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1. gt gt DBADAALA AALAAAAAALAAAALAALAALA ESS LADA DSL LP LSI SILI III I SI LINE DLL LD LOS LL NE NSA NI NIN NS Example logigramme sample14 agn The flow chart example shows the use of different blocks the assignment block associated to key 0 to the left of the action rectangle the no block associated with key 1 which complements a signal and the test fixing blocks and And and Or functions autoSIM 337 Copyright 2011 SMC S S User manual NII PEN IRL ANOS L L AS A CES ESO OLEO ASL A PE SG ESO ONO ESO L L LS A PSG L ALEE LA ESAS bp depart de cycle le fin de cycle bp manuel S gt gt gt S gt MOTEUR S gt gt gt gt tape 1 s curit 1 LLL s cutit 2 PPP P PPP APL IP PPP PPP PPS IP AISI IS IAS I PS I NP NPIS PN PS ES SE NS SI NP NS SIS SINE Gi Example logigramme exempl1 5 agn In this example a Grafcet and a Flow Chart are used together The symbol _step1_ used in the flow chart is associated to variable x1 This type of programming clearly displays activation conditions of an output autoSIM 338 Copyright 2011 SMC SN ger manual O Literal language box d A A A A A A A A A AS A LA A A A A LA A A ASS ESS DS SDS D D D D D D D D D NEON NEN NI NNN NSN NEN NEN EN ENE NEN SENSE SENN ENE PP P P PS S S S SS SAS m200 est utilis comme index res _flag une entr e est
2. the transition in step 100 and step 110 is made up of a test on input 0 gt step 110 activates the time delay 0 for a duration of 10 seconds this time delay is used as a transition between step 110 and step 120 step 120 activates outputs 0 1 and 2 the complement of input O will be the transition between step 120 and 100 autoSIM 325 Copyright 2011 SMC Y F Y SMC User xamplelgrafcefisample2 agn This example shows the use of Or divergences and convergences The number of branches is not limited by the size of the sheet It is a non exclusive Or by standard For example if inputs 1 and 2 are active then steps 120 and 130 will be set to one autoSIM 326 Copyright 2011 SMC SN ger manual O Grafcet with an AND divergence 100 This example shows the use of And divergences and convergences The number of branches is not limited by the size of the sheet Also note the following points a step may not lead to an action case of steps 100 120 and 140 D orders S and R were used with output 02 steps 160 and 180 the transition between step 160 and 170 is left blank so it is always true the syntax 1 could also have been used autoSIN 327 OCopyright 2011 SMC O SN ger manual Grafcet and synchronization ESO SESS N OS NOI NOS SONOS SE
3. niveau haut of niveau s curit NAAA AAAA AAAA AAA AAAA AAAA ASAAN s PV AA ON ANA AN NAN NAN AN ANT ANNE AN ANA ANA AVR A NAN A ANR AN ANA ANR SN ANA AN AN ANA ANR AN ANA ANR AN A ANA AN AANS A la examples grafcet grafcet agn Counters We are going to use an example to describe the use of counters Conditions A locomotive must make 10 round trip journeys on track 1 stop for fifteen seconds and start again autoSIM 221 Copyright 2011 SMC SMC User manual Solution OOOO ENEE ON ENEE ON AN NENI EXXON N INN INN III ONO OOOO ENEE NAS O 15s x4 PAUSINI ONIX ONES NESE SESA NESA SESE NESA SESE NESE SESA NESE SESA NESE SESA NESES NESIS SASEA SESE SESE SESE SESE SESE SESE SESA NP NEN NP WE NE NS NE NE SEN ES ANA ANA NAN INA NAN NN NAN NAN NN NAN NN NN NN NN NN NN NN NN NN NN NN STPS NN NN NN PSSS PSSS PINE SISI ISI IIS IN IN Gemma AUTOSIM implements the Grafcet description of run mode management in a Gemma form The main feature is an editing method open to the Grafcet mode It is possible to go from the Grafcet editing mode to the Gemma editing mode The translation of a Gemma into a Grafcet run mode management is therefore automatic and immediate autoSIM 222 Copyright 2011 SMC NM User manual P C HORS ENERGIE Ed Production normale gt _DEPART_ Lancement du Graf cet de productio O7 lt Marche ou arr t en v
4. No piloting Bistable piloting Numerical piloting C AUTOMSIM D Mini 0 0000 Maxi 0 0000 Time to runin ms 0 0000 0 0000 Detection Mini sensor Masi sensor E Other sensor 0 0000 Other sensor o 0000 Other sensor 0 0000 Cancel Other sensor 0 0000 Properties of a translation Name The first area is used to enter a generic name for the translation This name appears in the list of the IRIS 3D configuration window it is only used for comments and can be left blank autoSIM 135 Copyright 2011 SMC O SMC Axis User manual Establishes the dimension to be applied to the translation Type autoSIM without driving no translation this is used to make a translation inoperable without needing to delete it to run tests for example bistable driving two boolean variables the translation is driven by two boolean variables the first drives the translation in one direction from min to max the second in the other direction from max to min State of the first State of the Object variable second variable 0 0 Immobile 1 0 Translation of min to max 0 1 Translation of max to min 1 1 Immobile monostable driving a boolean variable drives the translation if the variable is true Variable state Object 1 Translation of min to max 0 Translation of max to min numeric driving the position of the object
5. click with the left side of the mouse on the upper left corner of the functional block then enter the name of the functional block which must not be more than 8 characters the ZON and LIB files must bear this name then press ENTER autoSIM 314 Copyright 2011 SMC S User manual TEST if additional boolean inputs are necessary a block must be used key or L key the added inputs must be located right below the first input no free space should be left if additional boolean outputs are needed a block must be added i key gt or key the added outputs must be located right below the first output no free space should be left the interior of the block can contain comments or parameters the parameters are written between braces Everything not written between braces is ignored by the compiler lt is interesting to indicate the use of boolean inputs and outputs inside the block 5 when the block is finished the command Select must be used from the Edit menu to select the drawing of the functional block then save it in the ZON file with the Copy to command from the Edit menu Creating an LIB file The LIB file is a text file containing instructions in literal language low level or extended These instructions establish the functionality of the function block A special syntax is used to refer to block bool
6. IF 11 THEN 22 122 1 ENDIF a S Teste la borne maxi IF 2 1 5 THEN S 00 1 S 2 0 ENDIF ELSE E 00 0 ENDIF A O autoSIM 342 VAN NAVAVA VA VA VA VA Va va NANNINI NANANA ANS ENS VA VA VAN PAPAS N AVA A A A A A A A A A A A A A A A A A A A A A AA A DAS A SA DA SAS AS A DA SAS SDS SAS SLA SAS count lib included in project resources Copyright 2011 SMC SN ger manual O This example illustrates the use of a function block The functions of the COUNT block that we have defined here are as follows D the count will start from an init value and will finish at a maximum limit value while the count value waits for the maximum limit it will be set the initial value and the block output will pass to one during a program cycle the block will have a RAZ boolean input and a count input on the rising edge Function block EN ELI SLIS AE SAA EN EN EN SESE NEE SEEN SEEN AOS EASL EL ASL EN ONES ONES SENSE EEN gt OU_E y 7 ps o PPPPPIPIPL IPI POI BINION NA VAN A VA A A a a A a A A A ANA A A a a ae fa Example bf sample21 agn Ou exclusif neq 00 orr i0 eor i1 orr i0 eor i1 ou_exclu lib included in the project resources This second example of a function block shows the multiple use of the same block The EXCLUSIVE_OR block creates an exclusive or between the
7. PPP IP PPP DIP PPD PDP VA VA VA VA VA VA VA VA VA VA VA VA VA ID VA DISD VA AV ANA VA VA Vi VA IS ITI VA VA A A Na a a a a ae la Example lit low level literal 2 agn 297 Copyright 2011 SMC PE 24 SMC User manual Another example Conditions Make all of the model lights flash Solution AAA AAA AAA AAA AAA LADA DLL IONES NI NEN SEN SNA N ESN NON ION NEN SEN NEN NE NE NNN NEN OOO OOOO INN NON LA table contenant l adresse de tous les feux _table_ 123 _sld_ _sli_ _s2a_ _s2b Susi t s3d_ 7 831 6S4a s4b Se 7 s5i Pos bay 604 Pus 64 8 2_ aTi r s1d s8d_ 7 s8i Se 1 initialise l index sur le debut de la table ida _table_ sta _index_ boucle la valeur 1 marque la fin de la table jmp fin and m _index_ 1 sta _index2_ inv o _index2_ inc _index_ jmp boucle inverser la sortie lda m _index_ NAN AN AN AV AN AN AN NINN ANNAN AN Et ENE EN EE NE NEN NE NE NEE ins LLCICOOLISELSCOLSSCLISOLSLESCISIISILSEOLSIISEOLSLISELSLISILSEOLSIEISIOLSLISELSLIILSCOLSISIVIISIISISISIN lt NPA A VA A A A A VA VA VA VAVAVAV EVA NENE NENE NENESE NENESE SANE VAN A VAN A VA VAN ANA VAN AV AV AN A VA VAN EVA VAN AV AN AN AVANV AN A NAN AN AV AV AN ANA VAN A VAN ANA AN ANA INA A A la Example lit low level literal 3 agn This example shows the use of presettings They are used here to create a variable address table The table contains the addresses of a
8. or SHIFT must be added to the beginning For example CTRL F4 or SHIFT Z The TAB key is used to access this object If this is not checked then the TAB key cannot be used to activate the object Advanced techniques Dynamic object linking This possibility is used to momentarily link one object to another The Position and Position parameters which manage the horizontal and vertical position are used in a special way for linking one object to another These two parameters must contain the name of a numeric variable M The Position variable must contain the f000 value hexadecimal and the Position the identifier of the object to be connected The Position variable is reset once the connection has been made To cancel the object connection the value f001 hexadecimal must be put in the Position variable See chapter Example of operating part simulation 1 Interchanging parameters between two objects A object can access the parameters of a sister object by using the key word SISTERPARAM The syntax is SISTERPARAM identifier of the sister object parameter parameter can assume the following values STATE object state Aspect Color Filling value autoSIM 86 Copyright 2011 SMC rg Y SMC User manual STATE same as above but with negative value POSX position on horizontal axis POSX same as above but with negative value POSY position on y axis
9. sets counter 0 to 0 275 Copyright 2011 SMC SMC RET O Name Function Variables Addressing Also see Example autoSIM User manual RET return indicates the return of a sub routine and places a word or a constant in the 16 bit accumulator or places a long or a constant in the 32 bit accumulator or places a float or a constant in the float accumulator M or MW L or MD F or MF absolute indirect immediate JSR ret 0 returns to a sub routine by placing 0 in the 16 bit accumulator ret f200 returns to a sub routine by placing the content of 200 in the float accumulator 276 Copyright 2011 SMC O SMC RFC Name Function Variables Addressing Also see Example autoSIM User manual RFC read flag carry transfers the carry indicator in a boolean variable Tor 1 O or Q B or M T or T X or X U absolute REZ RES RFO rfc o0 transfers the carry indicator to 00 Ida m200 ada m300 sta m400 rfc b99 Ida m201 ada m301 sta m401 inc m401 and b99 effects an addition on 32 bits m400 401 m200 201 m300 301 m200 m300 and m400 are lower weights m201 m301 and m401 are higher weights 277 Copyright 2011 SMC SMC RFO O Name Function Variables Addressing Also see Example autoSIM User manual RFO read flag overflow transfers the contents of the overflow indicator in a boolean variable Tor
10. 16 bit counter can be initialized increased decreased and tested with boolean literal language languages without using For information on the system words see the manual on the environment 16 bit words for general use Integer value of 32 bits Real value of 32 bits format IEEE Time delay is a combined type which groups two boolean variables launch state end state and two numeric variables on 32 bits procedure and counter autoSIM 178 Copyright 2011 SMC SMC User manual The following model shows a time chart of time delay functionality O launch state end state count value A time delay procedure value is between O ms and 4294967295 ms a little over 49 days The time delay procedure can be modified by the program instruction STA The time delay counter can be read by the program instruction LDA autoSIM 179 Copyright 2011 SMC SMC User manual O Actions are used in Grafcet language action rectangles flow chart language action rectangles a sk A ladder language coils L 1 Assignment of a boolean variable The Assignment action syntax is boolean variable Operation if the action rectangle or coil command is in a true state then the variable is put at 1 true state if the action rectangle or coil command is in a false state then the variable is put at 1 false state Truth ta
11. Example vuint asc ABCD vuint will contain 65 ascii code of A CHR Provides a string composed of one character where the ASCII code is changed into a parameter Example vstring chr 65 vstring will contain string A STRING Provides a string composed of n characters The first subject is the number of characters the second the character Example vstring string 100 vstring will contain a string composed of 100 spaces STR Converts an integer numeric value into a string representing the value in decimals Example vstring str 100 vstring will contain the string 100 HEX Converts an integer numeric value into a string representing the value in hexadecimals Example vstring str 100 vstring will contain the string 64 LEFT Provides the left part of a string The first subject is the string the second the number of characters to extract Example vstring left abcdef 2 vstring will contain ab autoSIM 94 Copyright 2011 SMC ct Z SMC User manual RIGHT Provides the right part of a string The first subject is the string the second the number of characters to extract Example vstring right abcdef 2 vstring will contain ef MID Provides part of a string The first subject is the string the second the position where the extraction begins the third the number of characters to extract Example vstri
12. SMC User manual O Selecting targets in expert mode At the bottom of the browser window there is a Targets tab allowing access to the list of post processors installed The active target is indicated with a red tick Access to targets displayed in grey is not authorized for the license installed see the Licenses chapter for more details To change the current target double click on the corresponding line The targets shown in this list are the ones selected at installation time If the target you want to use is not shown in this list re launch the AUTOSIM installation and install it Palettes At the bottom of the browser window there is a Palette tab allowing access to program design elements Grafcet elements The palette gives a set of elements that can be selected and placed on the sheets To select an element left click with the mouse in the palette expand the selection release the mouse button click in the area selected and move the area towards the sheet The palette also contains the list of symbols for the project You can grab them and drag them onto a test or an action on a sheet a A magnifying glass is automatically shown when the elements displayed are small autoSIM 7 Copyright 2011 SMC O Displaying or hiding the project window or message window Select the Project or Messages option from the Window menu Displaying the work space in fu
13. Texts Help text and bubble text Bitmap tab Bitmap If the console background contains a bitmap see Aspect tab the editing area must contain a complete access name to a BMP file 16 color 256 color and 24 bits formats are supported The SCAN and EDITOR pushbuttons are respectively used to search for a BMP file and edit a file with WINDOWS PAINTBRUSH software Links tab Data for sister objects This editing area is used to set parameters that sister objects can access with the key word PARENTPARAM One setting per line must be written Each setting must comply with the following syntax PARAMETER VALUE autoSIM 62 Copyright 2011 SMC tS SN a ger manual o This is used to set a grid invisible for positioning objects Only the Move command on the console integrated menu uses the grid Grid values are expressed in number of pixels Values 0 and 1 cancel the grid effect This function must be used to perfectly align objects Resetting sisters If you check Continue to reset sisters you establish that the sister must continue to be updated when the console is changed to an icon This option is used when it is not selected to increase system performance when a console changed to an icon only contains visual elements Sisters This section contains the list of console sister objects The Properties pushbutton is used to directly open
14. arret urgence NAAA AN ANA NAN AN AN AN AN AN AN ANA VAN AN ANANANANANAN AN AN AN AN ANA VAN AN ANA VAN AN ANANA NAN AAAA AN ANA NANANAN ANA NAN AN ANAN ANA VAN AN AN AN AN AN AN AN AN AN AN AN AN AN AN AN AN AN ANA NAN AN AN AN ANAN AN AAAA AAAA AAAA ANA VAVA VA VA ANA VA A VA VA VA VA ANA ANA VA VA A VA VA A A Aa A A ANA A A A A ANA A A ANA A A ANA ANA A A ANA A A ANA A A ANA ANA ANA ANA NA A AN ANA A AN A ANA ANA AN ANA A ANA A A ANA A A ANA ANA NA A ANA A A ANA x SAA AVE VA IV A A A ANA A A A A ANA SIN ISSN IN AN AAA ANR AN ANA ANR A I ANA ANR AN A ANA AND AN ANA AN SR A A AR la example grafcet force1 agn Note the use of command B104 which makes it possible to reserve four consecutive bits U100 to U103 to memorize the state of the two Grafcets emergency stop_ was associated to a bit U1000 Its autoSIM 212 Copyright 2011 SMC rg 24 SMC User manual state can thus be modified starting from the environment by clicking below when the dynamic display is active Solution 2 XUXA INON INI INI NIN SIE NI SEN SIN ANA Nh NSE ION NSE SENN NNN NSE NNN OOO OOOO INN INN PLAT lt 2 Z 2 gt B104 r serve 4 bits pour la m morisation de l tat des Grafcets lt lt lt lt lt lt lt lt locomotive 1 locomotive 2 lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt
15. ct Z SMC User manual numeric Variable test type constant or numeric variable The test type can be equal D or lt gt different lt less than not signed D gt greater than not signed lt lt less than signed D gt gt greater than signed lt less than or equal to not signed D gt greater than or equal to not signed lt lt less than or equal to signed gt gt greater than or equal to signed A float can only appear with another float or a real constant A long can only appear with another long or a long constant A word or a counter can only appear with a word a counter or a 16 bit constant Real constants must be followed by the letter R Long constants 32 bits must be followed by the letter L 16 or 32 bit integer constants are written in decimal by default They can be written in hexadecimal suffix or 16H gt or in binary suffix Or 2H Numeric variable tests are used in equations like boolean variable tests They can be used with test modifiers as long as they are in parentheses Examples m200 100 smw1l000 16 abcd c10 gt 20 c10 lt 100 200 201 m200 m203 md100 md102 200 3 14r 1200 12345678L m200 lt lt 100 m200 gt gt 1000 smw500 lt 12 autoSIM 191 Copyright 2011 SMC O SMC User manual m200 4
16. plus 1 to 5 digits 0123456789 O Hexadecimal the prefix or 16 followed by 1 to 4 digits 0123456789ABCDEF Binary the prefix or 2 followed by 1 to 16 digits 01 ASCII two characters per word the character followed by n characters followed by ASCII one character per word the character followed by n characters followed by For longs the following syntax must be used Decimal possible the character plus 1 to 10 digits 0123456789 Hexadecimal the prefix or 16 followed by 1 to 8 digits 0123456789ABCDEF gt Binary the character or 2 followed by 1 to 32 digits 01 ASCII four characters per long the character followed by n characters followed by ASCII one character per long the character followed by n characters followed by For floats the value must be written in the following form i d Esx i is the whole part d a possible decimal part s a possible exponent sign x a possible exponent Examples t25 100 fixes the time delay order 25 at 10 s SMW200 100 200 300 400 places the values 100 200 300 400 in the words 200 201 202 203 m200 ABCDEF places the string ABCDEF starting from m200 AB in m200 CD in m201 EF in m202 m200 ABCDEF autoSIM 241 C
17. Gauge print direction This establishes one of the four possible directions for the gauge Sensor tab The OBJECT object can be used as a sensor The sensor is associated with a boolean variable where the result is true if the sensor is in contact with one or more of the preset colors see below otherwise it is false Detection position This is used to set the side of the object which must be detected Detection is effected on the two edges of the selected side Example for detection from below Detected colors A sensor is capable of detecting up to three different colors If one of these three colors is at the test points then the boolean variable associated to the sensor see chapter Links tab is positioned at 1 otherwise it is positioned at 0 The three editing areas can contain a color setting in the format of three values between O and 255 which respectively correspond to the autoSIM 85 Copyright 2011 SMC ot SN A ger manual percentages of red green and blue The percentages of these three colors must exactly correspond to the colors of the object to be detected in order for the sensor to work Options tab Key Set a key used to simulate a click on an object Different syntaxes can be used to set the key code e asimple character For example A Z 2 e the character is followed by hexadecimal key code e the name of a function key for example F5 For combinations of keys CTRL
18. J Invisible Detectable J Light m Transparency J 0 8000 3D Objects zl FN Display as tree cylinder with sensors 3 yu i Befresh Center on selected object Add all m Physical engine Notused Fixed Use gravity Moving object Objectform Boy C 10000 Mass 10000 Friction J 0 0000 Restitution Sphere Capsule Apply physics FN Execute automatically The object s position and orientation can be modified autoSIM 123 Copyright 2011 SMC O SMC Exporting an Enhanceo object User manual To export an object right click with the mouse on the object and select Export The linked objects and all of the behaviors are saved IRIS 3D ud m Position 3D Objects M Display as tree yl y 0 0000 Add a translation i Jooooo Add a rotation Add a colour change m Axis position of rot FES 10 0000 de n Add another behaviour y 0 0000 2 0 0000 Erase Rename m Rotation on radian Parameters list 5 13 1416 z i5708 PEE fi 0000 es Refresh Center on selected object CIE Texture z Add Add all 10 F Invisible Detectable Min Light m Transparency o s000 Max 10 m Physical engine Notused J 10000 Mass a Fined 10000 Friction Apply physics U it RE TEES J 00000 Restitution C Moving object FN Execute automatically
19. POSY same as above but with negative value POSX STATE position on horizontal axis plus state POSX STATE position on horizontal axis minus state POSY STATE position on vertical axis plus state POSY STATE position on vertical axis minus state Details of Sound object Aspect tab Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Name of sound files Complete access name to WAV files Associated variables The boolean variable associated to each sound Details of Dialogue box object Aspect tap Type of box This is used to select the various controls present in the dialogue box only one OK button two buttons OK and CANCEL or two buttons YES and NO Icons This is used to select the icon that will appear in the dialogue box There are four different icons but it is possible not to display any of them It is also important to note that a special system is associated to each icon See the section on the BEEP option for more information on the subject autoSIM 87 Copyright 2011 SMC rg 24 SMC User manual Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Beep This is used to specify if the dialogue box display must be accompanied by a sound warning Title This is used to specify the title of the dialogue box Message t
20. Set the characteristics of the new folder its size its name plus OK any comments You can edit all of these later Cancel autoSIM 23 Copyright 2011 SMC O SMC User manual Importing old AUTOSIM version sheets importing CADEPA sheets With the right side of the mouse click on the Sheets element on the browser then select Add one or more existing sheets Importar uno o varios folios Buscar en C2 Mis documentos y CA Dell WebCam Central Documentos IBM recientes a Mi m sica A Mis im genes er Imis videos Escritorio My Virtual Machines Vegas Movie Studio HD Platinum 11 0 Proyectos 5 Mis sitios de red Tipo Folio AUTOSIM gr7 v Cancelar Selecting one or more sheets to import From the Type list select AUTOSIM or CADEPA for the sheet type to import then click on OK There are some restrictions for importing CADEPA sheets the step numbers must be individual the same step number cannot be used on multiple sheets references must be converted with links to CADEPA before being able to import them By keeping the CTRL key pressed down you can select multiple sheets Modifying the sheet compilation order The sheets are compiled in the order they are listed in for the project To modify this order click on the sheet with the left side of the mouse on the browser and move it in the list autoSIM 24 Copyright 2011 SMC O SMC Use
21. gt or F lt sheet name gt lt Bit N gt Sets the Grafcet s with a memorized state to start from the specified bit The step number designated by the Grafcet can be preceded by an X It is also possible to associate a symbol to a step name The bit number can be preceded by U or B A symbol can be associated to the first bit of the state storage area Example G0 100 memorizes the current state of Grafcet 0 F0 100 and resets that state Fixing a Grafcet Syntax F lt Grafcet gt or F lt sheet name gt Fixes a Grafcet s no evolution of these is permitted Example lt lt F1 00 gt fixes Grafcet 100 autoSIM 210 Copyright 2011 SMC ct Z SMC User manual F production fixes the Grafcets on the production sheet An illustration of setting is shown in the example below Conditions Let s look at a previous example the round trip of two locomotives on tracks 1 and 3 this time with no delay between the locomotives and let s add an emergency stop When the emergency stop is detected all the outputs are cleared When the emergency stop disappears the program should start where it stopped autoSIM 211 Copyright 2011 SMC rg 24 SMC User manual Solution 1 AAA SS SSA ARNM O NN NAO Ne B104 r serve 4 bits pour la m morisation de l tat des Grafcet locomotive 1 locomotive 2 gestion de l arr t d urgence F10 F30
22. multiplication equivalent to instruction MLA division equivalent to instruction DVA It is possible to indicate the constant in float equations If this is necessary use the presettings on floats Equations on floats can call up the SQR and ABS functions Note depending on the complexity the compiler may use intermediate variables These variables are the words m53 to m59 for 16 bit integers the longs 153 to 159 for 32 bit integers and the floats f53 a f59 Examples and equivalencies with low level literal language M200 10 lda 10 sta m200 M200 m201 lda m201 sta m200 M200 m201 100 lda m201 ada 100 sta m200 M200 m200 m201 m202 lda m200 ada m201 This character is normally associated to the ALT 6 keys on keyboards autoSIM 301 Copyright 2011 SMC O SMC User manual sba m202 sta m200 M200 m2008 00 lda m200 ana ff00 sta m200 F200 201 lda 201 sta 200 F200 201 202 lda 201 ada 202 sta 200 F200 sqr 201 lda 201 sqr aaa sta 200 F200 sqr abs 201 100R J lda 201 mla 100R abs aaa sqr aaa sta 200 L200 1201 12345678L lda 1201 ada 12345678L sta 1200 General syntax IF test THEN action if true test ENDIF ELSE action if false test ENDIF The test must comply with the syntax described in the chapter dedicated to boolean equations Only if an action tests true or tests false can it appea
23. 0 res o0 o0 1 10 set 00 and i0 o0 0 10 res 00 and 10 o0 1 10 11 set 00 and i0 and il o0 0 i0 i1 res o0 orr o0 eor il o0 10 neq o0 and 10 o0 10 i1 neg 00 and i0 and il o0 10 equ 00 and i0 o0 10 i1 equ 00 and i0 and il o0 c0 10 equ 00 and c0 10 o0 m200 lt 100 m200 gt 200 equ o0 orr m200 lt 100 eor m200 gt 200 autoSIM 300 Copyright 2011 SMC SMC User manual O Writing numeric equations General equations for integers num variable 1 num variable 2 operator 1 operator n 1 num variable n The equations can contain various levels of braces for indicating the evaluation order By default the equations are evaluated from left to right Operators for 16 and 32 bit integers can be gt addition equivalent to instruction ADA y subtraction equivalent to instruction SBA multiplication equivalent to instruction MLA division equivalent to instruction DVA lt shift to left equivalent to instruction RLA gt shift to right equivalent to instruction RRA amp And binary equivalent to instruction ANA Or binary equivalent to instruction ORA Exclusive or binary equivalent to instruction XRA Operators for floats can be addition equivalent to instruction ADA subtraction equivalent to instruction SBA
24. Copyright 2011 SMC ZZ SMC Interactions between SIMULA objects and the IRIS2D User manual supervision objects How can a link be made between an IRIS2D pushbutton or switch and an SIMULA pushbutton or switch Properties E xj m Reference Desionati Suppher Properties of a PBLIGHT object 114 02 xj soe ve y autoSIM 162 Copyright 2011 SMC O SMC User manual How can a link be made between an SIMULA object and an IRIS2D indicator light As 1 DE l a Reference Designation Suppher Br Properties of a PBLIGHT object 4 02 Cl Comments note that the SIMULA variables are considered as numerical variables It is therefore necessary to write su 1 autoSIM 163 Copyright 2011 SMC rg 24 SMC User manual Drag and drop from an SIMULA variable to an AUTOSIM sheet This application is used for example in Beginner mode in order to be able to drag the name of inputs or outputs from the automaton to the AUTOSIM sheet To use this application use a Design type SIMULA object and document the Drag and drop section with the text that could be dragged from the SIMULA sheet to the AUTOSIM sheet Propri t s x Abcd i0 Texte i0 Fonte CR Drag and drop i0 R f rence D signation me Fournisseur Annuler autoSIM 164 Copyright 2011 SMC O SMC User manual Use
25. I3D El long conveyor I3D E long gray conveyor I3D User manual 21x red ball 13D E red box I3D E red case I3D E sensor for blue objects 13D E sensor for green objects I3D E sensor for red objects I3D E sensor for yellow objects I3D E short conveyor I3D E short gray conveyor I3D c driven short gray conveyor I3D E store with cubes I3D E yellow ball 13D E yellow case I3D Vs e AAEE Nom du fichier cylinder with sensors 13D Fichiers de type lis 3d Object i3d y Annuler The browser for selecting enhanced objects Once the object has been selected click on Open A parameter window then allows you to define the variables that will be associated with the object autoSIM 122 Copyright 2011 SMC DEEE x Parameters list Yol Extend cylinder Rectracted cylinder Extended cylinder Value HQI Name Extend cylinder cmi The window for defining the object s parameters User manual In this example for the cylinder the cylinder s piloting variable and the two ends of stroke are to be parameterized The object is then shown in the 3D world and in the list of objects IRIS 3D View Options Camera UDC tte AY IRIS 3D x m Position 8 0 0000 y 0 0000 z 0 0000 m Axis position of rot 10 0000 y 0 0000 EE foomo m Rotation on radian pme s ooo z iso E Size fiocco gt Colour Cr Texture
26. Objectform Box Sphere Capsule After entering a name for the file a dialogue box allows you to assign a name to each variable used in the behaviors and to define whether this parameter can be modified or not when it is re read autoSIM 124 Copyright 2011 SMC User manual Parameters Example of creating a 3D simulation based on enhanced objects Let s create a simulation in a couple of clicks for an operational unit a part destacker Ma Proyecto sin nombre E 8 Folios gg Folio 1 S mbolos HRA Configuraci n 63 Documentaci n HE archivos generados E poe Puesta a punto Telecargar Build HTML files Ctrl Pegar autoSIM 125 Copyright 2011 SMC autoSIM Propiedades del objeto IRIS 3D Open the configuration window Gose the Configuration window 126 User manual Copyright 2011 SMC autoSIM User manual M Wotused Fixed Use gravity Moving object Box E Sphere Capsule 127 Copyright 2011 SMC ot Y SMC User manual Import an Iris 3d Object 2 xj Regarder dans E 3d e a EJ Fe blue ball 13D red ball 13D ee lec blue box I3D red box I3D Mes documents fee blue case I3D red case I3D r cents Mes documents on BL Poste de travail sensor for blue objects I3D sensor for green objects 13D sensor for red objects I3D sensor for ye
27. User manual For example Properties i 3 x min Symbol mir The sensors can also be positioned directly on the SIMULA sheet For example 01 ca The gray circle associated with the sensor objects must coincide with the gray dot located on the piston or the cylinder shaft so that the sensor is activated autoSIM 159 Copyright 2011 SMC rg Y SMC User manual As seen above the symbols used in the SIMULA objects allow information to be exchanged between the objects Where you want to communicate solely between SIMULA objects these symbols cannot be the names of either AUTOSIM variables or AUTOSIM symbols If you use the name of an AUTOSIM variable or an AUTOSIM symbol these AUTOSIM objects reference the AUTOSIM variables and may therefore depending on the actual situation read or write to the automaton application s variables Example extended cylinder retract cyinder rectractec zylinder Senca mini symbol r tra ted cinder Senza maxi symbol erterded cylinder Rod postion symbol Symbol 1 atend eylindsr Tat ana autoSIM 160 Copyright 2011 SMC PE Y SMC User manual Interactions between SIMULA objects and the IRIS 3D operational unit simulator In the IRIS 3D Translations and Rotations behaviors the SIMULA type allows you to reference the position of an SIMULA cylinder object see the example complet2 agn autoSIM 161
28. Y m200 100 1200 100000 1200 100000 Transition text can be extended to multiple lines The end of a transition line must be an operator or A combination of key CTRL Y and CTRL A makes it possible to move the cursor from one line to another Use of symbols Symbols make it possible to associate a text to a variable Symbols can be used with all the languages A symbol must be associated to one and only one variable The symbols are composed of D an optional character _ low dash generally associated with key 8 on the keyboard which indicates the beginning of the symbol the name of the symbol D an optional character _ low dash which indicates the end of the symbol The characters _ enclosing the symbol names are optional They must be used if the symbol starts with a digit or an operator Ll O O It can be a nuisance to have to set the attribution in each symbol and a variable particularly if the precise attribution of a variable number is not very important Automatic symbols are a solution to this problem they are used to let the compiler automatically generate the attribution of a symbol to a variable number The type of variable to use is provided in the name of the symbol The syntax of automatic symbols is as follows _ symbol name variable type _ variable type can be O or Q U or M T C Mor MW L or MD F or MF It is po
29. gt gt gt This example shows the use of an organizational chart for effecting an algorithmic and numeric treatment Here three inputs from a code wheel is read and stored in a word if a validation input is active autoSIM 340 Copyright 2011 SMC S S User manual FOGONES SERENE SL ESL OA SPE SE AL LELE ASL APE SG EL O ASL A SP SG AL A IESO OS ESOS e o 200 m200 ae IF m200 30 Fin de la boucle PAPAL APP PP IPP PPP PP PP PPL IPP SIPS AIP IS IS I NS I NP NPIS PS ENS ENS SI NP NS SES EN SL El Example organigramme sample1 9 agn This second example of an organizational chart creates a loop structure which is used to set a series of outputs 010 to 029 with an indirect addressing o 200 autoSIM 341 Copyright 2011 SMC S S manual User LADA AAA AAA AAA AS LD NINE NI NI NI NNN ENS NE LL LL DLLD LL LL LD LD LD LD D DL DL ALL LR DR A LR AL LA A LA LR ES i16 ROO COMPTAGE p _HR A Z k COMPTAGE VAL INIT 100 BORNE MAX 110 VARIABLE m200 amp soo XIII NIN NIN NI NINN INI NINE NINE NIE II ANI NEN ENE NEN ENE NSE NE NEN SENSE NEN NEN NEN NEN NE NN NE NI NE NSE NE NSE NEN ENE NSE NE NEN EN ENE NEN NEN NI S Gestion de l entr e de RAZ lt IF 10 THEN 22 20 g ENDIF 4 2 Gestion de l entr e de comptage s
30. guelo Haga click en Validate Copie en c digo que aparezca y p guelo en esta ventana haciendo click en Pegar un c digo de validaci n desde el portapapeles Ante cualquier problema contacte con nosotros en training smctraining com CODIGO USUARIO ATENCION ES CERO Y 0 ES LA LETRA HQH2K 125483 UK918 12629 VQNUL UE2BR 81282 AJQLS 4NGKK R8C3R ca Copiar el Pegar un c digo c digo de de validaci n Obtener un usuario en el desde el nuevo c digo portapapeles portapapeles C digo de validaci n O T tt Tf 0 0 1 License registration dialogue box To generate a file containing your user code click on Save user code in a file You can then transmit the file with a8u extension as an attachment and send it to the address training smctraining com autoSIM 10 Copyright 2011 SMC SMC User manual By clicking on Copy user code to clipboard you can then paste the code in the body of the message and transmit it to the e mail address training smctraining com By telephoning 34 945 00 10 33 Be sure to differentiate between the letter O and number zero Be careful of consonants which are difficult to tell apart on the telephone for example S and F Entering the validation enable code If you have received an a8v file by e mail save the file on your hard disk click on Read a validation code from a file and select the file lid
