WAGO-I/O-PRO CAA
IEC61131-3 Programming Tool
WAGO-I/O-PRO CAA
WAGO-I/O-PRO CAA is part of CoDeSys for Automation
Alliance (CoDeSys stands for Controlled Development System)
formed by 3S Company (Smart Software Solutions GmbH)
CoDeSys is an IEC61131 programming tool for multiple
hardware and software platforms from various Manufactures.
Each Manufacture provides a Target Support Package (TSP) .
The TSP defines drivers and configuration settings for a CoDeSys
programmable device.
DIN IEC 61131-3
What is the IEC 61131-3?
Part 1, general information
Part 2, operational funds and
requirements
Part 3, Programming languages
Part 4, Manual for users
Part 5, PLC-communication
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DIN IEC 61131-3
The languages of the IEC
• Instruction List (IL)
• Ladder Diagram (LD)
LD SFC • Function Block Diagram (FBD)
• Sequential Function Chart (SFC)
• Structured Text (ST)
CFC ST IL • Continuous Function Chart (CFC)
Structure of a WAGO-I/O-PRO CAA Project
Project
POU‘s Data Types HMI Resources
Global
Declaration Variables
Code Libraries
All project data is saved in one file with a .pro extension (e.g., [Link]).
WAGO-I/O-PRO CAA
Variable Declaration Editor
POU
Program
Organization
Unit
Text or Graphic Editor
“POU” tab
selected
Message Window
2
Program Organization Units (POUs)
POUs are similar to sub-routines, with PLC_PRG as the main routine. All
POUs are called directly or indirectly from PLC_PRG**
A POU consists of a declaration part and a code part.
The “New POU” dialog box is displayed when a new project is created or
when a new POU is added to the project. The first POU of a new project will
automatically be name PLC_PRG.
** NOTE: If the Task Configuration is enabled, PLC_PRG is no longer the
main routine, and program execution follows the Task Schedule.
POU Type - Functions
Local variables are initialized each call –
variables do not retain their value from the
previous call
The function name is also the name of the
output variable.
Requires one or more input variable(s)
Requires only one output variable
Usefully for calculating complex expressions
Returns the calculated result into the
accumulator
accumulator:
Can calculate only one data element
Input values: Result
POU Type - Function blocks
Local variables retain their value from the
previous call
Need to create an Instance of the function
block - similar to declaring a variable or
structure
Each instance has its own copy of the local
variables
Input and output variable(s) optional
Usefully for creating reusable code like
counters, timers, triggers and other machine TIMER
functions etc.
Start/Stop IN TON Q Output
Preset PT ET Elapsed
time time
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POU Type - Programs
Local variables retain their value from the
previous call
Like a function block, but only one global
instance
Starting point for a task
Input and output variable(s) optional
From main program (PLC_PRG) links to
other POUs are established
function function
block
function
PLC_PRG function
program X
program block
function
function
program Y
function
Calling POU Types
PROGRAM
1
FUNCTION FUNCTION BLOCK
2 3
FUNCTION FUNCTION FUNCTION BLOCK
1) Programs may call functions or function blocks, but not the other way
around
2) Functions may call other functions, but cannot call function blocks
3) Functions blocks may call functions or other function blocks
POU Languages
Language Selection
POUs can be written in the following IEC-61131 languages:
Instruction List (IL)
Ladder Diagram (LD)
Function Block Diagram (FBD)
Sequential Function Chart (SFC)
Structured Text (ST)
Continuous Function Chart (CFC)
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Languages of IEC 61131-3
Sequential Function Chart
Step 1 N FILL
Instruction List Structured Text Transition 1
LD A Step 2 S Empty
ANDN B C:= A AND NOT B
Transition 2
ST C Step 3
Function Block
Diagram Ladder Diagram Continuous Function Chart
AND A B C
A C -| |--|/|----------------( )
B
Instruction List (IL)
Textual language
Assembler code like
All operations work on a special register (accumulator)
Hard to understand if the program is large
Structured Text (ST)
Textual language
High level language
PASCAL, C, FORTRAN like
Best language for programming conditional execution
and loops. (IF, WHILE, FOR, CASE)
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Function Block Diagram (FBD)
Graphical language
Network oriented
Easy to understand
Consists of blocks and operands
Continuous Function Chart (CFC)
Like FBD, but…
… free placement of blocks and connections
… loops and all connections possible
Ladder Diagram (LD)
Graphical language
Network oriented
Available for almost all classical PLCs
Good for programming Boolean expressions
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Sequential function chart (SFC)
Graphical language
Helps you to structure your software
Consist of steps and transitions
The real action of the program is
behind the steps
WAGO-I/O-PRO CAA
Variable Declaration Editor
Variable declarations have the following syntax. The parts
in the red braces {} are optional.
