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sigmadue CU-02 & MP-01

1. MODBUS MODBUS Memory Model PDU Access Read Write Coil PLC Memory M Memory Direct Access Functions 1 5 15 Read Write Holding 1024 Digital In 128 Bytes g Functions 3 6 16 Read Input 8192 Bytes 4 4096 Registers Function 2 Read Register Input Registers Function 4 Sigmadue Function Block Firmware Library This memory model accessible via the modbus TCP IP Server agent is mapped on a memory zone which can be accessed via the IEC61131 3 programming environment as shown in the following table Protocol Agent Protocol Memory Areas PLC Memory Mapping Coils M10000 0 to M10127 7 MW10128 0 to Holding Registers MW18318 0 ModBus TCP IP Server Discrete Inputs M10000 0 to M10127 7 MW10128 0 to Input Registers MW18318 0 Status Register MB18319 0 The following tables show the correspondence between the modbus addresses of the registers and bits accessible via the IEC61131 3 protocol and the syntax used to access the same memory areas COILS Modbus TCP IP Server MODBUS Address 1EC61131 3 SYNTAX MX10000 0 MX10000 1 MX10000 2 MX10000 3 MX10000 4 MX10000 5 MX10000 6 MX10000 7 MX10001 0 MX10001 1 N 3 4 5 6 7 8 9 MX10127 1 MX10127 2 MX10127 3 MX10127 4 MX10127 5 MX10127 6 MX10127 7 REGISTERS Modbus TCP IP Server MODB
2. Canopen FBS CanOPEN_Autolearn 0 ccc eee eee CanOPEN_Device_Compare 000005 4 1 4 1 1 az Le Si E SE E 1 SE f ARBRHRARHRHAHRHHA gt 0 ONDQUIASWN Chapter 5 PROFIBUS for CU 02 unit only PROFIBUS DP Slave Agent 5 1 5 1 1 5 1 2 5 1 3 Chapter 6 Memory Copy Functions Copy Function Blocks 6 1 6 1 1 Index continued CanOPEN_ Get _ Dev ice Com_Par 2 2 CanOPEN_get_Device_id ee eeeee CanOPEN_Network_Compare 20005 CanOPEN_Network_Status 0 0005 CanOPEN_Net_Control_Start CanOPEN_Scan_Device_Com 000 CanOPEN_Scan_Device_Id naaa aa CAN_ENABLE_CYCLIC_SYNC CAN_GET_CANOPEN_KERNEL_STATE CAN_GET_LOCAL_NODE ID CAN_GET_STATE CAN_PDO_READ8 CAN_PDO_WRITE8 CAN_RECV_BOOTUP 2 00 liane re CAN_RECV_BOOTUP_DEV CAN_RECV_EMCY CAN_RECV_EMCY_DEV dada poeti eh bod CAN REGISTER COBID 4 05 ire alti CAN_SDO_READ8 CAN_SDO_READ_STR_ 0 0 e eae CAN_SDO_WRITE8 CAN_SDO_WRITE_ CAN_SEND_SYNC in are ri CAN WRITE EMG pub olii is banda Pala ER GEIT SUPPORTED DIAG lt a tele ee eae ewes NET_ASCON_ID NGSRIRi ils PROFI_ENABLE PROFI_STATUS PROFI SEND TO MASTER appia eni MEMCOPY_FROM_ MEMCOPY_
3. Label Type Description Range SLAVE_ID USINT Agent in question slave 1 or slave 2 1 2 ADDRESS UINT I O address on which to write 1 128 DATA BOOL Bit value being set TRUE FALSE Output description Label Type Description Range OPRS USINT Execution result 0 1 2 3 4 The Function Block writes individually the memory locations dedicated to the digital I O According to the input specified memory address the memory locations dedicated to the I O can be written without declaring the corresponding percentage variables Several digital I Os can be written by specifying the Function Block within a cycle The OPRS parameter can acquire the following values Value Meaning 0 Block execution terminated successfully 1 Illegal address 3 Invalid protocol different from 1 or 2 The error condition with value 1 has the highest priority and if the condition occurs other possible errors are not diagnosed 43 Sigmadue Function Block Firmware Library 3 4 Master modbus protocol It is possible to initiate a protocol which provides the fundamental functions of a modbus Master on one of the serial ports of the Ascon CPUs Fundamental functions constitute the possibility to generate a serial line query compliant with modbus specifications The implementation of the Master defines a memory area accessible via the IEC61131 3 programming environment which stores the data that the Modbus Master agent must s
4. NODE_DIAGNOSTICS anes OF Producer and Diagnostics details ERROR WORD Error Code ERROR_INFO DWORD Details of the errors occurred Content OD 1000h DEVICE_NAME Content OD 1008h max 4 characters Description The data type arrays are composed of 127 elements from a number of possible addresses that correspond to the slave The diagnostic data of node assigns individual bits mean the following The form is available on the network The module on the network is Ascon The module supports the Heartbeat The module supports the Node Guarding 82 Chapter 4 CanOPEN 4 1 29 NG_RTR Using the present Function Block it is possible to send an RTR to a network node respecting the Node Guardin protocol FB Prototype NG_RTR EN BOOL BOOL gt ENO NODE_ID USINT USINT gt OPRS Input description Tyre Description EN BOOL Enable In TRUE FALSE NODE_ID USINT Network node TRUE FALSE Output description Type Description ENO BOOL Enable Out TRUE FALSE OPRS USINT FB execution result Description The node diagnostic data assigns individual bits with the following meaning Node address not valid 0x20 Node not controlled 0x01 Stack problem 83 Chapter 5 PROFIBUS for CU 02 unit only The Ascon spa sigmadue series device CU 02 2010 provides the PROFIBUS DP connection capability as a slave unit The communication protocol is Master Slave
5. end_if 29 Chapter 3 Serial communications The Ascon CU 02 and MP 01 units are IEC61131 3 programmable devices with several communication ports 10baseT ethernet serial RS232 RS485 and a CAN port in case of CU 02 unit The available serial ports can be used for applications requiring Modbus communication Two slave agents and one master agent have been implemented the Modbus agents can be associated to each of the physical available ports An agent has also been implemented for an ASCII string communication this one can only be associated to the serial service port XO for MP 01 and X1 for CU 02 The thread in the FW executing all serial communication activities repeats the operations every 100 ms This means that in case for example of a serial port configuration with Modbus Slave protocol a possible master executing a query must consider a response timeout not lower than 100 ms 3 1 Serial communication configuration The serial communication configuration of the auxiliary ports can be made using two Function Blocks e OPEN _SERIAL_COMM e CLOSE_SERIAL COMM These calls are used to define the configuration and the protocol to be assigned to the port Two slave and one master protocols and an agent can be assigned for simple serial communication of ASCII strings The 3 MODBUS and the ASCII protocols can be freely assigned to the ports The following numbers classify the physical ports for the CU 02 and the MP 01 units RS232
6. gt PAGE_IN_USE Label Type Description Range 0 Waiting for config data from the master 1 1 PROFIBUS agent not instantiated STATUS USINT ee Pa 2 Data Exchange running 9 3 Protocol Error 4 Hardware Error PAGE_IN_USE USINT Page in use 1 4 Input Parameters The PAGE_IN_USE parameter gives the indication of which output page actually is exchanged with the master from CU 02 to the master The following table gives the possible values for the different data exchange modes Exchange Mode PAGE_IN_USE Basic 1 Paged 1 4 Non paged mode with a data integrity control 2 PROFI_SEND_TO_MASTER PROFI_SEND_TO_MASTER PAGE gt USINT gt OPRS Input Parameters Label Type Description Range PAGE USINT Page sent to the master PROFIBUS 1 4 Output Parameters Label Type Description Range 0 OK OPRS USINT Execution Result 1 Page number Error 4 Hardware Error The function block prepares the output data page sent to the master PROFIBUS unit Depending on the Exchange Mode chosen the PAGE value could assume different meanings Exchange Mode PAGE value Basic FB not used Paged The value identifies the next exchanged page Non paged mode with The value it is not considered Always the page2 will be a data integrity control copied over the page1 87 Chapter 6 Memory Copy Functions In order to simplify the
7. network layer CAN_WRITE_EMCY ENABLE gt EMCY_ERR_CODE gt EMCY_ERR_REGISTER gt EMCY_ERR_FIELD1 gt EMCY_ERR_FIELD2 gt EMCY_ERR_FIELD3 gt EMCY_ERR_FIELD4 gt EMCY_ERR_FIELD5 gt EMCY_ADD_INFO gt NETNUMBER gt Input description CONFIRM WORD ERROR Description Input for enabling or locking the function block Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send EMCY_ERR_REGISTER BYTE Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send EMCY_ERR_FIELD1 Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send EMCY_ERR_FIELD2 Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send EMCY_ERR_FIELD3 Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send EMCY_ERR_FIELD4 EMCY_ERR_FIELD5 BYTE Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send Emergency error information corresponding to the CiA Draft Standard 301 for the Emergency Message to send 80 Description 4 1 27 FB Prototype Description Chapter 4 CanOPEN Additional application specific emergency error information which is stored in index 1003
8. Output description Description BOOL Output for signal service completion by the function block Address of the node 1 127 from which a Bootup message USINT was received Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_RECV_BOOTUP is used for reading the Bootup messages of any node from the network layer s receiving buffer If upon the return of the function block the output CONFIRM is set to TRUE the output DEVICE gives the node address that the message was received from However if the output CONFIRM is set to FALSE then the network layer s receiving buffer does not contain any Bootup messages The function block always returns the first Bootup message entered into the receiving buffer oldest message the message is subsequently erased from the receiving buffer Thus every Bootup message can only be read one time by the PLC program The function blocks CAN_RECV_BOOTUP_DEV and CAN_RECV_BOOTUP both access the same receiving buffer This function block is only available on control units in PLC with CANopen Master mode 71 Sigmadue Function Block Firmware Library 4 1 17 FB Prototype Description 4 1 18 FB Prototype CAN_RECV_BOOTUP_DEV Function block for reading Bootup messages of a specific node from the receiving buffer of the network layer CAN_RECV_BOOTUP_DEV DEVICE gt USINT BOOL gt CONFIRM ENABLE BOOL WORD
9. SOURCE_ADDR UDINT M input source address num Amount of bytes to be copied The value combined with the destination address DEST_ADDR MEM_SIZE MEM_SIZE cannot exceed the last 0 43000 memory location available for the specific memory type I M or Q num Output description Type Description ERROR BYTE Error status Description This function block performs a copy of a desired amount of bytes from a valid M memory area to a desired M memory location Default Values Default Value DEST_ADDR SOURCE_ADDR MEM_ SIZE Reference Table I e 0 OK OPRS 1 Source area outside the allowed address 2 Destination area outside the allowed address 92 Chapter 6 Real Time Clock 6 1 5 MEMCPY_M_TO_Q FB Prototype MEMCPY_M_TO_Q DEST_ADDR UDINT BYTE gt OPRS SOURCE_ADDR UDINT MEM_SIZE gt UDINT Input description Description All available addresses All admitted addresses DEST_ADDR Q memory destination address num SOURCE_ADDR M input source address num Amount of bytes to be copied The value combined with the destination address DEST_ADDR MEM_SIZE MEML_ SIZE cannot exceed the last 0 43000 memory location available for the specific memory type I M or Q num Output description Type Description ERROR BYTE Error status Description This function block performs a copy of a desired amount of byt
10. Sigmadue Function Block Firmware Library 3 1 2 CLOSE _SERIAL_COMM Function Block closing the serial port FB Prototype CLOSE_SERIAL_COMM PORT USINT Input description Label Type Description Range CU 02 Serial port selection variable 0 1 2 Port INT 59 MP 01 Serial port selection variable 0 1 Description This function closes the serial communication port and releases its association with the previously assigned serial protocol After the function block has been executed the port is available for later use through the open function block 32 Chapter 3 Serial communications 3 2 Modbus Slave protocol Once the Modbus Slave protocol is assigned to a port as described in function block OPEN_SERIAL_COMM it is not operative yet but needs to be configured This is done with function block MODBUS_SLAVE_SETTINGS which assigns a Modbus network address and a timeout to the slave port The system monitors the time between two consecutive queries to the slave and checks that such time is shorter than timeout Once the slave is configured the agent stays operative and grants a Master access to specific memory areas shared with the IEC61131 3 programming environment The Modbus agent responds to the following functions and processes one message approximately every 100 ms Function Codes Code Sub code hex Physical Discrete Inputs Read Discrete Inputs Bit Read Coils access aa Bits Or Physical
11. VAR_GLOBAL baud USINT parity USINT data_length USINT stop_bit USINT init_port BOOL true error BOOL node_id USINT next_step BOOL true sequence_read ARRAY 1 5 OF WORD sequence _write ARRAY 1 5 OF WORD END_VAR In addition to serial port configuration parameters a number of parameters such as init_por error and next_step cyclically control the execution of the code of the running tasks depending on the status of the other tasks The two arrays sequence_read and sequence_write contain the values written in the registers and the values read via the modbus HW port initialisation This task initialises the serial ports and assigns them the desired protocols The task code variable declaration and executable code are shown below Variable declaration VAR_EXTERNAL baud USINT parity USINT data _length USINT stop_bit USINT init_port BOOL error BOOL node_id USINT END_VAR VAR_GLOBAL END_VAR VAR timeout UINT oprs USINT open_serial_com OPEN_SERIAL_ COMM modbus_slave_setting MODBUS_SLAVE_ SETTINGS close _serial_com CLOSE_SERIAL_ COMM END_VAR 48 Chapter 3 Serial communications Task code if init_port then baud 3 parity 0 data_length 8 stop bit 1 init_port false node_id 16 11 timeout 10 error FALSE close_serial_
12. gt ERROR NETNUMBER USINT Input description Description Address of the node 1 127 for which the receipt of Bootup messages must be tested DEVICE USINT ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description RM BOOL Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_RECV_BOOTUP_DEV is used for reading the Bootup messages of a specific node from the network layer s receiving buffer If upon the return of the function block the output CONFIRM is set to TRUE a Bootup message was received for the reported node However if the output CONFIRM is set to FALSE then the network layer s receiving buffer does not contain a Bootup message for the node in question After a Bootup message has been read it is erased from the receiving buffer and therefore only reported to the PLC program once The function blocks CAN_RECV_BOOTUP_DEV and CAN_RECV_BOOTUP both access the same receiving buffer This function block is only available on control units in PLC with CANopen Master mode CAN_RECV_EMCY Function block for reading emergency messages of a node from the network layer s receiving buffer CAN_RECV_EMCY CONFIRM DEVICE ERROR EMCY_ERR_CODE EMCY_ERR_REGISTER ENABLE gt NETNUMBER gt EMCY_ERR_FIELD1 EMCY_ERR_FIEL
13. CONNECTION USINT USINT gt STATUS USINT gt OPRS Input description Label Type Description Range Connection whose status is to be CONNECTION USINT aE ed 0 9 Output description Label Type Description Range No Operations Communication Memory value updated Status USINT Status Timeout expired Agent error Ok Server not available Timeout expired Inactive connection Protocol exception 10 No connection Oprs USINT Execution Result This Function Block shows the communication status on a specified connection As noted above the system can initiate up to 10 connections at a time Current FB acquires a number from 0 to 9 as its input which indicates the connection whose status is to be questioned Naturally one of the possible status is inactive con nection i e no connection has been initiated in the requested position Other Function Blocks described later make it possible to trace the IP addresses and connection port from the position and vice versa 21 Sigmadue Function Block Firmware Library 2 1 4 FB Prototype Description MB_TCP_GET_CONN_BY_ADDR Function Block returning the position of a connection identified by the client IP address the client port and the server port MB_TCP_GET_CONN_BY_ADDR IP_ADDR STRING USINT gt CONNECTION CLIENT_PORT UINT USINT gt OPRS SERVER_PORT g
14. Oprs USINT Execution Result This FB sets the initialisation and configuration parameters of the Modbus TCP IP Server agent After execution of the Function Block if successful the agent is operative and responds to any message it receives The SERVER_PORT parameter tells the agent on which port to listen while waiting for the TCP IP connections The default setting is 502 for the Modbus TCP IP protocol The agent is always set to listen on the default port With the SERVER_PORT parameter the user can also choose a second port on which the agent is set to listen The timeout parameter indicates the agent the maximum interval between two consecutive queries If this interval is exceeded the agent does not change its operation but simply flags the timeout expiry the next time the MB_TCP_CONN_STATUS Function Block is called To evaluate the timeout the counter starts at the end of the execution of current Function Block and is reset every time a new query is received CLOSE _MODBUS_TCP_SERVER Function Block disabling the Modbus TCP IP Server CLOSE _MODBUS_TCP_SERVER This function disables the Modbus TCP IP Server agent execution and makes the resources newly available for a new initialisation or for the Modbus RTU Slave 2 20 2 1 3 FB Prototype Description Chapter 2 Modbus TCP IP MB_TCP_CONN_STATUS Function Block showing the status of a Modbus TCP IP connection MB_TCP_CONN_STATUS
15. Sigmadue Function Block Firmware Library 1 4 2 FB Prototype Description CTRL_MV CTRL_MV MV gt DTRK gt TRK gt DAM gt UP DOWN gt AM_SL gt DAUX gt AUX gt OUT DBMP Input parameters Label Type Description MV REAL Controlled variable also named manipulated variable It is gener ated by the PID module with range 0 0 100 0 default value 0 0 DTRK BOOL Digital Tracking Command default value FALSE TRK REAL Tracking signal 0 100 0 default value 0 0 DAM BOOL Digital AutoMan Command default value FALSE UP BOOL Manual Up Command default value FALSE DOWN BOOL Manual Down Command default value FALSE AM_SL REAL Manual Delta Value default value 0 1 DAUX BOOL Digital Auxiliary Command default value FALSE AUX REAL Auxiliary Signal 0 100 0 default value 0 0 Output parameters Label Type Description OUT REAL Control Output 0 0 100 0 default value 0 0 DBMP BOOL BUMPLESS command default value FALSE This module is an Auto Man station to be connected downstream a PID module providing the functionalities the operator needs to interact with the loop The CTRL_MV function block provides auto manual track aux operating mode and the commands for incrementally set the output The operating modes are defined by a set of digital inputs as listed above ordere
