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CoDeSys V3

TxA SoftControl

TxA-SC

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Agenda

• CoDeSys offer from Beijer Electronics

• CoDeSys- Enable iX TxA-SC- Task, PLC-code, GVL, export of GVL- Communication, Modbus RTU to Remote I/O

• iX Developer 2.0- Image- Enable TxA-SoftController- New driver, Direct Access

• Exercise- CoDesys project- KI00326- Hardware, T7A-SC, NA-9473, ST-3702, ST-1218, ST-2324

• Performance

Option

- Diagnostics

- RUN/STOP CoDeSys from TxA

- Update CoDeSys and iX from USB

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The offer from Beijer Electronics

Cost-efficientHMI PLC + I/O

Low-end PLC(HMI optional)

High performanceHMI PLC + I/O

• CoDeSys Embedded Controllers

iX TxA SoftControl+ Crevis I/O

Serial Modbus RTU (Modbus TCP)

iX TxB SoftControl and SoftMotion

+ Crevis I/O

EtherCATModbus TCP

Crevis NA-9379

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Crevis NA-9379 - The Programmable I/O

• NA-9379 ”the PIO”

– A smart and compact PLC expandable

with various I/O-modules of FnIO-S

series

• General

– Modbus/TCP client for Remote I/O etc

– Modbus/TCP server for HMI/SCADA

communication

– Modbus RTU slave on RS485 port

– PLC<>PLC communication via standard

CODESYS functionality

– Application memory, 512 kB

– Operating temperature -20 -> +50°C

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Crevis NA-9379 – General data

• The PIO CPU unit

– Keil RTX RTOS

– ARM Cortex 120MHz CPU

– Application memory - 512 kB

– Data memory - 512 kB

– Non-volatile memory – 32 kB (Retain data)

– Ethernet interface as programming port

• Additionally– 2 ports RJ-45 for Ethernet

» The PIO has a built-in switch

– Run/Stop switch

» Stop means no monitoring possible

– Reset switch

» Same function as Reset Cold in CODESYS

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Crevis NA-9379 PIO – FnIO-S modules

• Use the existing range of FnIO-S modules for expansion of I/O

– Max 32 slots of expansion modules

– Max 1500 mA power consumption 5 VDC

– 126 words max input size

– 126 words max output size

• Designed for stability – mounted on

standard 35mm DIN rail and featuring

removable cage clamp connection

terminals

• Easy to mount, removable terminal

blocks spring-loaded to facilitate

installation and maintenance

• Also available, 16-channel modules

equipped with a 20-pole contact,

connected to pre-adapted cables of

various lengths

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Crevis NA-9379 PIO – Example maximum configuration (16-cha/module)

512 Digital I/O - if “20P connector” are used

96 Digital I/O, 80 Analog In, 40 Analog Out

ST-121F, 16 digital inputs

ST-222F, 16 digital outputs

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The iX HMI SoftControl

• A combination of two automation products:

– iX HMI solution from Beijer Electronics» iX offer an open development platform through .NET components

and to create customized functionality using C# scripting

– CoDeSys, the SoftPLC runtime system

The iX TxA SoftControl range The iX TxB SoftControl range

RTU/TCPRTU

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The iX TxA SoftControl range

• A cost-efficient solution for small to

medium sized HMI applications

• Display sizes 4, 7 and 10 inches

• High performance CPUs

• Communition with I/Os via serial

Modbus RTU

• The latest screen technology;

LED backlight for clear screens

with wide viewing angles

• Fast mounting and slim

hardware dimensions for easy

installation

Install the iX TxA SoftControl … … and simply add standard I/Os or other equipment

RTU

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iX TxA SoftControl + CoDeSys Control PLC runtime system

• PLC functionality

– Windows CE RTOS

– ARM Cortex 400Mhz CPU

– 80 MB program memory (shared iX/CoDeSys)

– 16 KB non-volatile memory (persistent data)

– Ethernet interface as programming port

– OPC for HMI/SCADA communication» 3S OPC server on PC

• Programmable with CoDeSys V3.5

– The world leading hardware independent

IEC 61131-3 development system

• Recommended I/O driver

– Modbus RTU uses an open Master/Slave

application protocol and RS-485 line topology

with segments of up to 32 devices

Ethernet

Modbus

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iX TxA SoftControl – PLC Modbus RTU serial driver

