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1. Figure 4 3 4 5 PIQ access Direct Access The IMCOx PLC also allows direct accesses to inputs and outputs The load operations L PB 0 to L PB 127 or L PW Oto L PW 126 access the digital inputs The transfer operations T PB 0 to T PB 127 or T PW 0 to T PW 126 access the digital outputs The physical addresses are the same as for operations with the operands IB 0 to IB 127 or QB 0 to QB 127 The operand areas PB 128 to PB 255 and QB 0 to QB 255 or PW 128 to PW 254 and QW 0 to QW 254 are used to access the extended peripheral area Again load operations select inputs and transfer operations select outputs 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 4 3 I O Addressing Transfer operations to the peripheral bytes PB 0 to PB 127 simultaneously update the output process image PIQ This prevents arbitrary resetting of the output when the PIQ is transferred to peripheral devices The PII is however not updated by load operations physical addresses logical addresses DB 1 0 127 128 255 A x x 7 L IBx L PB PYx L PB PYx L IWx L PWx L PWx Control program E T PB PYx T PB PYx T QBx T QWx T PWx T PWx 4 y y 0 127 128 255 logical addresses DB 1 physical addresses PY for STEP 5 base package for PC Figure 4
2. M i A Header for the definition of digital inputs S i K 0 2 Number PB n Number of addresses for the inputs in the peripheral area n 0 128 I O mode PB128 I O mode of the first peripheral byte Address PB128 Address of the first peripheral byte I O mode PB 128 n 1 I O mode of the nth peripheral byte Address PB 128 n 1 Address of the nth peripheral byte Number IB m Number of addresses for the inputs in the PII m 0 128 I O mode IBO I O mode of the first input byte Address IBO Address of the first input byte 1 0 mode IB m 1 I O mode of the mth input byte Address IB m 1 Address of the mth input byte EEEEh End ID Figure 9 2 Data field for inputs The value for the number of input bytes IB m also defines the length of the input process image The input bytes must be entered without gaps starting at address 0 i e unused input bytes must be entered with dummy definitions 4 J31069 D2037 U001 A3 7618 9 4 IMCOx PLC System Manual DB 1 Configuration These entries are made in SWCPLC C as shown below With IMC05 eben Seanad Geo stee aoe MASKO2 ee ee ee define MASK2 SWITCH 1 Input bytes 0 not used 1 used define MASK2 PB ANZ 0 Number of peripheral bytes for input in extended peripheral area PBO PB127 define MASK2_EB_ANZ 8 Number of digital input bytes EBO EB127 SS eee See ee De See ee ere ee e
3. Table 6 1 Features of the operation types Basic operations Extended operations System operations Application scope All blocks Function blocks only Function blocks only Display modes STL CSF LAD STL STL Criterion system knowledge For users with good You will find detailed information on the different operation types in the Reference Manual chapter 2 6 1 2 Operand Areas STEP 5 programming uses the following operand areas I inputs Interfaces from the process to the controller via PII Q outputs Interfaces from the controller to the process via PIQ F flags Memory for binary intermediate results D data Memory for digital intermediate results T timers Register for programming timers C counters Register for programming counters P peripherals Direct interface between process and controller not via the process image K constants Fixed number values The operands in an operand area are identified by specific extensions IB 7 denotes e g the 7th input byte of the PII Q3 2 denotes the 2nd bit in the 3rd output byte of the PIQ KF denotes a fixed point numeric constant 16 bit integer A list of all operations and operands can be found in the Reference Manual chapter 3 6 2 Program Structure Control programs can be linear or structured These two approaches are explained below 6 2 1 Linear Programming For simple control tasks it is often sufficient to write a contr
4. Read peripheral byte PB 0 255 Write peripheral byte PB 0 255 Read peripheral byte in Q area QB 0 255 Write peripheral byte in Q area QB 0 Read address of a data block DB 0 255 To access a data block a function must read back a pointer to the data block The number of the data block is passed as a parameter The function returns a NULL pointer if the data block does not exist The data block length can be read from the block header Examples of access to PLC data areas can be found in the file HLLCODE C 8 2 4 Initialization Function for HLL Blocks Linking HLL blocks often involves initializing data before an HLL block can be executed If HLL blocks have been programmed then the IMCOx PLC during startup calls the initialization function h11_init in the file HLLCODE C This function normally contains no commands however you may insert any commands you wish e g request memory initialize data structures synchronize with other tasks etc hll_ init is called as the last function during IMCOx PLC startup and the IMCOx PLC can only switch into RUN mode once the function has ended hll_init can return a user defined error status in the range 0 to 255 the IMCOx PLC ORs a value not equal to zero with 100H and returns it as the error status of x plc_start orx plc_ init The IMCOx PLC can only be switched into RUN mode when h11_init has completed without an error 4 J31069 D2037 U001 A3 7618 8
5. SYSIMC5 PLCIMC5 and SYSIMC5 PLCIMC5 SRC for IMC05 SYSIMC1 PLCIMC1 and SYSIMC1 PLCIMC1 SRC for IMC01 Table 14 1 Configuration files for generating IMCOx PLC File name Meaning RMCONF C RMOS configuration file contains the initialization task GENSYSC5 BAT or Batch files for system generation with CADUL for IMCO5 with or without GENDP BAT PROFIBUS DP connection GENSYSC1 BAT Batch file for system generation with CADUL for IMC01 RM3PC15 BLD Builder file SWCPLC C IMCOx PLC configuration file see chapter 10 3 1 4 J31069 D2037 U001 A3 7618 14 2 IMCOx PLC System Manual RMOS and PLC Configuration 14 3 Configuring and Generating IMCOx PLC The IMCOx PLC is configured in the SWCPLC C file Blocks plc_sw and plc hw must be configured there in function x_plc_ init as described in chapter 10 Assignment of the serial interfaces for IMCO5 Interface Allocation RS232 1 RMOS BYTE driver with 19200 baud RS232 2 AS511 communication driver of the IMCOx PLC with 9600 baud Assignment of the serial interfaces for IMC01 Interface Allocation COM1 RS 232 AS511 communication driver of the IMCOx PLC with 9600 baud COM2 RS 485 RMOS BYTE driver with 19200 baud Since the interface only provides semi duplex mode on the hardware side only printf outputs can be made here The following batch files are available for generating an RMOS system with IMCOx PLC For IMCO05 in directory
6. MASKO2 INPUT Bytes PB EB 3 ire T E E eee Be See eS SS ae ES SS define DIG _ INPUT _01_08 0 define DIG_INPUT_09 16 8 define DIG_INPUT_17_24 16 if mask2 plc_par_mask MASK2 plc_par_peab_ count MASK2 PB ANZ nr of PB if mask2_pb plc_par_peab DIG INPUT _01_ 08 CONT PB128 plc_par_peab DIG_INPUT_09 16 CONT PB129 plc_par_peab_ count MASK2_ EB ANZ nr of EB if mask2_eb plc_par_peab DIG INPUT _01_ 08 CONT EBO plc_par_peab DIG_INPUT_09 16 CONT EBL plc_par_peab DIG_ INPUT _17 24 FINISH EB2 end if mask_len gt 0 4 J31069 D2037 U001 A3 7618 9 6 IMCOx PLC System Manual DB 1 Configuration 9 4 2 Definition of Digital Outputs MASKO3 In the first half the operand areas accessed by PB 128 to PB 255 extended peripheral area are assigned to physical outputs In the second half the digital outputs are assigned to the physical outputs QB 0 to QB 127 via process image or PB 0 to PB 127 without process image Number PB n I O mode PB128 Address PB128 I O mode PB 128 n 1 Address PB 128 n 1 Number QB m I O mode QBO Address QBO I O mode QB m 1 Address QB m 1 EEEEh Header for the definition of digital outputs Number of addresses for the outputs in the peripheral area n 0 128 I O mode of the first peripheral byte Address
7. 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 11 1 Operator Interface and Display Elements Control flags high order byte Bit 15 14 13 12 11 10 9 8 Meaning 0 STOP 1 RUN 1 Perform overall reset 1 Acknowledge error Not used The ACCESS bit is used to control access to shared memory see chapter 12 It is interpreted as follows ACCESS bit 0 Local access to shared memory by another task is prohibited ACCESS bit 1 Local access to shared memory by another task is allowed The ACCESS bit always has the opposite state to bit 0 in the acknowledgement byte After accessing shared memory the task must reset the ACCESS bit 4 J31069 D2037 U001 A3 7618 11 2 IMCOx PLC System Manual Working with Shared Memory 12 Working with Shared Memory The shared memory allows you to monitor internal processing sequences and to display the status of input and output process images PII and PIQ counters and timers process visualization The shared memory is also the location of the communication flags used to synchronize other processes with the IMCOx PLC On the IMCOx PLC side a flag area can be defined as communication flag The shared memory is a common local memory area and is used to exchange data either with another RMOS task The shared memory address is configurable see chapter 10 Its size is 1 Kb 12 1 Base Address The shared memory base address is identical for both tasks The memory is
8. 13 1 Access to Decentral Inputs Outputs 13 2 PROFIBUS DP Diagnostic Functions 13 2 1 Diagnostics while Read Write Accessing the Process Image 13 2 2 Diagnosis While Reading Writing I O Bytes 13 2 3 HLL Block for the Diagnostic Function 13 3 DP Configuration for IMCOx PLC 13 3 1 Allocation of the Digital Inputs Outputs DB 1 Configuration 13 3 2 Constants for Error Identifiers RMOS and PLC Configuration 14 4 Directory Entries 14 2 IMCOx PLC Configuration and Generation Files 14 3 Configuring and Generating IMCOx PLC Compatibility to SIMATIC S5 115U 15 1 Commands 15 2 Execution Times oO Li N O L P a P ao st oa 1 oa L 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC 15 3 15 4 15 5 15 6 15 7 15 8 15 9 15 10 15 11 15 12 15 13 15 14 15 15 15 16 Program Memory Data Blocks DB 0 DB 1 Special Organization Blocks Display of Results ISTACK Display BASP STATUS Block Alarm Blocks Integrated Function Blocks Standard Function Blocks Clock Functions Time Behavior on Loading Blocks in RUN Mode Step Transition Programming with GRAPH 5 Alarm Blocks List of Abbreviations Software Notations Index l 1 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual _ T ao IMCOx PLC 4 J31069 D2037 U001 A3 7618 8 IMCOx PLC System Manual General Information about IMC0Ox PLC Documentation 1 General Informa
9. 4 IMCOx PLC System Manual Programming HLL Blocks 8 3 Linking HLL Blocks When x_plc_ start is called from x_ plc init see chapter 10 2 or chapter 10 3 the memory mode and hll_ memory parameters must be specified appropriately 8 3 1 Linking HLL Blocks during RMOS Generation The program code for HLL blocks must be linked during RMOS generation The IMCOx PLC is started with the call x_plc_start and the following parameters plc_sw memory_mode 0xX3XX PTR_TYPE plc_sw hll_memory ptr amp hll block table The object block HSTART OBJ and HLLCODE OBJ must be linked during RMOS generation The sample application is automatically compiled by batch files GENSYSC5 BAT or GENDP BAT IMCO05 or GENSYSC1 BAT IMC01 If the GEN_HLLC BAT batch file is started alone HSTART OBJ and HLLCODE OBJ must be linked again to the system The files HSTART ASM and HLLCODE C must be compiled with the following switches AS386 HSTART ASM VSYMUPPER DSTART 1 CC386 HLLCODE C VCOMPACT I RBASES INC CC CMD 8 3 2 Stack Size of HLL Blocks When you are programming HLL blocks remember that the available stack is limited CRUN calls in particular make heavy demands on the stack When HLL blocks are called at cycle driven processing level OB 1 and at the timer driven processing level OB 10 to OB 13 they are processed at task level RMOS system calls SVCs and CRUN calls can be programmed Available stack size is e approx 400 32 bit
10. ASPNEEP User memory is file KEINAS User memory is RAM unbuffered Table 5 3 Mnemonics of interrupt indications Abbreviation Meaning UAW Interrupt indicator word STOPS Operating mode switch at STOP SUF substitution error TRAF Transfer error during data block commands DW number gt DB length STS Operation interrupted by PG STOP request or STOP instruction STUEB Block stack overflow maximum nesting depth 32 exceeded QVZ ZYK Timer error processing time for timer OB too long ZYK scan time exceeded ASPFA Invalid memory module CC1 CC0 00 ACCUM1 0 or 0 moved 01 ACCUM1 gt 0 or 1 moved 10 ACCUM1 lt 0 OVF Arithmetic overflow or OR OR memory set by command O STATUS Status of command operand of last executed binary command RLO Logical result of operation ERAB Initial request 1 KE1 KE6 Bracketed stack entry 1 to 6 entered for A and O FKT 0 Of 1 A BEF REG Command register SAC Step address counter DB ADR Data block address 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 5 Testing and Startup Functions Table 5 3 Mnemonics of interrupt indications Abbreviation Meaning BST STP Block stack pointer OB NR Organization block number DB NR Data block number REL SAC 1 The results in STATUS and ERAB will not be influenced 5 8 Block Stack Output While a program is executing the following information on each
11. Second serial interface With IMCO5 RS 232 1 With IMC01 COM2 for printf outputs on the system console RS 485 semi duplex 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC Overview 2 3 Functional Units The figure below shows the typical structure of a controller created with the IMCOx PLC RMOS3 ee BLOGO NOA j I other Tasks IMCOx PLC e g l i ACCUM User memory Visualization 1 f Operation j Measurement l Control _ Communication i l flags l MM O i Cycle control i l l Timers E f l PG communication l ae e g STATUS block PG interface ags MC5 compiler l i PII PIQ l l l logical address I l l DB 1 physical address l l Digital l input output i Bes S55 SSS SSeS aS SS ease 2S es E E le Se oe Sot es es Ss es Se l Figure 2 1 Function units of a PLC The controller is built up from a number of functional units which are briefly described here e Control unit e Accumulator e Counters timers and flags e Communication flags and shared memory e Process image e 1 O units e Program memory e MC5 compiler e PG interface 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 2 3 IMCOx PLC Overview 2 3 1 Control Unit The control unit i
12. This requires that this HLL block is linked during RMOS generation FB 208 calls the dpn_slv_diag function The following parameters are transferred in consecutive flag words e Station number e Number of diagnostic bytes to be read e First flag byte for storage of the diagnostic data The number and layout of the diagnostic bytes depends on the type of station This is described in the technical description of IMCO5 DP The diagnostic data are only available on stations for which provide diagnostic data has been configured in the PROFIBUS DP data base Block body for the FB 208 HLL block for diagnostics FB 208 Network 1 Name PLCL2DP DCL STNR I Q D B T C A B BY W D W DIAG 1 Q D B T C A B BY W D STS I Q D B T C A B BY W D W B s For a sample call for FB 208 see chapter 13 2 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 8 7 Programming HLL Blocks 8 8 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual DB 1 Configuration 9 DB 1 Configuration If the application configuration does not use the SWCPLC C data block DB 1 is required The DB 1 is divided into data fields which contain the following application specific data e Allocation of input output and peripheral bytes to the physical addresses of inputs and outputs e For initializing outputs e For defining communication flags e For defining retentive flags e For special settings DB 1
13. for example In HSTART ASM one table each is defined for the OBs and the FBs which must be preset with the addresses of the HLL blocks 0 is entered for nonexistent blocks 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 8 1 Programming HLL Blocks 8 2 1 Programming the Organization Blocks Organization blocks are assigned as parameter a pointer to the current data block An HLL program can access this data block as shown in this example in C void ob 208 unsigned short db _p static unsigned short x x db p 0 For OBs in ASM386 the address of the current data block is passed in registers ES ESI and the data block length in register EDI To clear the STACK the assembler program must end with RET 8 RETURN FAR 8 2 2 Programming the Function Blocks Function blocks are assigned as parameter a pointer to a table of substitution parameters An HLL program can access this parameter as shown in this example in C void fb 208 unsigned char subs_p static unsigned short x static unsigned short y x subs p 0 y subs _p 2 l For FBs in ASM386 the pointer to the substitution parameters is passed in registers ES ESI To clear the STACK the assembler program must end with RET 8 RETURN FAR Before a function block call can be programmed in a STEP 5 block the FB in question must exist in the PG because the PG generates a mask for parameter assignment for the FB call For each o
14. n Byte number n high byte n 1 low byte Bit number l5 l14 lis ae laa os ez le Ve a3 ee a ee Meaning 215 g4 213 912 211 910 99 28 o7 96 25 94 22 2 9 Table 6 6 Examples of the controller s representing of numbers Input value Representation in the PLC KF 50 14111 1111 1100 1110 KH A03F 1010 0000 0011 1111 KY 3 10 0000 0011 0000 1010 4 J31069 D2037 U001 A3 7618 6 18 IMCOx PLC System Manual STEP 5 User Memory 7 STEP 5 User Memory For the debugging and startup phase the PG loads a STEP 5 program into the controller s SRAM memory Completed and debugged programs are copied to EPROM User memory is split into two areas e MC5 memory for MC5 program code e DB memory for retentive data and data blocks Type and size of user memory are configurable and the IMCOx PLC must include this information for a configured PLC You can find more information on configuration in chapter 10 7 1 MC5 memory This is MC5 memory for SIMATIC S5 115U compatible MC5 code The maximum size is 32 Kb The following memory types are supported e EPROM The MC5 code is entered in EPROM Individual blocks can be loaded by the PG into the memory area which is otherwise reserved for data blocks e SRAM MC5 code is loaded by the PG e Memory area not available MC5 code is loaded by the PG into the memory area which is otherwise reserved for data blocks only recommended for controllers of limited size For detai
15. the DB 1 configuration During restart the contents of retentive memory are checked If there has been a data loss an overall reset request is automatically issued An entry in the DB 1 configuration see chapter 9 can define a flag area FB 0 to FB 127 as retentive data These data are retained even when program execution is interrupted and are available when the operating mode has changed back to RUN If retentive flags have been configured the operand areas C 0 to C 63 T 0 to T 63 are automatically made retentive too Note An overall reset deletes even retentive data 3 7 Overall Reset The overall reset function re initializes the controller All blocks previously loaded by the PG into RAM are lost together with the retentive data blocks After the overall reset the MC5 code is loaded from EPROM again An overall reset can be requested in the following ways e Via the PG e Automatically after data loss in retentive memory after a restart e n response to an event flag see chapter 11 e Via a new start after a hardware reset The reset request is indicated by setting the overall reset flag 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 3 11 Operating Modes 3 7 1 Overall Reset by Event Flag The following steps assume that the operating mode flag is at STOP 1 Set control flag for overall reset Indication flag for overall reset request is set 2 Wait until indication flag for overall res
16. 1 The data block DB 1 is reserved for initialization functions and must therefore be generated before controller startup You can find more detailed information on the DB 1 in chapter 9 Data block DB 0 is generally not used for the IMCOx PLC 4 J31069 D2037 U001 A3 7618 6 14 IMCOx PLC System Manual Introduction to Programming 6 3 4 2 Generating Data Blocks To generate a data block you start by entering a data block number e g DB 25 A data block is made up of 16 bit data words which are entered beginning with data word 0 in ascending order PB 25 gt Block header DWO 4 A 3 2 DWi 3 F 4 A DW 2 0110 0100 0000 1111 DW 3 Z U gt Data words DW n 3 Figure 6 7 Structure of a data block Each data word occupies one word of program memory In addition the PG generates a block header for each data block which takes up a further five words of program memory A data block may occupy a maximum of 4096 words in the controller s program memory If a PG is being used for input and transfer the size of the PG s memory must also be considered Warning Load transfer commands L T DW can access data up to data word number 255 only Data blocks DB 0 and DB 1 are reserved and may not be called by user programs 6 3 4 3 Calling Data Blocks Data blocks can only be called unconditionally Once a data block has been called this block remains valid until a new
17. 1 1 Scan Time Monitoring Scan time is another way of saying the runtime of the control program It is directly dependent on the reaction time of the automation system at the cycle driven processing level Scan time monitoring makes it possible to react to unexpected delays in program execution and to bring the control system into a defined mode The maximum scan time is usually set in the restart organization blocks OB 21 and or OB 22 by writing a value to system data word SD 96 see chapter 5 The value entered here is interpreted as a multiple of 10 msec The default value for scan time monitoring is 500 msec Cycle time monitoring can be switched off by entering a value zero in system data word 96 Table 3 1 Programming scan time monitoring System data Absolute Time interval Programming Default Setting word address SD 96 EACO OFFFFH 10 msec 0032H 1 0 no scan time monitoring 500 msec Within a program scan time can be retriggered by calling trigger OB 31 This makes it possible to adjust scan time monitoring to changing runtime situations If the set scan time is exceeded error OB 26 is executed if it is available and the scan time retriggered If OB 26 was not programmed the controller switches to STOP mode A special case occurs when scan time monitoring is switched off and the user program is in an endless loop so that it does not stop If the operating mode flag is set to STOP the cont
