User's Guide - Politecnico di Milano
Contents
1. Auto Edit is a PLC oriented Programmable Logic Controller graphical software environment to design IEC1131 3 standard compliant logic control programs The major advantage of GUI environments is that they make computer operation more intuitive and thus easier to learn and use because the actions are performed through direct manipulation of the graphical elements With this application the user is allowed to directly write the control program as a simple circuit translate it into LASM Lego Assembly language and upload the translated programs from the PC to the RCX Lego Mindstorm User Manual In the follow is reported the first version of the AutoEdit User Manual please if you will find any error report it Application overview AutoEdit is a graphical editor that supports both sfc and ld program compliant to standard IEC1131 3 implementation it has been designed to write logic control oriented programs The editor has many features for example it s possible to check the presence of errors in the sfc diagram program translate sfc program to obtain an equivalent ladder diagram program compile it to obtain LASM language program a AutoEdit uses the xml language to save the control program information in this way the user ca write directly the xml file and then he can view the content with AutoEdit xml viewer Xml stands for eXtensible Markup Language XML provides a text based means to describe and apply a tree based2. 1EC61131 3 D SFC D Ladder A Modelica NewProject TestPackage ModelA Dictionary D Connections D Simulation result w model Models end ModelA You can now customize the project properties Click on Tools Project properties The General tab provides information about the project s path as well as some user defined comments to the project SF SimForge home fildo tmp NewProject Jl2 Jb File Edit View Tools Window Help Ow A Be MA OODYAKG ARAM Se ems doren 4 NewProject 3 Text editor NewProject TestPackage ModelA og K gg Modelica File Edit Search Markers Folding View Utilities Macros Plugins Help o g3 Used external packages Project properties g Modelica classes General Modelica g TestPackage C Modela g Modelica files OPENMODELICAHOME home fildo Work OpenModelica trunk build Browse os e pa IEC61131 3 Ty sFc OPENMODELICALIBRARY home fildo Work OpenModelica trunk build ModelicaLibrary Browse adder LD_LIBRARY_PATH lusr local lib Browse D Dictionary J D Connections 0 Simulation result m Load Modelica Standard Library External libraries N Add Remove Check PATHs settings Save PATHs settings The Modelica tab contain the following settings The OPENMODELICAHOME OPENMODE
3. High insert NUMBER j Very High Cancel Convert This dialog is dynamically created calculating the number of controllers in the project at the time of the conversion Basically for each controller the user must choose a name and a priority class The priority class is necessary for the correctness of shared variable mechanism when converting a unique sequential number is given to each controller the number is assigned with this mechanism Starting with the most high level of priority chosen by the user each priority class is analyzed inside every priority class the number is given following a alphabetic order when the number has been assigned to every controller in first class the converter assigns the following number to the first controller of the second priority class and so on This mechanism creates a priority list useful to determine what to do if two controllers write the same variable at the same time Once the conversion is complete the user will find two modelica packages in the modelica classes tree Ed Modelica gt C Used external packages C Modelica classes CA common_vars G Common_main G BolCon G IntCon O ReaCon G Buffer c controllers D Local_internal_timebase G Function_main_timebase Bi timebase D Local_internal_ld1 G Function main_Id1 Cy tat Bi simulated_plant CJ Modelica files C3 IEC61131 3 Ci sFc c Ladder A timebase xml O Idi xml J Dict
4. LICALIBRARY and LD_LIBRARY_PATH paths for this project By default these are set to the tool settings but it is possible to customize them by clicking on the checkbox and providing a new path so that each project can use its own version of OMC Modelica Standard Library and OMC runtime libraries A checkbox to load the Modelica Standard Library If you want to use the Modelica Standard Library for your project you have to set this checkbox explicitly when you first create the project and make sure you then click on the Reload omc button so that omc loads the standard library and makes it visible immediately in the project tree This is not necessary when you later re open the project as the required Modelica library will be loaded automatically e Additional external libraries you can add them here by giving the paths of the packages They will show up under the Used external packages node of the project tree as read only classes Note that it is possible to load multiple projects at the same time in SimForge They can be selected by the drop down menu on top of the project tree Each project talks to a separate instance of OMC so it is possible to open different projects using different versions of OMC and standard library at the same time within a single instance of the SimForge application It is also possible to load two different projects that contain two different versions of the same package thus with the same name All the class