16. the cool action called Relative Cool Gain RCGA The module provides auto manual track aux operating mode and the commands for incrementally set the output Sigmadue Function Block Firmware Library The operating modes that are unique for both the Cool and the Heat output are defined by a set of digital inputs as listed above ordered according to their priority level Trk DTRK AutoMan DAM Aux DAUX Depending on these digital inputs the functionality of the module changes as follows e If none of these digital signals are active the module split the input MV into the two action MVH and MVC The DBND parameter defines how the Cool and the Heat channel interact each other When it is positive this parame ter defines the dead band width centered around the value 50 0 of the input It means that when the input is in the range 50 0 DBND 50 0 DBND both the OUTC and the OUTH output are 0 When it is negative the opposite occurs for a value included in the dead band both the OUTC and the OUTH are different from 0 e lf DTRK Track is active the outputs are set according to the value of the analog input TRK This signal has a range from 0 0 100 0 and it drives both OUTH and OUTC When its value is in the range 0 0 to 50 0 it means that a Cool action must be taken therefore OUTH is set to 0 while OUTC is set to RCGA 2 0 50 0 TRK Inversely when it is in the range 50 0 to 100 OUTC is set to 0 w
17. 10 DBND REAL Qefaut value 00 I RCGA REAL Relative Cool Gain default value 1 0 DTRK BOOL Digital Tracking Command default value FALSE TRK REAL Tracking signal 0 100 0 default value 0 0 DAM BOOL Digital AutoMan Command default value FALSE UP BOOL Manual Up Command default value FALSE DOWN BOOL Manual Down Command default value FALSE AM_SL REAL Manual Delta Value default value 0 1 DAUX BOOL Digital Auxiliary Command default value FALSE AUX REAL Auxiliary Signal 0 100 0 default value 0 0 Output parameters Label Type Description OUTHEAT REAL Control Output for HEAT 0 0 100 0 default value 0 0 OUTCOOL REAL Control Output for COOL 0 0 100 0 default value 0 0 Control Output for visualization 100 0 100 0 QUIS MODE default value 0 0 BMP_MV REAL BUMPLESS output value default value 0 0 DBMP BOOL BUMPLESS command default value FALSE OVERLAP BOOL Active if both OUTH and OUTC are active default value FALSE This module is an Output station for an Heat Cool loop providing the functionali ties the operator needs to interact with the loop The loop is controlled by one PID connected downstream to this module when the PID output value is between 50 0 0 0 the cool action is active when the PID output value is between 50 0 100 0 the heat action is active The function block applies also a factor to
18. 5 ASCII serial The following Function Blocks have been created to swap ASCII strings on a serial port via CPU without implementing a specific protocol 3 5 1 CONV_ASCII TO_CHAR FB Prototype CONV_ASCII_TO_CHAR ASCII gt BYTE STRING 1 gt CHAR Input parameters Label Type ASCII BYTE Binary code of the input string character Output parameters Label Type Alphanumeric string character has to be converted in abii STRINGO the equivalent binary ASCII code Description This FB can be used to convert a binary ASCII code in the equivalent alphanumerical character 3 5 2 CONV_CHAR_TO_ ASCII FB Prototype CONV_CHAR_TO_ASCII CHAR gt STRING 1 BYTE gt ASCII Input parameters Type Description Alphanumeric string character has to be converted in CHAR STANGO the equivalent binary ASCII code Output parameters Type Description ASCII BYTE Binary code of the input string character Description This FB can be used to convert any alphanumerical character in the equivalent binary ASCII code 53 Sigmadue Function Block Firmware Library 3 5 3 SERIAL IO CONFIG FB Prototype SERIAL_IO_CONFIG PORT USINT USINT gt N_OF BYTE SERVICE USINT USINT gt OPRS Input parameters Description Port on which the serial agent is initiated Admissible values USINT uPAC 0 X0 or 1 X1 SigmaPAC O X1 1 X3 or 2 X4 USINT Requested service Output
19. Firmware Library Description 4 1 24 FB Prototype Input for enabling or locking the function block Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Data byte of the entry to be written Length of the entry to be written Network number Description Output for signal service completion by the function block Error code corresponding to data type CIA405_CANOPEN_KERNEL_ERROR SDO abort code of the communication partner FRMORINE 1 BWORD corresponding to the data type lt CIA405_SDO_ERROR The function block CAN_SDO_READ8 is used to read the object entries of a node currently being used by the SDO transfer The SDO transfer is always executed in the background thus the procedure described in section 4 1 3 for synchronization between the function block and the PLC program has to be applied while using both parameters ENABLE and CONFIRM The individual bytes of the object entry to be written are transferred to the elements DATAO through DATA7 Whereby the input DATALENGTH specifies the number of valid data bytes beginning with DATAO The network layer only supports a single SDO transfer through the PLC program at anyone time After the start of the SDO transfer by setting ENAB
20. Write Single Coil Data Write Multiple Coils Access Physical Input Registers Read Input Register 16 bit Read Holding Registers Internal Registers Or access Physical Output Registers Write Single Register Write Multiple Registers Read Exception status Diagnostics The protocols support data area complies with the Modbus native memory model Diagnostics MODBUS MODBUS Memory Model PDU Access Read Write Coil PLC Memory M Memory Direct Access Functions 1 5 15 Read Write Holding 1024 Digital In 128 Bytes g Functions 3 6 16 Read Input 8192 Bytes 4096 Registers Function 2 Read Register Input Registers Function 4 33 Sigmadue Function Block Firmware Library This memory model which is accessible via the Modbus Slave agent is mapped on a memory zone which can be accessed via the IEC61131 3 programming environment as showed in the following table Protocol Agent Protocol Memory Areas PLC Memory Mapping M1000 0 to M1127 7 Holding Registers MW1128 0 to MW9318 0 Discrete Inputs M1000 0 to M1127 7 Input Registers MW1128 0 to MW9318 0 Status Register MB9320 0 ModBus Slave Channel 1 M10000 0 to M10127 7 Holding Registers MW10128 0 to MW18318 0 Discrete Inputs M10000 0 to M10127 7 Input Registers MW10128 0 to MW18318 0 Status Register MB18320 0 ModBus Slave Channel
21. amount of bytes within the serial ASCII agent ONLY when the specified amount of bytes will be received they will be loaded in the output BUFFER If the amount of bytes differs from the requested quantity the FB will return an error The values returned by the OPRS parameter are Operation executed successfully Port not configured for the ASCII serial protocol Peripheral driver problems Unavailable number of requested bytes in the input buffer Number of bytes present in the input buffer less then requested 55 Sigmadue Function Block Firmware Library 3 5 5 SERIAL IO READ BYTE FB Prototype SERIAL_IO_READ_BYTE PORT USINT ARRAY 1 100 of BYTE gt BUFFER N_OF_BYTE USINT USINT gt OPRS Input parameters Description Port on which the serial agent is initiated admissible values uPAC 0 X0 or 1 X1 SigmaPAC 0 X1 1 X3 or 2 X4 Desired amount of bytes to read Output parameters Oupa yee f Description BUFFER ARRAY 1 100 of BYTE String containing the requested bytes OPRS USINT Operation status Description This FB can be used to receive a desired amount of bytes within the serial ASCII agent ONLY when the specified amount of bytes will be received they will be loaded in the output BUFFER If the amount of bytes differs from the requested quantity the FB will return an error The values returned by the OPRS parameter are Operation executed success
22. and cool regulation CTRL_SPLITMV Automan Station for heat and cool regulation with split range algorithm CTRL_SRV Servomotors algorithm CTRL_SRV_POS Servomotors algorithm close loop positioner CTRL_TPO Time proportional output For further details see the specific documentation of the individual module 1 3 PID implementation The implementation of the PID algorithm is based on a standard PID implementation in the latest generation Ascon instruments with the implementation of a Setpoint_Weighting scheme based on an evolved Overshoot Control algorithm Theoretical references on control theory are confined to describing the structure of the system Sigmadue Function Block Firmware Library The implemented PID algorithm is in its most complete and complex form and the dynamic relationship binding the setpoint the process value and the control variable is the following ib UVa ey i ST 1 sTi N where U control variable K gain B overshoot control Ysp setpoint Y value Ti integral time Ta derivative time E error setpoint value N filter constant for numerical computation of derivative The basic structure of the controller is illustrated below Measure The functional block has other auxiliary inputs used to add specific features manual reset bumpless command integral stop action command etc The overshoot control algorithm implemented in the FB optimises the co
23. and the CU 02 unit is able to provide functionalities for diagnostics configuration and cyclic data exchange The protocol itself does not take care about the meaning of the data exchanged but it requires a configuration session where it is defined the exchanged data size Please check the specific Ascon spa documentation for details about the GSD file and configuration description 5 1 PROFIBUS DP Slave Agent Note For the PROFIBUS communication a M memory area of 976 byte is reserved for the output data from the CU 02 to the master PROFIBUS These bytes are spitted in 4 different pages of 244 byte For the input data from the master PROFIBUS to the CU 02 the reserved memory size is 244 byte The following table gives the memory map dedicated to the PROFIBUS interface Profibus Agent Protocol Memory PLC Memory Mapping Areas Page 1 From M20000 0 to M20243 0 Page 2 From M20244 0 to M20487 0 Profibus slave output Page 3 From M20488 0 to M20731 0 Page 4 From M20732 0 to M20975 0 Profibus slave input From M21000 0 to M21243 0 The data exchange between master and slave could be managed in three different ways The first is the basic mode it consists to enable the local PROFIBUS agent and to use only the page 1 to send data to the master from M20000 0 to M20243 0 The user will fill this memory in order to send the correct data to the master The second is the paged mode in this case the
24. data exchange between the variables it is available a set of dedicated function blocks that allow the users to move entire data blocks from one to another area 6 1 Copy Function Blocks 6 1 1 MEMCOPY_FROM_M FB Prototype MEMCOPY_FROM_M MEM_ADDR gt DATATYPE gt ERROR ERR_CODE TO_BYTE TO_WORD TO_DWORD Input description MEM_ADDR UDINT M memory location to be copied num 0 43000 0 TO BYTE Selection of the desired output data 1 TO WORD type num 2 TO DWORD DATATYPE Output description Description ERROR BOOL Error status 16 00 00 00 00 ERR_CODE DWORD Error code bit mask 16 FF FF FF FF Value copied from the desired memory TERE E location as 8 bit notation num Value copied from the desired memory TO WORD WORD location as 16 bit notation num Value copied from the desired memory location as 32 bit notation num TO_DWORD DWORD Description This function block performs a copy of a value from a valid desired memory location into a desired data type The format selected as output data types refers to the basic bit mask notation of the data It needs then to be converted into the desired enumerated data type e g if 8 bit to USINT or if 16 bit to INT or if 32 bit to REAL etc 88 Chapter 6 Real Time Clock Default Values Default Value MEM_ADDR 22000 DATATYPE o Reference Table Output Description ERR_CODE 0 Memory l
25. erased along with the messages stored in the network layer The network layer supports access to PDOs and CAN Layer 2 messages via a call of the function block CAN_PDO_READ8 generally only for registered messages CAN_SDO_READ8 Function block for reading a node s object entries by way of an SDO transfer CAN_SDO_READ8 CONFIRM ERROR ERRORINFO DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 DATALENGTH COBID gt INDEX gt SUBINDEX gt ENABLE NETNUMBER gt 444444444444 Input description Description COBID of the message to be newly entered into registration or to be erased from the registration INDEX WORD Number of the index entry to be read COBID UINT 75 Sigmadue Function Block Firmware Library Description 4 1 22 FB Prototype SUBINDEX BYTE Number of the subindex entry to be read ENABLE BOOL _ Input for enabling or locking the function block NETNUMBER USINT Network number Output description Type Description CONFIRM BOOL Output for signal service completion by the function block Error code corresponding to data type CIA405_CANOPEN_KERNEL_ERROR Reserved for additional error information Data byte of the received CAN message Data byte of the received CAN message BYTE Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN mess
26. intervals of 10 seconds and if none of them receives a response the connection is closed The page shown in the following picture is displayed if menu item 3 is selected Ascon S p a SigmaPAC Control Unit Device configuration MODBUS TCP SECURE ADDRRESSES TABLE MENU 0 Insert New Address 192 168 0 10 192 168 0 25 192 168 0 100 al 2 3 4 So 6 7 8 9 10 31 Enter Selection This menu specifies the addresses which can access the Modbus TCP IP Server agent when security functions are enabled To enter a new address select item 0 and then enter the address which is entered in the first free position out of the 30 available To delete an address select the number which it is associated with As described above an address list called priority connection pool is also available which can be configured by selecting the menu item 4 in the MODBUS TCP IP SETUP MENU The page shown in the following picture is thus displayed The address entry process is the same as that described for the entry of the security address pool addresses Ascon S p a SigmaPAC Control Unit Device configuration MODBUS TCP PRIORITY ADDRESSES TABLE MENU 0 Insert New Address 192 168 0 12 192 168 0 75 192 168 0 123 ilo 2 So 4 5 Gr Ta 8 Clo 10 Side Enter Selection The addresses in the priority connection pool are given priority by the system as explained above up to 10 TCP connection
27. is active and DTRK is inactive the current outputs are not driven any longer according to the PID outputs but they are changed only from the UP and DOWN commands When the DAM and one of the two UP or DOWN commands are active every cycle of the PLC the output of the function block moves up or down by the AM_SL quantity If DAUX Aux is active and both DAUX and DTRK are inactive the out puts are set according to the value of the analog input AUX This signal has a range from 100 0 100 0 and it drives both OUTH and OUTC When its value is in the range 100 to 0 it means that a Cool action must be taken therefore OUTH is set to 0 while OUTC is set to the value of AUX with the sign inverted Inversely when it is in the range 0 to 100 OUTC is set to 0 while OUTH is set to AUX These values are valid if the DBND of the phase splitter is set to 0 otherwise they slightly change 1 4 4 FB Prototype Description CTRL_SPLITMV MV gt DBND gt RCGA gt DTRK gt TRK gt DAM UP gt DOWN gt AM_SL gt DAUX gt AUX gt Input parameters Chapter 1 AsconCTRLFb Embedded CTRL_SPLITMV OUTHEAT OUTCOOL OUTHC BMP_MV DBMP OVERLAP 444444 Label Type Description Controlled variable also named manipulated variable It is MV REAL generated by the PID module with range 0 0 100 0 default value 0 0 D nd with range from 10 0
28. is intended to describe structure and use of the Function Blocks implemented in the CPU firmware devoted to manage all the built in functionalities of the CU 02 and MP 01 device Thanks to these Function Blocks using OpenPCS IEC61131 3 programming tool is possible to access all the peripheral and to manage all the basic control present in the device Caution The function blocks of the various libraries are valid for both CU 02 and MP 01 units except when it is expressly indicated Current Documentation on the Internet Make sure you are always working with the latest version of this document ASCON spa reserves the right to make changes to its products in the name of technological advancement New manual revisions when published and can be found online at http www ascon it viii 1 1 Purpose Chapter 1 AsconCTRLFb Embedded The purpose of this document is to describe the control Function Blocks available in the Ascon spa control units 1 2 Description The Function Blocks described below represent the totality of basic control functions made available by Ascon devices in terms of functions required in process control applications All FBs are embedded i e they do not belong to any specific IEC61131 library but they are always present in the device firmware The following is the list of present FBs CTRL_PID PID algorithm CTRL_MV Automan Station for single action regulation CTRL_HCMV Automan Station for heat
29. parameters N_OF_BYTE USINT Number of bytes related to the requested service OPRS USINT Service status Description This FB can be used to request some functions to the serial ASCII agent The input parameter SERVICE the type of function desired The available functions are Number of bytes present in the input buffer Send immediately all the bytes present in the output buffer and leave it empty Reset immediately all the output buffer bytes Reset immediately all the input buffer bytes The FB will returns the status of the operated service on the output OPRS parameter The returned values are Value Description 0 Function executed successfully Port not configured for the ASCII serial protocol Peripheral driver problems Unavailable number of requested bytes in the input buffer Number of bytes present in the input buffer less then requested 54 Chapter 3 Serial communications 3 5 4 SERIAL IO READ FB Prototype SERIAL_IO_READ PORT gt USINT STRING 100 gt BUFFER N_OF_BYTE USINT USINT gt OPRS Input parameters Description Port on which the serial agent is initiated admissible values uPAC 0 X0 or 1 X1 SigmaPAC 0 X1 1 X3 or 2 X4 Desired amount of bytes to read Output parameters BUFFER STRING 100 String containing the requested bytes OPRS USINT Operation status Description This FB can be used to receive a desired