18. 3 PTR_TYPE plc_sw mc5 size 0xC000 length of mc5 code 48 KByte plc_sw db_size 0x8000 length of remanent data 32 KByte plc_sw mc5_memory addr 0x3FA0000 lin address of mc5 flash memory gt use address offset gt 0x3E0000 with flash loader plc_sw db memory addr 0x0f8000 lin address of remanent memory plc_sw hll_memory ptr amp hll_block_table phys address of hll table plc_sw shared_memory 0x0000 reserved plc_hw_data Note direct IO not available plc_hw in mode 0x4000 MMIO_MODE and NO_IO plc_hw in_addr S03 not used if NO_IO plc_hw out_mode 0x4000 MMIO_MODE and NO_IO plc_hw out_addr 0 not used if NO_IO plc_hw mask_reg SO io address maskregister not used plc_hw int_mask 0 int mask for alarm obs not used gt has to be 0 plc_hw pic_base 0 pic base for alarm ints not used plc_hw pit_vector Oz reserved plc_hw mmio addr 0 reserved plc_hw mmio_mode Og reserved plc_hw mem161_io 0y reserved plc_hw db1_len DB1_LEN see definition above plc_hw db1_p amp plc_db1 0 local dbl struc with parameters see below The sections MASKO1 to MASKO6 and the parameters they contain are entered in the same way as in data block DB 1 see chapter 9 4 J31069 D2037 U001 A3 7618
19. 3 1 Operator Interface and Display Elements IMCOx PLC makes available an event flag group for operator control and indication see chapter 11 Control flags For RUN STOP change in operating mode For overall reset of the PLC For error acknowledgment Indication flags For RUN and STOP operating modes For runtime errors compiling errors and warnings For an overall reset request The controller displays STOP RUN modes as follows STOP mode The STOP display is active and the RUN display inactive RUN mode The RUN display is active and the STOP display inactive 3 2 Restart A controller restart is performed e when the power supply is switched on or e after a hardware reset from watchdog If the controller has retentive memory the contents of this memory are checked during restart Should this check show a loss of data an overall reset request is automatically initiated The controller cannot be switched into RUN mode until this request has been acknowledged and acted upon A restart executes all necessary initializations The transition to RUN mode takes place only when the following conditions have been met e The controller was not stopped before being switched off with the PG function PC STOP applies only to systems with retentive memory e f configured the control flag must be set for operating mode RUN see chapter 11 e _ Error free compilation of the MC5 codes compiler run When the controller enters
20. 4 Direct access to inputs outputs Address allocation is managed with entries in the data block DB 1 4 J31069 D2037 U001 A3 7618 4 4 IMCOx PLC System Manual I O Addressing 4 6 Initializing Outputs The outputs of the IMCO5 can be initialized during startup with initial values There are different ways in which blocks can be initialized e initializing by DB 1 data block e initializing by SWCPLC C e initializing in restart OB 22 Initializing by the DB 1 data block is described in chapter 9 4 7 Access to Decentral Inputs Outputs With IMC05 The IMCOx PLC uses the following calls of the RMOS DP interface for data communication with the decentral I O stations See also the technical description of IMCO5 DP Com05DPStart Set up a DP entity dpn_ init Register a DP application dpn_read_cfg Determine the configuration of the DP system dpn_in_slv Read the input data of one DP slave dpn_in_slv_m Read the input data of several DP slaves dpn_out_slv Send output data to one DP slave dpn_out_slv_m Send output data to several DP slaves dpn_slv_diag Request diagnostic data of a slave The process image is updated with dpn_in_ slv_m anddpn out _slv_m The I O bytes are addressed with dpn_in_slv anddpn_ out _slv These calls require an execution time of 300 to 400 microseconds to access an I O byte or I O word Since only all inputs or outputs of one station can be read or written simultaneously a read or
21. Call instruction JU FBx unconditional call JC FBx callif RLO 1 e Parameter list only if parameters are assigned Function blocks programmed in HLL are called in the same way as function blocks programmed in STL Function blocks have to be programmed before they can be called When you are programming an FB call the PG will automatically ask for the FB parameters 4 J31069 D2037 U001 A3 7618 6 12 IMCOx PLC System Manual Introduction to Programming 6 3 3 3 Parametrization The program in the function block specifies how the operands are processed After the jump instruction the operands which the FB is to use i e parameter list must be specified in the block in which the FB is called The valid operands are also called the current operands Parameter list Immediately following the jump instruction the input and output variables and other data are defined i e each formal operand is supplied with an actual operand The length of this parameter list will depend on the number of formal operands Thus a parameter list can contain up to 40 actual operands As explained above when the function block is executed each formal operand is replaced by an actual operand supplied by the parameter list The PG automatically keeps track of the order in which variables are substituted Figure 6 6 gives an example of how parameters are assigned to a function block Other special characteristics of function blocks The FB call ta
22. Determining the Error Source The STEP 5 address counter SAC in the ISTACK specifies the absolute start address of the block in which the runtime error occurred However the erroneous STEP 5 instruction in the block cannot always be identified by means of this address In this case the SAC indicates the start of the block and the relative command counter REL SAC will always contain the value 0 The command register BEF REG however contains the MC5 code of the STEP 5 instruction which caused the runtime error By consulting the table in the Reference Manual chapter 2 6 you will be able to identify the corresponding STL instruction Determining the error source is only relevant if the error is one of the following e substitution error e transfer error 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 3 Testing and Startup Functions 5 7 2 ISTACK Output to PG The following tables show the ISTACK of the IMCOx PLC In contrast to the PG only the bits mentioned here are significant The bold encircled bits have a different meaning Table 5 1 Control bit output System Absolute Control bits data word address 7 l i l l 0 SD5 EAOA a BSTSCH SCHTAE ADRBAU z EA0B CA DE CE DE z REMAN z z sD6 Eaoc sTozus stroanz z T BARB BARBEND EAOD z MAFE
23. IMCOx PLC System Manual 10 9 IMCOx PLC Configuration 10 4 Error Codes for x_plc_start and x_plc_init The functions x_plc_start and x_plc_ init return an error status as return value This code is defined in the header file PLC H Table 10 1 Error codes forx plc start andx ple init Error Error code hex E PLC_OK 0x00 Meaning The function was executed successfully E_PLC_START 0x01 One of the tasks could not be started E_PLC_CREATE 0x02 E_PLC_ALOC 0x03 One of the tasks could not be created because the maximum number of dynamic tasks see Software Configuration Number of SMRs was exceeded or because no GDT slot was free There is insufficient free memory in the HEAP E PLC_PARAM 0x04 E_PLC_DESC 0x05 The value for memory configuration parameter memory_mode in the x_plc_start Call or in the file SWCPLC C is invalid No GDT entries free E_PLC_DRIV 0x06 The AS511 driver is not configured E PLC MASK 0x07 E_PLC_INTR 0x08 Reserved Reserved E_PLC_CATALOG 0x09 E PLC_CFG_OPEN E PLC_CFG READ 0x0B Ox0A One of the tasks could not be cataloged because the resource directory is full Nonexistent configuration file SWCPLC C I O error on reading the configuration file SWCPLC C E PLC_TIC 0x0C E PLC _PRIO 0x0D An illegal value was configured for the RMOS system clock Legal values are 1 msec 2 msec 5 msec 10 ms
24. Manual Introduction to Programming 6 3 1 Organization Blocks OB The organization blocks OB 1 to OB 39 are the interface between the control program and the controller s internal operations The controller processes OBs either event or timer driven OBs are grouped according to their function as follows see also chapter e OBs for restart program processing e OB for cyclic program processing e OBs for timer driven program processing e OBs for handling runtime errors For details on operating modes see chapter 3 Table 6 3 Overview of organization blocks Organization block Function Meaning OB 1 Cycle OB Cyclic program scanning OB 2 Reserved for future applications OB 3 Reserved for future applications OB 4 Reserved for future applications OB 5 Reserved for future applications OB 10 Timer OB Timer driven program scanning OB 11 Timer OB Timer driven program scanning OB 12 Timer OB Timer driven program scanning OB 13 Timer OB Timer driven program scanning OB 19 Error OB call of nonexistent block OB 21 Restart OB STOP RUN operating mode switch OB 22 Restart OB STOP RUN operating mode transition after power on OB 26 Error OB scan time exceeded OB 27 Error OB substitution error OB 28 STOP OB RUN STOP operating mode switch OB 31 Trigger OB Scan time triggering OB 32 Error OB Transfer error OBs not listed here are reserved an
25. PG function PC STOP Occurrence of a runtime error which is not caught by an error OB Resetting an RMOS event flag see chapter 11 Occurrence of an error ata PROFIBUS DP station for which QVZ J is specified 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Operating Modes 3 5 Operating Mode RUN RUN is the operating mode in which control programs are executed Control programs are executed at two processing levels e Cycle driven processing level PLC cycle e timer driven processing level 3 5 1 Cycle Driven Processing Level This is the typical processing method for programmable controllers i e read input process control program write to output The organization block OB 1 is the interface for cyclic processing of a control program PLC cycle Read PIl Call organization block OB 1 Write PIQ Copy PII to the shared memory 1 Copy PIQ timers counters communication output flags to the shared memory Read communication input flags from the shared memory no STOP condition yes STOP transition Figure 3 5 PLC cycle cycle driven processing 1 See chapter 12 The accessibility of all decentral stations configured in the CP data base is monitored during both read and write accesses to the process image during the PLC cycle 4 J31069 D2037 U001 A3 7618 3 6 IMCOx PLC System Manual Operating Modes 3 5
26. RUN mode for the first time after a restart OB 22 is called as restart OB It can be used to perform initializations 4 J31069 D2037 U001 A3 7618 3 2 IMCOx PLC System Manual Operating Modes Restart Delete shared memory Load retentive data F T C 1 es Retentive data OK 4 no Request general reset delete DB memory Compile DB memory Load MC5 code 1 Compile MC5 memory DB 1 default initialization DB 1 initialization with data from DB 1 Load HLL blocks 1 Compile MC5 code compiler run Delete non retentive data PII PIQ F T C no yes PLC RUN STOP mode Start RUN transition Figure 3 2 Restart operation 1 If retentive mode is configured and retentive data are valid in the SRAM these are used Otherwise the applicable data areas are loaded from the EPROM 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Operating Modes 3 3 Restart RUN transition The restart is executed every time the operating mode changes from STOP to RUN Start Read communication flags if available Disable cycle time monitoring Enable timer processing Execute start OB OB 21 OB 22 Enable alarms Enable cycle time monitoring End Figure 3 3 Restart The restart RUN transition i
27. all slv_state are evaluated when the process image is read If a DP slave indicates with slv_state that it is not in the data transfer phase SD 124 is set to STATION_ERROR value 0x01 The incorrect station number can be read from system data word SD 125 EAFAH The first incorrect slv_state of a station is stored in system data word SD 126 EAFCH Table 13 1 Information in slv_state of dpn_in_slv_m Literal Value Meaning DPN_SLV_STAT_OFFLINE 0x00 Slave not in the data transfer phase startup DPN_SLV_STAT_NOT_ACTIVE 0x01 Slave not activated in the data base DPN_SLV_STAT_READY 0x02 Slave in the data transfer phase DPN_SLV_STAT_READY_DIAG 0x03 Slave in the data transfer phase Diagnostic data are available DPN_SLV_STAT_NOT_READY 0x04 Slave not in the data transfer phase DPN SLV_STAT_NOT_READY_DIAG 0x05 Slave not in the data transfer phase Diagnostic data are available When the process image is written a check is only made to determine whether an error code occurred during the dpn_out_slv_m call If so the error code is stored in SD 124 SD 125 and SD 126 have no meaning The startup phase of the IMCOx PLC call x_plc_init is always concluded without errors regardless of whether the stations could be addressed Whether the IMCOx PLC switches to the RUN state depends on the QVZ setting in the DP data base The QVZ setting is set for each station separately in the DP dat
28. an EPROM or SRAM memory area containing the MC5 code xxx4h mc5_memory is the physical address of an EPROM or SRAM memory area containing the MC5 code The meaning of this parameter depends on the value of memory mode memory_mode Meaning xx0xh No retentivity the required RAM memory is dynamically requested xx2xh db memory is the linear address of a SRAM memory area xx4xh db_memory is the physical address of a SRAM memory area The meaning of this parameter depends on the value of memory _ mode memory _mode Meaning x0xxh No HLL blocks are available h11_memory is not evaluated x3xxh xBxxh hll_memory is a pointer selector offset to the table for the HLL blocks in the EPROM h11_block_table 1 The table is stored in HSTART ASM See chapter 8 If HLL blocks are used the flag PLC_NPX must be set memory_mode XXXX 1XXX XXXX XXXXB The meaning of this parameter depends on the value of memory mode memory mode Meaning Oxxxh Shared memory is not available i e no data exchange with another task takes place using this memory area 1xxxh shared_memory is a dynamically requested memory area i e the parameter shared_memory is not used The memory required for data exchange with other tasks is dynamically requested by the IMCOx PLC The global pointer x plc_shared_mem _ p enables other tasks to access shared memory 2xxxh shared_memory is the address of a memory area e g dual
29. another CPU 2 1 Performance Features e 1024 input bits e 1024 output bits e 256 flag bytes e 128 timers e 128 counters e 3 2 msec execution time for 1024 binary instructions e STEP 5 command set corresponds largely to SIMATIC S5 115U CPU 944 2 2 Before You Start 2 2 1 Programmer PG You can write test and run your application programs on either of these programming systems e MS DOS compatible PC with Siemens STEP 5 programming package STEP 5 Basic Package e SIMATIC S5 programmer e g PG 720 with STEP 5 from V6 5 or PG 740 with STEP 5 from V7 12 under Windows 95 2 2 2 Controller PLC You can use the IMCOx PLC to implement programmable controllers based on the IMCO05 or IMCO1 compact process computer 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 2 1 IMCOx PLC Overview 2 2 3 The Controller A controller created using the IMCOx PLC has almost all the functionality of a SIMATIC S5 115U controller Because the IMCOx PLC can be implemented on devices with different order options it is obviously impossible to describe the final controller completely The checklist below tells you where the controller description must be supplemented or modified Serial interface for connection of the PG With IMCO5 RS 232 2 With IMC01 COM1 RS 232 Number and addresses of inputs and outputs Memory configuration Retentivity Use of communication flags Integrated HLL blocks Reaction to power failure
30. areas can be used with the IMCOx PLC IB 0 to IB 127 digital inputs access via the process image QB 0 to QB 127 digital outputs access via the process image PB 0 to PB 127 digital I O direct access to digital inputs outputs PB 128 to PB 255 and QB 0 to QB 255 extended peripheral areas Inputs and outputs are allocated to the physical addresses of the appropriate inputs outputs by means of entries in SWCPLC C or in the DB 1 data block DB 1 programming is covered in chapter 9 4 1 Bitwise Addressing Individual bits in the process image are represented by specifying the byte plus the bit number separated by a period Al 23 3 _ Bit number channel number Byte number Figure 4 1 Structure of a bit address Bitwise addressing is used mainly for addressing digital input output channels Note Bitwise addressing with peripheral access is not possible 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 4 1 I O Addressing 4 2 Bytewise and Wordwise Addressing Bytewise or wordwise accesses are identified by a B or a W following the operand type I Q P For wordwise addressing the lower byte number is specified e g e QW 34 corresponds to QB 34 and QB 35 e QW 116 corresponds to QB 116 and QB 117 4 3 Access to the PII At the start of cyclic program execution the signal states of the digital inputs are read into the PIl This ensures that the signal states remain unchanged during executio
31. be entered The values are entered in the logical addresses PB 128 to PB 255 see MASKO3 to correspond in number and sequence This results in easy initialization the addresses for the outputs must however be entered sequentially in MASKO3 M A Header for definition of initialization values So K 0 5 Number n Number of initialization values INIT value 0 first initialization value INIT value n 1 nth initialization value EEEEh End ID Figure 9 5 Data field for initialization values Regardless of its position in DB 1 MASK0O5 is always processed at the end of the initialization These entries are made in SWCPLC C as shown below mA Sh te ne et MASKOS5 define MASK5 SWITCH 1 Init values of 0 not used PB 128 PB 255 1 used MASK05 INIT VALUES OF PERIPHERIAL BYTES see nr of PB defined in MASK3 Sees eS A N EN Seles se ee Se Bee ee Ss SS Seo if mask5 plc_par_mask MASKS plc_par_pb init 1 CONT plc_par_pb_ init 2 CONT plc_par_pb init 4 FINISH end if mask_len gt 0 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 9 11 DB 1 Configuration 9 7 Special Settings MASK06 Special settings are made in a configuration data word The following diagrams show the data field structure for the speci
32. cyclically setting the acknowledgement byte that data in the shared memory are updated by the IMCOx PLC A task access is only allowed once the IMCOx PLC has reset the acknowledgement byte 12 3 2 Access Control Using the RMOS Event Flag If the shared memory is being used as local memory for data exchange with another RMOS task access can be synchronized either via the acknowledgement byte or via the ACCESS bit in the event flag group The access mechanism is the same as that using the status and acknowledgement byte except that the value of the ACCESS bit is reversed The ACCESS bit is Bit 4 of the event flag group The flag group ID is passed at IMCOx PLC start Chapter 11 2 explains the contents of the event flag group 4 J31069 D2037 U001 A3 7618 12 4 IMCOx PLC System Manual PROFIBUS DP Link Only with IMC05 13 PROFIBUS DP Link Only with IMC05 13 1 Access to Decentral Inputs Outputs The PROFIBUS DP connection consists of the PROFIBUS DP driver RMOS driver and the DP interface procedural interface The logical assignment of the inputs outputs IB QB and PB to the decentral I O stations is performed with the DP data base which is created with the COM PROFIBUS configuration tool The following calls are used by the DP interface for data communication with the decentral I O stations Com05DPStart Set up a DP entity dpn_ init Register a DP application dpn_read_cfg Determine the configuration of the DP s
33. how timer OBs are allocated to system data words Table 3 2 Timer block settings System data Absolute Time interval Programming Default Setting word address SD 100 EAC8 OB 10 0 OFFFFH 10 msec 0 disabled 0 disable OB 10 calls SD 99 EAC6 OB 11 0 OFFFFH 10 msec 0 disabled 0 disable OB 11 calls SD 98 EAC4 OB 12 0 OFFFFH 10 msec 0 disabled 0 disable OB 12 calls SD 97 EAC2 OB 13 0 OFFFFH 10 msec 000AH 0 disable OB 13 calls 100 msec In the following example the time interval for OB 13 is programmed in the restart OBs 21 and 22 Access to the system data word is only possible via function blocks FB 21 3 8 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Operating Modes Table 3 3 Setting of a time interval 1 sec period for OB 13 calls OB 21 OB 22 FB 21 JU FB 21 JU FB 21 Name Time ON Name Time ON Name Time ON L KF 100 oT RS 97 BE A cyclic program can be interrupted by a timer driven processing level The IA command disables calls to all timer OBs and the RA command enables them again If the processing time for a timer OB is longer than the set time interval i e the timer OB overtakes itself then an timer error occurs see chapter 3 8 1 2 A timer error also occurs when tasks with higher priority than the timer blocks take up too much processor time impeding execution of the timer blocks If the time OBs are delaye
34. jump operation is entered in the block stack e the data block which was being processed before the jump command e the relative return address i e the address at which program processing must start again after the jump command has been executed e the absolute return address i e the memory address in program memory at which program processing must start again after the jump command has been executed This information can be read out in STOP mode by means of the PG function BSTACK if the controller stopped because of an error BSTACK will thus tell you the state of the block stack at the point where processing was interrupted by an error Example Program processing was interrupted at FB 2 the controller reported a TRAF error and switched into STOP mode the cause was an incorrect DB access e g DB 5 is two words long DB 3 is ten words long You can use the BSTACK to determine how FB 2 was reached and which block is passing incorrect parameters The BSTACK will contain the three marked return addresses 4 J31069 D2037 U001 A3 7618 5 6 IMCOx PLC System Manual Testing and Startup Functions E Interrupt with error message TRAF PB 4 00 C DB5 02 PB4 02 JC FB2 i et fo X 04 06 ee aera XX BE XX BE FB2 08 _ 10 si BE 00 C DB3 16 xx BE 18 BE Figure 5 2 Monitoring program processing via the
