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System Manual PLCcore-5484

1. pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 psiPImgVar_61131_iSpeedCtrl short int pabShPImgDataSect ShPImgLayoutDscrpt m_uiPImgMarkerOffs 516 fRes ShPImgClntSetupWriteSectTable ShPImgWriteSectTab 1 if fRes printf n ERROR Initialization of write sector table failed Realization on the PLCcore 5484 To enable the execution of the shared process image demo without previous introduction into the Linux based C C programming for the PLCcore 5484 the modul comes with a preinstalled translated and ready to run program version and PLC firmware home plc shpimgdemo The following description refers to this program version Alternatively the demo project can be newly generated from the corresponding source files see section 7 1 3 and can be started afterwards The following steps are necessary to run the shared process image demo on the PLCcore 5484 1 Activate option Shared Process Image in the PLC configuration see section 7 1 1 5 3 1 and 5 3 3 2 Open the PLC program example RunLight in the OpenPCS IEC 61131 programming system und translate the project for the target hardware of the type SYSTEC PLCcore 5484 3 Select the network connection to the PLCcore 5484 und download the program 4 Start the PLC program on the PLCcore 5484 5 Login to the command shell of the PLCcore 5484 as described in section 6 3 1 SYS TEC electronic GmbH 2009 L 1103e 2 Page
2. 16 MByte FLASH Memory 2x 10 100 Mbps Ethernet LAN Interface 1x with on board PHY 2x CAN 2 0B Interface 4x Asynchronous Serial Ports UART 24 digital inputs 22 digital outputs 1 high speed counter Pulse Dir or A B 1 PWM PTO output Pulse Dir Externally usable SPI and I C On board Peripherals RTC temperature sensor On board Software Linux SPS Firmware CANopen Master HTTP and FTP Server Programmable in IEC 61131 3 and in C C Function block libraries for communication CANopen Ethernet and UART Function block libraries for hardware components RTC Counter PWM PTO Support of typical PLC control elements e g Run Stop switch Run LED Error LED Linux based other user programs may run in parallel Simple HTML based configuration via WEB Browser Remote Login via Telnet Small dimension 70 x 40 mm There are different types of firmware available for the PLCcore 5484 They differ regarding the protocol used for the communication between Programming PC and PLCcore 5484 SYS TEC electronic GmbH 2009 L 1103e 2 Page 6 System Manual PLCcore 5484 Order number 3390004 PLCcore 5484 CANopen communication with Programming PC via CANopen Protocol Interface CANO Order number 3390005 PLCcore 5484 Ethernet communication with Programming PC via UDP Protocol Interface ETHO Making PLC available as an insert ready core module with small dimensions reduces effort and costs significantly for the development of
3. ShPImgReadSectTab 1 m uiPImgDataSectSize sizeof BYTE sizeof BYTE ShPImgReadSectTab 1 m SyncType kShPImgSyncAlways pbPImgVar 61131 bLEDGroupO0 BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgOutputOffs 0 pbPImgVar 61131 bLEDGroupl BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgOutputOffs 1 SYS TEC electronic GmbH 2009 L 1103e 2 Page 55 System Manual PLCcore 5484 Marker Section uiSlidbarLen AT MW512 0 bStatus AT MB514 0 ShPImgReadSectTab 2 m_uiPImgDataSectOffs ShPImgLayoutDscrpt m_uiPImgMarkerOffs 512 ShPImgReadSectTab 2 m uiPImgDataSectSize sizeof unsigned short int sizeof BYTE ShPImgReadSectTab 2 m SyncType kShPImgSyncAlways pbPImgVar 61131 usiSlidbarLen unsigned short int pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 512 pbPImgVar 61131 bStatus BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 514 fRes ShPImgClntSetupReadSectTabl ShPImgReadSectTab 3 if fRes printf n ERROR Initialization of read sector table failed Write Sector Table Marker Section bDirCtrl AT MB513 0 iSpeedCtrl AT MB514 0 ShPImgWriteSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 ShPImgWriteSectTab 0 m uiPImgDataSectSize sizeof BYTE sizeof WORD ShPImgWriteSectTab 0 m SyncType kShPImgSyncOnDemand pbPImgVar_61131_bDirCtrl BYTE
4. 248 SYS TEC electronic GmbH 2009 L 1103e 2 Page 35 System Manual PLCcore 5484 LL 2x Type the name of a program folder document or Internet resource and Windows will open it For you Open telnet 192 168 10 248 Cancel Browse Figure 15 Calling the Telnet client in Windows Logging in to the PLCcore 5484 is possible in Terminal window if connected via COMO or Telnet window if connected via ETHO The following user account is preconfigured for the administration of the module upon delivery of the PL Ccore 5484 also compare section 6 2 User PlcAdmin Password Plc123 of Telnet 192 168 10 248 l PLCcore 5484 192 168 10 248 login PlcAdmin Password sh 2 05 1t Figure 16 Login to the PLCcore 5484 Figure 16 illustrates a login to the PLCcore 5484 using a Windows standard Telnet client 6 3 2 Login to the FTP server The PLCcore 5484 has available a FTP server FTP Deamon that allows file exchange with a computer up and download of files Due to security and performance reasons the FTP server is deactivated by default and must be started manually if required Therefore the user must first be logged in to the command shell of the PLCcore 5484 following the procedures described in section 6 3 1 Afterwards the following command must be entered in the Telnet or Terminal window ftpd D Figure 17 illustrates an example for starting the FTP server SYS TEC electronic GmbH 2009 L
5. 56 System Manual PLCcore 5484 6 Switch to the directory home plc and call the demo proogram shpimgdemo cd home plc shpimgdemo The digital outputs of the PLCcore 5484 are selected as runlight The speed is modifiable via the analog input AIO Poti at the ADC of the development board With the help of pushbuttons SO and 1 the running direction can be changed After starting the demo program shpimgdemo on the PLCcore 5484 actual status information about the runlight is indicated cyclically in the terminal see Figure 30 cx Telnet 192 168 10 248 PLCcore 5484 192 168 10 248 login PlcAdmin Password 2 05 H cd home plc 72 85 plctt shpimgdemo Shared Process Image demo application for SYSTEC PLCcore 5484 Version 1 88 lt c 2006 2008 SYS TEC electronic GmbH www systec electronic com Setup shared process image client Shared proce image layout InputOffs 5 Input 2048 2048 2048 4096 MarkerSize 4088 pShPIngHeader Bx40120000 pabShPImgDataSect 0x401200F8 Register signal handler Setup read and write sector table Pointer to process image vaiables pbPI mgVar_61131_bButtonGroup pbPI mg ar_61131_bLEDGroup pbPI mg Var_61131_bLEDGroupi pbPImgUar 61131 usiSlidbarLen pbPImgUar 61131 bStatus pbPImgUar 61131 bDirCtrl psiPI mgVar_61131_iSpeedCtrl Run program cycle Cexchange proces 0x401200F8 0x401208F8 x461208F9 0x401212F8 6x4012
6. API provided by the shared process image client Function ShPimgCintGetDataSect BYTE ShPImgClntGetDataSect void Function ShPlmgClntGetDataSect provides a pointer to the beginning of the shared process image This pointer represents the basic address for all accesses to the shared process image including the definition of sections ReadSectorTable and WriteSectorTable see section 7 1 1 SYS TEC electronic GmbH 2009 L 1103e_2 Page 50 System Manual PLCcore 5484 Functions ShPlmgClntLockSegment and ShPImgCintUniockSegment BOOL ShPImgClntLockSegment void BOOL ShPImgClntUnlockSegment void To exclusively access the shared process image the client application has available two functions function ShPlmgClntLockSegment to enter the critical section and function ShPimgCintUniockSegmenti to leave it The segment between both functions is called protected section because in this segment the client application holds unrivaled access to the shared process image see section 7 1 1 The consistency of read or written data is only guaranteed within such a protected section Outside the protected section the shared process image may anytime be manipulated by the PLC runtime system To ensure that the client application does not interfere with the PLC runtime system too much the critical sections should be set as less as possible and only as long as necessary Otherwise the PLC cycle time may be extended and runtime variations Jit
7. DIP switch Bitrate kBits DIP DiP2 DIPS OE is TAR OFF 125 OFF OFF OFF 500 OFF OFF SYS TEC electronic GmbH 2009 L 1103e_2 Page 29 System Manual PLCcore 5484 Master mode CANO The Master mode is activated via Bit position 4 of DIP switch S309 on the Development Board for PL Ccore 5484 DIP4 OFF PLC is NMT Slave DIP4 ON PLC is NMT Master 5 3 3 Setup of the configuration file plccore 5484 cfg The configuration file home plc plccore 5484 cfg allows for comprehensive configuration of the PLCcore 5484 Although working in it manually does not always make sense because most of the adjustments may easily be edited via WEB Frontend compare section 5 3 1 The setup of the configuration file is similar to the file format Windows INI File It is divided into Sections which include different entries Entry Table 15 shows all configuration entries Entries of section ICANOJ take priority over settings via control elements see section 5 3 2 Table 15 Configuration entries of the CFG file Section Entry Value Meaning CANO Enabled 1 0 1 1 Interface CANO is activated configuration takes place via control elements of the Development Board factory setting see section 5 3 2 0 Interface CANO is deactivated 1 Interface CANO is activated configuration takes place via entries of the configuration file below NodelD 1 127 or Node number for interface CANO 0x01 Ox7F de
8. PCI AD28 A25 B25 PCI AD29 SPI MTSR C25 D25 SPI CLK PCI AD30 A26 B26 PCI AD31 SPI MRST C26 D26 SPI CS1 PCI TRDY A27 B27 PCI IRDY SPI CS2 C27 D27 SPI CS3 PCI_CXBEO A28 B28 PCI PAR SPI CS4 C28 D28 SPI CS5 PCI CXBE1 A29 B29 PCI PERR SPI CS6 C29 D29 SPI CS7 PCI_CXBE2 A30 B30 PCI SERR FB_BWEO C30 D30 FB_BWE1 Signal Pin Pin Signal Signal Pin Pin Signal PCl_CXBE3 PCI DEVSEL FB_BWE2 FB_BWE3 PCI IDSEL PCI FRAME FB_CS2 FB_CS3 PCI STOP PCI RESET FB CS4 FB_CS5 PCI_BGO PCI_BRO FB ALE DREQO PCI_BG1 PCI_BR1 FB_TA BOOT PCI BG2 PCI BR2 DACKO PFI PCI_BG3 PCI_BR3 IRQ5 IRQ6 PCI BG4 PCI BRA IRQ7 TINO FB ADO FB AD1 TOUTO TIN1 FB AD2 FB AD3 TOUT1 TINS FB_AD4 FB_AD5 TOUT3 PLD lOO FB AD6 FB AD7 PLD IO1 PLD IO2 FB AD8 FB AD9 PLD IO3 PLD I04 FB AD10 FB AD11 PLD I05 PLD IO6 FB AD12 FB AD13 PLD 07 PLD IO8 FB AD14 FB AD15 PLD IO9 PLD I010 FB AD16 FB AD17 PLD IO11 PLD I012 FB AD18 FB AD19 PLD I013 PLD I014 FB AD20 FB AD21 PLD I015 PLD I016 FB AD22 FB AD23 PLD I017 PLD I018 FB AD24 FB AD25 PLD I019 PLD 1020 FB AD26 FB AD27 PLD 1021 PLD I022 FB AD28 FB AD29 PLD I023 PLD I024 FB AD30 FB AD31 PLD 1025 PLD 1026 FB RW FB OE PLD IO27 PLD IO28 VBAT 3 3V PLD IO29 PLD IO30 3 3V 3 3V PLD IO31 PLD IO32 3 3V 3 3V PLD IO33 PLD IO34 3 3V 3 3V PLD TMS PLD TDI 3 3V 3 3V PLD TCK PLD TDO SYS TEC electronic GmbH 2009 L 1103e 2 Page 15 System Manual PLCcore 5484 Table 5 is a subset of Table 4 an
9. Predefined User Accounts 35 Process Image Layout and Addressing 20 Network Variables eese 20 Programming eene 19 R Reference Design denn 61 REG settings iiti citet tti ae 40 Run Stop Switch Deletion of PLC Program 23 Encoding 2 gode 17 L 1103e 2 Page 68 System Manual PLCcore 5484 R n EEB nk eeu 21 S Selecting the Firmware Version 32 Setting the System Time ssss 40 Shared Process Image Activation ii tet aidas 46 AP Description eet orte neces 49 OVErVIEW iai k katanas ood asi ua ata sl 45 Variable Pails tysi mieten oireitani iagos 46 ShPImgCintGetDataSect uuuss 50 ShPImgCintGetHeader ssesss 50 ShPImgCintLockSegment 51 ShPlImgCintRelease ssssssss 50 ShPimgCintSetNewDataSigHandler 50 ShPImgCintSetup sss 49 ShPImgCintSetupReadSectTable 51 ShPlmgCintSetupWriteSectTable 51 ShPImgCintUnlockSegment 51 ShPImgCintWriteSectMarkNewData 52 OR ette eee eta 52 90 1098 5 iter needed Taare 58 Software Update PLC Firmware sssssssee 41 Softwareupdate SYS TEC electronic GmbH 2009 Ei Image SEA et 43 SI
10. R S M Suitch R S M Suitch DI xFF xFF 6x46 DI xFF xFF 6x46 DI xFF xFF 6x46 DI xFF xFF 6x46 DI BxFF A6xFF 0x40 DG 6x86 6x86 8x84 D8 8x00 8x00 8x608 D8 8x88 8x880 80x20 D8 80x808 8x080 80x40 bHexSvitch 8x28 bHexSuitch 8x28 bHexSuitch 8x28 bHexSwitch 6x2 bHexSuitch 8x28 bDipSvitch 8x88 bDipSuitch 0x08 bDipSuitch 0x08 bDipSuitch 8x88 bDipSwitch 8x88 R S M Suitch R S M Switck R S M Suitch R S M Suitch R S M Switck Figure 33 Testing the hardware connections using iodrvdemo SYS TEC electronic GmbH 2009 L 1103e 2 System Manual PLCcore 5484 Appendix A Reference design for the PLCcore 5484 GPIOs State Switches and LED s Seu XI D 3j M Dix d be a2 IRST 2 ia 1 R I ui a 10k B TED 4 Ro 40R 28 i ZK D eo 2 K AUR e NR 2 skh 1 D 1 DES LED g ROS b ge wb 9 JBOOT 2 l 1 ab an A ab RUN ERROR I ED RSM Switch 33 MB R RUNLED 1k RUNSTOP IVRES Sitch D iD e 4 FCI BR2 2 Ke R ANR RD IO 1 r FLD IB 2 ve D im 3 se FCL BR 2 ea i Re FLD 4 Raa RUN z ERRCR LED s R R KNITIERMFPI 20 Ik Ik ab DIP Switch U TAAHCMS AD 5 B 2 ADIO 4 3 B 3 ADIT 5 B 4 j 28 ADIZ 6 5 ADIs 7 m 6 ae ADA B m T 10n DIS 9 v Er 8 Ice 1 rn ES ES 38 3 19 20 A 1 G voc RN Jess 2 Ei UA 1 DIR 3 104 TARCZ c a 100n g
11. S ug GND GND GD Figure 34 Reference design for I O interface connection SYS TEC electronic GmbH 2009 L 1103e 2 Page 61 System Manual PLCcore 5484 interface examples for Or a ln 4 6 c 10n H i ae v E es c In 4 y 2 Qn 1 we Pas p 10 gt GNDJ 3 U TAN TO TDO 5 gi T 2 m 1 RO RI 3 RO Ra 3 ma voc aD c MAXSB2IPW 2 2 5 100n dli 10 Gb ab b DEP famle x 10 38 P 5 c PIX 9 R aa a 10R T 4 Ik U a a 8 CAN DO 1 DO wc 3 I L A 3 CAN RO 4 7 d mms 2 CANHD T 5 RO CAH S 3 5 1 CNO 2 s B cU m 6 RS GD 4 GND NEI ab ab n DE nale Ethernet x RH5 X0d21B PULSE EIHD TX 1 zl EIHD TX 2 m ETH RX 3 2 Ro A5 EPHY 1 1 TOCT ETH RX 6 POOT 1 R 5 s NC al oT 9880 4 100n 100n GD ydiw green 3 A j 28 1 ZAR Link Act R ZAR Figure 35 Reference design for interface circuit SYS TEC electronic GmbH 2009 L 1103e 2 Page 62 System Manual PLCcore 5484 Appendix B GNU GENERAL PUBLIC LICENSE The Embedded Linux used on the ECUcore 5484 is licensed under GNU General Public License version 2 The entire license text is specified below The PLC system used and the PLC and C C programs developed by the user are
12. a mistaken transfer mode e g Text In that case the transfer must be repeated using transfer type Binary SYS TEC electronic GmbH 2009 L 1103e 2 Page 41 System Manual PLCcore 5484 After downloading the self extracting archive the PLC firmware must be installed on the PL Ccore 5484 Therefore the following commands are to be entered in the Telnet window It must be considered that the file name for the firmware archive is labeled with a version identifier e g install plccore 5484 0402 0100 sh for version 4 02 01 00 This number must be adjusted when commands are entered cd tmp chmod x install plccore 5484 0402 0100 sh install plccore 5484 0402 0100 sh Advice The command shell of the PLCcore 5484 is able to automatically complete names if the tab key is used Hence it should be sufficient to enter the first letters of each file name and the system will complement it automatically For example ins is completed to install plccore 5484 0402_0100 sh if the tab key is used ColdFire login PlcAdmin Password sh 2 85 H ftpd D sh 2 85 l cd tmp sh 2 65 tmp chmod x install plccore 5484 0402 0100 sh sh 2 05 tmpt install plccore 5484 0402 8188 sh PLCcore 5484 Runtime System Running installation please wait etc etc rc usr etc autostart http http html http html Pc5484Config html http html index html http boa conf http cgi bin http cgi
13. and reference design in Appendix A is designed for connecting a Run LED This Run LED provides information about the activity state of the control System The activity state is shown through different modes SYS TEC electronic GmbH 2009 L 1103e 2 Page 21 System Manual PLCcore 5484 Table 10 Display status of the Run LED LED Mode PLC Activity State The PLC is in state Stop the PLC does not have a valid program the PLC has received a stop command from the OpenPCS programming environment or the execution of the program has been canceled due to an internal error Quick flashing in The PLC is on standby but is not yet executing relation 1 8 to pulse e The PLC has received a start command from the OpenPCS programming environment but the local Run Stop switch is still positioned to Stop Slow flashing in The PLC is in state Run and executes the PLC program relation 1 1 to pulse Quick flashing in The PLC is in mode Reset compare section 4 8 relation 1 1 to pulse 4 7 3 Error LED red Module connection Error LED see Table 5 and reference design in Appendix A is designed for connecting an Error LED This Error LED provides information about the error state of the control system The error state is represented through different modes Table 11 Display status of the Error LED LED Mode PLC Error State No error has occurred the PLC is in normal state Permanent light A severe error has occ