5. User s Guide Authors Prof Alberto Leva Eng Davide Cavazzini Eng Riccardo Schiavi Eng Davide Aliprandi Eng Filippo Donida Eng Gianmario Fontana Eng Stefano lacinti Eng Alex Mancastroppa Eng Paolo Romagnoli Eng Fabio Arata Eng Ivano Brambati Eng Emanuele Bulgarini Eng Miriam Corini Getting Started Install Java OMC and SimForge according to the Installation Notes Important when launching SimForge for the first time go to Tools Settings and set the paths On Windows machines OPENMODELICAHOME contains the OMC root directory e g C OpenModelical 4 4 OPENMODELICALIBRARY points to the directory which contains the Modelica directory of your favourite Modelica Standard Library package you can use the one provided with the OMC installation e g C OpenModelical 4 4 ModelicaLibrary LD_LIBRARY_PATH is irrelevant On linux machines OPENMODELICAHOME must point to the directory which contains the bin subdirectory where the omc executable is located e g usr Share openmodelica 1 4 OPENMODELICALIBRARY points to the directory which contains the Modelica directory of your favourite Modelica Standard Library package e g usr share openmodelica 1 4 modelica 2 2 LD_LIBRARY_PATH points to the directory containing the Libmico library you can use the one provided by your OMC installation e g uSr lLib mico openmodelica 1 4 These will be the default choices for all the new projects which are created They can b
6. ation see the relative paragraph In toolBar there are the follow icons create a new file __ open an existent file save current diagram as xml file activate deactivate the dictionary visualization show xml file of actual ladder diagram G26 OI ae I a choice the control checking settings for sfc diagram 7 convert sfc diagram in ladder In toolBar the following icons are present 1 insert a vertical line in current cursor position 2 insert a initial step in current cursor position 3 L insert a step in current cursor position 4 ___ insert a transition in current cursor position 5 insert a jump in current cursor position 6 ____ insert a open convergence in current cursor position 7 L insert a close convergence in current cursor position 8 insert a open parallel in current cursor position 9 insert a close parallel in current cursor position 10 insert a macro step in current cursor position 11 ___ insert a vertical line in current cursor position 12 ____ insert a final macro step in current cursor position 13 insert one empty row in current cursor position and move down to the follow line 14 insert one empty cell in current cursor position and move down to the follow line 15 delete the selected cell and move up 16 show xml file the current file must be saved 17 delete the selected cell FirstTest it s a simpl
7. ble to simulate them all together Simforge provides two different controllers with different features and aims e Single ladder file converter e Ladder project converter The main difference between the two converters is that the project converter handles the shared variables between the various controllers providing a mechanism for variables buffering and refreshing For more informations about the shared variables handling read the thesis An integrated opensource Modelica enviroment for PLC programming by Bruno Scaglioni a scaglioni_at_tin it Single file conversion The single file converter can be reached in three ways the first is the popup menu that appears when clicking with right mouse button on a xml ladder file in the tree on the left The second is by clicking on the first button shown below on the ladder toolbar The third is by clicking on the menu entry in tools menu t2 Tools Window Help C3 Modelica 7 A E3 IEC61131 3 baa i Ed Pz E A Settings G SFC 3 m BM okam o i 0 sit Erde ar t eNet w OMC dialog C Ladder i d S HE by 7 to ut eae gt J Dictio Show omc no Refresh i ar tp D Eann Delete File cl A Project properties nm 0 simpiatg Convert to modelica fil Verify progran a Set 1 0 connections y ih LASM options ope jy Convert to LASM Popup menu in file tree nj 7 Convert to L Convert to IL nvert to ST a gq Convert this ladder f
8. d set all the required properties version of OMC version of Modelica Standard Library location of other external libraries All the information that you have set with the Tools Project properties are stored in the Properties xml file Note that this file does not contain any information on the content of the Modelica sub directory which is automatically scanned when the project is opened This means that no explicit import operation must be performed It is nevertheless necessary to set the paths of the Modelica Standard Library and of all the other required libraries otherwise OMC doesn t know where to load them from Editing the Modelica Standard Library When you load the Modelica Standard Library with the standard mechanism the library is considered as read only so you can t change it If you are a developer of the MSL and you want to use SimForge to work on it then you have to set up a project see above copy your local version of the MSL within it and then you can work on it as if on any other user developed package It is also possible to include within your project both a custom version of MSL for development and some other additional packages e g to test the MSL Ladder to modelica converter It is possible in SimForge to convert a ladder logic program into a modelica model This feature was implemented in order to let you create the models you want to simulate in modelica then the control program in ladder or sfc and be a