35. of the first peripheral byte I O mode of the nth peripheral byte Address of the nth peripheral byte Number of addresses for the outputs in the PIQ m 0 128 I O mode of the first output byte Address of the first output byte I O mode of the mth output byte Address of the mth output byte End ID Figure 9 3 Note Where initialization values for the outputs are defined see MASKO5 these are written to the extended peripheral area starting at PB 128 to correspond in number and sequence 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Data field for outputs The value for the number of input bytes QB m also defines the length of the input process image The output bytes must be entered without gaps starting at address 0 i e unused output bytes must be entered with dummy definitions DB 1 Configuration These entries are made in SWCPLC C as shown below With IMC05 MASKO3 define MASK3 SWITCH 1 output bytes 0 not used ES used define MASK3 PB ANZ 0 Number of peripheral bytes for output in extended peripheral area PB128 PB255 define MASK3 AB ANZ 6 Number of digital output bytes ABO AB127 MASK03 OUTPUT Bytes PB AB define DIG_OUTPUT_01_08 0 define DIG_OUTPUT_09 16 8 define DIG_OUTPUT_17_24 16 def
36. port RAM 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 10 5 IMCOx PLC Configuration 10 2 2 Structure Definitions for Hardware Parameters Parameters for the hardware configuration are organized in the following structure typedef struct WORD16 WORD16 WORD16 WORD16 WORD16 WORD16 WORD16 WORD16 WORD32 WORD16 WORD16 WORD16 WORD16 HW_DATA in_mode in_addr out_mode out_addr mask reg int_mask pic_base pit_vector mmio_addr mmio_mode mem161_io db1_ len db1_p Meaning of the structure elements in_mode in_addr out_mode out_addr mask_reg int_mask pic_base pit_vector mmio_addr mmio_mode mem161_io db1_len db1_p 10 6 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved must always be 0x4000 must always be 0x00 must always be 0x4000 must always be 0x00 must always be OxA1 must always be 0x00 must always be 0x70 must always be 0x00 must always be 0x00 must always be 0x00 must always be 0x0320 Length of the DB 1 data structure in words Pointer to the DB 1 data structure 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC Configuration 10 3 Start Call x_plc_init This function is defined in SWCPLC C and is called from RMCONF C It enters all required parameters into the appropriate data structures and then calls the x_plc_ start function C
37. product This debugger runs on a host system and is connected to the target system via RS232 connection The host system is an AT compatible PC For details on the source level debugger see RMOS documentation Note If you want to connect a debugger with the IMC01 the system console must be moved to COM1 To do this set variable imcl_sysconsole COM1 in the RMCONF C file If you do this no AS511 will be available 8 4 3 Setting Breakpoints When testing remember that before entering a GO command you set one or more breakpoints which will be encountered after the HLL block has been called Remember also that HLL blocks are only called in RUN mode When the controller encounters a breakpoint in an HLL block the PLC processing cycle is interrupted and then resumed again with the GO command after a set time To prevent the IMCOx PLC then going into STOP mode because of an exceeded scan time scan time monitoring should first be switched off Before the source level debugger is exited all breakpoints must be deleted Note When a breakpoint is encountered in an HLL block the communication with the PG is interrupted 4 J31069 D2037 U001 A3 7618 8 6 IMCOx PLC System Manual Programming HLL Blocks 8 5 HLL Blocks for PROFIBUS DP Diagnosis Only with IMC05 In the controller program i e STEP5 program diagnostic data of a certain station can be fetched by calling an HHL block i e FB 208 which is included
38. requested RAM No retentivity HLL memory Memory area for HLL blocks 0 arbitrary size The HLL blocks can only be stored in the EPROM Shared memory Memory area for data exchange with another RMOS task 1 kByte The following memory types are supported e Dynamically requested RAM e Reserved memory area in SRAM 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 10 1 IMCOx PLC Configuration 80386 memory Dynamically requested RAM area for generated 80386 code The size of this memory area results from the size of the MC5 memory mc5_ size and the size of the DB memory db_ size Size of the 80386 memory 8 mc5_size 6 db size 10 2 Start Call x_plc_start x_plc_start is called from SWCPLC C The referenced structures must also be preset with the required configuration parameters in this file This function causes the PLC tasks to be dynamically created cataloged and started The return value will tell you whether the call was executed successfully see chapter 10 4 Call syntax include lt plc h gt unsigned int far x_plc_start SW_DATA plc_ sw HW DATA plc hw PLCINIT FCT init fect Call parameters ple_sw This data structure contains the parameters for the software configuration e g task priorities plc _hw This data structure contains the parameters for the hardware configuration init fet This parameter is for code optimization This parameter should specify the macro PLC_NO_FILEIO whi
39. takes longer than the set time interval an alarm error is reported in the error status word EADO and the IMCOx PLC switches to STOP mode Processing of an alarm block can be interrupted by an alarm with higher priority 4 J31069 D2037 U001 A3 7618 15 2 IMCOx PLC System Manual Compatibility to SIMATIC S5 115U 15 11 Integrated Function Blocks The integrated function blocks of the SIMATIC S5 115U CPU 944 are not included in the IMCOx PLC 15 12 Standard Function Blocks The standard function blocks for the SIMATIC S5 115U have not been tested for the IMCOx PLC to some extent they are not executable The GRAPH 5 function blocks are not executable 15 13 Clock Functions The CPU 943 CPU 944 clock functions are not supported 15 14 Time Behavior on Loading Blocks in RUN Mode When program blocks OBs PB SBs FBs are loaded with the PG the blocks must be compiled When the IMCOx PLC is in RUN mode the compiler run is fitted in between two PLC cycles i e the start of the next PLC cycle is delayed by the time taken for the compiler run There is thus no guarantee of loading blocks without stalling It takes approximately 75 msec to compile a block 1024 words long 15 15 Step Transition Programming with GRAPH 5 Step transition programming with GRAPH 5 is not supported because GRAPH 5 function blocks are not executable under the IMCOx PLC 15 16 Alarm Blocks Alarm blocks are not available with IMCOx PLC 4 J31069 D20
40. were issued can be displayed with the PG function OUTPUT BSTACK 3 8 1 7 STS Operation STEP 5 Command The STS operation immediate stop is actually not an error In contrast to the STP operation stop at end of cycle the STS operation is generally used in OBs in order to stop the PLC in a defined state The STS operation causes an entry to be made in the ISTACK and the controller to go into STOP mode 3 8 2 IMCOx PLC specific Errors In addition to runtime errors there are other errors which are specific to the IMCOx PLC e DB 1 error e Compiling error e Memory overflow in runtime area 4 J31069 D2037 U001 A3 7618 3 14 IMCOx PLC System Manual Operating Modes e _LIR TIR TNB error illegal address area Read write error in retentive data file e Clock error When one of these errors occurs the IMCOx PLC goes into STOP mode and sets the error display event flag In general unless specifically stated otherwise the IMCOx PLC can be started again from the PG although the error should naturally be corrected first The sequence request overall reset negative acknowledgement will switch the controller into RUN mode without using the PG 3 8 2 1 DB 1 Error The DB 1 data block contains configuration data for the IMCOx PLC e g the allocation of logical inputs outputs to physical addresses in the inputs outputs see chapter 9 When a DB 1 containing an error is loaded then the appropriate error bit in the
41. words 8 3 3 Floating point Arithmetic The IMCOx PLC command set does not contain floating point commands However floating point arithmetic can be executed in HLL blocks Note With the IMC01 floating point arithmetic can only be implemented with an emulation since the IMCO1 does not have a coprocessor A numeric library must be linked in when the RMOS system is generated see chapter 14 so that floating point operations can be performed in HLL blocks with the numeric coprocessor 80387 In addition the IMCOx PLC must be informed by the flag PLC_NPX in the parameter memory_mode that there are floating point commands in the HLL blocks see chapter 10 In the generation batch file GEN HLLC BAT for CADUL the compiler option VNDP must be activated if the numeric coprocessor is used 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 8 5 Programming HLL Blocks 8 4 Development and Test Environment To program HLL blocks you need the same development environment as for generating reloadable tasks at RMOS CADUL The programs can be transferred to the user flash memory of the IMCO5 or IMCO1 8 4 1 Testing at Assembler Level At assembler level HLL blocks are tested with the help of the RMOS debugger For details on the debugger see RMOS documeniation 8 4 2 Testing High Level Languages A very convenient tool for testing HLL blocks at high level language level is the source level debugger from CADUL separate
42. words SD 124 to SD 126 See chapter 3 8 3 These system data words are cleared during the STOP RUN transition Note When an error occurs on a station for which QVZ J is specified in the PROFIBUS DP data base IMCOx PLC assumes STOP status When QVZ N is specified for one or more stations the error code must be evaluated in system data word SD 124 and then cleared The error code can contain all the error identifiers of the PROFIBUS DP link For the meaning of the error codes see the technical description of IMCO5 DP 3 5 2 Timer driven Processing Level At the timer driven processing level a program block can be processed cyclically within a time frame of 10 msec to 10 min which you specify Timer driven processing uses the organization blocks OB 10 to OB 13 timer blocks The time interval for each of the 4 organization blocks is set by an entry in the system data The time frame can be set in steps of 10 msec Time intervals can be set by commands in the restart organization blocks and also adjusted during program runtime by programming the system data words SD 100 to SD 97 Default time interval settings are OB 13 100 msec and OB 10 OB 11 and OB 12 all set to zero Ifa time interval is set to zero calls to the corresponding OB are disabled If a timer block is activated during runtime by a programmed time interval the first start of this timer block will have a fuzziness of 10 msec The following table shows
43. 32 slave stations are configured in the data base E PLC_DP_BASE 0x24 Error during evaluation of the DP data base e g no data base generated with COM PROFIBUS 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 10 11 IMCOx PLC Configuration Error Variable x_plc_error The error variable x_plc_error data definition in PLC H is used to write additional error codes for the RMOS taskloader or for RMOS CRUN The contents of this error variable can be used to supply supplementary error information on the console For the return values below the error variable x_plc_error will contain the error code errno from the RMOS CRUN library see RMOS documentation CRUN e E PLC_MC5_OPEN 0x14 e E PLC DB OPEN 0x16 e E PLC _MC5_READ 0x15 e E PLC DB READ 0x17 e E PLC _DB WRITE 0x18 Error variable x_plc_dp_error only with IMC05 The error variable x_plc_dp error data definition in PLC H is used to write additional error codes for the function x_plc_init The contents of this error variable can be used to evaluate the error status of the particular call or output it on the console 10 5 I O Interface PLC_IOIF ASM Configuring the hardware for the IMCOx PLC is handled as far as possible with the parameters plc_hw which are loaded with the call x_plc_start x_plc_init In addition certain IMCOx PLC functions which directly access hardware are supplied as source code in the file PLC_IOIF ASM Thi
44. 37 U001 A3 7618 IMCOx PLC System Manual 15 3 Compatibility to SIMATIC S5 115U 4 J31069 D2037 U001 A3 7618 15 4 IMCOx PLC System Manual Appendix A A List of Abbreviations Abbreviation Meaning ACCUM 1 Accumulator 1 ACCUM 2 Accumulator 2 ASCII American Standard Code for Information Interchange BARB Program check PG function ISTACK BARBEND Request for end PG function ISTACK BEF REG Instruction register ISTACK BF Byte constant fixed point number 128 127 BSTACK Block stack BST STP Block stack pointer ISTACK C Counter 0 127 for bit test and set operations 0 0 127 15 CC 0 Condition code 0 CC 1 Condition code 1 CPU Central processing unit CSF Control system flowchart display mode D Data bit 0 0 255 15 DB Data block 1 255 DB ADR Data block address ISTACk DL Left byte of data word 0 255 DR Right byte of data word 0 255 DW Data word 0 255 F Flag FB Function block 0 255 FW Flag word 0 254 FY Flag byte HLL High level language Input 0 0 127 7 IB Input byte 0 127 IMC Industrial Micro Computers ISTACK STEP 5 interrupt stack IW Input word 0 126 KB Constant 1 byte 0 255 KC Constant counter 0 999 KE1 KE6 Nesting stack entry 1 6 ISTACK 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual A 1 Appendix A KF KH KM KS KT KY LAD MC5 code MC5 MMIO NAU NEUSTA NR OB OP Code
45. 5 3 Compressing Memory When a block of user memory is deleted although it then no longer exists logically it still takes up memory space The Compress memory function releases this space Memory is also compressed automatically every time the CPU is switched on power on reset Note When a compression is triggered by the PG for example this may change the physical address of the data block Keep this in mind when accessing a data block with a pointer from HLL blocks 5 4 Direct Signal State Reporting Status Variables While the controller is in RUN mode this test function reports the state of any specified operand I Q F D T C The information is taken from the process image of the specified operand at the end of a processing cycle However if an operand s signal state changes several times during the course of a processing cycle this fact cannot be registered by testing in this way In STOP mode the operand area digital inputs is not read from the process image but directly from the inputs 5 5 Program dependent Signal State Reporting This test function reports current signal states and RLO result of logic operation of individual operands while program code is being processed In addition it lets you make corrections to the program The controller must be in RUN mode for this test function to operate 4 J31069 D2037 U001 A3 7618 5 2 IMCOx PLC System Manual Testing and Startup Functions 5 6 Proce
46. 6 1 1 Display Modes 6 1 2 Operand Areas 6 2 Program Structure 6 2 1 Linear Programming 6 2 2 Structured Programming 6 3 Blocks and their Attributes 6 3 1 Organization Blocks OB 6 3 1 1 Programming Organization Blocks 4 a wa ow IN RN EN ooo ee L N PEEP LT EYE al om p p alali N IN 5 2 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC 6 3 1 2 Calling Organization Blocks 6 3 2 Program Blocks PB and Sequence Blocks SB 6 3 2 1 Programming PBs and SBs 6 3 2 2 Calling Program and Sequence Blocks PIP NN P N 6 3 3 Function Blocks FB 6 8 6 3 3 1 Programming Function Blocks 6 3 3 2 Calling Function Blocks 6 3 3 3 Parametrization 6 3 4 Data Blocks DB 6 3 4 1 Data Blocks DB 0 and DB 1 6 3 4 2 Generating Data Blocks 6 3 4 3 Calling Data Blocks 6 3 5 HLL Blocks 6 4 Representing Numbers 6 18 7 STEP 5 User Memory 7 1 MC5 memory 7 1 7 2 DB memory 7 1 7 3 Memory Organization 7 2 7 4 Conversion Program CVSTEPV EXE 7 2 8 Programming HLL Blocks 8 1 Block Organization 8 2 Programming 8 1 8 2 1 Programming the Organization Blocks T ro 8 2 2 Programming the Function Blocks 8 2 2 1 Access to Substitution Parameters 8 2 3 Accessing PLC Data Areas 8 2 4 Initialization Function for HLL Blocks 8 3 Linking HLL Blocks 8 3 1 Linking HLL Blocks during RMOS Generation 8 3 2 Stack Size of HLL Blocks T w PITIT aaa 8 3 3 Floating point Arithmet
47. 8 1 Block Organization The following organization and function blocks are available for programming in assembler or a high level language e OB 208 to OB 223 e FB 208 to FB 223 If you are programming FB 208 to FB 223 as HLL blocks you must still enter the proper STEP 5 block headers at the PG to ensure that block calls can be programmed Apart from the block headers STEP 5 should not be used in the blocks OB 208 to OB 223 and FB 208 to FB 223 so as to avoid conflict with HLL blocks FB block headers can be transferred to the PLC If the relevant HLL blocks exist the HLL code is always executed If HLL blocks exist the addresses of STEP 5 function blocks are not entered in the address list 8 2 Programming The blocks must be programmed as C functions and linked with a startup code programmed in assembler The following files are provided for this purpose e Sample file HLLCODE C for contents see below e Startup code in Assembler HSTART ASM for CADUL e Batch file for generation GEN_HLLC BAT for CADUL The HLLCODE C file contains blocks OB 208 OB 209 FB 208 and FB 209 The functions of these HLL blocks are implemented in C code sample applications whose scope is described in the function header FB 208 is used with the IMC05 for PROFIBUS DP diagnosis With the IMC01 it is disabled with Define FB 209 is a blank function For testing purposes the printf function can be used to output character strings on the system console
48. B y x y 0 255 y gt x End index y EEEEh End ID Figure 9 1 Data field for communication flags These entries are made in SWCPLC C as shown below 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual parameter definitions i es ee ee MASKO1 Senet ce Seo eee Sse Se define MASK1 SWITCH a Koppelmerker 0 not used 1 used MB y gt x 0 255 input and or output if used define input and or output define MASK1_INPUT J O not used 1 used define MASK1 OUTPUT 1 aS i aN Sse eee one eS ea eee See eee MASKO1 Link area MB S D pas ea Si ae ee er ee ae res ieee a eS define MASK1 KP _TYP_INPUT 0xce00 Koppelmerker Input define MASK1 KP _TYP_OUTPUT 0xca00 Koppelmerker Output if mask1 plc_mask MASK1 plc_link MASK1_KP_TYP_INPUT 10 20 CONT plc_link MASK1 KP TYP OUTPUT 30 40 FINISH DB 1 Configuration 9 4 Definition of Digital Inputs and Outputs MASKO2 and MASKO3 9 4 1 Definition of Digital Inputs MASKO2 In the first half the operand areas accessed by PB 128 to PB 255 extended peripheral area are assigned to physical inputs In the second half the digital inputs are assigned to physical inputs e IBO to IB 127 via process image or e PB 0 to PB 127 without process image
49. BSTACK 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 7 Testing and Startup Functions Display BSTACK Block type and peace ou BLOCK REL ADDR DB block number PB 4 0010 5 PB 2 000 4 5 OB 1 0006 5 0505 Relative l return address Insignificant codes Number of current data block Figure 5 3 Example of a BSTACK readout The entry shows that a DB 5 was erroneously accessed via OB 1 gt PB 2 gt PB 4 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Testing and Startup Functions 5 9 System Parameter Output The PG function SYSPAR reports the system parameters as shown below Table 5 4 System parameters l No System parameters Content Explanation 1 Baud rate 9600 Baud 2 Input signal states F000 3 Output signal states F080 4 Input process image EFOO 5 Output process image EF80 Absolute start address 6 Flag area EE00O in CPU memory 7 Timer area EC00 8 Counter area EDOO 9 SD area EA00 10 PLC software release 9F03 11 Program memory D800 End address 12 System memory 0000 13 DB list 0200 14 Bytes in SB list 0200 15 PB list 0200 16 FB list 0200 Length in bytes 17 OBlist 0200 18 FX ist 0000 19 DX list 0000 20 Length of DBO 0A00 21 2nd CPU identification EF04 22 Block header length 000A Length in bytes 23 CPU identification PG s
50. Dh ti lt W SC dt CCDaatablock6 CDB C CAB2QDH lt t SC DDC 3Dh x Function block FB x 163Dh gt FB22 75h x Program block PBx 1675h gt PB22 7Dh xX Sequence block SB x 0A7Dh gt SD10 6Dh I x Organization block OB x 0A6Dh gt B10 02h x Time Tx 4802h gt T72 42h x Counter Cx 2742h gt C39 1 PY at PG with S5 DOS The thus determined transfer parameters can then be used to access the appropriate PLC data areas Note If constant values are transferred to an HLL block these values are not substituted in the call For this reason the type of constants must be known to the applicable function since decoding in accordance with this table would produce an incorrect result 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 8 3 Programming HLL Blocks 8 2 3 Accessing PLC Data Areas To enable HLL blocks to access PLC data areas or PLC functions the IMCOx PLC initializes the pointer h1l_if_p which is defined in the file HLLCODE C The associated data types are in the include file HLLTYPES H This pointer gives HLL blocks access to the following PLC data areas and PLC functions PII input process image IBO 127 IW 0 126 PIQ output process image QB 0 127 QW 0 126 Flag 0 255 FW 0 254 Timers T 0 127 Counter C 0 127 shared memory ai file PLC H
