The communication task cannot send a request to the kernel The kernel is probably not running or busy 6 time out waiting answer from kernel system The communication task cannot receive an answer from the kernel The kernel is probably not running or busy 7 cannot init communication system This warning is produced when the communication layer cannot initialize the physical link This warning is also displayed if no communication path is specified This does not prevent the target from running correctly but it cannot communicate 8 cannot allocate memory for retained variables application ISaGRAF cannot manage retained variables There may be two reasons for such a problem the string passed as a parameter to the host target is not syntactically correct the size of memory specified for each block is not sufficient You have to verify the syntax of your retain variable parameter and you can try with a reduced number of retained va
502. xt comment The full description of the selected variable is always displayed in the status bar Use the following buttons in the toolbar to select the range of variable to be edited can be used by any program of any project can be used by any program of the current project LOCAL serisinin can be used by only one program Use the Tab control displayed with title bar to select the type of object to be edited Booleans integers Reals Timers Messages FB instances Defined words Name Attrib Addr Comment C Use the text input field on the left of the toolbar to search for a variable prefix name In this case research is processed on the entire list from the beginning based on the current selection The Edit Find command is also available to search a text string in variable names and comments and to move the selection to this variable Search is always case insensitive Managing variables The available Files menu commands work on the entire selected class of variables function block instances or defined words Use the Other command to select the type and range of objects to be edited Printing variables Use the Files Print command to print the currently edited list of variables or defined words on a standard Windows printer device Printing is made using the ISaGRAF document generator The printout includes the complete description of each variable or defined word of the currently edited type A 82 I
503. y a dongle which you place on the parallel or USB port of your computer is delivered pre programmed with the selected feature set When using a software key you need to obtain an authorized license You license products in the License Manager The hardware key can be connected to any parallel port on the computer If the computer has more than one parallel port it is preferable to connect the key and printer to different ports For some computer printer configurations the hardware key may not be recognised when its output is connected to an off line printer In this case either disconnect the printer or start it in the on line state then restart the ISaGRAF Workbench Note When using a hardware key on Windows NT systems you must install the Sentinel driver in order for the key to be seen You install the driver by double clicking the Setup exe file located at the root of the ISaGRAF CD ROM in the Sentinel folder then following the on screen instructions A 14 ICS Triplex ISaGRAF Inc User s Guide ISaGRAF is available in two feature sets Limited number of I Os having a limited number of I Os ranging between 1 and 4095 Large having an unlimited number of I Os Both feature sets include the use of the ST Structured Text and IL Instruction List programming languages However to enable the use of any other of the available languages in the Workbench you need to specify these SFC Sequential Function Chart F
504. y the rung comments in the whole diagram Hiding the rung comments can be required to have a more condensed view on a huge diagram as each comment consumes one row in the editing matrix This option does not affect the contents of the existing rung comments and can be swapped at any time Names and aliases Each variable when associated to a contact a coil or a block I O parameter is identified by its symbolic name The ISaGRAF Quick LD editor also introduces the notion or alias for each variable The alias of the variable is the variable comment text truncated before the first character and limited to 16 characters Below are examples variable comment alias short text short text long text with no separator long text with n short text long description short text Aliases have no effect on the execution of the LD diagram and should be considered as comments from a syntactic point of view A variable alias is automatically extracted from the variable comment when the name is selected in the variable list It cannot be changed manually Use the Options Contacts and coils commands to select a display mode for variable identification The following modes are available e display only the variable names e display only the variable aliases e display both names and aliases A 60 ICS Triplex ISaGRAF Inc User s Guide Quick LD editor does not automatically updates LD documents when variable aliases are changed in th
505. y the supplier of the corresponding I O board or equipment Use the Tools Technical note command or refer to your hardware manual for more information about board parameters A 11 3 Connecting I O channels To set the connection of a channel the user has to double click on its location in the list on the right It is also possible to select highlight it and run the Edit Set channel parameter command The following icons are used to represent channels in the list Oe se Free channel ere Connected channel The list contains all the variables which match with the selected board type and direction Only variables which are not yet connected are listed here The Connect button connects the variable selected in the list to the selected channel The Free button removes disconnects the variable from the selected channel Next and Previous buttons are used to select another channel of the board The location of the selected channel is always displayed in the title of the dialog box A 11 4 Directly represented variables Free channels are the ones which are not linked to a declared I O variable ISaGRAF enables the use of directly represented variables in the source of the programs to represent a free channel The identifier of a directly represented variable always begins with character Below are the naming conventions of a directly represented variable for a channel of a single board s is the slot number of the bo
506. y will automatically appear in box selection menu when using the LD FBD graphic editor within a project ICS Triplex ISaGRAF Inc A 149 User s Guide A A function defined in the library can call other functions of the library However the ISaGRAF system does not support recursive function calling A function block written in IEC language cannot call other function blocks neither in IEC nor in C language Entering source code The source code of a library function or function block is entered using standard ISaGRAF tools graphic editor for LD or FBD programs text editor for ST or IL programs Refer to the corresponding sections in this manual for more information about these tools The ISaGRAF Code Generator can be directly called from the graphic or text editing window to compile the source code of a library function or block Dictionary of local variables A library function or function block can have local variables and local defined words To access the variable declaration the user must run the commands of the Dictionary command of the File menu in the editor window while editing the source code of the function A A library function or function block cannot access a global variable or function block instance Local variables of a function should be initialised in the function body Local variables of a function block written in IEC language are copied instanced each time the block is used in a project Local
507. ze in bytes If the running mode is C compiled this field is zero The data size in bytes This is the sum of the runtime internal data and the variables database SaGRAF NT target simulation of virtual boards When the option Simulate I O is selected at the next application start the following window will appear 1 2 3 4 5 6 U 8 booooooo les C 362 ICS Triplex ISaGRAF Inc Target User s Guide Depending on your I O connection configuration there will be more or less boards and different and more or less variables and different The numbers s b at the top of each board represent the slot identifier s and the board identifier b The count starts at zero and it isn t possible to modify it The 32bits Boards Simulator window works with the Start Stop application state So if there is a running application which has virtual boards or uses simulator boards and the Simulate I O flag is checked this window will appear On the contrary as soon as the Stop push button is depressed it will be closed This window works along with the I O calls The Options menu proposes two items Variable names will show the names of the variables if and only if the symbol table has been downloaded prior to the tic code Hexadecimal values will show each integer in hexadecimal format instead of default decimal format The variable names will look as follows 32bits Boards Simulato

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