9. e overridden within each project by using project specific settings Creating a new project Go to File New project Choose a name for the project this will be the name of the directory containing all project files so it must be a legal directory name and select the path where you want this new directory to be created File Edit Vie Tools Wi Help Om w SimForge se Creating project Project name Path Browse Cancel Open x Look In a fildo c Desktop c3 SimpleFluid Documents Templates fmm Examples catmp cl flexdock varkon g Music c Videos Pictures fq Work g3 Public workspace a SimForge 0 8 Folder name thome fildo Files of Type fa Files x N open cancel ala aE SimForge will create the project directory which contains the IEC61131 directory for IEC 61131 controllers code the Modelica directory for Modelica code the Results directory for permanent storage of simulation results the Temp directory for temporary files and the Properties xml file for the project properties Double click on the Modelica node of the project tree The three nodes contain the following elements Used external packages all the packages which are used by the project but which are not part of the project itself so they are read only and are not contained within the project dir
10. e sfc program it has an initialization phase a transition a macro phase another transition a phase a transition and a jump To create this diagram you have to move the cursor to the desired cell use the mouse with drag amp drop of the desired element or use the keyboard on all the icons the correspondent key is reported in this case the correct sequence is F2 F4 F10 F4 F3 F4 F5 and repeat the inserting procedure In firstTest there is a macroStep you must create a simple expansion by creating an initial step macro a transition and a final step macro Now on your screen you must see a diagram like this Fig 1 5 The created diagram You drawn a jump a macroStep and its expansion Now you must specify where the jump jumps and which is the macroStep expansion You can also associate a label to step and initial step To do this you must place your cursor in the little square near step as shown in the follow figure Fig 1 6 Insert a label When a jump is present you must indicate the correct jump label and assign the corresponding label to the step where you want to jump For this reason the label must be unique in the diagram program Remark that the macro step transition and jump can t have jump reference Fig 1 7 jump use jump7 jumps to init labeled step You can also insert the condition in the transition and the action in the step condition you must put the cursor in th
11. e transition and write the desired condition It s strongly recommended to save in the dictionary the used variable it s not indispensable and unsaved variables is reported as an error only if you convert your sfc diagram to ladder diagram but it s a good idea to do it action the correct grammar rules to create new actions are reported in the follow lines S gt A B A gt nameAction SET if it s a set action nameAction RST if it s a reset action nameAction NET if it s a net action B gt A B As you can read if you want write several actions you must use a semi colon separator and write them on the same row To write the action put your mouse in the text cell in front of the step Remember that you cannot associate action to macro step this is a non sense If you want to do an action you must associate it to a step in the macroStep s expansion In the text area in front of the macrostep you must specify the initial step and final step of correspondent expansion separated by Two macroSteps can t refer to the same expansion In the follow figure you can view that step5 has an action like the Macro 13 initial step that the transition4 has a condition and that in the macroStep is specified the expansion Fig 1 8 insert action condition macroExpansion REMARK In order to use AutoEdit you must save the project files in the xsd folder It s not possible to use special characters non UTF 8 for fi
12. ectory Examples the Modelica Standard Library or any other free or commercial third party library that will be used by the current project e Modelica classes a tree view of all the models and packages defined within the project irrespective of their actual representation as single files or structured entities i e sub directories Models within this tree can be edited in both graphics and textual modes e Modelica files a view of all the mo files contained in the project Can be useful to inspect files and rearrange the file contents Text only editing SimForge home fildo tmp NewProject File Edit View Tools Window Help ce Bu NewProject gg Modelica o g3 Used external packages g Modelica classes Modelica files 1EC61131 3 5 SFC D Ladder D Dictionary D Connections Simulation resul s SimForge home fildo tmp NewProject L2 Jb File Edit View Tools Window Help Qe Su NewProject gg Modelica o g3 Ysed external packages ea Modelica classes Lj Modelica files 1EC61131 3 D SFC D Ladder Dictionary D Connections Name TestPackage D Simulation result Structured entity directory N Ok Cancel At this point you can create one or more top level models or packages which will be saved in the Modelica subdirectory of the project For instance right click on Modelica classes and type TestPackage a
