Manual Ecockpit
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WAGO Software Manual e!COCKPIT Libraries - Overview and Migration Notes Version 1.0.0 2 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes © 2015 by WAGO Kontakttechnik GmbH & Co. KG All rights reserved. WAGO Kontakttechnik GmbH & Co. KG Hansastraße 27 D-32423 Minden Phone: Fax: +49 (0) 571/8 87 – 0 +49 (0) 571/8 87 – 1 69 E-Mail: info@wago.com Web: http://www.wago.com Technical Support Phone: Fax: +49 (0) 571/8 87 – 5 55 +49 (0) 571/8 87 – 85 55 E-Mail: support@wago.com Every conceivable measure has been taken to ensure the accuracy and completeness of this documentation. However, as errors can never be fully excluded, we always appreciate any information or suggestions for improving the documentation. E-Mail: documentation@wago.com We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally protected by trademark or patent. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Table of Contents 3 Table of Contents 1 1.1 1.2 1.3 1.4 1.5 Notes about this Documentation ................................................................. 5 Scope of Validity....................................................................................... 5 Copyright................................................................................................... 5 Symbols ..................................................................................................... 6 Number Notation ....................................................................................... 8 Font Conventions ...................................................................................... 8 2 Important Notes ........................................................................................... 9 2.1 Legal Bases ............................................................................................... 9 2.1.1 Subject to Changes ............................................................................... 9 2.2 Personnel Qualification ............................................................................. 9 2.3 Intended Use of e!COCKPIT Libraries .................................................... 9 3 Overview ..................................................................................................... 10 4 Description of the Library Concept ......................................................... 11 4.1 Library Types: Layer Model ................................................................... 11 4.1.1 Solution Layer .................................................................................... 12 4.1.2 Application Layer ............................................................................... 12 4.1.3 System Layer ...................................................................................... 12 4.1.3.1 WAGO System Layer .................................................................... 13 4.1.3.2 CODESYS System Layer .............................................................. 13 4.1.4 Representation in e!COCKPIT ........................................................... 13 4.2 Function Blocks: Interface Variants ........................................................ 14 4.2.1 Basic Function Blocks ........................................................................ 15 4.2.2 Compact Function Blocks .................................................................. 15 4.2.3 Modular Function Blocks ................................................................... 15 4.3 Function Blocks: Behavior Models ......................................................... 16 4.3.1 “WagoExecute” Behavior Model ....................................................... 16 4.3.2 “WagoEnable” Behavior Model ......................................................... 18 4.3.3 “WagoTrigger” Behavior Model ........................................................ 19 4.4 Return Values and Error Handling .......................................................... 21 4.4.1 Error Signalling via Specific Return Values ...................................... 21 4.4.2 Numerical ResultCodes ...................................................................... 21 4.4.3 Error Objects with Plain Text Message .............................................. 22 4.5 Naming Rules for Variables .................................................................... 22 5 Migration of Other Libraries .................................................................... 25 5.1 From WAGO-I/O-PRO to e!COCKPIT .................................................. 25 5.1.1 Preparing PLC Projects for Import ..................................................... 25 5.1.1.1 Known Restrictions when Using LD ............................................. 26 5.1.1.2 Function Blocks ............................................................................. 26 5.1.1.3 Function Blocks with EN/ENQ ..................................................... 27 5.1.2 Known Restrictions When Using SFC ............................................... 27 5.1.2.1 Step Variables ................................................................................ 27 5.1.2.2 Identifiers ....................................................................................... 27 5.1.2.3 Known Restrictions When Using CFC .......................................... 28 5.1.3 Display Problems................................................................................ 28 5.1.4 Macros ................................................................................................ 28 Manual Version 1.0.0 4 Table of Contents WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 5.2 Preparing Visualization Projects for Import ........................................... 28 5.2.1 Variable Declaration ........................................................................... 28 5.2.2 Placeholders ........................................................................................ 28 5.2.2.1 Visualizations from Libraries ........................................................ 29 5.2.3 Migration of the PLC Configuration .................................................. 30 5.2.4 Importing Network Variables ............................................................. 