31. manager A network license is characterized by a number of users and a type of copyright number of all or none inputs outputs and useable post processors For each license the number of possible user s number of connected user s and list of connected users using AUTOSIM is displayed in a tree format attached to each license Each license is associated to a port number a numeric value starting from 5000 by default The first port number used can be configured by clicking on Parameters Adding a network license You can add a license by clicking on Add a license The license registration principle is the same as for single license versions autoSIM 13 Copyright 2011 SMC GSMC Modifying a license Double click on the licenses to modify them The license modification procedure is the identical to that used for single license versions User manual Connecting to client stations Click on Connect to a network license to connect a client station to a network license Conexi n a una protecci n red Verifique si el ordenador donde est instalada la protecci n red ha arrancado si la protecci n es v lida y si el gestionador de clave red A4KEY8 EXE se ejecuta en este ordenador Nombre del PC donde est instalada la protecci n es el nombre definido en la red para el ordenador donde se encuentra la protecci n stockage Puerto debe coincidir con el puerto definido en el PC donde se encue
32. source variable or constant ADDV Adds a constant or variable to a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant SUBV Subtracts a constant or variable from a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant Source 2 variable or constant MULV Multiplies a constant or variable by a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant autoSIM 173 Copyright 2011 SMC SMC User manual O DIVV Divides a constant or variable by a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant ORRV Carries out a bit by bit OR between a constant or variable and a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant ANDV Carries out a bit by bit AND between a constant or variable and a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant XORV Carries out a bit by bit exclusive OR between a
33. un_ WHILE _flag une entr e est un_ m200 lt 100 IF i 200 THEN set _flag une entr e est un ENDIF inc m200 ENDWHILE flag une entr e est un flag une entr e est ul gt gt gt gt NAA AAA VA VA A VA NA ANA A A A A VA A ANA A A A A VA A ANA A VA A A VA A ANA A Aa a a a a a a a a a a a a a a a a a a a a a a a a AAAS A fa Example lit sample16 agn This program which associates Grafcet and literal language box is for testing inputs iO to i99 If one of the inputs is at one then step 2 is active and the Grafcet is in a state where all evolution is prohibited The symbol _ flag an input is at one_ is associated to bit u500 An indexed addressing is used to scan the 100 inputs We can also see the simultaneous use of low level and extended literal language autoSIM 339 Copyright 2011 SMC SMC User manual O AOS SSI SOL SSR ONE SL L ES OA SPE SE AL OLEO L L AS A PE SG AL APS ASL A PE SG ESOO IESO ESOS IF _bp validation_ bta _entr e roue codeuse_ fin ana 0000000000000111 sta _valeur roue codeuse_ PPA PP LLLP PPP PPL PP PL PPPS I I IP I IS PS I PNP PS PE NS gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt
34. 1 O or Q B or M T or T X or X U absolute indirect except for X variables EQU SET RES INV neq 00 and 100 sets the output of 00 to a complement state of input 3110 Ida 10 sta m200 neq 0 200 and i0 sets 010 to a complement state of input 10 t0 100 neq t0 and 10 neq 00 and t0 sets 00 to the state of 10 with a deactivation delay of 10 seconds 273 Copyright 2011 SMC SIMIC ORA Name Y Function Variables Addressing Also see Example autoSIM User manual ORA or accumulator effects an OR logic on the 16 bit accumulator and a word or a constant or on the 32 bit accumulator and a long or a constant M or M L or MD absolute indirect immediate ANA XRA ora 1111111100000000 sets the 8 bits of lower weight of the 16 bit accumulator to 1 ora ffff0000L sets the 16 bits of higher weight of the 32 bit accumulator tol 274 Copyright 2011 SMC SMC RES O Name Function Variables Addressing Also see Example autoSIM User manual RES reset sets a boolean variable a word a counter a long the 16 bit accumulator or the 32 bit accumulator to 0 Tor 1 O or Q B or M T or T X or X U M or MW Cor C L or MD absolute indirect except for X variables accumulator NEQ SET EQU INV res 00 sets the output of 00 to 0 Ida 10 sta m200 res 0 200 and 10 sets 010 to 0 if input 10 is at 1 res c0
35. 24 SMC User manual The difference between example 3 and 4 is in the choice of syntax used to set the time delays In terms of operation the result is identical Divergence and convergence in And Divergences in And can have n points It is important to observe the use of the function blocks L Must be a K Must be an M block and not an block and not an L block L block Must be a Q L Must be an O block and not a block and not a P block P block A description of the use of divergences and convergences in And follows Conditions We are going to use two locomotives the first makes round trip journeys on track 1 the second on track 3 The two locomotives are synchronized they wait at the end of the track autoSIM 199 Copyright 2011 SMC rg 24 SMC User manual Solution 1 LADA DAS AS 0 A 2 A LA A A A A A A A A A A LE A LR A RSS SDS D D D LD D LD LD LD NIN NINN ANI NINE NEN NENE NEN ENE NS ENE NINO ENE NEN NEN NE NSD lt lt g lt lt lt lt lt lt lt E 2 lt lt lt g lt lt ES lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt X lt g lt lt lt lt lt lt lt lt lt E lt lt lt lt lt lt E lt lt lt lt lt E ed lt lt lt g l
36. 70 Copyright 2011 SMC O SMC User manual The principle is the same for with keyboard objects the first word of the transmission table contains the number of characters entered on the keyboard the following words contain the characters one per word The application must reset the first word to O when it has used the data The interchange table for the Message box alarm list object has a fixed length of 10 words As is true for the Screen type the first word starts the message display If it is different than O it designates a message number to be displayed Only registered messages can be displayed The first word can also take an ffff hexa value to clear the message box Description of 10 words used for interchanges with the Message box Word 0 represents the first word on the table Word 1 the second etc Word 0 message number to be displayed if O is no messages or ffff hexa to clear all messages Word 1 class number for the message see chapter message classes for a more detailed explanation The following words establish the date and time and can displayed for each message A value equal to ffff hexa asks the object to use the current computer date and time this does not include milliseconds Word 2 day Word 3 month Word 4 year Word 5 hours Word 6 minutes Word 7 seconds Word 8 milliseconds Word 9 reserved put 0 Message classes Message classes are used to classify messag
37. A 22 D AR A 2 AL ASS 2 A2 NI AS la Example fb fb 2 agn 2 This example shows that with the same function block it is easy to make different modules of an operative party function in the identical manner Let s complete our example to illustrate the use of parameters Conditions The two locomotives must make a delay at the end of the track For locomotive 1 10 seconds on the right and 4 seconds on the left for locomotive 2 20 seconds on the right and 8 seconds on the left autoSIM 317 Copyright 2011 SMC GSMC Solution AAA AA AAA RAD OSI DLLD DL LL LL NSE NEN ENE NEN NS NE NNN SESE SESE SESE SASA SASE SSSA NESE NESS NESE NE NS NS SE NEN SASE NI NON NO NO ARATT ZAA AN AN AN AN AAAA AAAA AAAA AAA OD EI OD ED EE OE NA NAN A ANA autoSIM tld eli td ti capteur droit alimentation direction capteur gauche temporisation 1 t0 attente a droite 100 t1 40 temporisation 2 attente a gauche BF aller retour avec attente ARATT capteur droit alimentation capteur gauche direction temporisation 1 t2 attente a droite 200 t3 80 temporisation 2 attente a gauche BF aller retour avec attente 318 User manual VAVAVA A A A VA A VA VA VA ANA VA A A VA A A ANA A A A A A A A A A VA A A ANA ANA A A A ANA A ANA A A ANA A A A A A A A A ANA AT NVAVA VA VA VAN ANA ANA ADA ADAYA VAN
38. F GSMC User manual Colors This establishes the character and graduation color Again here the colors are expressed by their three components red green and blue 0 end value w pere big step A le f6 gt lt le TE dE small step es o start value figure 6 1 Grid tab Displaying the grid This validates or invalidate grid display Not for ordinates This sets the vertical pitch of the grid Not for abscissas This sets the horizontal pitch of the grid The pitch is in Day s Hour s Minute s Second s Millisecond s format J for days H for hours M for minutes S for seconds MS for milliseconds E g 1J E g 2430M15S Color This is used to set a color for each grid The color is in Red Green Blue format E g 255 0 0 Red outline autoSIM 80 Copyright 2011 SMC SMC User manual O Details of Object object Aspect tab Type This is used to set one of the object type aspects e n bitmap aspects the object aspect is provided by a bitmap file which can contain various aspects see the chapter Bitmap tab e n bitmap colors the object aspect is provided by a bitmap file the color is controlled by a processing application variable that replaces the blank pixels of the bitmap The other bitmap pixels must be black The processing application variable provides a color number the colors are set in the Colors tab e gauge bi
39. Solution SESA SENA SINASI SES OPP PIII IOI SL OAS OAS OAS SAS AS SOS SOS ISS IOS INI AIOE AI OE NI ONS SI SANESI N P C HORS ENERGIE 6 lt Mise P O dans tat initial gt A1 lt Arr t dans tat initial gt _AV1_ DVI rambne la locomotive gauche AS lt Pr paration pour remise en route apr s d faillance gt rien pour l instant F1 lt Production normale gt _DEPART_ Lancement du Grafcet de productio lt Marche ou arr t en vue d assurer la s curit gt F_GFN_ RAZ du Graf cet de production VA A A A A A A A A 0 2 0 A 2 D A A AL DLL DLLD LL DL DLLD AANA AAAAAAAAAAAAAAAAAANAN AAA autoSIM 226 Copyright 2011 SMC Arr t dans tat initial H VOYANT INIT A depart cycle Lancement du Grafcet de produ ctio H DEPART fin de cycle Arr t du Grafcet de productio n H FIN fin de cycle obtenu User manual RAZ du Grafcet de production HF GEN arret urgence rien pour l instant 1 ram ne la locomotive gauche H av pvi arret urgence F5 5 editing with Grafcet form autoSIM 227 tii OCopyright 2011 SMC 23 SMC M e User manual Ladder Ladder language also called contact model is for graphically describing boolean equations To cr
40. are possible Optimizing compiler generated code The compiler optimization option is used to greatly reduce the size of generated code This command requires that the compiler manage fewer lines of low level literal language consequently increasing compiling time autoSIM 323 Copyright 2011 SMC rg 24 SMC User manual Depending on the post processors used this option involves an improvement in the size of the code and or the execution time lt is advisable to carry out some tests to determine if this command is of interest or not depending on the nature of the program and the type of target used Normally it is useful with post processors for Z targets Optimizing post processor generated code Each post processor may possess options for optimizing generated code For post processors which generate construction code see the corresponding information Optimizing cycle time reducing the number of time delays on Z targets For Z targets the number of stated time delays directly affects the cycle time Try to state the minimum time delays based on the application requirements Optimizing cycle time canceling scanning of certain parts of the program Only targets which accept JSR and RET instruction support this technique Special compilation commands are used to validate or invalidate scanning of certain parts of the program They are the sheets which define the portions of applications If an application is bro
41. autoSIM 120 Copyright 2011 SMC O SMC User manual Adding objects to the 3D world By clicking on the E element you access the list of 3D objects present in the resources For example corps tige By selecting an object on that list and clicking on Add you add the selected object to the 3D world By clicking on Add all you add all the objects on the list to the 3D world The objects you have added will appear on the list in the configuration window 3D Objects Removing a 3D file from the resources With the right side of the mouse click the 3D file on the browser and select Delete The object needs to be deleted from the 3D world Removing an object from a 3D world Click with the right button of the mouse on the object in the IRIS 3D configuration window and select Delete from the menu Importing an enhanced object Click on the Import button A browser allows you to select the object to be imported autoSIM 121 Copyright 2011 SMC Import an Iris 3d Object Regarder dans E i3d e a Fr Fe Mes documents r cents e Mes documents SE Poste de travail blue ball I3D FE blue box I3D FE blue case I3D E blue yellow I3D cylinder with sensors I3D E cylinder 2 with sensors I3D E driven long conveyor I3D El driven long gray conveyor I3D c driven short conveyor I3D E green ball 13D f green box I3D fs green case
42. goto end end CALL Effects a jump to a subprogram The subject is a string containing the subprogram label Example BEGIN main program call sp END BEGIN subprogram sp print In the subprogram n return autoSIM 97 Copyright 2011 SMC O SMC User manual END RETURN Indicates the end of a subprogram READVAR Reads one or more variables of the processing application The first subject is the processing variable name variable or symbol name The second subject is the variable or 32 bit longs or floats variable table address The third subject is the number of variables to be read If the function is executed with no errors the value of 0 is provided Example readvar i0 amp buff 16 read 16 integers starting from 10 WRITEVAR Writes one or more variables of the processing application The first subject is the processing variable name variable or symbol name The second subject is the variable or 32 bit longs or floats variable table address The third subject is the number of variables to be written If the function is executed with no errors the value of 0 is provided Example writevar o0 amp buff 16 write 16 outputs starting from o0 CMD Executes a command The subject is a string which specifies the command to be executed This function makes it possible to use preset IRIS commands For more informa
43. is the number 0 File name For Meta files this editing area must contain a complete access name to a EMF file User manual Example of a BMP file with 4 aspects The bitmap has transparent areas This option is used to create an object with certain transparent areas the background of the parent console will be displayed The transparent areas are set by pixels of the same color a color established by the three components red green and blue To set these components use the three scroll bars The color must be precisely set exactly the same proportion of red green and blue as the color of the pixels in the transparent areas Colors This area is used for n bitmap colors and n format colors Each line contains the setting for a color The syntax used for each line is autoSIM 84 Copyright 2011 SMC rg 2 SMC User manual proportion of red between O and 255 proportion of green between 0 and 255 and proportion of blue between O and 255 The first line designates color number 0 the second line number 1 etc This area is used for gauge bitmap and gauge format The first line color 0 and the second color 1 establishes the two colors of the gauge active and inactive part Gauge tab Gauge This section is used for gauge bitmap and gauge format The Minimum value and Maximum value establish the limits for the gauge drive variable
44. its expansion the output step has the following property it is involved in the validation of transitions downstream from the macro step D if outside the transitions upstream and downstream from the MS there is no input structural connection on one side with a step or transition of the MS expansion and on the other side a step or a transition is not part of MS The use of a macro step with AUTOSIM is set as follows the expansion of a macro step is a Grafcet if it is on a distinct sheet the input step of the macro step expansion must bear the number 0 or the reference Exxx with xxx any number the output step of a macro step expansion must bear the number 9999 or the reference Sxxx with xxx any number aside from these two requirements a macro step expansion can be any Grafcet and as such can contain macro steps 0 0 0 1 How can a macro step be set The symbol must be used To obtain this symbol click on an empty space on the sheet and select Add Macro step from the menu To open the menu click on the bottom of the sheet with the right side of the mouse To set a macro step expansion create a sheet designate the expansion and assign the sheet properties by clicking with the right side of the mouse on the name of the sheet in the browser Record the type of sheet on Macro step expansion and the number of the macro step autoSIM 215 Copyright 2011 SMC rg 24 SMC User
45. key Generic name Comments Languages Delete Used to make a cell blank All again Link blocks Vertical link Link from top to bottom All or bottom to top Link from right to left or All left to right Horizontal link autoSIM 36 Copyright 2011 SMC S S g HI Tnt Upper left corner Upper right corner Lower left corner Lower right corner Cross Link towards the bottom right or bottom left Link towards the bottom left or bottom right Link from top to right or left to top Link from top to left or right to top Crosses two links User manual All All All All All Aspect Associated key B C D I LL a H a 0 00 oo S 2 amp Generic name Comments Languages Step Initial step without activation Initial step Macro step Encapsulating step Initial encapsulating step Initial state mark Transition Source transition Exit transition 37 Normal step Initial step without activation Initial step Only available in the shortcut menu An encapsulation must be linked An encapsulation must be linked D fine intial state for an encapsulation Transition Can replace the transition symbol Can replace the transition symbol Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafce
46. language AUTOSIM pivot code Viewing of the generated code is normally reserved for specialists involved in understanding the translation methods used by the compiler Generatino the cross ref rence Double clicking on the Cross reference element generates and displays the list of variables used in an application with any associated processor variables and the name of or sheet s where they are used The other elements concern the files generated by the post processors instruction lists are in processor language Contains the tools to display and modify the state of the variables wing 1d modifying a variable or able table With the right side of the mouse click on Settings and select Monitoring to open an element where you can see the state of a variable or variable table Lo 2 a PR hare A monitoring window autoSIM 28 Copyright 2011 SMC autoSIM User manual E d A O o n o e E o a aay aS da E a ae Lo Ea ae o wa o IL ppp y paper pores TIE Tr Click on this button to display the expanded information E automaton symbols and names of variables associated with each variable 29 Copyright 2011 SMC O SMC User manual IRIS objects IRIS 2D objects are used to create consoles supervision applications and simulation applications of 2D operating parts IRIS 3D is used to create simulation applications of 3D operating p
47. makes round trips on track 1 Each 10 round trips it must stop for 15 seconds autoSIM 233 Copyright 2011 SMC F GMC User manual Solution ei ieee A A E E j to tld _ dvi ct E H NAAA AN ANA NAN AAAA AAAA AAAA AAA AAA AAAA AAAA AAAA AAAA AAAA VA VA VA A VA VA VA VA VA VA A VA VA VA VA VA VA A A A Va A VA VA a A Aa Aa A VA Va A Aa A a A A VA a A av Gi Example flow chart logigramme4 agn Literal languages This chapter describes the use of the three forms of literal language which are available in AUTOSIM low level literal language extended literal language D IEC 1131 3 standard ST literal language How is a literal language used Literal language can be used in the following forms code files associated to an action Grafcet Ladder flow chart code boxes associated to an action Grafcet flow chart D literal code in action rectangle or coil Grafcet Ladder flow chart code boxes used in the form of an organizational chart see the Organizational chart chapter code files which support the function block functionality see the Function blocks chapter code files which support a macro instruction functionality see chapter Macro instruction autoSIM 234 Copyright 2011 SMC rg 24 SMC User manual Code box associated with a step or flow chart A code box associated with an action is for being able to write lines of l
48. manual In run mode it is possible to display a macro step expansion To do so place the cursor on the macro step and click on the left side of the mouse Notes user steps and bits used in a macro step expansion are local this means that they have no connection with the steps and bits of other Grafcets All the other types of variables do not have this characteristic they are common for all levels if an area of bits needs to be used in an overall method it is necessary to state this using the command B assignment of non local variables for different levels or different expansions is not managed by the system In other words it is necessary to use the assignments S R or to ensure that the system operates correctly Let s use one of our previous examples to illustrate the use of macro steps a round trip voyage of a train on track 1 with a delay at the end of the track We have broken down the legs of the trip into two separate macro steps autoSIM 216 Copyright 2011 SMC Y A F User manual Solution AAA AAA AAA AAA LADA LADA LL LL LL LL LL LL LL LL LL LL LL LL NIN NIN LL LL LL LL LL LLLLLL LL LL LD macro tape aller voie 1 t0 x20 10s ZAA AAAA AAAA AAAA AAA AAAA AAA AAAA AAA AAAA AAAA AAA ISINI VA ANA ANA ANA A VA ANA A A A A A VA ANA ANA ANA NA A ANA A A ANA A A A A ANA AN AAA AAA ARS RAD DD LD LD LD LD LD LL LL DLLD LL LL SENS SENS NE NENE NENE NANE NESE NENE NE
49. manual Then move the mouse to place the object on the SIMULA sheet press the left button of the mouse and release it to leave the object You will obtain the following result 4 AUTOSIM 3 03 Proyecto3 E EX A Archivo Edici n Visualizaci n Programa Herramientas Ventana 2 iDa a Proyecto E Proyecto sin nombre Folios Foot S mbolos HA Configuraci n 4 Documentaci n 1 archivos generados Puesta a punto B lis amp Sima amp Simula 1 l G Recursos E M dulos externas M Y MA Navegador Gt Blancos Mea Folo1 GR7 Simula 1 451 x 601 compilaci n abortado GO compilaci n abortado A GO compilaci n abortado Y SMC Y INTERNATIONAL TRAINING 441 Infos Compilaci n Puesta a punto E sajes len E sat ua erre amara autoSIM 153 Copyright 2011 SMC SMC User manual O Using the palette 1 Click on the object s in the palette they appear as selected framed by black squares F AUTOSIM 3 03 3 f ange_Motor_Rotation agn Blizaci n Programa Herramientas Ventana PPIZAIO amp amp Archivo Edici n vig lectric motors sToF p Electio START KMZ KI autoSIM 154 Copyright 2011 SMC SMC User manual 2 Click on the selected object s keep the button pressed and drag the object onto the sheet O 4 AUTOSIM 3 03
50. n Programa Herramientas Ventana 2 Anali 3er if Flo Elo ab RAE Proyecto x l Proyecto sin nombre E q Folios gf Folio 1 0 S mbolos EB Configuraci n come Documentaci n A adir un objeto Pegar Ctrl Demuestre los acoplamientos quebrados E archivos generados A adir un gr fico feee Puesta a punto ds R i Fijar unidades por defecto lis E Simula e Simula 1 9 Recursos E M dulos extemos Click with the right side of the mouse on the SIMULA sheet right part then select Add an object AUTOMSIM object assistant E Digital electronic EE Draw Brake Double acting cylinder with sensors Double acting cylinder Single acting cylinder spring exit with sensors Single acting cylinder spring exit Single acting cylinder spring return with sensors Single acting cylinder spring return Small Motor 1 direction Select double acting cylinder and then click on Open Repeat the steps above then add a 4 2 directional valve with monostable hand control a pressure source and a pneumatic exhaust autoSIM 148 Copyright 2011 SMC O SIMIC User manual You should obtain the following o o LL DE po 5 Create connections between the different components Move the cursor over the connections light blue circles press the left button of the mouse then release it move the cursor of the mouse to the connection where the link must be connected press t
51. on the console on the browser and select Add an object on the console from the menu for more information on the console see the chapter Console object With the right side of the mouse click on the IRIS object on the browser and select Properties For higher level objects parent objects special properties can be accessed autoSIM 31 Copyright 2011 SMC rg 24 SMC User manual No visible al lanzamiento Visible en visualizaci n din mica solamente Visible fuera de visualizaci n din mica solamente Inicializaci n D Reinicializar al pasar a visualizaci n din mica a Otras propiedades del objeto Anular Properties of high level objects Display establishes under which conditions the object is displayed or hidden The reinstallation option is used to return an object to its initial state when dynamic display is launched normally used for OP simulation applications Setting an object model accessible on the assistant With the right side of the mouse click on the IRIS object on the browser and select Save as model from the menu Salvado de un modelo de objeto IRIS 2D Posx X position in pixel L Posy Y position in pixel O WIDTH Object width in pixel O HEIGHT Objet height in pixel HELP Help text O BUBBLE Information bubble text TER IDENT 0 Object ID _ BORDER 1 Console has border CAPTION 1 Console has title bar CLOSE_BOx 0 Console has close butt
52. on the designated axis is equal to the specified numeric variable The button allows an enhanced mode to be defined for this type of link 136 Copyright 2011 SMC O SMC User manual Numerical piloting gt x c numeric variable gives position calculated with min and max 0 lt m or or f lt 10000 numeric variable gives speed 10000 lt m or or F lt 10000 Cc numeric variable gives position to be reached calculated with min and max C 0 gt m or l or f gt 100 acceleration and deceleration are managed automatically Percentage of the total movement used For the phase of 0 00 acceleration or deceleration Variable of return of the position 0 lt m or or F or 16xi lt 10000 Gray code J coded value l or m only coa The content of the numeric variable defines the object s position If it is a word the position will be set at the value divided by 100 if it is a long it will be set at the value divided by 10000 if itis a floating point it will be set at the value contained in the floating point Min and max define the limits for these values The content of the variable defines the position between the min and max values 0 min position 10000 max position 9 The content of the variable gives a speed of displacement ranging from 10000 to 10000 The content of the variable gives a position to be reached as a percentage of the stroke between min and max 0 mi
53. only useable with PC compiler Variables M or MW Addressing indirect immediate Also see AOU Example ain 3f8 reads port 38 8 bits ain 3f81 reads port 3f8 16 bits autoSIM 249 Copyright 2011 SMC SMC User manual Name ANA and accumulator O Function effects an AND logic in the 16 bit accumulator and a word or a constant or the 32 bit accumulator and a long or a constant Variables M or MW L or MD Addressing absolute indirect immediate Also see ORA XRA Example ana 1111111100000000 masks the 8 bits of lower weight of the 16 bit accumulator ana ffffO000L masks the 16 bits of lower weight of the 32 bit accumulator autoSIM 250 Copyright 2011 SMC SIMIC O MA User manual AOU Name Function Variables Addressing Also see Example autoSIM AOU accumulator output transfers the lower part 8 bits of the 16 bit accumulator on an output port transfers the 16 bits of the 16 bit accumulator on an output port in this case the port address must be written in the form of a 32 bit constant only useable with PC compiler M or MW indirect immediate AIN Ida A aou 318 places the character A on output port 318 Ida 3f8 sta m200 Ida z aou m 200 places character z on output port 3f8 Ida 1234 aou 3001 places the 16 bit value 1234 on output port 300 251 Copyright 2011 SMC O SMC U
54. or bit to bit TSA test bit to bit SET set all bits to one RES reset all bits RRA shift to the right RLA shift to the left Other functions on integers ING incrementation DEC decrementation Conversion functions ATB integers to booleans BTA booleans to integers FTI float to integer ITF integer to float LTI 32 bit integer to 16 bit integer autoSIM 244 Copyright 2011 SMC SMC User manual O ITL 16 bit integer to 32 bit integer Trigonometric functions SIN sine COS cosine TAN tangent ASI arc sine ACO arc cosine ATA arc tangent Connection functions JMP jump JSR jump to sub routine RET return from sub routine Test functions RFZ zero result flag RFS sign flag RFO overflow flag RFC carry flag Asynchronous access functions to inputs outputs RIN read inputs WOU write outputs Information contained in the function list The following are provided for each instruction 5 Name mnemonic Function a description of the function created by the instruction Variables the types of variables used with the instruction gt Addressing the types of addressing used Also see the other instructions related to the mnemonic 5 Example a example of the use The post processors which generate construction language are subject to certain limitations See the information on these post processors for details on these limitations autoSIM 245 Copyright 2011 SMC O SMC User manual AB
55. or more selected objects the cursor of the mouse takes on the appearance of four direction arrows press the left button of the mouse move the objects by moving the mouse release the left button of the mouse when the desired position for the objects is reached Deleting one or more objects Move the cursor over one or several selected objects press then release the right button of the mouse and select Delete Changing the orientation of one or more objects Move the cursor over one or more selected objects press then release the right button of the mouse and select the desired setting in the Rotation menu Copying cutting one or more objects to the clipboard Move the cursor over one or more selected objects press then release the right button of the mouse and select Copy or Paste autoSIM 156 Copyright 2011 SMC User manual Pasting one or more objects from the clipboard Press then release the right button of the mouse over an empty area of the SIMULA sheet and select Paste in the menu Modifying object properties Move the cursor over one or more selected objects press then release the right button of the mouse and select Properties Example of the properties of a directional valve xl Symbol A 1 y Symbol A 2 E Symbol B 1 Symbol B 2 Designation Supplier cea C Exporting one or more objects Move the cursor over one or more selecte
56. orders needed in the previous versions are no longer used For multiple sheets to be compiled together they only need to be in the project The icons associated to the sheets are shown below normal sheet normal sheet excluding compilation sheet containing a macro step expansion sheet containing a function block program sheet containing a key sheet containing a key excluding compilation sheet containing an encapsulation Icons are marked with a cross indicating a closed sheet not displayed in the work space Double clicking on this type of icon opens displays the associated sheet Adding a new sheet With the right side of the mouse click on the Sheets element on the browser then select Add a new sheet Select the sheet size XXL is the recommended format the other Name a generic name leave the default name or enter a significant name formats are for older versions of 2 AUTOSIM GEMMA is only used Size the dimensions of the surface of the folder lt XL can be used to create for creating GEMMA models very large folders recommended To create a Gemma select Gemma The sheet can be given any Liver lase folders El name but each project sheet must have its own name Comments for example the last modifications the author etc Create 6 6 2002 Edit 6 6 2002 The comment area is up to your discretion for modifications or other information relative to each sheet
57. ot SN A ger manual Solution 00001 12 14 12 7 6 2002 Start ES 00002 12 14 13 776 2002 End 2 00003 12 14 14 7 6 2002 Error 1 00004 12 14 14 776 2002 Error 2 00005 12 14 16 7 6 2002 End 00006 12 14 17 7 6 2002 Error 1 Delete the messages la Examples IRIS2D screen keyboard 1 agn Variation Pressing on the pushbutton Delete the messages causes the Do you want to delete messages dialogue box to open with a choice of YES or NO Solution la Examples IRIS2D Screen keyboard 2 agn Example of using the SCREEN KEY object as a terminal Instructions Display a message Enter a value requires that a decimal value be typed on the keyboard two characters then displays that value multiplied by two after the Result text Solution Enter a value 12 Result 024 Enter a value Enter a value la Examples IRIS2D terminal 1 agn autoSIM 106 Copyright 2011 SMC O Variation The displayed messages are stored in the object and no longer in the processing application Solution la Examples IRIS2D terminal 2 agn Example of an application composed of multiple pages This example will let you understand how to create an application composed of multiple elements in this case a menu is used to access two different pages la Examples IRIS2D menu agn Example of using the O
58. plateforme 2 P3P index plateforme 3 P4P index plateforme 4 P5P index plateforme 5 P1Z init plateforme 1 P2Z init plateforme 2 P3Z init plateforme 3 P4Z init plateforme 4 P5Z init plateforme 5 ERR court circuit AUTOSIM supports the following elements divergences and convergences in And and in Or destination and source steps destination and source transitions gt synchronization gt setting Grafcets 5 memorization of Grafcets fixing macro steps Simple Grafcet Grafcet line writing involves combined steps and transitions The example below illustrates a Grafcet line Conditions The locomotive needs to leave on track 1 towards the right up to the end of the track It returns in the opposite direction to the other end and starts again autoSIM 196 Copyright 2011 SMC rg 24 SMC User manual Solution 1 XI AAA ADD ENE ONO ONO ON ONO OSO NEN ENE NSE NEN ENE SENSE SENSE NEN NEN NEN NE NSE NE NEN NSN NE NONE ONE NONE NENE SANANA gt a ADS SLND SASS ANA ANA VA A A A A A NS A av NAAA AAAA AAAA AAAA AAAA AAAA AAAA 5 examplesigrafcetisimple agn Solution 2 AAA AA AAA ALL DLLD LL LL ALL DELL DELL LL ENE LL LL LD LL LD PL LL LL LL LL ENE NSE NE SENSE INE NEN NA gt Retour PPLPPPLPPP LP PDP LPP PL IS NS LIS PP AA Z Gal example grafcetisimple2 agn The difference between the two solutions is that the first example uses Assignment act
59. procesadores PC M STEP 57200 STEP 7300 OMRON ALLEN BRADLEY TWIDO MITSUBISHI MITSUBISHI Q M340 71200 o Opciones del compilador Documentaci n 1 Impresi n archivos generados D C digo pivote Referencias cruzadas Check STEP 57200 STEP 57300 OMRON ALLEN BRADLEY TWIDO ai MITSUBISHI MITSUBISHI Q ai M340 us 71200 tw Puesta a punto iris Pe Simula C3 Recursos EF M dulos extemos HE EE EH 0 0 0 0 8 EEEEEEcEEg EDO E E is Navegador Blanc Browser tree autoSIM HE Paleta A central element for application management the browser is used for fast access to different application elements sheets symbols configuration printing IRIS objects etc The and icons are used to develop or retract project elements Actions on the browser are effected by double clicking on the elements opens the element or by clicking with the right side of the mouse adds a new element to a project special action on an element etc Certain operations are effected by dragging and dropping the elements and moving them on the browser The colors generally called up at the bottom of documents in the work space are used to identify families of elements 22 Copyright 2011 SMC O sheet is a page where a program or part of a program is designed Using sheets is extremely simplified in AUTOSIM The sheet chaining
60. sensor is set with parameters as follows Properties of OBJECT object 4 01 xj Aspect Link Forms Bitmap WMF Colors Guage EZ omes r Links Action Horizontal transfer x axis Object clicked Objet not clicked Position Position Pasition Capt min Link permanently withlidentifier Mini Maxi Speed ms Capt max 0 0 200 5 E Aspect Colour Filling Vertical transfer y axis Position Position Position Capt min Position Position Position Capt min Mini Maxi Speed ms Capt max Mini Maxi Speed ms Capt max fo 200 b Ch fo 200 5 Identifier Sensor 0 r Survey aoo autoSIM 110 Copyright 2011 SMC User manual Properties of OBJECT object 4 01 Examples Process Simulation 2D tutorial2 agn Second variation A vertical jack attached to the horizontal jack shaft is added This jack is activated by one output O2 1 to extract the jack O2 0 to retract it Two limits are associated to i3 and 4 The result is as follows autoSIM 111 Copyright 2011 SMC S 5 User manual la Examples Process Simulation 2D tutorial3 agn Two OBJECT objects are added one for the body of the jack and one for the shaft Example of using the ARCHIVE object Instructions e archive the state of 3 words of the processing application m31 to m33 every second e the state of 4 words will be displayed on a grap