14. and starts a normal working state with the PLC program which was saved last SYS TEC electronic GmbH 2009 L 1103e 2 Page 23 System Manual PLCcore 5484 5 Configuring the PLCcore 5484 5 1 Activation Deactivation of Linux Autorun During standard operation mode the bootloader CoLilo automatically starts the Linux operating system of the module after Reset or Power on Afterwards the operating system loads all further software components und controls the PLC program execution see section 4 4 For service purposes such as configuring the Ethernet interface see section 5 2 or updating the Linux image see section 6 7 2 it is necessary to disable this Autorun mode and to switch to CoLilo command prompt instead configuration mode The automatic boot of Linux operating system is connected with the simultaneous compliance with various conditions AND relation Consequently for disabling Linux Autorun it is sufficient to simply not comply with one of the conditions Table 12 lists up all conditions that are verified by the bootloader CoLilo All of them must be complied with to start an Autorun for the Linux image Table 12 Conditions for booting Linux 1 kfl 1 and auto 1 The Linux image stored in the Flash must be declared as valid during CoLilo configuration and the Autorun of the image must be activated after Reset for respective CoLilo commands see section 6 7 2 2 DIP2 of PLCcore 5484 On DIP Switch 2
15. delete a program from the PLCcore 5484 This might for example be necessary if an error occurs and the PLC program is running an infinite loop and consequently accessing the OpenPCS programming environment is no longer possible To prevent deleting a PLC program by mistake it is necessary to keep to the following order 1 Position the Run Stop switch to MRes 2 Reset the PLCcore 5484 by pressing the reset pushbutton of the Development Board or through temporary power interrupt Run LED green is flashing quickly in relation 1 1 to the pulse 3 Position the Run Stop switch to Run D Error LED red is flashing quickly in relation 1 1 to the pulse 4 Reposition Run Stop switch back to MRes within 2 seconds c PLCcore 5484 is deleting PLC program Run LED green and Error LED red are both flashing alternately 5 Reposition Run Stop switch to Stop or Hun and reset again to start the PLCcore 5484 and bring it into normal working state If Reset of the PLCcore 5484 is activated e g through temporary power interrupt while at the same time the Run Stop switch is positioned to WRes the module recognizes a reset requirement This is visible through quick flashing of the Run LED green This mode can be stopped without risk Therefore the Run Stop switch must be positioned to Run or Stop Error LED is flashing and it must be waited for 2 seconds The PL Ccore 5484 independently stops the reset process after 2 seconds
16. described in section 6 3 1 To change the password of any user account on the PLCcore 5484 Linux command passwd plus the respective user name must be entered passwd username Figure 21 exemplifies the password change for user PlcAdmin PLCcore 5484 192 168 10 248 login PlcAdmin Password sh 2 65 passwd PlcAdmin Changing password for PlcAdmin Enter the new password minimum of 5 maximum of 8 characters Please use a combination of upper and lower case letters and numbers Enter new password Re enter new password Password changed sh 2 65 Figure 21 Changing the password of a user account SYS TEC electronic GmbH 2009 L 1103e_2 Page 39 System Manual PLCcore 5484 6 6 Setting the system time Setting the system time requires login to the PL Ccore 5484 as described in section 6 3 1 There are two steps for setting the system time of the PLCcore 5484 At first the current date and time must be set using Linux command date Afterwards by using Linux command hwclock w the system time is taken over into RTC module of the PLCcore 5484 Linux command date is structured as follows date options MMDDhhmm CC YY ss Example date 09 22 10 20 2008 55 second Spaces in the parameter list are only inserted to present the example above clearly All spaces do not apply when the command is actually used To set the system time of the PLCcore 5484 to 2008 09 22 and 10 20 55 as show
17. driver may be reloaded and the test program iodrvdemo may be started insmod pc5484drv ko iodrvdemo Figure 33 exemplifies the testing of the hardware connections using iodrvdemo ex Telnet 192 168 10 248 E l j x cd home plc sh 05 plc stopple Killing PLC runtime system Unload I 0 drive done Unload CAN drive done sh 2 05 plc insmod pc5484drv ko sh 2 05 plc iodrudemo done Test application for SYSTEC PLCcore 5484 board driver Version 3 00 lt c 2006 200 SYS TEC electronic GmbH www systec electronic com I 0 Driver version KernelModule 3 00 UserLib 3 00 CPU Board 4152 03 lt 1H gt CPU PLD 3 68 lt HB1H IO Board 4158 05 lt 5H gt Config AAAH gt JP300 must be closed gt JP382 must be set to 2 3 PLD interrupt selftest successful lease Select Exit this application Run basic I 0 test lt digital I 0 and user switches Run counter test Run PWM test pre configured demo Run PWM test lt manual parameter input Run PTO test lt pre configured demo Run test manual parameter input Run test Run EEPROM test Run temperature sensor test Run process image test elect 1 IP a 1 2 3 4 5 6 7 8 9 P S Start basic I O main loop Cpress ESC to abort DI 8xFF 8xFF 8x48 DI 8xFF 0xFF 0x406 D0 0x00 0x00 0x01 D0 0x06 0x60 0x02 bHexSuitch 8x28 bHexSuitch 8x28 bDipSuvitch 8x88 bDipSuitch 8x88
18. field User Authorization of the configuration page see Figure 13 free access to the module configuration is made available without previous user login 5 3 2 PLC configuration via control elements of the Development Kit PLCcore 5484 The configuration via control elements of the PL Ccore 5484 Development Board is preset upon delivery of the Development Kit PLCcore 5484 This allows for an easy commissioning of the module by using CAN interface CANO Due to a limited number of switch elements the initial setting of CANO is restricted Using interface CAN1 requires a configuration via WEB Frontend as described in section 5 3 1 This allows for other adjustments as well Advice Configuring interface CANO is only possible via local control elements if DIP Hex Switch is activated as Enable State for CANO via WEB Frontend factory setting Otherwise configurations made via WEB Frontend take priority over those via control elements Node address CANO The node address for interface CANO is set via Hex Encoding switches S306 and S307 on the Development Board for PLCcore 5484 S307 High part of the node address S306 Low part of the node address Example S307 2 8306 20 gt resulting node address 20 Hex Bitrate CANO The bitrate for interface CANO is adjusted via bit positions 1 3 of DIP switch 309 on the Development Board for PLCcore 5484 Table 14 lists the coding of bitrates supported Table 14 Setting the bitrate for CANO via
19. image of the Linux development system and instructions for its usage are described in the System Manual ECUcore 5484 Manual no L 1102 As illustrated in Figure 27 the user specific C C application uses the API files shpimgclient c and shpimgclient h which is provided by the shared process image client The shared process image client is based on services provided by the shared mmory cient fles shmclient c and shmclient c Both client implementations are necessary to generate a user specific C C application The archive of the shared process image demos shpimgdemo tar gz contains the respective files To create own user specific client applications it is recommended to use this demo project as the basis for own adaptions and extensions Moreover this demo project contains a make file with all relevant configuration adjustments that are necessary to create a Linux application for the PLCcore 5484 Table 19 lists all files of the archive shpimgdemo tar gz and classifies those as general part of the C C application or as specific component for the demo project shpimgdemo SYS TEC electronic GmbH 2009 L 1103e 2 Page 52 System Manual PLCcore 5484 Table 19 Content of the archive files shpimgdemo tar gz File Necessary for all C C In particular for demo applications shpimgdemo shpimgclient c X shpimgclient h X shmclient c X shmclient h X shpimg h X global h X Makefile draf
20. necessary to update the PLC firmware Advice The update of PLC firmware is not identical with the update of the PLC user program The PLC program is directly transferred to the module from the OpenPCS programming environment No additional software is needed for that Suitable as FTP client would be WinSCP which is available as Open Source download from http winscp net It only consists of one EXE file that needs no installation and can be booted immediately Furthermore freeware Core FTP LE download from http www coreftp com or Total Commander integrated in the file manager are suitable as FTP client SYS TEC electronic GmbH 2009 L 1103e 2 Page 34 System Manual PLCcore 5484 TFTP server The TFTP server is necessary to update the Linux image on the PLCcore 5484 Freeware TFTPD32 download from http tftpd32 jounin net is suitable as TFTP server It only consists of one EXE file that needs no installation and can be booted immediately For programs that communicate via Ethernet interface such as FTP client or TFTP server it must be paid attention to that rights in the Windows Firewall are released Usually Firewalls signal when a program seeks access to the network and asks if this access should be permitted or denied In this case access is to be permitted 6 2 Predefined user accounts All user accounts listed in Table 17 are predefined upon delivery of the PLCcore 5484 Those allow for a login to the comma
21. network administrator Network mask set netmask lt xxx xxx xxx xxx gt This command sets the network mask of the PLCcore 5484 The network mask is to be defined by the network administrator Gateway address set gw lt XXX XXX XXX XXX gt This command defines the IP address of the gateway which is to be used by the PLCcore 5484 The gateway address is set by the network administrator Advice If PLCcore 5484 and Programming PC are located within the same sub net defining the gateway address may be skipped and value 0 0 0 0 may be used instead Saving the config save This command saves active configurations in configuration the flash of the PLCcore 5484 Modified configurations may be verified again by entering in the CoLilo command prompt Active configurations are permanently saved in the Flash of the PLCcore 5484 by command config save Modifications are adopted upon next Reset of the PLCcore 5484 SYS TEC electronic GmbH 2009 L 1103e 2 Page 26 System Manual PLCcore 5484 E COM1 19200baud Tera Term VT Of File Edit Setup Control Window Help CUcore 5484 boot olilo set ip 192 168 10 248 IP address 192 168 10 248 olilo set netnask 255 255 255 0 7255 255 255 0 olilo gt conf ig save urning 5312 bytes to flash Oxfe020000 fron 0420000970 tarting sector 1 126K sector s will erased starting fron sector 1 address xfe020000 5312 bytes uritten olilo gt Figure 1
22. not subject to the GNU Gerenal Public License GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure the software is free for all its users This General Public License applies to most of the Free Software Foundation s software and to any other program whose authors commit to using it Some other Free Software Foundation software is covered by the GNU Library General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights These restrictions trans
23. on the PLCcore 5484 and module connection BOOT are electrically connected in or parallel The position of DIP Switch 2 on the PLCcore 5484 is Connection BOOT GND shown in Figure 9 the position of connection BOOT on the module pin connector is defined in Table 5 3 No interruption of Autorun via If all conditions are complied with CoLilo verifies the COMO of the PLCcore 5484 serial interface COMO of the PLCcore 5484 for about 1 second after Reset regarding the reception of SPACE signals ASCII 20H If such a signal is received within that time CoLilo will disable the Linux Autorun and will activate its own command prompt instead After activating the Reset pushbutton e g S303 on the Development Board the CoLilo command prompt answers SYS TEC electronic GmbH 2009 L 1103e_2 Page 24 System Manual PLCcore 5484 Figure 9 shows the positioning and meaning of DIP Switch 2 on the PLCcore 5484 This DIP Switch might be hard to access if the module is built in Thus the Portpin of the processor that is connected to the switch is available as connection BOOT on the pin connector of the PLCcore 5484 see Table 5 DIP2 ON DIP2 OFF Boot Linux amp Stop in CoLilo Start PLC Firmware Config Mode Figure 9 Positioning and meaning of the DIP Switch 2 on the PLCcore 5484 Communicating with the bootloader CoLilo only takes place via the serial interface COMO of the PLCcore 5484 As a receiver on th
24. progress About Figure 25 TFTP server for Windows TFTPD32 A TFTP download of the Linux image requires that the Ethernet configuration of the PLCcore 5484 is completed according to procedures describes in section 5 2 To update the Linux image it is necessary to have available another serial connection to the PL Ccore 5484 in addition to the Ethernet connection All configurations for the terminal program as described in section 5 1 apply 19200 Baud 8 Data bit 1 Stop bit no parity and no flow control Updating the Linux image of the PLCcore 5484 is only possible if Linux is not running Hence Linux Autorun must be disabled prior to the updating process and CoLilo command prompt must be used instead Procedures are described in section 5 1 After Reset e g pushbutton S303 on the Development Board the CoLilo command prompt answers To update the Linux images the following commands must be entered according to the following sequence SYS TEC electronic GmbH 2009 L 1103e 2 Page 43 System Manual PLCcore 5484 Table 18 Command sequence to update the Linux image on the PLCcore 5484 set server host ip addr Selina the IP address of the TFTP server If TFTPD32 is used the address is shown in field Server Interface on the PC set image image bin gz Setting the file names for the Linux image to be loaded tftp OxC2000000 Downloading the Linux image from the PC to the PLCcore 5484
25. standard firmware for SYS TEC s compact control units Consequently it shows identical properties like other SYS TEC control systems This affects especially the process image setup see section 4 6 as well as the functionality of control elements Hex Encoding switch DIP switch Run Stop switch Run LED Error LED Depending on the firmware version used PLCcore 5484 firmware provides numerous function blocks to the user to access communication interfaces Table 8 specifies the availability of FB communication classes SIO CAN UDP for different PLCcore 5484 firmware versions Section 5 5 describes the selection of the appropriate firmware version SYS TEC electronic GmbH 2009 L 1103e 2 Page 19 System Manual PLCcore 5484 Table 8 Support of FB communication classes for different types of the PLCcore Type of PLCcore 5484 Z3 PLCcore 5484 Z4 PLCcore 5484 Z5 Remark Interface Art no 3390000 Art no 3390004 Art no 3390005 CAN X X FB description see manual L 1008 UDP X X FB description see manual L 1054 SIO x x X FB description see manual L 1054 4 6 Process image setup Compared to other SYS TEC compact control systems the PLCcore 5484 obtains a process image with identical addresses All in and outputs listed in Table 9 are supported by the PL Ccore 5484 Table 9 Assignment of in and outputs to the process image of the PLCcore 5484 I O of PLCcore 5484 or Kit Name of I O fo