30 5.3 CODESYS 3 to e!COCKPIT .................................................................. 30 5.3.1 Transferring Existing Projects ............................................................ 30 5.3.2 Device Support ................................................................................... 31 6 Appendix ..................................................................................................... 32 List of Figures ...................................................................................................... 33 List of Tables ........................................................................................................ 34 Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 1 Notes about this Documentation Notes about this Documentation Always retain this documentation! This documentation is part of the product. Therefore, retain the documentation during the entire service life of the product. Pass on the documentation to any subsequent user. In addition, ensure that any supplement to this documentation is included, if necessary. 1.1 Scope of Validity This documentation applies to the libraries provided by WAGO for the e!Cockpit software. 1.2 Copyright This Manual, including all figures and illustrations, is copyright-protected. Any further use of this Manual by third parties that violate pertinent copyright provisions is prohibited. Reproduction, translation, electronic and phototechnical filing/archiving (e.g., photocopying) as well as any amendments require the written consent of WAGO Kontakttechnik GmbH & Co. KG, Minden, Germany. Non-observance will involve the right to assert damage claims. Manual Version 1.0.0 5 6 1.3 Notes about this Documentation WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Symbols Personal Injury! Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury. Personal Injury Caused by Electric Current! Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury. Personal Injury! Indicates a moderate-risk, potentially hazardous situation which, if not avoided, could result in death or serious injury. Personal Injury! Indicates a low-risk, potentially hazardous situation which, if not avoided, may result in minor or moderate injury. Damage to Property! Indicates a potentially hazardous situation which, if not avoided, may result in damage to property. Damage to Property Caused by Electrostatic Discharge (ESD)! Indicates a potentially hazardous situation which, if not avoided, may result in damage to property. Important Note! Indicates a potential malfunction which, if not avoided, however, will not result in damage to property. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Notes about this Documentation Additional Information: Refers to additional information which is not an integral part of this documentation (e.g., the Internet). Manual Version 1.0.0 7 8 1.4 Notes about this Documentation Number Notation Table 1: Number Notation Number Code Decimal Hexadecimal Binary 1.5 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Example 100 0x64 '100' '0110.0100' Note Normal notation C notation In quotation marks, nibble separated with dots (.) Font Conventions Table 2: Font Conventions Font Type Indicates italic Names of paths and data files are marked in italic-type. e.g.: C:\Program Files\WAGO Software Menu items are marked in bold letters. Menu e.g.: Save A greater-than sign between two names means the selection of a > menu item from a menu. e.g.: File > New Designation of input or optional fields are marked in bold letters, Input e.g.: Start of measurement range “Value” Input or selective values are marked in inverted commas. e.g.: Enter the value “4 mA” under Start of measurement range. Pushbuttons in dialog boxes are marked with bold letters in square [Button] brackets. e.g.: [Input] Keys are marked with bold letters in square brackets. [Key] e.g.: [F5] Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 2 Important Notes Important Notes This section includes an overall summary of the most important safety requirements and notes that are mentioned in each individual section. To protect your health and prevent damage to devices as well, it is imperative to read and carefully follow the safety guidelines. 2.1 Legal Bases 2.1.1 Subject to Changes WAGO Kontakttechnik GmbH & Co. KG reserves the right to provide for any alterations or modifications that serve to increase the efficiency of technical progress. WAGO Kontakttechnik GmbH & Co. KG owns all rights arising from the granting of patents or from the legal protection of utility patents. Third-party products are always mentioned without any reference to patent rights. Thus, the existence of such rights cannot be excluded. 2.2 Personnel Qualification All tasks that are carried out with libraries made for the e!COCKPIT software must only be performed by qualified electrical specialists instructed in PLC programming according to IEC 61131-3. All tasks that have an effect on the properties or the behavior of automation hardware or software products must only be performed by qualified employees with a thorough knowledge of handling the products concerned. 2.3 Intended Use of e!COCKPIT Libraries Libraries created for the e!COCKPIT software are used to simplify the development of application projects in the IEC 61131-3 programming languages. Manual Version 1.0.0 9 10 3 Overview WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Overview For automation tasks, WAGO offers programmable logic controllers in a wide variety of performance classes. In combination with a wide range of I/O modules, the controllers can process all standard types of field signals. Controllers can be implemented centrally or in decentralized configurations. The controllers offer interfaces for the most commonly used fieldbuses for use in decentralized configurations. Fieldbus independent I/O modules are then linked via fieldbus couplers. WAGO controllers offer a runtime environment for user programs called e!RUNTIME. Software projects for implementation in e!RUNTIME environments can be created in e!COCKPIT. The programming environment in e!COCKPIT is based on the established CODESYS 3 industrial standard. Users with a previous knowledge of CODESYS 3 will thus find this environment largely familiar. The following programming languages of the IEC 61131-3 standard are available: • • • • • • Structured Text (ST) Ladder Diagram (LD) Function Block Diagram (FBD) Instruction List (IL) Sequential Function Chart (SFC) Continuous Function Chart (CFC) The individual programming languages can also be combined as required during the development of the software. A portfolio of prepared libraries can be accessed for many frequently used functions in order to make software development more efficient. This document provides an overview of the libraries that WAGO offers for e!COCKPIT. Instructions are provided for migrating software projects that were created in the WAGO-I/O-PRO, CODESYS 2 or CODESYS 3 programming environments. For users who previously used libraries in WAGO-I/O-PRO, the appendix provides an overview of corresponding functions in libraries for WAGO-I/O-PRO and e!COCKPIT. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Description of the Library Concept 4 Description of the Library Concept 4.1 Library Types: Layer Model 11 Figure 1: Layer Model of the Libraries Libraries provided by WAGO for e!COCKPIT are classified into layers according to their degree of abstraction and thus also library compatibility. This produces a 3-layered model as rough orientation. Table 3: Layer Model of Libraries Layer Solution layer Application layer System layer Description Device neutral, low complexity, structuring principle: application-based Device neutral, medium complexity, structuring principle: function Partly device specific, high complexity, structuring principle: function The assigned layer can be identified easily by the name of the library. The name is provided with a specific prefix according to the layer. Table 4: Name Prefix According to Layer Prefix WagoSolution WagoApp WagoSys WagoTypes Layer Solution layer Application layer System layer (all layers) Preference should be given to the use of libraries from higher layers. The higher the layer, the simpler its use and the fewer the device specific components Manual Version 1.0.0 12 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes involved. Libraries of lower layers should only be used if libraries of higher layers do not contain the required functionality. 4.1.1 Solution Layer Libraries of the solution layer are designed so that they are as device independent as possible and minimize the implementation effort required for typical applications. They therefore structure the functionality of the devices in a specific way for the application. If a library of this layer is available for the required application, this should be used. Libraries of other layers should only be used if no library of the solution layer offers the required functionality. These “WagoSolution” libraries offer solutions for: • • • 4.1.2 Building automation Manufacturing automation Process automation Application Layer Libraries of these layers are developed so that they abstract the actual hardware and firmware of the devices and group the functions by categories. They are designed to be as easy to use and as robust as possible. The call interface therefore does not contain any blocking or non-deterministic functions. The functionality for which a library was developed can be easily identified by its name. An appropriate abbreviation is added here to the prefix: Table 5: Library Groups by Functionality Library Group WagoAppBase WagoAppStandardAlgorithms WagoAppConnectivity WagoAppDevice 4.1.3 Functionality System functions (access to file system, time, memory, …) General functions (controllers, parsers, string operations, mathematics,…) Communication and connection mechanisms (bus accesses, security, …) Device-specific libraries, access and I/Os, substitute values, … System Layer The system layer provides experienced users with complete system access. It is further divided into two more layers, the WAGO system layer and the CODESYS system layer. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 4.1.3.1 Description of the Library Concept 13 WAGO System Layer Libraries of the WAGO system layer enable direct and yet non-device specific access to all functions of the devices. Due to the greater complexity involved, the use of system layer libraries is only recommended for experienced users. The libraries of the system layer also offer blocking calls which offer less protection from user errors compared to libraries of higher layers. 4.1.3.2 CODESYS System Layer To ensure compatibility, the libraries of this layer may be necessary when importing programs created in CODESYS. They contain both the CODESYS system libraries as well as the libraries of the CODESYS automation alliance. The functionality partly overlaps those of the WAGO layers. Give preference to the libraries of the WAGO system layer or higher! When creating new programs, the use of libraries of the WAGO system layer and higher should be given preference. These are device independent, easy to use and standardized according to the rules stated in this document. 4.1.4 Representation in e!COCKPIT Libraries are managed in the e!COCKPIT software. Different views are provided to simplify the search for libraries. Each view offers a specific selection of the libraries shown. • “WAGO BusinessView” Filters and orders by sector and application • “WAGO FunctionalView” Filters and orders by function • “WAGO LayerView” Filters and orders according to technical layers and shows all libraries in alphabetical order. This view is used as a quick entry dialog for developers who “know what they are looking for.” All libraries are assigned to CODESYS categories. The categories are used to represent the assignment to the layers and functionality in the e!COCKPIT library manager. Manual Version 1.0.0 14 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Figure 2: Library Manager in e!COCKPIT 4.2 Function Blocks: Interface Variants e!COCKPIT provides many possibilities for structured and efficient programming with a minimum of redundancy thanks to features such as the use of methods and inheritance. However, these features are relatively complex, which is likewise reflected in the call interface. As a result, these program elements cannot be used in the graphical programming languages or only with restrictions and are also relatively