More than 120 PLCs using

Software Codesys with CANopen

Company 3S-Smart Software Solutions GmbH Memminger Str. 151 DE-87439 Kempten

7KHFRPSDQ\·VPDLQ focus is the development and distribution of the Codesys programming environment and PLC runtime software compli- ant to IEC 61131-3 pro- gramming languages. The offered software is more than a development Figure 1: The 3S directors Manfred Werner (left) and Dieter Hess (right) system: It also includes extensions for motion hen Dieter Hess and The Codesys software placed freely which makes control or visualization for WManfred Werner start- supports all five program- it possible to program feed- example. From the start ed in 1994 the 3S - Smart ming languages defined in back loops without interim the PLC software fea- Software Solutions com- IEC 61131-3: variables. tures support of different pany, the international- X IL (Instruction list) is an The programming envi- communication systems. ly standardized program- assembler like program- ronment supports CANopen In the beginning Profibus ming languages for PLCs ming language communication and config- was the most requested (programming logic control- X ST (Structured text) is uration of CANopen NMT bus system, nowadays it ler), known as IEC 61131- similar to programming slave devices by means is CANopen and 3, were just two years old. in Pascal or C of SDO services. It is also Ethercat. The PLCopen non-profit as- X LD (Ladder diagram) en- possible to send and re- sociation was promoting ables the programmer to ceive PDOs as well as EM- Links this standard against pro- virtually combine relay CYs. The runtime system www.3s-software.com prietary solutions. In those contacts and coils manages and supervises forum.3s-software.com days, so-called Soft-PLCs X FBD (Function block dia- www.plcopen.org were quite rare. Neverthe- gram) enables the user www.dor1.co.il less, the first version of the to rapidly program both CANopen is www.humiq.nl IEC 61131-3 compliant Cod- Boolean and analogue for us one of esys (Controller Develop- expressions the most important ment Environment) pro- X SFC (Sequential function gramming environment was chart) is convenient for n e t w o r k s . released already in 1994. programming sequential Today is Codesys one of the processes and flows Hilmar Panzer market-leading PLC soft- ware solutions. More than In addition, a graphical ed- the CANopen NMT slave 350 OEM customers have itor is provided: The CFC devices by means of NMT implemented Codesys in (Continuous Function message, Node/life guard- their host controllers. The Chart) is a sort of freehand ing, and Heartbeat. This 104-employees company, FBD editor. Other than in means the PLC software in- headquartered in the South the network-oriented FBD cludes a CANopen protocol of Germany close to the editor, where the connec- stack. But the PLC itself is Alps, achieved in the last tions between inputs, op- not a CANopen device, be- year a turnover of 10,7 mil- erators and outputs are cause it does not provide lion €. In 2011, there were set automatically they have the mandatory SDO default sold more than 500 000 to be drawn by the pro- server. This means, the im- runtime licenses. grammer. All boxes can be plemented CANopen ob-

22 CAN Newsletter 3/2012 Pioneering new technologies Pioneering new technologies

More information on

® Control unitsESX -family











FROM
THE
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CAN FD Tech Day -TC3 ® ® ESX hosted by CiA + Bosch ESX 2012-10-18 Detroit (US) • freely programmable controllers (in C and IEC61131-3) • applications in mobile work machines and commercial vehicles CAN FD information days ESX®-3XL ESX®-TC3 32bit-controller with 136 I/Os, Approved Teleservice module with GSM, GPRS, GPS, hosted by CiA + Ixxat for safety related applications (SIL2, PLd) Wi-Fi, Bluetooth®, Ethernet and USB 2012-10-05 Zurich (CH) ESX®-IOX CAN-Bus I/O-Modules 2012-11-07 Milano (IT) 2012-11-13 Munich (DE) Pressurethin-film transmitter measuring element www.can-cia.org/index.php?id=seminars














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• especially for applications in mobile machines and commercial vehicles • highest media compatibility • pressure ranges from 0 ... 25 bar to 0 ... 1000 bar (Overall accuracy in the temperature compensated range: 1%) • max. media temperature 150°C / max. ambient temperature 125°C • wetted parts and case in stainless-steel • CAN-Bus interface

Exhibitions

SPS/IPC/DRIVES, Nuremberg 27. – 29.11.2012 Hall 7, Booth 7-169 For more details please contact the CiA offi ce at [email protected] Sensor-Technik Wiedemann GmbH Am Bärenwald 6 · 87600 Kaufbeuren www.can-cia.org/index.php?id=871 Germany Telephone +49 (0) 83 41-95 05-0