30. retrieve information about the type of diagnostic active on a given network node GET_SUPPORTED_DIAG EN BOOL BOOL gt ENO NODE_ID gt USINT USINT gt SUPPORTED_DIAG Input description EN BOOL Enable In TRUE FALSE NODE_ID USINT Networknods TRUETFALSE Output description BOOL Enable Out TRUE FALSE SUPPORTED DIAG USINT Diagnostic Information Form The node diagnostic data assigns individual bits with the following meaning The form is available on the network 0x20 The module supports the Heartbeat 0x01 The module supports the Node Guarding 81 Sigmadue Function Block Firmware Library 4 1 28 NET_ASCON_ID This function block starting from the scan performed by the master provides information about the connected modules about their diagnostic type as they were recorded by the master and their identity The function block is non blocking and follows the calling rules of the CAN communication FBs FB Prototype NET_ASCON_ ID EN gt BOOL ENO ENABLE gt BOOL CONFIRM ARRAY OF DWORD DEVICE_TYPE ARRAY OF DWORD DEVICE_NAME ARRAY OF USINT WORD DWORD NODE_DIAGNOSTICS ERROR ERROR_INFO 4444444 Input description Range BOOL Enable In co ENABLE BOOL Enabling the function of block TRUE FALSE Output description Description ENO BOOL Enable Out CONFIRM BOOL Result of the of module comparison ARRAY OF DEVICE_TYPE DWORD ARRAY OF DWORD
31. to the CAN_SEND_SYNC function block 66 Chapter 4 CanOPEN 4 1 11 CAN_GET_CANOPEN_KERNEL_STATE Function block for state query of the CANopen kernel of the local PLC FB Prototype CAN_GET_CANOPEN_KERNEL_STATE ENABLE gt BOOL BOOL gt CONFIRM NETNUMBER USINT WORD gt STATE Input description ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Output description Description CONFIRM BOOL Output for signal service completion by the function block State or error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR Description The function block CAN_GET_CANOPEN_KERNEL STATE is used for a query about the state of the CANopen kernel of the local PLC 4 1 12 CAN_GET_LOCAL_NODE ID Function block for a local node address query FB Prototype CAN_GET_LOCAL_NODE ID ENABLE gt BOOL BOOL gt CONFIRM NETNUMBER gt USINT USINT gt DEVICE Input description Label Type Description ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description Description Output for signal service completion by the function block Local Node Address of the PLC Description The function block CAN_GET_LOCAL_NODE_ID is used for a query of the local node address of the PLC The node address of a control unit has an influence over the availability of th
32. 10144 0 MW10146 0 N CO NI DID 2048 MW1 4224 0 MW1 4226 0 MW1 4228 0 MW1 4230 0 MW1 4232 0 MW1 8304 0 MW1 8306 0 MW1 8308 0 MW18310 0 MW18312 0 MW18314 0 MW18316 0 MW18318 0 Once the Modbus port has been configured the slave agent runs in the background and automatically updates the above indicated memory areas However a function block is also available to check the status of the slave agent MODBUS_SLAVE_STATUS 36 Chapter 3 Serial communications 3 2 1 MODBUS_SLAVE SETTINGS Function Block setting and activating the Modbus slave agent FB Prototype MODBUS_SLAVE_SETTINGS CHANNEL USINT USINT gt OPRS NODE_ID USINT TIMEOUT UINT Input description Label Type Description Range Channel USINT Agent in question Slave 1 or Slave2 1 2 Node_id USINT Node_ld of Modbus node on bus 1 247 Timeout UINT Timeout in units of 100ms 0 65535 Note if timeout 0 the timeout computation function is disabled Output description Description Range 0 Ok Execution Result 1 Port not available 2 Invalid Node_id Description This FB sets the node_id and timeout parameters of the Modbus slave agent After execution of the function block if successful the Modbus Slave agent is already operative and responds to any message it receives The time
33. 2 The following tables show the correspondence between the modbus addresses of the registers and bits accessible via the IEC61131 3 protocol and the syntax used to access the same memory areas COILS Slave 1 MODBUS Address IEC61131 3 SYNTAX MX1000 0 MX1000 1 MX1000 2 MX1000 3 MX1000 4 MX1000 5 MX1000 6 MX1000 7 MX1001 0 MX1001 1 MX1127 1 MX1127 2 MX1127 3 MX1127 4 MX1127 5 MX1127 6 1023 MX1127 7 34 Chapter 3 Serial communications COILS Slave 2 MODBUS Address IEC61131 3 SYNTAX MX10000 0 MX10000 1 MX10000 2 MX10000 3 MX10000 4 MX10000 5 MX10000 6 MX10000 7 MX10001 0 MX10001 1 2 3 4 5 6 7 8 9 MX10127 1 MX10127 2 MX10127 3 MX10127 4 MX10127 5 MX10127 6 MX10127 7 REGISTERS Slave 1 MODBUS Address 1IEC61131 3 SYNTAX MW1128 0 MW 1130 0 MW1132 0 MW1134 0 MW1136 0 MW1138 0 MW1140 0 MW1142 0 MW1144 0 MW1146 0 MW5224 0 MW5226 0 MW5228 0 MW5230 0 MW5232 0 MW9304 0 MW9306 0 MW9308 0 MW9310 0 4092 MW9312 0 35 Sigmadue Function Block Firmware Library 4093 MW9314 0 MW9316 0 MW9318 0 REGISTERS REGISTER Slave 2 MODBUS Address 1EC61131 3 SYNTAX MW10128 0 MW10130 0 MW10132 0 MW10134 0 MW10136 0 MW10138 0 MW10140 0 MW10142 0 MW
34. 8 Index continued Chapter 3 Serial communications 1 s16s11 3 1 Serial communication configuration 3 1 1 OPEN_SERIAL COMM anaana na 3 1 2 CLOSE_SERIAL COMM eee eeee 3 2 Modbus Slave protocol 3 2 1 MODBUS_SLAVE_SETTINGS 3 2 2 MODBUS_SLAVE_STATUS anann 3 3 Data access function for Modbus slaves 3 3 1 MODBUS_GET_SLAVE_DATA 0000000 ee 3 3 2 MODBUS_SET_WORD_DATA 00 3 3 3 MODBUS_SET_DWORD_DATA 000000 3 3 4 MODBUS_GET_DIGITAL_SLAVE 3 3 5 MODBUS_SET_DIGITAL_SLAVE 3 4 Master modbus protocol 3 4 1 MODBUS_MASTER_EXECUTE 0 3 4 2 MODBUS_MASTER_STATUS 0 000005 3 4 3 Application example of the modbus communication port 3 4 4 Global application variables 0 0000s 3 4 5 HW port initialisation LL 3 4 6 MASTER COGS ons Sete cl Ri brah Oe dean ge 3 4 7 Slave Code Lich bale pelli Sh wedbhead ows Deeke iy Qo i 3 5 ASCItsSerah sessista Sa fans eee te See wales ue MO una ee o s 3 5 1 GONV ASCII TO CHAR dirtelo 3 5 2 CONV_CHAR_TO_ASCIH LL 3 5 3 SERIALAOGCONE G al eh toes Peet iui e a a 3 5 4 SERIAL WO READ collera ele aan 3 5 5 SERIAL IO READ amp ABNTE ieri 3 5 6 SERIAL NO WRITE alle ale ala TRE 3 5 7 SERIAL IO WRITE BYTE cola aa a Chapter 4 CanOPEN for CU 02 unit only
35. BUS_MASTER_STATUS to monitor the progress status of the queries 45 Sigmadue Function Block Firmware Library 3 4 1 FB Prototype Note Description MODBUS_MASTER_EXECUTE Function Block executing a query in compliance with the modbus protocol MODBUS_MASTER_EXECUTE SLAVE_ID gt OPRS FUNCT gt ADDR gt N_OF_ELEMENTS gt TIMEOUT gt REST gt Input description Description Slave_id Slave address to which the query is sent Funct Query function Addr Register and slave bit addresses being worked with N_of_elements Number of registers or bits being queried Tiemout Timeout in units of 100 ms 0 65535 Blocks current query if timeout 0 the timeout computation function is disabled Output description 0 Ok Function Block Execution 1 port not available Oprs USINT 2 agent busy 4 invalid address or function This function block starts the query response process characteristic of modbus communication The function block defines the addressee of the query the function to be executed the address and the number of registers or bits to be queried This Function Block assumes that the data to be sent reside in the output data memory area while the input memory area contains the requested data The modbus master agent checks the time from the moment the query is initiated and compares it to the timeout set at the time the Function Block is called The query and response pr
36. CIA Draft Standard 405 CANopen Interface and Device Profile for IEC61131 3 Programmable Devices version 2 0 CANopen Application Layer and Communication Profile CIA DS301 v 4 02 Modbus Messaging on TCP IP implementation guide http www Modbus IDA org 10 MODBUS over Serial Line Specification amp Implementation guide http Awww Modbus DA org 11 MODBUS APPLICATION PROTOCOL SPECIFICATION http Awww Modbus DA org 12 CU 02 Installation manual code J30 658 1ACU02 E 13 CU 02 User manual code J30 478 1ACUO2 E 14 MP 01 Installation manual code J30 658 1AMP01 E 15 MP 01 User manual code J30 478 1AMP01 E 16 microPAC I O modules Installation Manuals 17 microPAC I O modules User Manuals 105
37. D2 EMCY_ERR_FIELD3 EMCY_ERR_FIELD4 EMCY_ERR_FIELD5 444444444 Input description Description ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT 72 Description 4 1 19 FB Prototype Chapter 4 CanOPEN Output description Deron I for signal service completion by the CONFIRM BOOL function block DEVICE Address of the node 1 127 from which an emergency ee was ci ERROR Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR Emergency error information corresponding EMCV ERA CODE to the CiA Draft Standard 301 Emergency error information corresponding to the CiA Draft Standard 301 Emergency error information corresponding to the CiA Draft Standard 301 Emergency error information corresponding EMG Y ERA PIELDE to the CiA Draft Standard 301 Emergency error information corresponding EMOYCERRCRELDS to the CiA Draft Standard 301 Emergency error information corresponding BMGT BR FIERDA to the CiA Draft Standard 301 Emergency error information corresponding EMG Y ERA FIELDS to the CiA Draft Standard 301 The function block CAN_RECV_EMCY is used for reading the emergency messages of any nodes from the network layers receiving buffer If upon the return of the function block the output CONFIRM is set to TRUE the output DEVICE reports the node address from which the message was received The elements EMCY_ERR contain the emergency error informat
38. E Close FALSE 2 Open FALSE Close TRUE ERR_BAND Outside band of the MV range 0 0 100 0 where to evaluate the error conditions ERR_CODE Bits mask associated to the ERR_CODE value ERR_CODE bit Control Output Status Bit 4 Validation of input POT value LOW_POT and HIGH_POT exceeded OFR_LIM value Bit 2 MV out of range Bit 3 Timeout to reach the target value in according to travel time and actual position Sigmadue Function Block Firmware Library 1 4 7 FB Prototype Description Note CTRL_TPO CTRL_TPO MV gt REAL BOOL gt DOUT TCYCLE gt REAL BOOL gt ALARM TMIN gt REAL Input parameters Label Type Description MV REAL Required duty cycle 0 0 100 0 default value 0 0 TCYCLE REAL Cycle time in seconds default value 20 0 TMIN REAL Minimum time is seconds default value 0 0 Output parameters Label Type Description DOUT BOOL Time proportional output default value FALSE ALARM BOOL Alarm flag default value FALSE This module creates a time proportional output requiring as inputs the duty cycle value MV and the period of the signal TCYCLE The TMIN input specifies the minimum pulse length that can be generated by the function block If the required duty cycle sets a pulse length less then TMIN the function block generates a pulse of TMIN and it modifies the period of the signal in order to maintain the duty cycle passe
39. FALSE after completion of the data transfer The call of the function block with DEVICE 0 leads to an access of the local Object Dictionary on the PLC Thus values from the local Object Dictionary can be written as well CAN_SEND_SYNC Function block for sending an individual SYNC message CAN_SEND_SYNC BOOL BOOL USINT WORD WORD ERRORINFO DWORD CONFIRM ERROR ENABLE gt NETNUMBER gt Input description Description ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Network number 79 Sigmadue Function Block Firmware Library Description 4 1 26 FB Prototype Output description Description Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_SEND_SYNC is used to generate individual SYNC messages under complete control of the PLC program With every component call where the input ENABLE is set to TRUE a SYNC message is sent Through this targeted influence it is possible to generate SYNC messages only if really relevant data has been altered This function block is only available on control units in PLC with CANopen Master mode and can only be used as alternative to the CAN_ENABLE_CYCLIC_SYNC function block CAN_WRITE_EMCY Function block for sending application specific Emergency Messages throught the
40. H of the Object Dictionary Error Field see CiA Draft Standard 301 is not part of the Emergency Message thus it is only used for diagnostic pur poses and can be set to zero EMCY_ADD_INFO WORD Output description Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_WRITE_EMCY is used for sending application specific Emergency Messages throught the network layer The EMCY_ERR members have to be filled with emergency error information according to the IEC61131 3 standard The emergency message to send is gener ated from these members The contents EMCY_ADD_INFO input can be defined by the application This element is only stored in index 1003H of the Object Dictionary Error Field see CiA Draft Standard 301 It is not part of the Emergency Message thus it is only used for diagnostic purposes and can be set to zero The index 1003H of the Object Dictionary can be read out by configuration and diagnostic tools When the function block CAN_WRITE_EMCY is called the message to be sent gets stored in the send buffer of the CANopen kernel If no error occurs here message could be written to the buffer correctly then the component returns with the output CONFIRM set to TRUE However no return message is given to the PLC program showing whether or not the message could be sent successfully GET_SUPPORTED_DIAG This FB can
41. INT Desired amount of bytes to write ARRAY 1 100 of BYTE Array of bytes which contain the bytes to be sent Output parameters OPRS___JUSINT Description This FB can be used to send a desired amount of bytes within the serial ASCII agent The values returned by the OPRS sila are Operation executed successfully Port not configured for the ASCII serial protocol Attempt to write a number of bytes that exceeds the allowed limit 58 Chapter 4 CanOPEN for CU 02 unit only 4 1 Canopen FBs 4 1 1 CANOPEN_AUTOLEARN It performs the network scan and stores the main important parameters of the connected I O modules FB Prototype CANOPEN_AUTOLEARN EN BOOL gt ENO ACQUIRE gt ARRAY OF DWORD gt SAVED_DEVICE ARRAY OF DWORD gt DEVICE_TYPE ARRAY OF DWORD gt DEVICE_NAME ARRAY OF DWORD gt VENDOR_ID ARRAY OF DWORD gt PRODUCT ARRAY OF DWORD gt CODE DWORD gt OPRS Input description Range BOOL Enable In Pee SCARE BOOL Start the command execution TRUE FALSE Output description Type Description ENO BOOL Enable Out TRUE FALSE Array of the SAVED_DEVICE present addresses TRUE FALSE Read device types DEVICE_TYPE array Device names DEVICE_NAME array VENDOR_ID Vendor IDs array Product codes PRODUCT CODE array 0 Operation successful OPRS OPeration result 1 Memory management problems 2 Network problems Descri
42. LE to TRUE this SDO channel is locked preventing use by other components The lock state is maintained until the SDO function block is called again by setting the ENABLE input to FALSE after completion of the data transfer A function block call with DEVICE 0 leads to access of the local Object Dictionary of the PLC Thus values can be written to the local Object Dictionary as well CAN_SDO_WRITE_STR FB for writing strings to the Object Dictionary of a node via SDO transfer CAN_SDO_WRITE_STR DEVICE USINT BOOL gt CONFIRM INDEX WORD WORD ERROR SUBINDEX gt BYTE DWORD gt ERRORINFO SDOTYPE USINT STRING gt TXDATA ENABLE BOOL TXDATA STRING TXLENGTH gt INT NETNUMBER USINT Input description Description Address of the node to be read INDEX WORD Number of the index entry to be written to SUBINDEX BYTE Number of the subindex entry to be written to Type of the SDO transfer mode to be used OOS No corresponding to the data type CAN_SDO_TYPE ENABLE BOOL Input for enabling or locking the function block 78 Description 4 1 25 FB Prototype Chapter 4 CanOPEN TXDATA STRING String variables for storing the characters to be written Limit to the number of characters to be written with 0 the length of the characters contained in the string TXDATA calculated internally corresponds to LEN TXDATA and used as th
43. ND_VAR VAR sequence USINT 1 51 Sigmadue Function Block Firmware Library at MW1128 0 word at MW1130 0 word at MW1132 0 word at MWN1134 0 word at MW1136 0 word END_VAR Task code if init_port false then if error false then if next_step true then case sequence of T sequence_write 1 16 0102 sequence_write 2 16 0304 sequence_write 3 16 0506 sequence_write 4 16 0708 sequence_write 5 16 090A 2 sequence_write 1 16 0304 sequence_write 2 16 0506 sequence_write 3 16 0708 sequence_write 4 16 090A sequence_write 5 16 0102 33 sequence_write 1 16 0506 sequence_write 2 16 0708 sequence_write 3 16 090A sequence_write 4 16 0102 sequence_write 5 16 0304 4 sequence_write 1 16 0708 sequence_write 2 16 090A sequence_write 3 16 0102 sequence_write 4 16 0304 sequence_write 5 16 0506 bi sequence_write 1 16 090A sequence_write 2 16 0102 sequence_write 3 16 0304 sequence_write 4 16 0506 sequence_write 5 16 0708 end_case MW1128 0 sequence_write 1 MW1130 0 sequence_write 2 MW1132 0 sequence_write 3 MW1134 0 sequence_write 4 MW1138 0 sequence_write 5 if sequence 5 then sequence 1 else sequence sequence 1 end_if next_step false end_if end_if end_if 52 Chapter 3 Serial communications 3
44. NT conn USINT client_port UINT 1500 server_port UINT 503 connection USINT 0 ip_addr STRING 16 192 168 5 1 connected BOOL con_from_addr BOOL false conn_from_addr MB_TCP_GET_CONN_BY_ADDR con_config BOOL false conn_config MB_TCP_GET_CONN_CONFIG con_status BOOL false connection_stat MB_TCP_CONN_STATUS close_con BOOL false close_conn MB_TCP_CLOSE_CONN at MW10128 0 UINT at MW10130 0 UINT at MW10132 0 UINT at MW10134 0 UINT END_VAR 28 Task code if init_port_mb_tcp if error_mb_tcp false then false then MW10128 0 MW10128 0 1 MW10130 0 MW10130 0 2 MW10132 0 MW10132 0 3 SMW10134 0 MW10134 0 4 if con from addr true then conn_from_addr Chapter 2 Modbus TCP IP IP_ADDR ip_addr CLIENT_PORT client_port SERVER_PORT server_port conn CONNECTION oprs OPRS con_from_addr false end_if if con_config true then conn_config CONNECTION connection connected CONNECTED client_port CLIENT_PORT server_port SERVER_PORT ip_addr IP_ADDR oprs OPRS con_config false end_if if con_status true then connection_stat CONNECTION connection status STATUS oprs OPRS con_status false end_if if close_con true then close_conn CONNECTION connection oprs OPRS close_con false end_if end_if