difficult to understand. The WAGO approach of alternative function blocks aims to take both aspects into account and thus enables both efficient implementation and simple use. In the more complex libraries of the WAGO system layer, the functionality is efficiently implemented by means of method-based function blocks. However, function blocks with alternative interfaces are also offered. These provide part of the functionality with simpler interfaces. The internal implementation here uses method-based function blocks. The following basic variants of function block interfaces are used: • • • Basic function blocks Compact function blocks Modular function blocks Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Description of the Library Concept 15 Not every library uses all interface variants! The interface variants are offered in this form primarily in libraries of the system layer. Some libraries of the application or solution layer avoid the use of some interface variants such as by using only compact function blocks. 4.2.1 Basic Function Blocks These contain the actual implementation and fully utilize the possibilities of object-oriented programming. The internal implementation uses for example method and inheritance features to a high degree. However, this makes basic function blocks complex so that they cannot be used effectively in graphical programming languages. 4.2.2 Compact Function Blocks These function blocks only have interfaces that could be implemented in a similar form in CODESYS 2. Compact function blocks can encapsulate internally complex processes such as the automatic opening and setting up of a communication connection. However, they are also designed so that the call interface is relatively simple, thus enabling at least restricted use in graphical programming languages. The name of each compact function block starts with the name of the associated basic function block. In order to differentiate from this, the suffix “_cpt” is added to the name. If the associated basic function block is very complex, several function blocks may be necessary. If this is the case, an additional suffix is added between the actual name and the general suffix. Example: • Implementation as a basic block: FbSerialInterface • Implemenation as compact block: FbSerialInterface_cpt • Implementation as modular function blocks: FbSerialInterface_Send_cpt, FbSerialInterface_Lines_cpt 4.2.3 Modular Function Blocks These function blocks each implement only one individual method of the associated basic function block. They thus provide a particularly simple interface and are very good for use in graphical programming languages. The name of a modular function block is formed from the following elements: the name of the Manual Version 1.0.0 16 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes basic function block, followed by a short name of the method, as well as the suffix “_mod.” Example: • Basic function block: FbSerialInterface • Modular function block for write operations: FbSerialInterface_Write_mod • Modular function block for read operations: FbSerialInterface_Read_mod 4.3 Function Blocks: Behavior Models The use of standard behavior models for function blocks makes it possible to determine the expected signal behavior by the name of the interface variables, i.e., the inputs and outputs. General de-facto standards for behavior modules are specified, for example, by PLCopen. Other specific behavior models are also defined for WAGO libraries. These behavior models are described in the following sections. If a function block uses a standard behavior model, this is stated in the documentation of the respective function block. 4.3.1 “WagoExecute” Behavior Model This behavior model corresponds to that of PLCopen although it does not use some PLCOpen options. The naming of the interface variables is specific for WAGO. Figure 3: FbBehaviourModel “WagoExecute” for Function Blocks for Graphical Languages Figure 4: FbBehaviourModel “WagoExecute” for Function Blocks for Textual Languages Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Description of the Library Concept 17 Table 6: Interface Variables of the “WagoExecute” Behavior Model Variable xExecute xDone xBusy Access INPUT OUTPUT OUTPUT Type BOOL BOOL BOOL xError eStatus / oStatus (others) (others) xExecute OUTPUT BOOL OUTPUT eResultCode FbError INPUT (FB-specific) OUTPUT (FB-specific) INPUT BOOL Explanation Edge-triggered command start Indicates the end of command execution Indicates whether the command is still running Indicates whether an error has occurred Precise determination of the error, 0=OK Data/parameters to be processed Process results, if available Edge-triggered command start Figure 5: “WagoExecute” State Diagram Behavior: • • • • • • Manual Version 1.0.0 The specific input variables for the function block (FB) are applied with the rising edge of xExecute. Changes to the input variables are not applied until the next rising edge of xExecute. The output variables xBusy, xDone and xError are exclusive. Only one of the outputs can take on the value TRUE. If xExecute is TRUE, one of the outputs must be set to TRUE. If the command was successfully executed, the output variable xDone is set to TRUE. In this case, (FB-specific) output variables have valid values, see case (1) in the above figure. If an error occurs when the command is executed, the xError output is TRUE, see case (2) in the above figure. If the xExecute input is set to FALSE before xBusy indicates the end of the processing, either the xDone output or the xError output is set to TRUE for one cycle, see case (3) in the above figure. In all other cases, the falling edge of xExecute also resets xDone and xError. 