61. setting according to a list of active steps Syntax F lt Grafcet gt lt list of active steps gt or F lt sheet name gt lt list of active steps gt autoSIM 208 Copyright 2011 SMC rg 24 SMC User manual The Grafcet s thus designated will be set to the state established for the list of active steps if they are within braces If multiple steps need to be active they need to be separated with a comma If the Grafcet s need to be set to an idle state not active step then no step should be present within the braces The number of steps may be preceded by an X It is also possible to associate a symbol to the name of a step Examples F10 0 set all the steps of Grafcet 10 to O except step O which will be set to 1 F0 4 8 9 15 sets all the steps of Grafcet O to O except steps 4 8 9 and 15 which will be set to 1 F normal run sets all the Grafcets on the normal run sheet to an idle state Memorization of a Grafcet state Current state of a Grafcet Syntax G lt Grafcet gt lt bit N gt or G lt sheet name gt lt bit N gt This command memorizes the state of one or more Grafcets in a series of bits It is necessary to reserve a storage space for the state of the Grafcet s one bit per step These storage bits must be consecutive You must use the B command to reserve a linear bit space The step number designating the Grafcet can be pr
62. software indicating the PC where you have installed the product You will then receive an enable code also called validation code The License option in the AUTOSIM File menu can be used to display the status of your license and obtain a user code click on Registering the license Estado de la licencia de uso de AUTOSIM en este puesto Valid version Serial number SMCES 231350 UTOMSIM VIRTUAL UNIVERSE Targets All Modificar la licencia Desplazar la licencia a otro puesto Conectarse a una licencia red Desconectarse de la licencia red Cerrar License status autoSIM 9 Copyright 2011 SMC rg 24 SMC User manual A user code is valid for a period of 10 days So a maximum period of 10 days can pass from when you send a user code to SMC and when you receive an enable code provided by SMC Sending a user code to SMC There are various methods you can use Exchanging codes by e mail is highly recommended as it limits the risk of error A single error in the code will prevent the license from being registered Sending a file by e mail the best solution Guardar o modificar una protecci n Ahora podr registrar su licencia Para ello siga estos pasos Haga click en Registrar via Web Introduzca el n mero de serie Serial number y la contrase a Password proporcionadas El c digo de usuario User code aparecer autom ticamente de lo contrario copielo en esta pantalla y p
63. syntax n added after a reference to a variable or a parameter adds n The syntax n added after a reference to a variable or a parameter subtracts n The syntax n added after a reference to a variable or parameter multiplies by n It is possible to write many of these commands one after the other they are evaluated from left to right This mechanism is useful when a function block parameter needs to be used to refer to a table of variables Examples 20 1 referring to the following element the first parameter for example if the first parameter is m200 this syntax refers to m201 M 2 100 200 referring to the third parameter multiplied by 100 plus 200 for example if the third parameter is 1 that syntax refers to M 1 100 200 thus M300 autoSIM 319 Copyright 2011 SMC F GMC User manual Evolved function blocks This functionality is used to create very powerful function blocks with greater ease than the function blocks managed by files written in literal language This programming method uses a functional analysis approach It does not matter which sheet or set of sheets become a function block sometimes called encapsulating a program The sheet or sheet which describe the functionality of a function block can access variables which are outside the function block block boolean inputs boolean outputs and parameters Principles for use and more importantly the use of external variables is id
64. that can be associated to instructions are composed of a mnemonic a type of test and a variable Test mnemonics are used to set combination tests on multiple variables and or If a test is composed of a single variable an AND operator needs to be associated to it There are only three test mnemonics AND and ORR or EOR end or Here are some examples of equivalencies in boolean equations and low level literal language o0 i1 and il o0 i1 i2 and il and i2 o0 i1 i2 orr il eor i2 o0 il i2 i3 i4 orr il orr i2 orr i3 eor i4 o0 il i2 i3 i4 orr il eor i2 orr i3 eor 14 o0 i1 i2 13 14 and il orr i2 orr i3 eor i4 o0 i1 i2 i3 i4 impossible to translate directly intermediate variables must be used equ ul00 and il and i2 equ ul01 and i3 and i4 equ o0 orr ul00 eor ul01 Test modifiers make it possible to test things other than the truth of a variable gt no gt rising edge gt falling edge gt e immediate state Notes boolean variables are updated after each execution cycle In other words if a binary variable is positioned at a state during a cycle then its new state will be detected during the following cycle The text modifier makes it possible to obtain the real state of a boolean variable without waiting for the following cycle D test modifiers cannot be used with numeric tests autoSIM 238 Copyright 2011 SMC SMC User manual O Examples set 0100 eq
65. the activation of step 20 The and symbols make it possible to define actions on transition crossing For example autoSIM 205 Copyright 2011 SMC rg 24 SMC User manual Q0 will be activated on crossing the transition between steps 10 and 20 Synchronization Let s return to a previous example to illustrate Grafcets synchronization Conditions Round trip of two locomotives on tracks 1 and 3 with a delay at the end of the track This example was used with a divergence in And G example grafcet synchrot agn VAVAVAVAVAVAVA A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A 2 autoSIM 206 Copyright 2011 SMC GSMC Solution 2 AAAA AAAA AAAA AAA AAAA AAAA AAA AAAA AAA AAAA AAA AAA AAAA AAAA AA User manual NOT E SA NSSS SE AN EN SEE SEEN EL SEEN SSA SEN A A S OA A SEES A S S ES fee sso S 1 2 S x110 x150 30 fsx220 sx260 lt 1 S S x130 x170 s g 1 1 100 l AV1 120 AV1 DV1 140 i AV3 160 i AV3 DV3 lt r 7 7 tld tli s t3i t3d S 130 150 170 S S S x30 x10 x30 x10 g lt NPA VAN A VA VA VA A VA VA VA VA A Aa Aa a a a a a a a a a a a a a a a a a a a a a a a a a a a a a A a 2 a a a a a A a 2 A Na a a Na a a 2 a a a a Na a as la example grafcet synchro2 agn The second is an excellent example of how to complicate the simplest
66. the float to effect the calculations without compromising exactness ST literal language ST literal language is a structured literal language defined by IEC1131 3 standard This language is used to write boolean and numeric equations as well as program structures General Information ST literal language is used in the same way as low level literal language and extended literal language autoSIM 304 Copyright 2011 SMC PE Z SMC User manual Commands are used to establish the sections in ST literal language FBEGIN_ST indicates the beginning of an ST language section END_ST indicates the end of an ST language section Example m200 50 extended literal language BEGIN_ST m201 4 ST language END_ST It is also possible to choose to use ST language for an entire sheet This selection is made in the properties dialogue box on each sheet On a sheet where ST language is the default language it is possible to enter low level and extended literal language by using the commands HEND_ ST and BEGIN_ST Comments for ST language must start with and end with ST language instructions end with the character Multiple instructions can be written on the same line Example o0 1 m200 m200 1 Boolean equations The general syntax is variable boolean equation Boolean equations can be composed of a constant a variable or multiple variables separated b
67. things for teaching purposes Grafcet setting The compiler regroups the steps based on the links established within them To draw a Grafcet just refer to one of the steps making up that Grafcet It is also possible to draw all of the Grafcets present on a sheet by mentioning the name of the sheet autoSIM 207 Copyright 2011 SMC rg 2 SMC User manual For example To draw a Grafcet we use Grafcet 200 Grafcet 201 or Grafcet 202 Thus the Grafcet of all the steps becomes a structured type variable made up of n steps each of these steps being either active or idle As we have seen AUTOSIM divides the steps into independent groups These groups can be regrouped making it possible to consider them as a single Grafcet To regroup multiple Grafcets the compilation command G g1 g2 command to be included in a comment must be used This command regroups the Grafcets g1 and g2 Remember that the designation of a Grafcet is affected by mentioning the number of one of its steps Here is an example G 105 200 this compilation command regroups the two Grafcets Note multiple G commands can be used to regroup more than two Grafcets We are now going to describe the useable setting orders They are simply written inside the action rectangles as normal assignments They also support the operator S set to one R reset N complement assignment and l Inversion as well as conditional actions Grafcet
68. this standard can now be accessed in the contextual program editing menus Compatibility of files The files generated by all of the AUTOSIM versions can be re read by all of the AUTOSIM versions Physical engine integrated to IRIS3D The TOKAMAK motor is integrated to IRIS3D This enables an extremely realistic simulation of the 3D operational units to be obtained Enhanced 3D object handling in IRIS3D The saving and re reading of objects and behaviors allows you to manage libraries of easily reusable objects Predefined objects cylinders conveyor belts etc are proposed as standard A 3D operational unit simulation application can now be created in just a couple of mouse clicks O Improved links between AUTOSIM and IRIS3D objects Enhanced modes allow you to easily handle displacements of complex objects between AUTOSIM and IRIS3D An AUTOSIM variable can for example give the speed of an object directly Position reporting can also be simulated in the manner of an absolute encoder Textured IRIS3D objects Textured objects now provide IRIS3D with extraordinarily realistic rendering autoSIM 4 Copyright 2011 SMC O SMC User manual Drag and drop from IRIS3D to AUTOSIM sheets A right click on the IRIS3D objects allows you to access the list of variables and drag a reference over to a programming sheet SIMULA user definable object SIMULA users will appreciate the new user definable object which w
69. this system of co ordinates 0 0 Horizontal axis Vertical axis Each primitive can receive one or more parameters autoSIM 167 Copyright 2011 SMC F GSMC ger manual Note that the design primitives only define objects without rotation the design with rotation is automatically generated by SIMULA The same is true for the scale primitives design at scale 1 SIMULA handles scaling according to the zoom selected by the user By clicking on Insert a dialogue box allows you to select a design primitive MOVE move the pen parameters horizontal position vertical position LINE draw a line parameters horizontal position vertical position RECT draw a rectangle parameters hor position 1 vert position 1 hor position 2 vert position 2 List of desian primitives Drawing primitive These primitives produce a drawing MOVE Moves the pen without drawing Parameters horizontal position vertical position LINE Draws a line from the pen s current position to the position indicated Parameters horizontal position vertical position RECT Draws a rectangle Parameters horizontal position of the top left corner vertical position of the top left corner horizontal position of the bottom right corner vertical position of the bottom right corner autoSIM 168 Copyright 2011 SMC ct 24 SMC User manual ELLI Draws an ellipse Parameters horizo
70. two boolean inputs This example uses 5 blocks to create an exclusive or among 6 inputs i0 i5 The EXCLUSIVE_OR LIB listed below supports the functionality of the block The exclusive or boolean equation is as follows i0 i1 i0 i1 The equivalent form used here makes it possible to code the equation on a single line of low level literal language without using intermediate variables autoSIM 343 Copyright 2011 SMC S 5 User manual SSSA SSN SIEVE NIN NINE NIE NI NEN NINE NINE NI SESE SESO NEN NEN NE NSE NE NEN E NEN SENSE NEN NEN NEN NEN NEN NE NEN NSE ONE NEN ENE NE NSE NE NEN SENSE SENN ENE io E 00 7 co gt i4 c ill o J eas m 112 o3 ie m i13 HA D PAPAL PAP PPP PPP PPP PIL IP IPP IS AI PIS IN 5 gt VAVAVA VA AV A AV A VA VA NA VA VA NA A A a A NAVANAN ANA VAN A VA A ANA NAN NAN A NAN A A ANA A AN AN ANA VAN A A ANA AN AN AN AN ANA A AN ANA IN NAN AN NAN A A AN ANS la Example laddersample22 agn This example illustrates the use of ladder programming autoSIM 344 Copyright 2011 SMC
71. watchdog overflow is equal to 1 run mode 1 RUN 0 STOP emergency stop pass to 1 in the event of an error or set to 1 to stop the program reserved for drivers bit associated to timer 1 bit associated to timer 2 bit associated to timer 3 bit associated to timer 4 bit associated to timer 5 bit for repeating sector pass to 1 on repeat sector reset to zero is the job of the programmer setting this bit to 1 causes reading of the clock in real time and transfer to System words 4 5 6 7 8 51 and 52 setting this bit to 1 causes writing of System words 4 5 6 7 8 51 and 52 in the real time clock reserved division by zero reserved for future versions reserved for the stack of boolean processing reserved for the upper part of the multiplication result or the remainder of the division timers in milliseconds timer in 1 10 second timer in seconds timer in minutes timer in hours timer in days autoSIM 49 Copyright 2011 SMC User manual timer 2 counter timer 3 counter timer 4 counter timer 5 counter timer 1 procedure timer 2 procedure timer 3 procedure timer 4 procedure timer 5 procedure lower part of clock reference upper part of clock reference reserved for I O drivers timer in months timer in years Modifying the run period Double click on Post processors Executor PC Run Parametraje de la ejecuci n en PC Tipo de ejecuci n M Ejecuci n peri dica Per odo en mil
72. 07 96 13 42 49 703 4085 24 07 96 13 42 50 802 26149 24 07 96 13 42 51 900 17375 8 8 BS D 25 24 07 96 13 42 52 999 4709 SY SY SY SY SY ac as ac ac as RE figure 3 1 figure 3 2 Tables tab Font This is used to select a font for displaying the column name times and acquisition value Column name This is used to set the column name for the TABLE object as well as the display format for these columns figure 4 1 syntax name format format Display no format specified Signed decimal visible h Hexadecimal d Decimal ns Not signed S Signed nv Not visible v Visible The different options can be combined for example Format Display d ns v Decimal without sign visible autoSIM 77 Copyright 2011 SMC rg 24 SMC User manual Date Heure Champs 24 07 96 14 21 55 3E6 24 07 96 14 21 57 3E8 24 07 96 14 21 58 3E8 65535 24 07 96 14 21 59 3E8 65535 24 07 96 14 22 00 figure 4 1 Graph tab Minimum maximum value This is used to select the minimum and maximum values for displaying graphs Only values included between the minimum and maximum values will be displayed on the screen Display This is used to set the display time This is communicated to the ARCHIVE object in the day s Hour s Minute s Second s Millisecond s format J for days H for hours M for minutes S for seconds MS for milliseconds E g Display 2H30M10S E g Display 100MS P
73. 1 O or Q B or M T or T X or X U absolute REZ RFS REC rfo 00 transfers the overflow indicator to 00 278 Copyright 2011 SMC SIMIC RFS O Name Function Variables Addressing Also see Example autoSIM User manual RFS read flag sign transfers the sign indicator in a boolean variable Tor 1 O or Q B or M T or T X or X U absolute REZ REC RFO rfs 00 transfers the sign indicator to 00 279 Copyright 2011 SMC SIMIC RFZ O Name Function Variables Addressing Also see Example autoSIM User manual RFZ read flag zero transfers the content of a zero result indicator in a boolean variable Tor 1 O or Q B or M T or T X or X U absolute REC RES RFO rfz 00 transfers the zero result indicator to 00 Ida m200 cpa m201 rfz 00 position 00 at 1 if m200 is equal to m201 or 0 if not 280 Copyright 2011 SMC SIMIC RIN O Name Function Variables Addressing Also see autoSIM User manual RIN read input effects a reading of physical input This function is only implemented on Z targets and varies following the target See the documentation related to each executor for more information none immediate WOU 281 Copyright 2011 SMC O SMC User manual RLA Name RLA rotate left accumulator Function effects a left rotation of the bits of the 16 bit or 32 bit accumulator
74. 1 3 standard actions which can be used with AUTOSIM V gt 6 based on the AUTOSIM V5 standard syntax V gt 6 Syntax Not No value memorized Not memorized Complement not memorized Limited in LTn durati time on Time delay DTn durat ion Pulse on falling edge SDTn dur ation Memorized and time delay Time delay and memorized Memorized SLTn dur limited in time ation DSTn dur ation autoSIM AUTOSIM V5 AUTOSIM Syntax No value No value S Non existent Non existent Non existent Non existent Non existent Non existent Non existent 187 V gt 6 Example LTa 18808 DTA 18808 SOTO 18600 DST 14508 SLT 14508 User manual Equivalent example AUTOSIM V5 C ta 16 oa mues ta r o ue ranes 118 08 m 18 H 08 taa Heros t amp H RTA 508 1 ia T C t 18 ranes oa T tuig H STAL ies S00 ita H RTA ROG Copyright 2011 SMC rg 24 SMC User manual Multiple actions Within the same action rectangle or coil multiple actions can be written by separating them with comma Example Multiple action rectangles Grafcet and flow chart or coils ladder can be combined See the chapters on the relative languages for more information Litera
75. 1 SMC SMC User manual O The project AUTOSIM is strongly based on the idea of a project A project groups together the elements that compose an application The browser displays all the project elements sheets symbols configuration IRIS objects etc in a tree format The new file format of AUTOSIM Y files with AGN extension includes all project elements When you save an AGN file you are assured of saving all the elements of an application You can easily and effectively interchange applications created with AUTOSIM AGN files are compacted with ZIP technology they do not need to be compressed to be interchanged their size is already optimized All the files generated by AUTOSIM can be re read with all of the versions of AUTOSIM upward and downward compatibility Files generated with AUTOSIM The files created with AUTOSIM can be opened directly in AUTOSIMP Importing an application from an earlier version of AUTOSIM version 2 or earlier You need to import all of the sheets GR7 files and any symbol file SYM file To do this use the import procedures described in the following chapters Generating a free distribution executable file The Generate an executable command from the File menu is used to generate an executable starting from a project in progress an EXE file executable on a PC with WINDOWS The AUTOSIM viewer is automatica
76. 2 57 935 18441 23 07 96 16 52 59 034 24579 23 07 96 16 53 00 132 2067 73 figure 1 1 figure 1 2 Colors This is used to select the font color when the object is in a table format as well as color for marking values on the graph Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Text A bubble text associated with the object Data tab First variable to read This is used to select the first variable to be archived Number of variables to read This indicates to the ARCHIVE object the consecutive number of variables to the First variable to read that it must archive Number of memorized registrations This is used to size memory database A registration represents an acquisition of n variables n is the number of variables to read Periodic reading Variable acquisition will be done at fixed intervals of ARCHIVE object running Start reading Variable acquisition will be effected when the Control word has given the order autoSIM 75 Copyright 2011 SMC ct Z SMC User manual Period This is used to establish the time between two acquisitions The time is in Day s Hour s Minute s Second s Millisecond s format J for days H for hours M for minutes S for seconds MS for milliseconds E g 2J E g 2H10M15S Control This is used to set a variable a word that controls the A
77. 3 Change_Motor_Rotation agn amp amp Archivo Edici n Yisualizaci n Programa Herramientas BCE ES amp f Proyecto x Electric contacts JIC Electric contacts Electric motors Electric outputs JIC Pneumatic actuators Pneumatic directional valves Selecting one or more objects To select an object move the cursor of the mouse over the object press the left button of the mouse and release it Black squares appear around the objects when they are selected To deselect an object repeat the same step autoSIM 155 Copyright 2011 SMC STOP Electric outputs Electric START 1 KM2 Hydraulic actuators Hydraulic directional valves Hydraulic ew O SMC User manual To select several objects keep the SHIFT key of the keyboard pressed and select several objects following the method described above To select several objects that are in the same area press the left button of the mouse move the cursor of the mouse a selection rectangle emerges release the left button of the mouse when the selection rectangle is of the desired size To select an object that is under another object several objects can be superimposed click several times with the left button of the mouse on the objects covering each other at each click the selection moves from one object to the other Selecting one or more objects Move the cursor over one
78. 6 bit words SBINTOBCD lt binary value gt lt BCI value gt autoSIM 294 Copyright 2011 SMC PE Z SMC User manual Effecting a BCD first parameter conversion to binary second parameter In the accumulator containing FFFF if the binary number can be converted in BCD otherwise 0 SGRAYTOB lt GRAY code value gt lt binary value gt Effecting a Gray code conversion first parameter to binary second parameter Treatment on word tables SCOPY lt first word table source gt lt first word table destination gt lt number of words gt Copy a table of source words to a table of destination words The length is given by the number of words SCOMP lt first word table 1 gt lt first word table 2 gt lt number of words gt lt result gt Compares two tables of words The result is a binary variable which takes the value 1 if all the elements in table 1 are identical to those in table 2 SFILL lt first word table gt lt value gt lt number of words gt Fills a word table with a value Treatment on strings The coding of strings is as follows one character per word one word containing the value O indicates the end of the chain In macro instructions the strings are passed in parameters by designating by the first word they are composed of SSTRCPY lt source string gt lt destination string gt Copies a string to another SSTRCAT lt source string gt lt destination string gt Adds the source string
79. ANA VAVAVA VA VA VA VA AVE VA VA AV AVE VA A VA A VA STO A VA A VA STO A a A NA A A ANA NAN A NA ANA ANA A A ANA a a a A Copyright 2011 SMC S e NOM User manual YUI NON NN NAN SAN ERA SOL SILO I SLL OE SE LE I EI OE SL IE LS ESE SES ELE ESEA E ASS SS PA Ep bloc fonctionnel ARATT aller retour d une locomotive sur une voie avec attent les entr es bool ennes sont les fins de course les sorties bool ennes sont l alimentation de la voie 0 et la direction 1 gt gt r T r PADAAALAAAAN les param tres sont 0 premi re temporisation 1 dur e de la premi re temporisation 2 deuxi me temporisation 3 dur e de la deuxi me temporisation NAINN ANAN AN INAV PV pr disposition des deux temporisations 0 1 2 3 NNN AA alimenter la voie si pas les fins de course ou si tempo termin es set 00 res 00 orr 10 eor 11 set 00 orr 720 eor 72 SAAALDS gestion des temporisations 0 1I0 2 I1 gt PAPPAPADALYY lt piloter la direction en fonction des fins de course 01 1 10 O1 0 11 SOI INS IEEE IES IN INES INES IN INESIS III AN NN NN NN NN NN NN INESIS SI ES III ES IES IN INESIS INES IIS NN NN NN IN IN A al Emo fb fb 3 agn Supplementary syntax Supplementary syntax is used to make a calculation on the reference variable numbers in the LIB file The
80. ARA Gi nn a eena and source steps agn PLP ANA VA A ANA A A A A A A A 2 A A A 2 A 2 A A ANA A2 A AN Multiple actions conditioned actions We have already used multiple and conditioned actions in this chapter The two principles are described in detail below As described in the chapter dedicated to the compiler multiple actions can be written in the same rectangle by entering the character comma as a separator When a condition is added to an action rectangle all of the actions which continue in the rectangle are conditioned Multiple actions rectangles can be associated to a step EE a a VF another possibility C A E Lo HH H en Each of the rectangles can receive a different condition autoSIM 204 Copyright 2011 SMC PA Z SMC User manual E E p E C to E E p B fo E E p E AENA E E p E fo To design a conditional or event based action place the cursor over the action rectangle right click with the mouse and select Conditional action or event based action from the menu To document the condition on action click on the element or or The IF condition syntax allows a condition on action to be written in the action rectangle For example v he i and symbols make it possible to specify that the actions contained in a rectangle have to be performed once at the activation or deactivation of the step respectively For example Increment counter 5 once at
81. Adding an IRIS 2D object List of basic objects The console object is the only object which can contain other objects on its surface It is used to create command consoles and animation surfaces for virtual operating parts This object has a pushbutton 1 used to manage objects on its surface add move delete etc This is used to create pushbuttons and lights that interact with the processing application variables This is a polymorphic element primarily used to simulate operating parts This is used to display numeric values of the processing application in a number format This is used to display information on the processing application in a text format autoSIM 54 Copyright 2011 SMC SMC User manual This is used to produce output sounds when the variable state of the processing application changes This is used to display processing application data in a table or chart format and save them in the computer memory or on the disk This is used for processing run separately from the processing application This is used to display messages in a pop up window format regarding changes in the variable state of the processing application This is used to display processing application numeric variables in an analog numeric format bars dials etc Practical experience In this chapter you will be able to quickly create your first IRIS 2D application We are going to create a console put a pushbutton on it an
82. BJECT object Simulation of a jack Instructions e jack driven by two 00 outputs extract the jack and of retract the jack e two limit inputs 0 jack retracted and i1 jack extracted Three objects will be used e a Console object acting as support e an Object for the jack body e an Object for the jack shaft autoSIM 107 Copyright 2011 SMC PE Y SMC User manual Solution The jack body is an OBJECT object which remains static only its aspect is configured autoSIM 108 Copyright 2011 SMC O autoSIM User manual 0 o 00 01 10 0 100 5 il 0 o roperties of OBJECT object 4 01 109 OCopyright 2011 SMC S 5 User manual la Examples Process Simulation 2D tutorial1 agn Variation An intermediate position needs to be added on the jack We are going to use two supplementary objects for this a piece attached to the jack shaft which will activate a sensor and a sensor To connect the piece activating the sensor to the jack shaft the jack shaft needs to be associated to an identifier in the Identifier section of the Links tab write 100 To connect the piece to the shaft in the Horizontal movement Position section of the Links tab write SISTERPARAM 100 STATE This connects the piece with the jack shaft state The object used as a
83. IS SS EL OP ESO SOA SN OSA NOS ASE OA ALELA ESELA SOLASA LN gt Wx110 L PP PPP PPP PP PP PPP PPP IP PPP PP PP LP PP RSS PSP SSP SPP SSP III III III Gi Examplelgrafcetisample4 agn This example shows the possibilities AUTOSIM offers for synchronizing multiple Grafcets The transition between step 100 and 110 Axl means wait for a rising edge on 1 The transition Wx110 means wait for a falling edge on step 110 The step by step execution of this program shows the exact evolution of the variables and their front at each cycle This makes it possible to understand exactly what happens during the execution We can also see the use of multiple actions associated to step 110 which are individually conditioned here autoSIM 328 Copyright 2011 SMC SN ger manual O Step setting 120 PA LPAAL PAPAL PPS LA LLL LLL LLL hPL PPS PSS In this example an order S set to one has been used to set a step AUTOSIM also authorizes setting of a Grafcet integer see examples 8 and 9 Again in this example the step by step execution lets us understand the exact evolution of the program over time We can also see use of an non looped Grafcet 100 110 120 use of the order RCO reset by counter 0 use of the order C0 incremented by counter 0 conditioned by the rising edge of input 4 due to incrementation by the counter so it is necessary that
84. LALL SNES GOS NE SEE NSE SES POP ESL A NRE ELSES NONE gt ALLERRET S Ss tld capteur droit 2 S tli capteur gauche gt gt BF aller retour gt gt gt AADAAAAAAA AA VA A VA A VA A AAI VA VA VA VA VA VA VA VA VA PPP PP PP PP PP PP PP PP PP PIAL a a a a a a a A a a a A AIA la Example fb fb 1 agn bloc fonctionnel ALLERRET aller retour d une locomotive sur une voie autoSIM 316 Copyright 2011 SMC PE Z SMC User manual les entr es bool ennes sont les fins de course les sorties bool ennes sont l alimentation de la voie 0 et la direction 1 toujours alimenter la voie set 00 piloter la direction en fonction des fins de course 01 1 10 01 0 I1 To illustrate the use of function blocks let s complete our example Conditions Round trip of two locomotives on tracks 1 and 3 Solution SP PSPS SSP LPS FS SSIS AN ONES ON LOLI I SLO AI EA SI SLO Af EA EI SLO PI SOA ES SAP A SE SEI SODA Sf SEA SEA SA 2 ALLERRET gt lt tld capteur droit 4 Z ria S tli capteur gauche 4 2 BF aller retour ee ra lt ALLERRET s 1 t3d capteur droit E t3i capteur gauche g 4 Z BF aller retour N AVA A VA A A A A A A A A A A A VA A A A VAN AVA IAL FIP V AV AV AV ANA VAN AV A VAN ANA VAN AVI VAN AN AN IN AVINA NA AA
85. LE is missing a goto or subprogram label cannot be found the closing square bracket is 99 Copyright 2011 SMC O SMC element number outside limit too many overlapping CALL RETURN found without CALL subprogram variable size too small DLL file cannot be found function cannot be found in DLL division by zero mathematical error Aspect tab Colors User manual missing a table element outside of the limits has been used too many overlapping subprograms have been used RETURN found outside a the size of a variable is insufficient the DLL file cannot be found the function cannot be found in the DLL file a division by 0 has been produced a mathematical function has caused an error This is used to select the object background and character color Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Text This is used to specify a bubble text which is displayed when the cursor is on the object Program tab Program This editing area contains the program autoSIM 100 Copyright 2011 SMC SMC User manual Run If this is checked than the program is run O Priority run If this is checked than the program is run more rapidly Run at start up If this is checked then the program is run when the object is opened T
86. NE NEN ENE SENSE SENSE SENS NEN NEN NE NE NS SAS AAA ASP SI NII NS NI NI NSIS NSN NS SI NSS SS NS SS NS IN ON SS A SS A SS OOO SS OO IN IN O IN IN IN EOI SSS SS SS SS macro tape retour voie 1 gt S gt S gt S gt S gt S lt E2 S gt S gt S gt S gt S gt S gt gt gt S gt S gt S gt S gt 10 S AVI S DVI S gt S gt S gt S gt S td 2 gt S gt S gt S gt S gt S gt 20 R AVI gt gt S gt S gt S gt S gt S S t1 x20 4s S gt S gt S gt S gt S gt s2 gt gt S gt S S 5 CUIDEN AAA NAN NN A NAN AN NS autoSIM 217 Copyright 2011 SMC User manual LAAADAAAAAAAAAAY Aa Va a A LADA AAA AAA NN NEN ENE NE NE NEN LL LL LL LD LD LL LL LD NSE ENE NE NSE NE NEN EN SAAAAAAR Gi De a de steps agn Encapsulating steps Introduced in standard 60848 encapsulating steps are an evolution of the ideas proposed in macro steps Using encapsulating steps under AUTOSIM is defined as follows the encapsulation is located in a separate sheet How do you define an encapsulating step EJ The or symbol have to be used To place this symbol right click with the mouse on an empty part of the sheet and select Plus Encapsulating step in the contextual menu How do you define an encapsulation To define the encapsulation create a sheet design the encapsulation and modify the properties of the sheet by right
87. NE NSE SESE SNESE SESE SESASI SA NS Call up a function block j 100 j u101 Dur e 10s Temporisation TO ERIN BISTABLE PINININENINENINENINENENENINENINENINESINENINESINENENENSINENENENINENINENINENINENE al Example fb Fb with sfc inside agn Predefined function blocks Conversion function blocks are located in the sub directory LIB of the directory where AUTOSIM is installed The equivalents in macro instructions are also present autoSIM 321 Copyright 2011 SMC O SMC User manual To insert a function blocks and its parameters in an application select Pre set function block from the Assistant Function block dialog box ASCTOBIN converts ASCII to binary BCDTOBIN converts BCD to binary BINTOASC converts binary to ASCII BINTOBCD converts binary to BCD GRAYTOB converts gray code to binary 16BINTOM transfers 16 boolean variables to a word MTO16 BIN transfers a word to 16 boolean variables TEMPO upstream time delay PULSOR parallel output PULSE time delay pulse STRCMP comparison STRCAT concatenation STRCPY copy STRLEN calculate the length STRUPR set in lower case STRLWR set in upper case COMP comparison COPY copy FILL fill Advanced techniques This chapter deal with the form of code generated by compilation of such or that type of program The utility CODELIST EXE is used to translate in clear a file of in
88. NS NI INSI INN IS fa Example flow chart logigrammet agn Solution 2 gt 1 ee AVI tla ir DV1 gt dvi S tli NAVVA VA VA VA VA VA VAVA VA VA A VA ANA A A NA VA A ANA ANR A IO DS IO IO IS ISO IS IO IS SISI INES IN IS ISI INES AR A LA LA LA LA RAS A A IES IIS SIND Gi E chartlogigramme2 agn The second solution is identical from an operational point of view It is used to display the use of a self controlled variable Let s make the example more complex Conditions autoSIM 232 Copyright 2011 SMC rg 24 SMC User manual The locomotive must stop for 10 seconds to the right of track 1 and 4 seconas to the left By Solution CPI ROP NINO ENS EOL SL LOI SE SOLO ORIO OS LOL ERS LAE SLD AOA SOO GOP LOD SIONES PRE PNR EEE gt 4 tla TO 10S p S 5 lt S 2 S DVI 2 lt lt S S gt tli T1 48 2 lt ES Ll 2 R DVI ES e pS to gt AVI e ES w Se gt t1 ES E eS w Fe e e e VAS AAA AAA o AVR A VA NA VA ANA A ANA A ANA ANA NAN A IN III Gi Example flow chartlogigramme3 agn Note the reuse of the And block in the lower part of the example towards the inputs _tid_ and t1i_ This prevents having to write the two tests a second time A final example a bit more complicated Conditions Again a locomotive which
89. Name Function Variables Addressing Also see Example autoSIM User manual INV inverse inverts the state of a boolean variable or inverts all the bits of a word a long or the 16 bit or 32 bit accumulator Tor 1 O or Q B or M T or T X or X U M or MW L or MD absolute indirect accumulator EQU NEO SET RES inv 00 Inverts the state of output 0 inv aaa inverts all the bits of the 16 bit accumulator inv m200 and 10 inverts all m200 bits if 10 is at state 1 264 Copyright 2011 SMC O SMC TTF Name Function Variables Addressing Also see Example autoSIM User manual ITF integer to float transfers the 16 bit accumulator to the float accumulator none accumulator ETI Ida 1000 itf aaa sta 200 leaves the constant 1000 in f200 265 Copyright 2011 SMC O SMC ITL Name Function Variables Addressing Also see Example autoSIM User manual ITL integer to long transfers the 16 bit accumulator to the 32 bit accumulator none accumulator LTI Ida 1000 itl aaa sta 200 leaves the constant 1000 in 1200 266 Copyright 2011 SMC SMC JMP O Name Function Variables Addressing Also see Example autoSIM User manual JMP jump jump to a label label label JSR jmp end of program unconditional connection to end of program label jmp string and 10 set 00 set ol string conditiona
90. PPI SPI IPP SPI IPI II II SII II III IPI WISI IIIS WISI NI NS NSS la Example Ornagization chart Ornagization chart 1 agn Second example Conditions Make all the model light flash The light change states every second autoSIM 311 Copyright 2011 SMC F GMC User manual Solution LADA AS AAA SA AL DD DS LD LD DLL NN NN NEN LL DLLD NEN LL LL LL LL LL LL LL PL LL LL LL SESA SESA SESA SASE NEO NL _index m_ _sld_ inv o _index m_ and t0 inc _index m_ _calcul m_ s8i 1 IF _index m_ _calcul m_ ASS SSS NS SNS SS SS SSS SSS SSS ESS SSS ESS ES Ed Ed A Ed PP PS ESS PA A dd PS PS PS PSS A SP PS PSS SPSS PSS PSS A SS PSS ASP A SS ASP SP SS A SP A SS A SS PS A SS A SS SP SS PSS Note the use of automatic symbols in this example autoSIM 312 Copyright 2011 SMC F Z SMC User manual Function blocks AUTOSIM implements the use of function blocks This modular programming method is used to associate a set of instructions written in literal language to a graphic element Function blocks are defined by the programmer Their number is not limited It is possible to create sets of function blocks to allow a modular and standardize concept of applications Function blocks are used within flow chart or ladder type models they have n boolean inputs and n boolean outputs If the block is going to treat variables which are not boolean then they will be mentioned in the drawing of the f