45. R status USINT datarec USINT excode USINT timeout_err UDINT err_err UDINT 0 mb_exec_busy_err UI mb_exec_no_port UDINT 0 mb_exec_func_err U counter_ok UDINT counter_ko UDINT modbus_master_exec MODBUS_MASTER_EXECUTE modbus_master_statuss MODBUS_MASTER_STATUS oprs USINT at IW1000 0 word at IW1002 0 word at IW1004 0 word at IW1006 0 word at IW1008 0 word END_VAR Task code if init_port false then if error false then if next_step false then modbus_master_statuss datarec DATAREC excode EXCODE status STATUS oprs OPRS case status of 0 next activity associated to the master modbus_master_exec SLAVE_ID node_id FUNCT sad ADDR La E N_OF_ELEMENTS 55 TIMEOUT Os REST FALSE oprs OPRS case oprs of 50 3 4 7 Chapter 3 Serial communications 1 mb_exec_no_ port mb_exec_no_ port 1 2 mb_exec_busy_err mb_exec_busy_err 1 4 mb_exec_func_err mb_exec_func_err 1 end_case 1 the master is processing the last function required 2 the master has ended the last activity required sequence_read 1 IW1000 0 sequence_read 2 IW1002 0 sequence_read 3 IW1004 0 sequence_read 4 IW1006 0 sequence_read 5 IW1008 0 if sequence_read 1 lt gt sequence_write 1 then counter_
46. TO_M MEMCPY_I_TO_M MEMCPY_M_TO_M MEMCPY_M_TO_Q MEMCPY_Q_TO_M EAT E cia Index continued Chapter 7 Real Time Clock Licciana 95 7 1 Description of the individual Function Blocks 95 7 1 1 ALC GET VALUES ul E alkaline bd eats 95 7 1 2 BiG SETUP is oooh Se hinken tite red bb pote 96 Chapter 8 Watchdog swine eee ee eee ee eee eee 97 8 1 Description of the individual Function Blocks 97 8 1 1 WATCHDOG SET i ln ina 97 8 1 2 WATCHDOG STATUS great dna 99 Chapter 9 Random number generators 100 9 1 Description of the individual Function Blocks 100 9 1 1 BANDI Serio rin a BS 100 Chapter 10 Type conversion FLATTEN IEEE REAL and vice versa 101 10 1 Description of the individual Function Blocks 101 10 1 1 ASCON FLATTEN TO UREAL si epr iaia 101 10 1 2 ASCON_REAL_TO_FLATTEN 102 Chapter 11 Counter Block for MP 01 unit only 103 11 1 RESET PULSE COUNTER v4 perire a oi ae ke eta 103 Chapter 12 TC_Calibrate for MP 01 unit only 104 Appendix A Reference documents 1rsr1rs11 105 vi Introduction Preface The products described in this manual should be installed operated and maintained only by qualified application programmers and software engineers who are almost familiar with EN 61131 3 concepts of PLC programming automation safety to
47. The watchdog is a decreasing counter which is decremented every 100ms When the counter reaches zero the system could respond in two different modes store the event and open a dedicated digital output or perform a system reset Please note that even the watchdog mechanism is controlled by the function blocks its operation is independent from the PLC running program This means that during the debug of an application a PLC stop command does not stop the watchdog counter which will terminate according to the programmed mode 8 1 Description of the individual Function Blocks 8 1 1 FB Prototype Description WATCHDOG_SET WATCHDOG_SET WD_ENABLE BOOL WD_TIMER_VALUE gt UINT WD_TIMEOUT_MODE gt USINT Input description Label Type Description Range Enable Disable the Watchdog WD_ENABLE BOOL operations True False WD_TIMER_VALUE UINT Sets the timer countdown value 0 65535 100 ms Sets the watchdog operation WD_TIMEOUT_MODE USINT mode num 0 1 This function block can be used to setup the watchdog control available within the sigmadue CPU models When the function is activated by using it the designed digital output if enabled is forced to 1 closed The specified countdown time value is calculated and reset at every cycle of the application before it reaches 0 zero for this reason the FB should not be used in a timer task and the timer value should be evaluated accordingly th
48. U Network Setup Cpu Setup Modbus TCP IP Setup Cpu info Exit Enter Selection The menu shown in the following picture is displayed if item 3 is selected Ascon S p a SigmaPAC Control Unit Device configuration MODBUS TCP IP SETUP Messages per cycle 10 Broken connection timeout s 10 Secure Address Setup Priority Address Setup Exit Enter Selection Item 1 specifies the number of messages processed per cycle The value entered must be within the range of 1 to 50 Item 2 specifies the connection idle timeout The value entered must be within the range of 10s to 5400s The connection probe in case of long communication idle time complies with the keep alive protocol provided by TCP IP specifications This process performs the following operation sequence 1 The system resets an internal idle timeout when it receives a new message 2 If the internal idle timeout reaches the value set in point 2 the system sends a so called probe message which checks whether the connection is still active 3 If the probe message receives a response the connection is active and the idle timeout is reset 4 If the probe message does not receive a response within 10 seconds the system sends a new probe message 5 If the probe message receives a response the idle timeout is reset 25 Sigmadue Function Block Firmware Library 2 1 8 6 The system sends up to 4 probe messages at
49. US ADDRESS IEC61131 3 SYNTAX MW10128 0 MW10130 0 MW10132 0 MW10134 0 MW10138 0 MW10140 0 MW10142 0 MW10144 0 0 1 2 3 4 MW10136 0 5 6 7 8 18 Chapter 2 Modbus TCP IP 9 MW10146 0 MW14224 0 MW14226 0 MW14228 0 MW14230 0 MW14232 0 MW18304 0 MW18306 0 MW18308 0 MW18310 0 MW18312 0 MW18314 0 MW18316 0 MW18318 0 Once the Server agent has been configured it runs in the background and automatically updates the above indicated memory areas A function block is also available to check the status of each separate TCP IP connection MB_TCP_CONN_STATUS Sigmadue Function Block Firmware Library 2 1 1 FB Prototype Note Description 2 1 2 FB Prototype ENABLE MODBUS_TCP_SERVER Function Block setting and activating the Modbus TCP IP Server agent ENABLE _MODBUS_TCP_SERVER SERVER_PORT gt UINT USINT gt OPRS USE_SECURITY BOOL gt TIMEOUT UINT Input description Label Type Description Range SERVER_PORT UINT Port on which the server listens USE_SECURITY BOOL Use of security functions TRUE FALSE TIMEOUT UINT Timeout in units of 100 ms 0 65535 if timeout 0 the timeout computation function is disabled Output description Label Type Description Range 0 Ok 1 Server not available 2 Resources not available 4 TCP IP Problems
50. _ERROR Emergency error information corresponding EMEY ERR GODE to the CiA Draft Standard 301 Emergency error information corresponding to the CiA Draft Standard 301 Emergency error information corresponding EMOTY ERR PELDI to the CiA Draft Standard 301 EMCY_ERR_REGISTER Emergency error information corresponding ENEI ERR EBEDE to the CiA Draft Standard 301 Emergency error information corresponding EMGY ERR EIEN to the CiA Draft Standard 301 Emergency error information corresponding EMEYNSERRSFIELD4 to the CiA Draft Standard 301 Emergency error information corresponding EMC ERR EIEED to the CiA Draft Standard 301 The function block CAN_RECV_EMCY_DEV is used to read the emergency messages of a specific node from the network layer s receiving buffer If upon return of the function block the output CONFIRM is set to TRUE the elements EMCY_ERR maintain the emergency error information of the node corresponding to the CiA Draft Standard 301 If however the output CONFIRM is set to FALSE then the receiving buffer of the network layer does not contain any emergency messages for the node in question The function block always returns the first emergency message entered into the receiving buffer oldest message the message is subsequently erased from the receiving buffer Thus every mergency message can only be read one time by the PLC program The function blocks CAN_RECV_EMCY_DEV and CAN_RECV_EMCY both access the same receivin
51. abling or locking the function block NETNUMBER USINT Network number SYNC_MODE SYNC_TIME TIME Output description Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_ENABLE_SYNC is used to enable or lock the generation of cyclical SYNC messages through the PLC When enabled the control unit generates a SYNC message between two sequential PLC cycles if the time elapsed between the last SYNC message and the new one is longer than the time specified at the SYNC_TIME input If the time elapsed since the last SYNC is less than the SYNC_TIME then no new SYNC message is generated The input value SYNC_TIME 0 causes the control unit to conclude each PLC cycle with a SYNC message In this case the network process image exchange occurs in synchronization with the process image exchange for the local inputs and outputs of the PLC At the end of the PLC cycle the control unit always tests the time requirements for send ing a SYNC message The time given at the input SYNC_TIME is therefore the mini mum time between two sequential SYNC messages The real time interval between two SYNC messages can therefore vary in a worst case by the length of an PLC cycle Tsync worst case SYNC_TIME TPLC Zyklus This function block is only available on control units in PLC with CANopen Master mode and can only be used as alternative
52. age Data byte of the received CAN message BYTE Data byte of the received CAN message The function block CAN_SDO_READ8 is used to read the object entries of a node currently being used by the SDO transfer The SDO transfer is always executed in the background for synchronization between the function block and the PLC program has to be applied while using both parameters ENABLE and CONFIRM If the output CONFIRM is set to TRUE upon the return of the function block the elements DATAO through DATA7 receive the individual bytes of the object entry that was read The output ATALENGTH reports the number of valid data bytes beginning at DATAO The network layer supports only a single SDO transfer through the PLC program at any one time After the start of the SDO transfer by setting ENABLE to TRUE the SDO channel is locked preventing use by other components The lock state is maintained until the SDO function block is called again by setting the ENABLE input to FALSE after completion of the data transfer A call of the function block with DEVICE 0 leads to an access of the local Object Dictionary of the PLC Thus values from the local Object Dictionary can also be read CAN_SDO_READ_STR FB for reading strings from the Object Dictionary of a node via SDO transfer CAN_SDO_READ_STR DEVICE gt CONFIRM INDEX gt ERROR SUBINDEX gt ERRORINFO SDOTYPE gt RXDATA ENABLE gt RXLENGTH RXDATA gt MAXLENGTH g
53. agent allows the user to fill all the four pages and also to decide which page will be transferred in the next PROFIBUS telegram using the PROFI_SEND_TO_MASTER In this mode it is possible to send 976 bytes to the master CU 02 can manage a total amount of 350 data bytes max considering MASTER_IN MASTER_OUT 84 Chapter 5 Profibus PROFIBUS LINE PROFIBUS MASTER IEC 61131 3 User Application The third is the non paged mode with a data integrity control in this case the user updates always the data in the page 2 and using the function block PROFI_SEND_TO_MASTER where in this case the parameter PAGE is meaningless the CPU will copy all the data in the page 1 before to send the PROFIBUS telegram to the master In this way the user control directly the data sent to the master and it is not possible that a page is sent before the user does not finish to fill all the data of the page PROFIBUS LINE PROFIBUS MASTER PROFI_SEND_TO_MASTER IEC 61131 3 User Application 85 Sigmadue Function Block Firmware Library 5 1 1 PROFI ENABLE FB Prototype PROFI_ENABLE ADDR gt MASTER_IN gt MASTER_OUT gt PAGED gt OPRS Input Parameters Label Type Description Range SLAVE_ID USINT Profibus Slave Node Address 0 255 MASTER_IN USINT Master Input Byte Number 0 244 MASTER_OUT USINT Master Output Byte Number 0 244 PAGED BOOL Page Mode Ena
54. al Function Blocks 1 4 1 CTRL_PID FB Prototype SP MEAS gt M_RES gt PB gt Tl TD oc gt OCRB gt BMP_MV gt DBMP gt ACT_Type gt STOP_TI gt Input parameters CTRL_PID OUT Label Type Description SP REAL Setpoint value 0 0 100 0 default value 0 0 MEAS REAL Measure value 0 0 100 0 default value 0 0 M_RES REAL Manual Reset 0 0 100 0 default value 50 0 PB REAL Proportional Band default value 5 0 TI REAL Integral Time seconds default value 180 0 TD REAL Derivative Time seconds default value 40 0 OC REAL Overshoot Control default value 1 0 OCRB REAL Overshoot Control Relative Band default value 0 5 Val for the BUMPLESS functionalit fault BMP_MV REAL e or the BU SS functionality defau DBMP BOOL BUMPLESS command input default value FALSE ACT_Type BOOL PID Action Type default value FALSE i calculation STOP TI BOOL cun i 5 the integral calculatio Output parameters Label Type Description OUT REAL Controller Output 0 0 100 0 default value 0 0 Description This function block implements the PID algorithm typically used by the Ascon con trollers It needs as input the process variables SP and MEAS in format the parameters PB TI TD M_RES OC OCRB ACT_ Type and the bumpless parameters BMP_MV and DBMP As output provides the control value MV in 0 0 100 0 rang
55. ange CH_IN USINT Channel number 1 8 Output description Label Type Description Range 0 OK CERB DIE DISGUION KSSHIE 2 Wrong Channel Number indication Description The function block reset the counter value of the specified digital input In case of error it returns an error code 103 FB Prototype Chapter 12 TC_Calibrate for MP 01 unit only Function Block to recalculate the compensation caused by the sensor break detection method TC_CALIBRATE EXEC_CALIB gt BOOL USINT gt OPRS CHANNEL USINT Input description Label Type Description Range EXEC_CALIB BOOL Command flag TRUE FALSE CHANNEL USINT Channel number li 2 Output description Label Type Description Range 0 OK OPRS BYTE 1 TC input channel not present 0 2 2 Wrong Channel Number indication 104 1 2 3 4 5 6 7 8 9 Appendix A Reference documents Infoteam OpenPCS programming system user manual version 6 0 english IEC 61131 3 Programming Industrial Automation Systems Karl Heinz John Michael Tiegelkamp Springer Ascon Firmware Function Block Library IEC 61131 3 Function Block Library Estensioni per gestire porte di comunicazione dell ambiente OpenPCS V1 0 Maurizio Grassi CANopen Extension for IEC61131 Software manual Edition March 2005 Systec Electronic
56. ble TRUE FALSE Output Parameters Label Type Description Range 0 OK l 1 Init Error OPRS USINT Execution Result 2 Size Error 3 Hardware Error Description This function block allows the user to create an instance of the PROFIBUS agent on the CU 02 unit The user must provide the node address SLAVE_ID the number of output bytes for the master MASTERL_IN from the CU 02 to the master PROFIBUS and the number of input bytes for the data coming from the master MASTER_OUT from the master PROFIBUS to CU 02 It is important to note that it is a user responsibility to take care about the total dimensions of the PROFIBUS telegrams as specified in the PROFIBUS specification The user may specify also the mode for the data exchange with the master using the PAGED input as reported in the following table Exchange PAGED Memory Space Used Use of mode PROFI_SEND_TO_MASTER Basic FALSE M20000 0 M20243 0 NO Paged TRUE M20000 0 M21243 0 YES Non paged mode with a data integrity FALSE M20244 0 M20487 0 YES control Notes 1 To enable and start the Profibus communications this Function Block must be called only one time 2 CU 02 can manage a total amount of 350 data bytes max considering MASTER_IN MASTER_OUT 86 5 1 2 FB Prototype Description 5 1 3 FB Prototype Description Chapter 5 Profibus PROFI_STATUS PROFI_STATUS USINT gt STATUS USINT
57. ck for 16 digital value blocks reading MODBUS_GET_DIGITAL_SLAVE SLAVE_ID gt USINT ARRAY 1 16 OF BOOL gt OUT ADDRESS gt UINT USINT gt OPRS Input description Label Type Description Range SLAVE_ID USINT Agent in question slave 1 or slave 2 1 2 ADDRESS UINT Starting address 1 128 Output description Label Type Description Range OUT ARRAY 1 16 OF BOOL Vector holding the 16 readings TRUE FALSE OPRS USINT Execution result 0 1 2 3 4 The Function Block reads the 16 bit blocks in the memory locations dedicated to the digital I O If a block exceeding the I O dedicated size is read the bits beyond such limit are set to zero Starting from the initial address the digital values are read and made available in a 16 element vector The OPRS parameter can acquire the following values Value Meaning 0 Block execution terminated successfully 1 Illegal address 3 Invalid protocol different from 1 or 2 The error condition with value 1 has the highest priority and if the condition occurs other possible errors are not diagnosed 42 3 3 5 FB Prototype Description Chapter 3 Serial communications MODBUS_SET_DIGITAL_SLAVE Function Block for digital I O writing MODBUS_SET_DIGITAL_SLAVE SLAVE_ID gt USINT USINT gt OPRS ADDRESS gt UINT DATA BOOL Input description
58. com PORT 0 close_serial_com PORT 1 open_serial_com PORT 0 BAUD baud PARITY parity DATA data_length STOP stop_bit PROTOCOL ali oprs OPRS if oprs gt 0 then error true end_if open_serial_com PORT BAUD baud PARITY parity DATA data _ length STOP stop_bit PROTOCOL SS oprs OPRS if oprs gt 0 then error true end_if modbus_slave_setting CHANNEL as NODE_ID node_id TIMEOUT timeout oprs OPRS if oprs gt 0 then error true end_if end_if It must be noted how before opening the serial ports the Function Block is called to close them From a logical point of view this might seem incorrect but the open functions are designed to return an error if the port is already busy If during the development stage the ports are not closed before downloading a new version of the firmware they remain busy and the system will not allow them to be used when the program is launched 49 Sigmadue Function Block Firmware Library 3 4 6 Master code This task controls modbus master communication Variable declaration VAR_EXTERNAL baud USINT parity USINT data length USINT stop_bit USINT init_port BOOL error BOOL node _id USINT next_step BOOL sequence_read ARRAY 1 5 OF WORD sequence_write ARRAY 1 5 OF WORD END_VAR VAR_GLOBAL END_VAR VA