26. 0 4 SYS TEC electronic GmbH 2009 L 1103e 2 Page 10 System Manual PLCcore 5484 LEDO o o Digital Output DOO Process Image QXO0 0 Digital Output DO1 Process Image QxX0 1 Digital Output DO2 Process Image QxX0 2 Digital Output DO3 Process Image 96QX0 3 EDs o LED 4 Digital Output DO4 Process Image QX0 4 Poti ADC R629 Analog Input AIO Process Image lW40 0 Run Stop Switch S308 Run Stop to operate the PLC program Reset control see section 4 7 1 Run LED D306 Display of activity state of the PLC see section 4 7 2 Error LED D307 Display of error state of the PLC see section 4 7 3 Hex Encoding 306 S307 Configuration of node address CANO see section 5 3 2 Switch DIP Switch 309 Configuration of bitrate and master mode CANO see section 5 3 2 3 4 Optional accessory 3 4 1 I O Extension Board for the PLCcore 5484 Due to limited space on the Development Board for the PLCcore 5484 only digital inputs DIO to DI4 and digital outputs DOO to DO4 are directly implemented via pushbuttons and LEDs However the I O Extension Board for the PLCcore 5484 order number 4004004 adapts all digital in and outputs via pushbuttons and LEDs XXXIX amp AqIPPEREERREIRRELLEAERILE eleisisisieisied selesi Figure 4 I O Extension Board for the PLCcore 5484 SYS TEC electronic GmbH 2009 L 1103e 2 Page 11 System Manual PLCcore 5484 3 4 2 USB RS232 Adapter Cable The SYS TEC USB RS
27. 1 Table 6 defines the coding of the Run Stop switch Functionality of the Run Stop switch for PLC firmware is explained in section 4 7 1 If no Run Stop switch is intended for the usage of the PLCcore 5484 on an application specific baseboard the coding for Run must be hard wired at the module connections also see reference design in Appendix A Table 6 Coding of the Run Stop switch Modus Pin D57 Pin C58 Pin D58 PLD_1032 PLD_1033 PLD_1034 Run 1 0 1 Stop 1 1 0 MRes 0 0 0 4 3 File system of the PLCcore 5484 Pre installed embedded Linux on the PLCcore 5484 provides part of the system memory in form of a file system Being usual for embedded systems most of this file system is read only which means that changes to this part can only be made by creating a new Linux image for the PLCcore 5484 The advantage hereby is the resistance of a read only file system against damages in case of power breakdowns Those occur relatively often in embedded systems because embedded systems are usually simply turned off without previous shutdown Table 7 lists up writable paths of the file system during runtime Path home comprises a flash disk that provides part of the on board flash memory of the PLCcore 5484 as file system This path is used to store all files modifiable and updatable by the user e g configuration files PLC firmware and PLC program files that have been loaded onto the module Directory t
28. 1 Ethernet configuration of the PLCcore 5484 After the configuration is finished and according to section 5 1 all conditions for a Linux Autorun must be re established Upon Reset e g pushbutton S303 on the Development Board the module starts using the active configurations Advice After the configuration is finished the serial connection between PC and PLCcore 5484 is no longer necessary 5 3 PLC configuration of the ECUcore 5484 5 3 1 PLC configuration via WEB Frontend After finishing the Ethernet configuration see section 5 1 all further adjustments can take place via the integrated WEB Frontend of the PL Ccore 5484 For the application of the PLCcore 5484 using the Development Kit basic configurations may also be set via local control elements see section 5 3 2 To configure the PLCcore 5484 via WEB Frontend it needs a WEB Browser on the PC e g Microsoft Internet Explorer Mozilla Firefox etc To call the configuration page prefix Atip must be entered into the address bar of the WEB Browser prior to entering the IP address of the PL Ccore 5484 as set in section 5 1 e g http 192 168 10 248 Figure 12 exemplifies calling the PLCcore 5484 configuration page in the WEB Browser The standard setting factory setting requires a user login to configure the PLCcore 5484 via WEB Frontend This is to prevent unauthorized access Therefore user name and password must be entered see Figure 12 On delivery of the m
29. 1005005 3390005 132870 urning 5312 bytes to flash Oxfe020000 fron 0420000970 tart ing sector 1 126K sector s will erased starting fron sector 1 address xfe020000 31 bytes uritten olill Figure 14 Selecting the appropriate firmware version for the PLCcore 5484 After completing the configuration all preconditions for a Linux autostart must be reestablished according to section 5 1 Alternatively the appropriate firmware version may be selected directly in the start script home etc autostart Therefore delete part Select PLC Type and insert the appropriate firmware instead e g PLC FIRMWARE SPLC DIR plccore 5484 z5 SYS TEC electronic GmbH 2009 L 1103e 2 Page 33 System Manual PLCcore 5484 6 Administration of the PLCcore 5484 6 1 System requirements and necessary software tools The administration of the PLCcore 5484 requires any Windows or Linux computer that has available an Ethernet interface and a serial interface RS232 As alternative solution to the on board serial interface SYS TEC offers a USB RS232 Adapter Cable order number 3234000 see section 3 4 2 that provides an appropriate RS232 interface via USB port All examples referred to in this manual are based on an administration of the PLCcore 5484 using a Windows computer Procedures using a Linux computer would be analogous To administrate the PL Ccore 5484 the following software tools are necessary Terminal program A Terminal program al
30. 1103e_2 Page 36 System Manual PLCcore 5484 cx Telnet 192 168 10 248 E PLCcore 5484 192 168 10 248 login PlcAdmin Password sh 2 65 H ftpd D sh 2 65 Figure 17 Starting the FTP server Advice By entering command ftpd D in the start script home etc autostart calling the FTP server upon boot of the PLCcore 5484 may be automated see section 5 4 WinSCP which is available as open source would be suitable as FTP client for the computer see section 6 1 It consists of only one EXE file needs no installation and may be started immediately After program start dialog WinSCP Login appears see Figure 18 and must be adjusted according to the following configurations File protocol FTP Host name IP address for the PLCcore 5484 as set in section 5 1 User name PlcAdmin for predefined user account see section 6 2 Password Pic123 for predefined user account see section 6 2 Session Session Stored sessions Host name Port number Environment 32168102489 00s lo Directories Preferences User name Password Plc amp dmin TT Private Protocol File protocol FTP Insecure Select color Advanced options About Languages Save Close Figure 18 Login configurations for WinSCP After using pushbutton Login the FTP client logs in to the PL Ccore 5484 and lists up the active content of directory home in the right window Figure 19 shows FTP client WinSCP after succes
31. 12FA 0x401212FB x461212FC image gt OMN SET START PARAMETER Dir Left Speed But tonGroup 6x58 Slidebar lt 8 xxx Figure 30 Terminal outputs of the demo program shpimgdemo after start 7 By pressing pushbutton S3 the control of the runlight direction and speed is handed over to the demo program shpimgdemo Afterwards the running direction may be set by the C application by using the cursor pushbuttons left and right und in the terminal window and the speed may be changed by using cursor pushbuttons up and down 1 und SYS TEC electronic GmbH 2009 L 1103e 2 Page 57 System Manual PLCcore 5484 cx Telnet 192 168 10 248 Pointer to process image vaiables EPIngUBE 61131 bButtonGroup 0x401200F8 pbPImgVUars 61131 bLEDGroupB Bx401208F8 DbPImgUar 61131 bLEDGroup1 Bx4812808F9 pbhPI mgVar_61131_usiSlidbarLen x4 1212F8 pbPImgVUarv 61131 bStatus Bx481212FR pbPImgVUar 61131 bDirCtrl Bx401212FB psiPI mgVar_61131_iSpeedCtrl Bx481212FC Run program cycle Cexchange process image SET START PARAMETER Dir Left Speed 8 ButtonGroup 8x58 Slidebar lt 8 ButtonGroup 8x58 RemoteControl enabled ButtonGroup 8x58 Slidebar lt 8 SET NEM PARAMETER Speed 1 Slidebar lt 8 wie SET NEW PARAMETER Speed 2 Slidebar lt 8 SET NEU DELL LEER p Speed 3 Slidebar lt 8 SET NEU PARAMETER Speed 4 Slidebar lt 8 SET NEU PARAMETER Speed 5 Slid
32. 2 Page 2 System Manual PLCcore 5484 Table of Contents 1 2 Introductio saeia ERATIS E 5 Product Descriptiol iie ia tovs ad dd ii iii i eec in ca e CEU ec edis bu ua dca i 6 Development Kit PLCcore 5484 eee eees ee eeeeeeee eene ananasas 8 I E E E E o inas santa ei saldi i io e i Pala ai e ai i vi la ai ia i al 8 3 2 Electric commissioning of the Development Kit PLCcore 5484 ssssssee 9 3 3 Control elements of the Development Kit PLCcore 5484 ssssssssssssssess 10 34 Optional accessory edic a ert Tute oet duca cha eu eed en in desire Ve qe eL dan 11 3 4 1 I O Extension Board for the PLCcore 5484 ssssssssssee 11 3 4 2 USB RS232 Adapter Cable ssssssesssseeeeeenen eene nennen 12 3 4 8 Driver Development Kit enne nnne nennen 12 PLC Functionality of the PLCcore 5484 cessere nennen nnns 13 4 1 Overview of relevant manuals for the PLCcore 5484 sss 13 4 2 Pinout ofthe PLGcore 5484 aer PE dU e inerte e det 14 4 3 File system of the PEGCOre 5484 ioter Ue bte cba itle anna 17 44 System start of the PLCcore 5484 seeeieedeee teet tesserae eo ha 18 4 5 Programming the PLCcore 5484 ssssssssessseeeeneeenenen aaa aaa aaa enne 19 4 6 Process Image Set p cene Een ep UL e n P Ueber o 20 4 7 Control and display elements aaa aaa aaa aaa aaa Aaaa Aaaa aaa aaa aaa 21
33. 232 Adapter Cable order number 3234000 provides a RS232 interface via an USB Port of the PC Together with a terminal program it enables the configuration of the PL Ccore 5484 from PCs e g laptop computers which do not have RS232 interfaces themselves see section 6 1 Figure 5 SYS TEC USB RS232 Adapter Cable 3 4 3 Driver Development Kit The PLCcore 5484 Driver Development Kit order number SO 1098 allows the user to independently adjust the I O level to his own baseboard Section 7 2 provides information about the Driver Development Kit SYS TEC electronic GmbH 2009 L 1103e 2 Page 12 System Manual PLCcore 5484 4 PLC Functionality of the PLCcore 5484 4 1 Overview of relevant manuals for the PLCcore 5484 The PLCcore 5484 is based on SYS TEC ECUcore 5484 hardware and is extended by PLC specific functionality PLD software firmware There are different hardware manuals for all hardware components such as the ECUcore 5484 and the PLCcore 5484 the hardware of both modules is identical development boards and reference circuitry Software sided the PLCcore 5484 is programmed with IEC 61131 3 conform OpenPCS programming environment There are additional manuals for OpenPCS that describe the handling of programming tools and SYS TEC specific extensions Those are part of the software package Table 3 lists up all relevant manuals for the PLCcore 5484 Table 3 Overview of relevant manuals for the PLCcore 5484 Info
34. 27 Configuration Mode 24 Control Elements Error LED nte Ere aa a 22 RULED tiro roce oo los 21 D ATS sees m 40 Deletion of PLC Program 23 deluser i iui err HEAR 39 Development Board Control Elements ssssssussss 10 PINQUb dient te e RATES 9 Dimension nr 6 DIP SwWitClis idend 29 DIP Switch 2 Positioning and Meaning 25 SYS TEC electronic GmbH 2009 Driver Development Kit 58 E Embedded Linux sesseeeeees 7 EMG lAW r E ciii c e e te E tuta 5 Error LED De 22 ETEIO ttt het a a a rete s 9 ETE iine cite eet reet a tec et tate 9 F File System 2 re bb a da dici 17 FTP Login to the PLCcore 5484 36 ETP Glient rd 34 G GNU s iE e e bec te ever beetle 7 H Hex Encoding Switch 29 DWCl GI se sese trek ads ww ae UE ERE Sin Red 40 I O Extension Board 11 iodide mOr iana eec ne ica es 60 L LINUX uere tete mitte irai Pi teet steels 7 M Manuals OV6erVIeW ert Gusti EH ed UE 13 Master Mode a E 30 Master Mode CANO ccccceeeesseeeeeeeeeeees 30 N Network Variables CAN 20 Node Address enta ie eoe eae ai edet 30 Node Address CANO ccccccccesseseeeeeeeeees 29 P DASSWA ace tete as fre redis 39 PINOUD re EE 14 plccore 5484 ocfg sssssssssss 28 30
35. 4 01 RUN StOP SWIECH 25 eran Aa i ao eH RR ai aide eta ei dd 21 AT B rcbED green e OR eer Dt be rte s 21 47 3 Error EED red cured D Ht ait latte Hebe 22 4 8 Local deletion of a PLC program erretiroaren iia EAE ARR ERE A EAR 23 Configuring the PLCCOre 5484 sccccssseecceeseeeeeeseseeeeeesseeneeeesseeeeeeeesseaeeeenseeneeeeseenees 24 5 1 Activation Deactivation of Linux Autorun sesseeeee emere 24 5 2 Ethernet configuration of the PLCcore 5484 sssssssssssseee eene emen 26 5 3 PLC configuration of the ECUcore 5484 sssssssssssseeee nennen nemen 27 5 3 4 PLC configuration via WEB Frontend sseee em 27 5 3 2 PLC configuration via control elements of the Development Kit PL Ccore 5484 29 5 3 8 Setup of the configuration file plccore 5484 cfg sssssssseee 30 5 4 Boot configuration of the PLCcore 5484 sssssssssssesseeenee emen 31 5 5 Selecting the appropriate firmware version 31 Administration of the PLCcore 5484 eeeseeseeeeeeseeeeenenn enne nnne 34 6 1 System requirements and necessary software tools sse eene 34 6 2 Predefined user ACCOUNTS ee tse ron rentes deae e setae daa e ARAE augue pee in 35 6 3 Legin to the PECcore 5494 via ox aea etae eeu tei e ta ads eats 35 6 3 1 Login to the command shell sse 35 6 3 2 Login to he FIP Serel inc bete iet ed aa te
36. 84 it does not make sense to open a directory for every user Hence parameter H disables the opening of new directories By using parameter h home the given directory home is rather assigned to the new user To open a new user account on the PLCcore 5484 Linux command adduser is to be used as follows adduser h hom H G group username Figure 20 exemplifies the adding of a new account on the PLCcore 5484 for user admin2 SYS TEC electronic GmbH 2009 L 1103e 2 Page 38 System Manual PLCcore 5484 cx Telnet 192 168 10 248 PLCcore 5484 192 168 10 248 login PlcAdmin Password sh 2 05 H adduser h home H G users admin2 Changing password for admin2 Enter the new password minimum of 5 maximum of 8 characters Please use a combination of upper and lower case letters and numbers Enter new password Re enter new password Password changed sh 2 65 Figure 20 Adding a new user account Advice If the new user account shall be used to access WEB Frontend the user name must be entered into the configuration file plccore 5484 cfg for details about logging in to WEB Frontend please compare section 5 3 1 and 5 3 3 To delete a user account from the PLCcore 5484 the Linux command deluser plus the respective user name must be used deluser lt username gt 6 5 How to change the password for user accounts Changing the password for user accounts requires login to the PLCcore 5484 as
37. ERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter translation is included without limitation in the term modification Each licensee is addressed as you Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restricted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does 1 You may copy and distribute verbatim copies of the Program s source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this License along with th
38. INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS SYS TEC electronic GmbH 2009 L 1103e 2 Page 66 System Manual PLCcore 5484 How to Apply These Terms to Your New Programs If you develop a new program and you want it to be of the greatest possible use to the public the best way to achieve this is to make it free software which everyone can redistribute and change under these terms To do so attach the following notices to the program It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found one line to give the program s name and a brief idea of what it does Copyright C year name of author This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without
39. ODDIC iii eb ROT 60 System Start L dia ska a ak anai aaa 18 I Telnet Login to the PLCcore 5484 35 Telnet Client 3 c cos oet bo 34 Terminal Configuration s 25 Terminal Program sees 34 Testing Hardware Connections 60 TETBD32 Gite lee eiie 43 tShPImgLayoutDscrpt essssssss 49 tShPImgSectDscrp sss 49 U User Accounts Adding and deleting 38 Changing Passwords suss 39 Predefined Lt si oe 35 WwW WEB Frontend eeeee 27 WINSCP iais a eret ertt td a aro 37 L 1103e_2 Page 69 System Manual PLCcore 5484 Document System Manual PLCcore 5484 Document number L 1103e 2 Edition March 2009 How would you improve this manual Did you find any mistakes in this manual page Submitted by Customer number Name Company Address Please return your SYS TEC electronic GmbH suggestions to August Bebel Str 29 D 07973 Greiz GERMANY Fax 49 0 36 61 6279 99 Email info systec electronic com SYS TEC electronic GmbH 2009 L 1103e 2 Page 70