91. RCHIVE object From the value taken in the count its contents is reset by the ARCHIVE object Value Action Nothing Start an acquisition Reading started Freeze the acquisitions Restart archiving after freezing Clear the memory database Destroy the archive file Activate Save last acquisitions mode Cancel Save last acquisitions mode NOOR D Options tab Use the image file The image file is used At the end of using the ARCHIVE object to save the database present in the memory When the ARCHIVE object is launched to reconstruct the database present in the memory during the last use Using the archive file Each acquisition is saved in the file in standard database format Displaying Acquisition date This is used to display the acquisition date of a registration autoSIM 76 Copyright 2011 SMC rg 24 SMC User manual Acquisition time This is used to display the acquisition time of a registration Hours minutes seconds milliseconds This is used to configure the acquisition time display The time display is effected downstream from the display of acquisitions for the TABLE object figure 3 1 or under the grid when it is set for the GRAPH object figure 3 2 Date Heure d acquisition Valeur 24 07 96 13 42 43 112 3141 24 07 96 13 42 44 211 25217 24 07 96 13 42 45 309 18451 24 07 96 13 42 46 408 3489 24 07 96 13 42 47 506 25525 24 07 96 13 42 48 605 17931 24
92. S Name ABS abs accumulator Function calculate the absolute value of the floating accumulator Variables none Addressing accumulator Also see SQR Example Ida f200 abs aaf sta f201 leaves f201 in the absolute value of f200 autoSIM 246 Copyright 2011 SMC O SMC User manual ACO Name ACO accumulator arc cosine Function calculate the arc cosine value of the floating point accumulator Variables none Addressing accumulator Also see COS SIN TAN ASI ATA Example Ida 200 aco aaf sta f201 leave the value of the arc cosine of f200 in f201 autoSIM 247 Copyright 2011 SMC O SMC User manual ADA Name ADA adds accumulator Function adds a value to the accumulator Variables 3 M or MW L or MD F or MF Addressing absolute indirect immediate Also see SBA Example ada 200 adds 200 to the 16 bit accumulator ada f124 adds the content of f124 to the float accumulator ada 1200 adds the content of 1200 to the 32 bit accumulator ada 200L adds 200 to the 32 bit accumulator ada 3 14R adds 3 14 to the float accumulator autoSIM 248 Copyright 2011 SMC SMC User manual AIN O Name f AIN accumulator input Function reads an input port 8 bits and stores in the lower part of the 16 bit accumulator reads a 16 bit input port and stores in the 16 bit accumulator in this case the port address must be written in the form of a 32 bit constant
93. SMC SMC User manual O with the input and output steps Steps 1 and 3 of the Main program sheet are defined as macro steps Access to macro step expansion display can be done by clicking the left side of the mouse on the macro steps AAA RAR DA ADD SDL LL LL ADS D SDL NINO OO INI III II ONIS ON SONO OO NIN NIN ONO EN NR continue PA PPP NINNIN NI NYNIN NINNIN NINNIN LILIA IIL PIS PPI SSL N NNNNNN autoSIM 335 Copyright 2011 SMC SN ger manual O AAA AA AAA AAA LD DD D LD DD Nf LL LA RSS DL LE ONE LL LL LL LL LL PL LL NE NSE NE NSE NEN ENE NSE NE NE NE NEN SENN ENE N NEINEI NESS VAN INESIS AINSLIE NE EE NE NEE NA VA VA TA TA VA VA ANA VA NA ANA NA TA ANA ANA VA VA A VA A A ANA A A ANA ANA ANA ANA A A ANA A A ANA A AN ANS RAAA AA VAN ANA VA VA VA VAN AY AAD A ANA VAN A VA VA VA VA VA Vi VA ANA ANA Va a a Aa Na VA VA ANA ANA VA A ANA VAN A VA Aa AN AN ANA A a a ANA a a a a ANA a a ae la Example grafcet sample12 agn In this example two sheets have been used to write a program The symbols NEXT_ and CONTINUE have been stated as bits see the symbol file and are used to make a link between the two Grafcets this is another synchronization technique that can be used with AUTOSIM autoSIM 336 Copyright 2011 SMC SN ger manual O Flow chart XOLA SE NN ESI ESL SA SPS NAL SPE SO SARL OLLE ES ESOO XENON SINE ANI NEI i0 00
94. The following syntax must be applied for 16 bit constants gt decimal possibly the character plus 1 to 5 digits 0123456789 hexadecimal the prefix or 16 followed by 1 to 4 digits 0123456789ABCDEF binary the prefix or 2 followed by 1 to 16 digits 01 gt ASCII the character followed by 1 or 2 characters followed by The following syntax must be applied for 32 bit constants Decimal possibly the character plus 1 to 10 digits 0123456789 Hexadecimal the prefix or 16 followed by 1 to 8 digits 0123456789ABCDEF Binary the prefix or 2 followed by 1 to 32 digits 01 ASCII the character followed by 1 to 4 characters followed by The following syntax must be applied for real constants i d Esx i is the whole part of a decimal part s possible sign of an exponent x possible exponent Presettings A presetting is used to fix the value of a variable before starting the application The variables T or T M or MW L or MD and F or F can be preset The syntax is as follows S variable constant constant constant For time delays the variable must be written in decimal and be included between 0 and 65535 For words the following syntax must be used autoSIM 240 Copyright 2011 SMC SMC User manual Decimal possibly the character
95. UTOMGEN variables abe Symbols 0 Operators Double click on the elements or drag them into the editing area Cancel a Test creation assistant autoSIM 42 Copyright 2011 SMC SMC O User manual Adding symbols To create a symbol click with the right side of the mouse on the symbol table in the work space and select Add Or click the button on the toolbar You can also launch program compiling containing unset symbols You will be asked for variables corresponding to the symbols during the compilation Symbol properties Associated variable ___ QO E Associated comments a The name can contain any character with the exception of _ Gk long is restricted to 512 characters 4 variable name must comply with IEC 1131 3 or AUTOMGEN syntax Cancel Attribution of symbols during compilation To easily design a program create a new sheet then click with the right side of the mouse on the bottom of the sheet Select Assistant from the menu you will then be guided by it autoSIM 43 Copyright 2011 SMC S User manual Running an application The button on the toolbar is the quickest way to see application run results This pushbutton activates the following mechanisms compilation of the application if it is not updated not already compiled after the last modifications installation of the run module with downloading if the current target is a processor a
96. Vertical text position Centere Top C Bottom Horizontal text position Centere Toleft Toright Preview Text soot Click the Links tab upper part of the dialogue window In the Action when button is pressed section enter Q4 1 In the Action when button is released section enter Q4 0 Then click on OK on the pushbutton on the lower part of the dialogue window Actions on the pushbutton will drive processing application output 4 You can open a Monitoring window from the Set up menu by clicking with the right side of the mouse on the browser You display the state of output 4 when you click then release the pushbutton Step 6 We are going to associate a light to the Illuminated Button object this light will be associated to a processing application input for example 12 Click the pushbutton icon j again In the Aspect tab click on the Pushbutton and light radio button Click on the Links tab and enter i2 in the Light state section Click on the OK pushbutton in the lower part of the property dialogue window You can keep the state of variable i2 modified with a Monitoring window or by modifying the state of the physical input if it exists autoSIM 57 Copyright 2011 SMC rg 2 SMC User manual Step 7 We are going to duplicate the Illuminated Button on the console in order to obt
97. a Va a Va Va Va Va a Va a a Va a Va a Va a Va a a a a Va a Na Va a Va a Va a a Na a a A autoSIM 219 Copyright 2011 SMC LILI III II II SII SIS NIN SINE NINE NINE NEN NE NE NEN NEDSS NESE NESE NESSES NESE SESE NESE O as lt Ss gt 5 gt gt p NOV A VA VA VA VA VA Va VA AASA Va a Va Va Va Va a a Va a Va Va Va Va a a Va a Va Va Va Va a a Va a Va Va Va a a a Va a Va Va Va Va a a Va a a a a Va a a Va a Va a Va Va a a ae la examples grafcet encapsulation 2 agn Links can be defined with Grafcet step S S S S S S e x1 jsi H lt o gt S S S S S S gt si0 S gt gt gt gt S 1 p gt y gt S gii gt gt gt gt gt y 5 gt 2 RNA AKAA AA AA AA AA AKA AKA AA AKA AA AKA AK AKA AKA AKA AKA AKA AKA AKA AKA AKA AA AKA AK AKA AK AK AK AKA KAKA AA AA autoSIM 220 Copyright 2011 SMC SMC User manual O GRAFCET the block can be used to wire a transition like a ladder circuit The Grafcet steps can be wired as the start of a contact rio pp sil PP PLP SLA NSS LOS A SOLS SL NENE SD DD LP OL LLP SS S GI examples grafcet grafcet 2 agn Grafcet flow chart example ET TESO AE SE ET ELSES SN L LLE LCAS CEES AAC ELE COLE A ECE L EAEE AN OA NEEL amp voyant init clignotant 05secon de m 4
98. action areas of an object then select the Parameters command Details of a Console object Aspect tab Window This is used to set the aspect of the console window presence of edges a title bar in this case a title can be given presence of close and reduce icons If you check Display help messages you set up a message area at the bottom of the window the size of this area is automatically established based on the selected font see below If this area is not set messages from the sisters will be displayed on the parent console of the console and on the bottom of the AUTOSIM environment window if the object does not have a parent autoSIM 61 Copyright 2011 SMC ot SN A ger manual Console background This establishes the console background color see below transparent accessible only if the console is the sister of another console bitmap the background is set by a BMP file for example created with PAINTBRUSH Colors This is used to select the color for the console background if a colored background is selected see above the background and the characters of the help message display area if this area is valid see above Fonts for the help area This establishes the font used for displaying help messages at the bottom of the console Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object
99. afcet Grafcet Grafcet Grafcet i User manual SPACE on an E block Flowchart blocks Associated key 0 zero Ladder blocks Aspect Associated key autoSIM Aspect 3i pa j Skip or repeat right step Link towards the top Generic name Flowchart assignment Not function And function Block environment Start left coil Left limit Right limit Connection Connection 39 Generic name Start right coil Or convergence or divergence For relooping and repeating steps Comments Separates the test from the action area Complements the block input signal Combines the inputs in an And logic Combines the inputs in an Or logic Enlarges an And or Or function block Ends an And or Or function block Comments Starts an action Ends an action Ends the diagram Starts the diagram Or function Or function Grafcet Grafcet Languages Flowchart Flowchart Flowchart Flowchart Flowchart Flowchart Ladder Ladder Ladder Ladder Ladder Ladder Copyright 2011 SMC O SMC User manual Action blocks Aspect Associated key W Action rectangle left Starts an action Grafcet and Flowchart limit X Action rectangle Extends an action G
100. ain a second pushbutton whose properties we will modify Click on the pushbutton with the left side of the mouse while pressing down the SHIFT key Black squares will appear around the selected object Click on the console icon and select the Copy option Click on the console icon and select the Paste option Now there are two overlapping Illuminated Button objects Drag the upper one it is the only accessible one by its upper bar and move it away from the other pushbutton The object which has been duplicated has the same properties as the first Now you can set the parameters for the second object for example so it is linked to output 5 and input 3 You can also customize the aspect of the pushbuttons by using the aspect tab for the two objects You can modify the size of the objects by dragging their edges The three objects on the screen console and two pushbuttons are in Configuration mode this means that they have a mini bar on the upper part of their surface icons and edges for modifying their dimensions The objects have another mode called Employ in this mode their aspect is permanent the upper bar icon and edges for modifying the dimensions no longer exist To tilt an object click on it with the right side of the mouse At this point you will have created an object that looks like this autoSIM 58 Copyright 2011 SMC rg 24 SMC User manual Creating an autonomous supervisi
101. al DISP Displays the state of a variable Can be used for debugging an object by displaying the value of a variable associated with the object Parameters Variable horizontal position vertical position This area allows you to define the program governing the object s working Each object has variables 128 32 bit integer variables 128 32 bit floating point variables And also for each connection a floating point value on input a floating point value on output an associated writing mode that can have the following values o 0 no writing has been done o 1 the floating point value on output has been written o 2 a connection has been realized with the connection whose number is in floating point value on output o 3 locking pneumatic or hydraulic plug The following internal integer variables are special 125 contains 0 if dynamic visualization is active 1 if not useful in order to have a different design for dynamic visualization and otherwise 126 contains a value representing a user event O no event 1 left mouse button released 2 left mouse button pressed 3 right mouse button released 4 right mouse button pressed 127 contains the elapsed time in ms between 2 operations of the program autoSIM 172 Copyright 2011 SMC SMC User manual O List of programming primitives MOVV Copies a constant or a variable into a variable Parameters destination variable
102. al If step 100 is active then counter 25 is decreased if not C25 keeps the same value Time delays Time delays are considered as boolean variables and can be used with Assignment Complement assignment Set to one Reset and Invert The time delay order can be written after the action The syntax is time delay duration By default the duration is expressed in tenths of seconds The letter S at the end of the duration indicates that it is expressed in seconds Examples T3 28 STSGLES Step 10 launches a time delay of 2 seconds which remains active as long as the step is Step 20 sets a time delay of 6 seconds which remains active while step 20 is deactivated The same time delay can be used by different places with the same procedure and at different instants In this case the time delay procedure must only be indicated once Note other syntaxes exist for time delays Interferences among the actions Certain types of actions cannot be used at the same time on a variable The table below shows the combinations which cannot be used Assignment Complement Set to one Reset Inversion assignment Assignment YES NO NO NO NO Complement NO YES NO NO NO assignment Set to one NO NO YES YES YES Reset NO NO YES YES YES Inversion NO NO YES YES YES autoSIM 186 Copyright 2011 SMC GSMC IEC1131 3 standard actions The table below provides the IEC 113
103. art form is the graphic representation of an algorithmic treatment Unlike Grafcet language programming in the organizational chart form generates a code which will be executed one time per search cycle This means that it is not possible to remain in an organizational chart rectangle it is mandatory for the execution to exit the organizational chart to continue to execute the rest of the program This is a very important point and must not be forgotten when this language is selected Only rectangles can be drawn The contents of a rectangle and its connections determine if the rectangle is an action or a test Creating an organizational chart The rectangles are drawn by selecting the command Add Code box from the menu click on the right side of the mouse on the bottom of the sheet to open the menu It is necessary to place a block key lt at the entry of each rectangle this must be placed on the upper part of the rectangle If the rectangle is an action it will have only one exit represented by a block key E on the lower left side of the rectangle If the rectangle is a test it must have two outputs The first is represented by a block key E on the lower left side and is for a true test the second represented by a block i key is immediately to the right of the other output and is for a false test An action rectangle autoSIM 309 Copyright 2011 SMC rg 24 SMC User manual A test
104. arts Each IRIS 2D object appears in the project tree see the chapters IRIS 2D references and IRIS 3D references for additional information Click with object selection assistant is used to select it and set its parameters Preset objects Basic objects Console Button and light Object Digital value Screen keyboard message list Sound Data archive Program Dialogue box Analog value Preview Use the tree to select an object Modify any parameters if necessary by clicking on the elements in the values column then click on Open to add the object to a project Cancel Selection assistant for an IRIS 2D object autoSIM 30 Copyright 2011 SMC O SMC User manual With the right side of the mouse click on the IRIS object on the browser and select Delete from the menu With the right side of the mouse click on the IRIS object on the browser and select Display hide from the menu With the right side of the mouse click on the IRIS object on the browser and select Copy or Cut from the menu To paste with the right side of the mouse click on the Sheet element on the browser and select Paste To paste an IRIS object on a console select Paste from the console menu or click with the right side of the mouse on the console on the browser and select Paste Select Add an object from the console menu or click with the right side of the mouse
105. ating for lt le received in the t of an e mail Select the code in the message text make sure you only select the code and do not add any spaces to the end Click on Paste a validation code from the clipboard Enter the code in the spaces under the title Validation code Modifying a license Modification of a license Involves changing the elements authorized by the license for example adding a post processor The license modification procedure is identical to registration Moving a license from one computer to another This procedure is more complex The instructions below must be scrupulously followed to obtain good results In the instructions below source PC indicates the computer with the license and the target PC is the PC where the license needs to be moved 1 if it has not already been done install AUTOSIM on the target PC autoSIM 11 Copyright 2011 SMC SMC User manual 2 generate an a8u user code file on the target PC and move this file to the source PC for example on a floppy disk 3 on the source PC select the Move the license to another place option O Desplazar la licencia a otro PC Para poder desplazar la licencia instalada en este ordenador debe obtener un c digo de usuario a partir del ordenador de destino C digo de usuario del ordenador de destino atenci n D es CERO y D es la letra Pot C T 0 JT Tf ee Leer un c digo Pegar un d
106. autoSIM 200 The shortest way to automation O ZA D07ANISO Me Ez USER MANUAL SMC NTERNATIONAL TRAINING O SMC User manual O Installation If you are installing AUTOSIM from the AUTOSIM CD ROM place it in your CD ROM drive The installation is launched automatically If this does not occur launch the Setup exe executable which is in the CD ROM root Configuration required PC compatible computer with WINDOWS 98 SE or WINDOWS ME or WINDOWS 2000 or WINDOWS XP or WINDOWS 7 or WINDOWS 2003 or WINDOWS VISTA operating system 256 MB memory depending on the operating system the operating system itself may require more memory graphics board with a resolution of at least 1024 x 768 in 65536 colors Installation in a network AUTOSIM can be installed in a network environment Execute the installation procedure on the server PC make sure you have all of the access rights when you carry out the procedure To launch AUTOSIM on the client PCs create a shortcut to the autom8 exe executable of the AUTOSIM installation directory on the server PC Refer to the chapter additional information on installing AUTOSIM in a network environment for more information about installing AUTOSIM and licenses in a network environment autoSIM 3 Copyright 2011 SMC SMC User manual New features of AUTOSIM Increased integration of the Grafcet 60848 standard The new elements of
107. automate or microprocessor card Literal language can also be used for an application in order to effect various boolean numeric or algebraic operations Low level literal language is an assembler type language It uses the idea of an accumulator for numeric treatment Extended literal language and ST literal language described in the following chapters offer a simplified and higher level alternative for writing programs in literal language The general syntax for a line of low level literal language is action Test Test The actions and tests of low level literal language are represented by mnemonics formed of three letters An instruction is always followed by an expression variable constant etc A line is composed of a single action and possibly a test If a line only includes an action then the instruction is always executed Variables The variables used are the same as those described in the Common elements chapter Accumulators Some instructions use an accumulator The accumulators are internal registers which execute the final program and make it possible to temporarily store values There are three accumulators a 16 bit accumulator known as AAA a 32 bit accumulator known as AAL and a float accumulator known as AAF autoSIM 236 Copyright 2011 SMC rg 2 SMC User manual Flags Flags are boolean variables which are positioned based on the result of numeric operations There a
108. ax for a macro instruction MACRO lt program gt ENDM This statement is found in a file with the name of the macro instruction and the extension M The file M can be placed in a sub directory lib of the AUTOSIM installation directory or in project resources Ten parameters can be passed to the macro instruction When called up these parameters are placed on the same line as the macro instruction and are separated by a space The syntax n in the macro instruction program refers to the n parameter Example We are going to create a square macro instruction which raises the first parameter of the macro instruction to its square and puts the results in the second parameter Call up of the macro instruction Ida 3 sta m200 square m200 m201 m201 will contain 9 here SQUARE M file MACRO Ida 0 mla 0 sta 1 ENDM The name of the macro instruction can be a complete access path to the file M it can contain a read and directory designation autoSIM 293 Copyright 2011 SMC F GMC User manual Libraries A library is used to define the resources which will be compiled one time in an application no matter how many times those resources are called up Syntax for defining a library LIBRARY lt Library name gt lt program gt ENDL lt library name gt is the function name which will be called up for a jsr lt library name gt instruc
109. ayed for the graduations these values can be signed and or floating point numbers No small graduations no large graduations No graduations two levels related to start and end values These values can be floating point numbers Font This establishes the characters used for the graduations Area N 1 area N 2 and area N 3 This is used to establish colored areas Start value and End value set each area The color for each area is specified by three components of red green and blue between 0 and 255 Colors This establishes the character and graduation color Again here the colors are expressed by their three components red green and blue Details of Screen keyboard message list object Links with the application The link between the object and the application is made using word tables To send data to a type of object with or without the keyboard the data must be placed starting from the second word of the reception table plus the length of the data in the first word in the table maximum length is 255 Each word contains a datum The data can be an ASCII character a number of a preset message 8000 hexa or a special command 100 hexa deletes the window 200 hexa displays the date 300 hexa displays the time 400 displays the message number When the object has reread the available data in a table it resets the first word to O to indicate that the operation has been effected autoSIM
110. ble Command Variable state result 0 1 Example If step 10 is active then OO takes the value of 1 if not OO takes the value 0 autoSIM 180 Copyright 2011 SMC rg 24 SMC User manual Various Assignment actions can be used for the same variable in one program In this case the different commands are combined in Or logic of Complement assignment of a boolean variable The Complement assignment action syntax is N boolean variable Operation if the action rectangle or coil command is in a true state then the variable is reset false state if the action rectangle or coil command is in a false state then the variable is set at 1 true state Truth table Command Variable state result 0 1 Example If step 20 is active then U100 takes the value 0 if not U100 takes the value 1 autoSIM 181 Copyright 2011 SMC rg 24 SMC User manual Various Complement assignment actions can be used for the same variable in one program In this case the different commands are combined in Or logic Example State of State of X110 State of X100 020 0 0 1 1 0 0 0 1 0 1 1 0 Setting a boolean variable to one The Set to one syntax is S boolean variable Operation gt if the action rectangle or coil command is in a true state then the variable is set to 1 true state if the action rectangle or coil command is in a false
111. ce This project is a document model if checked when opened all the options and the documents it contains act as a model for the creation of a new project This functionality is used to create standard configuration which can be uploaded when AUTOSIM is launched for example a default symbol file or a default processor configuration Defining a mode To define a mode that can be used when launching AUTOSIM like the Expert and Beginner modes save a project model in the models sub directory of the AUTOSIM installation directory An image can be autoSIM 20 Copyright 2011 SMC rg 24 SMC User manual linked to a model To do this create a jpg format file with the same name as the agn file This file must have the following dimensions 120 pixels wide by 90 pixels high Automatic GO Automatic go at project launch if checked the application is automatically run when a project is opened The project is used to group together the elements of an AUTOSIM application Once regrouped the elements form a compact file with AGN extension The project models are used to be able to easily manage different software configurations Generation of executables makes it easy to distribute applications autoSIM 21 Copyright 2011 SMC O SMC User manual he Browser Proyecto x E E Proyecto sin nombre Folios S mbolos 2 3 Configuraci n H E Post
112. click on the Resources element on the browser and select Add from the menu With the right side of the mouse click the resource file on the browser and select Delete With the right side of the mouse click the resource file on the browser and select Rename With the right side of the mouse click the resource file on the browser and select Modify 3D STUDIO files can be converted into x files and added to the resources by clicking with the right side of the mouse on the Resources element on the browser and selecting Import 3D files see the chapter IRIS 2D references and IRIS 3D references for more information autoSIM 33 Copyright 2011 SMC O SIMIC User manual External modules These elements are reserved for executable modules developed by third parties and interfaced with AUTOSIM The browser is used to display and manage all the project elements By double clicking on the elements or by clicking with the right side of the mouse you access the different functions applicable to each element autoSIM 34 Copyright 2011 SMC SMC User manual Designing programs Various tools are available for designing programs Designing with the assistant This is without doubt the simplest when starting with AUTOSIM With the right side of the mouse click on an open sheet in the work space and select Assistant from the menu You will then be guided for making selections Whe
113. clicking with the mouse on the name of the sheet in the browser Set the sheet type to Encapsulation as well as the encapsulating step number X The symbol allows the initial state to be defined for an encapsulation autoSIM 218 Copyright 2011 SMC rg 24 SMC User manual An encapsulation can be viewed in execution mode To do this you need to place the cursor over the encapsulating step and left click with the mouse Notes The User bits and steps used in an encapsulation are local e they are not related to the bits and steps of other Grafcet levels This is not the case for all the other types of variable they are common to all the levels You can for example use word bits as global variables D The encapsulated steps can be embedded The Xn Xm or Xn Xm syntax allows you to reference step m contained in the encapsulation associated to step n Examp main program Folder properties Size the dimensions of the folder surface XL very large folders Literal language Folder type 1E01131 3 Normal T Ask C AUTOMGEN Macto step expansion Function block Variables names C Task C Encapsulation fi IEC1131 3 AAA ARR RAR LL SINE SE NESE NISE NISE SND NISE NISENI SENESI PP DN NENE NENE NENI NENENENE NENE NENI NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENI VA VA VA VA VA SISIN A VA VA VA Va Aa VA Aa Aa A Va a Va a VA Va a Va a Va Va Va Va Aa Va
114. constant or variable and a constant or variable and places the result in a variable Parameters destination variable Source 1 variable or constant source 2 variable or constant autoSIM 174 Copyright 2011 SMC rg 24 SMC User manual JUMP Unconditional jump Parameter label JPIF Conditional jump Parameters label element 1 type of comparison element 2 Connections Makes it possible to create the object s connection points By clicking on Insert the following dialogue box is opened Comection A Horizontal position a 3 Vertical position fo Technology Pneumatic Ae Cancel For each connection define the position and the technology The number shown against each connection must be used to access the value in the object s programming autoSIM 175 Copyright 2011 SMC O SMC User manual The Examples SIMULA sub directory of the AUTOSIM installation directory contains an example illustrating use of the user definable object a contact autoSIM 176 Copyright 2011 SMC O SMC User manual Common elements This chapter describes the common elements for all the languages used in AUTOSIM Variables The following types of variables are present boolean type the variable may have a true 1 or false 0 value numeric type the variable may have a numeric value different from the existing types 16 bits variables 32 bits an
115. ctangle or coil command is in a false state then the counter word or long is not modified Truth table Command Value of counter word or long result 0 unchanged 1 Example If step 100 is active then counter 25 is reset if not C25 keeps the same value autoSIM 184 Copyright 2011 SMC O SMC User manual Incrementing a counter a word or a long The Increment a counter action syntax is counter word or long Operation if the action rectangle or coil command is in a true state then the counter word or long is incremented for each execution cycle if the action rectangle or coil command is in a false state then the counter word or long is not modified Truth table Command Counter word or long value result 0 Unchanged 1 current value 1 Example If step 100 is active then counter 25 is incremented if not then C25 keeps the same value Decrementing a counter word or long The Decrement a counter action syntax is counter word or long Operation gt if the action rectangle or coil command is in a true state then the counter word or long is decremented for each execution cycle if the action rectangle or coil command is in a false state then the counter word or long is not modified Truth table Command Value or counter word or long result 0 unchanged 1 current value 1 Example autoSIM 185 Copyright 2011 SMC F GMC User manu
116. ctory on the file server Installing one or more AUTOSIM licenses on a network license manager Benefit the licenses are no longer restricted to one PC but can be used by all of the PCs connected to the network floating licenses Principle one or more licenses are installed on one of the network s PCs A license authorizes from 1 to n users AUTOSIM may be launched on client PCs upto the maximum number of users A license has the same features for all users in terms of the number of inputs outputs that can be used and the types of post processors that can be used If several configurations several types of licenses are needed then as many licenses will be created as there are different autoSIM 15 Copyright 2011 SMC ct Z SMC User manual types of configurations When AUTOSIM is launched on the client PCs a connection will be created to one or other of the licenses depending on the features that are wanted Actual example setting up a network of 4 16 l 16 O PL72 licenses 4 16 16 O PL7 licenses 2 unlimited I O PL7 licenses For this 3 licenses will be created on the network license manager 1 license for 4 16 1 16 O PL72 users 1 license for 4 16 1 16 O PL7 users 1 license for 2 unlimited I O PL7 users Where to install the network license manager on one of the network s PCs it does not have to be the server which must be running all the time whenever a user would like to use AUTOSIMP Technical constra
117. d link the object variables to the processing application Creating a minimal application with AUTOSIM see chapter Designing programs This is a Grafcet with one step as shown below Launch the run of the AUTOSIM application click on the Go button on the toolbar autoSIM 55 Copyright 2011 SMC rg Y SMC User manual With the right side of the mouse click on the IRIS element on the browser and then select Add an IRIS 2D object from the menu In the Basic objects category double click on Console At this point the object will appear on the screen in this format x To add a pushbutton to the console click on the console icon Fe menu access and select the Add an object option In the Basic objects category double click on illuminated button The object will then appear on the console E MX Now we are going to associate the pushbutton to a processing application output for example Q4 Click the pushbutton icon not the console icon The pushbutton properties dialogue box will open autoSIM 56 Copyright 2011 SMC S 5 User manual Properties of a PBLIGHT object 4 01 Back unlit Back lit r C Push button and light Characters rm Size of the object in pixels Width Height B2 B2 Change Form Rectangle C Ellipse Margin fo Texts Text Direction Help text Bubble text Text fo deg
118. d floating point D time delay type structured type it is a combination of a boolean and numeric type Starting from version 6 the variable name syntax may be AUTOSIM s or the syntax of IEC standard 1131 3 Booleen variables The following table provides a complete list of the Booleen variables used Syntax Syntax Comments AUTOSIM IEC 1131 3 Input 10 l0 May or may not correspond to physical input to 19999 to 19999 depending on the I O configuration of the target Output O0 Q0 May or may not correspond to physical output to 09999 to Q9999 depending on the I O configuration of the target UO MO For information on the system bits see the to U99 to M99 manual on the environment U100 M100 Internal bits for general use to U9999 to M9999 Grafcet X0 X0 Grafcet step bits Steps to X9999 to X9999 Word bits MOHO MWO X0O Word bits the number of bits is to M9999 15 MW9999 X15 expressed in decimals and is included between O lower weight bits and 15 higher weight bits autoSIM 177 Copyright 2011 SMC SIMIC O Numeric variables User manual The following table provides a complete list of the numeric variables Comments Type Syntax AUTOSIM Counter Co to C9999 e Words to M199 to M9999 Long L100 integer to L4998 Float F100 to F4998 Time delay IEC Syntax 1131 3 C0 to C9999 MWO to MW199 MW 200 to MW9999 MD100 to MD4998 MF 100 to MF4998
119. d for writing boolean and numeric equations more simply and concisely It is still possible to write structures like IF THEN ELSE and WHILE ENDWHILE loop Use of extended literal language is subject to the same rules as low level literal language it uses the same syntax for variables mnemonics the test types fronts complement state immediate state and addressing modes autoSIM 299 Copyright 2011 SMC rg 2 SMC User manual It is possible to mix low level literal language with extended literal language When the compiler of literal language detects a line written in extended literal language it decomposes it into low level literal language instructions then compiles it Writing boolean equations General syntax bool variable assignment type bool variable 2 operator 1 bool variable 3 operator n 1 bool variable n The type of assignment must be indicated if it is other than Assignment It can be D complement assignment D 0 reset D 1 set to one The operators can be E gt and D Or The equations can contain various levels of parentheses to indicate the evaluation order By default the equations are evaluated from the left towards the right Examples and equivalencies with low level literal language o0 10 equ 00 and i0 o0 10 i1 equ 00 and i0 and il o0 i0 il equ o0 orr i0 eor il o0 1 set o0 o0