59. d according to their priority level Trk DTRK AutoMan DAM Aux DAUX Depending on these digital inputs the functionality of the module changes as follows e If none of these digital signals are active the module doesn t alter the con trol output signal from the PID module e lf DTRK Tracking is active the output OUT assumes the value of the ana log input TRK e If the DAM input is active and DTRK is inactive the current outputs are not driven any longer according to the PID outputs but they are changed only from the UP and DOWN commands When the DAM and one of the two UP or DOWN commands are active every cycle of the PLC the output of the function block moves up or down by the AM_SL quantity e f DAUX Aux is active and both DAM and DTRK are inactive the output OUT assumes the value of the analog input AUX 1 4 3 CTRL_HCMV FB Prototype Description Chapter 1 AsconCTRLFb Embedded CTRL_HCMV MVH gt gt OUTH MVC gt OUTC DBND gt gt OUTHC DTRK gt gt DBMP TRK gt gt OVERLAP DAM gt UP gt DOWN gt AM_SL gt DAUX gt AUX gt Input parameters Label Type Description Analog input corresponding to the control output also MVH REAL named manipulated output of the Heat PID module Value in 0 0 100 0 default value 0 0 Analog input corresponding to the control output also MVC REAL named manipula
60. d by MV In this case the output ALARM will be active The same situ ation occurs if the passed duty cycle is grater then TCYCLE TMIN in this case the function block modifies the length of the generated pulse in order to maintain the duty cycle at the required value and it forces the output to be FALSE for a time equal to TMIN Also in this case the output ALARM will be active ASCON recommends the use of this function block in a cyclic task inside the OpenPCS programming tool 14 Example task Chapter 1 AsconCTRLFb Embedded The following is a simple task example in which a proportional time output control is implemented In this case the used Function Blocks are CTRL_PID for the control CTRL_MV for manual automatic station and tracking and aux commands CTRL_TPO for the particular used output Remarks 1 setpoint setpoint and meas variables must be already scaled in the range 0 0 100 0 the chosen PID action is the REVERSE action which is default for the Function Block the corresponding input has not been assigned for manual command the output variation speed has been set to one unit for every task work cycle the proportional signal time has been set to 20 seconds nol O ti td ocrb cmd_trk trk_val CTRL_PID SP MV MEAS M_RES PB TI TD Oc OCRB BMP_ DBMP ACT_ STOP_TI cmd_man cmd_up i cmd_d
61. e Chapter 1 AsconCTRLFb Embedded Here is reported a detailed description of the parameters Parameter Description SP Setpoint Value in 0 0 100 0 MEAS Measure Value in 0 0 100 0 PB Proportional band coefficient that multiplies the error SP MEAS M RES Manual reset It is the control output value when PV MEAS in a PD only algorithm lack of the integral term TI Integral time value It is the time required by the integral term to generate an output equivalent to the proportional term TD Derivative time It is the time required by the proportional term P to Overshoot control It is the span of the action of the overshoot con repeat the output provided by the derivative term D trol Setting lower values 1 00 0 01 the overshoot generated by a OC set point change is reduced The overshoot control does not affect the effectiveness of the PID algorithm Setting 1 the overshoot control is disabled OCRB Overshoot control relative band It defines a zone across the setpoint where the PID algorithm is not affected by the overshoot control BMP_MV _ Value used for the BUMPLESS calculation DBMP Digital Input indicating when must be performed the adjustment of the PID terms for the BUMPLESS functionality ACT_Type Selection of the control output direction direct True or inverse False STOP_TI External command to stop the integral calculation MV Controller Output Value
62. e ERR_CODE 1 Invalid datatype selection ERR_CODE 2 Last writing memory location out of range ERR_CODE 31 90 Chapter 6 Real Time Clock 6 1 3 MEMCPY_I_TO_M FB Prototype MEMCPY_I_TO_M DEST_ADDR UDINT BYTE gt OPRS SOURCE_ADDR UDINT MEM_SIZE UDINT Input description Label Type Description Range DEST_ADDR M memory destination address num a o All admitted addresses SOURCE_ADDR l input source address num Amount of bytes to be copied The value combined with the destination address DEST_ADDR MEM_SIZE UDINT MEM_SIZE cannot exceed the last 0 43000 memory location available for the specific memory type I M or Q num Output description ERROR BYTE Description This function block performs a copy of a desired amount of bytes from a valid l input memory area to a desired M memory location Default Values apatite Vatu DEST_ADDR SOURCE AOD MEM SE po oOo i S Reference Table Po e 0 0K OPRS 1 Source area outside the allowed address 2 Destination area outside the allowed address 91 Sigmadue Function Block Firmware Library 6 1 4 MEMCPY_M_TO_M FB Prototype MEMCPY_M_TO_M DEST_ADDR UDINT BYTE gt OPRS SOURCE_ADDR UDINT MEM_SIZE UDINT Input description Type Description Range M memory destination address All available DES TAPER num addresses All admitted addresses
63. e USINT Minutes to be set num 59 Hour Month_day USINT Day of month to be set num 91 Week_day USINT Day of week to be set num Sat Month USINT Month to be set num 12 Year to be set evaluated as Year USINT 5990 YEAR e g 11 means 2011 num 0 0 USINT Hours to be set num 0 23 1 1 1 00 255 Description This function block can be used to setup the internal Real Time Clock available within the sigmadue CPU models It is not necessary to assign all the values together but it can be done parameter by parameter accordingly the bit mask specified with the SETUP function block input see the above Reference table If desired it is possible to set all the parameters together by setting the SETUP value to 16 7F hex or 2 1111111 bin It is not necessary to set just one parameter at a time they can all be assigned in a single call by setting the setup mask to OxF or 0x7 Default Values I SETUP MINUTE HOUR MONTH_DAY WEEK_DAY MONTH YEAR Default Value Reference Table 0 16 01 or 2 1 1 16 02 or 2 10 MINUTE 2 16 04 or 2 100 HOUR 3 16 08 or 2 1000 MONTH_DAY 4 5 6 16 10 or 2 10000 WEEK_DAY 16 20 or 2 100000 MONTH 16 40 or 2 1000000 YEAR 7 16 80 or 2 10000000 N A 96 Chapter 8 Watchdog The Ascon CPU units are equipped with a watchdog mechanism controlled by two function blocks
64. e errors are not diagnosed 40 3 3 3 FB Prototype Description Chapter 3 Serial communications MODBUS_SET_DWORD_DATA Function Block enabling to write in two contiguous registers 4 bytes MODBUS_SET_DWORD_DATA SLAVE_ID gt USINT USINT gt OPRS ADDRESS UINT DATA DWORD Input description Label Type Description Range SLAVE_ID USINT Agent in question slave 1 or slave 2 1 2 ADDRESS UINT Starting address 1 4095 DATA DWORD Value to be written in two contiguous registers Output description Label Type Description Range OPRS USINT Execution result 0 1 2 3 4 The Function Block writes a 32 bit value in the registers using two locations with two bytes each Starting from the specified input address the 4 contiguous bytes are used to hold the value A 32 bit value can be written in the last 4 bytes of the memory area dedicated to the registers if the maximum value of the allowed input address is 4095 The OPRS parameter can acquire the following values Value Meaning 0 Block execution terminated successfully 1 Illegal address 3 Invalid protocol different from 1 or 2 The error condition with value 1 has the highest priority and if the condition occurs other possible errors are not diagnosed 41 Sigmadue Function Block Firmware Library 3 3 4 FB Prototype Description MODBUS_GET_DIGITAL_SLAVE Function Blo
65. e mapping saved more than other models function block returns the current network is identical to that stored in memory CANOPEN_NETWORK_STATUS The following block can receive information about the network status in relation to a series of events which might have involved going to change its topology configuration or proper operation CANOPEN_NETWORK_STATUS EN BOOL BOOL gt ENO ARRAY OF BYTE gt DEVICE_STATUS BYTE gt NETWORK_STATUS Input description BOOL _ Enable In TRUE FALSE 63 Sigmadue Function Block Firmware Library Description 4 1 7 FB Prototype Description Output description Description Range Enable Out TRUE FALSE ARRAY DEVICE STATUS OF BYTE Status for each module NETWORK_STATUS BYTE Status of the entire network The status device contains an array of bytes for each index contains information on events involving the forms corresponding to the addresses The audit event starts from the call CanOPEN_Net_Control_Start The information is encoded in bits in the table below Information Code No significant event 0x0000 Error in the diagnostic protocol 0x0001 The module has sent a message to boot up 0x0002 The module has changed its been in the automation of communication 0x0004 The module has sent an emergency message 0x0008 Network_status for the legend of the output status is as follows informate te No significant event on the
66. e maximum cycle time of the application to avoid side effects If something happens and the timer cannot be reset basically it reaches 0 the digital output will be deactivated by forcing it to 0 opened Default Values Default Value WD_ENABLE FALSE 97 Sigmadue Function Block Firmware Library Input Default Value WD_TIMER_VALUE 0 WD_TIMEOUT_MODE Reference Table 0 WD_TIMEOUT_MODE System operations when WD timer expires 0 1 SigmaPAC CU 02 System reset same as power cycle The CPU opens the onboard Alarm output and the watchdog timeout event is stored 1 uPAC MP 01 The CPU opens the DO1 output if enabled and the watchdog timeout event is stored please refer to the MP 01 User Manual on how to enable the DO1 as watchdog output 98 Chapter 8 Watchdog 8 1 2 FB Prototype Description WATCHDOG_STATUS UINT BOOL WATCHDOG_STATUS WD_TIMER WD_EXPIRED Output description Label Type Description Range WD_TIMER UINT Actual timer value WD_EXPIRED BOOL Timer status This function block can be used to monitor the watchdog status available within the sigmadue CPU models When the function block is used and the watchdog function is not used to control the specific digital output it return a status at TRUE if something happens and the timer cannot be reset basically it reaches 0 The status then can be used to perfor
67. e number of characters to be writen INT USINT Network number Description Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR SDO abord code of the communication partner corresponding to the data type CIA405_SDO_ERROR TXDATA STRING String variables for storing the characters to be written The function block CAN_SDO_WRITE STR is used to write strings to the Object Dictionary of a node using SDO transfer The SDO transfer is always executed in the background thus the procedure described in section 4 1 3 for synchronization between the function block and the PLC program has to be applied while using both parameters ENABLE and CONFIRM The string to be written to the Object Dictionary must be given to the element TXDATA The input TXLENGT specifies the number of valid characters If this value is 0 then the length of the character sequence in the string TXDATA is determined internally corresponds to LEN TXDATA and is appled as the number of characters to be written In this case the entire string contents are written The network layer suppors only a single SDO transfer through the PLC program at any one time After the start of the SDO transfer by setting ENABLE to TRUE the SDO channel is locked preventing use by other components The lock state is maintained until the SDO function block is called again by setting the ENABLE input to
68. e shown below Variable declaration VAR_EXTERNAL init_port_mb_tcp BOOL error_mb_tcp BOOL END_VAR VAR_GLOBAL END_VAR VAR mb_tcp_oprs USINT init_mb_tcp ENABLE_MODBUS_TCP_SERVER close_mb_tcp CLOSE_MODBUS_TCP_SERVER END_VAR Task code if init_port_mb_tcp then init_port_mb_tcp false error_mb_tcp FALSE close_mb_tcp init_mb_tcp SERVER_PORT 503 USE_SECURITY 0 TIMEOUT 10 mb_tcp_oprs OPRS if mb_tcp_oprs gt 0 then error_mb_tcp true end_if end_if Note how before enabling the agent the Function Block is called to close it As far as the logic sequence of agent control is concerned this might seem incorrect but the open functions have been designed to return an error if the port is already busy Consequently if the agent is not disabled before downloading a new version of the firmware the agent will remain occupied and the system will not allow it to be used when the program is launched 27 Sigmadue Function Block Firmware Library 2 1 11 Example code This task works with the registers which are addressed by the Modbus TCP IP Server agent Variable declaration VAR_EXTERNAL init_port_mb_tcp BOOL error_mb_tcp BOOL END_VAR VAR_GLOBAL END_VAR VAR oprs USINT status USI
69. e various function blocks 67 Sigmadue Function Block Firmware Library 4 1 13 CAN_GET_STATE Function compent for node state query of various devices FB Prototype CAN_GET_STATE DEVICE gt USINT BOOL gt CONFIRM ENABLE WORD WORD STATE NETNUMBER USINT Input description DEVICE USINT Address of the node to be queried ENABLE WORD Input for enabling or locking the function block NETNUMBER_ USINT Output description Description CONFIRM BOOL Output for signal service completion by the function block Node state corresponding to the data type CIA405_STATE STATE Description The function block CAN_GET_STATE is used to enquire the node state for a specific device The state query is based on monitoring by Heartbeat or Lifeguarding Detailed information on these functions can be found in section 2 3 The return values on the output STATE have the following meaning UNKNOWN The CANopen device on the given address supports neither Heartbeat nor Lifeguarding thus the state can not be monitored This state is also reported on an PLC without a CANopen Master if either no PLC with a CANopen Master is available in the network that supports a state transmission as described in section 2 3 or if the Master PLC in question is in a stop state PLC program has been halted NOT_AVAIL The CANopen device on the given address no longer answers Heartbeat or Lifeguarding queries and i
70. eanings Value Meaning No operation OK At least one memory value updated Timeout expired Agent error event wi N O The Oprs parameter can acquire the following values Value Meaning No operation OK Port not available Timeout expired CRC error Exception AI N O The conditions coded by the status parameter are not mutually exclusive i e a condition may occur in which a timeout has expired but a new memory value has also been updated For this reason the diverse conditions have been coded according to increasing priority The condition with value 3 has the highest priority therefore if such condition occurs it will be surely indicated while possible lower priority conditions will not 38 Chapter 3 Serial communications 3 3 Data access function for Modbus slaves 3 3 1 FB Prototype Description Five function blocks are available which grant access to the memory areas dedicated to the Modbus slaves differently than using percentage variables Writing and reading whole register and bit blocks are much easier and particularly e reading in the register dedicated memory area starting from a definite Modbus address both 16 register blocks available in a 16 element vector and 4 byte blocks available in an 8 element vector e Writing the value of a single register and indicating the desired Modbus address e Writing 4 data bytes starting from a desired M
71. ecution terminated successfully 1 Illegal address 3 Invalid protocol different from 1 or 2 The error condition with value 1 has the highest priority and if the condition occurs other possible errors are not diagnosed 39 Sigmadue Function Block Firmware Library 3 3 2 MODBUS_SET_WORD_DATA Function Block enabling to write a register FB Prototype Description MODBUS_SET_WORD_DATA SLAVE_ID USINT USINT gt OPRS ADDRESS UINT DATA WORD Input description Label Type Description Range SLAVE_ID USINT Agent in question slave 1 or slave 2 1 2 ADDRESS UINT Register address to be written 1 4096 DATA WORD Value to be written in the register Output description Label Type Description Range OPRS USINT Execution result 0 1 2 3 4 The Function Block enables to write a value in the register specified by the input address The block enables to write directly in the memory areas dedicated to the Modbus slaves without percentage variable declaration The Function Block has simply to be called within a cycle and data and addresses to be entered to write on several registers The OPRS parameter can acquire the following values Value Meaning 0 Block execution terminated successfully 1 Illegal address 3 Invalid protocol different from 1 or 2 The error condition with value 1 has the highest priority and if the condition occurs other possibl
72. ed range 1 0 600 0 default value 60 0 Dead band admitted range 0 0 100 0 default value 2 0 Band value used to consider the target reached admitted range 0 0 100 0 default value 0 2 Init position admitted range 0 100 0 default value 0 0 DLY Timeout value s default value 0 1 RESETPOS BOOL Reset Command default value FALSE OUTMODE BOOL Output Command default value TRUE Output parameters MINRES BOOL INITPOS Label Type Description OPEN BOOL Open valve command default value FALSE CLOSE BOOL Close valve command default value FALSE Calculated valve position range 0 100 0 Poe PERL default value 0 0 This module generates the valve OPEN and CLOSE commands in relation to the position required by the MV signal and to the internal valve position This value is calculated using the TTRAVEL value and the sampling time of the task where this function block is used The OPEN amp CLOSE commands are set according to MIN RES and DBND parameters The DLY parameter specify a timeout that has to be waited before to move the valve from an already reached position to a new desired one The OUTMODE command specify if the OPEN or CLOSE command must be maintained when the valve reaches the 0 0 or 100 0 position If OUTMODE is TRUE the command is maintained The RESETPOS command perform a reset of the function block c