40. SYS TED System Manual PLCcore 5484 User Manual Version 2 00 Edition March 2009 Document No L 1103e 2 uu Du OOOO000000000 OO00 SS TRI D U 0000000000000000 000 20 0 504 5059 510640 D U D U D OO 13434369840 cqy kaco com ww hkaco com 020 38743030 38743032 38744538 38744528 SYS TEC electronic GmbH August Bebel Str 29 D 07973 Greiz Phone 49 3661 6279 0 Fax 49 3661 6279 99 WWW http www systec electronic com Mail info systec electronic com SYS TEC electronic GmbH System House for distributed Automation System Manual PLCcore 5484 Status Changes Status released 2008 10 27 Creation R Sieber 1 0 2009 03 24 3 5 5 3 Shared Process Image added R Sieber 2 0 5 Selection of Firmware Version Adaption of In and Outputs SYS TEC electronic GmbH 2009 L 1103e 2 Page 1 System Manual PLCcore 5484 This manual includes descriptions for copyrighted products that are not explicitly indicated as such The absence of the trademark symbol does not infer that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable However SYS TEC electronic GmbH assumes no responsibility for any inaccuracies SYS TEC electronic GmbH neither guarantees nor accepts any liability whatsoever for consequential damages resulting from t
41. Signal PSTDO A01 B01 RSTI 2 5V_EPHY C01 D01 GND PSTD1 A02 B02 MR GND C02 D02 EthO TX PSTD2 A03 B03 RSTO EthO RX C03 D03 EthO TX PSTD3 A04 B04 BKPT EthO RX C04 D04 GND PSTD4 A05 B05 PSTCLK GND C05 D05 Link Act PSTD5 A06 B06 TCK Speed C06 D06 PFEC1HO PSTD6 A07 BO7 DSI PFEC1LO C07 D07 PFEC1H1 PSTD7 A08 B08 DSO PFEC1L1 C08 D08 PFEC1H2 SYS TEC electronic GmbH 2009 L 1103e_2 Page 14 System Manual PLCcore 5484 SCL A09 B09 DSCLK PFEC1L2 C09 D09 PFEC1H3 SDA A10 B10 MTMODO PFEC1L3 C10 D10 PFEC1H4 PCI ADO A11 B11 PCI AD1 PFEC1L4 C11 D11 PFEC1H5 PCI AD2 A12 B12 PCI AD3 PFEC1L5 C12 D12 PFEC1H6 PCI AD4 A13 B13 PCI AD5 PFEC1L6 C13 D13 PFEC1H7 PCI AD6 A14 B14 PCI AD7 PFEC1L7 C14 D14 E1MDIO PCI AD8 A15 B15 PCI AD9 CAN Rx0 C15 D15 E1MDC PCI AD10 A16 B16 PCI AD11 CAN Tx0 C16 D16 USB D PCI AD12 A17 B17 PCI AD13 CAN Rx1 C17 D17 USB D PCI AD14 A18 B18 PCI AD15 CAN Tx1 C18 D18 USB VBUS PCI AD16 A19 B19 PCI AD17 RxDO C19 D19 RxD2 PCI AD18 A20 B20 PCI AD19 TxDO C20 D20 TxD2 PCI AD20 A21 B21 PCI AD21 RxD1 C21 D21 RxD3 PCI AD22 A22 B22 PCI AD23 TxD1 C22 D22 TxD3 PCI AD24 A23 B23 PCI AD25 PSC1 RTS C23 D23 PSC3_RTS PCI AD26 A24 B24 PCI AD27 IPSC1 CTS C24 D24 IPSC3 CTS
42. back handler of the client application is called within the context of a Linux signal handler the PLC runtime system informs the client using Linux function kill Accordingly all common restrictions for the Linux signal handler also apply to the callback handler of the client application In particular it is only allowed to call a few operating system functions that are explicitly marked as reentrant proof Please pay attention to not make reentrant calls of local functions within the client applciation As shown in the example only a global flag should be set for the signalling within the callback handler This flag will later on be evaluated and processed in the main loop of the client appliciation 7 1 2 API of the shared process image client As illustrated in Figure 27 the user specific C C application exclusively uses the API Application Programming Interface provided by the shared process image client This API is declared in the SYS TEC electronic GmbH 2009 L 1103e 2 Page 48 System Manual PLCcore 5484 header file shpimgclient h and implemented in the source file shpimgclient c It contains the following types partly defined in shpimg h and functions Structure tShPimgLayoutDscrpt typedef struct definition of process image sections unsigned int m uiPImgInputOffs start offset of input section unsigned int m uiPImgInputSize size of input section unsigned int m uiPImgOutputOffs start offset of output
43. bin cfgsetup cfg http cgi bin cfgsetup cgi http mime types install sh plc plc pc5484drv ko ple pc5484drvu so plc plccore 5484 cfg plc iodrvdemo plc plccore 5484 z24 plc plccore 5484 25 plc runplc plc version plc candrv ko Installation has been finished Please restart system to activate the new firmware sh 2 85 tmptt Figure 24 Installing PLC firmware on the PLCcore 5484 Figure 24 exemplifies the installation of PLC firmware on the PLCcore 5484 After Reset the module is started using the updated firmware SYS TEC electronic GmbH 2009 L 1103e 2 Page 42 System Manual PLCcore 5484 6 7 2 How to update the Linux image Updating the Linux image takes place via TFTP Trivial FTP within Linux bootloader CoLilo Therefore an appropriate TFTP server is necessary on the computer e g freeware TFTPD32 compare section 6 1 The program consists of only one EXE file that requires no installation and can be run immediately After the program start an appropriate working directory Current Directory should be created by clicking on pushbutton Browse e g C PLCcore 5484 The Linux image for the PLCcore 5484 must be located in this directory image bin gz Tftpd32 by Ph Jounin lof xj Current Directory C PLCcore 5484 z Browse Server interface 192 168 10 52 Show Dir Titp Server Tftp Client DHCP server Syslog server Log viewer starttime
44. ble pc5484drv so ReadProcimage WriteProclmage pc5484drv ko 1 Read Local Inputs I O Access 2 Write Shared to Local t Kernel Object ko Proclmage Exchange Cycle 3 Read Local to Shared Run PLC Cycle 4 Write Shared to Local 5 Read Local to Shared Hardware 6 Write Local Outputs Figure 27 Overview of the shared process image SYS TEC electronic GmbH 2009 L 1103e 2 Page 45 System Manual PLCcore 5484 Not all variables are utilizable via the shared process image within a C C application Only those directly addressed variables that the PLC program generates within the process image As shown in Figure 27 two separate process images are used for the data exchange with an external application inside of the PLC runtime system This is necessary to meet the IEC 61131 3 requirement that the initial PLC process image may not be modified during the entire execution of one PLC program cycle Thereby the PLC program always operates with the internal process image that is locally generated within the PLC runtime system Local Image in Figure 27 This is integrated within the PLC runtime system and is protected against direct accesses from the outside On the contrary the user specific external C C application always uses the shared process image Shared Image in Figure 27 This separation of tw
45. cimal or hexadecimal with prefix Ox Baudrate 10 20 50 125 250 Bitrate for interface CANO 500 800 1000 MasterMode 0 1 1 Master mode is activated 0 Master mode is deactivated CAN1 Enabled 0 1 0 Interface CAN1 is deactivated 1 Interface CANT is activated configuration takes place via entries of the configuration file below NodelD 1 127 or Node number for interface CAN1 0x01 Ox7F decimal or hexadecimal with prefix Ox Baudrate 10 20 50 125 250 Bitrate for interface CAN1 500 800 1000 MasterMode 0 1 1 Master mode is activated 0 Master mode is deactivated ETHO PortNum Default Port no Port number for the communication with the 8888 Programming PC and for program download only for PLCcore 5484 Z5 order number 3390005 Extensions ShPlmgEnable 0 1 0 No sharing of process image 1 Sharing of process image is enabled SYS TEC electronic GmbH 2009 L 1103e 2 Page 30 System Manual PLCcore 5484 see section 7 1 Login Authorization 0 1 0 Configuration via WEB Frontend is possible without user login 1 Configuration via WEB Frontend requires user login User Default Name If entry User is available only the user PlcAdmin name defined is accepted for the login to configure via WEB Frontend If the entry is not available any user registered on the PLCcore 5484 see section 6 4 may login via WEB Frontend The c
46. cles kShPlmgSyncAlways or whether it is taken over on demand kShPlmgSyncOnDemand If classified as SyncOnDemand the data only is copied if the respective section before was explicitly marked as updated This takes places by calling function ShPlmgClntWriteSectMarkNewData and entering the corresponding WriteSectorTable Index e g 0 for WriteSectTab 0 etc kShPlmgSyncAlways is provided as SyncType for the ReadSectorTable the value of the member element m SyncType is ignored The PLC firmware is not able to identify which variables were changed by the PLC program of the cycle before Hence all sections defined in ReadSectorTable are always taken over from the local image into the shared process image Thus the respective variables in the shared process image always hold the actual values The PLC firmware and the C C application both use the shared process image To prevent conflicts due to accesses from both of those in parallel running processes at the same time the shared process image is internally protected by a semaphore If one process requires access to the shared process image this process enters a critical section by setting the semaphore first and receiving exclusive access to the shared process image second If the other process requires access to the shared process image at the same time it also must enter a critical section by trying to set the semaphore In this case the operating system identifies that the shared process i
47. ction ShPImgCintWriteSectMarkNewData marks this content as modified This function is used for sections with SyncType kShPlmgSyncOnDemanodQ to initiate the copy process of data from the shared process image into the local image of the PLC Function SAP mgClntWriteSectMarkNewData directly accesses the header of the shared process image without setting a semaphore before Hence it may only be used within the protected section in the code section between ShPimgCintLockSegment and ShPImgCintUniockSegment If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE 7 1 3 Creating a user specific client application Software package SO 1095 VMware image of the Linux development system is the precondition for the implementation of user specific C C applications It contains a complete Linux development system in the form of a VMware image Hence it allows for an easy introduction into the C C software development for the PLCcore 5484 Thus the VMware image is the ideal basis to develop Linux based user programs on the same host PC that already has the OpenPCS IEC 61131 programming system installed on it The Vmware image of the Linux development system includes the GNU Crosscompiler Toolchain for Freescale MCF54xx processors Additionally it includes essential server services that are preconfigured and usable for effective software development Details about the VMware
48. ctions of the entire process image input output as well as marker sections This allows for example that a Client application writes data into the input section of the PLC process image and reads data from the output section Figure 27 shows the sequence of single read and write operations Prior to the execution of a PLC program cycle the physical inputs are imported into the local process image of the PLC 1 Afterwards all sections defined in WriteSectorTable are taken over from the shared process image into the local process image 2 By following this sequence a Client application for example is able to overwrite the value of a physical input This may be used for simulation purposes as well as for setting input data to constant values Forcen Similarly prior to writing the process image onto the physical outputs 6 sections defined in WriteSectorTable are taken over from the shared process image into the local process image 4 Thus a Client application is able to overwrite output information generated by the PLC program The PLC firmware provides the setup of the process image The Client application receives information about the setup of the process image via function ShPlmgClntSetup This function enters start offsets and values of the input output and marker sections into the structure of type tShPlmgLayoutDscrpt Function ShPlmgClntGetDataSect provides the start address of the shared process image Upon defining a variabl
49. d only includes all in and outputs of the PLCcore 5484 sorted by their function Table 5 Connections of the PLCcore 5484 only I O sorted by function Pin CPU PLD PLC Function 1 PLC Function 2 A alternative S simultaneous C56 PLD P82 1029 DIO Switch0 A DIP Switch 6 B35 PCL BR DI2 Switch2 D39 TINT DIB Swit D40 TINS DI4 Switch D37 IRQ6 DIS onboard pullup D23 PSC3RTS DIG pss TINO PLD P63 1014 D8 S CNTRO N A C49 PLD P64 IO15 DI9 1 1 S CNTRO DIR B D49 PLD P65 IO16 DINO C50 PLD P66 IO17 DIMA D50 PLD P67 IO18 D12 po po PEN C53 PLD P72 1023 DI17 A DIP Switch 2 C55 PLD P78 IO27 Di2 C23 PSClRIS DIA DESEE eee nae Om IT Ti D56 PLD P63 0030 DOO LED A30 PCIBG DOT LEDI PCI BG2 DO2 LED2 A37 UPCLBGS DO3 LED3 A38 1 PCIBG4 DO4 LED4 po po po aes i C41 TOUT3 DOH C42 PLD P47 IO DO9 D43 PLD Pb1 IO DO122 1 1 C44 PLD P52 lO5 DO13 o 1 p i SYS TEC electronic GmbH 2009 L 1103e_2 Page 16 System Manual PLCcore 5484 PLD IO34 R S M Switch see below d a Tl nct 318 301 m Ae uoc T D35 BOOT equivalent to on board DIP2 see chapter 5
50. does not specify a version number of this License you may choose any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 12 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE BE LIABLE TO YOU FOR DAMAGES INCLUDING ANY GENERAL SPECIAL
51. e ERR 36 6 4 Adding and deleting user accounts sssssssse eene 38 6 5 How to change the password for user accounts ssssssseeen eene 39 6 6 Setting thie system tllrie ia nU REO Re d ER D t ede I RR OR 40 6 7 Software update of the PLCcore 5484 sssssssssssssssee eene 41 6 7 1 Updating the PLC MWAO arrira aE EEE E RE emen 41 6 7 2 How to update the Linux image sssssseeeee nemen 43 Adaption of In Outputs and Process lmagge eese 45 7 1 Data exchange via shared process image sssssseeeee eee enne 45 7 1 1 Overview of the shared process image sssesseeeemen 45 7 1 2 API of the shared process image client 48 7 1 3 Creating a user specific client application ssssssssseeeee 52 7 1 4 Example for using the shared process image kaka kaka aka 54 7 2 Driver Development Kit DDK for the PLCcore 5484 sssssse eene 58 SYS TEC electronic GmbH 2009 L 1103e 2 Page 3 System Manual PLCcore 5484 7 3 Testing the hardware connections ssssssssseee enne 59 Appendix A Reference design for the PLCcore 5484 eeeeeeeseess 61 Appendix B GNU GENERAL PUBLIC LICENGSE cessere 63 nero em ii ii i i ii i a i 68 SYS TEC electronic GmbH 2009 L 1103e 2 Page 4 System Manua
52. e PC one of the terminal programs must be started e g HyperTerminal or TeraTerm see section 6 1 and must be configured as follows see Figure 10 19200 Baud 8 Data bit 1 Stop bit no parity no flow control Port coni E Baud rate 19200 gt Data abit Cancel Parity none Stop he Help Flow control none Transmit delay fo msec char RS msec line Figure 10 Terminal configuration using the example of TeraTerm SYS TEC electronic GmbH 2009 L 1103e 2 Page 25 System Manual PLCcore 5484 5 2 Ethernet configuration of the PLCcore 5484 The main Ethernet configuration of the PL Ccore 5484 takes place within the bootloader CoLilo and is taken on for all software components Linux PLC firmware HTTP server etc The Ethernet configuration is carried out via the serial interface COMO Therefore the CoLilo command prompt must be activated as described in section 5 1 Table 13 lists up CoLilo commands necessary for the Ethernet configuration of the PLCcore 5484 Table 13 CoLilo configuration command of the PLCcore 5484 Configuration Command Remark MAC address set mac lt XX XX XX XX XX XX gt The MAC address worldwide is a clear identification oft he module and is assigned by the producer It should not be modified by the user IP address set ip lt XXxX XXX XXX XXX gt This command sets the local IP address of the PLCcore 5484 The IP address is to be defined by the
53. e Program You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions a You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change b You must cause any work that you distribute or publish that in whole or in part contains or is derived from the Program or any part thereof to be licensed as a whole at no charge to all third parties under the terms of this License C If the modified program normally reads commands interactively when run you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work as a whole If identif