120. d objects press then release the right button of the mouse and select Export The objects are exported to files with the extension ASO By exporting to the subdirectory SIMULA ib of the installation directory of AUTOSIM the new objects created appear in the SIMULA assistant The name of the file is the name shown in the assistant If the name must contain the character substitute this character with in the file name autoSIM 157 Copyright 2011 SMC O SMC User manual Advanced functions Interactions between objects Interactions between SIMULA objects are realized either by visual links defined on the sheets a pneumatic or electrical line connecting two objects for example or by a symbol A symbol is a generic name for example mini sensor A symbol may have any name whatsoever except for key words reserved for the names of AUTOSIM variables see the AUTOSIM language reference manual and symbols used in the AUTOSIM symbol table Creating sensors associated with a cylinder The mini and maxi end stops of a cylinder can be configured in the properties of the cylinder Example Properties xj Sensor mini symbol o Sensor maxi symbol ma Rod position symbol Initial rod position 0 100 E Z tl y 0 00 Reference Designation Cancel Supplier References for the symbols used can be found in the electrical contacts autoSIM 158 Copyright 2011 SMC rg 24 SMC
121. e of its edges you can enlarge or shrink it you can also precisely modify the size of an object by accessing its properties see below Drag the object by clicking with the left side of the mouse on the minibar located on the upper part of its surface Method 1 click on the button W on the object with the left side of the mouse Method 2 click with the right side of the mouse on the object Click with the right side of the mouse on the object Method 1 click on the l button Method 2 push down the CTRL key on the keyboard and click with the right side of the mouse on the object then release the CTRL key autoSIM 53 Copyright 2011 SMC y SH SMC User manual Method 3 with the right side of the mouse click on the object on the browser and select Properties from the menu Block access to configuration for all objects With the right side of the mouse click on Project on the browser select Properties and check Block IRIS 2D object configuration on the Advanced tab Basic objects preset objects The basic objects set major functionality types Preset objects are based on a basic type and a configuration to meet a specific need For an example an emergency pushbutton is an object derived from a basic object used to create pushbuttons and lights To access preset objects use the assistant by clicking with the right side of the mouse on the IRIS element on the browser and select
122. e pushbutton will be pressed Different syntaxes can be used to set the key code e asimple character For example A Z 2 e the character followed by hexadecimal key code e the name of a function key for example F5 For combinations of keys CTRL or SHIFT must be added to the beginning For example CTRL F4 or SHIFT Z Bitmap This is used to specify a bitmap which contains the design of an object The Resize the image option is used to extend the bitmap over the entire surface of the object The bitmap file contains the four possible object aspects button released light off button pressed light off button released light on button pressed light on Even if the file is a pushbutton without a light or a light there are always four aspects of which only two are used The bitmap file is divided horizontally in four autoSIM 65 Copyright 2011 SMC rg 2 SMC User manual The Different aspect if the cursor is on the object option is used to display a different image when the cursor passes over the object If this option is checked the bitmap file contains 8 aspects four supplementary aspects are added to the right of the bitmap to contain the design of the object when the cursor is on the object Example Sounds If WAV files are selected the object can produce sounds if the object is pressed released or if the cursor is on the object autoSIM 66 Copyright 2011 SMC SMC User man
123. e usuario c digo de desde un usuario desde archivo el portapapeles C digo de validaci n para el ordenador de destino atenci n 0 es CERO y O es la letra al al ad add add ad ad ads Anular Dialogue box for moving a license 4 on the source PC click on Read a user code from a file and select the a8u file that came from the target PC 5 on the source PC click on Move the license 6 on the source PC click on Save the validation code in a file recopy the generated a8v file to the target PC 7 on the target PC click on Read a validation code from a file and select the a8v file that came from the source PC Network licenses The akey8 exe executable manages the network license This executable must be launched from one of the network computers The network must be able to be used with TCP IP protocol When launched the network license manager is hidden and only a amp icon appears in the WINDOWS keybar To display the network license manager window double click on the icon in the keybar autoSIM 12 Copyright 2011 SMC User manual 8 Manager of AUTOMGEN and AUTOMSIM network licenses 2 000 fs Name IRAI Serial number 221106 Port 5000 Number of licenses 10 0 used NUEZ Double click on the licenses to change them Parameters Close The network license manager Up to 16 different licenses can be managed by the network license
124. ean inputs block boolean outputs and block parameters To refer to a block boolean input use the syntax Ix where x is the number of the boolean input expressed in hexadecimal 0 to f To refer to a block boolean output use the syntax Ox where x is the number of the boolean output expressed in hexadecimal 0 to f To refer to a block parameter use the syntax x where x is the number of the parameter in hexadecimal 0 to f The LIB can be placed in the lib sub directory of the AUTOSIM installation directory or in the project resources autoSIM 315 Copyright 2011 SMC rg 24 SMC User manual Simple example of a function block We are going to create a MEMORY function block which contains two boolean inputs set to one and reset and a boolean output memory state The block drawing contained in the MEMORY ZON file is MEMOIRE a Block functionality contained in the MEMORY LIB file is O00 1 I0 O00 0 I1 The block can then be used in the following way HEHOIRE ii je i a or MEMOIRE i5 06 1 i6 a To use a function block in an application select the command Paste from from the Edit menu and select the ZON file corresponding to the function block used Illustration Let s go back to our typical example Conditions Round trip of a locomotive on track 1 of the model LASEL SI ALS L SENSO EN LINES ALA SL ALS SL ASL Y
125. eate a logical function And it is necessary to write contacts in series To write an Or function it is necessary to write contacts in parallel 7 oF FE And function Or function The content of contacts must comply with the syntax established for the tests which is explained in the Common elements chapter of this manual The content of the coils must comply with the syntax established for the actions which is also explained in the Common elements chapter of this manual autoSIM 228 Copyright 2011 SMC rg 24 SMC User manual Example of Ladder Let s start with the simplest example Conditions Round trip of a locomotive on track 1 So MOn 1 SSA SIS IO AG ISS ISI ISS ISSO SIS ISS AU AU ASIS ISI RIRE PR ISI ISSO SS ISS ISI SS IIS SIS GS ISO SOS IS ISS GO ISS ISS ISS AUR AU AR S Ss S AA a 14 HACER DA S S AY 1 Pl 8 IV S NAVAVAVA VAN ANA VAN AV A VA VA VA VA VANANANAN ANA VA VA VA A VA VAVANANA NAN A VA ANA NA ANA A a a a a a Va a Aa a a a Aa a a a a a NA A ANA A ANA a a a a a AAR la Example ladder ladder1 agn Solution 2 HH tli AH dvi A tla ANI LAI ON ON UN ON NI NN NN ON NN LD LL II ESP ESP IN NI NI NN LS NINE Ga tae ee agn The second solution is identical from an operational point of view It is used to display the use of a self controlled variable Let s make our example more complex Conditions The locomotive must st
126. eceded by an X It is also possible to associate a symbol to a step name The bit number can be preceded by U or B A symbol can be associated to the first bit of the state storage area Particular Grafcet state Syntax G lt Grafcet gt lt Bit N list of active steps or G lt sheet name gt lt Bit N gt list of active steps This command memorizes the state set for the list of active steps applied to the specified Grafcets starting with the indicated bit Also here it is necessary to reserve a sufficient number of bits If an idle situation needs to be memorized then no steps should appear between the braces autoSIM 209 Copyright 2011 SMC rg 24 SMC User manual The step number can be preceded by an X It is also possible to associate a symbol to a step name The bit number can be preceded by U or B A symbol can be associated to the first bit of the state storage area Examples G0 100 memorizes the current state of Grafcet 0 starting from U100 GO U200 memorizes the idle state of Grafcet 0 starting from U200 G10 150 1 2 memorizes the state of Grafcet 10 in which only steps 1 and 2 are active starting from U150 G PRODUCTION SAVE PRODUCTION STATE_ memorizes the state of the Grafcets on the PRODUCTION spreadsheet in the SAVE PRODUCTION STATE_ variable Setting a Grafcet from a memorized state Syntax F lt Grafcet gt lt Bit N
127. entical to the old function blocks Syntax To refer a variable outside a function block it is necessary to use a mnemonic included in the following text In to refer the boolean input n On to refer the boolean output n n to refer parameter n The mnemonic must start with a letter Differentiating between new and old function blocks The file name written on the function block drawing indicates if it is an old managed by an LIB file or new function block managed by a GR7 sheet The name of an old function block does not have an extension for a new one the extension GR 7 must be added The sheet containing the code which manages the functionality of the function block must be entered in the list of project sheets In the sheet properties Function Block must be selected autoSIM 320 Copyright 2011 SMC PE GM User manual BE v rin bistable 4 lt lt 10 lt 2 cde ouverture i0 ouvert i2 cde fermeture il ferme i3 cde ouverture 10 A lt 20 H OUVRIR O0 30 H FERMER O1 lt A lt q ouvert i2 ferme i3 x A i lt 40 lt 4 S duree 0 x40 tempo 1 lt lt N lt VA AAA AAA ADD NI NI LD LL LL LL ENE NEN NENA NEN NE NSN ENS NES NE NNN NNN NE NSE NE NEN ENS E
128. es into families which share the following characteristics background color character color and an icon there are two preset classes e the information message class blue characters on a white background icon MEX it bears the number 1 autoSIM 71 Copyright 2011 SMC SMC User manual e the alarm message class white characters on a red background icon C7 it bears the number 2 O Other classes can be set by the user bubble text can be associated with the object Object type Colors This is used to select the background colors of the object and the characters Font This is used to select the character font used for displaying texts Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Texts Bubble text Reception transmission This sets the first variables of the reception and transmission tables These areas can contain a variable name or symbol These sections do not regard Message box objects Icons If this is checked an icon is displayed before the messages Classes If this is checked a message class number is displayed autoSIM 72 Copyright 2011 SMC ot SN A ger manual Days Months Years Hours Minutes Seconds 1 1000 seconds If these are checked each one of these elements is displayed Messages If this is checked a message is displayed Numbers If this is checked a message disp
129. ex Example lda 10 load 10 in the accumulator sta m200 enter in the word 200 set o 200 set to one the output indicated by the word 200 010 Address of a variable The character is used to specify the address of a variable Example lda 010 enters the value 10 in the accumulator This syntax is primarily of interest if symbols are used Example lda _gate_ enters the variable number in the accumulator associated to symbol _gate_ This syntax can also be used in presettings to create variable address tables Example m200 _gatel_ _gate2_ _gate3 Jumps and labels Jumps must be referred to a label Label syntax is label name Example jmp next next Function list by type Boolean functions SET setto one RES reset INV inversion EQU equivalence NEQ non equivalence autoSIM 243 Copyright 2011 SMC rg 24 SMC User manual Loading and storage functions on integers and floats LDA load STA storage Arithmetic functions on integers and floats ADA addition SBA subtraction MLA multiplication DVA division CPA comparison Arithmetic functions on floats ABS absolute value SQR square root Access functions for PC input output ports AIN access input AOU access output Access functions for PC memory ATM input address memory MTA output address memory Binary functions on integers ANA and bit to bit ORA or bit to bit XRA exclusive
130. f the mouse on the object the behavior is applied to f Sound Launching Stop Nosound Once Continu D D py Nosound Once Continu D D po y e No sound C Once Cc Continu py Nosound Once Continu D D Fo i y 5 No sound C Once C Continu D D py m User actions Variable right click Variable left click a right click anchor camera Collision 7 oe wet ae n Test if collision with one Variable Test if collision with object object with color Gr e Er the object in collision FS always if void becomes linked with this object If collision move object regarding the following vector Y 0 000000 y 0 000000 2 0 000000 Other behaviors The elements of the Sound group make it possible to play a sound associated to a condition The elements of the User actions group allow a Boolean variable to be set to 1 when the user clicks with the right or left mouse button on the object that the behavior applies to The A right click on the object anchors the camera checkbox makes it possible to lock the camera which defines the display point of view in the IRIS 3D window on the object that the behavior applies to autoSIM 141 Copyright 2011 SMC rg 24 SMC User manual The elements of the Collision group make it possible to define a collision test either with one object in particular or with objects having a particular color a choice
131. f the line horizontal position of the end of the line vertical position of the end of the line ARCE Draws an arc of an ellipse the part of an ellipse cut by a straight line Parameters horizontal position of the top left corner of the rectangle containing the ellipse vertical position of the top left corner of the rectangle containing the ellipse horizontal position of the bottom right corner of the rectangle containing the ellipse vertical position of the bottom right corner of the rectangle containing the ellipse horizontal position of the start of the line vertical position of the start of the line horizontal position of the end of the line vertical position of the end of the line TEXT Draws a text box Parameters horizontal position vertical position text autoSIM 170 Copyright 2011 SMC O SMC User manual These primitives modify the layout of the drawing primitives the line or fill color for example BRUS Modifies the fill color for figures or the background color for text boxes Parameter color PENC Modifies the color of lines or text Parameter color FONT Modifies the font of the text JUMP Unconditional jump Parameter label JPIF Conditional jump Parameters label element 1 type of comparison element 2 See the programming primitives below for more information autoSIM 171 Copyright 2011 SMC rg 24 SMC User manu
132. first key to the upper left of the keyboard this is an arbitrary choice The keyboard we are going to create will look like the numberpad of a computer keyboard We are then going to mark this key with the text 7 in the Text section of the Aspect tab We are also going to set parameters for the functional aspect of the key in the Action when the button is pressed section of the Links tab we are going to write PARENTPARAM KEYBOARD 7 This means that when the pushbutton is pressed the word designated for the KEYBOARD parameter of the parent console will receive the value 7 Delete whatever is in the Action when the pushbutton is released section We can also assign a computer keyboard key to the Illuminated Button object Then it will be possible to use the keyboard with the mouse or computer keyboard To assign a key to the Illuminated Button object use the Key section of the Options tab For example enter 7 to associate computer keyboard key 7 to the object autoSIM 103 Copyright 2011 SMC ot SN ger manual Then place key 7 at the upper left of the keyboard like this EEJ To move this key select the object SHIFT key pressed then click with the left side of the mouse on the object then use the Move function from the console menu This function is the only one which uses the grid instead of moving by dragging the bar of si
133. ft corner of a Starts the name of the Function block function block function block 9 Upper right corner of a Ends the name of the Function block function block function block Lower left corner of a Adds an input to the Function block function block function block 3 Left limit of a function Adds an input to the Function block block function block gt Right limit of a Adds an output to the Function block function block function block l Lower right corner ofa Adds an output to the Function block function block function block autoSIM 41 Copyright 2011 SMC rg 24 SMC User manual Other blocks Associated Generic name Comments Languages key Combination This block is a link Grafcet transition link between the Logical Flowchart Diagrams or Ladder Ladder languages and the Grafcet language Documenting program elements To document program elements click below with the left side of the mouse To create comments click on a blank space on the sheet To validate modifications push the Enter key or click outside the editing are with the left side of the mouse To delete modifications push the Esc key or click outside the editing area with the right side of the mouse When editing tests and actions a button appears under the editing area If you click on it you access an assistant for creating tests or actions fe IEC Variables H ia A
134. h left on display for 10 seconds of acquisition e 1000 values will be memorized in the object e the acquisitions will be archived in a text format data txt file Solution autoSIM 112 Copyright 2011 SMC S S User manual 16 35 45 4 la Examples IRIS2D archiving Example of using the PROG object Instructions e pressing on a pushbutton must cause the inversion of the output states O0 to O99 Solution la Examples IRIS2D program agn Examples of supervision application 1 The following example illustrates the creation of a supervision application The supervision application displays the state of gates and the level of tanks The user s actions on the gates will invert the gate state open or closed The RUN STOP state of the application will also be displayed and two pushbuttons will be used to go from RUN to STOP The result is as follows autoSIM 113 Copyright 2011 SMC User manual Exemple supervision TL MPEG PE TP Sy Sy ty dy fy Sy fy Ex Sy la Examples IRIS2D supervision 1 OBJECT objects will be used to represent the gates A bitmap file is created to represent the gates open state green and closed state red Examples of supervision application 2 This example illustrates the use of a more evolved OBJECT object The application displays the state of a gate which can be e gate open commanded opening and
135. he left button of the mouse then release it Repeat the above step for each connection until the following result is achieved Click on the GO button on the toolbar autoSIM 149 Copyright 2011 SMC O SMC User manual The cylinder shaft will come out To make it go back in click on the manual control of the distributor While it is running you can make changes add objects move them etc With SIMULA it is not necessary to stop simulation To end the simulation click again on GO autoSIM 150 Copyright 2011 SMC SMC User manual Using SIMULA SIMULA applications are written on one or more sheets that appear in the tree structure of AUTOSIM The objects are then placed on the sheet s an object a component such as a cylinder or an electrical contact Opening an existing application The subdirectory Examples SIMULA of the installation directory of AUTOSIM contains examples done with SIMULA Creating an SIMULA sheet To add an AUTOSIM sheet in the tree structure of a project click with the right button of the mouse on the SIMULA component in the tree structure then select Add an SIMULA page O 4 AUTOSIM 3 03 Proyecto3 Archivo Edici n Visualizaci n Programa He chaa Beira Zl Proyecto _ x E Proyecto sin nombre H a Folios Folio 1 S mbolos E Configuraci n QA Documentaci n archivos generad
136. he locomotive on the left to right trajectory autoSIM 303 Copyright 2011 SMC Pg 24 SMC User manual Solution CPLA AP LP PE PSE ION NIN INN PSE PS AN PP PSE PISE PSE NEE ON PE PS ON IN NIN NSN NEN SEN NEN NEN NIN NON NN _dv1_ 1 _tld_ _dv1_ 0 _t1li_ dvi _temps aller_ m32 _mille_ 1000 _dixdansh_ 36000 _dix_ 10 _temps mis_ m32 _temps aller_ IF _temps mis_ lt 0 THEN _temps mis_ _temps mis_ 100 ENDIF lda _temps mis_ itf aaa sta _dixieme_ _vitesse mm par s_ _longueur_ _dixieme_ _dix_ _vitesse m par h_ _longueur_ _mille_ _dixieme_ _dixdansh_ PAPAL IPI PILI NPI PI IP PI III NII AE NPI SP AP PIP AP NPIS NIP PI SNE NPE NL NE ENP NESSIE NP NES NE NESE NS NE NE SENS NESS gt gt gt pS gt gt gt pa gt gt gt pd gt gt gt gt gt gt gt p gt gt gt gt gt gt gt gt gt gt gt gt avi HH _longueur_ 300 en mm S j gt gt gt gt gt se gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt p gt gt gt gt gt gt gt gt N AVA VA VA VA VA VA A VA VA VA VA A ANA A VA A A VA VA VA VA VA VA VA VA VA VA VA VA VA PP PPP PPP PP PP PDP PP PP PP PDI PP PI PIP IPI II ISIS la Example lit extended literal 2 agn Word 32 is used to read the system time The value is then transferred to
137. his option is used to save an object with the Run option not checked by requesting a run when the object is loaded Go to the error If an error has been detected when a program is running then the pushbutton is used to place the cursor in the place that caused the error autoSIM 101 Copyright 2011 SMC SMC User manual IRIS 2D examples The examples file names refer to the Examples subdirectory of the directory where AUTOSIM is installed Example of composed objects This example is used to let you understand how to create a Decimal keyboard object composed of keys 0 to 9 plus a key ENTER for validating O You will create a Console object then starting from the console menu you will create an Illuminated Button object We are going to set parameters for this object then we will duplicate it to obtain other keys Then we will adjust the duplicated key properties to customize them text display on the key and action We will then have a keyboard with a uniform key aspect Link with the application will be effected by using a word When a key is pressed it will write its code 0 to 9 or 13 for the validation key in that word To specify that word we can give its name in the action section of the properties for each object The problem is that when we reuse the Decimal keyboard object and if we want to use another word it is necessary to modify the properties of the 11 Il
138. iables M or MW L or MD F or MF Addressing absolute indirect immediate Also see SBA Example Ida m200 cpa 4 rfz 00 sets 00 to 1 if m200 is equal to 4 otherwise 00 is reset to 0 Ida 200 cpa f201 rfz ol sets ol to 1 if f200 is equal to f201 otherwise o1 is reset to 0 autoSIM 258 Copyright 2011 SMC SMC DEC O Name Function accumulator Variables Addressing Also see Example autoSIM User manual DEC decrement decrements a word a counter a long the 16 bit or 32 bit M or MW C or C L or MD absolute indirect accumulator INC dec m200 decrements m200 dec aal decrements the 32 bit accumulator dec m200 dec m201 and m200 1 decrements a 32 bit value composed of m200 lower weights et m201 higher weights 259 Copyright 2011 SMC rg 24 SMC User manual DVA Name DVA divides accumulator Function division of the 16 bit accumulator by a word or a constant division of the float accumulator by a float or a constant division of the 32 bit by a long or a constant for the 16 bit accumulator the remainder is placed in word mO if the division is by 0 system bit 56 passes to 1 Variables M or MW L or MD F or MF Addressing absolute indirect immediate Also see MLA Example Ida m200 dva 10 sta m201 m201 is equal to m200 divided by 10 m0 contains the remainder Ida 1200 dva 10000L sta 1201 autoSIM 260 C
139. icense manager is running or its IP address and the port number this number makes it possible to identify the license you want to connect to if there is more than one It is also possible to add an argument in the AUTOSIMY launch shortcut in order to force connection to one network license The argument is NETLICENSE lt name of the PC where the network license manager is located gt lt port gt Make sure that NETLICENSE is correctly spelled S not C at the end For example NETLICENSE MYSERVER 5001 Several launch shortcuts can be created in order to connect to different licenses Possible problems if you use a firewall make sure access is authorized to the ports used by the network license manager those displayed in the network license manager Installing the network license manager as a service under WINDOWS NT 2000 XP 2003 and VISTA Displaying the status of the licenses remotely to display the status of the network license manager on a different PC from the one on which the network license manager has been launched or if the service version of the network license manager is being used use the spya8protnet exe utility which is located in the AUTOSIM installation directory Installing the network license server as a service The NT Service key server allows the AUTOSIM network licenses to be managed on a WINDOWS NT4 2000 2003 XP or VISTA workstation without opening a session Un
140. ill allow you to create your own objects See the section of this manual devoted to SIMULA and drop from SIMULA to AUTOSIM sheets A click on the SIMULA objects allows you to drag a reference over to a programming sheet Improvements to the environment Finally numerous improvements to the environment such as the magnifying glass in the design palette the simplified palettes in beginner mode or personalizing menus make AUTOSIM even more user friendly autoSIM 5 Copyright 2011 SMC rg Y SMC User manual Environment General views 4 AUTOSIM 3 03 Proyecto2 Archivo Edici n Visualizaci n Programa Herramientas Ventana FiO EQ Aak E E Proyecto sin nombre Folios 0 Simbolos E A Configuraci n w 9 Documentaci n L archivos generados Puesta a punto Q his amp Simula O Recursos E M dulos extemos Browser Workspace Ui Navegador amp Blancos Braco Tabs M fr essage GM 1 x Bienvenido a AUTOSIM V3 03 programa window INTERNATIONAL TRAINING PE T TT ne oie evo Ch D cesto y AUTOSIM s main window in Expert mode The environment is fully customizable The tool bars can be moved by dragging their moving handle lh and parameterized menu Tools Customize the environment The state of the environment is saved when you quit it This state can also be saved in a project file see the project options autoSIM 6 Copyright 2011 SMC
141. imulation3DISIMULA piloting sub directory contains examples illustrating both these modes autoSIM 138 Copyright 2011 SMC rg Y SMC User manual Amplitude and origin The Min and Max areas establish the amplitude and origin of the translation Speed The stroke time establishes the speed for going from the min point to max point it is identical to the return speed Detection This is used to set the sensors for the translations The min and max sensors manage the limits the other 4 possible sensors can be used to create intermediate positions The parameters are completely similar to the translations see chapter Adding a translation The angles are expressed in radians The object rotation center must be set for each object in the IRIS 3D configuration window Modification of colour tige 2 Colour E The same as the object No piloting A variable makes the choice between two colours or two textures always apply the if false if void If False Do nothing if false AUTOMISIM Multi textures mode delay ms 0 0000 Cancel Color change autoSIM 139 Copyright 2011 SMC O SMC User manual Driveing of a color using a variable must refer to a boolean variable The The same as object checkbox allows you to apply the same color as another object Controlling a color by a variable must reference a Boolean variable Color contr
142. ining the variable where the name is written in the Position area will be read as the object position The position can vary between the values set in the Min and Max areas Sensors can be added boolean variable names which will be true for the minimum and maximum position position equal to minimum or maximum Horizontal movement vertical movement These dialogue box areas each contain 8 editing areas respectively used to set the horizontal and vertical position of the object The principle is identical to that described above Formats tab Formats For n format colors this section is used to select a rectangle a rectangle with rounded corners or an ellipse Bitmap tab File name For n bitmap aspects n bitmap colors and gauge bitmap this editing area must contain a complete access name to a BMP file These files can be created with PAINTBRUSH or another graphics editing program able to create BMP files The Scan and Edit pushbuttons are respectively used to search for BMP files and to edit launch of PAINTBRUSH BMP file if its name is in the editing area Number of aspects This editing area must contain the number of aspects images contained in a BMP file This option is used for n bitmap aspects The autoSIM 83 Copyright 2011 SMC MC different object aspects must be designed one under the other The highest aspect
143. ints the network must support TCP IP the PC where the network license manager is located must be able to run a WINDOWS program application or service Installation on the network license manager on the PC where the network licenses are going to be managed install the main AUTOSIM module the network license manager Registering one or more licenses on the network license manager launch the network license manager AKEY8 EXE executable located in the AUTOSIM installation directory When launched the license manager sets up an icon in the bottom right of the WINDOWS task bar Left click once with the mouse to open the window Click on Add a license to add a license Click on Save the user code in a file to generate an n8u file that you will e mail to us at the address training smctraining com we will send back an n8v file that you will connect up by clicking on the Read a validation code from a file button The licenses installed in this way will then be shown in the network license manager with the serial number and characteristics of the license and the associated port number It is this port number that will allow clients to connect to a specific license Installation on the client workstations launch AUTOSIM and in the File License menu select Connect to a network license autoSIM 16 Copyright 2011 SMC ot SN A ger manual Enter the name of the PC where the network l
144. ion the user effects it contents will go to 0 For a numeric variable there are different return codes Press on an OK button the variable assumes the value 8000 hexa Press on an CANCEL button the variable assumes the value 8001 hexa Press on an YES button the variable assumes the value 8002 hexa Press on an NO button the variable assumes the value 8003 hexa Comment Activation of a dialogue box is based on a rising edge this means passage from 0 to 1 for a boolean variable and passage from a value outside the message list range to a value included in it for a numeric variable Identifier This is used to refer to an object in relation to the other objects Messages tab Message list Enter the different preset messages in this area Details of Program object Run time distribution IRIS objects are run by turns The run time distribution is managed in a straightforward manner by the object manager two priority levels are possible for PROG objects if Priority run is checked on the Program tab then the whole program is run while the object is present Otherwise only one line is run before the object yields There are exceptions to this rule access functions to the processing variables READVAR and WRITEVAR may cause yielding the YIELD autoSIM 89 Copyright 2011 SMC rg Y SMC User manual function sets a yield In priority run mode this function must be used inside a
145. ions and the second uses Set to one and Reset We change the conditions by setting a delay of 10 seconds when the locomotive arrives to the right of track 1 and a delay of 4 seconds when the locomotive arrives to the left of track 1 autoSIM 197 Copyright 2011 SMC rg 24 SMC User manual Solution 1 AAA AA AAA LA DLLD DLL LL LL ONO NENE SONES NENE NONE NSE NENE NENE NENE NENE NENE NENE NENE NENNI NYY lt lt lt lt lt lt lt lt lt lt lt lt lt lt S Aller S lt lt lt lt x lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt g lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt Retour lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt x lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt DA A VA A A A A A AS OS NS 0 AVA A ANA VA SIV NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE NENE SENS NS NEN ENN NO la example grafcet simple3 agn Se ee LONDON APD ADDR ADL A A A A A ANA A A A A A AA AAA AAA AAA AA INES INESIS INESIS ISI INESIS IN INES AAA AAA A A A A A Aller 10s x10 Retour ESP 2 ELSE PELS AE 23 EL NO PES PAE PS ELSA PAL SAS PS MO LPS A PELS AO PEL SAESP ELSE PELE PELE autoSIM 198 Copyright 2011 SMC rg
146. isegundos 50 Watchdog Automlab Time scale 0 real time 10 time x 10 etc po M B Anular i Setting the run period autoSIM 50 Copyright 2011 SMC O SMC User manual Driving inputs outputs Double click on Configuration Post processor Executor PC I O Drivers Controladores de entradas salidas para la ejecuci n PC Controlador es utilizado s por el ejecutor PC Controlador es disponibles adwantechusb4761 opedry plesimdry Los controladores de entradas salidas permiten pilotear uno o varios sistemas de entradas salidas conectados al PC El PC se comporta como aut mata y permite pilotear las entradas y salidas a partir del ejecutor PC Anular Adding an I O driver Select a driver from the list on the right and then click on Add Set parameters is used to configure certain drivers The executor PC transforms your PC into a program processor it can be used to drive inputs outputs directly connected to your computer autoSIM 51 Copyright 2011 SMC GMC user manual IRIS 2D references IRIS 2D objects are used to create supervision and simulation applications of 2D operating parts O The link between the objects and the automatically functioning applications is always created by interchanging the variable state IRIS 2D objects are contained in WINDOWS windows An IRIS 2D object IRIS 2D objects have two possible states the Configuratio
147. iteral language on an application page Examples The code used above is scanned as long as the action is true It is possible to use the action rectangles and code boxes together Example Literal code in an action rectangle or coil The characters and are used to directly enter instructions in literal language into an action rectangle Grafcet and flow chart languages The character comma is used as a separator if multiple instructions are present in and This type of entry can be used with conditional orders Examples CINC M2803 ia eil II meaa gt tia til CINC M2005 DEC M201 CINC M202 INC M203 autoSIM 235 Copyright 2011 SMC O SMC User manual Setting a code box To create a code box follow the steps below click on an empty space on the sheet with the right side of the mouse select Add Code box from the menu click on the edge of the code box to edit its contents To exit the code box after editing click on Enter or click outside it Low level literal language This chapter describes the use of low level literal language This language is an intermediate code between the evolved languages of Grafcet flow chart ladder organizational chart function block extended literal ST literal and executable languages It is also know as pivot code Post processors translate low level literal language into executable code for the PC
148. ken down into four sheets than each one can be separately validated or invalidate A command C condition placed on the sheet conditions the searching of the sheet up to a sheet containing a R command This condition must use the syntax established for the tests Example If a sheet contains the two commands FC m200 4 R Then everything that it contains will not be executed except word 200 containing 4 autoSIM 324 Copyright 2011 SMC SN ger manual O Examples Regarding examples This part contains a series of examples providing an illustration of the different programming possibilities offered by AUTOSIM All of these examples are located in the example sub directory in the directory where AUTOSIM is installed This section contains the most complete and complex examples developed for a train model The description of this model is located at the beginning of the language reference manual Simple grafcet The first example is a simple line Grafcet LADA AAA AAA AAA INI NINE NIN INI A Nf LLL LN ESE NESE NESE NS SE NEN ENS SENS SENS NE NS NEN NE NS NSE SENSE ENE ENE NESE NE SEN NON SENS SENS SENSE NI q i0 SSSI A AS A A A A A A 2 D A D A DS D NEON 2 2 2 2 IE D 2 D LL LS LS NEE gt gt VIGGO ANA VA VAN AVAVAVAVAVA VA ANA VA VA VA ANA VA Va Aa VA Va a VAN A Va VA NA VA VA Va ANA Va VA NA VA Va Va Va Va Va VA Aa Va a a Va Va a Va a va la Example grafcet sample1 agn