51. Figure 6 2 Nesting depth 6 3 Blocks and their Attributes The table below sets out the most important information you will need about blocks Table 6 2 Block types OB PB SB FB DB Number 255 256 256 256 254 OB 1 255 PB 0 255 SB 0 255 FBO 255 DB 2 255 Length max 8 Kbytes 8 Kbytes 8 Kbytes 8 K 8 bytes 2 Kwords Operation set Basic Basic Basic Basic Bit patterns content operations operations operations operations numbers texts Extended operations System operations STL CSF LAD STL Display modes STL CSF LAD STL CSF LAD Block header length 5 words 5 words 5 words 5 words Block calls JU JC JU JC JU JC JU JC Q 1 OBs in particular are called by the IMCOx PLC itself see Table 6 3 2 Data blocks DB 0 and DB 1 are reserved 3 STEP 5 commands only access the data words DW 0 to DW 255 4 Blocks OB 208 to OB 223 and FB 208 to FB 223 may also be programmed in high level languages The maximum length for each block is 4096 words 8 Kbytes A block consists of a header and a body The block header is 5 words long and contains information on the block type number and length The PG creates this header when the block is programmed Depending on the type of block the block body will contain STEP 5 program code or user data Function blocks have not only a header but also additional information for passing parameters 4 J31069 D2037 U001 A3 7618 IMCOx PLC System
52. HL EOVH z AF SD7 EAOE ASPNEP ASPNRA E ASPNEEP a not used Absolute System address data word Interrupt stack Depth 01 EBYA SD205 BEF REG 0000 SAZ E30A DB ADR 0000 EBAO SD208 BST STP EBO7 OB Nr 1 DB Nr REL SAZ 0000 EB96 SD203 A M 1 FFF1 ACCUM 2 OOFF EB98 SD204 ccu EBA2 SD209 l l EBAG S0212 Brackets KE1 000 KE2 000 KE3 000 KE4 000 KE5 000 KE6 000 EBAA SD213 A of cc1 cco ovFL CARRY OR STATUS RLO ERAB EBAC SD214 STOPS SUF TRAF NNN STS STUE FEST Cause of fault EBA9 UAW NAU QVZ ZYK PEU BAU ASPFA Figure 5 1 ISTACK output 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Testing and Startup Functions 5 7 3 Mnemonics of ISTACK Entries Table 5 2 Mnemonics of control bits Abbreviation Meaning SD System data from address EAOOh BSTSCH Block move requested SCHTAE Block move active function KOMP AG ADRBAU Address list creation CA DA Communication output flags address list available CE DA Communication input flags address list available REMAN 0 no retentivity 1 retentivity active STOZUS STOP state external request STOANZ STOP display internal request BATPUF Battery buffering ok always 1 BARB Process monitoring BARBEND Process monitoring end request AF Alarm enabled ASPNEP User memory is EPROM ASPNRA User memory is SRAM buffered
53. IME DISABLE CLEAR DIG OUTPUT DISABLE PG COMMUNICATION 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 9 13 DB 1 Configuration 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC Configuration 10 IMCOx PLC Configuration The IMCOx PLC is configured by means of parameters which are transferred with the nested start calls x_plc_initandx_ plc start 10 1 IMCOx PLC Memory Areas Configuring memory areas is one of the most important aspects of the IMCOx PLC configuration In the simplest case all memory areas are taken from the HEAP However if the MC5 code is in EPROM or if SRAM is used to store retentive data memory area addresses must be supplied The five different memory areas are explained below There are five different memory areas MC5 memory Memory area for PLC program MC5 code 0 32 Kbytes The following memory types are supported Memory type MC5 code Reloadable blocks EPROM Must be converted with option e Blocks are reloaded to the DB see chapter 7 4 is fixed in memory and are retentive there if EPROM the DB memory is retentive SRAM Is loaded from the PG Also reload to SRAM not available Is loaded from the PG into Also reload to DB memory DB memory DB memory Memory area for retentive data data blocks and for reloadable program blocks 4 32 Kbytes The following memory types are supported e SRAM e Dynamically
54. J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 9 1 DB 1 Configuration 9 2 Default Values If no DB 1 is available or the relevant data field has not been programmed the following default values are used Section Default Setting MASKO1 Communication flags not defined MASK02 MASK03 Input output bytes will not be read written MASK04 Retentive flags not defined MASK05 No initialization values defined MASKO6 e Scan time calculation disabled see chapter 3 5 1 2 e No initial reset of outputs The information which is passed to the IMCOx PLC by loading the DB 1 can be passed directly on program start by SWCPLC C DB 1 can still be loaded subsequently This has the effect of making DB 1 values the default values when the IMCOx PLC is started If DB 1 does not contain individual data fields the settings from default DB 1 are always used for the SWCPLC C 4 J31069 D2037 U001 A3 7618 9 2 IMCOx PLC System Manual DB 1 Configuration 9 3 Definition of Communication Flags MASK01 The data field for defining of communication flags is structured as follows M A SK OT CE00h Start index x End index y CAOOh Start index x Header for the definition of communication flags ID for communication input flags Area definition from FB x to FB y x y 0 255 y gt x ID for communication output flags Area definition from FB x to F
55. OV PB PG PII PIQ PLC PLC cycle PW PY or PB Q QB QB QVZ QW QW REL SAC RLO SAC SB SD STL Constant fixed point number 32768 32767 Constant hexadecimal 0 FFFF Constant arbitrary 16 bit pattern Constant 2 arbitrary alphanumeric characters Constant time value 0 0 999 3 Constant 2 bytes 0 255 per byte Ladder display mode S5 machine code control code S5 machine code Memory Mapped Input Output Power failure ISTACK Restart ISTACK Block number OB PB SB FB DB ISTACK Organization block 1 255 Operation code Overflow set for example after number range overrun in arithmetic operations Program block 0 255 Programmer Process image of inputs Process image of outputs Programmable Logic Controller PLC operating mode read in process read out Peripheral word 0 254 Peripheral byte PG dependent name 0 255 Output 0 0 127 7 Output byte 0 127 Peripheral byte in the Q area 0 255 Acknowledgment delay Output word 0 126 Peripheral word in the Q area 0 254 Relative STEP 5 address counter Result of logic operation STEP 5 address counter Sequence block 0 255 System data area for load and transfer operations 0 255 for bit test and set operations 0 0 255 15 Statement list display mode 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Appendix A STOANZ STOZUS STUEB SUF SVC
56. O_MODE and NO_IO plc_hw in_addr 07 not used if NO_IO plc_hw out_mode 0x4000 MMIO_MODE and NO_IO plc_hw out_addr 407 not used if NO_IO plc_hw mask_reg 07 io address maskregister not used plc_hw int_mask 0 int mask for alarm obs not used gt has to be 0 plc_hw pic_base 0 pic base for alarm ints not used plc_hw pit_vector 0 reserved plc_hw mmio addr 0 reserved plc_hw mmio_mode SaO reserved plc_hw mem161_io 0 reserved plc_hw db1_len DB1 LEN see definition above plc_hw db1_p amp plc_db1 0 local dbl struc with parameters see below The sections MASKO1 to MASKO6 and the parameters they contain are entered in the same way as in data block DB 1 see chapter 9 4 J31069 D2037 U001 A3 7618 10 8 IMCOx PLC System Manual IMCOx PLC Configuration With IMC01 ple_sw_data plc_sw priority_1 241 pri of cycle task pri 1 of com task plc_sw priority 2 243 pri of alarm task and time task plc_sw idle time 10 pause of cycle task in ms plc_sw flag_id 0 eventflag group plc_sw memory mode 0x0322 memory mode hese a mc5_ memory mode NULL _TYPE MAP TYPE l4 db memory mode NULL _TYPE MAP TYPE fa secaaa hl1l_memory_mode NULL_TYPE PTR_TYPE He seeas Ss reserved 0 NULL_TYPE 2 MAP TYPE
57. RROR DPN_RECEIVE_ERROR DPN_REFERENCE_DIFF_ERROR DPN_SEND_ERROR DPN_USER_DATA_ERROR DPN_WD_EXPIRED_ERROR 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 13 5 PROFIBUS DP Link Only with IMC05 4 J31069 D2037 U001 A3 7618 13 6 IMCOx PLC System Manual RMOS and PLC Configuration 14 RMOS and PLC Configuration The distribution package contains the standard RMOS configuration files for generating the IMCOx PLC The IMCOx PLC makes no special demands on the RMOS configuration All the required system resources except the AS511 driver for communication with the PG are dynamically requested during the IMCOx PLC start The IMCOx PLC parameters are passed with the IMCOx PLC start call independent of the RMOS configuration The IMCOx PLC memory areas are either requested dynamically from the HEAP as required or they are allocated directly via physical addresses The IMCOx PLC returns an error status if there is not enough free memory in the HEAP RMOS clock time must be set to either 1 2 5 or 10 msec so that the IMCOx PLC s 10 msec clock time can be derived from it If you are adapting an existing RMOS configuration to include the IMCOx PLC you should pay special attention to the following e Start callx_plc_start x_plc_init in the initialization task e AS511 driver for PG communication e Adequate HEAP size for dynamically requested memory areas e RMOS clock time 1 2 5 or 10 msec e RMOS SVCs e File manageme
58. S DP Link Only with IMC05 DPN_LENGTH_ ERROR 0x84 Structure element length of the structure dpn_interface is outside the permissible value range The data length does not match the configured values DPN_MODE_ERROR 0x87 The function call cannot be processed in the current operating mode or a state was skipped while changing the operating mode DPN_NO_DBASE_ERROR 0x88 No entries or incorrect entries in the DP data base DPN_REFERENCE_ERROR 0x8B The structure element reference of the structure dpn_interface is invalid DPN_SLV_STATE_ERROR 0x8E The structure element slv_state of the structure dpn_interface is invalid DPN_STAT_NR_ERROR 0x8F The structure element stat_nr of the structure dpn_interface is invalid e g DP slave not configured in the DP data base DPN_WRONG_BOARD_ERROR 0x91 The structure element reference board of the structure dpn_interface is invalid DPN_SYS_STATE_ERROR 0x92 The structure element sys_state of the structure dpn_interface is invalid DPN_GLB_CTRL_ERROR Invalid value range for control command for call of the dpn_global_crt1 function DPN_BOARD_ERROR Hardware error The following constants have only been defined to ensure source code compatibility with the DP programming interface of the CP5412 A2 product These error identifiers do not occur with the DP driver DPN_CENTRAL_ERROR DPN_CLOSE_ERROR DPN_MEM_BOARD_ERROR DPN_MEM_HOST_ERROR DPN_OPEN_E
59. SIEMENS Technical Description Order Number 6AR1943 3AD00 2BA0 December 1999 IMCOx PLC Version 2 0 Order Number 6AR1403 3AD00 2AA0 System Manual SICOMP Industrial Microcomputers 4 J31069 D2037 U001 A3 7618 IMCOx PLC Product History of the Technical Description Revision Record of changes Date AO First edition 07 97 Al Technical Corrections oes A2 V2 0 with PROFIBUS DP Connection 05 99 A3 Addition of IMC01 information designation changed to IMCOx PLC 12 99 1 Corresponds to the 4th block of digits of the drawing number in the footer Notes SICOMP6 is a registered trademark of Siemens AG IBM AT and IBM PC are registered trademarks of the International Business Machines Corp INTEL is a registered trademark of the INTEL Corp MS DOS Windows and Windows NT are registered trademarks of Microsoft All other designations used in this documentation may be trademarks whose use by third parties for their own purposes may violate the rights of the owner Passing on and reproduction of this document as well as utilization and communication of its contents is prohibited unless expressly authorized Offenders will be liable for damages All rights reserved particularly in the event a patent is granted or a utility model is registered No responsibility is assumed for circuits descriptions and tables contained in this document concerning freedom from rights of third parties In
60. SYSIMC5 PLCIMC5 e GENSYSC5 BAT Generates a system without DP connection e GENDP BAT Generates a system with PROFIBUS DP connection For IMC01 in directory SYSIMC1 PLCIMC1 e GENSYSC1 BAT Generates a system These batch files are called as follows without parameters They generate the RM3_PC15 SYS system file in the same directory The system file is transferred to the IMCO5 or IMCO1 with batch file FLASHPLC BAT or FLASHDP BAT only IMC05 or with the IMC05 IMC01 service programs The batch file FLASHPLC BAT is called without parameters FLASHDP BAT can be called with the following parameters Parameter Transferred Components ALL All components RMOS3 any existing HLL blocks user program MC5 program and DP data base If no parameter is specified this setting is used MC5 Only MC5 program DB Only DP data base 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 14 8 RMOS and PLC Configuration 4 J31069 D2037 U001 A3 7618 14 4 IMCOx PLC System Manual Compatibility to SIMATIC S5 115U 15 Compatibility to SIMATIC S5 115U This is an overview of the functions which differ from the SIMATIC S5 115U controller 15 1 Commands The following commands are implemented in the IMCOx PLC additionally e xF multiplication e F division The following commands are not or not fully S5 compatible e The command BI process block parameters indirectly is not implemented An actual operand is interprete
61. System data Absolute Meaning word address SD 104 EADO Error status word SD 105 EAD2 Number of data word in which the error occurred SD 106 EAD4 Number of data block in which the error occurred always 0 SD 107 EAD6 Number of program block in which the error occurred SD 108 EAD8 Number of sequence block in which the error occurred SD 109 EADA Number of function block in which the error occurred SD 110 EADC Number of organization block in which the error occurred SD 111 EADE Illegal MC5 instruction code 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Operating Modes Table 3 5 System data words for PROFIBUS DP diagnostics only with IMC05 System data Absolute Meaning word address SD 124 EAF8 Error code return value of the call don_out_slv_mordpn_in_slv_m SD 125 EAFA Number of the faulty station SD 126 EAFC Slave status of the faulty station s1v_state see Technical Description IMCO5 DP 4 J31069 D2037 U001 A3 7618 3 18 IMCOx PLC System Manual I O Addressing 4 I O Addressing Generally inputs and outputs are addressed via the input process image PII and the output process image PIQ In addition it is possible to access inputs outputs directly via peripheral accesses without taking the route via the process image The extended peripheral area forms an additional address area for inputs outputs which is independent of the process image The following I O operand
62. T TRAF ZYK Stop display ISTACK Stop display ISTACK Stack overflow runtime error Substitution error runtime error Supervisor call RMOS system call Timer 0 127 for bit test and set operations 0 0 127 15 Transfer error runtime error Scan time overrun ISTACK 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual A 3 Appendix A 4 J31069 D2037 U001 A3 7618 A 4 IMCOx PLC System Manual Appendix B B Software Notations In this documentation the following notational conventions are used Commands Commands are used to control the program execution in interactive or batch mode In this text commands are printed in Courier font A command consists of at least one element Elements are constants or variables They are composed of letters digits and special characters e g UPPER CASE Constant Upper case elements are constants They must be entered as shown but upper or lower case letters can be used 1847 Constants Numbers are always constants X Variables Lower case elements are variables which must be replaced by actual values EIIN ee a e Special characters Special characters and blanks are used as delimiters to separate one element from the next and must be entered Meta characters specify the use of elements characters within commands Meta characters are not entered Representation Function Explanation lt
63. The following data is exchanged via shared memory e controller operating mode e process image PA i e controller input PII and output state PIQ e counters and timers e communication flags to synchronize the controller with other tasks under RMOS See chapter 12 for details of shared memory structure configuration and programming 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 2 5 IMCOx PLC Overview 2 6 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Operating Modes 3 Operating Modes The PLC has two operating modes RUN and STOP e In RUN mode the process input image is read cyclically the user program is executed and the process output image is written e In STOP mode control is stopped and all outputs set to zero The transition from STOP to RUN is a restart After power on a restart is executed so that the necessary initialization functions are performed Power On Reset gt Restart PLC function PC STOP RUN STOP event flag Compiler error PROFIBUS DP error PG function PC START RUN STOP event flag STOP mode STOP transition lt gt RUN transition RUN mode Figure 3 1 PLC modes and operating mode transition 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual PG function PC STOP RUN STOP event flag Runtime error PROFIBUS DP error 3 1 Operating Modes
64. a base As already mentioned above the prerequisite for transition to the RUN state is that all configured stations are actually present i e no error has occurred for dpn_in_slv_m or dpn_out_slv_m If a DP slave has the setting QVZ J in the DP data base a switch to RUN status is not made when one of the above described errors occurs If all DP slaves have the setting QVZ N a switch to RUN status is made An error during DP communication while the IMCOx PLC is in RUN status is indicated by a value other than 0 in system data word SD 124 With the setting QVZ J the IMCOx PLC goes into STOP status when an error occurs With the setting QVZ N system data word SD 124 should be evaluated by the user program so that an error can be determined Note These data words are only deleted when an operating mode change from STOP to RUN occurs 4 J31069 D2037 U001 A3 7618 13 2 IMCOx PLC System Manual PROFIBUS DP Link Only with IMC05 13 2 2 Diagnosis While Reading Writing I O Bytes The same error evaluation is used for reading writing the I O bytes as for reading writing the process image Depending on the QVZ setting a switch to STOP status is made when an error occurs 13 2 3 HLL Block for the Diagnostic Function By calling an HLL block FB 208 included with the IMCOx PLC diagnostic data can be obtained with the controller program STEP 5 program By calling HLL block FB 208 the station diagnosis can be
65. a block call and also after a BE command the result of logic operation RLO cannot be combined further because both these commands are RLO limiting commands e Unconditional call JU xx The specified block is processed independent of the result of the previous logic operation e Conditional call JC xx Whether the specified block is processed or not depends on the result of the previous logic operation If RLO 1 the jump command is executed if RLO 0 it is not In both cases the jump command causes RLO to be set to 1 This dependence on RLO and change of RLO also applies to the conditional block end command BEC 6 3 3 Function Blocks FB Function blocks are used to program control functions which either recur frequently or are complex Function blocks have some special characteristics which distinguish them from organization program and sequence blocks e Function blocks can be parametrized i e the block call can include parameters e Function blocks can execute extended operations and system operations e Function blocks may be written and documented only as STL statement list with the exception of certain FBs which may be written in HLL 4 J31069 D2037 U001 A3 7618 6 8 IMCOx PLC System Manual Introduction to Programming The controller has the following function blocks available e FBO to FB 207 for programming in STEP 5 e FB 208 to FB 223 for programming in assembler or high level languages see chapter 8
66. al settings and the significance of individual bits of the configuration data word M A Header for configuration data word SK 0 6 Configuration DW Bit pattern see below EEEEh End ID Figure 9 6 Data field for the configuration data word Structure of the configuration data word Bit 15 z 2 1 0 Meaning Scan time calculation 0 disabled 1 enabled Initial deletion of outputs 0 disabled 1 enabled Reserved Note The function Initial delete initializes all output boards to zero corresponding to the configuration in MASKO3 after restart 4 J31069 D2037 U001 A3 7618 9 12 IMCOx PLC System Manual DB 1 Configuration These entries are made in SWCPLC C as shown below j gt S2ee252 25255255252 MASKO6 See SAAd a Se ee See ae define MASK6 SWITCH command settings 0 not used 1 used SE be See e bose sess eee Sette Seles eee Ss eee ee eee SS MASKO06 CONFIGURATION DATA WORD cycle flag enable IO init PG communication Seeeecc ese asset aves eee ease esse ese eee eee Ss define ENABLE COUNT _CYCLE TIME Ox0001 define ENABLE CLEAR DIG OUTPUT 0x0002 define ENABLE PG COMMUNICATION 0x0030 define DISABLE COUNT CYCLE TIME 0x0000 define DISABLE CLEAR DIG OUTPUT 0x0000 define DISABLE PG COMMUNICATION 0x0000 if mask 6 plc_par_mask MASK6 plc_par_cdw DISABLE _COUNT_CYCLE_T
67. al timer routine cannot be processed within a 10 msec time interval i e the timer routine is started again before it has finished processing The clock error report is initiated by an internal monitoring function when the system load e g from interrupts is too heavy 4 J31069 D2037 U001 A3 7618 3 16 IMCOx PLC System Manual Operating Modes 3 8 3 The error status word SD 104 address EADO is used to report IMCOx PLC specific errors Error Status Word Information on the cause of the error is entered in the system data words SD 105 to SD 111 These system data words can be read out with the PG function Output addresses 15 11 10 9 8 7 6 5 4 3 2 1 0 PB not available SB not available FB not available OB not available DB 1 error Timer error Clock error Error on writing retentivity file LIR TIR TNB error illegal address area Access outside DB TRAF Substitution error Scan time exceeded Memory overflow in runtime area Block stack overflow nesting depth gt 32 STOP command encountered illegal command sequence MC5 compilation error illegal opcode Figure 3 7 Error status word SD 104 address EADO Additional information about errors Table 3 4 System data words for error localization