54. e components PLCcore 5484 Development Board for the PLCcore 5484 24V DC Power adapter Ethernet cable RS232 cable CD with programming software examples documentation and other tools SYS TEC electronic GmbH 2009 L 1103e 2 Page 8 System Manual PLCcore 5484 The Development Board included in the Kit facilitates quick commissioning of the PLCcore 5484 and simplifies the design of prototypes for user specific applications based on this module Among other equipment the Development Board comprises different power supply possibilities Ethernet interfaces the connection of two independent CAN buses 5 push buttons and 5 LED as control elements for digital in and outputs and it comprises a potentiometer for the analog input Signals that are available from plug connectors of the PL Ccore 5484 are linked to pin header connectors and enable easy connection of own peripheral circuitry Hence the Development Board forms an ideal experimentation and testing platform for the PLCcore 5484 The OpenPCS IEC 61131 programming system included in the Kit serves as software development platform and as debug environment for the PLCcore 5484 Thus the module can either be programmed graphically in KOP FUB AS and CFC or textually in AWL or ST Downloading the PLC program onto the module takes place via Ethernet or CANopen depending on the firmware that is used High capacity debug functionality such as watching and setting variables single cycles br
55. e within the PLC program its absolute position within the process image is determined through sections l Input Q Output 96M Merker and offset z B MB128 0 In each section the offset starts at zero so that for example creating a new variable in the merker section would be independent of values in the input and output section Creating a corresponding pair of variables in the PLC program as well as in the C C application allows for data exchange between the PLC program and the external application Therefore both sides must refer to the same address Structure tShP mgLayoutDscrpt reflects the physical setup of the process image in the PLC firmware including input ouput and marker sections This is to use an addressing procedure for defining appropriate variables in the C C application that is comparable to the PLC program Hence also in the C C program a variable is defined in the shared process image by indicating the respective section and its offset The following example illustrates the creation of a corresponding variable pair in the PLC program and C C application SYS TEC electronic GmbH 2009 L 1103e 2 Page 46 System Manual PLCcore 5484 PLC Program C C Application VAR A BYTE pbVarl Varl AT MB128 0 BYTE END VAR x pbVarl ShPImgClntGetDataSect n ShPImgLayoutDscrpt m uiPImgMarkerOffs 128 Offset for MB128 0 As described above ReadSectorTable and WriteSectorTable manage the copy
56. eakpoints and single steps simplify the development and commissioning of user software for this module 3 2 Electric commissioning of the Development Kit PLCcore 5484 A 24V DC power adapter necessary for running the Development Kit PLCcore 5484 and Ethernet and RS232 cables are already included in the Kit delivery For commissioning the Kit it is essential to use at least the power supply connections X700 X701 COMO X400 on top and ETHO X500 Furthermore connection CANO X400 below is recommended Table 1 provides an overview over the connections of the Development Kit PLCcore 5484 Table 1 Connections of the Development Kit PLCcore 5484 Connection Labeling on the Remark Demo Board Power supply X700 or X701 The 24V DC power adapter included in the delivery is intended for direct connection to X700 ETHO Ethernet X500 This interface serves as communication interface with the Programming PC and is necessary for the program download PLCcore 5484 Z5 order number 3390005 ETH1 Ethernet X501 Interface can be used freely for the user program COMO RS232 X400 on top This interface is used for the configuration of the unit e g setting the IP address and can be used freely for general operation of the user program COM1 RS232 X401 on top Interface can be used freely for the user program COM2 RS232 X402 on top Interface can be used freely for the user program COM3 RS232 X402 below I
57. ebar lt 8 SET NEW PARAMETER Dir Bight Speed 5 Slidebar lt Figure 31 Terminal ouputs of the demo program shpimgdemo after user inputs Figure 31 shows the terminal outputs of the demo program shpimgdemo in answer to activating the cursor pushbuttons The demo program shpimgdemo may be terminated by pressing Ctrl C in the terminal window 7 2 Driver Development Kit DDK for the PLCcore 5484 The Driver Development Kit DDK for the PLCcore 5484 is distributed as additional software package with the order number SO 1098 It is not included in the delivery of the PLCcore 5484 or the Development Kit PLCcore 5484 The Software Manual Driver Development Kit for the ECUcore 5484 Manual no L 1220 provides details about the DDK The Driver Development Kit for the PLCcore 5484 enables the user to adapt an I O level to self developed baseboards The Embedded Linux on the PLCcore 5484 supports dynamic loading of drivers during runtime Hence it allows for a separation of the PLC runtime system and I O drivers Consequently the user is able to completely adapt the I O driver to own requirements without having to modify the PLC runtime system By using the DDK the following ressources may be integrated into the I O level Periphery usually GPIO of the MCF5484 On board PLD Lattice MACH XO 640 FlexBus memory mapped via address databus SPI Bus and l C Bus All other ressources provided by the operat
58. elD Hex Ox po NodelD Hex Ox 0x30 Baudrate 125 kBiys gt Baudrate 125 kBiys v Master Mode Iv Master Mode E Interface ETHO Port Number to communicate with Josee OpenPCS PC Shared Process Image User Authorization T Share PLC process image IV This configuration reguires a Login Save Configuration Figure 13 PLC configuration via WEB Frontend SYS TEC electronic GmbH 2009 L 1103e 2 Page 28 System Manual PLCcore 5484 If DIP Hex Switch is chosen as Enable State of Interface CANO the configuration of this interface takes place via local control elements of the Development Kit PLCcore 5484 see section 5 3 2 The standard setting factory setting of the PL Ccore 5484 requires a user login to access the WEB Frontend Therefore only the user name indicated in configuration file home plc plccore 5484 cfg is valid entry User in section Login see 5 3 3 Procedures to modify the user login password are described in section 6 5 To allow module configuration to another user an appropriate user account is to be opened as described in section 6 4 Afterwards the new user name must be entered into the configuration file home plc plccore 5484 cfg Limiting the user login to one user account is cancelled by deleting the entry Userz in section Login see 5 3 3 Thus any user account may be used to configure the module By deactivating control box This configuration requires a Login in the
59. even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Also add information on how to contact you by electronic and paper mail If the program is interactive make it output a short notice like this when it starts in an interactive mode Gnomovision version 69 Copyright C year name of author Gnomovision comes with ABSOLUTELY NO WARRANTY for details type show w This is free software and you are welcome to redistribute it under certain conditions type show c for details The hypothetical commands show w and show c should show the appropriate parts of the General Public License Of course the commands you use may be called something other than show w and show c they could even be mouse clicks or menu items whatever suits your program You should also get your employer if you work as a programmer or your school if any to sign a copyright disclaimer for the program if necessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the program Gnomovision which makes passes at compilers written by James Hacker signature of Ty Coon 1 April 1989 Ty Coon President of Vice This General P
60. flash OxFE040000 Saving the Linux image in the Flash of the PLCcore 5484 set kfl 1 To validate the Linux image stored in the Flash of the PLCcore 5484 set auto 1 Autorun of the Linux image after Reset is activated config save Saving the current configurations in the Flash E COM1 19200baud Tera Term VT OF x File Edit Setup Control Window Help CUcore 5484 boot olilo set server 182 168 10 52 TP Server 192 168 10 52 olilo gt set inage inage bin gz Inage inage bin gz olilo gt tftp D c2nDOD00 TP dounload ounload address c2000000 sing FEC 0 card HAC 700 50 02 39 33 53 oard IP a 168 10 2487 255 255 255 j 0 0 0 07 M99 168 10 52 nage bin gz Init ializing TER IP stack eceiving file inage bin gz fron 192 168 10 52 Inage size 5769314704580862 bytes olilo flash Oxte0400000 Figure 26 Downloading the Linux image to the PLCcore 5484 After completing the configuration conditions for a Linux Autorun must be reestablished according to instructions in section 5 1 After Reset is activated e g pushbutton S303 on the Development Board the PLCcore 5484 starts automatically using the current Linux image Advice After the configuration is finished the serial connection between the computer and the PLCcore 5484 is no longer necessary SYS TEC electronic GmbH 2009 L 1103e_2 Page 44 System Manual PLCcore 5484 7 Adaption of In Outputs and Process Image 7 1 Da
61. g environment onto the module No additional software is needed Updating the PLC firmware requires login to the command shell of the PLCcore 5484 as described in section 6 3 1 and login to the FTP server as described in section 6 3 2 Updating the PLC firmware takes place via a self extracting firmware archive that is transferred onto the PLCcore 5484 via FTP After starting the FTP server on the PLCcore 5484 command ftpd D see section 6 3 2 the respective firmware archive can be transferred into directory tmp of the PL Ccore 5484 see Figure 23 T z PLCcore 5484 PlcAdmin 192 168 10 248 WinSCP lt lO xl Local Mark Files Commands Session Options Remote Help 2 9 a i98elme S iH we 2 1G ge C HardDisk aie gt M ts tmp aie gt iif i C PLCcore 5484 Size Type Changed OB of 345 KiB in O of 1 OB of 345 KiB in O of 1 aD F2Rename 7 F4 Edit S3 F5 Copy F6 Move 7j F7 Create Directory gt lt F8 Delete f F9 Properties TL F10 Quit Figure 23 File transfer in FTP client WinSCP Important To transfer the firmware archive via FTP transfer type Binary must be chosen If FTP client WinSCP is used the appropriate transfer mode is to be chosen from the menu bar After downloading the firmware archive it must be checked if the file transferred to the PLCcore 5484 has the exact same size as the original file on the computer compare Figure 23 Any differences in that would indicate
62. he use of this manual or its associated product SYS TEC electronic GmbH reserves the right to alter the information contained herein without prior notification and does not accept responsibility for any damages which might result Additionally SYS TEC electronic GmbH neither guarantees nor assumes any liability for damages arising from the improper usage or improper installation of the hardware or software SYS TEC electronic GmbH further reserves the right to alter the layout and or design of the hardware without prior notification and accepts no liability for doing so Copyright 2009 SYS TEC electronic GmbH rights including those of translation reprint broadcast photomechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from SYS TEC electronic GmbH Inform yourselves EUROPE Uu Address SYS TEC electronic GmbH 0000o August Bebel Str 29 p nggngaugaunee D 07973 Greiz 504 505 GERMANY Ordering 49 3661 6279 0 020 38743030 38743032 Information info systec electronic com sales hkaco com Technical 49 3661 6279 0 020 38744538 38744528 Support support systec electronic com cqy hkaco com Fax 49 3661 62 79 99 020 38743233 Web Site http www systec electronic com http www hkaco com 2nd Edition March 2009 SYS TEC electronic GmbH 2009 L 1103e
63. iable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the Program or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License SYS TEC electronic GmbH 2009 L 1103e 2 Page 64 System Manual PLCcore 5484 3 You may copy and distribute the Program or a work based on it under Section 2 in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following a Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections 1 and 2 above on a medium c
64. ic License SYS TEC electronic GmbH 2009 L 1103e_2 Page 7 System Manual PLCcore 5484 3 Development Kit PLCcore 5484 3 1 Overview The Development Kit PLCcore 5484 is a high capacity complete package at a particularly favorable price Based on a compact PLC it enables the user to perform decentralized network compatible automation projects Moreover it facilitates the user to get to know the advantages of graphical and textual PLC programming according to IEC 61131 3 compared to conventional programming languages Figure 2 Development Kit PLCcore 5484 The Development Kit PL Ccore 5484 ensures quick and problem free commissioning of the PLCcore 5484 Therefore it combines all hard and software components that are necessary to create own applications the core module PLCcore 5484 the corresponding Development Board containing I O periphery and numerous interfaces the OpenPCS IEC 61131 programming system as well as further accessory Thus the Development Kit forms the ideal platform for developing user specific applications based on the PLCcore 5484 It allows for a cost efficient introduction into the world of decentralized automation technology All components included in the Kit enable in and output extensions of the PLCcore 5484 through CANopen l O assemblies Thus the Development Kit may also be used for projects that require PLC with network connection The Development Kit PL Ccore 5484 contains the following hardwar
65. ing system e g file system and TCP IP Figure 32 provides an overview of the DDK structure and its components The DDK contains PLD software sources VHDL the Linux kernel driver pc5484drv ko and the Linux user library pc5484drv so Additionally the DDK includes a PLD Programming Tool pldtool plddrv ko which allows for a PLD software update without extra JTAG hardware SYS TEC electronic GmbH 2009 L 1103e 2 Page 58 System Manual PLCcore 5484 PLC Runtime System us plccore 5484 zx User C C Application C Source Code VO Driver Userspace Library lt pc5484drv so Userspace Applikationen PLD Programming Tool pldtool c Source Code Kernelspace VO Driver Shared Kernel Module Process pc5484drv ko Image SPI Driver Part of the LinuxBSP I2C Driver Part of the LinuxBSP PLD Programming Driver plddrv ko Hardware Source VHDL Code Figure 32 Overview of the Driver Development Kit for the PLCcore 5484 Scope of delivery components of the DDK The DDK contains the following components 1 VHDL project for the PLD comprises all files necessary to regenerate PLD software VHLS source files pin assignment timing settings project file etc 2 Source code for the Linux kernel driver pc5484drv ko see Figure 32 includes all files necessary to regenerate kernel drivers C and H files Make file etc 3 Source code for the Linux u
66. ity to EMC law again must be assessed and certified Only thereafter products may be launched onto the market The CE conformity is only valid for the application area described in this document and only under compliance with the following commissioning instructions The PLCcore 5454 is ESD sensitive and may only be unpacked used and operated by trained personal at ESD conform work stations The PLCcore 5484 is a module for the application in automation technology It features IEC 61131 3 programmability uses standard CAN bus and Ethernet network interfaces and a standardized network protocol Consequently development times are low and hardware costs are reasonable PLC functionality is created on board through a CANopen network layer Hence it is not necessary for the user to create firmware SYS TEC electronic GmbH 2009 L 1103e 2 Page 5 System Manual PLCcore 5484 2 Product Description The PLCcore 5484 as another innovative product extends the SYS TEC electronic GmbH product range within the field of control applications In the form of an insert ready core module it provides to the user a complete and compact PLC Due to CAN and Ethernet interfaces the PLCcore 5484 is best suitable to perform decentralized control tasks Figure 1 Top view of the PLCcore 5484 These are some significant features of the PLCcore 5484 High capacity CPU kernel Freescale 32 Bit MCF5484 ColdFire 200 MHz CPU Tact 300 MIPS 64 MByte SDRAM Memory