149. l code Literal code can be entered in an action rectangle or coil The syntax is literal code Multiple lines of literal language can be written in braces A comma is also used here to separate them Example PESTE CETTE For more information see the chapters Low level literal language Extended literal language and ST literal language Tests are used in gt Grafcet language transitions conditions based on Grafcet language action ES EM mo MES EROS autoSIM 188 Copyright 2011 SMC O SMC User manual flow chart language tests Fe ladder language tests TT A test is a boolean equation composed of one or n variables separated by the operators or or and Example of a test i0 test input 0 10 i2 test input 0 or input 2 i10 i11 test input 10 and input 11 By default if only the name of one variable is specified the test is equal to one true Modifiers make it possible to test the complement state the rising edge and the falling edge the character placed before a variable tests the complement state the character u or the character A placed before a variable tests the rising edge the character d or the character Y placed before a variable tests the falling edge Text modifiers can be applied to one variable or to an expression between paren
150. l connection to a label string following the state of 10 267 Copyright 2011 SMC O SMC User manual JSR Name JSR jump sub routine Function effects a connection to a sub routine Variables label Addressing label Also see RET Example Ida m200 jsr square sta m201 jmp end square sta m53 mla m53 sta m53 ret m53 send the sub routine square raises the content of the accumulator to the square autoSIM 268 Copyright 2011 SMC SMC User manual LDA O Name LDA load accumulator Function loads a constant word or counter in the 16 bit accumulator loads a long or constant in the 32 bit accumulator loads a float or a constant in the float accumulator loads a counter or a time delay in the 16 bit accumulator Variables a M or MW C or C L or MD F or MF T or T Addressing absolute indirect immediate Also see STA Example Ida 200 loads the constant 200 in the 16 bit accumulator Ida 0 01R loads the real constant 0 01 in the float accumulator Ida t10 loads the counter of time delay 10 in the accumulator autoSIM 269 Copyright 2011 SMC O SMC LT Name Function Variables Addressing Also see Example autoSIM User manual LTI long to integer transfers the 32 bit accumulator to the 16 bit accumulator none accumulator ITL Ida 1200 Iti aaa sta m1000 leaves the 16 bits of lower weight of 1200 in m1000 270 Copy
151. lay number is displayed Message classes This editing area is used to establish new message classes Each line sets a class The following must appear in order and be separated by commas on each line the background color three components red green and blue the character color three components red green and blue the class name the bitmap file name for the icon associated to the class For example 255 0 0 0 0 0 ALARM alarm omp Means Red background color black character color ALARM class name file containing icon alarm bmp Options tab Displaying character hexadecimal codes This option is used to display hexadecimal code for each character in place of its ASCII representation lt is used for Screen type objects and is normally used for starting up programs Horizontal vertical scroll bar Displays or hides scroll bars Converting OEM characters to ANSI If this is checked the characters from the processing application are automatically converted from OEM characters MS DOS to ANSI characters WINDOWS The reverse conversion is applied to characters which drive the object for the processing application autoSIM 73 Copyright 2011 SMC ct Z SMC User manual Duplicating messages to This section can receive a file or peripheral name for example LPT1 for the printer It is possible to specify multiple files and or peripherals by separating them with a comma The displays
152. le 12 4 abcd m 32 bit integer a decimal number between 2147483648 and 214743648 where L or S follows a hexadecimal number between 0 and FFFFFFFF followed by L Example 10000L 200000L 12345678L m string of characters quotation mark characters followed by a string followed by quotation mark characters Controls characters can be entered in a string n replaces an LF character ASCII code 10 r a CR character ASCII code 13 Example Abcdef zero string Follow r n float a decimal number followed by the character R the characters are used to divide the integer part from the decimal part Example 3 14r 100 4r The string indicates an assignment Example counter 4 var ABCDEF autoSIM 91 Copyright 2011 SMC O SMC User manual Calculation operators are evaluated from left to right Parentheses can be used to specify a calculation priority List of calculation operators m addition chaining for strings m subtraction m multiplication m division m lt lt shift to the left m gt gt shift to the right m raise by a power m binary and AND m binary or OR m binary exclusive or XOR Examples result varl var2 var3 result result lt lt 2 Syntax IF lt condition gt THEN ENDIF or IF lt condition gt THEN ELSE ENDIF Example IF count lt 100 AND count gt 10 THEN count c
153. like the AKEY8 EXE executable version AKEY8NT EXE does not allow either the protections or the connected users to be displayed autoSIM 17 Copyright 2011 SMC SMC User manual O Before installing the key server as an NT service you are recommended to make sure that the key server works properly with the executable version AKEY8 EXE Launch the akey8nt command line to install the NT key server service The AKEY8NT EXE executable is installed in the AUTOSIM installation directory So that the service starts automatically under WINDOWS NT4 in the Start Parameters Configuration Panel menu select the Services icon the AKEY8 line click on the start button and select the Automatic button Reboot your PC so that the key server is activated under WINDOWS 2000 2003 XP or VISTA in the Start Parameters Configuration Panel menu select the Administrative Tools icon then the Services icon Right click with the mouse on the AKEY8 line and select properties In the Startup Type option select Automatic In the Recovery tab select Restart the service in the First Failure area Uninstallation Launch the akey8nt u command to uninstall the NT key server service Errors After having uninstalled the AKEY8NT EXE service use AKEY8 EXE to determine the cause of any malfunctions autoSIM 18 Copyright 201
154. ll the outputs which pilot the model lights For each execution cycle the state of all the lights is inverted A problem occurs all the lights flash very quickly and it is hard to see much Let s modify our example Conditions The state of all the lights must remain inverted every ten seconds one by one autoSIM 298 Copyright 2011 SMC O SO AM OOO User manual GNC cera Solution III VI NVI NONI NN NIV NIN NINO NON NIN INN ON NN SIN SEN NEN NEN NEN NIN NANO NO a table contenant l adresse de tous les feux _table_ 123 _sld_ _sli_ _s2a_ _s2b _83gd_ _831_ 7_s 4a_ _s4b _s5i_ _s5d_ _s6d_ _s6i Prises 1 9 610 7 38d 384 Pos 1 index_ _table boucle la valeur 1 marque la fin de la table jmp fin de table and m _index_ 1 inverser la sortie lda m _index_ sta _index2_ inv o _index2_ inc _index_ jmp sfin fin de table lda _table_ sta _index_ t0 x20 1 AAPA IPI NPI PI NPI I IP PI INI NII PE NPP NP NP SSP PNP SNIP NPS NE NP ENE SE NESE NS NE NPE SENS NE NE SENS NE NL SP NE NEN NP NE SENS NE NE SENS NE NE SE NP NEN NP NE SEN DAS AS AAA AAA SAS NINE NI NN NE NN NINE NESE NE SEN NEN ENS SENS SENS SENS NE NNN NE NA NSE NE NVAVAVAVA VA VA VA VAN ANA A Aa a a a a a lal Example lt low level literal 4 agn Extended literal language Extended literal language is a subset of low level literal language It is use
155. ll screen mode Select the Full screen option from the Display menu Click on E to exit full screen mode Keyboard shortcuts Keyboard shortcuts are written in the menus Masked shortcuts can also be used CTRL ALT F8 Save the project in executable format CTRL ALT F9 Save the project CTRL ALT F10 Access project properties CTRL ALT F11 Display or hide AUTOSIM window Parameters can be set for the entire environment its state is saved when you close AUTOSIM Environment windows can be hidden The Windows menu is used to display them again The work space can be displayed in full screen mode The tabs at the bottom of the browser window are used to access selection for the current post processor and the graphics palette autoSIM 8 Copyright 2011 SMC O SMC User manual Licenses A license establishes AUTOSIM user rights The following elements are established by license the number of all or none inputs outputs that can be used post processors that can be used the number of users only for network licenses Registering a license When you install AUTOSIM you can use it for free for a period of 40 days You must register your license within 40 days To register your license send SMC the serial number printed on the label glued to the software box or the reference of your delivery note or order form the user code provided with the
156. llow objects 13D le blue yellow 13D c cylinder with sensors I3D c cylinder 2 with sensors I3D E driven long conveyor I3D ES driven long gray conveyor I3D short conveyor I3D lec driven short conveyor I3D short gray conveyor I3D fe driven short gray conveyor I3D ls store with cubes 13 fc green ball I3D yellow ball 13D fo green box I3D yellow case I3D 5 green case I3D ES long conveyor I3D lee long gray conveyor I3D e ro grr EACE Nom du fichier store with cubes 13D Fichiers de type iris 3d Object i3d y Annuler The pre defined objects are located in the i3d sub directory of the AUTOSIM installation directory autoSIM 128 Copyright 2011 SMC User manual Parameters Rectracted cylinder Extended cylinder HQI Extend cylinder The object is shown in IRIS3D Ra eel tony autoSIM 129 Copyright 2011 SMC User manual 4 AUTOSIM Y3 03 Proyecto3 rvs Edici n Visualizaci n Programa Herramientas Ventana Puesta a punto amp Iris a Simula O Recursos EF M dulos extemos Crear un nuevo folio Nombre un nombre gen rico deje el nombre predeterminado o ingrese un nombre sianificativo Tama o las dimensiones de la superficie del folio En forma predeterminada XL permite crear folios muy grandes recomendado Para crear un Gemma elija Gemma XL folios demasiado grandes Comentarios po
157. lly integrated with the generated executable the executable user does not need AUTOSIM This viewer makes it possible to use the application without modifying it You can easily distribute your applications The generated executable is not covered by copyright This autoSIM 19 Copyright 2011 SMC SMC User manual technique is normally used for producing a supervising application Modifying project properties With the right side of the mouse click on the Project element on the browser and select Properties from the menu O You can restrict reading or modification access to a project by passwords Save the environment aspect with the project if checked the position of the windows and the aspect of the toolbars are saved in the AGN file When the project is opened these elements are reproduced Hide the main window upon launching if checked the AUTOSIM window is hidden when the project is opened Only IRIS objects incorporated in the project will be displayed This option is normally used to create package applications which only leave IRIS objects displayed Use the CTRL F11 keys to redisplay the AUTOSIM window The other options are used to change the display of the AUTOSIM window when a project is opened Block IRIS object configuration if checked a user cannot modify IRIS object configuration The other options are used to modify the behavior of the user interfa
158. loop in order not to block running of other objects The object surface can be used for displaying information The PRINT function is used to display information The character semicolon is used as a separator Comments can be written between the chains and There is no difference between upper and lower case letters for key words and function names on the other hand for variable names there is a difference The variables used in a program must be stated before the program between the key words BEGINVAR and ENDVAR The following types of variables can be used INT 16 bit signed integer UINT 16 bit unsigned integer LONG 32 bit signed integer ULONG 32 bit unsigned integer STRING string of characters FLOAT float The general syntax of a statement is lt type gt lt variable name gt The general syntax for stating a variable table is lt type gt lt variable name gt lt length gt For example BEGINVAR INT counter a 16 bit signed integer STRING string a string a table of 100 32 bit unsigned integers ULONG table 100 ENDVAR autoSIM 90 Copyright 2011 SMC O SMC User manual The program must be written between the two key words BEGIN and END Example wW EGIN print Good morning END m 16 bit integer a decimal number between 32768 and 32727 where S follows a hexadecimal number between 0 and FFFF Examp
159. lotting values on the graph This is used to make a mark on the graph for each acquisition figure 5 1 autoSIM 78 Copyright 2011 SMC GSMC Displaying time This is used to display the date and time of an acquisition of one or more variables on the grid if it is open Colors and fonts can be set for the time display User manual Outline colors This is used to set a color for each graph The first graph has the color of the first line the second graph has the color of the second line etc Colors are in Red Green Blue format E g 255 0 0 red outline If a color is not set on a line the graph corresponding to this line will not be outlined one color for each variable one dot for each value figure 5 1 Graduations tab Using the graduations This validates or invalidates the use of graduations figure 6 1 Start value end value Values displayed for the graduations these values can be signed and or floating point numbers No small graduations no large graduations No graduations two levels related to start and end values These values can be floating point numbers Font Establishes the characters used for the graduations Area N 1 area N 2 and area N 3 This is used to establish colored areas Start value and End value set each area The color for each area is set by three components of red green and blue between 0 and 255 autoSIM 79 Copyright 2011 SMC
160. lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt gt G 10 30 lt lt lt K lt lt S gestion de l arr t d urgence lt lt lt lt lt lt lt cs lt lt x lt lt lt x lt lt x lt lt x lt x lt lt lt x lt lt lt lt lt lt lt lt lt lt x lt lt lt lt lt x lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt x lt lt lt x lt lt x lt lt x lt x lt lt lt lt x lt lt lt lt lt lt lt lt K PAVA NV AVAVAVAVAVAVA ANA VA ANA NA VA A ANA a ANA A ANA ANA A ANA A ANA ANA A ANA A ANA ANA A ANA A A A ANA a ANA A a Aa a a a A Aa a a 2 A a a a ae a example grafcet force2 agn autoSIM 213 Copyright 2011 SMC SMC User manual This second solution shows the use of the compilation command HG which makes it possible to regroup the Grafcets with setting command O Grafcet forcings 60848 standard This standard defines the forcing orders in double action rectangles Forcing actions are executed when the associated condition step or logical diagram is true Conditions can be added on the double action rectangles condition on action event based acti
161. luminated button objects To get around this problem we are going to use the possibility that sister objects have of accessing a parameter set in the properties of the parent console The Links tab of the console property window is used to set the parameter Only write on one line in the editing area KEYBOARD M200 This line means that the keyboard parameter is equal to M200 The keyboard keys refer to the KEYBOARD parameter and not directly to word M200 To change the word used just change the parameter setting in the console properties Going back to the aspect of our keyboard autoSIM 102 Copyright 2011 SMC ct 24 SMC User manual In order for the aspect of the keyboard to be satisfactory we are going to set a grid to align the keys In the console properties window and the Options tab write the value 10 in the two Grids sections This way the function moved from the console menu will use a 10 pixel grid We are also going to set the dimensions for the first key We can directly modify the dimensions of the key by dragging it by its edges but for greater precision we are going to modify the dimensions form the Object size in pixels section of the Illuminated Button object window property tab For example enter 30 for the width and height At this point you can also customize the style of the key the color and font used for marking etc We are going to place this
162. ma Herramientas Ventana 2 LA 8 BR ra tP F106 Proyecto E Proyecto Iris2D agn al Folios g MAIN 9 S mbolos 3 Configuraci n GH Documentaci n E archivos generados Puesta a punto 2 9 Iris pel Escritorio Valor digital Bot n visor Bot n visor Archivaci n de datos Bot n visor Bot n visor Bot n visor lt Q Objeto MA Navegador Blancos Paleta MAINGR7 10 Hi Resuncaao_ Resultado_ 0 15 PARO x AUTOSIM compiler version 8 014 Folder MAIN folder MAIN X 1 Y 9 error 0020 unknown ERR 1 variable or operator End of compilation with errors A v INTERNATIONAL TRAINING Mensajes Infos Compilaci n Puesta a punto MAJ NUM sfa SMCES 231350 An error message and its source autoSIM 46 Copyright 2011 SMC O SMC User manual If the message windows are hidden and if one or more errors are detected by the compiler a dialogue box indicates the first error detected to display the message windows use the Messages command from the Windows menu At the end of the compilation the Compilation window provides a list of any errors By double clicking on the error messages the site in the program that caused the error is displayed autoSIM 47 Copyright 2011 SMC O SMC User manual Running programs on a PC The run PC target is an actual processor loaded in your PC You can test
163. manual it uses action rectangles to the right of the action block Flow chart language is used for graphically writing boolean equations The test content must comply with the syntax established in the Common elements chapter in this manual The content of action rectangles must comply with the syntax for actions also described in the Common elements chapter of this manual Test Area Affection block for separating the test area from the action area Action area nE Drawing flow charts Number of input of functions And and Or The And and Or functions are respectively composed of a block key 2 or a block 1 key 3 and possible blocks key 4 for adding inputs to blocks and finally block key 5 The functions And and Or thus involve a minimum of two inputs Chaining the functions The functions can be chained autoSIM 231 Copyright 2011 SMC rg 24 SMC User manual Multiple actions Multiple action rectangles can be associated to a flow chart after the assignment block O or CCA Hd AAA AA Example of a flow chart Let s start with the simplest example Conditions Roundtrip of a locomotive on track 1 Solution 1 O OR 1 AV1 S S 4 tid S DV1 y S ti R DV1 gt VILLE IS INESIS II IS INESIS II IS INESIS IIS INS SIS SIN PROP PPP RR ISS INESIS I
164. n A right click on the cube store allows you to access the list of variables autoSIM 131 Copyright 2011 SMC User manual G a Archivo Edici n Visualizaci n Programa Herramientas Ventana 2 BR pasty FF 0 S mbolos amp 4 Configuraci n G Documentaci n archivos generados Puesta a punto lis H Q Escritorio amp Simula Recursos E store with cubes x D cubex veinx tigex CD pousseur2x capteurx D ralla D ral x C2 guidelateral2 x O guidelateralx D bouchon x E M dulos estemos B Navegador 69 Blancos dB Paleta a I Mensajes Infos Compilaci n Puesta a punto autoSIM f fel IRIS 3D m View Options Camera 10 gt Add a translatio Erase Rename Duplicate Pe Sh A rod exit Q1 position min rod 12 position max rod 11 GM INTERNATIONAL TRAINING NUM em SMCES 231350 Add a translation Add a rotation Add a colour change Add a link Add another behaviour Erase Rename Duplicate saan oS V position max rod 911 132 Copyright 2011 SMC SMC User manual O Move the cursor over the action rectangle and left click AAA L C J IRES D Yew Cplitits Canta Extend cylinder 01 Extend cylinder 01 E iew Options Camera Repeat this operation to place the cylinder extended element on the fir
165. n mode used to modify the object characteristics and Use mode for using an object The User mode is also called Employ mode Modifying object display The objects can be hidden or displayed This property can be specified when opening an object or when changing the state of the dynamic display in the environment Only higher level objects not objects located on a console can be displayed or hidden Objects located on a console are displayed or hidden at the same time as the console To dynamically modify the visibility of objects click with the left side of the mouse on the objects on the browser and select Display Hide To modify the display properties click with the left side of the mouse on the objects on the browser and select Properties autoSIM 52 Copyright 2011 SMC ot Y SMC User manual Propiedades del objeto IRIS 2D Wisibilidad Visible al lanzamiento No visible al lanzamiento Visible en visualizaci n din mica solamente Visible fuera de visualizaci n din mica solamente Inicializaci n Reinicializar al pasar a visualizaci n din mica B Otras propiedades del objeto Anular Display properties of an object Modifying object characteristics Method 1 click the X button on the surface of the object Method 2 with the right side of the mouse click on the object on the browser and select Delete from the menu By dragging the object from on
166. n position 100 max position The acceleration and deceleration are calculated automatically The percentage of movement used parameter defines the length of the acceleration and deceleration phases autoSIM 137 Copyright 2011 SMC SMC User manual Allows a variable to be defined that will receive the position of the object constantly The variable can be a word a long a floating point or an input in this case this input and the next 16 inputs receive the position like an absolute encoder linked on the inputs The value in gray code checkbox allows this value to be obtained like a gray encoder O The examples Process simulation 3D numerical pilotings sub directory contains examples of these different modes SIMULA the object s position on the designated axis is given by the content of a variable managed by an SIMULA object The button allows an enhanced mode to be defined for this type of link AUTOMSIM piloting x Normal Coefficient The symbol is associated a motor AUTOMSIM object 0 00000020 The variable associated to an SIMULA object defines the position between min and max a The variable associated to an SIMULA motor object modifies the position according to the coefficient it makes it possible to define the relationship between the rotation speed of the SIMULA motor and the speed with which the position varies The examplesiProcess s
167. n ENDIF Example if i0 then o0 TRUE else o0 FALSE if il then m200 4 endif endif WHILE loop Syntax WHILE condition DO action ENDWHILE Example while m200 lt 1000 do m200 m200 1 endwhile REPEAT UNTIL loop Syntax RE PEAT action UNTIL condition ENDREPEAT Example repeat m200 m200 1 until m200 500 endrepeat autoSIM 307 Copyright 2011 SMC F GMC User manual FOR TO loop Syntax FOR variable start value TO end value DO action ENDFOR or FOR variable start value TO end value BY no DO action ENDFOR Example for m200 0 to 100 by 2 do m201 m202 m201 endfor Exiting a loop The key word EXIT is used to exit a loop Example while i0 m200 m200 1 if m200 gt 1000 then exit endif endwhile Example of a program in extended literal language Let s go back to our example in the previous chapter avl_ TRUE if _tld_ then _dv1_ TRUE endif if _tli_ then _dvl_ FALSE endif PAL ALALA LALA LVL LNAI SLPLPLALLALPLPLLL LLL LLL LL Organization chart AUTOSIM implements a organization chart type program Literal languages must be used with this type of program See the previous chapters to learn how to use these languages autoSIM 308 Copyright 2011 SMC PE Z SMC User manual The basis of programming with an organizational ch
168. n you have finished click on OK and put the design on the sheet by clicking with the left side of the mouse O Grafcet Ladder Flow chart Function blocks CAES M Initial step M Loop IV action rectangles E2 Steps divergence in Or k E branches Eo first divergence in And Ei 0 interval Annuler The assistant autoSIM 35 Copyright 2011 SMC O SMC User manual Designing with the shortcut menu Click with the right side of the mouse on an open sheet in the work space the menu will propose a series of elements that you can put on the sheet This is an instinctive and fast creation method Designing with the pallet By selecting elements on the pallet you can quickly create programs starting from previously created elements Enhancing and customizing the pallet GR7 files are used to set the pallet they are located in the directory lt AUTOSIM installation directory gt pal You can delete modify rename or add files To generate GR7 files use the Export command by clicking with the right side of the mouse on a sheet on the browser The names displayed on the pallet are GR7 files Relaunch AUTOSIM for a new element to be displayed on the pallet Designing with the keyboard keys Each key is associated to design blocks The Blocks element also provides access to the blocks The table below lists the blocks and their use Delete block Aspect Associated
169. nd following the connection options passage of the target to RUN activation of the dynamic display Click on e On the processor target the program continues to be run on the target On the PC the program is stopped Click on Y Click on MN Click on Click on Click on Click on Click on autoSIM 44 Copyright 2011 SMC S 3 User manual Click on Click on Y To run an application click on the GO button To end the run click again on the same button autoSIM 45 Copyright 2011 SMC O The compiler The compiler translates the sheets into a set of pivot language equations these can be displayed by double clicking on the Generated code pivot language element on the browser The pivot language is then translated into a language which can be run by a post processor the current post processor can be displayed and selected by double clicking on the Targets panel accessible by clicking on the Targets tab at the lower part of the window where the browser Is Modifying compiler options Double click on the element Configuration Compiler options Displaying compilation messages The Compilation panel on the messages window contains the counts produced by the last compilation Finding an error By double clicking on error messages you can find the source L AUTOSIM 3 03 Iris2D agn Archivo Edici n Visualizaci n Progra
170. ng mid abcdef 1 2 vstring will contain bc LEN Provides the length of a string Example vuint len 123 vuint will contain 3 COS Provides the cosine of a real value expressed in radians Example vfloat cos 3 14r vfloat will contain the cosine of 3 14 SIN Provides the sine of a real value expressed in radians Example v loat sin 3 14r vfloat will contain the sine of 3 14 TAN Provides the tangent of a real value expressed in radians Example vfloat tan 3 14r vfloat will contain the tangent of 3 14 ATN Provides the tangent arc of a real value Example vfloat atn 0 5r vfloat will contain the tangent arc of 0 5 EXP Provides the exponential of a real value Example v loat exp 1lr vfloat will contain the exponential of 1 LOG Provides the logarithm of a real value autoSIM 95 Copyright 2011 SMC ct Z SMC User manual Example vfloat log 1lr vfloat will contain the logarithm of 1 LOG10 Provides the base 10 logarithm of a real value Example vfloat log10 1r vfloat will contain the base 10 logarithm of 1 SQRT Provides the square root of a real value Example vfloat sqrt 2 vloat will contain the square root of 2 DATE Provides a string representing the date Example print The date is date n TIME Provides a string representing the time Exam
171. nsitions ontent of Gemma rectangles Gemma rectangles can receive any action used by Grafcet Because this involves setting a structure for managing run and stop modes it is a good idea to use the lowest level setting orders for Grafcet see chapter jError No se encuentra el origen de la referencia Obtaining a corresponding Grafcet Check Display Gemma form again in sheet properties to call up a Grafcet representation It is always possible to call up a Gemma representation because the Grafcet structure has not been changed The transitions the action rectangle contents and comments can be edited with automatic updating of Gemma Deleting blank spaces in Grafcet It is possible that the obtained Grafcet occupies more space than necessary on the page The command Change page layout from the Tools menu makes it possible to eliminate all the unused spaces autoSIM 224 Copyright 2011 SMC O SMC User manual When editing is in Gemma mode use the Print command to print the Gemma Use the Copy to EMF format in the Editing menu to export a Gemma to a vectorial form A description of how to use Gemma is below Conditions Imagine a panel with the following pushbuttons start cycle end cycle and emergency stop a light INIT The main program will consist of a locomotive making round trip journeys on track 1 autoSIM 225 Copyright 2011 SMC FE GMC User manual
172. ntal position of the top left corner of the rectangle containing the ellipse vertical position of the top left corner of the rectangle containing the ellipse horizontal position of the bottom right corner of the rectangle containing the ellipse vertical position of the bottom right corner of the rectangle containing the ellipse RREC Draws a rectangle with rounded corners Parameters horizontal position of the top left corner vertical position of the top left corner horizontal position of the bottom right corner vertical position of the bottom right corner horizontal rounded corner radius vertical rounded corner radius TRIA Draws a triangle Parameters horizontal position of point 1 vertical position of point 1 horizontal position of point 2 vertical position of point 2 horizontal position of point 3 vertical position of point 3 CHOR Draws a chord intersection of an ellipse and a straight line Parameters autoSIM 169 Copyright 2011 SMC SMC User manual horizontal position of the top left corner of the rectangle containing the ellipse vertical position of the top left corner of the rectangle containing the ellipse horizontal position of the bottom right corner of the rectangle containing the ellipse vertical position of the bottom right corner of the rectangle containing the ellipse horizontal position of the start of the line vertical position of the start o
173. ntra la protecci n este valor est predeterminado en 5000 5000 Password may be blank Connecting to a network license The PC name the one from the network where the akey7 exe was launched must be provided as well as the port number corresponding to the desired license You must register your license with SMC training Wsmctraining com by sending your user code by e mail File License menu The network license manager is used to manage multiple licenses on TCP IP network PC s autoSIM 14 Copyright 2011 SMC O A User manual Additional information on installing AUTOSIM in a network environment General information Two aspects of the AUTOSIM installation have to be considered installing files on the one hand and managing licenses on the other These two aspects are completely separate you can choose to install the files either on the hard disk of the client PCs or else on a file server and completely independently of this choose to install either a license locally on a PC or else a network license on a network license manager Installing AUTOSIM on a file server Benefit the AUTOSIM files are installed just once on a file server and updates are simplified Procedure on the file server install AUTOSIM Rights needed read access is sufficient Procedure on the client workstations create a shortcut to the autom8 exe executable which is in the AUTOSIM installation dire
174. of 2 colors is possible The Variable area can be documented with the name of a Boolean variable that will be set to true if the collision test is true The The object in collision becomes linked with the object if checkbox makes it possible to link the object that comes into collision with the object to which the behavior is applied A variable can condition this link This technique makes it possible to easily handle the simulation of a clamp or suction cup The vector allows you to give a speed to an object that comes into collision with the object to which the behavior is applied The pre defined Conveyor Belt object uses this technique Physical engine The physical engine makes it possible to handle gravity and the interactions between objects so as to obtain a very realistic simulation For objects subject to gravity only block sphere or capsule shapes are handled by the physical engine For each object you can define the type of handling used by the physical engine Physical engine Notused 10000 Mass 2 Fixed 10000 Friction Use gravit 9 s 0 0000 Restitution E C Moving object V Execute automatically Object form Bor Sphere f Capsule Not used the object is not handled by the physical engine it is not subject to gravity and does not interact with the other objects Fixed an object handled by the physical engine that does not change position but which inte
175. ogram The order G100 100 of step 1 memorizes the Grafcet production state before it is reset When it starts again the production Grafcet will be put back in the state or the state it was in before the break with order F100 100 The Grafcet production state is memorized starting from bit 100 this is the second parameter of orders F and G which indicates this site command B200 reserves bits u100 to u199 for this type of use We can see that a B102 command would have been sufficient here because the production Grafcet only needed two bits to be memorized one bit per step autoSIM 333 Copyright 2011 SMC S S User manual AIN NAN ESL ELE NCS OI LLL SL SPE SI ASL PSG LESOTO SASL LECE LAL SAPS ESOS LOD SP PP PP PPI PILI PPP IP PIP PPP IPI IIS I I PI PS IS ENS NI NS ARAB ALR IIS IIS IIS ALA IIS ALAA IIS IIS IIS IIS IAS IAS ALA IAS ALA ALA IAS IAS AA ALAS NAN A VA VA A VA AAA ADAAD DAD ADDIS EST WARD SD SSPE ENE EE PENI IEE VA VA A A A A A A A A A A A A A A A Pd dd A A Pd A A PPPS A AL dd A AS M AVAVAVAVA A VA VA A A A a VA VA VA VA VAN ANA VA VA VAN ANA VA A VA A VA VA VA VA Aa VA Aa VA Va Aa Va NA VA A VA A VA a a Va a VA Va VA Va Na VA Aa Va ANA a a a a Va Aa a a a a la Example grafcet sample1 1 agn This example illustrate the use of macro steps The Macro step 1 and Macro step 3 sheets represent the expansion of macro steps autoSIM 334 Copyright 2011
176. ol can also be performed with an SIMULA variable associated to an SIMULA indicator object for example If the do nothing if false box is checked no color is applied if the variable s status is false This makes it possible to associate several changes of color to a single object if more than 2 colors are needed The pull down lists allow a texture to be selected instead of a color To have a texture shown in a pull down list place the bmp or jpg file in the AUTOSIM project resources Multiple textures It is possible to associate several textures that will be applied automatically To do this associate several Color modification type behaviors to a single object and document the Time for multiple texture mode area with the time at the end of which the texture will be applied automatically The pre defined Conveyor Belt object uses this technique Adding a link A link forces an object that this behavior is applied to to follow the movements of another object tige 1 J Linked to the if Always if empty Cancel Links between objects autoSIM 140 Copyright 2011 SMC St SN A ger manual The link condition can be a boolean variable The link is unconditional object always linked if the condition is left blank 1OT This is used to use a sound associated to a condition or to change a boolean variable to 1 when the user clicks with the right or left side o
177. on O SHOw_HELP 1 Help messages display J MINIMIZE_BOX 0 Console has iconic button WINDOW_TITLE Window title O COLOR_HELPBA 212 208 200 Help background color O COLOR_BACK 212 208 200 Background color T Anular Selection of modifiable parameters for users of your models You can select the list of parameters which remain accessible to the user on the assistant By clicking on Save you save your object model The storage directory for object models is lt AUTOSIM installation directory gt i2d lib You can use a sub directory called my objects for saving your models autoSIM 32 Copyright 2011 SMC S S User manual With the right side of the mouse click on the IRIS element on the browser and select Import IRIS 2D objects Select one or more AOF files With the right side of the mouse click on the IRIS element on the browser and select Add an IRIS 3D console see the chapter on IRIS 3D for more information Resources This project element is used for adding all types of files to a project Files which are added will become an integral part of the project and will be saved along with the other elements To refer to a pseudo directory where the resources are the key word lt RESDIR gt can be used in the specific directory name in AUTOSIM For example IRIS objects can refer to bitmaps if they are included in the resources With the right side of the mouse