68. all syntax extern unsigned int FIXED FAR x plc init char inifile The inifile parameter is not evaluated 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 10 7 IMCOx PLC Configuration 10 3 1 Parametrization in the Configuration File SWCPLC C With IMC05 plce_sw_data plc_sw priority 1 241 pri of cycle task pri 1 of com task plc_sw priority 2 243 pri of alarm task and time task plc_sw idle time 10 pause of cycle task in ms plc_sw flag_id 0 eventflag group plc_sw memory_mode 0x0322 memory_mode LE Lbs mc5_ memory mode NULL_TYPE MAP TYPE pressas db memory mode NULL _TYPE MAP TYPE 4 hll_ memory mode NULL TYPE PTR_TYPE reserved 0 NULL_TYPE 2 MAP_TYPE 3 PTR_TYPE plc_sw mc5_size 0xC000 length of mc5 code 48 KByte plc_sw db size 0x8000 length of remanent data 32 KByte plc_sw mc5_memory addr 0x5e0000 lin address of mc5 flash memory gt use address offset gt 0x400000 with flash loader plc_sw db memory addr 0x0f8000 lin address of remanent memory plc_sw hll_memory ptr amp hll_block_table phys address of hll table plc_sw shared_memory 0x0000 reserved plc_hw_data Note direct IO not available plc_hw in_mode 0x4000 MMI
69. ameter memory mode with symbolic names This requires that the PLC_NPX flag be set for floating point support in HLL blocks e g PT NULI MAP plc_sw memory mode NULI L TYPE lt lt 12 R TYPE PLC_NPX lt lt 8 L TYPE lt lt 4 TYPE bi Type Type Type m Type of of of of shared_memory hll_ memory db_memory mc5_ memory If memory _ mode 0x0000 required memory is assigned for MC5 code and data from the heap administered for RMOS If memory_mode 0x0000 and mc5_size 0 and transfer of blocks via the PG interface these are stored in DB memory i e db size must be initialized with sufficient space Length of memory area for MC5 code 0 OxFFFF 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC Configuration db_size MC5 memory DB memory HLL memory Shared memory Length of retentive memory areas retentive flags timers counters and data blocks 0x0400 OxFFFF Remember that the first 512 bytes of DB memory are reserved for retentive flags counters and timers The first DB is located in retentive memory starting at base address db_ memory 552 bytes The meaning of this parameter depends on the value of memory mode memory _mode Meaning xxxOh No additional memory area for MC5 code is available i e all blocks are loaded into DB memory xxx2h mc5_memory is the linear address of
70. ata It discusses the different data fields masks which make up DB 1 and gives an example of a typical DB 1 Chapter 10 covers IMCOx PLC configuration memory areas used from IMCOx PLC and the different IMCOx PLC start calls It also deals with the I O interfaces and explains how the IMCOx PLC handles them Chapter 11 covers the IMCOx PLC operator and display elements The function of an event flag and its use in manipulating the IMCOx PLC is explained Chapter 12 is about the shared memory It covers structure uses and memory access Chapter 13 summarizes all details of the PROFIBUS DP interface In chapter 14 you will find a discussion of aspects of the RMOS configuration which affect the configuration installation and operation of the IMCOx PLC An important part deals with the driver responsible for serial communication between the IMCOx PLC and the programming equipment Chapter 15 summarizes the differences between the IMCOx PLC and a SIMATIC S5 115U 4 J31069 D2037 U001 A3 7618 1 2 IMCOx PLC System Manual IMCOx PLC Overview 2 IMCOx PLC Overview You can use the IMCOx PLC to set up a programmable controller with the SICOMP IMCO05 and the SICOMP IMC01 This manual concentrates on the programming language STEP 5 on IMCOx PLC operation and on test and startup functions using the programmer In addition the manual describes IMCOx PLC configuration in an RMOS environment and describes the interfaces to another RMOS task or to
71. ch is defined in PLC H in this case no file operation functions are linked Return values See chapter 10 4 10 2 1 Structure Definition for Software Parameters typedef struct WORD16 priority_1 WORD16 priority 2 WORD16 idle time WORD16 flag id WORD16 memory mode WORD32 mc5 size WORD32 db size union BYTE ptr WORD32 addr mc5_memory union 4 J31069 D2037 U001 A3 7618 10 2 IMCOx PLC System Manual IMCOx PLC Configuration BYTE ptr WORD32 addr db_memory union BYTE ptr WORD32 addr hll_memory WORD32 shared_memory SW_DATA Meaning of the structure elements priority 1 priority 2 idle time flag_id Priority of the PLC cycle task 3 245 The overall reset task priority is priority 1 1 and the communication task priority is priority 1 1 Priority of PLC timer tasks 5 247 These tasks must be specified a priority as high as possible higher than priority_1 but smaller than 248 For details on priority assignment see chapter 14 1 Pause length for the PLC task in msec processing time for other tasks with lower priority 0 255 After the idle_time has elapsed the PLC task again becomes active but the task switch takes place only at the next RMOS timer interrupt The precise length of idle_time in practice thus also depends on the RMOS system clock The PLC cycle is extended by the effective idle time idle_time is thus included in the sca
72. d as MC5 code in a BI command e For the commands LIR TIR TNB data transfer with indirect addressing the address area is restricted and an access to the peripheral boards is not possible e The commands LDI TDI access to the second memory bank MC5 memory is not implemented e The processing operations DO FW DO DW may not be immediately followed by any of the following operations TNB JU JC JZ JN JP JO e SU command set bit With the SIMATIC S5 115U the timer can be started by SU T7 15 With the IMCOx PLC although this command will cause the relevant bit to be set it will not start the timer e Jumps into sequences of logical instructions are not permitted 15 2 Execution Times Execution times for the different commands are specified in the operation list see Reference Manual 15 3 Program Memory Under the IMCOx PLC the following memory areas are available for user programs e 4Kbytes to 32 Kbytes for data blocks DB memory e 0 Kbytes to 48 Kbytes for program blocks MC5 memory 15 4 Data Blocks DB 0 DB 1 The data block DB 0 address list is not supported by the IMCOx PLC The data block DB 1 is reserved for initialization functions and has a special format compared with SIMATIC S5 115U see chapter 9 15 5 Special Organization Blocks An operating mode transition from RUN to STOP executes STOP OB OB 28 if this has been programmed 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manua
73. d by the IA command no time interrupt error occurs To keep impact on the cyclic program execution as low as possible execution time for timer driven processing level should be kept small The flowchart below shows all these relationships 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 3 9 Operating Modes START no Previous call completed Timer error handling yes Timer OB processing yes disabled by IA Wait for RA no Restart time interval Call timer OB Wait for time interval to elapse Figure 3 6 Calling a program at the timer driven processing level 4 J31069 D2037 U001 A3 7618 3 10 IMCOx PLC System Manual Operating Modes 3 6 Retentivity Retentive data like flags counters timers and data blocks are stored in DB memory The size of this memory is set during configuration see chapter 10 For DB memory SRAM must be configured Otherwise retentive data storage is not possible Since data blocks are generally stored in retentive memory they are always retentive Flags timers and counters are saved to retentive memory only on a transition to STOP mode or if there is a power failure Note The retentivity of the data blocks depends only on the type of memory configured On the other hand the retentivity of the operand areas flags timers and counters must also be specially set in
74. d in LAD power supply diagrams Programs in CSF and LAD representation can be written only on a programmer with an integrated monitor e g a PG 750 or PC AT with the necessary software 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 1 Introduction to Programming The diagram below shows the same logical AND operation to solve a very simple automation problem in the three display modes STL CSF and LAD e asignal lamp must light up when the make contact S1 is activated and the break contact S2 is not activated e for the controller in the example the make contact S1 is tested via input 11 1 and the break contact S2 is tested via the input 11 2 The signal lamp is controlled via output Q2 0 11 4 11 2 Figure 6 1 Display modes You can chose the best display mode for the control task you are programming It is also possible to write separate program blocks in different representation i e you do not have to write the whole program in a single mode Each mode has advantages and disadvantages STL is the most versatile display mode but a block programmed in STL cannot always be simply translated into CSF or LAD On the other hand blocks programmed in LAD or CSF are easily changed into STL In STEP 5 there are three types of operations e basic operations e extended operations e system operations 4 J31069 D2037 U001 A3 7618 6 2 IMCOx PLC System Manual Introduction to Programming
75. d may be assigned functions in future program versions They should not be used for user control programs 6 3 1 1 Programming Organization Blocks Organization blocks can be programmed in STL CSF or LAD They are programmed in the same way as program blocks The organization blocks OB 208 to OB 223 can also be programmed in high level language see chapter 8 Every organization block including OB 1 must end with the operation BE 6 3 1 2 Calling Organization Blocks Organization blocks can be called like program blocks from any other block Conditional and unconditional calls are possible Note that certain OBs are initialized with particular functions 4 J31069 D2037 U001 A3 7618 6 6 IMCOx PLC System Manual Introduction to Programming 6 3 2 Program Blocks PB and Sequence Blocks SB Program blocks are the separate modules of a PLC program These blocks are called by commands in OBs or FBs Parameter passing is not possible with PBs Data can only be transferred to a PB via a data block Sequence blocks are a special type of program block which contain sequencer program code They are treated like program blocks 6 3 2 1 Programming PBs and SBs The following description also applies to programming OBs PBs SBs and OBs are all programmed in the same way Under STEP 5 they can be programmed in STL LAD and CSF representation You start writing a program by entering a block number on the PG e Program blocks 0 to 255 e S
76. d number of diagnostic bytes in FW 12 Name PLCL2DP JU FB 208 STNR FW 10 Station number in flag word 10 DIAG FB 20 Diagnostic data in FY 20 to FY 51 STS FW 52 Status of diagnostic block in FW 52 54 Number of valid diag bytes in FW 56 L FW 52 Load return status L KH 0000 AKKU1 0 gt lt F Unequal JZ M2 Error Wrong station address L FW 54 Load slv_state L KH 003 AKKU1 data and diagnostic data valid F Equal JZ M33 Diagnostic data available 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 13 3 PROFIBUS DP Link Only with IMC05 L KH 005 AKKU1 only diagnostic data valid gt lt F Unequal JZ M3 No diagnostic data available M33 Diagnostic data available L FW 20 Load diagnostic data M3 No diagnostic data available M2 Wrong station address M1 No error for SINEC DP connection FB 208 is contained in the included example HLLCODE C for the HLL blocks The diagnostic data of a station are requested by the HLL block with dpn_slv_diag On the PG the Status Variable and Force Outputs functions can be used to access the decentral input output stations If an error occurs during these accesses the error information is stored in the system data starting at SD 124 starting at EAF8 where they can be read with the PG 13 3 DP Configuration for IMCOx PLC 13 3 1 Allocation of the Digital Inputs Outputs DB 1 Configuration Allocation of the decentral inputs outputs to the logical I O o
77. data block is called A data block DB is called from an OB PB SB or FB with the command C DB Warning Before a data word load transfer can be executed a data block must have been opened The data word being addressed by the command must be in the opened data block If these conditions are not met a transfer error is reported see chapter 3 8 1 Example Transfer the contents of data word 1 from data block DB 10 to data word 1 of data block DB 20 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 15 Introduction to Programming DB 10 C DB10 DW 0 L DW1 C DB20 DW T DW1 DW 255 DB 20 DW 0 DW 1 DW 255 Figure 6 8 Addressing a data block PB7 PB 20 C DB10 C DB10 C DB11 JU PB20 BE VA Valid range of DB 10 XJ Valid range of DB 11 Figure 6 9 Valid range of a called data block A command in a program block has addressed a data block A subsequent command in the program block causes a jump to another program block and from this second program block a second data block is addressed The second data block is valid only for the second program block As soon as this second PB is exited with a jump back to the first PB then the first data block is valid again 4 J31069 D2037 U001 A3 7618 6 16 IMCOx PLC System Manual Introduction to Programming Example In program block PB 7 a com
78. dynamically requested by the IMCOx PLC Another task can access this memory by using the global pointer x plc _shared_mem_p 12 2 Structure and Contents The following table shows the contents of the shared memory The addresses are relative to the base address Address offset Meaning 3FFH Acknowledgement byte 3FEH Status byte 3FAH 3FCH Reserved 3F8H 3F9H Current scan time in msec 3F6H 37H Version number 280H 3F5H Reserved 180H 27FH 256 bytes communication flags defined as input flags or output flags 140H 17FH 32 counter words 64 bytes 100H 18FH 32 timer words 64 bytes 80H OFFH 128 bytes process image of outputs PIQ OOH 7FH 128 bytes process image of inputs PII The structure of the shared memory is defined in the header file PLC H Note that some time can elapse between system power up after a reset and the IMCOx PLC start during this time the contents of shared memory are undefined After the IMCOx PLC start the shared memory is first deleted and then written to for the first time towards the end of the first PLC cycle shared memory entries are valid only as long as the status byte contains the identification 01 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 12 1 Working with Shared Memory The shared memory entries are as follows Status byte Acknowledgement byte Current scan time Version number 12 2 Th
79. e MASKO2 INPUT Bytes PB EB SSee are esther ee eee See alee define DIG _ INPUT _01 08 0 define DIG INPUT 09 16 8 define DIG_INPUT_17_24 16 define DIG_INPUT_25 32 24 define DIG_INPUT_33_40 32 define DIG_INPUT_41_ 48 40 define DIG_INPUT_49 56 48 define DIG_INPUT_57_ 64 56 if mask2 plc_par_mask MASK2 plc_par_peab_count MASK2_PB ANZ nr of PB if mask2_pb plc_par_peab DIG INPUT _01_ 08 CONT PB128 plc_par_peab DIG_INPUT_09 16 CONT PB129 plc_par_peab_count MASK2_EB ANZ nr of EB if mask2_eb plc_par_peab DIG INPUT _01_ 08 CONT EBO plc_par_peab DIG_INPUT_09 16 CONT EBL plc_par_peab DIG_INPUT_17_24 CONT EB2 plc_par_peab DIG_INPUT_25 32 CONT EB3 plc_par_peab DIG_ INPUT _33 40 CONT EB4 plc_par_peab DIG_INPUT_41_ 48 CONT EB5 plc_par_peab DIG_ INPUT 49 56 CONT EB6 plc_par_peab DIG_INPUT_57_ 64 FINISH EB7 end if mask_len gt 0 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 9 5 DB 1 Configuration With IMCO1 See Se oe ee Soe MASKO2 JAANE ARRERA See a define MASK2 SWITCH 1 Input bytes 0 not used 1 used define MASK2 PB ANZ 0 Number of peripheral bytes for input in extended peripheral area PBO PB127 define MASK2 EB ANZ 8 Number of digital input bytes EBO EB127 SARA SG ee ee eee ee Eye ie tee oe
80. e FB 224 to FB 255 are reserved for future use as integrated function blocks FB 208 to FB 255 can be programmed in STEP 5 if necessary However this option should not be used so as to avoid conflicts with HLL blocks or integrated function blocks In addition to the block header common to all blocks function blocks contain other organizational information Memory requirements for the block header plus the additional information are as follows e Block header as for other block types 5 words e Block name 5 words e Block parameters if assigned 3 words per parameter 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 9 Introduction to Programming 6 3 3 1 Programming Function Blocks In contrast to other blocks a function block can contain additional information such as Library number The block can be given a number between 0 and 65535 This number is completely independent of symbolic or absolute FB parameters A library number should be a unique number which identifies a particular function block unambiguously Standard function blocks already have their own product number Name A function block can be identified by a name up to eight characters long To assign parameters you must supply the following block parameter data Block parameter name formal operands Each block parameter is given a name DECL which is used as the formal operand in a function block call and is replaced by an actual operand during
81. e status byte shows the operating state of the controller and the IMCOx PLC Possible entries and their meaning are set out in the table below Status byte Meaning 00 State immediately after reset the data in shared memory are deleted 01 The controller is in the PLC cycle the data in shared memory are valid 02 The controller is in STOP mode The data in shared memory originate from the last PLC cycle and are not updated anymore The contents of the acknowledgement byte regulate access rights to shared memory and to the communication area in particular for the IMCOx PLC and for the task which is communicating with it This avoids conflicts in shared memory accessing and the data inconsistencies which would result For details of the access mechanism see chapter 12 3 Acknowledge Meaning ment byte 00 Access to shared memory is permitted only for the task communication with the IMCOx PLC This code is entered by the IMCOx PLC after reading writing the IMCOx PLC data enabling access to shared memory for the task The IMCOx PLC thereafter does not access shared memory again until an acknowledgement 01 is entered by another task Immediately after reset the data in shared memory are deleted 01 Access to shared memory is permitted only for the IMCOx PLC This code is entered by a task after reading the data in shared memory or after writing the input communication flag The IMCOx PLC accesses sha
82. ec One of the parameters priority _1 or priority_2 inthe x plc_start call or in the file SWCPLC C is illegal E PLC_STL_READ Ox0E E PLC_STL_FORMAT Ox0F Error while loading an HLL block configuration error Error while loading an HLL block configuration error E PLC_MC5 SIZE 0x10 The value entered for the parameter mc5_size is too large maximum OFFFFH E PLC_DB SIZE 0x11 The value entered for the parameter db_size is too large maximum OFFFFH E PLC_FILE_SIZE 0x12 Error while reading the MC5 code file The file length is larger than the available memory area parameter mc5_ size E PLC_DB_CPY 0x13 Insufficient memory area for copying data blocks from MC5 memory to DB memory E PLC_MC5 OPEN 0x14 Error while opening the MC5 code file The specified drive cannot be mounted or a subdirectory does not exist The error message is not issued if a valid path was specified but the file to be read is nonexistent E PLC_MC5_READ 0x15 E_PLC_DB_OPEN oxe Error while reading the MC5 code file 1 O error Error while opening the file for writing retentive data E PLC_DB_READ 0x17 E PLC_DB1_ WRITE 0x18 E_PLC_DB1_DATA 0x19 Error while reading the file for writing retentive data I O error Error while writing the file for writing retentive data I O error Error in the DB 1 data structure The end identifier QEEEEH could not be found E PLC FLG ID 0x1A Invalid event flag gro
83. ed memory configuration contents SIMATIC Start calls error codes x_plc_init x_plc_start Startup functions 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Y D nm e N T oo Y Ja A O N LA N al T wo a 7 __ e iA G ow ae CO O ee 1 wm 1 oe O NIIN O OQ l i E E bess LILII LITIJ N oO fm gt gt 10 TN 10 TT w o Fale oO OD PIP NIN ER N O ne k foal oo I f a Oo a4 O Ojj N O s T N Q X Statement list Status variables STEP 5 memory allocation STL STOP mode STOP transition STS operation Substitution error Substitution parameters SWCPLC C System data allocation error localization System data words System file System operations T Testing functions Timer blocks Timer error Timer OBs timer driven Timers retentivity TIR error TNB error Transfer error U User memory X x_plc_init error codes x_plc_start error codes of N P j ol l l w Q O gt gt poy ye 10 hk ral Co Ww oa IR oO WW Q Oo AI l as _h MNO NIN oO 1 jo jo l gt Pele A O Index 4 J31069 D2037 U001 A3 7618 I 6 IMCOx PLC System Manual
84. equence blocks 0 to 255 e Organization blocks 1 to 39 Then you enter your control program It must end with the instruction BE You are restricted to the basic STEP 5 operation set The STEP 5 program code for each block may not take up more than 4091 words in program memory because the block header which is automatically generated by the PG always takes up 5 words Each block should be a self contained program Logical operations across block boundaries are not meaningful PB 25 gt Block header 5 1st STEP 5 instruction gt STEP 5 program BE od available block length 4095 Figure 6 3 Structure of an organization or program block 6 3 2 2 Calling Program and Sequence Blocks A block call releases a block for processing Block calls can be programmed in organization program function or sequence blocks A block call is comparable to a jump to a subprogram and like jumps can be conditional or unconditional 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 7 Introduction to Programming PB 1 PB5 PB 10 A 11 0 A 12 0 JC PB10 JU PB5 O 15 3 BE BE PB6 A 11 5 JC PB6 A 13 2 BE Figure 6 4 Block calls When the controller encounters the command BE block end it performs a jump back to the block containing the block call and continues processing with the STEP 5 command immediately following the block call After