• Use the RS485 port on the iX panel

• Crevis Network Adapters

– NA-9173 – RS485» Max 32 slots of expansion modules

– NA-9473 – RS485» Max 12 slots of expansion modules

– Use all the existing range of FnIO-S Series

modules for expansion of the I/O node

• I/O Data mapping in network modules

– Process Input image registers» Inputs to CoDeSys Control PLC runtime

system

– Process Output image registers» Outputs from CoDeSys Control PLC

runtime system

– In general, configuration of most field

buses are done directly in CoDeSys» No external tool required!

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The iX TxB SoftControl range

• A cost-efficient solution for medium to

large sized HMI applications

• Display sizes 7, 12 and 15 inches

• High performance CPUs

• Communition with I/Os via high-speed

EtherCAT fieldbus or Modbus TCP

• The latest screen technology;

LED backlight for clear screens

with wide viewing angles

• Fast mounting and slim

hardware dimensions for easy

installation

Install the iX TxB SoftControl … … and simply add standard I/Os or other equipment

P2 inverter

RTU/TCP

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iX TxB SoftControl + CoDeSys Control PLC runtime system

• PLC functionality

– Windows CE RTOS

– Intel Atom 1.1 GHz CPU

– 1 GB program memory (shared iX / CoDeSys)

– 32 KB non-volatile memory (persistent data)

– Ethernet interface as programming port

– OPC for HMI/SCADA communication» 3S OPC server on PC

• Programmable with CoDeSys V3.5

– The world leading hardware independent IEC

61131-3 development system

• Recommended I/O driver

– EtherCAT

– Modbus TCP (Master)

– The Modbus RTU serial driver is available too

Ethernet

Modbus RTU

EtherCAT

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TxB SoftControl – EtherCAT - Modbus/TCP

• Use the Ethernet port(s) on the iX panel

• Crevis Network Adapters

– NA-9186 – EtherCAT» Max 32 slots of expansion modules

– NA-9189 – Modbus/TCP» Max 32 slots of expansion modules

– Use all the existing range of FnIO-S Series

modules for expansion of the I/O node

• I/O Data mapping in network modules

– Process Input image registers» Inputs to CoDeSys Control PLC

runtime system

– Process Output image registers» Outputs from CoDeSys Control PLC

runtime system

– In general, configuration of most field

buses are done directly in CoDeSys» No external tool required!

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The iX TxB-SoftMotion range• A combination of great automation products:

– The iX HMI solution from Beijer Electronics

– CODESYS SoftMotion V3 - The SoftMotion Runtime System

– High speed communication via EtherCAT

iX T7B SoftMotion

Display size 7” Display format 16:9Resolution 800x480

iX T15B SoftMotion

Display size 15” Display format 16:10Resolution 1280x800

iX T12B SoftMotion

Display size 12” Display format 16:10Resolution 1280x800

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iX TxB-SoftMotion - System overview

Ethernet

EtherCAT

LAN B is dedicated for

CODESYS EtherCAT

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iX HMI SoftControl Software Architecture

Note!Drivers for iX can’t be used by CODESYS and vice versa!

•Driver for iX application

•iX application

•Direct access PLC <-> iX

•PLC application

•Drivers for fieldbus

iX-Application

PLC-Program

iX shared

memory driver

PLC driver for I/O

iX-H

MI-S

oftc

on

trol

External driver

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Bus topographies

• Modbus RTU

– Bus type structure

• Modbus TCP

– Star or tree structure

• EtherCAT

– Bus type structure.

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Fieldbuses - When to use what• Modbus RTU

– For lower speed applications, pump, fan, HVAC, building automation

– Simple cabling, cheaper, slower

– One Master per bus

– Maximum 247 nodes per network (with repeaters)

– Powering down a single node does not influence other nodes

• Modbus TCP

– For medium speed requirements

– Standard RJ45 cabling, can coexist with other Ethernet nodes

– Limited support for multi-master

– Non deterministic bus cycle time, not suitable for synchronous data exchange

– Maximum number of nodes only limited by IP address range

– Powering down a single node does not influence other nodes

• EtherCAT

– For high speed applications, machine control etc.