18 Description of the Library Concept 4.3.2 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes “WagoEnable” Behavior Model This behavior model corresponds to that of PLCopen. The naming of the interface variables is specific for WAGO. Figure 6: FbBehaviourModel “WagoEnable” for Libraries of the Application Layer Figure 7: FbBehaviourModel “WagoEnable” for Libraries of Other Layers Table 7: Interface Variables of the “WagoEnable” Behavior Model Variable xEnable xValid xBusy xError eStatus / oStatus (others) (others) Access INPUT OUTPUT OUTPUT Type BOOL BOOL BOOL Explanation Enables the function of the function block Indicates whether the output data is valid Indicates whether the process is still running OUTPUT BOOL Indicates whether an error has occurred OUTPUT eResultCode Precise determination of the error, 0=OK FbError INPUT (FB-specific) Data/parameters to be processed OUTPUT (FB-specific) Process results, if available Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Description of the Library Concept 19 Figure 8: “WagoEnable” State Diagram Behavior: • • • • • • 4.3.3 If the xEnable input is set to TRUE, this enables the implemented process via the function block. If the input is set to FALSE, the process is guided to a controlled stop. The values at the FB-specific inputs can be changed at any time. As long as the xEnable input is TRUE, the function block evaluates the inputs with every call. The xBusy output indicates that the process is still running, for example, a drive has not yet reached standstill. This can also continue if the xEnable input has already been set to FALSE for multiple cycles (see cycle 10 in the above figure). The output variables xValid and xError are exclusive. Only one of these outputs can be set. The function block uses xValid to indicate that the output data is valid and can be processed further. If xValid is FALSE, the output data is invalid. Two different behaviors are possible for the xError output. The above figure shows the case of an error disappearing without external intervention and the process continuing (cycle 18). It is also possible that the error does not disappear on its own. In this case, the xEnable input must be temporarily set to FALSE until the error disappears. “WagoTrigger” Behavior Model This behavior model is used to trigger individual actions. To trigger an action as well as to indicate its completion, one xTrigger input and output variable is used for each action. If a function block uses several of these trigger inputs, the corresponding input variables are identified by a specific suffix according to function, e.g., “xTriggerWrite” and “xTriggerRead.” Manual Version 1.0.0 20 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Figure 9: FbBehaviourModel “WagoTrigger” for Libraries of the Application Layer Figure 10: FbBehaviourModel “WagoTrigger” for Libraries of Other Layers Table 8: Interface Variables of the “WagoExecute” Behavior Model Variable Access xTrigger INOUT Type BOOL xBusy OUTPUT BOOL xError eStatus / oStatus (others) (others) OUTPUT BOOL OUTPUT eResultCode FbError INPUT (FB-specific) OUTPUT (FB-specific) Explanation Edge-triggered start and indication of the end of an action Indicates whether actions are being processed Indicates whether an error has occurred Precise determination of the error, 0=OK Data/parameters to be processed Process results, if available Figure 11: “WagoTrigger” State Diagram Behavior: • • If xTrigger is externally set to TRUE, the relevant action is started. The function block sets xBusy to TRUE and xError to FALSE. Once started, the action is then also further processed if xTrigger is externally set to FALSE. Any other input variables are only evaluated by the function block at the call if there is a rising edge at the xTrigger. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes • • • • • Description of the Library Concept 21 If the action is ended, the function block sets the eResult status output to OK (=0) or a specific error code depending on the process result, and sets xTrigger and xBusy to FALSE. After this, the FB keeps its output variables stable until the next trigger. The xTrigger variable is only set externally and only reset by the FB. It is not set to TRUE by the FB on its own. External reset of the variable to FALSE (2) is ignored. If xTrigger is set permanently to TRUE externally, the function block automatically starts the next action after one action has ended. Output variables are set before the FB resets xTrigger to FALSE. In the FALSE state, the FB does not change the output variables. Table 9: Standard Status Outputs (eStatus) Value OK (=0) EDEFAULT EINPROGRESS (others) 4.4 Explanation The action was successfully completed. The FB was never called and is therefore not yet ready. The action is currently in progress. FB-specific error codes Return Values and Error Handling The libraries indicate feedback signals and handle errors using the following basic mechanisms: • • • Specific return values Numerical ResultCodes (“eResultCode,” WagoSysTypedefs.library) Error objects with plain text message (“FbError,” WagoAppErrorBase.library) While libraries with small low-level functions primarily use the slim mechanism of specific return values or simple “eResults,” libraries with more complex function blocks also use the more complex error objects with plain text messages. 4.4.1 Error Signalling via Specific Return Values If functions do not require any detailed status messages, an error situation can be indicated via specific return values such as blank strings or zero pointers for example. 4.4.2 Numerical ResultCodes For the majority of simpler functions, it is reasonable to represent the error status with a simple numerical value. The meaning of this is indicated by the use of the Manual Version 1.0.0 22 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes “eResultCode” enumeration (from WagoSysTypedefs.library or WagoSysStandard.library). The enumeration value 0 always stands for “OK,” the values up to 199 represent standard situations based closely on the POSIX.1 worldwide established standard. The enumeration values 200 … 999 are available for errors that are individually definable for the particular function, which may vary from library to library. The meaning of the specific error is explained in the documentation of the particular library. “ResultCodes” are always returned as return values. 