73. emory or the data of the module which has been scanned at the last compare CANOPEN_GET_DEVICE_ID EN gt ENO DEVICE gt gt DEVICE_TYPE SOURCE gt DEVICE_NAME gt VENDOR_ID gt PRODUCT CODE gt OPRS Input description Description Enable In TRUE FALSE Device of interest Source of the requested TRUE Freezed Network information FALSE Compared Network Output description Label Type Description Range ENO Enable Out TRUE FALSE DEVICE_TYPE Array of the acquired device type DEVICE_NAME Array of the device names VENDOR_ID Array of the vendor IDs PRODUCT CODE Array of the product codes OPRS Execution results OPRS field must be interpreted according to the following table Information Acquired data are valid 0x0000 Device address not valid 0x0001 The requested source is not available 0x0002 CANOPEN_NETWORK_COMPARE It performs a comparison between the connected I O modules network image and the one already saved into the system memory with regards to the previously described parameters CANOPEN_NETWORK_COMPARE EN BOOL BOOL gt ENO ARRAY OF WORD gt DEVICE_STATUS WORD gt NETWORK_STATUS Input description BOOL Enable In TRUE FALSE 62 Description FB Prototype Chapter 4 CanOPEN Output description Description Range Enable Out TRUE FALSE Comparison result for each module Comparis
74. end to another memory area where the Master agent places the data received in response to its queries The following figure illustrates the concept on which this modbus Master protocol implementation is based PLC Memory i Modbus l Memory direct access Modbus Functions PDU Access Request to Slave Function Code 01 Input data area 02 03 04 07 08 32 Bytes Reply from Slave Q Memory direct access Request to Slave with Data 32 Bytes Output data area Write Functions Function Code 05 06 15 16 The supported functions are shown in the following figure Function Codes Physical Discrete Inputs Read Discrete Inputs Bit Read Coils 01 access ri Bits Or Physical Write Single Coil 05 Data Write Multiple Coils OF Access Physical Input Registers Read Input Register 16 bit in ato Read Holding Registers si Physical P A Wake single Register Write Multiple Registers Read Exception status Diagnostics Diagnostics 44 Chapter 3 Serial communications The two memory areas designated to input and output data storage are shown in the table below Protocol Agent Protocol Memory Areas PLC Memory Mapping ModBus Master Input Data 11000 0 to 11031 7 Output Data Q1000 0 to Q1031 7 The IEC61131 3 programmer features two Function Blocks e MODBUS_MASTER_EXECUTE e MODBUS_MASTER_STATUS They con
75. es from a valid M memory area to a desired Q memory location Default Values Input Default Value DEST_ADDR SOURCE_ADDR MEM_SIZE Reference Table I 0 OK OPRS 1 Source area outside the allowed address 2 Destination area outside the allowed address 93 Sigmadue Function Block Firmware Library 6 1 6 MEMCPY_Q_TO_M FB Prototype MEMCPY_Q_TO_M DEST_ADDR UDINT BYTE gt OPRS SOURCE_ADDR UDINT MEM_SIZE UDINT Input description Label Type Description Range DEST_ADDR UDINT M memory destination address num SOURCE_ADDR Q input source address num All available addresses All admitted addresses Amount of bytes to be copied The value combined with the destination address DEST_ADDR MEM_SIZE MEM_SIZE cannot exceed the last memory location available for the specific memory type I Mor Q num Output description 0 43000 Label Tyre ERROR JBVTE Description This function block performs a copy of a desired amount of bytes from a valid Q memory area to a desired M memory location Default Values input Default Value DEST_ADDR SOURCE_ADDR MEM MEM_SIZE o Reference Table BE e esse SACE 0 0K OPRS 1 Source area outside the allowed address 2 Destination area outside the allowed address 94 Chapter 7 Real Time Clock The Ascon CPUs are equipped with a clock powered by the unit batte
76. esentation regarding the 32 bit floating point numbers Sign 0 positive Exponent calculated as 101 Sigmadue Function Block Firmware Library 10 1 2 ASCON_REAL_TO_FLATTEN FB Prototype ASCON_REAL_TO_FLATTEN Input description Description Range Number to be converted into a REAL 38 38 INREAL REAL alue num 3 4E 3 4E Output description Description Range Converted 32 bit DWORD number OUTWORD DWORD representation num 0 4294967295 Description This function block performs a conversion from a REAL data type value compliant to the IEEE 754 specification which provides the following representation regarding the 32 bit floating point numbers into the corresponding 32 bit DWORD number representation Sign 0 positive Exponent calculated as l 102 Chapter 11 Counter Block for MP 01 unit only On the MP 01 unit it is possible to combine a counter for each local digital input in the configuration session the counter function is enabled please check the MP 01User Manual for details and in the application code the user can read the values A reset function block is provided in order to reset the counter value in the application code 11 1 RESET _ PULSE COUNTER The function block reset the counter value of the specified digital input FB Prototype RESET_PULSE COUNTER CH_IN gt USINT BYTE gt OPRS Input description Label Type Description R
77. fully Port not configured for the ASCII serial protocol Peripheral driver problems Unavailable number of requested bytes in the input buffer Number of bytes present in the input buffer less then requested 56 Chapter 3 Serial communications 3 5 6 SERIAL _IO_WRITE FB Prototype SERIAL_IO_WRITE PORT USINT USINT OPRS N_OF_BYTE gt USINT BUFFER gt STRING 100 Input parameters Description Port on which the serial agent is initiated admissible values uPAC 0 X0 or 1 X1 SigmaPAC 0 X1 1 X3 or 2 X4 Desired amount of bytes to write BUFFER STRING 100 String containing the bytes to be sent Output parameters Output Wye Description o OPRS_ USINT Description This FB can be used to send a desired amount of bytes within the serial ASCII agent The values returned by the OPRS parameter are Value Description 0 Operation executed successfully 1 Port not configured for the ASCII serial protocol 2 Attempt to write a number of bytes that exceeds the allowed limit 57 Sigmadue Function Block Firmware Library 3 5 7 SERIAL _IO_WRITE_BYTE FB Prototype SERIAL_IO_WRITE_BYTE PORT USINT USINT gt OPRS N_OF_BYTE USINT BUFFER ARRAY 1 100 of BYTE Input parameters Label Type Port on which the serial agent is initiated USINT admissible values 0 X0 or 1 X1 0 X1 1 X3 or 2 X4 US
78. g buffer This function block is only available on one control unit in PLC with CANopen Master mode 74 Chapter 4 CanOPEN 4 1 20 CAN _REGISTER_COBID FB Prototype Description 4 1 21 FB Prototype Function block for registering or erasing the receipt of PDOs and CAN Layer 2 messages via the network layer CAN_REGISTER_COBID COBID UINT BOOL gt CONFIRM REGISTER BOOL WORD gt ERROR ENABLE BOOL NETNUMBER USINT Input description Description COBID of the message to be newly entered into registration or to be erased from the registration REGISTER Enter COBID into from registration BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description Description CONFIRM BOOL Output for signal service completion by the function block State or error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR The function block CAN_REGISTER_COBID is used for registration of a PDO ora CAN Layer 2 message for receipt via the network layer or for erasing such a registration When the component is called with the REGISTER input set to TRUE the COBID CAN identifier entered for receiving messages in the network layers is registered When the component is called and REGISTER FALSE the registration of the effected COBID is erased If a component is called and REGISTER FALSE and COBID 0 all registrations are
79. he set of addresses that can access the Modbus TCP IP Server agent when security functions are enabled Among all settable parameters one sets the time the system waits before automatically closing an idle connection 16 Chapter 2 Modbus TCP IP 2 1 Modbus TCP IP Server agent The Modbus TCP IP Server agent resides in the system Firmware and must be activated and configured by the user using a number of Function blocks and initial configuration session menus which are described below Once the server is configured the agent remains operative and grants a client access to specific memory areas shared with the IEC61131 3 programming environment The Modbus TCP IP Server agent shares the memory area with Modbus serial slave agent 2 which means that the two agents cannot be used at the same time The available modbus functions and the memory map shared by the IEC61131 3 environment and communication protocol are shown below Function Codes Code Sub code hex Physical Discrete Inputs Read Discrete Inputs Bit Read Coils access a Bits Or Physical Write Single Coil Data Write Multiple Coils Access Physical Input Registers Read Input Register 16 bit Read Holding Registers Internal Registers Or access Physical Output Registers Write Single Register Write Multiple Registers Read Exception status Diagnostics The protocol s support data area follows the Modbus native memory model Diagnostics
80. hile OUTH is set to 2 0 TRK 50 0 Please note that the tracking value is not affected by the DBND parameter e If the DAM input is active and DTRK is inactive the current outputs are not driven any longer according to the PID output but they are changed only from the UP and DOWN commands When the DAM and one of the two UP or DOWN commands are active every cycle of the PLC the output of the function block moves up or down by the AM_SL quantity e f DAUX Aux is active and both DAUX and DTRK are inactive the out puts are set according to the value of the analog input AUX This signal has a range from 0 0 100 0 and it drives both OUTH and OUTC When its value is in the range 0 0 to 50 0 it means that a Cool action must be taken therefore OUTH is set to 0 while OUTC is set to RCGA 2 0 50 0 AUX Inversely when it is in the range 50 0 to 100 OUTC is set to 0 while OUTH is set to 2 0 AUX 50 0 These values are valid if the DBND of the phase splitter is set to 0 otherwise they slightly change 10 1 4 5 FB Prototype Description Chapter 1 AsconCTRLFb Embedded CTRL_SRV CTRL_SRV MV gt OPEN TTRAVEL gt CLOSE DBND gt POS MINRES gt INITPOS gt DLY gt RESETPOS gt OUTMODE gt Input parameters Input Type Description Required position admitted range 0 0 100 0 default value 0 0 Servomotor travel time s admitt
81. ion of the node corresponding to the CIA Draft Standard 301 However if the output CONFIRM is set to TRUE the network layer s receiving buffer does not contain any emergency messages The function block always returns the first emergency message entered into the receiving buffer oldest message the message is subsequently erased from the receiving buffer Thus every emergency message can only be read one time by the PLC program The function blocks CAN_RECV_EMCY_DEV and CAN_RECV_EMCY both access the same receiving buffer This function block is only available on control units in PLC with CANopen Master mode CAN_RECV_EMCY_DEV Function block for reading emergency messages of a specific node from the receiving buffer of the network layer CAN_RECV_EMCY_DEV DEVICE gt ENABLE gt NETNUMBER gt CONFIRM ERROR EMCY_ERR_CODE EMCY_ERR_REGISTER EMCY_ERR_FIELD1 EMCY_ERR_FIELD2 EMCY_ERR_FIELD3 EMCY_ERR_FIELD4 EMCY_ERR_FIELD5 444444444 73 Sigmadue Function Block Firmware Library Description Input description Label Type DEVICE USINT Node address 1 127 for which the receipt of emergency messages is to be tested ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description Description Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL
82. ived CAN message The function block CAN_PDO_READ8 is used to read PDOs and CAN Layer 2 messages from the receiving buffer of the network layer Only one access of the message registered with the help of the function block CAN_REGITER_COBID is supported If multiple messages with the same COBID are received between two sequential calls of AN_PDO_READ8 then the most recently received message overwrites the previous one Thus only the most current message remains stored in the receiving buffer After a read out via the function block CAN_PDO_READ8 the corresponding message gets erased from the network layer s receiving buffer This prohibits multiple readings of a single message by the PLC program If the output CONFIRM is set to TRUE upon the return of the function block then the elements DATAO to DATA7 contain the individual bytes of the received message The output ATALENGTH will then report the number of valid data bytes beginning withDATAO However if the output CONFIRM is set to FALSE then the receiving buffer does not contain any messages with the given COBID in the network layer With CONFIRM it is possible to differentiate between a valid message of 0 bytes in length was received as opposed to no message at all If no message is available then this is also shown by the error code NO_VALID_DATA_AVAILABLE on the output ERROR 69 Sigmadue Function Block Firmware Library 4 1 15 CAN_PDO_WRITE8 FB Proto
83. ko counter_ko 1 elsifsequence_read 2 lt gt sequence_write 2 then counter_ko counter_ko 1 elsifsequence_read 3 lt gt sequence_write 3 then counter_ko counter_ko 1 elsifsequence_read 4 lt gt sequence_write 4 then counter_ko counter_ko 1 elsifsequence_read 5 lt gt sequence_write 5 then counter_ko counter_ko 1 else counter_ok counter_ok 1 end_if next_step true 3 the timeout has expired during the last activity required timeout_err timeout_err 1 4 an error occurred during the last activity required err_err err_err 1 end_case end_if end_if end_if Slave code This task works with the registers which are addressed by the slave agent The code does not refer to any Function Block controlling the agent since the agent runs in the background and makes a certain memory area available while the IEC1131 3 program only deals with variables in the memory area shared with the agent It is however possible not shown in this example to obtain information from the modbus slave agent via the Function Block MODBUS_SLAVE_STATUS Variable declaration VAR_EXTERNAL baud USINT parity USINT data_length USINT stop_bit USINT init_port BOOL error BOOL node_id USINT next_step BOOL sequence_read ARRAY 1 5 OF WORD sequence_write ARRAY 1 5 OF WORD END_VAR VAR_GLOBAL E
84. l calls of AN_PDO_READ8 then the most recently received message overwrites the previous one Thus only the most current message remains stored in the receiving buffer After a read out via the function block CAN_PDO_READ8 the corresponding message gets erased from the network layer s receiving buffer This prohibits multiple readings of a single message by the PLC program If the output CONFIRM is set to TRUE upon the return of the function block then the elements DATAO to DATA7 contain the individual bytes of the received message The output ATALENGTH will then report the number of valid data bytes beginning withDATAO However if the output CONFIRM is set to FALSE then the receiving buffer does not contain any messages with the given COBID in the network layer With CONFIRM it is possible to differentiate between a valid message of 0 bytes in length was received as opposed to no message at all If no message is available then this is also shown by the error code NO_VALID_DATA_AVAILABLE on the output ERROR 70 Chapter 4 CanOPEN 4 1 16 CAN_RECV_BOOTUP FB Prototype Description Function block for the Bootup messages of any node from the network layers receiving buffer CAN_RECV_BOOTUP ENABLE BOOL BOOL gt CONFIRM NETNUMBER USINT USINT gt DEVICE WORD gt ERROR Input description ENABLE BOOL _ Input for enabling or locking the function block NETNUMBER USINT Network number
85. lve command initial value FALSE CLOSE BOOL Close valve command initial value FALSE ERR_STS BOOL Error condition initial value FALSE ERR_CODE UINT Error code bit mask 0 7 initial value 0 UINT Out of Range occurrences value 0 65535 initial value 0 Description This FB provide a servomotor positioner control in close loop mode with 2 digital commands OPEN and CLOSE The FB receives the percentage desired position MV and activates the digital commands if the actual position POT differs by the dead band DBND In order to properly calculates a correct position value in per 12 Chapter 1 AsconCTRLFb Embedded centage it is necessary to set the scale limits LOW_POT and HIGH_POT The target position is considered reached when the actual value is within the HY band The CLOSE_TIGHT parameter define a deviation band on the 0 0 and 100 0 value when the MV will be within these areas the digital commands OPEN and CLOSE will be maintained forced The function is disabled with a value of 0 0 The DLY parameter specify a time between two opposite commands when a position has been already reached The RESET command perform a reset of the function block when in ERROR mode THE FB REMAIN IN THIS STATE UNTIL A RESET COMMAND IS PERFORMED ERR_MODE Outputs behaviour in case of error ERR_MODE value Control Output Status 0 Open FALSE Close FALSE 1 Open TRU
86. m a desired action 99 Chapter 9 Random number generators 9 1 Description of the individual Function Blocks 9 1 1 RAND Function Block needed to have random numbers from 0 to 65535 FB Prototype RAND UINT gt NUMBER Output description Label Type Description Range NUMBER UINT Random number 0 65535 Description Sometimes having random numbers in the 1131 3 program can be useful This Function Block generates random numbers ranging from 0 to 65535 100 Chapter 10 Type conversion FLATTEN IEEE REAL and vice versa The following FBs can turn useful to transfer the value of a floating point variable via modbus protocol Particularly it is possible to convert a REAL variable to its single byte equivalent ina DWORD variable and vice versa before sending it via modbus line The byte equivalent of a variable is indicated as FLATTEN 10 1 Description of the individual Function Blocks 10 1 1 ASCON_FLATTEN_TO_REAL FB Prototype ASCON_FLATTEN_TO_REAL Input description Type Description Range 32 bit ee TENORS coc So SSOSTO number representation INDWORD DWORD to be converted num 0 4294967295 Output description Type Description OUTREAL REAL Converted REAL value num 3 4E738 3 4E 38 Description This function block performs a conversion from a DWORD variable into a REAL data type value compliant to the IEEE 754 specification which provides the following repr