13. ed to save the content of the window you can still go to the textual layer window select Save As and save the content as a text file somewhere You can then exit SimForge without saving through OMC When you later re open the project you can open the text view of your class open the file you saved with another text editor copy the entire content from the text editor and paste it into the SimForge text layer window You can then resume debugging until the syntax error are removed During editing sessions you can permanently save your modifications by selecting the File Save menu option on the text layer window or by closing the window and confirming that you want to save If you don t confirm all the modifications since your last explicit load save operation are lost This is a very primitive Undo feature for your latest modifications in the future it is planned to add real Undo Redo functionalities to SimForge If you want to work on a single class then it is recommended that you open the text and graphical layers under the Modelica classes node of the project tree You can then get the textual and graphical views check the syntax and simulate the model all through OMC that runs in the background However in some cases you might want to directly edit a mo file In this case you can open it under the Modelica files node please note that this is just a text editor with basic syntax highlighting which does not interact with OMC and thu
14. editing windows contain information about the project name so that there s no chance of being confused Editing models and classes To edit models or generic classes right click on the corresponding node under the Modelica classes tree and select Open class or just double click the node if it is a model double clicking on package nodes opens and closes the node You can type in code in the text window which offers on the fly syntax highlighting Please note that the current verion of SimForge does not preserve whitespace this is not a bug of SimForge but is a problem with OMC each time the text window content is passed to OMC it gets parsed and some whitespace information is lost or modified Future releases of OMC will include a separate parser to preserve this additional information see this paper and this will automatically improve the behaviour of SimForge Alternatively you can drag and drop components from the project tree into the diagram layer Components can be moved by just dragging them around Multiple selection is supported by drawing a rectangle with the mouse which will select all the included components or by pressing Ctrl click on each component To resize a component grab it on the edges and drag them When you pass with the cursor over a connector and stop for a few seconds the name of the connector pops up In order to make a connection keep the shift key pressed click and release the mouse button on the co
15. ile to Modelica n Poa Convert project to Modelica su es Bi All these methods open the same dialog which is actually the one who controls the conversion This dialog presents some fields the user must fill E gP Single file ladder to modelica conversion First is shown the name of the ladder file to convert The user can change it by clicking on the Change file 2da program modelname ae l button This action opens a File choosing dialog Once the user have choose the file to convert a Modelica file name ida Converted model time resolution insert a NUMBER re m Cancel Convert modelica name must be given to the controller this will be the name of the modelica model The field following the Sampling time of the resulting Modelica algorithm bust be filled with a decimal number This number is the sampling time of the modelica model representing the controller This should follow the sample time of the real PLC machine to be simulated When pressing the convert button the conversion starts If everything works you should receive a message confirming the successful conversion After conversion You will find a new package containing three models test EJ Modelica gt EJ Used external packages c Modelica classes Eltimebase Function_timebase_timebase Ly Local_internal_timebase C main_timebase o C Modelica files 9 1EC61131 3 Cy src G4 Ladder timebase xml Ki Idi x
16. ionary Ly Connections 4 Simulation result The first package called common_vars contains the shared variables models the handler called buffer and some connector models necessary to handle the variables The second package contains the function models that calculate the output of every PLC clock cycle the local variables modes and the controller models which assume the same name of the ladder controllers A special model is the simulated_plant model which is the model TO SIMULATE If the user wants the variables to be handled correctly the simulated_plant model is the one that must be simulated In this model are contained all the connections that permit the buffer to share the variables All user made models must be inserted in here Regarding input output variables they are allowed in project conversion but they make sense only if the converted system will be inserted in a bigger system Simulated_plant model carries also graphical informations and connectors This part of the document is referring to AutoEdit that is the project SimForge has been derived to Some definitions and images need to be updated AutoFdit Efficient and flexible control software environment for IEC1131 3 standard AutoEdit project started at Politecnico di Milano sede di Cremona on year 2004 and is actually under development Table of contents 1 Overview 2 User Manual 3 Authors 4 References Overview