“POU” tab
selected <Identifier > {AT <Address>}:<Type> {:=<initialization>};
Examples:
myVariable1: BOOL;
myVariable2 AT %QX0.0: BOOL:=TRUE;
Standard data types
The IEC 61131-3 defines the following standard data types:
Keyword Range Example
BOOL 0,1 FALSE, TRUE, 0, 1
SINT, INT, DINT -128 .. 127, -32768 .. 32767, 0, 24453
-2147483648 .. 2147483647 -38099887
USINT, UINT, UDINT 0 .. 255, 0 .. 65535, 200, 47453
0 .. 4294967295 138099887
BYTE, WORD, DWORD 0 .. 255, 0 .. 65535, 8450
0 .. 4294967295 16#2102
REAL -1.2x 10-38 .. 3.4x 1038 1.34996
2.8377E-15
TIME, TOD, 0 ms .. 1193h2m47s295ms T#1d8h12m8s125ms
[Link] .. [Link] TOD#[Link]
DATE, DT 01.01.1970 until approx. D#2001-03-15
06.02.2106 DT#2001-03-15-[Link]
STRING 1 .. 255 chars `Emergency Stop`
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Retain & Persistent
VAR
myWord: WORD;
END_VAR
VAR RETAIN
myRetainWord: WORD;
END_VAR
VAR PERSISTENT
myPersistentWord: WORD;
END_VAR
VAR RETAIN PERSISTENT
myRetainAndPersistentWord: WORD;
END_VAR
X = value is saved (retained)
Variable Name Software Reset Online Program Hardware
Reset Reset(Cold) Reset(Original) Change Download Reset
myWord X
myRetainWord X X X
myPersistentWord X X X
myRetainAndPersistentWord X X X X X
Reset(Original) – clears the current program from RAM and deletes the boot project.
User Defined Variable Types
User Data Types
Structures,
Enumerations, and
References
“Data Type”
tab selected
Visualizations
“Visualizations”
tab selected
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Resources - Workspace
“Workspace
selected
Save/load options
User information
Editor options
“Resource” tab
selected Desktop options
Color options L..
Resources – Task Configuration
“Task
Configuration”
item selected
“Resource” tab
selected
Resources - Target
Target Setting Options
“Target • Retain and %M Memory Setup
Settings” item
selected • Enable Online Changes
• Enable Symbol File Download
• Enable Auto Load BootProject
• Enable Web Visualizations
“Resource” tab • Enable PLC Browser
selected
• Enable Trace Variables
• Enable Network Variables L.
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Resources - Trace
“Sample Trace”
item selected
“Resource” tab
selected
Displays a sample trace of the
specified variables.
Resources – PLC Configuration
“PLC
Configuration”
item selected
“Resource” tab Define I/O modules used in
selected
node.
Assign Global Variable
Names to real-world I/O.
I/O configuration
• Hardware addressing
Addressing of the I/Os as usual:
1. - word addresses
2. - bit addresses
Module Function Data size Hardware
addressing
750-1506 8 DI 8 bit %IX2.0...%IX2.7
8 DO 8 bit %QX2.0...%QX2.7
750-467 2 AI / 0-10 Volt 32 bit %IW0
%IW1
750-550 2 AO / 0-10 Volt 32 bit %QW0
%QW1
750-600 end module nothing -
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Resources – PLC Browser
“PLC Brower”
item selected
Entered Text based commands.
Examples:
“tsk” – get task list and scan time.