67. l PLCcore 5484 1 Introduction Thank you that you have decided for the SYS TEC PLCcore 5454 This product provides to you an innovative and high capacity PLC kernel which due to its numerous interfaces is well suitable as communication and control processor for embedded applications Please take some time to read through this manual carefully It contains important information about the commissioning configuration and programming of the PL Ccore 5484 It will assist you in getting familiar with the functional range and usage of the PL Ccore 5484 This document is complemented by other manuals e g for the OpenPCS IEC 61131 programming system and the CANopen extension for IEC 61131 3 Table 3 in section 4 1 shows a listing of relevant manuals for the PLCcore 5484 Please also refer to those complementary documents For more information optional products updates et cetera we recommend you to visit our website http www systec electronic com The content of this website is updated periodically and provides to you downloads of the latest software releases and manual versions Explanatory notes about EMC law for the PLCcore 5484 The PLCcore 5484 has been designed to be used as vendor part for the integration into devices further industrial processing or as Development Board for laboratory development hard and software development After the integration into a device or when changes extensions are made to this product the conform
68. late to certain responsibilities for you if you distribute copies of the software or if you modify it For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the Source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also for each author s protection and ours we want to make certain that everyone understands that there is no warranty for this free software If the software is modified by someone else and passed on we want its recipients to know that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow SYS TEC electronic GmbH 2009 L 1103e 2 Page 63 System Manual PLCcore 5484 GNU GENERAL PUBLIC LICENSE T
69. lent access to copy the source code from the same place counts as distribution of the source code even though third parties are not compelled to copy the source along with the object code 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 5 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it 6 Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are n
70. lows the communication with the Command Shell of the PLCcore 5484 via a serial RS232 connection to COMO of the PLCcore 5484 This is required for the Ethernet configuration of the PLCcore 5484 as described in section 5 1 After finishing the Ethernet configuration all further commands can either be entered in the Terminal program or alternatively in a Telnet client see below Suitable as Terminal program would be HyperTerminal which is included in the Windows delivery or TeraTerm which is available as Open Source and meets higher demands download from http ttssh2 sourceforge jp Telnet client Telnet Client allows the communication with command shell of the PLCcore 5484 via an Ethernet connection to ETHO of the PLCcore 5484 Using Telnet clients requires a completed Ethernet configuration of the PLCcore 5484 according to section 5 1 As alternative solution to Telnet client all commands can be edited via a Terminal program to COMO of the PLCcore 5484 Suitable as Telnet client would be Telnet which is included in the Windows delivery or TeraTerm which can also be used as Terminal program see above FTP client An FTP client allows for file exchange between the PLCcore 5484 ETHO and the computer This allows for example editing configuration files by transferring those from the PL Ccore 5484 onto the computer where they can be edited and get transferred back to the PL Ccore 5484 Downloading files onto the PLCcore 5484 is also
71. mage is already being used It blocks the second process until the first process leaves the critical section and releases the semaphore Thereby the operating system assures that only one of the two in paralell running processes PLC runtime system and C C application may enter the critical section and receives access to the shared process image To ensure that both processes do not interfere with each other too much they should enter the critical section as less as possible and only as long as necessary Otherwise the PLC cycle time may be extended and runtime variations Jitter may occur SYS TEC electronic GmbH 2009 L 1103e 2 Page 47 System Manual PLCcore 5484 The client application has available two functions to set the semaphore and to block exclusive access to the shared process image Function ShPlmgClntLockSegment is necessary to enter the critical section and function ShPImgCIntUnlockSegment to leave it The segment between both functions is called protected section because in this segment the client application holds access to the shared process image without competition The consistency of read or written data is only guaranteed within such a protected section Outside the protected section the shared process image may anytime be manipulated by the PLC runtime system The following example shows the exclusive access to the shared process image in the C C aplication ShPImgClntLockSegment i write new data value i
72. mp is appropriately sized to function as temporary buffer for FTP downloads of firmware archives for PLC software updates see section 6 7 1 Table 7 File system configuration of the PLCcore 5484 Path Size Description home 5632 kByte Flash disk to permanently store files modifiable and updatable by the user e g configuration files PLC firmware PLC program data preservation in case of power breakdown tmp 8192 kByte RAM disk suitable as intermediate buffer for FTP downloads but no data preservation in case of power breakdown var 1024 kByte RAM disk which is used by the system to store temporary files no data preservation in case of power breakdown mnt Target for integrating remote directories it is not part of the PLCcore 5484 standard functionality SYS TEC electronic GmbH 2009 L 1103e 2 Page 17 System Manual PLCcore 5484 Sizes of file system paths that are configured or still available can be identified by using the Linux command df DiskFree see Figure 7 ColdFire login Plcfidmin Password sh 2 05 df Filesystem 1k blocks Used Available Usezx Mounted on dev root 5033 5633 6 18807 7 8192 6 8192 z tmp 1624 32 992 Z var 5632 1326 4312 z home Figure 7 Display of information about the file system Particular information about the system login and handling the Linux command shell of the PLCcore 5484 is given attention in section 6 4 4 System start of
73. n in the example above the following commands are necessary date 092210202008 55 hwclock w The current system time is displayed by entering Linux command date without parameter Linux command Awclock r can be used to recall current values from the RTC Figure 22 exemplifies setting and displaying the system time PLCcore 5484 192 168 10 248 login PlcAdmin Password date 692216262088 55 10 20 55 UTC 2008 hwelock w date 10 21 25 UTC 2008 hwelock r 10 21 36 2008 0 000000 seconds Figure 22 Setting and displaying the system time Upon start of the PLCcore 5484 date and time are taken over from the RTC and set as current system time of the module Therefore Linux command Awclock r is necessary which is included in start script etc rc d rc modules SYS TEC electronic GmbH 2009 L 1103e 2 Page 40 System Manual PLCcore 5484 6 7 Software update of the PLCcore 5484 All necessary firmware components to run the PL Ccore 5484 are already installed on the module upon delivery Hence firmware updates should only be required in exceptional cases e g to input new software that includes new functionality 6 7 1 Updating the PLC firmware PLC firmware indicates the run time environment of the PLC PLC firmware can only be generated and modified by the producer it is not identical with the PLC user program which is created by the PLC user The PLC user program is directly transferred from the OpenPCS programmin
74. nd shell serial RS232 connection or Telnet and at the FTP server of the PLCcore 5484 Table 17 Predefined user accounts of the PLCcore 5484 User name Password Remark PlcAdmin Plc123 Predefined user account for the administration of the PLCcore 5484 configuration user administration software updates etc root Sys123 Main user account root of the PLCcore 5484 6 3 Login to the PLCcore 5484 6 3 1 Login to the command shell In some cases the administration of the PLCcore 5484 requires the entry of Linux commands in the command shell Therefore the user must be directly logged in at the module There are two different possibilities e Logging in is possible with the help of a Terminal program e g HyperTerminal or TeraTerm see section 6 1 via the serial interface COMO of the PLCcore 5484 analog to the procedure described for the Ethernet configuration in section 5 1 For the configuration of the terminal settings pay attention to only use CR carriage return as end of line character Login with user name and password is not possible for CR LF carriage return line feed e Alternatively the login is possible using a Telnet client e g Telnet or also TeraTerm via the Ethernet interface ETHO of the PLCcore 5484 For logging in to the PLCcore 5484 via the Windows standard Telnet client the command telnet must be called by using the IP address provided in section 5 1 e g telnet 192 168 10
75. nterface can be used freely for the user program CANO CAN X400 below This interface serves as communication interface with the Programming PC and is necessary for the program download PLCcore 5484 Z4 order number 3390004 CAN1 CAN X401 below Interface can be used freely for the user program SYS TEC electronic GmbH 2009 L 1103e 2 Page 9 System Manual PLCcore 5484 Figure 3 shows the positioning of the most important connections of the Development Board for the PLCcore 5484 Instead of using the 24V DC power adapter included in the Kit the power supply may optionally take place via X701 with an external source of 24V 1A ETHO Power 24V 1A Figure 3 Positioning of most important connections on the Development Board for the PLCcore 5484 3 3 Control elements of the Development Kit PLCcore 5484 The Development Kit PLCcore 5484 allows for easy commissioning of the PLCcore 5484 It has available various control elements to configure the module and to simulate in and outputs for the usage of the PLCcore 5484 as PLC kernel In Table 2 control elements of the Development Board are listed and their meaning is described Table 2 Control elements of the Development Board for the PLCcore 5484 Digital Input DIO Process Image lX0 0 Digital Input DI1 Process Image IX0 1 Digital Input DI2 Process Image IX0 2 Digital Input DI3 Process Image IX0 3 Digital Input D14 Process Image IX
76. nto Varl pbVarl bAnyData mark new data for WriteSectorTable entry number 0 ShPImgClntWriteSectMarkNewData 0 ShPImgClntUnlockSegment For the example above kShPlmgSyncOnDemand was defined as SyncType upon generating entry WriteSectorTable Hence taking over variable Var from the shared process image into the local image can only take place if the respective section was beforehand explicitly marked as updated Therefore it is necessary to call function ShPimgCintWriteSectMarkNewData Since function ShPlmgClntWriteSectMarkNewData does not modify the semaphore it may only be used within a protected section see example such as the code section between ShPImgClIntLockSegment and ShPImgCintUnlockSegment The synchronisation between local image and shared process image by the PLC runtime system only takes place in between two successive PLC cycles A client application user specific C C program is not directly informed about this point of time but it can get information about the update of the shared process image from the PLC runtime system Therefore the client application must define a callback handler of the type tShP imgAppNewDataSigHandler e g static void AppSigHandlerNewData void fNewDataSignaled 1 TRUE This callback handler must be registered with the help of function ShPlmgClntSetNewDataSigHandler The handler is selected subsequent to a synchronization of the two images The call
77. o process images enables isolation between accesses to the PLC program and the external application Those two in parallel and independently running processes now must only be synchronized for a short period of time to copy the process data An activation of option Shared process image within the PLC configuration enables data exchange with external applications see section 5 3 1 Alternatively entry 5hPImgEnable can directly be set within section JExtensions of the configuration file home plc plccore 5484 cfg see section 5 3 3 The appropriate configuration setting is evaluated upon start of the PLC firmware By activating option Shared process image the PLC firmware creates a second process image as Shared Memory Shared Image in Figure 27 Its task is to exchange data with external applications Hereby the PLC firmware functions as Server and the external user specific C C application functions as Client ReadSectorTable and WriteSectorTable both control the copying of data between the two process images Both tables are filled by the Client external user specific C C application and are executed by Server PLC runtime system The Client defines ranges of the PLC process image from which it will read data ReadSectorTable or in which it will write data WriteSectorTable Hence the terms Head and Write refer to data tranfer directions from the viewpoint of the Client Sections to read and write may comprise all se
78. odule the following user account is preconfigured see section 6 2 User PlcAdmin Password Plc123 SYS TEC electronic GmbH 2009 L 1103e_2 Page 27 System Manual PLCcore 5484 File Edit View Favorites Tools Help E Qe O ix 2 A search Se Favortes e im Ed Address http 192 168 10 248 z E36 Links E Connect to 192 168 10 248 This configuration setup requires an user authorization Default Login User PlcAdmin Password Plc123 User name Ie PlcAdmin z Password mr Start Configuration I Remember my password e oc a Opening page http 192 168 10 248 cgi bin cFgsetup cgi Figure 12 User login dialog of the WEB Frontend All configuration adjustments for the PLCcore 5484 are based on dialogs They are adopted into the file home plc plccore 5484 cfg of the PLCcore 5484 by activating the pushbutton Save Configuration also compare section 5 3 3 After activating Reset e g pushbutton S303 on the Development Board the PL Ccore 5484 starts automatically using the active configuration Figure 13 shows the configuration of the PLCcore 5484 via WEB Frontend Aj PLCcore 5484 Configuration Microsoft Internet Explorer File Edit View Favorites Tools Help T Q O A Al Dea vemm O B Address fa http 192 168 10 248 cgi binfcfgsetup cgi z Be Links eo a Interface CANO Interface CAN1 Enable State DIP Hex Switch gt Enable State Disabled z Nod
79. offset within the particular section must be added For example the absolute address to access the variable bRemoteDirCtrl AT MB515 0 BYTE results from the sum of the initial address of the shared process image pabShPImgDataSect the start offset of the merker section ShPImgLayoutDscrpt m uiPImgMarkerOffs f r M as well as the direct address within the merker section which was defined in the PLC program 515 f r MB515 0 pbPImgVar 61131 bDirCtrl BYTE pabShPImgDataSect ShPImgLayoutDscrpt m uiPImgMarkerOffs 515 The following code extract shows the complete definition of all variables in the demo project used for exchanging data with the PLC program Setup shared process image client fRes ShPImgClntSetup amp ShPImgLayoutDscrpt if fRes printf n ERROR Init of shared process image client failed pabShPImgDataSect ShPImgClntGetDataSect Read Sector Table Input Section bButtonGroup AT IB0 0 ShPImgReadSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgInputOffs 0 ShPImgReadSectTab 0 m uiPImgDataSectSize sizeof BYTE ShPImgReadSectTab 0 m_SyncType kShPImgSyncAlways pbPImgVar_61131_bButtonGroup BYTE pabShPImgDataSect ShPImgLayoutDscrpt m_uiPImgInputOffs 0 Output Section bLEDGroupO AT QB0 0 bLEDGroupl AT QB1 0 ShPImgReadSectTab 1 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgOutputOffs 0