– We recommend dedicated ethernet RJ45 cabling, separated from other ethernet nodes

– One master per bus

– Hard Real-Time support for servo/motion control, suitable for synchonising multiple slaves

– Maximum number of nodes 65535

– Powering down a single node influences following nodes

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Example different system solutions

Ethernet

PLC-PLCcommunication

between CoDeSys nodes

Modbus RTU

EtherCAT

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Performance – I/O response

• Classic PLC with local I/O:s

• SoftController with fieldbus

Bus task

PLC task

Input signal

Outut signal

PLC detects input, sets output

Input status is read Output status is written

Bus cycle

PLC cycle

PLC task

Input signal

Outut signal

PLC detects input, sets output

Input status is read Output status is written

PLC cycle

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Main differences

– iX TxA/TxB SoftControl and PLC-system• PLC application memory

– iX TxA SoftControl»Nearly unlimited

– iX TxB SoftControl»Unlimited

– PLC»Depends on CPU types/sizes

• Execution of compiled PLC code

– iX TxA SoftControl»Very fast - especially integer/floating point

– iX TxB SoftControl»Outperforms almost any PLC today

– PLC»Compact PLCs, fast handling of especially boolean logic

»Modular PLCs, very fast in general

• Execution of PLC application

– iX TxA/TxB SoftControl»Fixed intervals, defined via tasks in CODESYS project

»Otherwise iX won’t get any time to execute!

–PLC»”As fast as possible”

• I/O communication

– iX TxA SoftControl»Moderate speed via serial Modbus RTU which is not a real-time bus

– iX TxB SoftControl»Real-time performance with EtherCAT

– PLC»Very fast as CPU and I/O is one unit

Time left for iX etc.PLC application

Task interval in CODESYS project

iX TxA/TxBSoftControl FnIO

PLC Loop:- Set output- Read input- TxA approx. 50ms- TxB approx. 20ms

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CoDeSys V3

TxA SoftControl

Create application

TxA-SC

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TxA SoftControl

• Programming tools

– iX HMI application, iX Developer 2.0 (SP1) or later version

– SoftControl, CoDeSys V3.5 SP1 Patch 4 or later version

TxA SoftControl

NA-9173

NA-9473

SoftControliX HMI

application

COM 2

(RS-485)

Ethernet

See StartUp KI00326 and KI00327

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TxA SoftControl

• Communication: iX HMI to TxA SoftControl and remote I/O

– Driver 1: iX HMI application <--> TxA SoftControl (CoDeSys

Control Direct Access)

– Driver 2: TxA SoftControl <--> Remote I/O (Serial Modbus

RTU) (COM 2, RS-485 / COM1, RS-232)

NA-9173

NA-9473

TxA SoftControl

SoftControliX HMI

application

Driver 1 Driver 2

COM 2

(RS-485)

iX-driver

“Direct

access”

“Modbus”

See StartUp KI00326 and KI00327

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iX Developer – Add TxA Softcontrol

• TxA Softcontrol – product from Beijer Electronics Automation AB

– To get the TxA SoftControl terminals in iX Developer=> Run the file: “TxA SoftControl Setup.msi”

• Double click on the “TxA SoftControl Setup.msi” file to install

• Note, latest file version can be found on Beijer Electronics Support web page Help online, use “Start-up: iX TxA SoftControl, Basic setting (KI00326)”

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iX Developer – Install/Update driver

• Install the driver “CODESYS SoftControlDirectAccess”

– Most common using “Update Drivers From Internet”

• Install / Update driver from Internet

– Run iX Developer as Administrator, open any project

– Click on the symbol under “iX” in the

upper left corner of the program

– Select “Update Drivers”,

then “Update Drivers From Internet”

– Select CODESYS SoftControlDirectAccess, download!