4.4.3 Error Objects with Plain Text Message The use of simple error numbers is often not informative enough for complex function blocks. An error object of type “FbError” is used by these FBs instead and forwarded to the parent instances. This error object provides the following methods: • • • • • 4.5 GetErrorID() Returns the error number GetDescription() Returns an error text GetInstancePath() Returns the instance path of the factory which entered this error GetProducerName() Returns the class of the function block in which this error has occurred GetSeverity() Returns the classification (error/warning/note) of the error Naming Rules for Variables WAGO always uses the Hungarian notation for variable libraries. Table 10: Bit Field Data Types Data Type BOOL BYTE WORD DWORD LWORD Prefix x b w dw lw Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Table 11: Integer Data Types Data Type SINT USINT INT UINT DINT UDINT LINT ULINT Prefix si usi i ui di udi li uli Table 12: Floating Comma Data Types Data Type REAL LREAL Prefix r lr Table 13: Other Simple Data Types Data Type POINTER STRING WSTRING TIME LTIME TIME_OF_DAY DATETIME DATE Prefix p s ws d lt tod dt dat Table 14: Composite Data Types Data Type ARRAY STRUCT ENUM UNION Prefix a type: e un Table 15: Function Blocks Data Type Function Block Function Program Manual Version 1.0.0 Prefix Fb Fu Prg Description of the Library Concept 23 24 Description of the Library Concept WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Table 16: Global Variables Data Type Global variable Global constant Global parameter list Prefix g_ gc_ gp_ Table 17: Object-Oriented Expansion Data Type INTERFACE Instance REFERENCE Member variables Prefix I_ o R_ m_ The naming rules mainly apply to simple interface variables. In nested structures the notation may be different to this for greater clarity. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Migration of Other Libraries 5 Migration of Other Libraries 5.1 From WAGO-I/O-PRO to e!COCKPIT 25 Programs created in WAGO-I/O-PRO can be reused in e!COCKPIT if they follow particular conventions and all the referenced libraries are provided. More or less manual reworking is required, depending on the structure of the project. The following general procedure must be observed: • • • • • Open the WAGO-I/O-PRO project in e!COCKPIT Select the new target system Convert libraries If necessary, port the visualization component of the libraries Create a new control system configuration If the projects to be imported only use CODESYS libraries, at least the syntax can be transferred to e!COCKPIT . However, there can be no guarantee that the converted program will function error-free. A complete test must be carried out in order to ensure this. Do not use libraries of the CODESYS 3 system layer that are based on CODESYS 2 for new projects! Libraries are provided in the CODESYS 3 system layer with names from those of a CODESYS 2 library as well as the suffix “23.” These libraries largely correspond to the function of the CODESYS 2 libraries with similar names. They can help to carry out a simple draft for the migration of a CODESYS 2 project. However, they are not recommended for new projects as they only make one part of the functionality of the new concept available. For new projects, new libraries of the application library or WAGO system layer should be used. No exact equivalent of the application libraries created for WAGO-I/O-PRO! Libraries of the application layer created for e!COCKPIT were given a new functional structure. Even if the name is similar or identical to the libraries created for WAGO-I/O-PRO, they cannot be exchanged directly. Depending on use and library, the project must be adapted to the changes in functionality and interfaces. A list of known major differences is provided in the appendix. 5.1.1 Preparing PLC Projects for Import To port a PLC project created in WAGO-I/O-PRO to e!COCKPIT, it must be possible to compile it error-free in WAGO-I/O-PRO beforehand. The project can then be opened in e!COCKPIT and a conversion can be started. The WAGO-I/O-PRO and e!COCKPIT programming environments differ in Manual Version 1.0.0 26 Migration of Other Libraries WAGO Software e!COCKPIT Libraries - Overview and Migration Notes many aspects, so that e!COCKPIT will show errors and warnings during the compilation attempt. The most common cause is the stricter handling of implicit conversions in e!COCKPIT. The following table shows possible features and remedies. Table 18: Error/Warning Messages for Implicit Conversions Message / Cause When used in calculations Information such as the sign may be lost. An appropriate warning message is therefore displayed. The initialization of variables with constants is normally not permissible in e!COCKPIT. For example, a BYTE type variable must not be initialized with a WORD type constant. An error message is therefore displayed. This is not permissible in e!COCKPIT in the SWITCH/CASE construct. The types of each CASE must match those of the SWITCH variables. An error message is therefore displayed. Remedy Each corresponding warning message must be checked individually. Correct project Correct project Special attention must also be paid to any libraries used by the WAGO-I/O-PRO project. Like the core project, it must likewise be possible to compile these errorfree according to the same conditions. 5.1.1.1 Known Restrictions when Using LD 5.1.1.2 Function Blocks Function blocks must only be used in parallel branches if the branch is already made on the current rail. The following figure shows this with the example of two networks with identical functions: • • Network 1 cannot be imported. Network 2 can be imported. In order for the lower path to start at the beginning of the current rail, the make contact “a” was likewise added here. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Migration of Other Libraries 27 Figure 12: Ladder Diagram – Branch Variants 5.1.1.3 Function Blocks with EN/ENQ Function blocks provided with EN/ENQ must not have any additional function blocks at the inputs. A variable is permissible instead. 5.1.2 Known Restrictions When Using SFC 5.1.2.1 Step Variables Steps do not use any Boolean variables to manage the internal states in e!COCKPIT but also structures of type SFCStepType. Step variables must therefore be declared explicitly and locally in SFC. They must only be declared as VAR, but not as VAR_INPUT, VAR_OUTPUT or VAR_INOUT. 