178. on action on activation or deactivation Forcing a Grafcet according to a list of active steps The syntax is G lt grafcet to be forced gt lt list of steps to be forced when true gt The step s included in the list are forced to true the other to false An empty list of steps causes all the steps to be forced to false Example G10 20 30 Here 10 represents the Grafcet to be forced Grafcet containing step 10 Another example Gfolio a forcer 100 200 300 Force all of the Grafcets on the sheet named sheet to be forced with steps 100 200 and 300 being set to true and the others set to 0 Forcing a Grafcet to its initial state The syntax is G lt grafcet to be forced gt INIT The Grafcet s are forced to their initial state Example G10 INIT Freezing a Grafcet The syntax is G lt grafcet to freeze gt Example i G10 autoSIM 214 Copyright 2011 SMC rg 24 SMC User manual Macro steps AUTOSIM implements macro steps Additional information is given below A macro step MS is the single representation of single group of steps and transitions called MS expansion A macro step obeys the following rules an MS expansion involves a special step called input step and a special step called output step D the input step has the following property complete clearing of a transition upstream from the macro step it activates the input step of
179. on application To create an autonomous supervision application without developing a processing application with AUTOSIM follow the procedure below create correspondences for the AUTOSIM variables and the processor variables by double clicking on the Configuration Post processor lt post processor name gt Variable correspondence element see the post processor manual for more information compile the application by clicking on the button on the toolbar this validates the variable correspondence configure the connection mode on Only connect by double clicking on Configuration Post processor lt post processor name gt Connection option Comments the Automatic go project option is used to obtain an application which automatically connects to the target to be started the Generate an executable on the File menu is used to obtain an autonomous supervision application which is zipped and not covered by copyright in the format of a single executable file Syntax for accessing the state of variables You can use variable names in AUTOSIM IEC 1131 3 or a symbol syntax The pushbuttons located near the drag areas in the object are used to access the assistant for selecting a variable name Boolean state This syntax is used in the object states section To test the state of a boolean variable use the variable name for example 0 q0 ga
180. op for 10 seconds to the right of track 1 and 4 seconds to the left autoSIM 229 Copyright 2011 SMC rg 24 SMC User manual Solution PASSIVE SEVEN NIP NIN NINE NINE NI NIN A NI NNN ENN ENE NESE NE NSE NEN ENE NEN LD LL NEN NE NSE NE NSE NEN NINE NS NS ENS NEN ENE NESE NSS NE SI NE NI NIN E tld TO 108 EVA VA VA A VA VA VA A VA DAD VA VA A VA VA ANA A VA A VA VA A VA A VA Avi S DVI e tli lt T1 48 T IUN R DVI fa y ET Y tid Avi AVAVAVA ANA VA VA A A A VA ANA VA VA a a Ve a Aa VA Aa Aa Aa a a Va A Vi G Example ladder ladder3 agn A final example even a little more complicated Conditions Again a locomotive which makes round trips on track 1 For each 10 round trips it must stop for 15 seconds Solution 2 bo lt RCO gt 2 y tid Y dav C0 _ DV1 S c0 lt 10 lt Avi c _Q_Q avvvvv lt r0 158 NAVAVA VA A A A ANA S SAAANA RP AAAA AAAA AAA AAAA AAAA AAAA AAAA AAAA AAAA AA G Example ladder ladder4 agn Flow chart AUTOSIM implements flow chart language in the following way D use of a special block called assignment block this block separates the action area and test area it has the following form and is associated with key 0 zero D it uses the functions No And and Or autoSIM 230 Copyright 2011 SMC F GMC User
181. open gate sensor true green e gate closed commanded close and closed gate sensor true red e gate opening in progress commanded opening and open gate sensor false blue e gate closing in progress commanded closing and closed gate sensor false purple The user can invert the gate state by clicking on it The processing application manages the gate state autoSIM 114 Copyright 2011 SMC S 5 User manual Exemple d application la Examples IRIS2D supervision 2 agn Example of operating part simulation 1 Simulation of a manipulator arm Nombre de bouteille s 0 la Examples Process Simulation 2D manipulator arm agn autoSIM 115 Copyright 2011 SMC SMC User manual O Example of operating part simulation 2 Simulation of an elevator 0 2 2 y OKAL MO la Examples Process Simulation 2D elevator agn IRIS 2D objects are used to create supervision and simulation applications of 2D operating parts autoSIM 116 Copyright 2011 SMC O GMC user manva IRIS 3D references IRIS 3D allows you to create simulation applications for 3D operational units The TOKAMAK engine is integrated to IRIS3D to enable a realistic physical simulation gravity interactions between objects IRIS 3D is used to animate 3D objects using standard model makers 3D STUDIO SOLIDWORKS SOLIDCONCEPTER etc The nati
182. opyright 2011 SMC SMC User manual EQU Name EQU equal O Function sets a variable to if the test is true if not the variable is set to 0 Variables I or I O or Q B or M T or T X or X U Addressing absolute indirect except for X variables Also see NEQ SET RES INV Example equ 00 and 110 sets the output of 00 to the same state as input 110 Ida 10 sta m200 equ 0 200 and 10 sets 010 to the same state as input 10 t0 100 equ t0 and 10 equ 00 and t0 sets 00 to the state of 10 with an activation delay of 10 seconds autoSIM 261 Copyright 2011 SMC O SMC FTI Name Function Variables Addressing Also see Example autoSIM User manual FTI float to integer transfers the float accumulator to the 16 bit accumulator none accumulator ITF Ida f200 fti aaa sta m1000 leaves the integer part of f200 in m1000 262 Copyright 2011 SMC SIMIC INC O Name Function Variables Addressing Also see Example autoSIM User manual INC increment increments a word a counter a long the 16 or 32 bit accumulator M or MW C or C L or MD absolute indirect accumulator DEC inc m200 adds to m200 inc m200 inc m201 and m201 0 increments a value on 32 bits m200 represents the lower weights and m201 the higher weights inc 1200 increments long 1200 263 Copyright 2011 SMC SIMIC INV O
183. opyright 2011 SMC rg 2 SMC User manual places the string ABCDEF starting from m200 each word receives a character 1000 3 14 places the value 3 14 in 1000 mf 100 5 1E 15 places the value 5 1 10 exponent 15 in mf100 1200 16 12345678 places the value 12345678 hexa in the long 1200 It is easier to write text in the presettings Example m200 Stop the gate N 10 Places the message starting from word 200 by placing two characters in each word Sm400 Motor fault Places the message starting from word 400 by placing a character in the byte of lower weights of each word the byte of higher weights contains 0 The syntax is used to continue a table of presettings after the previous one For example m200 1 2 3 4 5 H 6 7 8 9 Place the variables 1 to 9 in the words m200 a m208 Presettings can be written in the same manner as low level literal language or in a command on a sheet In this case the presetting starts with the character Example of a presetting written in a code box sm20G 12 place ea Valeur la dans m266 et 13 dans meal Example of a presetting written in a command i5m2b6 12 13 autoSIM 242 Copyright 2011 SMC rg 24 SMC User manual Indirect addressing Indirect addressing is used to effect an operation on a variable with an index These are M variables words which are used as an index Syntax variable ind
184. or the counter COUNT time delay example COUNT t3 e for the procedure PRED TIME DELAY EXAMPLE PRED t7 The Variable state can be modified If this is checked then the user can modify the variable state by clicking on the object Details of an Analog value object Aspect tab Objects This is used to set the type of display Print direction This establishes print direction horizontal or vertical Colors This is used to select the background colors of the object if it is not transparent and the object Background This is used to select either a colored or transparent if the object is only placed on one console background Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Texts Bubble text autoSIM 68 Copyright 2011 SMC O SMC User manual Links tao Variable or symbol This designates the variable linked to an object a word or a counter User action This establishes if a variable can be modified by the user Minimum maximum Minimum and maximum values Start angle end angle To display the type of dial which establishes the start angle and end angle The values are expressed in degrees 180 2407 Using the graduations This validates or invalidates the use of graduations autoSIM 69 Copyright 2011 SMC rg 24 SMC User manual Start value end value Values displ
185. os Puesta a punto Iris Ta oo EF M dulos externos An SIMULA sheet is then created autoSIM 151 Copyright 2011 SMC F Y SMC User manual Adding an object onto an SIMULA sheet Click with the right button of the mouse on the SIMULA sheet shown below on the right and select Add an object AUTOSIM 3 03 Proyecto3 amp Archivo Edici n Visualizaci n Programa Herramientas Ventana 2 Proyecto sin nombre H g Folios 48 Folio 1 Simbolos E JA Configuraci n E G Documentaci n archivos generados sen Puesta a punto 3 Iris E a Simula Simula 1 09 Recursos EF M dulos extemos A adir un objeto Pegar Ctrl Demuestre los acoplamientos quebrados Afiadir un grafico Fijar unidades por defecto AUTOMSIM object assistant The selection assistant for an an then appears E Digital electronic Pneumatic E Cylinders Bellow actuator Double acting cylinder Long Single acting cylinder spring exit with sensors Single acting cylinder spring exit Single acting cylinder spring return with sensors Single acting cylinder spring return Small Motor 1 direction Brake i Double acting cylinder with sensors The assistant shows a preview of the object in the bottom of the window To add the object onto the SIMULA sheet click on Open the object autoSIM 152 Copyright 2011 SMC SMC User
186. ount 1 ELSE count 0 ENDIF autoSIM 92 Copyright 2011 SMC ot Y SMC User manual ep lt je x WHILE lt condition gt DO ENDWHILE Example count 0 WHILE count lt 1000 DO table count table count 1 count count 1 ENDWHILE The syntax amp variable name or amp variable table name provides the address of a variable or variable table This syntax is necessary for some functions For the proposed examples below the following is supposed vint is an INT type variable vlong is a LONG type variable vuint is a UINT type variable vulong is a ULONG type variable vfloat is a FLOAT type variable vstring is a STRING type variable PRINT Display function The data to be displayed is written after and separated by commas Example print The result is vint 12 n NOT Complement This function can be used with the if test to complement a result Example if not 1 lt 2 then ABS Absolute value Example print abs 0 4 display 4 autoSIM 93 Copyright 2011 SMC ct Z SMC User manual VAL Provides the value of a string expressed in decimal number format Example vlong val 123456 vlong will contain 123456 HVAL Provides the value of a string expressed in hexadecimal number format Example vuint hval abcd vuint will contain abcd hexa ASC Provides the ASCII code of the first character of a string
187. played when the button is pressed and a bubble text which is displayed when the cursor is placed on the object Links tab Action when This is used to set the actions to be effected when the button is pressed and when it is released An action can be setting the state of a variable for example 00 1 m200 4 _depart cycle_ 3 Or a preset key word Configuration example where the input 10 reflects the pushbutton state 110 to O if the button is released 10 to 1 if the button is pressed Action when the button is pressed i10 1 Action when the button is released i10 0 Light state Establishes the light state This section must contain the name of a variable which drives the light O light off 1 light on For example b31 o4 _light init_ m200 50 m400 lt 8 m500 amp 16 autoSIM 64 Copyright 2011 SMC rg 24 SMC User manual Identifier This is used to refer to an object in relation to the other objects Deactivation condition This is used to deactivate the light If this section contains a variable name then that variable deactivates the object if it is true Options tab Type of pushbutton This establishes if the pushbutton is bistable it remains pressed monostable or a combination of the two monostable with a simple click and bistable with a double click Keyboard This is used to associate a key to a pushbutton If this key or combination of keys is present on the keyboard then th
188. ple print The time is time n RND Provides a random number Example print rnd OPEN Opens a file The first subject is the file name the second the access mode which can be r b opening in reading and writing w b opening in writing if the file exists it is destroyed The function provides a long which identifies the file If the opening fails the value provided is 0 Example vulong open new wtb CLOSE Closes a file The subject is the file identifier provided by the OPEN function Example close vulong autoSIM 96 Copyright 2011 SMC ot SN i ger manual WRITE Writes data in a file The first subject is the file identifier provided by the OPEN function The second subject is a variable address the third the number of bytes to be written The function provides the number of bytes actually written Example vuint write vulong amp buff 5 READ Reads data in a file The first subject is the file identifier provided by the OPEN function The second subject is a variable address the third the number of bytes to be read The function provides the number of bytes actually read Example vuint read vulong amp buff 5 SEEK Moves a file pointer The first subject is the file identifier provided by the OPEN function the second the position Example seek vulong 01 GOTO Effects a jump to a label in the subject The subject is a string Example
189. r It is possible to connect multiple structures of this type System bits u90 to u99 are used as temporary variables for managing this type of structure Examples IF 10 THEN inc m200 increments word 200 if 10 ENDIF autoSIM 302 Copyright 2011 SMC SMC User manual IF i1 i2 O THEN m200 m200 10 adds 10 to word 200 if the or i2 ENDIF ELSE res m200 else effect m200 ENDIF General syntax WHILE test action is repeated as long as the test is true ENDWHILE The test must comply with the syntax described in the chapter dedicated to boolean equations It is possible to connect multiple structures of this type System bits u90 to u99 are used as temporary variables for managing this type of structure Examples m200 0 WHILE m200 lt 10 set o 200 inc m200 increments word 200 ENDWHILE This example sets outputs 00 to 09 to one xample of a program tended literal languag Let s go back to the example from the previous chapter LANA NVAVAVAVA VA ANA VA ANA VA ANA ANA ANA ANA ANA ANA ANA ANA ANA VAN ANA A NAN AN NAN A NAN ANA ANA ANA ANA ANA AN NAN A NA INESIS IN ANA dv1_ 1 _t1d_ dv1_ 0 _t1i_ GI Example lit extended literal 1 agn Let s complicate our example with some calculations Conditions Calculate the speed in millimeters per second and meters per hour of t
190. r definable objects The user definable object will allow you to create your own simulation objects To create such an object open the following object AUTOMSIM object assistant B Preset objects at User defined objects Hydraulic amp pneumatic Pneumatic autoSIM 165 Copyright 2011 SMC PE Y SMC User manual The object is shown as a grey square as long as it has not been parameterized Proyecto sin nombre ef Folios gf Folio 1 Simbolos Configuraci n Documentaci n H L3 archivos generados Puesta a punto j Iris E Simula h Simula 1 H 0 Recursos To access the object definition open the object s properties select the object right click over it then Properties and click on Define the object autoSIM 166 Copyright 2011 SMC S User manual Object width roo Object height fioo The Object width and Object height areas allow you to define the dimensions of the object The Designs Program and Connections areas allow you to define the object s design its appearance its behavior and the connections respectively Designs This area allows you to define the design of the object with the help of the design primitive The Insert Delete and Modify buttons allow you respectively to add or delete a primitive or to modify the parameters associated with a primitive The design primitives use
191. r ejemplo la ltima modificaci n el autor etc Creado el 29 12 2011 Modificado el 29 12 2011 Defina las caracter sticas del nuevo folio su tama o su nombre y eventuales comentarios Todo esto podr modificarse posteriormente autoSIM 130 Copyright 2011 SMC rg Y SMC User manual AUTOSIM 3 03 Proyecto3 Archivo Edici n visualizaci n Programa Herramientas Yer 3 a Barra de herramientas LES Ii Barra de estado Proyecto Ea Proyecto sin Folios Zoom Ctrl Folio S4 Zoom Ctrl S mbolos ee H A Configurar Ampliar mejor 3 Documen Pantalla comp archivos leta puta a NS J GD Iris With the palette design a Grafcet with two steps A right click on the sheet lets you access the link drawing application to loop back the Grafcet 4 AUTOSIM 3 03 Proyecto3 a EX Archivo Edici n Visualizaci n Programa Herramientas Ventana 2 8 x DBE B bacbf 10 MB ASE Proyecto E x E Proyecto sin nombre Haf Folios Folio 1 S mbolos 4 Configuraci n GA Documentaci n archivos generados Puesta a punto lis amp Simula O Recursos E Modulos estemos etapa inicial etapa normal se gt Lo Navegador t Blancos Brats x E INTERNATIONAL TRAINING E LJ ri infos Compilaci n Puesta a punto trazar un v nculo entre dos bloques NUM itt SMCES 231350 7 Edici
192. r manner to ANA instruction but without changing the accumulator content Variables M or MW L or MD Addressing absolute indirect immediate Also see ANA Example tsa 10 rfz b99 jmp follow and b99 connection to label follow if bit 1 of the 16 bit accumulator is at 0 autoSIM 290 Copyright 2011 SMC O SMC User manual WOU Name WOU write output Function effects a writing of the physical outputs This function is only implemented on Z targets and varies following the target See the documentation related to each executor for more information Variables none Addressing immediate Also see i RIN autoSIM 291 Copyright 2011 SMC SMC User manual XRA O Name XRA xor accumulator Function effects an EXCLUSIVE OR on the 16 bit accumulator and a word or a constant effects an EXCLUSIVE OR on the 32 bit accumulator and a long or a constant Variables M or MW L or MD Addressing absolute indirect immediate Also see ORA ANA Example xra 1111111100000000 inverts the 8 bits of higher weight of the 16 bit accumulator xra 1L inverts the lower weight bit of the 32 bit accumulator autoSIM 292 Copyright 2011 SMC Y SMC User manual Macro instruction Macro instructions are new literal language instructions which hold a set of basic instructions Call up syntax for a macro instruction lt Macro instruction name gt parameters Statement synt
193. r manual With the right side of the mouse click the sheet to be deleted on the browser and select Delete from the menu With the right side of the mouse click the sheet to be deleted on the browser and select Export from the menu With the right side of the mouse click the sheet on the browser and select Copy cut from the menu To paste with the right side of the mouse click on the Sheet element on the browser and select Paste This option makes it possible to copy or transfer sheets from one project to another See Modifying properties below With the right side of the mouse click the sheet on the browser and select Properties from the menu autoSIM 25 Copyright 2011 SMC SMC User manual O Folder properties a You can modify the i sheet name the syntax ame 7 used for literal Folder 1 language and variable names The Do not compile this sheet option is used to Size the dimensions of the folder surface XL very large folders ae language FE exclude the sheet from a ae Normal the compilation The Macro step expansion Display in GEMMA Variables names 2 ne block for mat option is only C JECI1313 available if the sheet AUTOMGEN andiEC1131 J7 Do not compile this folder is used to display and Ets Displas nf GEMMA format modify a sheet in i ana erthet set GEMMA format The symbols Block the of use _ PEr input
194. racts with the other objects the housing of a machine for example autoSIM 142 Copyright 2011 SMC rg 24 SMC User manual Use gravity a moving object handled by the physical engine subject to gravity and interacting with the other objects a box moving on a conveyor belt for example For this type of object the mass coefficients of friction and restitution and the primary shape of the object block sphere or capsule have to be defined Moving object a moving object handled by the physical engine which is not subject to gravity and which interacts with the other objects a cylinder rod pushing objects for example For this type of object the coefficients of friction and restitution and the primary shape of the object block sphere or capsule have to be defined The Apply physics button allows the physical engine to be launched The Automatic execution checkbox automatically launches the physical engine when the AUTOSIM PC executor is installed The examplesiProcess simulation 3D physical engine sub directory contains examples illustrating the physical engine being used autoSIM 143 Copyright 2011 SMC SMC User manual O IRIS 3D example 1 Ss oe e SNS Examples Simulation PO 3D Scharder agn autoSIM 144 Copyright 2011 SMC O SMC User manual IRIS 3D is used to design simulation applications of 3D operating parts The objects must be created in a standa
195. rafcet and Flowchart environment Y Action rectangle Ends an action Grafcet and Flowchart right limit L Left side of a Starts a double action Grafcet and Flowchart double action rectangle rectangle Middle of a double Prolongs a double Grafcet and Flowchart action rectangle action rectangle Right side of a Ends a double action Grafcet and Flowchart double action rectangle rectangle S Divergence Action Used to vertically Grafcet and Flowchart juxtapose action rectangles V Divergence Action Used to vertically Grafcet and Flowchart juxtapose action rectangles 4 Action on Defines the type of Grafcet activation action L Action on Defines the type of Grafcet deactivation action e Event driven Defines the type of Grafcet action action Generic name Comments Languages L gt autoSIM 40 Copyright 2011 SMC SMC User manual O Test blocks Associated Generic name Comments Languages key E Right limit of a test Flowchart and ladder Organization chart blocks Left limit of a test Flowchart and ladder 6 l Associated Generic name Comments Languages key Indicates the inputina Organization rectangle chart Output if a test Organization rectangle is false chart Organization chart input f False output Function block blocks Associated Generic name Comments Languages key 8 Upper le
196. rd model maker and imported in the AUTOSIM project resources Behaviors are then applied to the objects to create 3D animations autoSIM 145 Copyright 2011 SMC SMC User manual Introduction to SIMULA SIMULA is a pneumatic electrical hydraulic simulation module O It can be used independently or in addition to the AUTOSIM applications autoSIM 146 Copyright 2011 SMC O User manual Installation To install SIMULA install AUTOSIM In options be sure that SIMULA is checked Practical experience Let us do a simple example cylinder directional valve Sy AUTOSIM 3 03 Proyecto3 ef Archivo Edici n Visualizaci n Programa Her AGE B BA bazl E fa Proyecto sin nombre Folios Folio 1 S mbolos 3 Configuraci n GA Documentaci n archivos generados Puesta a punto iris a Simula O Recursos EF M dulos externos Click with the right side of the mouse on SIMULA AUTOSIM 3 03 Proyecto3 ef Archivo Edici n Visualizaci n Programa He ACB AAA Zl E E Proyecto sin nombre e Folios Folio 1 S mbolos 3 Configuraci n G3 Documentaci n archivos generados Puesta a punto lis Ta y Re A adir SIMULA EF M dulos externos Select Add an SIMULA page autoSIM 147 Copyright 2011 SMC rg Y SMC User manual 4 AUTOSIM 3 03 Proyecto3 Eh Archivo Edici n Visualizaci
197. re display checkbox is checked Creating an IRIS 3D console With the right side of the mouse click on the Iris element on the browser and then select Add an IRIS 3D console Propiedades del objeto IRIS 3D Posici n del alumbrado x iff y 1 z 1 V gestionar los objetos transparentes mas lento si es punteado V autorizar la configuraci n rotaci n de la c mara a X Color del fondo rotaci n de la c mara a Y rotaci n de la c mara a Z bo E Wector de gravedad x lo y 19 2 lo Estos par metros determinan el modo utilizado en IRIS 3D autorizar la configuraci n debe estar punteado en modo concepci n para a adir objetos a la escena y parametrarlos El eje de rotaci n influye en la navegaci n 3D ais Creating an IRIS 3D console autoSIM 118 Copyright 2011 SMC User manual Adding 3D files to the project With the right side of the mouse click on the Resources element on the browser and select Import one or more 3D files from the menu Select one or more 3DS files if your files are not in 3DS format use CROSSROAD to convert them ARDE der A The IRIS 3D console autoSIM 119 Copyright 2011 SMC O SMC User manual Configuring the objects Select Open the configuration window from the Options menu on the IRIS 3D window Configuration x 30 Objects The IRIS 3D configuration window
198. re four permanent flags to test the result of a calculation These four indicators are carry indicator C it indicates if an operations has generated a carry figure 1 or not 0 zero indicator Z it indicates if an operations has generated a nil result 1 or not nil 0 sign indicator S it indicates if an operation has generated a negative result 1 or positive one 0 overflow indicator O it indicates if an operation has generated an overflow 1 Addressing modes Low level literal language has 5 addressing modes An addressing mode is a characteristic associated to each literal language instruction Addressing modes used appear below SYNTAX EXAMPLE constant 100 constant L 1000001 constant R 3 14R variable variable reference 0540 AAA AAA AAL AAL AAF AAF variable word reference O 220 label name loop Thus an instruction has two characteristics the type of variable and the addressing mode Certain instructions support or do not support certain addressing modes and certain variable types For example an instruction may only apply to two words and not to other types of variables Note Variables X and U can not be associated to an indirect address due to the non linear nature of their assignments If it is necessary to access a U variable table then a command B must be used to make a table of linear bits autoSIM 237 Copyright 2011 SMC ct GMC User manual Tests Tests
199. rectangle a The branches of the organizational chart must always end with a rectangle without an output that could remain empty Rectangle content Action rectangle content Action rectangles can contain any kind of literal language instructions Test rectangle content Test rectangles must contain a test that complies with the test syntax of the IF THEN ELSE type structure of extended literal language For example IF 10 It is possible to write actions before this test in the test rectangle This can be used to make certain calculations before the test For example if we want to test if the word 200 is equal to the word 201 plus 4 m202 m201 4 IF m200 m202 Illustration Our first now typical example is to make a locomotive make round trips on track 1 of the model autoSIM 310 Copyright 2011 SMC F GMC User manual Solution NINNIN AAA AAA AAA DLLD DLL DLLD LL NE NEN ENE NESE NE NSE NEN ENE SENSE NEN LD LD LL LL PL LL LL LLLLLLLLLLLLLLLE N res dv1_ DADA VA ANA NA VA VA Aa Aa A Aa A VA VA Aa a VA Va Aa Va Va a a Va a a Va Va a Va A ANA VA a a Va VA Aa Na A Va Na a a a a a a a a A a a VA Va Na a a a a a a NA a a a a Ve DPAVAVA A VA VA VA VA VA VA VA VA VA VA Aa VA Va A VA VA Va A Va VA A VA Va Aa a Aa a A Va VA a a a Aa a Aa a A A ANA A A A A A Aa Aa A A a A A A A ANA A A ANA A A ANA A A A a A VA A A A A A A A LAA A A A A A A LALA A 2 A A ANA A VA PPP SPP IPI IP
200. right 2011 SMC SMC User manual MLA O Name MLA multiples accumulator Function multiplies the 16 bit accumulator by a word or a constant multiplies the 32 bit accumulator by a long or a constant multiplies the float accumulator by a float or a constant for the 16 bit accumulator the 16 bits of higher weight result of the multiplication will be transferred in m0 Variables M or MW L or MD F or MF Addressing absolute indirect immediate Also see DVA Example lda m200 mla 10 sta m201 multiplies m200 by 10 m201 is loaded with the 16 bits of lower weight and m0 with the 16 bits of higher weight autoSIM 271 Copyright 2011 SMC SMC User manual MTA O Name MTA memory to accumulator Function transfers the contents of a memory address to the 16 bit accumulator the specified word or constant defines the offset of the memory address to reach the word m0 must be loaded with the segment value of the memory address to be reached only useable with a PC compiler Variables a M or MW Addressing indirect immediate Also see ATM Example Ida b800 sta m0 mta 10 places the value contained at address b800 0010 in the 16 bit accumulator autoSIM 272 Copyright 2011 SMC SMC NEQ Name O Function Variables Addressing Also see Example autoSIM User manual NEQ not equal sets a variable to 0 if the test is true if not the variable is set to 1 Tor
201. rmanently connect with This area can receive the identifier of a sister object If this object exists then the position of the object is modeled on it The identifier of an object is an integer value between 1 and 32767 lt is specified in the Identifier editing area of the Links section Aspect Color Filling This area of the dialogue box contains 8 editing areas which can be used to set different types of object behavior based on the processing application variables No matter what their behavior they will always have a position which depending on the type of object will design e an aspect contained on a bitmap for the n bitmap aspects type e acolor number for n bitmap colors or n format colors e filling for the gauge bitmap or gauge format types The Position area can contain a numeric variable name C or M The areas Position and Position can contain a name of boolean variables autoSIM 82 Copyright 2011 SMC O SMC User manual Two types of operation are possible e if the Position and Position areas are documented then the boolean variables contained in them will drive the position they add or delete the value specified in the speed area lf the Position area is documented then the current position is written in the variable which contains the name e if the Position and Position areas are blank then the value conta
202. s outputs other Comments for example the last modifications the author etc than set symbols Create 6 6 2002 option blocks the use of Edit 66 2002 i i o q variables not attributed to symbols Access to the sheet can be protected by a password The comments area is Lec left to your discretion This dialogue box displays the folder properties Symbols The list of symbols provides the correspondence between symbol names and variable names A project may only have one symbol table With th browser and select Create a symbol table from the menu With the right side of the mouse click on the Symbols element on the browser and select Import a symbol table from the menu autoSIM 26 Copyright 2011 SMC O SMC User manual Configuration This section contains all the post processor configuration elements see the post processor manual for more information Double click on this element to modify the settings of compiler options Documentation This is used to access the file printing function double click on the Print element You can print a complete file composed of an end paper cross reference table symbol list and sheets The print setup function is used to display all these elements autoSIM 27 Copyright 2011 SMC F Y SMC User manual Generated files By double clicking on Pivot code you generate a list in low level literal
203. ser manual ASI Name ASI accumulator arc sine Function calculate the arc sine value of the floating point accumulator Variables none Addressing accumulator Also see COS SIN TAN ACO ATA Example Ida f200 asi aaf sta f201 leave the value of the arc sine of f200 in f201 autoSIM 252 Copyright 2011 SMC O SMC User manual Name ATA accumulator arc tangent Function calculate the arc tangent value of the floating point accumulator Variables none Addressing accumulator Also see COS SIN TAN ACO ASI Example Ida 200 ata aaf sta f201 leave the value of the arc tangent of f200 in f201 autoSIM 253 Copyright 2011 SMC O SMC User manual ATB Name ATB accumulator to bit Function transfers the 16 bits of the 16 bit accumulator towards the subsequent 16 boolean variables the the lower weight bit correspond to the first boolean variable Variables I or 1 O or Q B or M T or T U Addressing absolute Also see BTA Example lda m200 atb o0 recopies the 16 bits of m200 in variables 00 to o15 Note to be able to use the U bits with this function it is necessary to create a linear table of bits using command B autoSIM 254 Copyright 2011 SMC SMC User manual O Name ATM accumulator to memory Function transfers the 16 bit accumulator to a memory address the word or specified constant defines the memory address offset to reach the
204. ssible to reserve multiple variables for a symbol This is useful for setting tables In this case the syntax is _ symbol name variable length _ autoSIM 192 Copyright 2011 SMC F GMC User manual length represents the number of variables to be reserved How does the compiler manage the automatic symbols When starting to compile an application the compiler cancels all the automatic symbols located in the SYM file of the application Each time the compiler finds an automatic symbol it creates a unique attribution for the symbol based of the variable type specified in the symbol name The symbol that is then generated is written in the SYM file If the same automatic symbol is present more than once in an application it refers to the same variable Range of variable attribution By default an attribution range is set for each type of variable Type Start End lor l 0 9999 Oor Q 0 9999 Uor M 1100 19999 T or T 0 9999 Cor C 0 9999 M or 200 9999 MW Lor MD 100 14998 For MF 1100 14998 The attribution range can be changed for each type of variable by using the compilation command SR type start end type designates the type of variable start and end and the new limits to be used This command modifies the attribution of automatic variables for the entire sheet where it is written and up to the next SR command Fixed address symbols The syn
205. ssing Also see Example autoSIM User manual SQR square root calculates the square root of the float accumulator none accumulator ABS Ida 9 itf aaa sqr aaf fti aaa sta m200 leaves value 3 in m200 287 Copyright 2011 SMC SIMIC STA Name O Function Variables Addressing Also see Example autoSIM User manual STA store accumulator stores the 16 bit accumulator in a counter or a word stores the 32 bit accumulator in a long stores the float accumulator in a float stores the 16 bit accumulator in a time delay order M or MW C or C L or MD F or ME T or T absolute indirect LDA sta m200 transfers the content of the 16 bit accumulator to word 200 sta 200 transfers the content of the float accumulator to float 200 sta 1200 transfers the 32 bit accumulator to long 1200 288 Copyright 2011 SMC O SMC User manual Name f TAN accumulator tangent Function calculate the tangent value of the floating point accumulator Variables a none Addressing accumulator Also see COS SIN ACO ASI ATA Example Ida f200 tan aaf sta f201 leave the value of the tangent of f200 in f201 autoSIM 289 Copyright 2011 SMC O SMC User manual TSA Name f TSA test accumulator Function effects AND logic on the 16 bit accumulator and a word or a constant effects AND logic on the 32 bit accumulator and a long or a constant operates in a simila
206. st transition and cylinder retracted on the second autoSIM 133 Copyright 2011 SMC St SN A ger manual This is the final result Sortir v rinss01 v rin sorcis gt 1 TE Vue Options Cam ra v rin rentr s slz You can now click on the GO button in the tool bar to launch the application This complete example is in the examples Process simulation 3D physical engine sub directory with the name destacker agn Applying a behavior to an object Click with the right button of the mouse on the object in the IRIS 3D configuration window and select Add from the menu Name of AUTOSIM variables The name of AUTOSIM variables used in the behaviors are limited to the following syntaxes Access to boolean variables On output n for example O8 O10 On complement of the output n for example O1 O15 autoSIM 134 Copyright 2011 SMC MC In input n for example 10 14 In complement of the input n for example 14 156 Bn bit n for example B100 B200 Bn complement of bit n for example B800 B100 User manual The access to bits B is limited to a table of linear bits a command B must be used to reserve bits see the language manual Access to numeric variables Mn word n for example M200 M300 Fn float n for example F200 F400 Translation tige 2 Position