“Resource” tab “?” - lists all commands
selected
Resources – Event Logging
“Log” item
selected
“Resource” tab Displays a log of actions that
selected occurred in chronological order.
Resources – Library Manager
“Library
Manager” item
selected
• Add libraries for additional
“Resource” tab functionality (e.g., PID, CRC16, L)
selected
• View library functions and
variables
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Resources - Global Variables
“Global
Variables” item
selected
Define Global Variables
“Resource” tab and Constants for use in
selected all POUs
Define Network Variables
to share between multiple
PFCs
Project- Cross Reference
'Project' 'Show cross reference‘
Allows the user to open a dialog box which makes
possible the output of all application points for a
variable, address, or a POU. For this the project
must be compiled.
Choose first the category 'Variable', 'Address', or
'POU' and then enter the name of the desired
element (the input assistant <F2> can be used). By
clicking on the button Cross References you get
the list of all application points.
When you select a line of the cross reference list
and press the button Go To or double-click on the
line, then the POU is shown in its editor at the
corresponding point which allows the user to jump
to all application points without a time-consuming
search.
Project - Global Search
'Project' 'Global Search‘
This command allows you can search for the location of a text in POUs, data types, or in the objects of the
global variables.
When the command is entered, a dialog box opens in which you can choose the desired object. The
selection is made as in the 'Project' 'Document' description.
For each location that is found, the following will be displayed:
•Object name
•Location of the find in the Declaration (Decl) or in the Implementation (Impl) portion of a POU
•Line and network number if any
•The full line in the text editors
•Complete text element in the graphic editors
If you double-click the mouse on a line
in the message window or press
<Enter>, the editor opens with the
object loaded. The line concerned in
the object is marked. You can jump
rapidly between display lines using the
function keys <F4> and <Shift>+<F4>.
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Project – Show Call Tree
'Project' 'Show Call Tree'
With this command you open
a window which shows the
call tree of the object chosen
in the Object Organizer.
The call tree contains both
calls for POUs and
references to data types.
Edit – Find & Replace
'Edit' 'Replace'
With this command you search for a certain passage
just as with the command 'Edit' 'Find', and replace it
with another. After you have chosen the command the
dialog box for find and replace appears.
In the field behind Find automatically that string will be
inserted which you have marked before in the editor.
You also can enter the search string manually. Pressing
button Replace will replace the current selection with
the string which is given in the field Replace with. Use
the button Find Next to get to the next passage where
the string is found.
The button Replace all replaces every occurrence of the
text in the field Find next after the current position with
the text in the field Replace with. At the end of the
procedure a message announces how many
replacements were made.
Project – Compare
'Project' ‘Compare‘
This command is used to
compare two projects or to
compare the actual version of
one project with that which was
saved last.
Overview:
In compare mode the actual
project and the reference project
will be presented in a split
window. The names of the POUs,
for which differences have been
found, are marked by color.
The version of the reference
project can be accepted for
single differences or for 'all
equally marked' differences. To
accept means that the version of
the reference project is taken
over to the actual project.
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Load and save programs
Machinecode/ RAM
Machinecode/ Flash
Sourcecode/ Flash
Home Folder on Webserver: PLC
Load and save programs
Machinecode
Sourcecode
Machinecode and
sourcecode can be copied
via FTP without CoDeSys
Sourcecode download options
Implicit at load:
Machinecode RAM
Sourcecode: Flash
Notice at load:
User dependent
Implicit on create boot project
Machinecode: Flash
Sourcecode: Flash
Only on demand:
User dependent
Sourcecode only
No libraries, visualizations etc.
All Files
Project can be restored from controller
completely.
Sourcecode can be saved password protected
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Keyboard combinations
• The TOP 10
F1 Help
F2 Input assistant
F5 Start
<Ctrl>+F7 Write values
F7 Force values
<Ctrl>+<Shift>+F7 Release force
<Shift>+F2 Auto declare
<Alt>+F8 Login
<Ctrl>+F8 Logout
F4 Next error
WAGO Corporation
P.O. Box 1015
Germantown, WI 53022
E-Mail: [Link]@[Link]
Internet: [Link]
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