17. lename The variable name must contain at least one alphabetic character jump label must refer to phase label and not to label ID Now firstTest diagram it s complete It s possible to save it translate it into ladder or close the application without saving nothing Save the diagram and read the xml representation As implemented in the current version of the applications it s possible to save the file in different way by simply clicking on the icon and by choosing File gt Save from menu or Save As If you are choosing Save from the Menu a dialog box asking filename and location will appear When the ion is clicked the file is automatically saved It s possible to read xml file of the current diagram by clicking on the icon Fig 1 9 xml representation of the current diagram Remark The xml file exists only after the save therefore when you want to read xml file you first have to save diagram Remark that the xml description is not only a topological description it s a semantic description The xml contains position information about the element but also network properties information for example if and where a parallel is present Conversion from sfc diagram to ladder diagram and xml ladder viewer It s possible to convert the sfc diagram into an equivalent ladder schema First you must verify the program correctness The user can select the desired controls by clicking o
18. ml c Dictionary The first model is the modelica function that actually does the calculations The second model is just a data structure that wraps the local variables The third model is the container for input and output variables and for algoritmic code this model is the only one that should interest the user It is the one that the user should use in the simulation When the user wants to use the built modelica model the only thing to do is to use the drag and drop feature of Simforge modelica enviroment and to drop the third model discussed here into the simulation main model Project conversion The project conversion dialog can be reached in two ways the user can click the toolbar button on the simforge toolbar or it is possible to access the converter by the tools menu The button on the toolbar regarding the project conversion is the last one the one with P letter on the top Tools Window Help A Settings G ota on Ea Pz gt ae gm okm o 41 OMC dialog E _ e XML Tools b mi He a Show omc b E me d A Project properties Verify program h Set I O connections ta LASM options ag r nl Convert to LASM 4m Convert this ladder file to Modelica Faq Convert project to Modelica es ee E Once opened the project conversion dialog the screen is this Controller Ladder to Modelica Project Conversion Resolutions Priority insert NUMBER 1 Very
19. n the icon it s possible to choose base or customized controls The base control selection grants the IEC1131 3 program compliance Also by choosing customized controls the IEC1131 3 program compliance is assured Fig 1 10 control selection After the selection of the desired control it s possible to translate the program into ladder by clicking on the icon and a dialog box will report the translation output It s possible to read the xml description of the ladder diagram you have just created in the ToolBar To view ladder schema of the translated file you must open this file from the MenuBar File gt Open shows a dialog box where you choice the file that you want to open in this case firstTest_LD The postfix _LD is add to the fileName Fig 1 11 Open file It s possible to view ladder schema Fig 1 12 firstTest_LD ladder diagram obtained from firstTest sfc translation Remark that to translate the sfc diagram into a ladder program is necessary to create system variables declared as local variable This happen for the sfc step transition arithmetic and logic variables References Lego PLCopen for efficiency in automation
20. nnector then move the cursor to the other connector and click again Please note that dragging the cursor before first releasing the mouse button voids the connection When working on the graphical layers you can switch between the icon layer and the diagram layer using either the two buttons on the toolbar or the View menu The positions of outer connectors in the diagram and icon view are independent according to the Modelica 3 0 graphical annotations as well as the icon and diagram extents To set the extent click on the Class properties button in the tool bar You can draw on the icon and diagram layer using the drawing tools on the toolbar To set parameters modifiers attributes and graphical properties of a components select it with the left mouse button then right click on it and select Properties You can also view the HTML documentation as well as open a window with the class declaration To edit the documentation go to the text layer window and edit the documentation annotation directly Each time you switch the focus from an class editing window textual or graphical to another class editing window or you click on the check or simulate buttons the content of the window is saved to a temporary file and passed to OMC If there are syntax errors then OMC cannot accept the content because it cannot be parsed and you get an error message The content is then not saved until you fix the syntax errors If you are in a hurry and ne