207. state then the state of the variable is not modified Truth table Command Variable state result 0 1 Example If step 5000 is active then O2 takes the value of 1 if not O2 keeps the same state autoSIM 182 Copyright 2011 SMC SMC User manual O The Reset action syntax is R boolean variable Operation if the action rectangle or coil command is in a true state then the variable is reset false state if the action rectangle or coil command is in a false state then the variable state is not modified Truth table Commana 0 1 oo Example If step 6000 is active then O3 takes the value of 0 if not O3 keeps the same state The Inversion action syntax is boolean variable Operation if the action rectangle or coil command is in a true state then the variable state is inverted for each execution cycle if the action rectangle or coil command is in a false state then variable state is not modified autoSIM 183 Copyright 2011 SMC SMC User manual O Truth table Command Variable state result 0 1 Example If step 7000 is active then the state of O4 is inverted if not O4 keeps the same state Resetting a counter a word or a long The Reset a counter word or long syntax is R counter or word Operation if the action rectangle or coil command is in a true state then the counter word or long is reset if the action re
208. step 100 be active and that a rising edge is detected on input 4 autoSIM 329 Copyright 2011 SMC SN ger manual O Destination and source steps PP PPP PPP PPP PP PP PP PP PPI SII III III We have already seen similar forms where the first step is activated by another Grafcet Here activation of step 100 is realized by the transition ANO 11 rising edge of input O and input 1 This example represents a shift register il is information to memorize in the register and i0 is the clock which makes the shift progress Example 7 is a variation which uses a time delay as a clock autoSIN 330 OCopyright 2011 SMC Y A Y SMC User Destination and source steps LADA AS AAA AAA SAS DD LD LD DLL DL LL LL LL DLLD LL LL DLLD LD LL NENE NE NE NENE NE NSE NENE NENE NENE NENE NENE NENE NENE NEN PA AAA PPPPP PPP III III PPPS PLP III 1000 HTO 10 Here again is the structure of the shift register used in example 6 This time the shift information is generated by a time delay t0 ANO represent the rising edge of the time delay this information is true during a cycle when the time delay has finished Step 1000 manages the launch of the time delay The action of this step can be summed up as activate the count if it is not finished otherwise reset the time delay The functionality diagram of the time delays of this manual will help you to understand the functionalit
209. ster objects To create other keys duplicate the existing key e select the first key e select Copy from the console menu then Paste e move the previously pasted key e set parameters for the new key text links and computer keyboard key When you have finished the above row keys 7 8 and 9 you can then select all three keys together and duplicate them You can create a validation key wider for filling the surface of the keyboard To finish resize the console and put the objects in Employ mode autoSIM 104 Copyright 2011 SMC rg Y SMC User manual The final result should look like this Keyboard la Examples IRIS2D keyboard agn Example of using the Screen keyboard message list object as a messade list Instructions e the object must display four different messages based on the state of four inputs i0 to 13 e for input 0 an information message Start cycle e for input 1 an information message End cycle e for input 2 an error message Error 1 e for input 3 an error message Error 2 e the messages must be displayed when the rising edge of the inputs appears e arecord of 50 messages will be kept in the object and saved on the disk e the messages will be duplicated by a printer connected on LPT1 e apushbutton must be used to delete the messages autoSIM 105 Copyright 2011 SMC
210. t Copyright 2011 SMC S S Link for action on transition crossing Start of an action rectangle on transition crossing Left limit of an And divergence K E Supplementary branch ofan And divergence or an And convergence M Right limit of an And divergence Extension of an And divergence N Left limit of an And convergence O P Supplementary branch ofan And convergence or an And divergence Right limit of an And convergence R Or divergence S Or convergence U Skip or repeat left step Ho HH e a apa mz Use the following element to design the action rectangle Use the X and Y elements to end the rectangle Compulsory to the left of an And divergences Do not use as a left or right limit of an And divergence Compulsory to the right of an And divergence If placed in the K L M P or O P Q L blocks Compulsory to the left of an And convergence Do not use as a left or right limit of an And convergence Compulsory to the right of an And convergence Do not use as a limit of an Or convergence Do not use as a limit of an Or divergence Or convergence or divergence Copyright 2011 SMC User manual Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Grafcet Gr
211. t lt ES lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt X lt g lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt 2 lt lt E 2 lt lt lt g lt lt ES lt lt lt lt lt lt lt 1 lt lt lt lt lt e g gt N AVA VA VA A VA NA A VA NA VA VA VA VAVAVAVA VA PDP PPP PP PPI Aa a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a a 2 la example grafcet divergence et 1 agn autoSIM 200 Copyright 2011 SMC rg 24 SMC User manual Solution 2 SANS SAN NN ENT RE SEE EN NE LSE A PE ENE ALS SOLA SEL SEE AEA ASA SD The two solutions are equivalent in terms of operation The second is a more compact version which uses conditioned actions Divergence and convergence in Or Divergences in Or can have n points It is important to observe the use of the function blocks T I I 1 ie or gt or 1 I autoSIM 201 Copyright 2011 SMC O SMC User manual Divergences in Or must connect on descending links For example incorrect the right drawing is If the width of the page prevents you from writing a large number of divergences you can use the following type of structure The following is an example to ill
212. tax of the automatic symbols is _ symbol name variable name _ For example open valve s q3 Designates a symbol that will be linked to the variable Q3 autoSIM 193 Copyright 2011 SMC gr 2 SMC User manual To better illustrate this manual we have developed some functional examples with a model of a train as in the diagram below a MAQUETTE AT 850 sip FO TU TID AAA dd dd Sd dl TT ST T SPA gt RY i 4 voie 5 4 ma voie 8 3 dE ESE 7 O Po A CE GLS LAA nr ARA e Di did De a CT 7 1 e CS EA A by j fava tetsTa tute ete TO PURPLE LrU PU DUO AN a Yamp sD We have used I O cards on a PC to pilot this model The symbols set by the constructor of the model have been saved autoSIM 194 Copyright 2011 SMC Pg 24 SMC User manual The following symbol file was created AV1 O0 alimentation voie 1 AV 01 alimentation voie 2 AV3 O2 alimentation voie 3 ANA alimentation voie 4 AVS alimentation voie 5 AVG alimentation voie 6 AV alimentation voie 7 AVS alimentation voie 8 AP1 alimentation plateforme 1 AP2 alimentation plateforme 2 AP3 alimentation plateforme 3 AP4 alimentation plateforme 4 APS alimentation plateforme 5 IP 1 rotation plateforme 1 IP2 rotation plateforme 2 IP3 rota
213. te open To test the complement state of a boolean variable add a character in front of the variable name for example i4 M100 high level To test the equality of a numeric variable with a constant use the name of the numeric variable followed by lt gt and a constant for example MW200 4 speed gt 2 autoSIM 59 Copyright 2011 SMC SMC User manual The complement state is used for creating if different if less than or equal to and if greater than or equal to tests for example MW201 lt 300 O The operator amp is used to test a bit of a numeric variable for example M20084 tests the third bit 4 2 power 3 of word m200 This syntax is used in the object states section To read the state of a numeric variable use the variable name for example MW300 m400 pressure _ V_ This syntax is used in the object order section To modify the variable state add the sign followed by a constant after the variable name The following constants are used for boolean variables 0 1 F1 set to 1 FO reset UF end set for example Q0 1 l10 F1 l12 UF For numeric variables the constant is a number for example M200 1234 speed 4 The following key words can be used in the object order sections RUN puts
214. termediate code EQU also called pivot language We are going to do the following load and compile the first programming example in the Grafcet chapter simple1 agn from the directory Example grafcet autoSIM 322 Copyright 2011 SMC rg 24 SMC User manual No a D lt u lt pa Double click on Generated files Pivot code in the browser You will obtain the following list of instructions 00000000 RES x0 AND 10 00000002 SET x0 AND b0 00000004 SET x0 AND x1 AND il 00000007 RES xl AND il 00000009 SET x1 AND x0 AND i0 Le code qui suit a t g n r par la compilation de affectations actions Grafcet logigrammes et ladder 0000000C EQU o0 ORR x0 EOR xl 0000000F EQU 023 AND xl This represents the translation of a simple1 agn application into low level literal language The comments indicate where the portions of code came from this is useful if an application is composed of multiple sheets Obtaining this list of instructions may be useful for answering questions regarding code generated for some program form or the use of some language In certain cases critiques for which it is important to know information such as how many cycles does it take before this action becomes true a step by step way and an in depth examination of generated code will prove to be indispensable Optimizing generated code Various levels of optimization
215. the bits evacuated to the left enter on the right the subject of this function is a constant which sets the number of shifts to be made the size of the subject 16 or 32 bits determines which of the accumulators will undergo rotation Variables none Addressing immediate Also see E RRA Example ana f000 separates the digit of higher weight of the 16 bit accumulator rla 4 and brings it to the right rla 8L effects 8 rotations to the left of the bits of the 32 bit accumulator autoSIM 282 Copyright 2011 SMC SIMIC O User manual RRA Name Function Variables Addressing Also see Example autoSIM RRA rotate right accumulator effects a right rotation of the bits of the 16 bit or 32 bit accumulator the bits evacuated to the right enter on the left the subject of this function is a constant which sets the number of shifts to be made the size of the subject 16 or 32 bits determines which of the accumulators will undergo rotation none immediate RLA ana f000 Separates the digit of higher weight of the 16 bit rra 12 and brings it to the right rra 1L effects a rotation of the bits of the 32 bit accumulator to a position towards the right 283 OCopyright 2011 SMC SIMIC SBA Name O Function Variables Addressing Also see Example autoSIM User manual SBA subtracts accumulator removes the content of a word or constant from the 16 bit acc
216. the properties dialogue box for the sister selected from the list The Destroy pushbutton eliminates the selected object The Positions editing areas are used to set object positions Executable name Name of an executable file operating on the console Parameters Parameters provided on the command line for the executable Details of an Illuminated Button object Object type This is used to select the object type pushbutton light or pushbutton integrated with a light autoSIM 63 Copyright 2011 SMC rg 24 SMC User manual Colors This is used to select the object color If the object is a pushbutton the Background off setting represents the color of the pushbutton If the object is a light or a pushbutton integrated with a light the Background on setting establishes the color of the background when the light is on and Background off when the light is off If the object aspect is established by a bitmap only the character color can be set Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object This is necessary if the object aspect is established by a bitmap Font This is used to select character font and size The font file used must be present on the PC where the program is run Text This is used to specify the text displayed on the object its position its print direction as well as the help text dis
217. the target in RUN mode STOP puts the target in stop INIT initializes the target STEP effects a step on the target GO identical to the environment GO command ENDGO stops the GO command autoSIM 60 Copyright 2011 SMC SMC User manual O EXIT exits the environment UCEXIT exits the environment without asking for confirmation OPENAOF lt object gt displays an object lt object gt designates an object by its title and identifier number configured in object properties with the identifier syntax CHAINAOF lt object gt displays an object and hides the current object lt object gt designates an object by its title and identifier number configured in object properties with the identifier syntax Interchanging objects PARENTPARAM parameter n n This is used for a sister object to access a parent console parameter The parameter must be set in the parent console Links Data for sister objects section See the chapter Console object SISTERPARAM identifier parameter When used for the OBJECT object this syntax makes it possible to read an object s value See the Object object SETPARAM identifier parameter value Used to modify the object parameter To access the list of parameters that can be modified click with the right side of the mouse on Illuminated Button while editing the
218. theses Examples A io il 12 13 V 12 14 15 To obtain this character when editing a test press the A key To obtain this character when editing a test press the V key autoSIM 189 Copyright 2011 SMC O SMC User manual Four syntaxes are available for time delays In the first the time delay is activated in the action and the time delay is simply mentioned in a test to check the end state tia For the others everything is written in the test The general form is time delay launch variable duration or duration launch variable time delay or duration launch variable In this case a time delay is automatically attributed The attribution range is that of the automatic symbols By default the duration is expressed in tenths of seconds The duration can be expressed in days hours minutes seconds milliseconds with the operators d h m S and ms For example 1d30s 1 day and 30 seconds Example using the second syntax tib H20 Ls Example using the normalized syntax 1h36m ia By default the boolean operator AND has a greater priority than the operator OR Parentheses can be used to set a different priority Examples iQ il i2 i0 i1 i2 i5 The syntax of an always true test is no value or 1 Numeric variable tests must use the following syntax autoSIM 190 Copyright 2011 SMC
219. tion The first time the library code is called up by the compiler its code is compiled The following times the call up is simply directed to the existing routine This mechanism is especially suited to the use of function blocks and macro instructions to limit the generation of codes in the event that there is multiple use of the same program resources Words m120 to m129 are reserved for libraries and can be used for passing parameters Pre defined macro instructions Inversion macro instructions are in the sub directory LIB of the AUTOSIM installation directory Functional block equivalents are also present Description of pre defined macro instructions Conversions ASCTOBIN lt first two digits gt lt last two digits gt lt binary result gt Effecting a hexadecimal ASCII conversion first two parameters to binary third parameter by exiting the accumulator containing FFFF if the first two parameters are not valid ASCII numbers otherwise 0 All the parameters are 16 bit words SBCDTOBIN lt value in BCD gt lt binary value gt Effecting a BCD conversion to binary In the output of the accumulator containing FFFF if the first parameter is not a valid bcd number otherwise 0 The two parameters are 16 bit words SBINTOASC lt binary value gt lt upper part result gt lt lower part result gt Effecting a binary conversion first parameter to hexadecimal ASCII second and third parameters All parameters are 1
220. tion plateforme 3 IP4 rotation plateforme 4 IP5 rotation plateforme 5 ZP1 initialisation plateforme 1 ZP2 initialisation plateforme 2 ZP3 initialisation plateforme 3 ZP4 initialisation plateforme 4 ZP5 initialisation plateforme 5 DV1 direction voie 1 DV2 direction voie 2 DV3 direction voie 3 DV4 direction voie 4 DV5 direction voie 5 DV6 direction voie 6 DYT direction voje 7 DV8 direction voie 8 1D feu droit voie 1 sil feu gauche voie 1 S2A feu haut voie 2 S2B feu bas voie 2 S3D feu droit voie 3 S3l feu gauche voie 3 S4A feu haut voie 4 S4B feu bas voie 4 S5D feu droit voie 5 Sal feu gauche voie 5 S6D feu droit voie 6 Sel feu gauche voie 6 S7D feu droit voie 7 s feu gauche voie 7 S8D feu droit voie 8 Sel feu gauche voie 8 T1D train droit voie 1 Til train gauche voie 1 T2A train haut voie 2 T2B train bas voie 2 T3D train droit voie 3 T3 train gauche voie 3 T4A train haut voie 4 T4B train bas voie 4 T5D train droit voie 5 autoSIM 195 Copyright 2011 SMC I gt 7 SMC User manual TSI i T6D T l train gauche voie 5 train droit voie 6 train gauche voie 6 T7D train droit voie 7 T l train gauche voie 7 T8D train droit voie amp TSI train gauche voie amp TP1 train plateforme 1 TP2 train plateforme 2 TP3 train plateforme 3 TP4 train plateforme 4 TP train plateforme 5 PAP index plateforme 1 P2P index
221. tion see the chapter Special orders If the command is executed with no errors the value of 0 is provided Example cmd run YIELD Yields control This function is used so as not to monopolize the execution when the object is run in priority mode Example WHILE 1 DO yield ENDWHILE autoSIM 98 Copyright 2011 SMC O SMC DLL User manual Calls up a DLL The first subject is the DLL file name The second is the function name The third is a pointer on a 32 bit variable which will receive the function return code The other subjects are passed to the function Example dll user messagebeep amp vulong 1 Error messages Separator syntax error variable set more than once not enough memory variable not set constant too big program too complex Incompatible variable or constant type missing ENDIF missing ENDWHILE missing label cannot be found missing autoSIM missing a semicolon is missing syntax error detected a variable set more than once the program run has saturated the available memory a variable used in the program has not been set a constant is too big an expression is too complex it must be broken down a variable or constant is not the expected type A closing parenthesis is missing The key word ENDIF is missing The key word ENDWHI
222. tmap the object is a gauge with a format set by a bitmap The blank bitmap pixels set the format The other pixels must be black The minimum maximum and print direction are set in the Gauge tab e n format colors a rectangle a rectangle with rounded edges or an ellipse The color is managed in the same manner as n bitmap colors e gauge formats the object is a rectangular gauge The principle is the same as for a gauge bitmap Colors This is used to select the character color for the text displayed on the object Font This establishes the font used for displaying text on the object Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Texts Help text and bubble text autoSIM 81 Copyright 2011 SMC ct SN A ger manual The text displayed on the object the position and print direction can be modified Links tab Clicked object not clicked object This sets the actions to be effected when the user clicks on the object and when the user stops clicking the object An action can be setting the state of a variable for example 00 1 m200 4 _depart cycle_ 3 Or a preset key word A configuration example where the input 10 reflects the clicked state of an object i10 to O if the object is not clicked i10 to 1 if the object is clicked Clicked object i10 1 Not clicked object i10 0 Pe
223. to the end of the destination string SSTRCMP lt string 1 gt lt string 2 gt lt result gt Compares to strings The result is a boolean variable which passes to 1 if the two strings are identical SSTRLEN lt string gt lt result gt Places the length of the string in the result word SSTRUPR lt string gt Transforms all the characters of the string into capital letters SSTRLWR lt string gt autoSIM 295 Copyright 2011 SMC rg 2 SMC User manual Transforms all the characters of the string into lower case letters Example Conversion of m200 binary to m202 m203 in 4 digits ASCII bcd bintobcd m200 m201 bintoasc m201 m202 m203 Example of low level literal language Conditions let s start with the simplest example round trip of a locomotive on track 1 Solution LADA AAA VP LIVEN I INI NV NI NI NI SE NI SNE SN NAN SAN NE NESE NSE ES NESE NA NSE NSN NEN NEN SENS NEN NINE SNE SENSI NE ASS SPSS NS SI NS NI NS NI NS SI SS SI SS NIN NL amp Example lit low level literalt agn A more evolved example Conditions The locomotive must make a 10 second delay at the right end of the track and a 4 second delay at the left end Solution autoSIM 296 Copyright 2011 SMC ES NOOO INN INN NON INN autoSIM t0 equ equ equ set equ res equ 100 40 ul00 and _tli_ and _tld_ u101 orr t0 eor tl _avi_ orr ul00 eor ul01
224. u 00 and o100 true test of the first cycle equ ol and o100 true test at the second cycle Only two addressing modes are available for tests absolute and indirect A test for counters words longs and floating points is available Syntax variable lt gt lt lt gt gt constant or variable equal different lt less than not signed gt greater than not signed lt lt less than signed gt gt greater than signed By default constants are written in decimals The suffixes and are used for writing in hexadecimal or binary The quotation marks are for writing in ASCII 32 bit constants must be followed by the letter L Real constants must be followed by the letter R A word or a counter can be compared to a word a counter of a 16 bit constant A long can be compared to a long or a 82 bit constant A float can be compared to a float or a real constant Examples and c0 gt 100 and m225 10 orr m200 m201 eor m202 m203 and 100 f101 and 200 lt 203 orr m200 lt lt 100 eor m200 gt gt 200 and 200 3 14r and 1200 12345678L and m200 1111111100000000 Comments Comments need to start with the character semi colon all the characters after it are ignored autoSIM 239 Copyright 2011 SMC SMC User manual O Numbering base The values variable references or constants can be written in decimal hexadecimal binary or ASCII
225. ual Details of a Digital value object O Aspect tab Format This is used to set the type of display e Always display the sign display the sign for positively signed values e Signed value sets the signed or unsigned mode for 16 or 32 bit integers only base 10 e Display all digits display the 0 at the beginning of the value if necessary Base e Establishes the display base for 16 and 32 bit integers Colors This is used to select the background colors of the object if it is not transparent and the characters Font This is used to select character font and size The font file used must be present on the PC where the program is run Number of digits Sets the length of the integer and decimal parts Background This is used to select either a colored or transparent if the object is only placed on one console background Object size This establishes object dimensions in number of dots These values can be modified to precisely set the size of an object Texts tab Bubble Text Text displayed in a bubble when the user puts the cursor on the object autoSIM 67 Copyright 2011 SMC F GSMC ger manual Text displayed before and after the value This is used to display information to the left and right of a numeric value Links tab Variable or symbol This designates the variable to display To access a time delay counter or procedure the following syntax must be used e f
226. ue d assurer la s curt gt F GFN RAZ du Grafcet de production Arr t dans tat initial VOYANT INIT depart cycle E d AUTOMGEN C opyright 1997 IRAI 05 03 1994 Lancement du Grafcet de productio i DEPART RAZ du Grafcet de production fin de cycle 5 F GEN Arr t du Grafcet de production fin de cycle obtenu H FIN Tarret urgence rien pour l instant 1 ram ne la locomotive gauche AVI DVI autoSIM 223 tli Copyright 2011 SMC SMC User manual O Creating a Gemma To create gemma proceed as follows click on Sheet on the browser with the right side of the mouse and select the command Add a new sheet from the list of sizes select Gemma click on OK use the right side of the mouse to click on the sheet name created on the browser D select properties Proprieties from the menu check Display Gemma form The window will contain a Gemma where all the links are gray To validate a rectangle or a connection click on it with the right side of the mouse To edit the contents of a rectangle or the type of connection click on it with the left side of the mouse The contents of Gemma rectangles will be placed in the Grafcet action rectangles The type of connection will be placed in the Grafcet tra
227. umulator removes the content of a long or a constant from the 32 bit accumulator removes the content of a float or constant from the float accumulator M or MW L or MD F or MF absolute indirect immediate ADA sba 200 removes 200 from the 16 bit accumulator sba f 421 removes the float content if the number is contained in word 421 from the float accumulator 284 Copyright 2011 SMC SMC SET Y Name Function Variables Addressing Also see Example User manual SET set sets a boolean variable to 1 sets all the bits of a word a counter a long the 16 bit or the 32 bit accumulator to 1 I or 1 O or Q B or M T or T X or X U M or MW C or C L or MD absolute indirect except for X variables accumulator NEQ RES EQU INV set 00 sets the output of 00 to 1 Ida 10 sta m200 set 0 200 and 10 sets 010 to 1 if input 10 is at 1 autoSIM set m200 sets m200 to the value 1 set aal sets all the bits of the 32 bit accumulator to 1 285 Copyright 2011 SMC O SMC SIN Name Function Variables Addressing Also see Example autoSIM User manual SIN accumulator sine calculate the sine value of the floating point accumulator none accumulator COS TAN ACO ASI ATA Ida 200 sin aaf sta f201 leave the value of the sine of f200 in f201 286 Copyright 2011 SMC O SMC SQR Name Function Variables Addre
228. unction block The inside of the block can receive parameters constant or variable non du bloc parametres Block boolean inputs maximum 16 Block boolean Block outputs parameters maximum 16 maximum 16 Creating a function block A function block is composed of two separate files One file has ZON extension which contains the drawing of the function block and a file with LIB extension which contains a series of instructions written in literal language which establish the functionality of the function block The ZON and LIB files must bear the name of the function block For example if we decide to create a function block MEMORY we need to create the files MEMORY ZON to draw the block and MEMORY LIB for the functionality of the block Drawing a block and creating a ZON file The envelop of a function block is composed of a code box to which blocks dedicated for the function block are added To draw a function block follow the steps below use the assistant recommended autoSIM 313 Copyright 2011 SMC SMC User manual Or draw a code box use the command Add Code box from the menu O E place a NN key 8 on the upper right corner of the code box E gt place a block key 9 on the upper right corner of the code box E delete the line at the top of the block key A is used to place blank blocks E
229. ustrate the use of divergences and convergences in Or Conditions Let s look at the conditions for the first example in the chapter roundtrip of a locomotive on track 1 autoSIM 202 Copyright 2011 SMC S S User manual Solution ION he he NN INN INN I N PONEN NON NON ONO NON EONON NON ENE EONON NINE NIN AAA NANA ANA NENA NON NEN NESE NESE NESE NEN NAS ANAS INI INN III PI PI NPI NPI IP NP NP NIP NPI SENO E NN y gt IV VA VA VA VA VA A VAVAVA VA VA VA VA VAVAVAVAVA VA VA NA A VA A a a a a a a Va a a a a a a a a a a a a a a a Va a a a a a a a a a a a a a a a a a a a a a a 2 la example grafcet divergence or agn This Grafcet could be restated in a step using conditioned actions as in this example SPALL LALA LL LF LLLP LILI VIII ILI IAA NAAN NI NSA SA SS NEAL NE NANA SENSE NS NE SA NEL SS NEN SS NS SEAL NE NA NES SSE SA SENS NN a as PALRALALAA D lt PR n iw lt gt m on w iw lt Destination and source steps destination and source transitions The principles are illustrated in the examples below Conditions Let s look at the second example in this chapter round trip of a locomotive on track 1 with a delay at the end of the track Solution autoSIM 203 Copyright 2011 SMC F GMC User manual A tli t1 x30 4s SAVVY VY VANS NSSS NESS SESE SESE NII NII NEN NINE NINE NE NEN NEN NEN NES NES NE NN NNN NE NE NSE NE NEN ENE NEN ENE KAR
230. ve format of the files processed by IRIS 3D is X files set by Microsoft s DIRECTX 8 A 3DS to X converter is integrated into the environment The CROSSROADS program provided on the AUTOSIM installation CD ROM or downloaded from www smctraining com is used to convert a significant number of 3D files to 3DS format IRIS 3D is in a window format enclosed in the IRIS 2D console 3D objects are animated on the console Each 3D file represents an object in IRIS 3D The elements in an operating part must have their own movement and must be represented by separated files For example for a jack composed of a body and a shaft files must be created for the jack body and for the jack shaft To create animation of objects in a 3D world one or more behaviors can be applied to each of the objects A behavior is composed of an object modification moving changing color etc and a link with the processing application variables to condition this modification For example extract the jack shaft if the output for the processing application is true autoSIM 117 Copyright 2011 SMC O SMC User manual Tutorial The examples process simulation 3d tutorial 2 sub directory in the AUTOSIM installation directory has a WORD file that contains a tutorial devoted to creating 3D operational units The list of objects is shown in the list The objects linked to an object are shown as sub elements if the Tree structu
231. will be automatically duplicated Printing edge of the water Associating a message storage file This is used for setting a file which will be associated to the object and used for storing information If this file exists then the messages will be saved according to the number set in the number of memorized lines section when the number is reached the oldest data is deleted When the object is open and if a storage file exists since its last use then the data contained in the file is transferred to the object Write the old message to This is used to set a file or a peripheral which receives old messages the messages which are eliminated from the storage file to make room Number of memorized lines This establishes the message storage file capacity in number of lines The value 0 attributes the maximum space that can be used not a fixed limit Messages tab Preset messages This editing box is used to document preset messages one per line Details of Data archive object Aspect tab Objects This is used to set the type of display The object can be represented in table format figure 1 1 or graph format figure 1 2 autoSIM 74 Copyright 2011 SMC rg 24 SMC User manual Date Heure d acquisition aleur 23 07 96 16 52 52 443 28043 23 07 96 16 52 53 541 6059 23 07 96 16 52 54 640 16477 23 07 96 16 52 55 738 26575 23 07 96 16 52 56 837 4091 23 07 96 16 5
232. word m0 must be loaded with the segment value of the memory address to reach only useable with PC compiler Variables a M or MW Addressing indirect immediate Also see MTA Example Ida b800 sta m0 lda 64258 atm 10 places the value 64258 at address b800 0010 autoSIM 255 Copyright 2011 SMC SMC BTA O Name Function Variables Addressing Also see Example User manual BTA bit to accumulator transfers the subsequent 16 boolean variables towards the 16 bits of the 16 bit accumulator the lower weight bit corresponds to the first boolean variable Tor 1 O or Q B or M T or ST U absolute ATB bta 10 sta m200 recopies the 16 inputs 10 to 115 in the word m200 Note to be able to use the U bits with this function it is necessary to create a linear table of bits using command B autoSIM 256 Copyright 2011 SMC Y SMC User manual COS Name COS accumulator cosine Function calculate the cosine value of the floating point accumulator Variables none Addressing accumulator Also see SIN TAN ACO ASI ATA Example Ida f200 cos aaf sta f201 leave the value of the cosine of f200 in f201 autoSIM 257 Copyright 2011 SMC SMC User manual CPA O Name f CPA compares accumulator Function compares a value at the 16 bit or 32 bit or floating accumulator effects the same operation as SBA but without changing the content of the accumulator Var
233. y of this program autoSIM 331 Copyright 2011 SMC S S manual e arret urgence 1 HE arret urgence F100 100 CLASSES INESIS LOSE LONDON SPSRSESPSPS S SP SES SES SS gt S DDK aa Example grafcet sample8 agn User SAPS ASANO ASES IIRL LELE L L AS A SPE SL AL AE SARL SEO OPS SARL A POP SL AL A PP I ARP pee VOYANT INIT bp depart de cycle 110 MOTEUR bp fin de cycle AVAVAVANAN AV AV LIAN NA VA VA A VA VA VA NA VA ANA A VA A ANA ANA NAN A NAN ANA A Va a VA VA ANA A a AAAAA ANA A A Aa 4 This example illustrates the use of a Grafcet set command The order F100 means reset all the Grafcet steps where one of the steps bears the number 100 Order F100 100 is identical but sets step 100 to 1 We have used symbols for this example arret urgence id bp depart de cycle 11 bp fin de cycle 12 VOYANT INIT o0 MOTEUR o1 autoSIM 332 Copyright 2011 SMC SN ger manual O Memorizing Grafcets 100 VOYANT INIT arret urgence i M bp depart de cycle gt ME T 100 110 l MOTEUR T bp fin de cycle n arret urgence L 3 HF100 100 amp Exam ple g rafcet sample9 agn arret urgence id bp depart de cycle 11 bp fin de cycle 2 VOYANT INIT o0 MOTEUR o1 This example is a variation of the previous pr
234. y operators Constants can be 0 1 FALSE or TRUE Examples oD 1l 5 ol FALSE The operators used to separate multiple variables are or and OR or AND And has priority over Or autoSIM 305 Copyright 2011 SMC rg 2 SMC User manual Example 00 i0 11 12 i3 Will be treated as o0 i0 il i2 i3 Parentheses can be used in the equations to indicate priorities Example o0 i0 i1 i2 i3 Numeric tests can be used Example o0 m200 gt 5 m200 lt 100 Numeric equations The general syntax is variable numeric equation Numeric equations can be composed of a constant a variable or multiple variables separated by operators The constants can be expressed as decimal hexadecimal prefix 16 or binary prefix 2 values Examples m200 1234 m201 16 aa55 m202 2 100000011101 Operators are used to separate multiple variables or constants in their order of priority multiplication division addition Subtraction amp or AND binary and XOR binary exclusive or OR binary or Examples m200 1000 m201 m200 m202 m204 m203 equivalent to m200 m202 m204 m203 Parentheses can be used in the equations to indicate priority autoSIM 306 Copyright 2011 SMC Example m200 m202 m204 m203 User manual IF THEN ELSE test Syntax IF condition THEN action ENDIF and IF condition THEN action ELSE actio
235. your applications drive a virtual operating part created with IRIS 2D or 3D drive input output cards connected to the PC Configuring the number of variables Double click on the Configuration Post processors Executor PC Variables element N mero de variables para la ejecuci n Reservar autom ticamente el n mero M de variables utilizadas en la aplicaci n recomendado Entradas Salidas Defina aqu el n mero de variables declaradas Temporizaciones para la ejecuci n La opci n a activar Reservar autom ticamente hace que el compilador asigne nicamente el n mero de variables utilizadas en funci n del n mero m s elevado Contadores Palabras de 16 bits Palabras de 32 bits Palabras reales Selecting the number of variables The space needed for the variables used in the application is automatically reserved by default You can manually select the amount of memory to reserve for each type of variable This may be necessary if an indexed addressing is used to access a variable table autoSIM 48 Copyright 2011 SMC SIMIC User manual O PC system variables Bits O to 99 and words O to 199 are system variables and can not be used as user variables in your applications The two tables below provide details on the PC system variables active at first cycle activation of initial Grafcet steps reserved for I O drivers reserved for I O driver errors error on
236. ype There are two possibilities A preset message is a message present in the processing application user variables The other possibility is to specify a message list in this case the displayed message is a function of the monitored variable state Links tab Variable name This specifies the name of the variable to monitor Boolean or numeric variables can be entered For example m200 0 If the variable is boolean then message no 1 on the list will be displayed when the state of that variable passes to 1 For a numeric variable if the Message list configuration option is checked then the dialogue box will be displayed when the value is between 1 and the number of messages memorized on the list For example if the list contains 8 messages then it will not display anything when the variable assumes negative values or those over 8 On the other hand when the value is between 1 8 then the appropriate message is displayed If the Preset message option is activated then the dialogue box will display a message of the length contained in the variable and situated in the processing application variables based on that variable autoSIM 88 Copyright 2011 SMC rg 24 SMC User manual For example if m200 4 this means that a message 4 characters long is situated in the 4 variables following m200 or rather m201 m202 m203 m204 Dialogue box return code With a boolean variable no matter what act

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