80. ogramming system User Manual SYS TEC extension for OpenPCS IEC 61131 3 Manual no L 1054 SYS TEC electronic GmbH 2009 L 1103e_2 Page 13 System Manual PLCcore 5484 CANopen extension for IEC 61131 3 User Manual CANopen extension for Network variables CANopen function blocks IEC 61131 3 Manual no L 1008 IEC 61131 3 Programming Industrial Automation Systems John Tiegelkamp Springer Verlag ISBN 3 540 67752 6 a short version is available as PDF on the OpenPCS installation CD Textbook about PLC programming according to IEC 61131 3 4 2 Pinout of the PLCcore 5484 Connections of the PLCcore 5484 are directed to the outside via two pin header connectors that are double row and mounted on the bottom of the module Appropriate female headers as correspondent to the PLCcore 5484 are available from company Samtec Samtec name QSH Series Samtec order number QSH 060 01 F D A K deliverable in other sizes Figure 6 Pinout of the PLCcore 5484 bottom view Figure 6 exemplifies the positioning of pin header connectors on the PLCcore 5484 The complete connection assignment of this module is listed up in Table 4 Appendix A includes reference designs for using the PL Ccore 5484 in customer specific applications Table 4 Connections of the PLCcore 5484 completely sorted by connection pin Signal Pin Pin Signal Signal Pin Pin
81. onfiguration file home plc plccore 5484 cfg includes the following factory settings Login Authorization 1 User PlcAdmin CANO Enabled 1 odeID 0x20 Baudrate 125 asterMode 1 CAN1 Enabled 0 ode ID 0x30 Baudrate 125 asterMode 0 ETHO PortNum 8888 Extensions ShPImgEnable 0 5 4 Boot configuration of the PLCcore 5484 The PLCcore 5484 is configured so that after Reset the PLC firmware starts automatically Therefore all necessary commands are provided by the start script home etc autostart Hence the required environment variables are set and drivers are booted If required the start script home etc autostart may be complemented by further entries For example by entering command Apd D the FTP server is called automatically when the PLCcore 5484 is booted The script can be edited directly on the PL Ccore 5484 in the FTP client WinSCP compare section 6 1 using pushbutton F4 or F4 Edit 5 5 Selecting the appropriate firmware version The PLCcore 5484 is delivered with different firmware versions Those vary in the communication protocol for the data exchange with the programming PC and they differ from each other regarding the availability of FB communication classes see section 4 5 The selection of the appropriate firmware version takes place in the start script home etc autostart By default the BoardlD of the module SYS TEC electronic GmbH 2009 L 1103e 2 Page 31 S
82. ontrol and are referred to as VAR EXTERNAL in the PLC program Details are described in the User Manual CANopen extension for IEC 61131 3 Manual no L 1008 4 7 Control and display elements 4 7 1 Run Stop switch Module connections PLD IOS32 PLD 1033 and PLD IO34 see Table 5 and see reference design in Appendix A are designed to connect a Run Stop switch Using this Run Stop switch makes it possible to start and interrupt the execution of the PLC program Together with start and stop pushbuttons of the OpenPCS programming environment the Run Stop switch represents a logical AND relation This means that the PLC program will not start the execution until the local Run Stop switch is positioned to Hun AND additionally the start command cold warm or hot start is given by the OpenPCS user interface The order hereby is not relevant A run command given by OpenPCS while at the same time the Run Stop switch is positioned to Stop is visible through quick flashing of the Run LED green Positioned to MRes Modul Reset the Run Stop switch allows for local deletion of a PLC program from the PLCcore 5484 This might for example be necessary if an error occurs and the PLC program is running an infinite loop and consequently accessing the OpenPCS programming environment is no longer possible The procedure for deleting a PLC program is described in section 4 8 4 7 2 Run LED green The module connection Hun LED see Table 5
83. ot responsible for enforcing compliance by third parties to this License T If as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Program at all For example if a patent license would not permit royalty free redistribution of the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances SYS TEC electronic GmbH 2009 L 1103e 2 Page 65 System Manual PLCcore 5484 It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license prac
84. process to exchange variable contents between the PLC and the C C program Following the example illustrated the Client C C application must enter an appropriate value into the WriteSectorTable to transfer the value of a variable from the C C application to the PLC program WriteSectorTable because the Client writes the variable to the Server specify offset and size of Varl and define sync type always or on demand WriteSectTab 0 m uiPImgDataSectOffs ShPImgLayoutDscrpt m uiPImgMarkerOffs 128 WriteSectTab 0 m uiPImgDataSectSize sizeof BYTE WriteSectTab 0 m SyncType kShPImgSyncOnDemand define the WriteSectorTable with the size of 1 entry ShPImgClntSetupWriteSectTable WriteSectTab 1 If several variable pairs are generated within the same transfer direction for the data exchange between the PLC program and the C C application they should possibly all be defined in one coherent address range Thus it is possible to list them as one entry in the appropriate SectorTable The address of the first variable must be set as the SectorOffset and the sum of the variable sizes as SectorSize Combining the variables improves the efficiency and the performance of the copy processes For each entry of the WriteSectorTable an appropriate SyncType must be defined It determines whether the section is generally taken over from the shared process image into the local image whenever there are two successive PLC cy
85. r Process Image Process Image Address DIO DI7 DIO DI7 B0 0 DI8 DI15 DI8 1B1 0 D115 DI16 DI23 DI16 DI23 1B20 0 ADC of Demoboard Kit Ald DOO DO7 DOO DO7 DO8 D015 DO8 DO45 Advice On board Temperature Sensor The PLCcore 5484 works with Big Endian format Motorola Notation Consequently and on the contrary to controls using Little Endian format Intel Notation it is not possible to sum up several BYTE variables of the process image to one WORD or DWORD and to access Bits above Bit7 The following example shows issue described bInByteO AT IBO 0 BYTE binBytel AT IB1 0 BYTE wInWord AT SIW0 0 BYTE wInWord 0 lt gt bInByte0 0 due to Big Endian wInWord 0 bInBytel 0 wInWord 8 lt gt bInBytel 0 due to Big Endian wInWord 8 bInByte0 0 In and outputs of thePLCcore 5484 are not negated in the process image Hence the H level at one input leads to value 1 at the corresponding address in the process image Contrariwise value 1 in the process image leads to an H level at the appropriate output Network variables of CAN1 interface are designed into the process image marker section according to the following assignment SYS TEC electronic GmbH 2009 L 1103e 2 Page 20 System Manual PLCcore 5484 CAN1_INO MBO 0 CAN1 IN240 MB240 0 CAN1_OUTO MB256 0 CAN1_OUT240 MB496 0 Network variables of CANO interface are dynamically designed via DCF file of the c
86. rectly addressable variables In a C C application all those variables are usable via the shared process image For the PLC program example RunLight those are the following variables variables for local control via on board I O s bButtonGroup AT 1B0 0 BYTE iAnalogValue AT 1W8 0 INT bLEDGroupO AT 50B0 0 BYTE bLEDGroupi AT 50B1 0 BYTES variables for remote control via shared process image uiRemoteSlidbarLen AT MW512 0 UINT out length of slidebar bRemoteStatus AT MB514 0 BYTE out Bit0 RemoteControl on off bRemoteDirCtrl AT MB515 0 BYTE in direction left right iRemoteSpeedCtrl AT MW516 0 INT in speed SYS TEC electronic GmbH 2009 L 1103e 2 Page 54 System Manual PLCcore 5484 Variables of the PLC program are accessible from a C C application via the shared process image Therefore sections must be generated for the HeadSectorTable and WriteSectorTable on the one hand and on the other hand pointers must be defined for accessing the variables The following program extract shows this using the example shpimgdemo c Function SAPlmgClntSetup inserts the start offsets of input output and merker sections into the structure ShPImgLayoutDscrpt Hence on the basis of the initial address provided by ShPimgCintGetDataSect the absolute initial addresses of each section in the shared process image can be determined To identify the address of a variable the variable s
87. rmation about Basic information about the PLCcore 5484 configuration administration process image connection assignment firmware update reference designs et cetera Development of user specific C C applications for the ECUcore 5484 PLCcore 5484 VMware Image of the Linux development system Hardware description about the ECUcore 5484 PLCcore 5484 reference designs et cetera Development Board for the ECUcore 5484 PLCcore 5484 reference designs et cetera Development Board for the ECUcore Modules Minimum version Basics about the OpenPCS IEC 61131 programming system Complete description of the OpenPCS IEC 61131 programming system basics about the PLC programming according to IEC 61131 3 Command overview and description of standard function blocks according to IEC 61131 3 SYS TEC extension for IEC 61131 3 String functions UDP function blocks SIO function blocks FB for RTC Counter EEPROM PWM PTO In which manual In this manual System Manual ECUcore 5484 Manual no L 1102 Hardware Manual ECUcore 5484 Manual no L 1177 Hardware Manual Development Board 5484 Manual no L 1178 Hardware Manual Development Board ECUcores Manual no L 1179 Brief instructions for the programming system Entry OpenPCS Documentation in the OpenPCS program group of the start menu Manual no L 1005 Online help about the OpenPCS programming system Online help about the OpenPCS pr
88. ronic GmbH 2009 L 1103e_2 Page 53 System Manual PLCcore 5484 cd shpimgdemo make Figure 29 shows how the demo project shpimgdemo is generated in the Linux development system Terminal Fie Edit View Terminal Go Help vmwareQvm xubuntu projects ECUcore 5484 user cd shpimgdemo vmware vm xubuntu projects ECUcore 5484 user shpimgdemo ls global h shmclient c shpimgclient c shpimgdemo c trace c trmio h Makefile shmclient h shpimgclient h shpimg h trmio c vmware vm xubuntu projects ECUcore 5484 user shpimgdemo make Make Settings CFLAGS LDFLAGS LDLIBS 09 g Wall mcfv4e I malign int D DEBUG mcfv4e Compiling shpimgdemo c Compiling shpimgclient c Compiling shmclient c Compiling trmio c Compiling trace c Linking shpimgdemo Done Copy executeable shpimgdemo to destination tftpboot done vmware vm xubuntu projects ECUcore 5484 user shpimgdemo Figure 29 Generating the demo project shpimgdemo in the Linux development system Section 7 1 4 describes the usage and handling of the demo project shpimgdemo on the PLCcore 5484 7 1 4 Example for using the shared process image The demo project shpimgdemo described in section 7 1 3 in connection with the PLC program example RunLight both exemplify the data exchange between a PLC program and a user specific C C application Technical background The PLC program generates some variables in the process image as di
89. s the WriteSectorTable with the values defined by the client The client hereby determines those sections of the PLC process image from which it wants to write data see section 7 1 1 Parameter paShPImgWriteSectTab p holds elements of structure tShP mgSectDscrpt and must be transferred as start address of a section Parameter uiNumOfWriteDscrptUsed p indicates how many elements the section has For each entry in the WriteSectorTable the SyncType must be defined This SyncType defines whether the section is always taken over into the local image between two PLC cycles kShPlmgSyncAlways or only on demand kShPlmgSyncOnDemand If taken over on demand the respective section is explicitly marked as updated by calling SYS TEC electronic GmbH 2009 L 1103e 2 Page 51 System Manual PLCcore 5484 ShPimgCintWriteSectMarkNewData The maximum amount of possible elements for the WriteSectorTable is defined by the constant SHPIMG WRITE SECT TAB ENTRIES and can only be modified if the shared library pc5484drv so is generated again and at the same time this requires SO 1098 Driver Development Kit f r das PLCcore 5484 see section 7 2 If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE Function ShPlmgClntWriteSectMarkNewData BOOL ShPImgClntWriteSectMarkNewData unsigned int uiWriteDscrptIdx p For the content of a section that is held by the WriteSectorTable fun
90. section unsigned int m uiPImgOutputSize size of output section unsigned int m uiPImgMarkerOffs start offset of marker section unsigned int m uiPImgMarkerSize size of marker section tShPImgLayoutDscrpt Structure tShPImgLayoutDscrpt describes the setup of the process image given by the PLC firmware The client application receives the information about the setup of the process image via function SAP mgClntSetup This function enters start offsets and values of input output and merker sections into the structure provided upon function calling Structure tShPlmgSectDscrpt typedef struct definition of data exchange section unsigned int m uiPImgDataSectOffs unsigned int m uiPImgDataSectSize tShPImgSyncType m_SyncType only used for WriteSectTab BOOL m_fNewData tShPImgSectDscrpt Structure tShPImgSeciDscrpt describes the setup of a ReadSectorTable or WriteSectorTable entry that must be defined by the client Both tables support the synchronization between the local image of the PLC runtime system and the shared process image see section 7 1 1 Member element m_uiPlmgDataSectOffs defines the absolute start offset of the section within the shared process imagees The respective start offsets of the input output and merker sections can be determined through structure tShPimgLayoutDscrpt Member element m uiPImgDataSectSize determines the size of the section which may include one or more varaibles Member elemen
91. ser library pc5484drv so see Figure 32 contains all files necessary to regenerate a user library C and H files Make file etc 4 PLD Programming Tool pldtool plddrv ko enables a PLD software update using Linux without additional JTAG hardware 5 I O driver demo application iodrvdemo in the source code allows for a quick and trouble free test of the I O drivers 6 Documentation The Driver Development Kit is based on the software package SO 1095 VMware Image of the Linux development system It contains sources of the LinuxBSP used and it includes the necessary GNU Crosscompiler Toolchain for Freescale MCF54xx processors 7 3 Testing the hardware connections The PLCcore 5484 primarily is designed as vendor part for the application in industrial controls Hence the PL Ccore 5484 typically is integrated in a user specific baseboard To enable trouble free inspection of correct I O activation the test program iodrvdemo is installed on the module together SYS TEC electronic GmbH 2009 L 1103e 2 Page 59 System Manual PLCcore 5484 with the PLC firmware This test program is directly tied in with the I O driver and allows quick and direct access to the periphery At first if a PLC runtime system is running it must be quit This is to ensure that the test program iodrvdemo receives exclusive access to all I O resources To do so script stopplc may possibly be called cd home plc Jstopplc Afterwards the I O