21. on Windows OS When launching AutoEdit you first view a window like that represented in follow figure Now you can create a new file or open an old previously created Fig 1 2 the first window of the application Create a new file To create a new program select File gt New File Alternatively it s possible to click on the icon a Create File dialog box will appear This dialog asks for the desired program s type you are going to create By default ladder diagram is selected The example here presented shows the sfc program s creation so you have to choice Sequential Functional Chart radio button as in picture below Fig 1 3 the figure shows a screenshot of the dialog box to create a new file the selection of the program type and the filename Then you have to check that the selected folder is the folder where you want to work and specify the file name in the example firstTest is the selected file name Remember that you must save the folder xsd in the working directory If you don t do it the application cannot run After this you can start editing your first sfc program the graphical environment is the follow picture Fig 1 4 New file creation dialog box When you choice to create a file or open a previously created file the toolBar and componentBar will appear Now it s illustrated the correct use of the toolbar and componentbar icons for a more satisfying explan
22. s offers no syntax checking or graphical views Please also note that if you modify a mo file using the mo editor and the resulting file is not syntactically correct you might later run into trouble since OMC will not be able to parse it and therefore its content will no longer be available under the Modelica classes node When you simulate a model it is sufficient to provide the start and stop time for the simulation as all other parameters have reasonable defaults The interface for simulation settings will be improved in the near future as OMC s interface is made more general The results will appear as a new red node under the Simulation results node and saved in the Temp sub directory If you want to keep the result right click on the node and select Move to simulation results You can set a new name for the file which will be stored in the Results sub directory The Temp sub directory can then be safely cleaned every now and then without losing important data Importing an existing Modelica package into a SimForge project for editing If you have an existing Modelica package and you want to edit it using SimForge create a new SimForge project without adding anything SimForge creates the directory structure and the Properties xml file close the project copy or move the Modelica package s you want to edit into the Modelica sub directory of the project you ve just created re open the project go to Tools Project properties an
23. s the package name Package as the class type If you leave structured entity unchecked the package will be saved as a single mo file otherwise it will be saved as a sub directory containing a package mo file plus files for all other contained classes Now right click on TestPackage in the project tree select Add class then type in ModelA and select model as the type of class SF SimForge home fildo tmp NewProject 2 Jb File Edit View Tools Window Help NewProject Modelica o g3 Used external packages Eq Modelica classes caTestPackage o g3 Modelica files 1EC61131 3 D SFC D Ladder Dictionary D Connections D Simulation result Name ModelA Type Model Structured entity directory Q Cancel EJ 4 Double click on the ModelA node to open the text and graphical editors You can now start editing your model The three icons on the right of the tool bar can be used to check the model compile and simulate it and to show the omc console Simkorge Jhome nldojtmp NewProject File Edit View Tools Window Help soru 6 oe Ee WZIDA A RRM E i ag daram 3 Text editor NewProject TestPackage ModelA p Modelica File Edit Search Markers Folding View Utilities Macros Plugins Help o g3 Used external packages Eq Modelica classes g TestPackage p Modela g Modelica files 9
24. structure to information Requirement run the application and create a new program In order to use AutoEdit it s necessary to have jdk1 5 0 or a most recent version of the jdk You can download the jdk1 5 0 for free at http java sun com javase downloads index jdk5 jsp On Windows OS start the command prompt move to AutoEdit folder where AutoEdit jar is located and then write the command line java jar AutoEdit jar The application will start automatically otherwise if environment variable are correctly setted it s possible to directly double click on the icon With Linux OS the operations are the same start the shell cd to AutoEdit folder and then start the application with this command line java jar AutoEdit jar In particular using Windows OS you must open folder AutoEdit select tools from menu select folder Option select the jar s extension in men Files Types change the path C Programmi Java jre1 5 0_09 bin javaw exe jar 1 in C Programmi Java jre1 5 0_09 bin java exe jar 1 and close all Now you can run AutoEdit with double click on AutoEdit jar icon This manner is faster but not recommended because you cannot read the output messages written in the standard output in this case the shell These messages are not fundamental to use the application but they can be useful to better understand the errors Fig 1 1 the figure shows the modifies needed to directly open a file jar
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