85. error status word SD 104 see chapter 3 8 3 is set and the IMCOx PLC goes into STOP mode or alternatively cannot be switched into RUN mode Corrective action in this case is to correct and reload the DB 1 Then start the IMCOx PLC using the PG function PC START The causes of an incorrect DB1 are described in chapter 5 DB 1 configuration of the reference manual 3 8 2 2 Compiling Error Each time a new start of the PLC is performed and each time the blocks are loaded via the PG compiling is performed again If illegal commands or command sequences are found bit 15 of error status word SD 104 is set The illegal code in stored in SD 111 Illegal command sequences are listed below 0 after 0 e Jump with JO JZ JM JU JN JP or JC in a logical chain with the commands A O AN ON AW OW XOW UM OM UNM ONM UZ OZ UNZ ONZ A O UE UA OE OA UNE UNA ONE ONA UT OT O UNT ONT Note The PLC cannot be put into RUN status again by deleting the incorrect block The PLC can only be put into RUN status again by deleting the invalid command in the block or after a new error free block has been loaded 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 3 15 Operating Modes 3 8 2 3 Memory Overflow in Runtime Area The compiler run generates processor code from MC5 code The 80386 code is written to a special memory area the runtime area The size of the runtime area is a mult
86. et request is reset 3 Set control flag for operating mode change to RUN Indication flag for RUN operating mode is set 4 Set control flag for operating mode change to STOP Indication flag for STOP operating mode is set 5 Set control flag for operating mode change to RUN PLC begins operation If the controller is in RUN mode an overall reset request made by the control flag does not take effect until the control flag for operating mode change is set to STOP or the PC STOP function is executed 3 7 2 Overall Reset via the PG An overall reset is requested with the function Delete all blocks and is executed immediately if the controller is in STOP mode No acknowledgement is expected in this case After the overall reset the controller remains in STOP mode If the controller is in RUN mode the PG request is not passed on to the controller i e it has no effect 3 7 3 Overall Reset by the System An overall reset request from the system can happen only with controllers where DB memory has been configured as retentive memory An overall reset request must always have a positive acknowledgement Only then can controller operation be continued An overall reset is requested by the system when the controller is switched on for the first time because the required memory areas are not yet initialized When the size of the MC5 memory mc5 size is changed an overall reset is also requested 3 8 Error Handling Basically there i
87. f the function block calls FB 208 to FB 223 a function block block header only with the correct substitution parameters must have been generated on the PG 4 J31069 D2037 U001 A3 7618 8 2 IMCOx PLC System Manual Programming HLL Blocks 8 2 2 1 Access to Substitution Parameters The substitution parameters contain in coded form the reference to the transfer parameters Each substitution parameter has an identifier and an index Bit 7 See Bit 0 Identifier Bit 15 a Bit 8 Index From this the transfer parameter can be reconstructed in the HLL block in accordance with the following table Table 8 1 Decoding of the substitution parameters Identifier Index Parameter Example Cyh y 0 7 x lt 7Fh Input Ixy 14C4h 120 4 Cyh y 0 7 x gt 80h Output Q x 80h y 94C7h gt Q20 7 8yh y 0 7 x Flag F xy 1485h gt F205 4Ah x lt 7Fh Input byte IB x 1E4Ah gt 1B30 4Ah x gt 80h Output byte QB x 80h 9E4Ah gt QB30 OAh x Flag byte FB x 280Ah FB40 22h x Data byte left DL x 1E22h DL30 2Ah x Data byte right DR x 1E2Ah gt DR30 72h x Peripheral byte PB PY x 2872h gt PB 40 52h x lt 7Fh Input word IW x 3252h W50 52h x gt 80h Output word QW x 80h 8A52h gt QW10 42h I x Flag word FW x 14712h gt FWw23 32h x Data word DW x 1732h gt DW23 7Ah I x Peripheral word PW x 177Ah gt PW23 fo2p
88. formation in the technical descriptions specifies products but does not guarantee characteristics The product described in this documentation may require licensing Questions should be directed to your local Siemens office Availability and technical modifications subject to change without prior notice ES43 Ka WW8 0 VS5 0 A4 Siemens AG 1999 All Rights Reserved 4 J31069 D2037 U001 A3 7618 2 IMCOx PLC System Manual IMCOx PLC Table of Contents 1 General Information about IMCOx PLC Documentation 1 1 System Manual Overview 2 IMCOx PLC Overview 2 1 2 2 2 2 1 2 2 2 2 2 3 2 3 2 3 1 2 3 2 2 3 3 2 3 4 2 3 5 2 3 6 2 3 7 2 3 8 2 3 9 2 3 10 Performance Features Before You Start Programmer PG Controller PLC The Controller Functional Units Control Unit Accumulator ACCUM Counters Timers and Flags Communication Flags Process Images Input Output Units Program Memory MC5 Compiler PG Interface Shared Memory 3 Operating Modes 3 1 3 2 3 3 3 4 3 5 3 5 1 3 5 1 1 3 5 1 2 3 5 1 3 3 5 2 3 6 3 7 3 7 1 3 7 2 3 7 3 3 8 3 8 1 3 8 1 1 3 8 1 2 3 8 1 3 3 8 1 4 3 8 1 5 3 8 1 6 3 8 1 7 Operator Interface and Display Elements Restart Restart RUN transition STOP Transition Operating Mode RUN Cycle Driven Processing Level Scan Time Monitoring Scan Time Calculation Diagnosis While Reading Writing the Process Image Only with IMC05 Timer driven Processing Level Re
89. g and Startup Functions 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Introduction to Programming 6 Introduction to Programming This chapter is a general introduction to writing controller programs for the IMCOx PLC It covers basic programming skills and discusses modular program structures using different types of blocks 6 1 STEP 5 Programming Language STEP 5 is a programming language especially developed for writing programs to operate the controllers used in automation technology STEP 5 is a versatile language allowing you to program operations ranging from simple binary functions to complex digital functions and basic arithmetic operations 6 1 1 Display Modes A STEP 5 program for the IMCOx PLC is written in one of three different ways or display modes The mode you chose usually depend on the job you are automating Statement list STL With a STL the program to be executed is written as a list of abbreviated commands A command has the following structure Operation Operand 002 A 0 1 Parameter Operand code Relative address of statement in block The operation tells the controller what to do with the operand The parameter supplies the address of the operand Control system flow In flow chart representation the program is written as a series of logical chart CSF operations depicted as boxes Ladder diagram In a LAD the program is graphically represented by the symbols use
90. gt Delimiters Variables are enclosed by pointed brackets Optional Elements in square brackets are optional fal alblc Selection One element must be selected from elements which are enclosed by br braces or separated by vertical lines lcJ Repetition Ellipses indicate an optional repetition of the previous element 1 Program listings are also printed in Courier font Listings are case sensitive and do not follow the general notational rules for commands The programming language C for instance differentiates between upper case and lower case letters Data Types Data type Length at RMOS3 char 8 bits BYTE char 8 bits short 16 bits WORD short 16 bits int 32 bits WORD int 32 bits long 32 bits DWORD long 32 bits word32 32 bits pointer far 48 bits pointer near 32 bits enum 32 bits float 32 bits double 64 bits 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual B 1 Appendix B 4 J31069 D2037 U001 A3 7618 B 2 IMCOx PLC System Manual Index l Index 8 80386 memory A Accumulator Actual operands B Basic operations BCD numbers Bit patterns Block stack output overflow Block types Blocks calling nesting depth C Clock error Communication flags definition Compiler MC5 Compiling error Compress memory Configuration Configuration file Constants Control bits mnemonic output Controller Conve
91. ic 8 5 8 4 Development and Test Environment 8 6 8 4 1 Testing at Assembler Level 8 6 8 4 2 Testing High Level Languages 8 6 8 4 3 Setting Breakpoints 8 6 8 5 HLL Blocks for PROFIBUS DP Diagnosis Only with IMC05 9 DB 1 Configuration 9 1 DB 1 Structure 9 1 9 2 Default Values 9 2 9 3 Definition of Communication Flags MASK01 9 3 9 4 Definition of Digital Inputs and Outputs MASK02 and MASKO3 9 4 1 Definition of Digital Inputs MASKO2 9 4 2 Definition of Digital Outputs MASK03 9 5 Definition of Retentive Flags MASK04 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 IMCOx PLC 10 11 12 13 14 15 9 6 Definition of Initialization Values MASK05 9 7 Special Settings MASK06 IMCOx PLC Configuration 10 1 IMCOx PLC Memory Areas 10 2 Start Call x_plc_start 10 2 1 Structure Definition for Software Parameters 10 2 2 Structure Definitions for Hardware Parameters 10 3 Start Call x_plc_init 10 3 1 Parametrization in the Configuration File SWCPLC C 10 4 Error Codes for x_plc_start and x_plc_init 10 5 I O Interface PLC_IOIF ASM 10 6 Directory Entries Operator Interface and Display Elements 11 4 What is an Event Flag 11 2 Working with Event Flags Working with Shared Memory 12 1 Base Address 12 2 Structure and Contents 12 3 Access Control 12 3 1 Access Control Using the Status and Acknowledgement Bytes 12 3 2 Access Control Using the RMOS Event Flag PROFIBUS DP Link Only with IMC05
92. ine DIG_OUTPUT_25 32 24 define DIG_OUTPUT_33 40 32 define DIG_OUTPUT_41_48 40 if mask3 plc_par_mask MASK3 plc_par_peab_count MASK3_PB ANZ nr of PB if mask3_pb plc_par_peab DIG OUTPUT _01 08 CONT PB128 if mask3_ab plc_par_peab DIG_OUTPUT_09 16 CONT PB129 else plc_par_peab DIG_ OUTPUT_09 16 FINISH PB129 plc_par_peab_count MASK3_AB ANZ nr of AB if mask3_ab plc_par_peab DIG OUTPUT _01 08 CONT BBO plc_par_peab DIG_OUTPUT_09 16 CONT BBL plc_par_peab DIG_OUTPUT_17_24 CONT AB2 plc_par_peab DIG_OUTPUT_25 32 CONT AB3 plc_par_peab DIG_OUTPUT_33 40 CONT AB4 plc_par_peab DIG_OUTPUT_41_ 48 FINISH BBS end if mask_len gt 0 4 J31069 D2037 U001 A3 7618 9 8 IMCOx PLC System Manual DB 1 Configuration With IMCO1 Set eens eon Ses MASKO3 cae a ee Se ote define MASK3 SWITCH 1 output bytes 0 not used 1 used define MASK3 PB ANZ 0 Number of peripheral bytes for output in extended peripheral area PB128 PB255 define MASK3 AB ANZ 6 Number of digital output bytes ABO AB127 a fs Ea aa A el al ma oe Ses cee oc MASKO3 OUTPUT Bytes PB AB Sec St 22 Se lea s2c2 2 eb eee Ses ea define DIG_OUTPUT_01_08 define DIG OUTPUT _09 16 if mask3 plc_par_mask MASK3 plc_par_peab_count MASK3_PB ANZ nr of PB if mask3_
93. iple of the size of the MC5 code Normally program size is restricted in the first instance by the amount of memory needed for MC5 code mc5_ size see chapter 10 i e while loading a block the PG reports Insufficient memory in controller Only in exceptional cases where the 80386 code requires more memory area than expected will the error Memory overflow in runtime area be reported This also means that memory for MC5 code is almost completely full The function Compress memory will release unnecessarily occupied memory area also in the runtime area If the problem cannot be solved in this way i e there is still insufficient memory the parameter mc5_size must somehow be set larger If on the other hand compressing memory released a sufficiently large memory area then the controller can be started again from the PG The controller can be switched back into RUN mode only after compressing memory 3 8 2 4 LIR TIR TNB Error This error is reported when the commands LIR TIR TNB access addresses which are not available under the IMCOx PLC This error is also reported when the TNB command attempts to copy data beyond range limits 3 8 2 5 Clock Error For the different PLC timer functions the IMCOx PLC requires a 10 msec clock cycle which is derived from the RMOS system clock At the end of every 10 msec timer interval the internal timer routine is called to update e g the times T 0 to T 127 A clock error is reported if this intern
94. is configured in the SWCPLC C file Adaptation of MASK01 to MASKO6 in the x_plc_ init function must be performed in this file During a restart the DB 1 is loaded automatically by the controller The controller then configures itself according to the values specified in DB 1 The data in DB 1 are generally come into effect on a restart and also when the DB 1 is loaded with the PG but only after a transition from STOP to RUN Since DB1 is allocated for the IMCOx PLC differently from the SIMATIC S5 programming with the aid of a mask I O assignment is not possible as it would be with STEP 5 programmers Allocation of the decentral inputs outputs to the logical I O operands does not require configuration in DB 1 This allocation is stored with the COM PROFIBUS configuration tool in the DP data base e g NONAME 2BF 9 1 DB 1 Structure A data field is identified by a header and an end identifier Header ID Meaning MASKO1 Header for defining communication flags MASK02 Header for defining local input MASKO3 Header for defining local output MASK04 Header for defining retentive flags MASK05 Header ID for initialization of local outputs MASKO6 Header for special settings In MASKO2 and MASKO3 the number of input output bytes is defined and thus the length of the cyclic read write of the input output process image The initializations in MASKO5 and MASKO6 are executed on each transition from STOP to RUN 4
95. k The ID of the event flag group is configurable The ID 0 indicates that the event flag group is not used 11 1 What is an Event Flag An event flag is a single bit in memory used for communication between different RMOS tasks by virtue of being set or reset Event flags are grouped to form event flag groups made up of 32 bits Each individual flag is accessed by specifying the event flag group ID combined with a 32 bit mask The event flag group ID for the IMCOx PLC is configurable 0 to 31 ID 0 means that no flag in the event flag group is accessed The event flag group can be used e g to allow another RMOS task to control IMCOx PLC RUN STOP operations You will find more information e g about the RMOS system calls for event flag operations in the RMOS documentation 11 2 Working with Event Flags The IMCOx PLC s event flag group is used to allow some other RMOS task to control operating mode selection and or display The lower value byte Bit 0 to 7 is used for PLC operating mode display for the other task The higher value byte Bit 8 to 15 is used for operating mode selection RUN STOP or overall reset or error acknowledgement An overall reset is only possible in STOP mode Bit allocation in the IMCOx PLC event flag group Display flags low order byte st z 6 5 4 3 2 1 0 Meaning RUN display l STOP display l Overall reset requested Error display Warning display ACCESS bit Not used
96. k overflow timer error and the special case of an STS command an error reaction can be programmed for all runtime errors error OB If no STS command immediate stop has been programmed in the error OB the error OB is processed and then controller program processing is continued without any error display In effect this suppresses error display If the appropriate error OB is not available the controller switches into STOP mode as described above During transition to STOP mode after a runtime error the STOP OB OB 28 is not called 3 8 1 1 Scan Time Exceeded Scan time is exceeded when the scan time entered in the system data word SD 96 is exceeded i e when the PLC program does not reach the end of a cycle within this time The scan time monitoring can be deactivated by entering the value 0 in the system data word SD 96 3 8 1 2 Timer Error A timer error occurs when a timer OB overtakes itself i e when it is due to be started again although the previous processing has not yet finished When a timer error occurs the controller goes into STOP mode An error OB cannot be programmed for timer errors 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 3 13 Operating Modes 3 8 1 3 Substitution Error A substitution error occurs when in a substitution instruction the formal operand does not match the specified actual operand In the case of a substitution error the error OB 27 is executed and the substituted command is
97. k that the signal states have remained unchanged while the control program was executing e Process output images PIQ are written to only at the end of a PLC cycle There is no output during the cycle to avoid changing the outputs unnecessarily with intermediate results from the control program 2 3 6 Input Output Units Logical input units input bytes are read and logical output units output bytes are read from and written to peripheral devices Logical inputs outputs are allocated to physical inputs outputs during DB 1 configuration 4 J31069 D2037 U001 A3 7618 2 4 IMCOx PLC System Manual IMCOx PLC Overview 2 3 7 Program Memory There are different memory types which can be used to store control programs or to transfer program data from the PG to the controller e __ battery buffered SRAM e User flash memory subsequently abbreviated as EPROM 2 3 8 MC5 Compiler The processor in the controller cannot process MC5 code unless it is compiled i e translated into the appropriate 80386 code The MC5 code is compiled into 80386 code at every restart of the PLC after power on or start of the IMCOx PLC under RMOS or when a program block is loaded from the PG 2 3 9 PG Interface The controller is connected to the PG via a serial interface The PG is used to load test and start control programs and in error diagnosis 2 3 10 Shared Memory When the controller communicates with another RMOS task it uses shared memory
98. kes up two words of program memory and each parameter takes up one word of memory The identifiers for function block inputs and outputs and their names are stored in the function block itself For this reason before you start programming on the PG all the function blocks you will be using in your program must have been loaded to the program diskette for offline programming or into the controller s program memory 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 13 Introduction to Programming PB3 FB5 Executed program NAME EXAMPLE e sia DCL X2IBI JU FB5 DCL X3QBI NAME EXAMPLE A X1 F ita Xt 144 pee a rise A F3 Parameter list for X2 F1 3 first call BE _ 00 1 X3 Q0 1 Aktual operands Formal operands A 15 2 JC FB5 A 14 5 NAME EXAMPLE A 15 3 x1 14 5 Q0 1 Parameter list for X2 15 3 second call X3 Q0 1 A Formal operands Figure 6 6 Parameter assignment for a function block 6 3 4 Data Blocks DB Data blocks are used to store the data needed in a user program No STEP 5 operations are performed in data blocks The data entered in a data block may be e bit patterns of any sort e g for aggregate states e numbers hexadecimal fixed point for time values results of arithmetic operations e alphanumeric characters e g for message texts 6 3 4 1 Data Blocks DB 0 and DB
99. l 15 1 Compatibility to SIMATIC S5 115U 15 6 Display of Results The result displays do not conform completely to S5 Display byte eet ee ov Free OR STATUS RLO ERAB ERAB Initial request is not displayed STATUS the value of the last binary operand is not supported by the IMCOx PLC It can however usually be deduced from other values RLO OR Internal display for AND before OR operation is not displayed 15 7 ISTACK Display The following control bits or interrupt displays have no significance under the IMCOx PLC Control bits NEUSTA BATPUF LADFNI SYNFEH NINEU PROEND MAFEHL UAFEHL NAUAS QUITT SPABBR PBSSCH PADRFE ASPLUE RAMAFE SUMF Interrupt displays NNN FEST NAU QVZ KOLIF SYSFE PEU BAU ASPFA STATUS ERAB URLAD see chapter 5 7 3 15 8 BASP The signal BASP Block command output is not supported by the IMCOx PLC The output bytes in the extended peripheral area become inactive at an operating mode transition from RUN to STOP during process control or as a result of a runtime error 15 9 STATUS Block The IMCOx PLC does not support status processing with specification of a block list nesting on the PG status processing may only be called without nesting Status processing with nesting means that the program status is displayed only if the block was called in a prescribed sequence e g OB 1 gt FB 11 FB 20 15 10 Alarm Blocks If processing of an alarm block
100. ls on this memory types see chapter 10 1 7 2 DB memory This is the memory area for retentive data and data blocks The size is configurable between 4 Kbytes and 32 Kbytes If the MC5 memory is located in EPROM this memory can also be used to load program blocks The following memory types are supported e SRAM A power failure or switching off the power supply will not result in loss of the retentive data and data blocks in this memory During PG restart after power up the integrity of the retentive data is checked If a data loss has occurred an overall reset request is issued e Dynamically requested RAM retentivity not available At restart the whole retentive memory area is deleted Data blocks must be generated new each time by the control program or loaded by the PG 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 7 1 STEP 5 User Memory 7 3 Memory Organization During a restart data blocks in MC5 memory are copied into DB memory and may then be modified during subsequent program execution The changes remain in force until the block is deleted overwritten If the block in question is already present in DB memory then no copy operation is performed Data blocks which are generated during program execution with DB are also located in DB memory 7 4 Conversion Program CVSTEPV EXE Conversion program CVSTEPV EXE is used to convert a program file generated with STEP 5 into a binary file with the memory image of
101. mand addresses data block DB 10 Subsequent processing uses data from this data block A callin PB 7 causes a jump to program block PB 20 which is then executed Data block DB 10 is still valid Only when data block DB 11 is called does the data area change and DB 11 become the current data block From then until program block PB 20 has finished executing data block DB 11 is valid When execution jumps back to program block PB 7 data block DB 10 is valid again 6 3 5 HLL Blocks The IMCOx PLC lets you program blocks in a high level language e g C and then link them into a STEP 5 program These block types can be programmed in a high level language e Organization blocks OB 208 to OB 223 e Function blocks FB 208 to FB 223 Programming testing and debugging of HLL blocks is described in detail in chapter 8 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 17 Introduction to Programming 6 4 Representing Numbers STEP 5 lets you represent numbers in the following ways e Decimal numbers from 32768 to 32767 KF e Hexadecimal numbers from 0000 to FFFF KH e BCD coded numbers from 0000 to 9999 e Bit patterns KM e Byte constant KY from 0 0 to 255 255 Internally the IMCOx PLC converts all numbers to 16 bit binary numbers bit patterns Negative numbers are represented as two s complement Table 6 5 Organization of a 16 bit fixed point number Word number