– Once installed, re-start iX Developer

• Install / Update driver from File

– Browse to the location where the

driver is downloaded then highlight the driver file

“CODESYS_SoftControl_Direct_Access_Pre2.mpd”, press “Open”

– Highlight the driver in the new window, press “Install”

– Once installed, re-start iX Developer

Driver version: see StartUp KI00326

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CoDeSys – Professional user

• Change to Professional user, to get all features available

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CoDeSys – TxA-SC to CoDeSys

• Install TxA SoftControl to CoDeSys

– TxA-SoftControl_Vxxx.devdesc.xml

TxA-SoftControl_V3_5_1_40.devdesc.xml

See StartUp KI00326

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CoDeSys – Programming

• Standard project

– Meny File and New project

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CoDeSys – Important Settings

• Boot after Online Change

or Restart of TxA-SC

– Create Boot application

– Highlight the “Application” option

in the “Device” window and right

click at “Properties”

• Auto Save Project

– Meny “Tools/Options”

– Function to

automatically save

project after a

specific time

See StartUp KI00326

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CoDeSys – Project Archive

• Project Backup

– All files in the project are stored in a “Project Archive file”

– Save/Send for backup

– Extract Archive for restore the project

Note!

Always use “Project Archive file” to open the project in other computer!

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CoDeSys – Important Settings

• Compiler Version, for TxA-SoftControl use 3.5.1.40

– Menu selection “Project/Project Settings”

See StartUp KI00327

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CoDeSys – BusTask

• Add a task for update the I/O

– Right click at “Task Configuration”

– Add Object “Task”

– Name “BusTask”

– Interval “10ms” = T#10ms

• Add the BusTask to “PLC setting”

– Double click at “Device (TxA SoftControl)” and set like the picture

T#10ms

See StartUp KI00327

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CoDeSys – Communication to Remote I/O

• Modbus RTU

– Modbus_COM

- A serial COM Port

– Modbus_Master_COM_Port

- A device that works as a Modbus Master on a serial COM Port

– Modbus_Slave_COM_Port

- A generic device that works as a Modbus Slave on a serial bus

• Modbus Com Ver 3.4.0.0,

communication to Crevis remote I/O

• Modbus Master Ver 3.5.1.0,

communication to Crevis remote I/O

• Modbus Slave Ver 3.5.1.0,

communication to Crevis remote I/O

See StartUp KI00327

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CoDeSys – Driver, Modbus Master

• Modbus_COM

– Right click at “Device

(TxA SoftControl)”

– Add device

“Modbus COM”

– Ver 3.4.0.0

See StartUp KI00327

Modbus Com Ver 3.4.0.0

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CoDeSys – Driver, Modbus Master

• Modbus_COM_Port

– Right click at

“Modbus_COM”

– Add Device

“Modbus Serial Master COM Port”

– Ver 3.5.1.0Modbus Com Ver 3.5.1.0

See StartUp KI00327

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CoDeSys – Modbus Slave

• Modbus_Slave_COM_Port

– Right click at

“Modbus_Master_COM”

– Add Device

“Modbus Slave, COM Port”

– Ver 3.5.1.0

Modbus Slave Ver 3.5.1.0

See StartUp KI00327

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CoDeSys – Setup com port

• Setup for NA-9173 / NA-9473

• Modbus_COM

– COM 2, Baud Rate 115200, 8 Data Bit, None Parity, 1 Stop Bit

• Modbus_Master_COM _Port

– Set ”Frame” to 1 ms

See StartUp KI00327

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CoDeSys – Setup com port

• Setup for NA-9173 / NA-9473

• Modbus_Slave_COM_Port

– Set Slave adress to 1

See StartUp KI00327

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Hardware - TxA-SC - Remote I/O

• Connection

– Use CAB112

NA-9173

120 120

TxA-SC

See StartUp KI00327

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Hardware – NA-9173

• Set the slave address to 1

- MSD (X10) set to 0

- LSD (X1) set to 1

• Switch Setting

– Baud Rate 115200

Enable Watchdog

8 Bit

None Parity

1 Stop Bit

RTU mode

See StartUp KI00327

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Hardware – NA-9473

• Set the slave address to 1

SW1: Slave 1-15

• Switch Setting

– SW2:

Baud Rate 115200

RTU mode

– Fixed:

8 Bit

None Parity

1 Stop Bit

See StartUp KI00327

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CoDeSys – Config the Remote I/O

• Example

NA-9473, ST-3702,

ST-1218, ST-2324

• Read and Write area

–3 register In

–1 register Out

• Start adress (offset)

–Read area 0x0000

–Write area 0x0800

• Function Code

–Read/Write Multiple register

(Function Code 23)

See StartUp KI00327

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CoDeSys – Config Remote I/O

• Config Slave

– Function code 23, Cyclic time: 0 ms, Read/Write area

See StartUp KI00327

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CoDeSys – Config Remote I/O

• Config Slave

– Update all I/O

See StartUp KI00327

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CoDeSys - Variables

• Global Variables

– Create a Global variable list

Textual

Tabular

See StartUp KI00327

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CoDeSys - Persistent Variables

• TxA-SC support Persistent Variables

See StartUp KI00327

• Add Persistent Variables…

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CoDeSys - Global Variable

• Write Global variables, for programming and export to iX HMI

See StartUp KI00327

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CoDeSys - Persistent Variable

• Write Persistent variables, for programming and export to iX HMI

See StartUp KI00327

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CoDeSys – I/O Mapping

• Connect variables to Modbus Generic Serial Slave

See StartUp KI00327

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CoDeSys – PLC program, example

See StartUp KI00327

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CoDeSys – PLC program, example

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CoDeSys – Compile project

• Rebuild the program

• View Error, Warning, Message

– Example

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CoDeSys – Export variables to iX HMI

• Create a “XML” file (variables to iX HMI)

– Add Symbol configuration

– Created/updated when

- Generate code

- Transfer project to TxA-SC

• The file are saved in same directory

as the CoDeSys project

• Select Global and Persistent variables

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CoDeSys – Transfer project to TxA-SC

• Gateway, PC to HMI

– Check that Gateway is active in systray, then Scan network

– The last “group” in IP address (in this example 07)

– Set active path

• Download the project

– Login [Alt+F8]

• Start [F5] the SoftControl PLC

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CoDeSys – Monitor

• PLC Program, GVL, I/O…..

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CoDeSys – Monitor

• Watch window

– Ex, Modbus Slave communication error flags (xError)

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iX Developer – New Project

• Select the terminal T7A SoftControl

• Driver: CoDeSys / SoftControl Direct Access

• Change the driver name..

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iX Developer – Example project

• Open project from “USB”

“iX_T7A_SC_NA9473.neoproj”

• Save Open project in

directory \MyProject\

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iX Developer – Import variables

• Import variables from CoDeSys project

• Connect the “xml file”

• Select “Import” and “all Items”

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iX Developer – Test of application

• Download iX-project to T7A-SC!

• Test application!

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Performance

1. Number of I/O on Screen, Alarms, Poll time, Trends, Screen jump

2. “Direct access” the driver between iX and PLC

3. PLC scantime

4. Modbus driver, serial communication with remote I/O

5. Crevis FnIO bus-time, ie. reading /writing of I/O modules

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Performance

1. Number of I/O on Screen, Alarms, Poll time, Trends, Screen jump- Every I/O that changes status => Image is redrawn!- Mean value in the PLC decreases the CPU load

2. "Direct access" the driver between iX and PLC- Update controlled by the poll time

3. PLC scantime- Program size, type of instruction…- Task type (Cyclic, Event or Freewheeling)

4. Modbus driver, serial communication with remote I/O

- BusTask (update of I/O)- Communication speed to remote I/O

5. Crevis FnIO bus-time, ie. reading /writing of I/O modules - Number of I/O modules

• The CPU load is affected by

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Performance – iX TxA-SC (NA-9173)

Note! - Scan time 0,5 ms are equivalent to approximately 30 k program step in a small PLC

- Scan time 1.0 ms are equivalent to approximately 60 k program step in a small PLC

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Remote I/O ”BusTask” ”I/O RAM” CoDeSys ”Task”Timeline

10 ms

20 ms

30 ms

40 ms

I/O Refresh

Tab4_TxA-S

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Performance – iX TxA-SC (NA-9173)

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Performance

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Performance – iX TxA-SC (NA-9189)

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