WWWsensor-technikDE Software

Figure 2: Wood processing machine using Codesys

ject dictionary is not acces- Copco use Codesys with working groups, especially plants like pneumatic cylin- sible from the network by CANopen in its compres- in the IEC 61131 group joint- ders, automatic tool chang- means of generic CANopen sors. The Swedish compa- ly organized with PLCopen. ers or temperature controls tools. The CANopen object ny produces annually about as well as typical software dictionary is only accessi- 30 000 of them. Lenze uses functions like parts admin- ble from the Codesys pro- another embedded PLC istration or user admin- gramming environment. Of with CANopen in its pro- With the istration, process control course, the programming grammable motion control- Codesys or network management. lers. All engineering aspects environment supports to Application Com- read CANopen-EDS (elec- Interesting is that the of Codesys are included tronic data sheets) to get FRPSDQ\·V EXLOGLQJV DUH poser users will ex- in the modules: program knowledge on the connect- equipped with PLCs run- perience a jump for- code, I/O assignment, pa- ed CANopen devices. The ning Codesys and using ward in engineering rameterization and visual- currently implemented boot- CANopen networks to link productivity. ization. The user structures up procedure for CANopen the necessary I/O devices. his machine based on these NMT slave devices does Hilmar Panzer, the head of POUs and connects them in not read the error register the application develop- Dieter Hess special editors. Integrated (index 1001h), but follows in ment department, uses also generators then automati- general the CiA 302 recom- in his private home Code- The recently intro- cally produce complete, mendations. sys with CANopen. duced Codesys Applica- well-structured IEC 61131- CANopen is one of the On request from the tion Composer adds an ap- 3 applications including a most used network technol- market, the software house plication level to the IEC visualization, which can di- ogies, in particular in mobile develops a CANopen Safe- 61131-3 programming sys- rectly be compiled and up- machinery. There are no ty solution for SIL 2 (safe- tem. Pre-designed modules loaded to the controller. The detailed figures about the ty integrity level) according can be used to build com- generated source code is CANopen licenses avail- to IEC 61508. As an active plete automation applica- visible to the user. able. But it is estimated that CiA member, the company tions. Such modules imple- This approach opens in the last year about 250 participates in CiA technical ment parts of machines or the door to users, who do 000 Codesys runtime li- censes have been sold with CANopen functionality. Typical examples for mobile machinery include hydraulic excavators by Terex/O&K, blast hole drill rigs by Sandvik, and har- bor cranes by Liebherr. In several of these heavy-duty applications, there are pro- prietary CAN-based high- er-layer protocols and CAN- based J1939 solutions are supported. The CANopen option is also used in many em- bedded PLC systems (e.g. for medical devices) and in machine control systems. A typical example is the Vario-shuttle conveyor sys- tem by Eisenmann. Another on is the wood processing machinery by Homag. Atlas Figure 3: Rock crushing machine with Codesys

24 CAN Newsletter 3/2012 Products

X Codesys programming environment: Develop- ment system running under Windows for creat- ing PLC application programs compliant to IEC 61131-3. X Codesys Control: PLC target software for embed- ded and PC-based controllers. X Codesys HMI, Codesys Target Visualization, Codesys Web Visualization: Software add-on packages for creating display masks on different platforms. X Codesys Softmotion: Tool-kit for motion control, which can optionally be integrated into the Cod- esys Control runtime system. A PLCopen motion control library is also pat of the tool-kit. X Codesys Professional Developer Edition: Pro- vides additional tools for programmers to be used for high-level programming. X Codesys Application Composer: Tool for machine and plant builders, who want assembling their ap- plications on the base of pre-defined modules in- stead of programming them. X Codesys Safety: The TÜV-certified PLC runtime software compliant to IEC 61508 (SIL 2) is under development, and will include a CANopen Safety option. have a profound knowledge all Codesys products, will of the structure and the pro- offer trainings, and will or- cess of machines or plants ganize trade shows as well but do not know how to pro- as customer events. In the gram. Netherlands, Humiq Ad- vanced Software has joined the system partner network. We have sys- The Dutch company will tem partners provide technical consulting and distributors sup- as well as support for ap- plication development and porting OEM cus- system integration. tomers and end-users. LPC11C00 for elevator Manfred Werner control systems The software suppli- er has established a world- wide representation by system partners and dis- High-performance 50 MHz ARM® Cortex™-M0 tributors. It is represented microcontroller through their own office in China and distributors in 15 countries and supports CANopen drivers in ROM, firmware updates its customers by 22 system enabled via CAN partners, which offer con- sulting services. The com- Integrated CAN transceiver pany also organizes sev- eral events to update OEM customers and end-users. Recently, a distributor in Is- rael has been appointed: Dor Drive Systems special- ized in motion control and renewable energy systems will take over the sales of

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