102. meter passing is not possible with PBs Data can only be transferred to a PB via a data block e Sequence blocks SB Sequence blocks are a special type of program block which contain the program for a sequencer They are treated like program blocks e Function blocks FB Function blocks are used to program operations which recur frequently A FB can be called from an OB PB or another FB An FB call can be parametrized i e parameters can be passed with the call e Data blocks DB Data blocks contain STEP 5 data needed by the control programs Typically these data are set values limiting values or text Data blocks are also used to pass parameters for PBs Block calls are statements which invoke other blocks causing a jump to the specified block Organization program function and sequence blocks can be nested up to 32 deep Note When you are calculating nesting depth remember that some organization blocks are called automatically e g when a runtime error occurs Total nesting depth is the sum of the nesting depths of all the blocks in a program If the nesting depth exceeds 32 the controller reports a block stack overflow STUEB and goes into STOP mode 4 J31069 D2037 U001 A3 7618 6 4 IMCOx PLC System Manual Introduction to Programming OB 1 FB 1 PB5 PB 10 lt lt PB 184 PB6 PB 22 lt FB 13 Level 1 Level 2 Level 3 Level 32
103. n of the control program The PII can be accessed bit byte and wordwise PII i I i7 6 5 4 3 2 1 0 Bitno Bitwise read in binary operations Byte 2 Al 25 Bytewise read in binary operations L IB 25 Byte 25 15 v 0 ACCUM High Byte Low Byte 00H Wordwise read in binary operations Byte 116 _ 4 Byte 117 L IW 116 15 v v 0 I ACCUM i High Byte Low Byte i i i Figure 4 2 PII access 4 J31069 D2037 U001 A3 7618 4 2 IMCOx PLC System Manual I O Addressing 4 4 Access to the PIQ At the end of cyclic program execution the digital outputs are transferred from the PIQ to the peripheral area This avoids changes to output signal states caused by intermediate results from the control program The PIQ can be accessed bit byte and wordwise Bitwise write in binary operations Q 3 3 Bytewise write in binary operations T QB 14 15 PIQ i7 654321 0 i Bit no Byte 3 ACCUM High Byte Wordwise write in binary operations T QW 92 15 Low Byte AccuM High Byte Low Byte Byte 14
104. n time calculation and must not be overlooked in specifying the time interval for scan time monitoring RMOS event flag group ID for PLC operating mode display or operating mode selection 0 31 0 means that the event flag group is not processed For bit allocation see chapter 11 2 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 10 3 IMCOx PLC Configuration aie 15 12 Bit coded information for memory configuration aio sl7 4l8 0 Meaning of the bits mc5 size 10 4 O AII others reserved db_memory_mode iA others reserved hil_memory_mode 000 notused iA others reserved Flag PLC_NPX All others reserved mc5_memory_mode 0000 no additional MC5 memory 0010 EPROM address linear 0100 EPROM address physical 0000 no retentivity 0010 SRAM address linear 0100 SRAM address physical shared_memory_mode 0000 no shared memory 0001 dynamical requested RAM 0010 SRAM address linear 011 Pointer to HLL blocks in EPROM 0 no floating point instructions in HLL blocks 1 HLL blocks contain floating point instructions The following definitions in the header file PLC H are used to set the memory type in the parameter memory mode define Ox0001 define define define 0x0008 NULL TYPE 0x0000 define MAP TYPE 0x0002 PTR_TYPE 0x0003 MAP TYPE PHYS 0x0004 define ALOC_TYPE PLC _NPX The definitions can be used to preset the par
105. ng a STEP 5 file back to the PG After a program has been loaded individual blocks are usually changed on the PLC and then the entire program is transferred again from the PLC to the program file This means that the STEP 5 file contains more than one block with the same number If such a file is to be processed with CVSTEPV EXE all invalid blocks must be removed beforehand Starting with V7 02 the STEP 5 software has the compress program file function To remove the invalid blocks with an older software version a new file must be created on the PG This is done in the following way e Perform an overall reset on the PLC If necessary first save the current status of the STEP 5 program to the PG e Load the STEP 5 program into the PLC e Select a new program file on the PG e g CVSTEPST S5D e Copy the STEP 5 program from the PLC to the new file e Convert this file with CVSTEPV EXE e Delete the file CVSTEPST S5D 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 7 3 STEP 5 User Memory 7 4 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Programming HLL Blocks 8 Programming HLL Blocks Using the HLL High Level Language interface you can program blocks in a high level language e g C or in assembler and then link them into a STEP 5 program as a function extension Programming in a high level language or assembler is often more efficient than STEP 5 and also offers an extended address area
106. nt system FISY optional Notes The interrupt for RMOS clock time must have a higher hardware based priority than priority 2 8 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 14 1 RMOS and PLC Configuration 14 1 Directory Entries The call x_plc_start x_plc_init generates and catalogs a number of tasks Each of these tasks is assigned a priority via parameters priority _1and priority 2 The memory area required for a stack size per task of approx 2 kbytes is taken from the HEAP Task type Name Priority PLC cycle task PLC_EXE_CYCL priority 1 Communication task PLC_COM_PG priority 1 1 Overall reset task PLC_CLEARALL priority _ 1 1 PLC timer task OB 10 PLC_TIM_OB10 priority 2 PLC timer task OB 11 PLC_TIM_OB11 priori ty 2 1 PLC timer task OB 12 PLC_TIM_OB12 priority 2 2 PLC timer task OB 13 PLC_TIM_OB13 priority 2 3 PLC ERROR_OB task PLC_ERROR_OB priority 2 4 Reserved PLC_INT_OB2 priority 2 8 Reserved PLC_INT_OB3 priority 2 7 Reserved PLC_INT_OB4 priority 2 6 Reserved PLC_INT_OB5 priority _2 5 PG driver PLC_AS511 Loader Result Segment PLC_LRS_XXXX Note The loader result segment of HLL blocks is not cataloged The driver AS511 for communication with the PG catalogs itself during RMOS startup 14 2 IMC0x PLC Configuration and Generation Files The following subdirectories contain the configuration files for generating the IMCOx PLC
107. oftware U000 release 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 9 Testing and Startup Functions 5 10 Address Output The PG function Output addresses reads out the IMCOx PLC s STEP 5 memory areas By checking these memory areas you can obtain information about e g error sources cycle times The size of the DB memory is specified during configuration db_ size The PG shows the contents of nonexistent memory addresses as XXXX Table 5 5 Memory allocation Absolute address Content 0000H CFFFH DB memory DCOOH E5FFH Block address list EAOOH EBFFH System data blocks ECOOH ECFFH Timers EDOOH EDFFH Counters EEOOH EEFFH Flags EFOOH EFFFH PII PIQ process images F200H F2FFH Communication flags in shared memory Table 5 6 System data allocation System data Absolute Meaning word address SD 16 31 EA20 EA3F Bitmap for logical inputs and outputs digital and analog SD 64 79 EA80 EA9F Bitmap for communication output flags SD 80 95 EAAO EABF Bitmap for communication input flags SD 96 EACO Scan time monitoring SD 97 EAC2 Time interval for OB 13 sp98 EAC4 _ Time interval for OB 12 SD 99 EAC6 Time interval for OB 11 SD 100 EAC8 Time interval for OB 10 SD 104 EADO Error status word SD 105 EAD2 Error DW number SD 106 EAD4 Error DB number spio7 EAD6 Error PB number SD 108 EAD8 Error SB number SD 109 EADA Error FB n
108. ol program only in the organization block OB 1 During processing the OB 1 is called cyclically by the controller Note that OB 1 length is restricted to 4096 words thus limiting the length of the control program 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 3 Introduction to Programming 6 2 2 Structured Programming To solve complex automation problems the program is split up into a number of separate modules or blocks There are several advantages e long programs can be broken down into simple and easily understandable units e blocks can be standardized e blocks which have tested successfully can be used again in other programs This applies especially to function blocks FB e self contained blocks are easier to test and debug e making changes is simplified e startup is easier e subprogram techniques can be used e g a block can be called from several different points in the program Structured programs can include the following block types e Organization block OB Organization blocks manage the control program They form an interface between the controller s internal operations and the user s control program OBs manage inter alia cyclic program execution initialization of the control system or handling of runtime errors see Table 6 3 e Program block PB Program blocks are the self contained modules which make up a PLC program These blocks are called by commands in OBs or FBs Para
109. omitted If error OB 27 was not programmed the controller goes into STOP mode and the error code is written to the ISTACK 3 8 1 4 Transfer Error A transfer error occurs when e data words are accessed but no data block was previously called e during a read write on a data block a data word data byte is addressed which is not part of the block i e block length is exceeded e an DB command is being executed but the free user memory is insufficient to create a data block of the specified length In the event of a transfer error the operation which was the source of the error is not executed instead error OB 32 is called If error OB 32 was not programmed the controller goes into STOP mode and error code is written to the ISTACK 3 8 1 5 Calling Nonexistent Blocks This error occurs when a block call command JU xx JC xx specifies a block which was not programmed In this case error OB 19 is called if it was programmed instead of the nonexistent block The controller does not go into STOP mode but the error flag is set to indicate an error 3 8 1 6 Block Stack Overflow Block nesting depth is restricted to 32 A block stack overflow occurs when the nesting depth of 32 block calls is exceeded i e when the 33rd block is called When this happens the controller goes immediately into STOP mode and the ISTACK error code is entered It is not possible to program any other reaction for this error The order in which block calls
110. out_slv calls However these calls may only be executed at the task level The time blocks are always executed at the task level regardless of the PROFIBUS DP interface In principle access to I O bytes in the time blocks is possible The PROFIBUS DP interface requires that the execution time for an access to an I O byte I O word is approximately 300 to 400 usec Since the DP interface is implemented as a driver it ensures that only one job is processed although several DP requests have been made by different tasks 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 13 1 PROFIBUS DP Link Only with IMC05 13 2 PROFIBUS DP Diagnostic Functions 13 2 1 Diagnostics while Read Write Accessing the Process Image While the process image is being read during the PLC cycle accessibility of all decentral stations configured in the DP data base is checked with the dpn_in_slv_m call If an error occurs the error code from dpn_in_slv_m is stored in system data word SD 124 EAF8H Since the IMCOx PLC evaluates the data base and thus only addresses stations which are also configured in the data base dpn_in_slv_mis always concluded with no errors slv_state of all stations can be evaluated to determine whether all configured stations are actually connected The read write access of the process image is only correct when the current operating status of DP slave slv_state of all stations indicates that these are in the data transfer phase Thus
111. pb plc_par_peab DIG_OUTPUT_01_08 CONT PB128 if mask3_ab plc_par_peab DIG_OUTPUT_09 16 CONT PB129 else plc_par_peab DIG_ OUTPUT_09 16 FINISH PB129 plc_par_peab_ count MASK3 AB ANZ nr of AB if mask3_ab plc_par_peab DIG_OUTPUT_01_08 CONT ABO plc_par_peab DIG_OUTPUT_09 16 FINISH BBL end if mask_len gt 0 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 9 9 DB 1 Configuration 9 5 Definition of Retentive Flags MASK04 The data field for the definition of retentive flags has the following structure M A S K 0 4 Start index x End index y EEEEh Header for definition of retentive flags Area definition from FB x to FB y x y 0 127 y gt x End ID Figure 9 4 Data field for retentive flags When retentive flags are entered then the timers TO to T63 and counters CO to C63 will automatically be retentive too see chapter 3 6 These entries are made in SWCPLC C as shown below define MASK4 SWITCH 1 plc_par_mask MASK4 plc _par_rema 0 127 end if Pal mask_len gt 0 Remanente Merker 0 not used Te used MB SS Kis MB 0 127 Y 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual DB 1 Configuration 9 6 Definition of Initialization Values MASKO5 The initialization values for the digital outputs may
112. perands is not stored in the DB 1 but in the DP data base e g NONAME 2BF This data base is created with the COM PROFIBUS configuration tool It describes the configuration of the DP bus system The decentral I O must be addressed linearly i e no page frame addressing In the following the name NONAME 2BF is used as the file name for the DP data base The name is specified with the configuration tool During the startup phase of the IMCOx PLC call x plc init the address allocation of the local I O is set up first and then the decentral I O If an I O byte is configured as both local and decentral configuration is aborted with the error E_PLC_DUP_lO for x pic init The local I O bytes must start at address 0 and the decentral I O bytes must be located after the local I O bytes Similarly the local input output bytes should start at address 0 and the decentral input output bytes should be located after the local input output bytes Blank entries between the local and decentral I O bytes are ignored 13 3 2 Constants for Error Identifiers Literal Value Meaning DPN_NO_ERROR 0x00 No error DPN_ACCESS_ ERROR 0x80 An attempt was made to transfer more than one signaling job for a handle The maximum permissible number of DP applications was exceeded Up to 32 DP applications are permitted per unit of the DP driver DPN_APPL_LIMIT_ERROR 0x81 4 J31069 D2037 U001 A3 7618 13 4 IMCOx PLC System Manual PROFIBU
113. program execution The block parameter name may have up to four characters the first of which must be an alphabetic character You can program up to 40 parameters per function block Block parameter type These are the possible parameter types Input Q Output D Date B Block T Timer C Counter In graphical representation output parameters are shown to the right All other parameters to the left of the function symbol Data type These are the possible data types BI for an operand with bit address BY for an operand with byte address W for an operand with word address K for constants When assigning parameters all three block parameter specifications must be entered 4 J31069 D2037 U001 A3 7618 6 10 IMCOx PLC System Manual Introduction to Programming Block header Name NAME EXAMPLE 5 Parameter DCL IN1 I BI Name formal operand DCL IN2 I BI DCL OUT1 QBI Format Block parameter Type A IN1 A IN2 Control program OUT1 Memory allocation Program example Figure 6 5 Programming an FB with block parameters Table 6 4 Parameter type and data type of block parameters with permitted actual operands Parameter Parameter format Permitted actual operands Q BI Operands with bit address l x y Input Q xy Output F xy Flag BY Operands with byte address IB x Input byte QB x Output byte FB x Flag byte DL x Left data byte DR x Right data byte PB x Periphe
114. ral byte W Operands with word address W x Input word QW x Output word FW x Flag word DW x Data word PW x Peripheral word D KM Binary bit pattern 16 bits Constants KY Two absolute values bytes in the range of 0 to 255 KH Hexadecimal value max 4 digits KS max 2 alphanumeric characters KT BCD coded time value 1 0 to 999 3 KC BCD coded counter value 0 o 999 KF Fixed point value 32768 o 32767 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 6 11 Introduction to Programming Table 6 4 Parameter type and data type of block parameters with permitted actual operands Parameter Parameter format Permitted actual operands type b No parameter format Data block called with command C DBx Function blocks only valid without parameters called absolutely JU FBx Program blocks called absolutely JU PBx Sequence blocks called absolutely JU SBx T No parameter format Timer the value is parametrized as data or programmed as constant in the function block C No parameter format Counter the value is parametrized as data or programmed as constant in the function block Programming FBs in HLL is described in detail in chapter 8 6 3 3 2 Calling Function Blocks A function block is stored in program memory under a particular number as are all other types of block e g FB 47 Calls to FBs can be included in any block with the exception of data blocks The call consists of
115. red memory only after acknowledgement by another task This is the current scan time in msec units The current scan time is the time taken by the most recent PLC cycle The scan time is entered only if scan time calculation was specified in DB 1 configuration If this was not the case the value will always be 0 This is the IMCOx PLC version number On IMCOx PLC startup the current version number is written to the shared memory as a 16 bit word Version Meaning Version number 0104H V1 4 0200H V2 0 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual Working with Shared Memory Communication flag During DB 1 configuration a start index end index is set up to identify an area from FB 0 to FB 255 as communication flag input and output In the same way the communication flags are mapped in shared memory within the communication flag area in shared memory The following data areas are copied from the internal data areas to shared memory at the end of a PLC cycle process image of inputs PII Process image of outputs PIQ Counter Timers Note Although the IMCOx PLC updates the contents of shared memory it does so always only at the request of the other task see Access Control below 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 12 3 Working with Shared Memory 12 3 Access Control There are two mechanisms for regulating access to shared memory e Reading wri
116. rence work for both the application programmer and the system programmer The System Manual contains all the information required for operation of the IMCOx PLC The manual describes in detail all the special features and facilities of the IMCOx PLC 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 1 1 General Information about IMC0Ox PLC Documentation 1 1 System Manual Overview This manual covers the operation programming and startup of a programmable logic control PLC based on the RMOS3 PLC software package Chapter overview Chapter 1 explains the documentation concept Chapter 2 briefly describes a controller s functional units Chapter 3 explains the operating modes and the methods of changing them It also covers retentivity and error handling Chapter 4 covers STEP 5 I O addressing Chapter 5 describes test and startup functions using SIMATIC STEP 5 programmers Chapter 6 is an introduction to STEP 5 programming It outlines the three display modes and discusses the modular program structure and the different types of module or block STEP 5 number representation is also explained in some detail Chapter 7 looks at the user memory available under STEP 5 and at a conversion program which generates an MC5 binary file Chapter 8 covers HLL high level language blocks and how they are linked to STEP 5 programs Chapter 9 concentrates on data block 1 abbreviated to DB 1 which always contains the PLC configuration d
117. requested in the controller program for a certain station with the call dpn_slv_diag The station number and the desired number of diagnostic bytes are transferred as parameters in two consecutive flag words and the first flag byte of several consecutive flag bytes usually 3 to 16 flag words for the storage of the diagnostic data The return status slv_state and the number of diagnostic bytes available are stored with the dpn_slv_diag callin three additional consecutive flag words The layout of the consecutive flag words usually 3 to 16 flag words with the diagnostic data depends on the station type and is specified in DPPROG The diagnostic data are only available for a station when provide diagnostic data is configured in the DP data base Diagnostic data for standard slaves and non standard slaves ET200U and ET200B are supported The IMCO5 DP converts diagnostic data from non standard slaves in accordance with conventions The length of the diagnostic data is typically in the range of 6 to 32 bytes The maximum length is 244 bytes Note The HLL block for diagnostics only stores the diagnostic data in the flag words The IMCO5 DP is responsible for correct provision of the data Sample call for FB 208 HLL block for diagnosis L 124 Error for DP connection L KH 0000 AKKU1 0 F Equal JZ M1 No error L 125 Load station number T FW 10 Load station number in flag word 10 L KH 0032 AKKU1 32 T FW 12 Loa