87. n the return of the function block the string given as element RXDATA contains the character sequence of the read object entry The output RXLENGTH gives thereby the number of read characters corresponds LEN RXDATA The network layer suppors only a single SDO transfer through the PLC program at any one time After the start of the SDO transfer by setting ENABLE to TRUE the SDO channel is locked preventing use by other components The lock state is maintained until the SDO function block is called again by setting the ENABLE input to FALSE after completion of the data transfer A function block call with DEVICE 0 leads to an access of the local Object Dictionary of the PLC Thus values from the local Object Dictionary can also be read WORD ERRORINFO DWORD CAN_SDO_WRITE8 Function block for writing object entries of a node by way of an SDO transfer CAN_SDO_WRITE8 CONFIRM WORD gt ERROR DWORD ERRORINFO COBID gt INDEX gt SUBINDEX gt ENABLE gt DATAO gt DATA1 gt DATA2 gt DATA3 gt DATA4 gt DATA5 gt DATA6 gt DATA7 gt DATALENGTH gt NETNUMBER gt Input description Label Type COBID of the message to be newly entered into CORIO DINI registration or to be erased from the registration INDEX WORD Number of the index entry to be read SUBINDEX BYTE Number of the subindex entry to be read 77 Sigmadue Function Block
88. nce of calls for the TRUE FALSE implementation of block Address of the device to be analyzed Description Range Enable Out TRUE FALSE End of execution Error Code ERR_INFO DWORD Details of the errors occurred Po 4 1 9 CANOPEN_SCAN_DEVICE_ID It scans the specified device address and replace it into the network image created by the system using the CanOPEN_Network_Compare FB It must be called cyclically until the end of operations FB Prototype CANOPEN_SCAN_DEVICE_ID EN gt ENABLE gt DEVICE gt ENO CONFIRM WORD gt ERROR DWORD ERR_INFO Input description Label Type Description Range Enable In TRUE FALSE It manages the sequence of calls for the TRUE FALSE implementation of block Description Enable Out TRUE FALSE End of execution Error Code Details of the errors occurred 65 Sigmadue Function Block Firmware Library 4 1 10 CAN_ENABLE_CYCLIC_SYNC FB Prototype Description Function block for enabling or locking cyclical SYNC messages CAN_ENABLE_CYCLIC_SYNC SYNC_MODE gt SYNC_TIME gt ENABLE gt NETNUMBER gt CONFIRM WORD gt ERROR Input description Label Description TRUE Enable generation of cyclical SYNC messages FALSE Lock generation of cyclical SYNC messages Time between two sequential SYNC messages or 0 for a SYNC message after each PLC cycle ENABLE BOOL Input for en
89. nd the Heat output are defined by a set of digital inputs as listed above ordered according to their priority level Trk AutoMan Aux DTRK DAM DAUX Sigmadue Function Block Firmware Library Depending on these digital inputs the functionality of the module changes as follows If none of these digital signals are active the module does not alter the control output signals that are led unchanged directly from the input MVC and MVHto the output OUTH and OUTC The DBND parameter defines how the Cool and the Heat channel interact each other When it is positive this parameter defines the dead band width centered around a value 0 of the output It means that for each output value included in the deadband both the OUTC and the OUTH output are 0 When it is negative the oppo site occurs for each value included in the dead band now named cross band both the OUTC and the OUTH are different from 0 If DTRK Track is active the outputs are set according to the value of the analog input TRK This signal has a range from 100 0 100 0 and it drives both OUTH and OUTC When its value is in the range 100 to 0 it means that a Cool action must be taken therefore OUTH is set to 0 while OUTC is set to the value of TRK with the sign inverted Inversely when it is in the range 0 to 100 OUTC is set to 0 while OUTH is set to TRK Please note that the tracking value is not affected by the DBND parameter If the DAM input
90. network 0x0000 Occurred one or more significant events 0x0001 CANOPEN_NET_CONTROL_START Start the agent that executes the control of events CANopen network storing any abnormal situations CANOPEN_NET_CONTROL_START EN BOOL BOOL gt ENO START BOOL Input description BOOL Enable In TRUE FALSE START BOOL Enable and disable the Agent TRUE FALSE Output description BOOL Enable Out TRUE FALSE This function block allows you to kick off a staff member who is running the event control CANopen network storing any abnormal situations The initiation agent is obtained by calling the funcion block with the START parameter set to TRUE but you can disable the function block chemotherapy agent with the START parameter set to FALSE 64 Chapter 4 CanOPEN 4 1 8 CANOPEN SCAN DEVICE_COM Through this function block can run the scan characteristics of a communication module and replace the current image of the network that the system has gained during the CanOPEN_Network_Compare This function block is not blocking like everyone else in this library so that it can carry out its function should be called periodically until it returns a signal logoff FB Prototype CANOPEN_SCAN_DEVICE_COM EN gt BOOL BOOL gt ENO ENABLE BOOL BOOL gt CONFIRM DEVICE gt BYTE WORD gt ERROR DWORD ERR_INFO Input description Description Range Enable In TRUE FALSE It manages the seque
91. ntrol of over undershoots which may occur when the Setpoint is changed The available parameters intended for this purpose are two O C and O C rb The first one represents the actual control parameter of over undershoots whereas the second one defines a band near the setpoint where the PID automatically excludes this control In particular decreasing the O C value means decreasing the overshoot effect and accordingly increasing the time needed to reach the Setpoint Increasing O C rb means increasing the area near the Setpoint where PID returns to its natural dynamics and accordingly decreasing the time needed to reach the Setpoint Chapter 1 AsconCTRLFb Embedded The two figures below show the effect of the overshoot control algorithm on a process as a result of setpoint step variation In the left figure the algorithm is excluded O C 1 0 The following is a flow chart indicating the required procedure to obtain correct O C and O C rb parameter values starting from their default values 0 C 1 O c rb 0 5 No Overshooting OK 0 C 0 5 Decrease the O c rb value Overshooting Time to reach the SetPoint Acceptable Too long Increase the O c rb value y OK Decrease the O c rb value Sigmadue Function Block Firmware Library 1 4 Description of the individu
92. ocation out of range ERR_CODE 1 Invalid datatype selection ERR_CODE 31 89 Sigmadue Function Block Firmware Library 6 1 2 FB Prototype Description MEMCOPY_TO_M MEMCOPY_TO_M MEM_ADDR gt DATATYPE gt BYTE_VAL gt WORD_VAR gt DWORD_VAL gt gt ERROR DWORD gt ERR_CODE Input description Label Type Description Range MEM_ADDR no location to be copied 0 43000 0 TO_BYTE DATATYPE Selection of the desired output data 1 TO_WORD type num 2 TO DWORD 8 bit notation value to be copied at AGILI the desired memory location num 16 bit notation value to be copied at WORDEVAL WORD the desired memory location num 32 bit notation value to be copied at BORE aE WORD the desired memory location num Output description ERROR BOOL Evorstatus ERR_CODE DWORD Error code bit mask 16 00 00 00 00 16 FF FF FF FF This function block performs a copy of a specific data type value at the desired valid memory location The format selected as input data types refers to the basic bit mask notation of the data It needs then to be converted from the original enumerated data type e g if USINT into BYTE or if INT into WORD or if REAL into DWORD etc Default Values Input Default Value MEM_ADDR DATATYPE BYTE_VAL WORD_VAL DWORD_VAL Reference Table Output Description ERR_CODE 0 Memory location out of rang
93. ocess is aborted if the timeout expires The query and response process can also be intentionally aborted by calling the Function Block with the Rest input set to TRUE 46 3 4 2 FB Prototype Description MODBUS _MASTER_STATUS Chapter 3 Serial communications Function Block using the Latch and Time functions of the DI 16LV module MODBUS_MASTER_STATUS USINT USINR USINT USINT STATUS DATAREC EXCODE OPRS Output description Label Type Description Range Datarec USINT Number of bytes received Excode USINR Modbus protocol error code Oprs USINT Function Block Execution Result 0 1 4 8 16 see description Status USINT Communication Status 0 1 2 3 4 see description Each time the Function Block is executed all parameters which store the agent status are reset so that the result returned by the Function Block can be observed as an indi cation of what has occurred in the period between the last and the current calls The comparative status and oprs analysis can be used to assess the overall status of the agent The Status parameter can acquire the following values associated to the following meanings Value Meaning No operation OK Transaction in progress 0 1 2 Available data 3 4 Timeout expired Agent error event The Oprs parameter can acquire the following values Value Meaning No operation OK Port not available Timeout e
94. odbus address e Reading 16 bit groups starting from a definite address of the memory area dedi cated to the digital I O e Writing a single bit and indicating the corresponding Modbus address MODBUS_GET_SLAVE_DATA Function Block for data group reading the memory area dedicated to slave registers MODBUS_GET_SLAVE_DATA SLAVE_ID gt USINT ARRAY 1 8 OF DWORD gt OUT_1 ADDRESS UINT ARRAY 1 16 OF WORD gt OUT_2 USINT gt OPRS Input description Label Type Description Range SLAVE_ID USINT Agent in question slave 1 or slave 2 1 2 ADDRESS UINT Starting address 1 4081 Output description Label Type Description Range OUT_1 ARRAY 1 8 OF DWORD 16 register vector in 4 bytes OUT_2 ARRAY 1 16 OF WORD 16 register vector OPRS USINT Execution result 0 1 2 3 4 Function Block enabling given a definite initial memory address of register zone two output vectors holding e the values of 16 consecutive registers starting from the initial address The vector holds therefore 16 elements with 2 bytes each e the values of 16 consecutive registers starting from the initial address in 4 byte groups The vector holds therefore 8 elements with 4 bytes each As the maximum register number is 4096 for each slave the allowed address interval ranges from 1 to 4081 The OPRS parameter can acquire the following values Value Meaning 0 Block ex
95. ode and assign to the POS output the N TPOS value Sigmadue Function Block Firmware Library 1 4 6 CTRL_SRV_POS FB Prototype CTRL_SRV_POS MV gt POT gt TTRAVEL gt DBND gt HY gt DLY gt CLOSE_TIGHT gt OFR_LIM gt LOW_POT gt HIGH_POT gt RESET gt ERR_MODE gt ERR_BAND gt OPEN CLOSE ERR_STS ERR_CODE OFR_N 44444 Input parameters THERET aamited ange 0 0 1000 a s admitted range 0 1 600 0 Dead band admitted range 0 0 100 0 default value 0 5 Band value used to consider the target reached admitted range 0 0 100 0 default value 0 2 Delay between 2 opposite commands s admitted range 0 1 100 0 default value 0 1 Output maintained band GLOSELIIGHIE admitted range 0 0 100 0 default value 0 0 OFR LIM Potentiometer Out of Range maximum occurrences limit T num admitted range 0 65535 default value 0 Potentiometer Low limit num POWER admitted range 0 65535 default value 0 0 Potentiometer High limit num admitted range 0 65535 default value 100 0 BOOL Error conditions Reset default value FALSE Outputs behavior in Error mode num admitted range 0 2 default value 0 Out of Range Error band admitted range 0 0 100 0 default value 0 0 HIGH_POT Output parameters Output Type Deserisioo OPEN BOOL Open va
96. on result for the entire network NETWORK_STATUS WORD The device status contains an array of word index that contains for each information about the modules found at the corresponding addresses The information is encoded in bits in the table below Information Code Module not present and not expected from the image in memory 0x0000 Present and corresponding to the image module in memory 0x0001 Present form but for Different Mapping 0x0002 Present form but for Different Identities 0x0004 Module present but not provided by the image in memory 0x0008 Module not present but expected from the image in memory 0x0010 Network_status for the legend of the output status is as follows Information Code Network identical to the image in memory 0x0000 Network identical to the presence of all modules with the expected waiting identity but different mapping Network identical to the presence of all forms but some elements 0x0001 0x0002 do not match for identity Network mismatch 0x0004 No network in memory 0x0008 roblems during network scan 0x0010 Module not present but expected from the image in memory 0x0010 The presence of modules that are not shown in the image of network you have in mind is ignored for the purposes of carrying identity between this network and the network of which you have a picture To be clear if the network this has all the modules with the same identity and the sam
97. out parame ter as explained above communicates the maximum interval between two con secutive queries to the agent If this interval is exceeded the agent does not modify its operation but simply indicates that the timeout has expired the next time the Function Block MODBUS_SLAVE_STATUS is called To evaluate the timeout the counter starts at the end of the execution of current Function Block and is reset every time a new query is received 37 Sigmadue Function Block Firmware Library 3 2 2 FB Prototype Description MODBUS_SLAVE_STATUS Function Block checking the status of the Modbus agent MODBUS_SLAVE_STATUS CHANNEL USINT USINT gt OPRS USINT gt STATUS Input description Label Type Description Range Channel USINT Agent in question Slave 1 or Slave2 1 2 Output description Label Type Description Range Oprs USINT Function Block Execution Result 0 1 4 8 see description Status USINT Communication Status 0 1 2 3 see description Each time the Function Block is executed all parameters which store the agent sta tus are reset so that the result returned by the Function Block can be observed as an indication of what has occurred in the period between the last and the current calls The comparative status and oprs analysis can be used to assess the overall status of the agent The status parameter can acquire the following values associated to the following m
98. own cmd_aux aux_val l10 CTRL_MV MV OUT DTRK DBMP TRK DAM UP DOWN AM_SL DAUX AUX CTRL_TPO a Chapter 2 MODBUS TCP IP The Ascon CPU modules implement a Modbus TCP IP Server agent which can be configured and accessed in the OpenPCS programming environment It is also possible to partially configure the agent during the configuration session run when the CPU is started up with the VT100 terminal The Modbus TCP IP agent can be accessed externally over the Ethernet network via the unit 10 base T port In the system FW the Modbus TCP IP protocol activities have an execution interval of 100 ms This means for instance that a client running a query must allow for a response timeout of no less than 100 ms The Modbus TCP IP agent can handle up to 10 TCP IP connections at a time It is also possible to set a parameter which determines the maximum number of processable messages per cycle so that any additional messages are processed by the next cycle The user can also define two groups of IP addresses The first group is called the priority connection pool which constitutes the set of addresses whose connections will not be terminated when the system receives a request for a new connection and the 10 available connections are already all occupied The second group is the security address pool which is t
99. pics and applicable national standards The functions in OpenPCS made available by Ascon hardware can be managed through the Infoteam product which enables a procedure to define Function Blocks to be directly used in the IEC61131 3 programming environment and to be executed by calling a function implemented in the firmware on the CPU card These Function Blocks for example will enable to manage communication through the auxiliary serial ports according to Modbus protocol or to use the I O digital ports on the cards Using this manual Specifications within the text of this manual are given in the International System of Units SI with non SI equivalents in parentheses Fully Capitalized words within the text indicate markings found on the equipment Words in bold style within the text indicate markings found in the Configuration Tools Warnings Cautions and Notes are used to emphasize critical instructions DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury vii ASCON libraries A Note Purpose A Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Highlights important information about an operating procedure or the equipment The present document
100. port X1 RS232 RS485 port X0 RS232 port X3 RS485 port X1 RS485 port X4 The following numbers classify the protocols that are valid for both CU 02 and MP 01 0 ASCII serial communication 1 Slave 1 2 Slave 2 3 Master 30 Chapter 3 Serial communications 3 1 1 OPEN _ SERIAL COMM Function Block enabling to initialise a port FB Prototype OPEN_SERIAL_COMM PORT gt BAUD gt PARITY gt DATA gt STOP gt PROTOCOL gt gt OPRS Input description Label Type Description Range CU 02 Serial port selection variable 0 1 2 MP 01 Serial port selection variable 0 1 Port USINT Baud USINT Communication baud rate see table O 1 2 3 4 5 6 0 none Parity USINT Parity bit configuration 1 Even 2 Odd Data USINT No of bits 7 8 Stop USINT Number of stop bits 1 2 0 Serial ASCII 1 Slavel Protocol USINT Port protocol 2 Slave2 3 Master Output description Label Type Description Range 0 Ok 1 port not available Oprs USINT Execution Result 2 protocol not available 3 invalid configuration 4 non existent protocol Description This function configures the serial communication port and also sets the protocol to be used on it The following table links the baud rate value to be entered in the function block with the set baud rate Baudrate 19200 38400 57600 115200 31
101. ption Setting the input ACQUIRE to TRUE it is possible to run the command to capture and save the network image Recalling the function block with the ACQUIRE value set to FALSE erases from the memory a memory dump prebviously saved 59 Sigmadue Function Block Firmware Library FB Prototype Description When you want to scan the image of the current network it is not necessary to erase the memory image currently stored The 5 return arrays of this function block contain the identity information of the modules found on the network during the autolearn All the array elements correspond to the module with address equal to the index if an identity field is not implemented it will be filled with ZERO The SAVED_DEVICE array in particular when has value TRUE indicates that at a particular address there is a module connected or if it has value FALSE that no modules have been detected CANOPEN_DEVICE_COMPARE It compares the characteristics of an I O module already recognized and saved by the system between the two network images flash and RAM memory CANOPEN_DEVICE_COMPARE EN BOOL BOOL gt ENO ENABLE BOOL BOOL gt CONFIRM DEVICE BYTE WORD gt ERROR DWORD ERR_INFO Input description Label _ Type BOOL Enable In TRUE FALSE BYTE Address of the device to be analyzed Output description Label Type Description Range Enable Out TRUE FALSE STATUS WORD Result of