92. sful login to the PL Ccore 5484 SYS TEC electronic GmbH 2009 L 1103e 2 Page 37 System Manual PLCcore 5484 ETE PlcAdmin 192 168 10 248 WinSCP l xl Local Mark Files Commands Session Options Remote Help e B B BB a m 8 R I M I S i g ge C HardDisk i s ita ia 4 2 i home ie a fa at B ts C PLCcore 5484 Parent directory 22 09 2008 02 21 01 01 01 1980 TWXF Xt x 1000 01 01 1980 rWXr xr x 1000 01 01 1980 rWXr xr x 1000 B bash history 227 01 01 1980 m root E install sh 1 930 22 09 2008 rwxr xr x 1000 OB of 345 KiB in 0 of 1 OB of 2 157 B in Oof 5 F2Rename 7 F4 Edit 23 F5 Copy 3 F6 Move F7 Create Directory gt lt F8 Delete K r F9 Properties Jf F10 Quit Figure 19 FTP client for Windows WinSCP After successful login configuration files on the PLCcore 5484 may be edited by using pushbuttons F4 or F4 Edit within the FTP client WinSCP select transfer mode Text With the help of pushbutton F5 or F5 Copy files may be transferred between the computer and the PLCcore 5484 e g for data backups of the PLCcore 5484 or to transfer installation files for firmware updates select transfer mode Binary 6 4 Adding and deleting user accounts Adding and deleting user accounts requires the login to the PLCcore 5484 as described in section 6 3 1 Adding a new user account takes place via Linux command adduser In embedded systems such as the PLCcore 54
93. t to be adjusted shpimgdemo c X trmio c X trmio h X trace c X The archive file shpimgdemo tar gz including the shared process image demo must be unzipped into any subdirectory following the path orojects ECUcore 5484 user within the Linux development system Therefore command tar must be called tar xzvf shpimgdemo tar gz During the upzipping process command far independently generates the subdirectory shpimgdemo For example if the command is called in directory projects ECUcore 5484 user all archive files will be upzipped into the path projects ECUcore 5484 user shpimgdemo Figure 28 exemplifies the unzipping process of shpimgdemo tar gz within the Linux development system Terminal Fie Edit View Terminal Go Help vmware vm xubuntu cd projects ECUcore 5484 user vmware vm xubuntu projects ECUcore 5484 user tar xzvf shpimgdemo tar gz shpimgdemo shpimgdemo Makefile shpimgdemo shpimg h shpimgdemo shpimgclient c shpimgdemo shpimgclient h shpimgdemo global h shpimgdemo trace c shpimgdemo trmio c shpimgdemo trmio h shpimgdemo shmclient c shpimgdemo shmclient h shpimgdemo shpimgdemo c vmware vm xubuntu projects ECUcore 5484 users Figure 28 Upzipping the archive files shoimgdemo tar gz in the Linux development system After upzipping and switchung into subdirectory shpimgdemo the demo project can be created by calling command make SYS TEC elect
94. t m SyncType only applies to entries of the WriteSectorTable It determines whether the section is generally taken over from the shared process image into the local image whenever there are two successive PLC cycles kShPlmgSyncAlways or whether it is taken over on demand kShPImgSyncOnDemand If classified as SyncOnDemand the data must be marked as modified by calling function ShPlmgCintWriteSectMarkNewData It sets the member element m_fNewData to TRUE The client application should never directly modify this member element Function ShPimgCintSetup BOOL ShPImgClntSetup tShPImgLayoutDscrpt pShPImgLayoutDscrpt p Function ShPImgCIntSetup initializes the shared process image client and connects itself with the storage segment for the shared process image which is generated by the PLC runtime system Afterwards it enters the start offsets and values of the input ouput and merker sections into the structure of type tShPImgLayoutDscrpt provided upon function call Hence the client SYS TEC electronic GmbH 2009 L 1103e 2 Page 49 System Manual PLCcore 5484 application receives notice about the process image setup managed by the PLC firmware If the PLC runtime system is not active when the function is called or if it has not generated a shared process image option Shared Process Image in the PLC configuration deaktivated see section 7 1 1 the function will return with the return value FALSE If the initialization was successf
95. ta exchange via shared process image 7 1 1 Overview of the shared process image The PLCcore 5484 is based on the operating system Embedded Linux Thus it is possible to execute other user specific programs simultaneously to running the PLC firmware The PLC program and a user specific C C application can exchange data by using the same process image shared process image Implementing user specific C C applications is based on the Software package SO 1095 VMware Image of the Linux development system IEC 61131 3 PLC System User C C Application Application Application PLC Runtime System User C C Application int main int nArgCnt p char apszArg p PLC Application PROGRAM Prog1 i BYTE pbVar1 BYTE bAnyData 0x55 1 I l 1 l Local Image VAR i get address of variable in shared image Vari AT MB128 0 BYTE I pbVari ShPlmgCintGetDataSect END VAR ShPImgLayoutDscrpt m uiPlmgMarkerOffs B l 128 M lt Offs for MB128 0 IF Vart 16455 THEN Do any thing END IF i l l 1 l 1 l l l l setup read and write sector table ShPImgCIntSetupReadSectTable T ji AT MB128 0 BYTE ShPImgCintSetupWriteSectTable Marker END PROGRAM access to variable in shared image pb Vari bAnyData 3 5 Shared Library so I shpimgclient c Shared Image 2 4 ReadSectTable WriteSectTa
96. ted for the PLCcore 5484 by the company SYS TEC electronic GmbH Hence it is possible to program the PLCcore 5484 graphically in KOP FUB AS and CFC or textually in AWL or ST Downloading the PLC program onto the module takes place via Ethernet or CANopen depending on the firmware that is used Addressing in and outputs and creating a process image follows the SYS TEC scheme for compact control units Like all other SYS TEC controls the PLCcore 5484 supports backward documentation of the PLC program as well as debug functionality including watching and setting variables single cycles breakpoints and single steps The PLCcore 5484 is based on an embedded Linux operating system This allows operating other user specific programs while PLC firmware is running If necessary those other user specific programs may interchange data with the PLC program via the process image More information about this is provided in section 7 The Embedded Linux applied to the PLCcore 5484 is licensed under GNU General Public License version 2 Appendix B contains the license text All sources of LinuxBSP are included in the software package SO 1095 VMware Image of the Linux development system If you require the LinuxBSP sources independently from the VMware Image of the Linux development system please contact our support support systec electronic com The PLC system and the PLC and C C programs developed by the user are not subject to GNU General Publ
97. ter may occur If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE Function ShPimgCintSetupReadSectTable BOOL ShPImgClntSetupReadSectTable tShPImgSectDscrpt paShPImgReadSectTab p unsigned int uiNumOfReadDscrptUsed p Function ShPimgCintSetupReadSectTable initializes the ReadSectorTable with the values defined by the client The client hereby determines those sections of the PLC process image from which it wants to read data see section 7 1 1 Parameter paShPlmgReadSectTab p holds elements of the structure tShP mgSectDscrpt and must be transferred as start address of a section Parameter uiNumOfReadDscrptUsed_p indicates how many elements the section has kShPlmgSyncAlways is provided as SyncType for the ReadSectorTable The maximum amount of possible elements for the ReadSectorTable is defined by the constant SHPIMG READ SECT TAB ENTRIES and can only be modified if the shared library pc5484drv so is generated again and at the time this requires SO 1098 Driver Development Kit for the PLCcore 5484 see section 7 2 If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE Function ShPlmgClntSetupWriteSectTable BOOL ShPImgClntSetupWriteSectTable tShPImgSectDscrpt paShPImgWriteSectTab p unsigned int uiNumOfWriteDscrptUsed p Function ShPlmgClntSetupWriteSectTable initialize
98. the PLCcore 5484 By default the PLCcore 5484 loads all necessary firmware components upon Power on or Reset and starts running the PLC program afterwards Hence the PLCcore 5484 is suitable for the usage in autarchic control systems In case of power breakdown such systems resume the execution of the PLC program independently and without user intervention Figure 8 shows the system start in detail SYS TEC electronic GmbH 2009 L 1103e_2 Page 18 System Manual PLCcore 5484 Power on Reset Start Linux Bootloader CoLilo Start Linux Operating System For more details on how to deactivate the autarchic Linux start and to activate the CoLilo command prompt compare section 5 1 Load Module Drivers VO CAN RTC etc Start Servers HTTP Server FTP Server Start PLC Firmware Run PLC User Program Figure 8 System start of the PLCcore 5484 Details about the start script Ihome etc autostart are covered in section 5 4 Run Boot Script home etc autostart For detailed information about PLC programming of the PLCcore 5484 compare section 4 5 4 5 Programming the PLCcore 5484 The PLCcore 5484 is programmed with IEC 61131 3 conform OpenPCS programming environment There exist additional manuals about OpenPCS that describe the handling of this programming tool Those are part of the software package All manuals relevant for the PLCcore 5484 are listed in Table 3 PLCcore 5484 firmware is based on
99. tices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Program specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program
100. ublic License does not permit incorporating your program into proprietary programs If your program is a subroutine library you may consider it more useful to permit linking proprietary applications with the library If this is what you want to do use the GNU Library General Public License instead of this License SYS TEC electronic GmbH 2009 L 1103e 2 Page 67 System Manual PLCcore 5484 Index nente PEEL ERE 17 home etc autostart ssssesussss 19 home plc plccore 5484 cfg 28 Lu o 17 41 A ACCESSONY iu ih t ead 11 d dduser no eea ct peret e 38 Administration System Requirements 34 JAULOFUL S eerte eor ter I er c eL e 18 19 B Bitrate certe RV edad 30 se NU 29 C GANO susi esa rta esent rd ed 9 GAIN Vie T 9 CANopen Master sssssseee 7 CEG EIG ii e ERR 30 CoLilo command BoardID configuration 32 CoLilo Command Update Linux Image 43 CoLilo Command Prompt Tai io rr 24 Terminal Configuration 25 CoLilo Commands Ethernet Configuration 26 COMO epe a e aaa ae HE 9 GOM A ins EEE A E A OE e RO euh 9 GOM2 eodem o i EA 9 COMB ii ie ete nu nai 9 Communication FB sssssssssss 19 Configuration CANO iei tr a b ak 29 Command err bee etel 26 uer
101. ul the return value will be TRUE Function ShPimgCintRelease BOOL ShPImgClntRelease void Function ShPimgCintRelease shuts down the shared process image client and disconnects the the connection to the storage segment generated for the shared process image by the PLC runtime system If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE Function ShPimgCintSetNewDataSigHandler BOOL ShPImgClntSetNewDataSigHandler tShPImgAppNewDataSigHandler pfnShPImgAppNewDataSigHandler p Funkcion ShPlmgClntSetNewDataSigHandler registers a user specific callback handler This callback handler is called after a synchronization of both images Registered callback handlers are cleared by the parameter NULL The callback handler is called within the context of a Linux signal handler Accordingly all common restrictions for the Linux signal handler also apply to the callback handler see section 7 1 1 If executed successfully the function delivers return value TRUE If an error occurrs it will deliver return value FALSE Function ShPlmgClntGetHeader tShPImgHeader ShPImgClntGetHeader void Function ShPlmgClntGetHeader provides a pointer to the internally used structure type tShPlmgHeader to manage the shared process image The client application does usually not need this structure because all data that it includes can be read and written through functions of the
102. urred e The PLC was started using an invalid configuration e g CAN node address 0x00 and had to be stopped or e A severe error occurred during the execution of the program and caused the PLC to independently stop its state Run division by zero invalid Array access see below Slow flashing in A network error occurred during communication to the programming system the relation 1 1 to execution of a running program is continued This error state will be reset pulse independently by the PLC as soon as further communication to the programming system is successful Quick flashing in The PLC is in mode Heset compare section 4 8 relation 1 1 to pulse Quick flashing in The PLC is on standby but is not yet running relation 1 8 to pulse e The PLC has received a start command from the OpenPCS programming environment but the local Run Stop switch is positioned to Stop In case of severe system errors such as division by zero of invalid Array access the control system passes itself from state Run into state Stop This is recognizable by the permanent light of the SYS TEC electronic GmbH 2009 L 1103e 2 Page 22 System Manual PLCcore 5484 Error LED red In this case the error cause is saved by the PLC and is transferred to the computer and shown upon next power on 4 8 Local deletion of a PLC program If the Run Stop switch is positioned to MRes Modul Reset see section 4 7 1 it is possible to
103. user specific controls The PLCcore 5484 is also very well suitable as intelligent network node for decentralized processing of process signals CANopen and UDP Additionally it can be used as basic component for special assemblies or as PLC in hard to access areas The on board firmware of the PLCcore 5484 contains the entire PLC runtime environment including CANopen connection with CANopen master functionality Thus the module is able to perform control tasks such as linking in and outputs or converting rule algorithms Data and occurrences can be exchanged with other nodes e g superior main controller I O Slaves and so forth via CANopen network Ethernet UDP protocol and serial interfaces UART Moreover the number of in and outputs either is locally extendable or decentralized via CANopen devices For this purpose the CANopen Chip is suitable It has also been designed as insert ready core module for the appliance in user specific applications The PLCcore 5484 provides 24 digital inputs DIO DI23 3 3V level 22 digital outputs DOO DO21 3 3V level 1 high speed counter input and 1 PWM PTO output Saving the PLC program in the on board Flash Disk of the module allows an automatic restart in case of power breakdown Programming the PLCcore 5484 takes place according to IEC 61131 3 by the OpenPCS programming system of the company infoteam Software GmbH http www infoteam de This programming system has been extended and adjus
104. ustomarily used for software interchange or b Accompany it with a written offer valid for at least three years to give any third party for a charge no more than your cost of physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or c Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer in accord with Subsection b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compilation and installation of the executable However as a special exception the source code distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equiva
105. ystem Manual PLCcore 5484 as set in the bootloader CoLilo is analyzed Table 16 lists up the assignments of firmware versions and BoardlDs Table 16 Assignment of BoardlDs and firmware versions for the PLCcore 5484 BoardID Firmware Version Remark 1005004 plccore 5484 z4 PLCcore 5484 CANopen communication with the programming PC via CANopen protocol Interface CANO 1005005 plccore 5484 z5 PLCcore 5484 Ethernet communication with the programming PC via UDP protocol Interface ETHO The configuration of BoardlDs takes place via the serial interface COMO Therefore the CoLilo command prompt must be activated as described in section 5 1 Setting BoardIDs is carried out via the CoLilo command assign boardid by entering the corresponding number listed in Table 16 e g assign boardid 1005005 The modified setting can be verified by entering boardinfo at the CoLilo command prompt Command config save persistently saves the current selection in the Flash of the PLCcore 5484 Figure 14 visualizes the configuration of the BoardID SYS TEC electronic GmbH 2009 L 1103e_2 Page 32 System Manual PLCcore 5484 E COM1 19200baud Tera Term VT OF x File Edit Setup Control Window Help CUcore 5484 boot ress SPACE key to abort autoboot procedure Autoboot aborted olilo gt assign boardid 1005005 oard type ID 1005005 olilo gt boardinfo PCB 4152 3 1 PLO 3 00 1 on ECUcore 5484

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