118. rocess monitoring e Output of the interrupt stack ISTACK e Output of the block stack BSTACK e System parameter output e Address output e Display memory structure These functions are described below You will find more detailed information in the corresponding programmer manual Communication between the PLC and PG is handled by the AS511 protocol using RS 232 2 of the IMCO5 or COM1 of the IMC01 See chapter 5 of the user manual In the case of different interface formats you will have to use an interface converter Note Transfer speed for serial communication is set to 9600 baud 5 1 Forcing Variables This test function lets you change any process variables operand area l Q F D T C The variables are changed at the end of a processing cycle It is not possible to influence signal states directly during a cycle Controlling variables is primarily a way of modifying processing in RUN mode but it can also be used effectively in STOP mode Changed variables are accepted at the RUN transition 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 1 Testing and Startup Functions 5 2 Forcing Outputs This function lets you address outputs directly so as to test the wiring to peripheral components You can also check the allocation of logical output bytes to physical addresses DB 1 configuration The IMCOx PLC must be in STOP mode for this test function All outputs used from the IMCOx PLC then are reset
119. roller will still be in RUN mode In this case the overall reset flag must be set in order to terminate the PLC cycle because all the other conditions which would cause a STOP are only polled at the end of a cycle When the reset button is used here the controller displays the error message scan time exceeded and switches to STOP mode 3 5 1 2 Scan Time Calculation The controller provides data on user program runtime in a time base of 1 to 10 msec resolution depends on the RMOS clock tick The values for current minimum and maximum scan time are written to system data as listed below They can be read with the PG function output addresses System data Absolute Contents meaning word address SD 121 EAF2 Current scan time in msec SD 122 EAF4 Maximum scan time in msec Minimum scan time in msec SD 123 EAF6 Current scan time is also written to the shared memory see chapter 12 Scan time calculation which takes up a certain amount of the processor s time must be activated by an entry in DB 1 see chapter 9 When SD 122 or SD 123 are set to the value 0 a new measurement is started 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 3 7 Operating Modes 3 5 1 3 Diagnosis While Reading Writing the Process Image Only with IMCO05 During the PLC cycle accessibility of all decentral stations configured in the DP data base is monitored If errors occur error information is stored in system data
120. rsion Counters retentivity CSF 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual _ T Po T D Ww L A amp L A in oO MRE Be ed i eel OO ow L o gt op M o iR oa o gt o A o Ma N T KOJ Qj j e w Ww l O oO O71 l 10 IN 10 0 CVSTEPV EXE Cycle time exceeded cycle driven D Data blocks retentivity DB 1 default values error structure DB memory configuration Decimal numbers Directory entries Display Elements Display modes Display of results E EPROM Error codes Error variable Event flags group ID Execution time Extended operations F Flags retentivity Flash memory FLASHDP BAT FLASHPLC BAT Floating point arithmetic Flow chart Formal operands oO ia 1 l M o a o ollo L h O A I l l MN O oO Ny A Index Function blocks HLL G GENDP BAT GENSYSC1 BAT GENSYSC5 BAT H Hexadecimal numbers High level language programming HLL blocks HLL Blocks HLL memory configuration HLLCODE C HSTART ASM Initialization Input output address allocation addressing decentral direct access initialization Installation Interrupt stack ISTACK output L LAD Ladder diagram Library number LIR error MASK01 to MASKO6 MC5 code memory structure p N oo NM s KR h h h TIIRI oO wo aw P ro o g
121. s file s object code is normally in the library RM3PLC LIB If you have to modify this file then the file must be recompiled and linked as an independent object code module called PLC_IOIF OBU ahead of the library RM3PLC LIB linking in this order is essential The file PLC_IOIF ASM contains the following functions x_plc_vector_table Reserved function Do not call x_plc_mask_pic Reserved function Do not call x_plc_free_pic Reserved function Do not call x_plc_save The IMCOx PLC installs an NMI handler if this option is configured to save retentive data in the event of a power failure power fail signal At this point the NMI handler can be extended for extra data saving 10 6 Directory Entries The callx_plc_start or x_plc_init generates various tasks and enters them in the RMOS catalog Each of these tasks is assigned a priority via parameters priority 1 and priority 2 The directory entries are listed in chapter 14 1 4 J31069 D2037 U001 A3 7618 10 12 IMCOx PLC System Manual Operator Interface and Display Elements 11 Operator Interface and Display Elements The IMCOx PLC has two interfaces to handle operating and display elements for an application see chapters 10 5 Manipulation indication can be performed via an RMOS event flag group An event flag group can be used for operating mode selection display by another RMOS task In this way the RUN STOP operation of the IMCOx PLC can be controlled by another RMOS tas
122. s a difference between runtime errors compatible to SIMATIC S5 115U see below and IMCOx PLC specific error code which is written to a reserved system datum the error status word see chapter 5 All errors are indicated by activating the error display event flag 4 J31069 D2037 U001 A3 7618 3 12 IMCOx PLC System Manual Operating Modes 3 8 1 Runtime Errors Runtime errors can occur only while a user program is executing i e in RUN mode because their source is the STEP 5 program code Runtime errors are usually read out at the PG by displaying the ISTACK The following runtime errors can occur when the IMCOx PLC is running e scan time exceeded e timer error e substitution error e transfer error e call of nonexistent block e block stack overflow e STS command Note The SAC indication always has the value 0 for errors TRF SUF STUEB and QVZ i e SAC cannot be used for error localization here The incorrect code location can be determined by BEF REG Errors are indicated by setting the error flag Digital outputs are deleted processing of the controller program stops exception see chapter 3 8 1 5 and the controller goes into STOP mode Before processing can start again the error must be acknowledged Acknowledgement by event flag Acknowledgement by event flag is application specific and must be programmed as part of the controller realized with the IMCOx PLC With the exception of block stac
123. s initiated by one of the following events e Executing the PG function PC START e After a restart if all RUN conditions have been met e n response to an event flag see chapter 11 When the controller enters RUN mode for the first time after a restart the restart OB 22 is executed At each subsequent operating mode change from STOP to RUN restart OB 21 is executed If the most recent controller STOP was initiated by the PG function PC STOP then it can also be started again by using the event flag group independently of the PG function PC START 3 4 STOP Transition A transition from RUN to STOP interrupts processing of the control program at the end of a PLC cycle all outputs are set to zero For application specific requirements STOP OB OB 28 should be the last function to be called 4 J31069 D2037 U001 A3 7618 3 4 IMCOx PLC System Manual Operating Modes The PROFIBUS DP communication remains but in state CLEAR Note All local and decentral outputs assume the value 0 STOP transition Disable alarms Disable timer processing Copy retentive data to retentivity memory Delete and write process image and peripheral area Delete non retentive data flags timers counters Call STOP OB OB 28 or error OB End Figure 3 4 STOP transition The transition to STOP takes place after one of the following events Execution of the
124. s responsible for executing control programs at a level where process control is e _cycle driven processing level e timer driven processing level 2 3 2 Accumulator ACCUM The accumulator is an arithmetic register Values from internal counters and timers for example are loaded via the accumulator The accumulator also performs compare convert and arithmetic operations 2 3 3 Counters Timers and Flags The controller makes available internal counters timers and flags Flags are memories for storing signal states and intermediate results Counters timers and flags can be set to be retentive so that their contents are not lost when power is switched off see chapter 3 6 2 3 4 Communication Flags A contiguous flag area can be defined an output communication flag or an input communication flag If another RMOS task or the CPU is in communication with the controller these communication flags are available to them for both reading and writing This allows data to exchanged between the PLC and its communication partners or specific operations of the control program to be synchronized with operations in other tasks 2 3 5 Process Images The controller stores the signal states of its inputs and outputs in process images Process input images are treated differently from process output images e Process input images PII are read only at the beginning of a PLC cycle During the cycle the PII data is only accessed to chec
125. ss Monitoring This function lets you execute any code block in step mode Calling this PG function causes program processing to be halted at a specified point You specify the halt point an instruction in the program by positioning the cursor on it in the chapter of program code displayed on your monitor Current signal states and RLO up to the specified instruction are reported By repeatedly moving the halt point you can process any STEP 5 code block step by step Process monitoring means that e All jump commands are traced e Block calls are processed without delays Process monitoring is resumed only after return At the end of the block BE program execution is automatically ended e The process image is not updated from to the inputs and outputs outputs are set to zero If the controller is switched from STOP to RUN only after process monitoring has been activated the input process image is set to zero for the remainder of the program run 5 7 Output of Interrupt Stack ISTACK Outputting the ISTACK helps to determine the cause of a runtime error Runtime errors are indicated by setting the error flag When a runtime error occurs the controller switches to STOP mode the mode change includes a ISTACK entry only if the appropriate error OB is not available or if a STOP instruction STS is programmed Note ISTACK output by the IMCOx PLC does not comply completely with S5 conventions See chapter 15 5 7 1
126. t un o L o 1 L P o a ol a N L P P i T oo au Sz see User Manual o oO OD oa y oa e ao i 1 o L o L a ro MC5 compiler MC5 memory configuration Memory areas Memory configuration Memory organization N Nesting depth O OB 1 OB 10 to OB 13 OB 21 OB 22 OB 28 OB 31 Operands Operating modes Operator interface Organization blocks cycle OB error OB HLL start OBs STOP OB timer OBs trigger OB Overall reset P Pause length of PLC task Peripheral area extended Periphery address allocation decentral PG PG functions PG interface 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual i o1 _ T TCL N eed 10 o gt o P O P ee P A P N p ol wo l P w P k l oe w w wo w Hig 1 N a4 O D _ P N O N_A o O mk N a al o o o i i o N oe PII access PIQ access PLC Priority of the PLC tasks Process images decentral Process monitoring Processing levels cycle driven timer driven Program blocks Program memory Programmer Programming language STEP 5 R Representing numbers Restart Retentivity RUN mode RUN transition Runtime errors S Scan time calculation monitoring Sequence blocks Shar
127. tentivity Overall Reset Overall Reset by Event Flag Overall Reset via the PG Overall Reset by the System Error Handling Runtime Errors Scan Time Exceeded Timer Error Substitution Error Transfer Error Calling Nonexistent Blocks Block Stack Overflow STS Operation STEP 5 Command 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 11 2 1 2 1 is N h 34 oO Ww wo wo ao A NIN 3 7 IMCOx PLC 3 8 2 IMCOx PLC specific Errors 3 8 2 1 DB 1 Error 3 8 2 2 Compiling Error 3 8 2 3 Memory Overflow in Runtime Area 3 8 2 4 LIR TIR TNB Error 3 8 2 5 Clock Error 3 8 3 Error Status Word 4 I O Addressing 4 1 Bitwise Addressing 4 2 Bytewise and Wordwise Addressing 4 3 Access to the PII 4 4 Access to the PIQ 4 5 Direct Access 4 6 Initializing Outputs 4 7 Access to Decentral Inputs Outputs 5 Testing and Startup Functions 5 1 Forcing Variables 5 2 Forcing Outputs 5 3 Compressing Memory 5 4 Direct Signal State Reporting Status Variables 5 5 Program dependent Signal State Reporting 5 6 Process Monitoring 5 7 Output of Interrupt Stack ISTACK 5 7 1 Determining the Error Source 5 7 2 ISTACK Output to PG 5 7 3 Mnemonics of ISTACK Entries 5 8 Block Stack Output 5 9 System Parameter Output 5 10 Address Output 5 11 Display Memory Structure 5 12 Error Reporting with the Error Status Word 6 Introduction to Programming 6 1 STEP 5 Programming Language
128. the MC5 code This binary file is transferred to a free sufficiently dimensioned memory segment of the user flash memory of the IMCO5 CVSTEPV EXE generates a 16 bit format file Sign on message f CVSTEPV Vx y STEPV FILE CONVERSION Call syntax CVSTEPV lt source file gt lt destination file gt e 1 s Option e Generate EPROM block type When conversion as RAM block type is used the DBs are loaded from the current MC5 code during the restart after POWER OFF Note The e option is mandatory for both the IMC05 and the IMCO1 Option s The file is split into LOW byte and HIGH byte Note The s option cannot be used for either the IMCO05 or the IMCO1 If no destination file is specified the source file name is used with the extension BIN or LOW HIG Example CVSTEPV STEPTEST S5D e generates the file STEPTEST BIN 4 J31069 D2037 U001 A3 7618 7 2 IMCOx PLC System Manual STEP 5 User Memory If the program is called without parameters the sign on message and the call syntax are displayed CVSTEPV Vx y STEPV FILE CONVERSION USAGE CVSTEPV options lt source file gt lt destination file gt e Generate EPROM block type Default RAM block type 1 Display the list of sorted blocks s File splitting low byte high byte Specifying an illegal source file results in a message Illegal file lt source file gt c Transferri
129. ting the acknowledgement byte e Setting resetting the RMOS event flag ACCESS bit 12 3 1 Access Control Using the Status and Acknowledgement Bytes Here access to shared memory is a handshake process synchronized by means of the status byte and acknowledgement byte e The IMCOx PLC copies the RUN STOP status to the status byte Following an operating mode transition from STOP to RUN the communication input flags are read from shared memory and after the first PLC cycle the PLC data are written to shared memory If communication input flags are defined these must already have been set in STOP mode by another task The acknowledgement byte is then reset from 1 to 0 thus enabling the other task to access shared memory e Another task can now read data from the shared memory and if necessary write new data to the communication input flags Afterwards the task must set the acknowledgement byte from 0 to 1 The IMCOx PLC will not access shared memory until the task has set the acknowledgement byte e The IMCOx PLC updates the data in shared memory after each PLC cycle but only if the acknowledgement byte was previously set to 1 e During an operating mode transition from RUN to STOP the IMCOx PLC resets the acknowledgement byte thus enabling the other task to access shared memory Another task can access shared memory after each PLC cycle The task can select any time frame by means of the acknowledgement mechanism The task must ensure by
130. tion about IMCOx PLC Documentation The IMCOx PLC documentation has been split into three sections in the belief that this is the most helpful way of presenting all the necessary information for different types of users It has been prepared with three user groups in mind firstly the absolute beginners who want to get a working grasp of IMCOx PLC as quickly as possible secondly users writing STEP 5 programs who will use it mainly as a reference work and lastly system programmers who also need detailed information on how IMCOx PLC fits into the RMOS operating system We hope this documentation will help all three groups to begin working confidently with this product in as short a time as possible Getting to know STEP 5 reference IMCOx PLC configuration IMCOx PLG STEP 5 programming te v User S anual Pte Ystem Ce Figure 1 1 Target uses for manuals The User Manual is intended for getting acquainted with and gaining a general overview The manual covers all the basics of installing starting and using the IMCOx PLC under the RMOS operating system The Reference Manual contains detailed information about STEP 5 commands STEP 5 operation codes the DB 1 configuration the parameters of the IMCOx PLC start calls in short everything required for IMCOx PLC operation mostly in tabular form The Reference Manual is thus the standard refe
131. umber SD 110 EADC Error OB number SD 111 EADE Error opcode SD121 EAF2 Current scan time SD 122 EAF4 Maximum scan time SD123 EAF6 _ Minimumscan time SD 124 126 EAF8 EAFD PROFIBUS DP diagnostics SD 128 201 EB00 EB93 Block stack SD 203 238 EB96 EBDD Interrupt stack SD 240 243 EBEO EBE7 Reserved SD 248 255 EBFO EBFF Reserved for user programs 4 J31069 D2037 U001 A3 7618 5 10 IMCOx PLC System Manual Testing and Startup Functions 5 11 Display Memory Structure This function displays the structure and allocation of STEP 5 program memory MC5 code Because the memory is divided into two segments if you call this function more than once the display will show MC5 memory and DB memory alternately Note Different PGs might show differing values in the memory structure display The IMCOx PLC gives correct values for the basic package STEP 5 from Version 6 5 or 7 02 5 12 Error Reporting with the Error Status Word The error status word SD 104 address EADO is used to report IMCOx PLC specific errors Information on the cause of the error is entered in the system data words SD 105 to SD 111 These system data words can be read out with the PG function Output addresses For Details on the error status word see chapter 3 8 3 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 5 11 Testin
132. up ID flag_id 10 10 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual IMCOx PLC Configuration Error on PROFIBUS DP connection only with IMC05 The exact cause of the error can be determined with the x_plc_dp_ error unsigned int error variables Table 10 2 Error codes on the PROFIBUS DP link Error Error code hex Meaning E PLC_L2 VECTOR 0x1B Error during installation of the unit or the interrupt handle x_plc_dp_ error contains the error status of the RcCom05DPInitUnit call E PLC_L2_INIT 0x1C Error during installation of the driver x plc dp error contains the error status of the RcComO5DPInit call Error during startup of the DP driver x_plc_ dp error contains E PLC_DP_START 0x1D the error status of the Com201Start call E PLC_DP_INIT Ox1E Error during registration of the DP application x_plc dp error contains the error status of the dpn_init call 0x23 E_PLC_DP_MAX32 E PLC_DP_OPEN Ox1F Error during opening of the DP data base CRUN call fopen x_plc_dp error contains the CRUN error number E PLC_DP_READ 0x20 Error during reading of the DP data base x plc dp error contains the CRUN error number E_PLC_DUP_IO 0x21 An I O address is configured as both local and decentral E PLC_DP_CFG 0x22 Error during determination of the slave configuration of the DP system x_plc_dp_ error contains the error status of the dpn_read_cfg call More than
133. write job must be triggered for all I O bytes of that station when direct I O accesses with L PY or T PY are used The I O bytes written last are stored locally IMCOx PLC supports up to 16 activated PROFIBUS DP stations A maximum of 32 bytes are permitted per station The PROFIBUS DP interface is designed as a driver This ensures that only one job is processed at a time when several requests by various tasks are made 4 J31069 D2037 U001 A3 7618 IMCOx PLC System Manual 4 5 I O Addressing With IMCO1 With the IMC01 decentral I O cannot be linked directly to the I O area of the PLC in contrast to IMCO05 since the IMC01 has a DP slave and not a DP master However decentral I O can be processed with the STEP 5 program This means that a DP interface must be included in the C program section of the application See technical description of the IMC01 BSP HLL function blocks can then be used to image the DP input and output areas in a PLC data block for example 4 J31069 D2037 U001 A3 7618 4 6 IMCOx PLC System Manual Testing and Startup Functions 5 Testing and Startup Functions The IMCOx PLC supports all the test and startup functions of SIMATIC STEP 5 programmers e Status block e Status variables e Forcing variables e Forcing outputs e Loading of blocks PLC PG e Deleting blocks e PC START STOP e Controller directory e Memory compression e Program dependent signal state reporting e P
134. ystem dpn_in_slv Read the input data of one DP slave dpn_in_slv_m Read the input data of several DP slaves dpn_out_slv Send output data to one DP slave dpn_out_slv_m Send output data to several DP slaves dpn_slv_diag Request diagnostic data of a slave The process image is updated with dpn_in_slv_m anddpn out _slv_m The I O bytes are addressed with dpn_in_slv anddpn_ out _slv The number of stations the address assignment and the number of decentral I O bytes per station are determined with dpn_read_cfg and direct access to the DP data base via CRUN If the IMCOx PLC goes into STOP status DP communication remains activated The IMCOx PLC supports up to 16 activated DP stations of the 126 maximum possible DP stations of the DP bus system calls don_in_slv_m and dpn_out_slv_m only permit 16 DP stations Up to 32 bytes are supported per DP station The DP connection can be used to simultaneously read or write access only all outputs inputs of one station When direct I O accesses are used T PB L PB a read write job must be triggered for all I O bytes of the applicable station The I O bytes written last are stored locally The initialization values for the outputs are set to zero in accordance with SINEC L2 IM 308 When writing an I O byte this can be used to write all output channels of a station without reading the station Accesses to the decentral I O bytes are performed by the IMCOx PLC with dpn_in _slv and dpn_

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