102. rk requested FALSE Compared Network Defines which part of the LE i TRUE TPDO communication information FALSE RPDO necessary to pass Enable In TRUE FALSE Enable Out PDO index ARRAY OF WORD oxFFFF no PDO ARRAY OF DWORD COB_ID of the mapped PDOs Trasmission Type cna OD nie of the mapped PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs ARRAY OF DWORD Mapping of the objects in PDOs WORD Function block execution result Each of the output arrays is composed of 4 elements The field OPRS must be interpreted according to the following table Recovered data valid 0x0000 Device address not valid 0x0001 Requested source not available 0x0002 61 Sigmadue Function Block Firmware Library 4 1 4 FB Prototype 4 1 5 FB Prototype CANOPEN_GET_DEVICE_ID Using this Function Block is possble to obtain the identity information of a module in the same form saved by the system to obtain these information the system uses the Function Blocks CanOPEN_Network_Compare and CanOPEN_ Autolearn l e you can obtain identity data from a module from the network image stored in m
103. ry which is thus always active Two function blocks RTC_SETUP and RTC_GET_VALUES are used to configure and read the clock The clock sets the time and date as follows e Seconds e Minutes e Hours e Day of month e Day of week e Month e Year The clock only stores the last two digits of the year Hence the year 2008 is expressed as the number 8 7 1 Description of the individual Function Blocks 7 1 1 RTC_GET_VALUES FB Prototype RTC_GET_VALUES SECONDS MINUTE HOUR gt MONTH_DAY gt WEEK_DAY MONTH YEAR Output description Label Type Description Range Seconds USINT Actual seconds read 0 59 Minute USINT Actual minutes read 0 59 Hour USINT Actual hours read 0 23 Month_day USINT Actual day of month read 1 31 Week_day USINT Actual day of week read 1 7 Month USINT Actual month read 1 12 Year USINT Actual mear read 00 99 Description This function block can be used to verify the Real Time Clock date and time val ues available within the sigmadue CPU models 95 Sigmadue Function Block Firmware Library 7 1 2 RTC_SETUP FB Prototype RTC_SETUP SETUP gt SECONDS gt MINUTE gt HOUR gt MONTH_DAY gt WEEK_DAY gt MONTH gt YEAR gt Input description Label Type Description Range Setup BYTE Mask defining the data to be set bit 16 00 16 7F Seconds USINT Seconds to be set num su 59 Minut
104. s can be maintained at the same time by the Modbus TCP IP Server agent When all available connections are occupied the system must make a choice when a new connection is requested Based on the principle that every new connection request must be satisfied a process must be implemented which selects the connection to be closed to make room for a new one The first candidates for disconnection are all those addresses which DO NOT belong to the priority connection pool The selection is further refined by identifying the connection which has been longest inactive Application example of the Modbus TCP IP Server agent This section describes the code of a simple application which initialises the Modbus TCP IP Server agent and periodically increments the value of 4 registers which can be read by a client The example also shows the call to other Function Blocks controlling the agent 26 2 1 9 2 1 10 Chapter 2 Modbus TCP IP Global application variables The program tasks share a number of global variables which are code declared as follows VAR_GLOBAL init_port_mb_tcp BOOL true error_mb_tcp BOOL END_VAR The variables init_port_mb_tcp and error_mb_tcp check that the initialisation Function Blocks are only called once while the others are called only if the initialisation has terminated successfully HW port initialisation This task initialises the agent The task code variable declaration and executable code ar
105. s therefore no longer available to the system OTHER With the exception of the state values UNKNOWN and NOT_AVAIL the return values match the corresponding definitions of the CiA Draft Standard 301 The call of the function block with DEVICE 0 delivers the local node state of the local PLC 68 Chapter 4 CanOPEN 4 1 14 CAN_PDO_READ8 Function block for reading a node s object entries by way of an SDO transfer CAN_PDO_READ8 FB Prototype Description CONFIRM ERROR ERRORINFO DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 DATALENGTH COBID gt ENABLE NETNUMBER gt SISKSIKIKKKAK Input description Description COBID of the message to be newly entered into registration or to be erased from the registration BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description UINT Description Output for signal service completion by the function block Error code corresponding to data type ERROR WORD l C1A405 CANOPEN KERNEL ERROR ERRORINFO DWORD Reserved for additional error information Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message DATALENGTH USINT Length of the rece
106. t NETNUMBER gt Input description Description DEVICE Address of the node to be read INDEX Number of the index entry to be read SUBINDEX Number of the subindex entry to be read 76 Description 4 1 23 FB Prototype Chapter 4 CanOPEN Type of the SDO transfer mode to be used corresponding to the data type CAN_SDO_TYPE BOOL Input for enabling or locking the function block STRING String variables for storing the read characters Limit to the number of characters to be read with 0 the INT buffer length of the transmitted string is calculated internally and used as a limt to the number of characters to be read SDOTYPE USINT Description BOOL Output for signal service completion by the function block Error code corresponding to the data type CIA405_CANOPEN_KERNEL_ERROR SDO abord code of the communication partner corresponding to the data type CIA405_SDO_ERROR RXDATA STRING String variables for storing the read characters RXLENGTH Length of the character sequence read The function block CAN_SDO_READ_STR is used to read the strings from a node s Object Dictionary utilizing SDO transfer The SDO transfer is always executed in the background thus the procedure described in section 4 1 3 for synchronization between the function block and the PLC program has to be applied while using both parameters ENABLE and CONFIRM If the output CONFIRM is set to TRUE upo
107. t UINT Input description Label Type Description Range IP_ADDR STRING Client IP address CLIENT_PORT UINT Client port SERVER_PORT UINT Server port Output description Label Type Description Range Connection USINT Communication Position 0 9 0 Ok 1 Server not available 2 Invalid IP address 4 Inactive connection Oprs USINT Execution Result This Function Block indicates the presence of the connection uniquely defined by three input parameter values in one of the 10 available positions 22 2 1 5 FB Prototype Description Chapter 2 Modbus TCP IP MB_TCP_GET_CONN_CONFIG Function Block reporting the characteristics of an active connection in one of the 10 available positions MB_TCP_GET_CONN_CONFIG CONNECTION gt STRING IP_ADDR UINT CLIENT_PORT UINT SERVER_PORT USINT OPRS Input description Label Type Description Range CONNECTION USINT Connection whose configuration is to be recovered 0 9 Output description Label Type Description Range IP_ADDR STRING Client IP address CLIENT_PORT UINT Client port SERVER_PORT UINT Server port 0 Ok Oprs USINT Execution Result 1 1 2 No connection This Function Block indicates whether the position specified by the input connec tion is currently occupied by an active connection or not Furthermore if the con nection is active it reports the three
108. tecnologic com sales ascontecnologic com INDEX Note The Digital Inputs and Outputs of the MP 01 Control Unit are explained in the MP 01 User Manual Preface rie bella vii Chapter 1 AsconCTRLFb Embedded 1 Wal PUIPOSE erine banta a ce Aa eee 1 152 DESCHIBIOM spl er rr ae oe chee hie eet eas Mite oe 1 13 RID mplementationi asides josie elia ao age ares Boar 1 1 4 Description of the individual Function Blocks 4 1 4 1 CTRE PID ost puntan teeta Phe toes eten 4 1 4 2 A Soe ted are ese Ge ate Aa 6 1 4 3 GERESHOMV siria sa ats Re Mahe aes 7 1 4 4 CTRESSPLEMV axes ented zona rene dei ele ELA 9 1 4 5 CTRL SAY gt e ai Li aa dea 11 1 4 6 CTRLESSRV POS ire eri 12 1 4 7 CTRL TRO sr an 14 i Example taski ssaa toi fai Leave 15 Chapter 2 MODBUS TCP IP 0 Aa 16 2 1 Modbus TCP IP Server agent 17 2 1 1 ENABLE _MODBUS_TCP_SERVER 20 2 1 2 CLOSE_MODBUS_TCP_SERVER 20 2 1 3 MB TCP CONN USTATUS cic veo She dwell ot aces 2 21 2 1 4 MB_TCP_GET_CONN_BY_ADDR 22 2 1 5 MB_TCP_GET_CONN_CONFIG ira 23 2 1 6 MB_TCP_CLOSE_CONN 0s 24 2 1 7 Configurations using the Terminal VT100 initial setup session 25 2 1 8 Application example of the Modbus TCP IP Server agent 26 2 1 9 Global application variables 27 2 1 10 HW port initialisation LL 27 2 1 11 Example code ariana 2
109. ted output of the Cool PID module Value in 0 0 100 0 default value 0 0 Deadband with range from 10 0 10 0 DAND EAL default value 0 0 DTRK BOOL Digital Tracking Command default value FALSE TRK REAL Tracking signal 100 0 100 0 default value 0 0 DAM BOOL Digital AutoMan Command default value FALSE UP BOOL Manual Up Command default value FALSE DOWN BOOL Manual Down Command default value FALSE AM_SL REAL Manual Delta Value default value 0 1 DAUX BOOL Digital Auxiliary Command default value FALSE AUX REAL Auxiliary Signal 100 0 100 0 default value 0 0 Output parameters Label Type Description OUTH REAL _ Control Output for HEAT 0 0 100 0 default value 0 0 OUTC REAL Control Output for COOL 0 0 100 0 default value 0 0 Control Output for visualization 100 0 100 0 OUTAG PERL default value 0 0 DBMP BOOL BUMPLESS command default value FALSE Active if both OUTH and OUTC are active OVERLAP BOOL default value FALSE This module is an Output station for an Heat Cool loop providing the functionali ties the operator needs to interact with the loop The loop is controlled by two PIDs connected downstream to this module each one is dedicated to one chan nel The module provides auto manual track aux operating mode and the com mands for incrementally set the output The operating modes that are unique for both the Cool a
110. the module comparison OPRS WORD Function block execution result The device status contains a word with the information of the comparison between the analized module and the image saved in flash memory The information is coded using the bits as explained in the table that follows Information Code Module present and correspondent to the image memory 0x0001 Module present but different for mapping 0x0002 Module present but different for identity 0x0004 Module present but not expected by the image in memory 0x0008 Module not present but expected by the image in memory 0x0010 60 Chapter 4 CanOPEN 4 1 3 FB Prototype Description CANOPEN_GET_DEVICE_COM_PAR If used in conjunction with CanOPEN_Network_Compare and CanOPEN_Autolearn it returns the I O module mapping information stored by the previously by the system It should be used after the network scan has been saved into the memory CANOPEN_GET_DEVICE_COM_PAR EN BOOL DEVICE gt ARRAY OF WORD SOURCE gt ARRAY OF DWORD PDO TYPE gt ARRAY OF BYTE ARRAY OF DWORD ARRAY OF DWORD ARRAY OF DWORD ENO PDO_NUM COB_ID TRASM_TYPE MAP1 MAP2 MAP3 MAP4 MAP5 MAP6 MAP7 MAP8 OPRS ARRAY OF DWORD ARRAY OF DWORD ARRAY OF DWORD ARRAY OF DWORD ARRAY OF DWORD WORD Vebddbdditddy Input description Type Description Range Enable In TRUE FALSE Enquired Device Source of the information TRUE Autolearned Netwo
111. trol communications with the slaves connected to the modbus network One important consideration must be borne in mind when using the modbus master agent When calling MODBUS_MASTER_EXECUTE function one of the supported modbus functions must be assigned as a parameter Thus the agent interprets the byte sequence to be read from the Input Data memory area or to be placed in the Output Data Memory Area If a function is assigned which processes registers the two input and output memory areas are interpreted as follows ERE Input Area Output Area First register involved in communication IW1000 0 QW1000 0 Second register involved in communication IW1002 0 QW1002 0 Third register involved in communication 1W1004 0 QW1004 0 Fourth register involved in communication 1IW1006 0 QW 1006 0 If instead a function is assigned which processes individual bits the two input and output memory areas are interpreted as follows Input Area Output Area Syntax Syntax First bit involved in communication 1X1000 0 QX1000 0 Description Second bit involved in communication IX1000 1 QX1000 1 Third bit involved in communication 1X1000 2 QX1000 2 Fourth bit involved in communication 1X1000 3 QX1000 3 The programmer is completely responsible for properly filling the output data area before sending a message and reading the input data area after the transaction is completed The programmer can use the function block MOD
112. type Description Function block for sending PDOs and CAN Layer 2 messages throught the network layer CAN_PDO_WRITE8 CONFIRM ERROR ERRORINFO DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 DATALENGTH COBID gt ENABLE gt NETNUMBER SIIKSIKIKKK4K Input description Description COBID of the message to be newly entered into CORID ai registration or to be erased from the registration ENABLE BOOL Input for enabling or locking the function block NETNUMBER USINT Network number Output description Label CONFIRM Output for signal service completion by the function block ERROR Error code corresponding to data type CIA405_CANOPEN_KERNEL_ERROR Reserved for additional error information Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Data byte of the received CAN message Length of the received CAN message The function block CAN_PDO_READ8 is used to read PDOs and CAN Layer 2 messages from the receiving buffer of the network layer Only one access of the message registered with the help of the function block CAN_REGITER_COBID is supported If multiple messages with the same COBID are received between two sequentia
113. v Ascon _ _Sigmadue CU 02 amp MP O1 Ovi TECNOLOGIC Firmware Function Blocks Library Function Block Library Cosa M U CU02 FFBL 06 11 05 Cod J50 636 1ACU02 E Copyright 2007 2011 Ascon Tecnologic Srl All rights reserved No part of this document may be stored in a retrieval system or transmitted in any form electronic or mechanical without prior written permission of Ascon Tecnologic Srl Ascon has used the best care and effort in preparing this manual and believes that the information contained in this publication is accurate As Ascon Tecnologic continues to improve and develop products the information contained in this manual may also be subject to change Ascon Tecnologic reserves the right to change such information without notice Ascon Tecnologic makes no warranty of any kind expressed or implied with regard to the documentation contained in this manual Ascon Tecnologic shall not be liable in any event technical and publishing error or omissions for any incidental and consequential damages in connection with or arising out of the use of this manual sigmadue gammadue and deltadue are trademarks of Ascon Tecnologie Srl All other trade names or product names are trademarks or registered trademarks Ascon Tecnologic srl Headquarters via Indipendenza 56 Milan office Via Falzarego 9 11 27029 Vigevano PV 20021 Baranzate MI Phone 39 02 333 371 Fax 39 02 350 4243 www ascon
114. values which uniquely identify it namely Client IP address and port and Server port 23 Sigmadue Function Block Firmware Library 2 1 6 MB_TCP_CLOSE_CONN Function block closing one of the 10 active connections FB Prototype MB_TCP_CLOSE_CONN CONNECTION USINT USINT gt OPRS Input description Label Type Description Range CONNECTION USINT Connection to be closed 0 9 Output description Label Type Description Range 0 Ok 1 Server not available 2 No connection 4 Inactive connection Oprs USINT Execution Result Description This Function Block closes the connection associated with one of the 10 available positions 24 2 1 7 Note Chapter 2 Modbus TCP IP Configurations using the Terminal VT100 initial setup session The VT100 terminal is used in the initial configuration session to specify the group of addresses making up the priority connection pool and the security address pool Two other parameters controlling the execution of the Modbus TCP IP Server agent can also be configured the number of messages processable per cycle and the TCP connection idle time after which the connection is closed The Control Unit configuration session is described in the User Manual specific for the CPU model in use The main configuration menu is shown in the picture below Ascon S p a SigmaPAC Control Unit Device configuration MAIN MEN
115. xpired 0 1 2 4 CRC error 8 1 Exception 6 Error see ExCode The conditions coded by the status parameter are not mutually exclusive i e a condition may occur in which a timeout has expired but a new memory value has also been updated For this reason the diverse conditions have been coded according to increasing priority The condition with value 4 has the highest priority therefore if such condition occurs it will be surely indicated while possible lower priority conditions will not 47 Sigmadue Function Block Firmware Library 3 4 3 3 4 4 3 4 5 Application example of the modbus communication port This section describes the code of a simple application which controls two serial ports one of which is configured as a master and the other as a slave The program is divided into 3 tasks one to initialise the ports one to execute the master activities and one to execute the slave activities The slave task must cyclically assign 5 different values to 5 registers while the master task must acquire the content of the five registers via modbus protocol and compare them with the values they should have according to the slave operations If the values read in the registers and those assigned by the slave are the same the master increments a counter and goes to the next step Global application variables The program s tasks share a number of global variables which are code declared as follows

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