5.1.2.2 Identifiers In e!COCKPIT implicit variables are created for actions. These contain an underline as a prefix in order to distinguish them. Identifiers must not contain any double underline. The naming of the following objects must therefore never start with an underline: • • • Manual Version 1.0.0 IEC actions in the tree Boolean variables that are called in an IEC association list Name of programmed transitions 28 Migration of Other Libraries WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 5.1.2.3 Known Restrictions When Using CFC 5.1.3 Display Problems The visualization of the CFC programming language is implemented differently in WAGO-I/O-PRO than in e!COCKPIT. Display problems therefore arise after importing program sections to WAGO-I/O-PRO in CFC: • • 5.1.4 Graphic fields may overlap in large function blocks. Only the first line of multiple line comments is displayed. Macros Macros cannot be imported in e!COCKPIT. 5.2 Preparing Visualization Projects for Import Compared to WAGO-I/O-PRO, the rules relating to the variables used in visualizations and the use of placeholders are stricter in e!COCKPIT. 5.2.1 Variable Declaration All variables present in the visualization must be declared. A warning is displayed in WAGO-I/O-PRO,and an error in e!COCKPIT. Remove all unused variables or supplement the required declarations. 5.2.2 Placeholders In e!COCKPIT, visualizations have interfaces similar to function blocks, i.e. lists of input and output variables. Unlike in WAGO-I/O-PRO, visualization and program elements are not linked via placeholders. The connection of visualization and program variables is therefore based on a different principle than in WAGOI/O-PRO. Before projects can be imported with visualizations, these must be adapted if necessary. An import is only possible for simple placeholders. In this case, simple means that the placeholder must consist at most of one part of a variable path but must always fill this out fully. Examples: • • $Placeholder$.. [$Placeholder$] The use of multiple placeholders within a path or the combination of a part of the path from a placeholder and one or multiple fixed parts is not permissible. Examples: Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes • • Migration of Other Libraries 29 $Placeholder_A$.$Placeholder_B$ (multiple placeholder) $Placeholder_Nameend$ (placeholder is only part of the path to a variable) To achieve additional flexibility, auxiliary variables can be used. Case distinctions can be carried out as normal calculations in the code and the results stored in the form of auxiliary variables. Expressions can then be formed with the auxiliary variables instead of with complex placeholders. Table 19: Auxiliary Variables instead of a Combination of Placeholders and Fixed Part $axle$-Axle WAGO-I/O-PRO: Expression WAGO-I/O-PRO: Text variable e!COCKPIT: Auxiliary variables sAxlename: STRING e!COCKPIT: Expression %s-Axle e!COCKPIT: Text variable sAxlename Table 20: Auxiliary Variables instead of Combination of Multiple Placeholders $Axle$$Movement$ WAGO-I/O-PRO: Expression WAGO-I/O-PRO: Text variable e!COCKPIT: Auxiliary variables sAxlename: STRING; sMovementname: STRING; sIdentifier: STRING; (…) sIdentifier := CONCAT( sAxlename, sMovementname); e!COCKPIT: Expression %s e!COCKPIT: Text variable sIdentifier The stricter requirements of the variable declaration must still also be observed. Placeholders that can be replaced by different data types cannot be imported. Before an import is possible, the output project must be changed so that each placeholder only stands for one data type. This can be achieved by each nonunique placeholder being defined in this way with several unique ones. Groups are not supported and are lost on import. 5.2.2.1 Visualizations from Libraries Visualizations themselves must be designed again in e!COCKPIT. However, if the project created in WAGO-I/O-PRO uses visualization templates from application libraries created by WAGO, this redesign can be completed with little effort. As there is a corresponding application library in e!COCKPIT for each one in WAGO-I/O-PRO, the actual visualization templates are also available in this form. An overview of application libraries for WAGO-I/O-PRO and e!COCKPIT is provided in the appendix. Manual Version 1.0.0 30 Migration of Other Libraries 5.2.3 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Migration of the PLC Configuration The e!COCKPIT PLC configuration has a different basis to that of WAGO-I/OPRO. In WAGO-I/O-PRO the internal addressing of the I/O system plays a major role. To connect variables in the PLC program with physical inputs or outputs explicit addresses are assigned: • xDI_2 AT %IX1.1: BOOL; • wAI_1 AT %IW0: WORD; This form of assignment requires prior knowledge of the process data structure. This includes, for example, knowledge of the effect of the physical order and type of I/O modules on the position of their data in the process image. With this form of assignment, changes in the physical design of the fieldbus node also have an effect on the PLC program. For example, if an I/O module is added in a fieldbus node, the address areas of all subsequent I/O modules may move. In e!COCKPIT the internal addressing of the I/O system is only of minor importance. Process data areas representing the physical inputs and outputs of an I/O module are identified instead by a “talking” name. Whilst this requires the PLC configuration to be correct, it eliminates the need to correct address areas in the PLC program if the physical design changes. This different procedure unfortunately means that PLC configurations cannot be migrated. 5.2.4 Importing Network Variables Some network variables created in WAGO-I/O-PRO can be imported. During the import corresponding global variable lists (GVL objects) are created in e!COCKPIT, which contain the variable declarations. Network connection properties, however, cannot be imported. However, these can be completed quickly using the relevant configurators in e!COCKPIT. 5.3 CODESYS 3 to e!COCKPIT 5.3.1 Transferring Existing Projects Programs created in CODESYS 3 can be reused in e!COCKPIT. For this, the programs must be exported in the CODESYS 3 development environment and then imported in e!COCKPIT. The reuse of other configured content, such as a hardware configuration, is not possible. This must therefore be created again in e!COCKPIT. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes 5.3.2 Migration of Other Libraries 31 Device Support No other device descriptions are created for the CODESYS 3 development environment. However, WAGO provides device descriptions for e!COCKPIT for all devices with the CODESYS 3 runtime environment or e!RUNTIME. As e!RUNTIME is very closely based on CODESYS 3, the migration of the actual programming is always straightforward. Manual Version 1.0.0 32 6 Appendix WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Appendix This section provides an overview of which application libraries created for e!COCKPIT and WAGO-I/O-PRO are compatible. Table 21: Allocation of Application Libraries WAGO-I/O-PRO SysLibDir SysLibFile SysLibStr SysLibSem SysLibMem SysLibShm SysLibSocket WagoLibSockets WagoLibEthernet_01 SysLibEvent SysLibRTC SysLibTime SysLibCom Serial_Interface_01 Sercom ComHandshake WagoLibReset SysLibPlcCtrl WagoLibModbus_IP_01 Modb_l05 WagoLibEthernetTerminalSlave TerminalSlave_04 ModbusEthernet_04 Visual Stepper_02 Stepper_03 WAGO_Bluetooth_03 MC1_DC_Control WagoPowerMeasurement_02 WagoPowerMeasurement_03 WagoPowerMeasurement_494 WagoPowerMeasurement_495 SysLibMem WagoLibMC4_Solenoid WagoLib787_01 WagoLib787_01 Modem_01 Scanner_01 SMS 01 GSM_SMS_01 Wago_Grafik_01 WagoLib_Utility_01 WagoLibMBX_01 WagoLibMBX_System_01 e!COCKPIT WagoAppFileDir WagoAppFileDir WagoAppString WagoSysAtomic WagoSysPlainMem WagoAppMem WagoAppSocket WagoAppSocket WagoAppSocket WagoAppEvent WagoAppTime WagoAppTime WagoAppCom WagoAppCom WagoAppCom WagoAppCom WagoAppControl WagoAppControl WagoAppModbus WagoAppModbus WagoAppModbus WagoAppModbus WagoAppModbus WagoAppAppLED WagoAppStepper WagoAppStepper WagoAppBluetooth WagoAppDCControl WagoAppPowerMeasurement WagoAppPowerMeasurement WagoAppPowerMeasurement WagoAppPowerMeasurement WagoSysPlainMem WagoAppSolenoid WagoAppFuse WagoAppPowerSupply WagoAppSerial_Modem WagoAppSerial_Scanner WagoAppSerial_SMS WagoAppSerial_SMS (only provided by visualization elements) WagoSysString WagoSysModuleBase WagoSysModuleBase Provision of additional application libraries in preparation! The provision of additional application libraries for e!COCKPIT is planned. Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes List of Figures 33 List of Figures Figure 1: Layer Model of the Libraries ................................................................. 11 Figure 2: Library Manager in e!COCKPIT ........................................................... 14 Figure 3: FbBehaviourModel “WagoExecute” for Function Blocks for Graphical Languages ........................................................................ 16 Figure 4: FbBehaviourModel “WagoExecute” for Function Blocks for Textual Languages ........................................................................... 16 Figure 5: “WagoExecute” State Diagram ............................................................. 17 Figure 6: FbBehaviourModel “WagoEnable” for Libraries of the Application Layer ........................................................................ 18 Figure 7: FbBehaviourModel “WagoEnable” for Libraries of Other Layers ....... 18 Figure 8: “WagoEnable” State Diagram ............................................................... 19 Figure 9: FbBehaviourModel “WagoTrigger” for Libraries of the Application Layer ........................................................................ 20 Figure 10: FbBehaviourModel “WagoTrigger” for Libraries of Other Layers..... 20 Figure 11: “WagoTrigger” State Diagram ............................................................ 20 Figure 12: Ladder Diagram – Branch Variants ..................................................... 27 Manual Version 1.0.0 34 List of Tables WAGO Software e!COCKPIT Libraries - Overview and Migration Notes List of Tables Table 1: Number Notation ....................................................................................... 8 Table 2: Font Conventions ...................................................................................... 8 Table 3: Layer Model of Libraries ........................................................................ 11 Table 4: Name Prefix According to Layer ............................................................ 11 Table 5: Library Groups by Functionality............................................................. 12 Table 6: Interface Variables of the “WagoExecute” Behavior Model .................. 17 Table 7: Interface Variables of the “WagoEnable” Behavior Model .................... 18 Table 8: Interface Variables of the “WagoExecute” Behavior Model .................. 20 Table 9: Standard Status Outputs (eStatus) ........................................................... 21 Table 10: Bit Field Data Types ............................................................................. 22 Table 11: Integer Data Types ................................................................................ 23 Table 12: Floating Comma Data Types ................................................................ 23 Table 13: Other Simple Data Types ...................................................................... 23 Table 14: Composite Data Types .......................................................................... 23 Table 15: Function Blocks .................................................................................... 23 Table 16: Global Variables.................................................................................... 24 Table 17: Object-Oriented Expansion ................................................................... 24 Table 18: Error/Warning Messages for Implicit Conversions .............................. 26 Table 19: Auxiliary Variables instead of a Combination of Placeholders and Fixed Part .................................................................. 29 Table 20: Auxiliary Variables instead of Combination of Multiple Placeholders 29 Table 21: Allocation of Application Libraries ...................................................... 32 Manual Version 1.0.0 WAGO Software e!COCKPIT Libraries - Overview and Migration Notes Manual Version 1.0.0 35 WAGO Kontakttechnik GmbH & Co. KG Postfach 2880 • D-32385 Minden Hansastraße 27 • D-32423 Minden Phone: 05 71/8 87 – 0 Fax: 05 71/8 87 – 1 69 E-Mail: info@wago.com Internet: http://www.wago.com
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