ABB IEC 61131-3 Programming manual

ABB industrial drives

Programming manual

Drive application programming (IEC 61131-3)

Drive application and firmware manuals and guides

Code (English)

Drive (IEC 61131-3) application programming manual

3AUA0000127808

ACS880 primary control program firmware manual Drive composer start-up and maintenance PC tool

user’s manual AC500 Control Builder PS501 Complete English

documentation

3AUA0000085967 3AUA0000094606

3ADR025078M02xx

List of related manuals

You can find manuals and other product documents in PDF format on the Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative.

Programming manual

Drive application programming (IEC 61131-3)

3AUA0000127808 Rev C EN EFFECTIVE: 2015-04-03

Continuous function chart (CFC) program ..................................................................... 35

Table of contents

List of related manuals ...................................................................................................... 2

Introduction to the manual .............................................................................................. 13

Contents of this chapter ..................................................................................................... 13

Compatibility ....................................................................................................................... 13

Target audience ................................................................................................................. 13

Safety instructions .............................................................................................................. 14

Purpose of the manual ....................................................................................................... 14

Contents of the manual ...................................................................................................... 14

Related documents ............................................................................................................ 14

Terms and abbreviations .................................................................................................... 15

Getting started .................................................................................................................. 17

Contents of this chapter ..................................................................................................... 17

Setting up the programming environment .......................................................................... 17

Overview of drive programming ..................................................................................... 21

Contents of this chapter ..................................................................................................... 21

Drive application programming ........................................................................................... 21

System diagram ................................................................................................................. 22

Programming work cycle .................................................................................................... 23

Special tasks ...................................................................................................................... 23

Programming languages and modules ............................................................................... 24

Libraries.............................................................................................................................. 24

Program execution ............................................................................................................. 24

DriveInterface ..................................................................................................................... 24

ApplicationParametersandEvents ...................................................................................... 25

Creating application program ......................................................................................... 26

Contents of this chapter ..................................................................................................... 26

Creating a new project ....................................................................................................... 27

Updating project information .............................................................................................. 29

Appending a new POU ....................................................................................................... 32

Writing a program code ...................................................................................................... 34

Viewing device information ............................................................................................ 57

Upgrading or adding a new device ................................................................................. 59

Changing an existing device .......................................................................................... 60

Viewing software updates .............................................................................................. 61

Adding tasks ................................................................................................................... 68

Monitoring tasks ............................................................................................................. 71

Safe debugging .............................................................................................................. 77

Downloading loading package to a drive ....................................................................... 83

Preparing a project for download ........................................................................................ 43

Establishing online connection to the drive ......................................................................... 43

Downloading the program to the drive ................................................................................ 50

Executing the program ........................................................................................................ 52

Creating a boot project ....................................................................................................... 54

Features ............................................................................................................................. 56

Contents of this chapter ...................................................................................................... 56

Device handling .................................................................................................................. 56

Program organization units (POU) ...................................................................................... 63

Data types ........................................................................................................................... 64

Drive application programming license ............................................................................... 64

Application download options ............................................................................................. 65

Removing the application from the target ........................................................................... 66

Retain variables .................................................................................................................. 67

Task configuration .............................................................................................................. 67

Uploading and downloading source code ........................................................................... 73

Adding symbol configuration ............................................................................................... 75

Debugging and online changes .......................................................................................... 77

Reset options ...................................................................................................................... 78

Memory limits ...................................................................................................................... 79

CPU limitation ..................................................................................................................... 80

Application loading package ............................................................................................... 81

DriveInterface .................................................................................................................... 87

Contents of this chapter ...................................................................................................... 87

Implementing DriveInterface ............................................................................................... 87

Selecting the parameter set ................................................................................................ 89

Viewing parameter mapping report ..................................................................................... 90

Mapping example .......................................................................................................... 91

Creating parameter groups .......................................................................................... 103

Creating parameters .................................................................................................... 104

Parameter settings ...................................................................................................... 106

Scaling ......................................................................................................................... 108

Linking parameter to application code ......................................................................... 109

Parameter types .......................................................................................................... 110

Parameter families ....................................................................................................... 113

Selection lists ............................................................................................................... 114

Units ............................................................................................................................ 115

Application events ....................................................................................................... 116

Question: What to do when scan network does not find any drives? .......................... 126

Question: What to do if communication fails while establishing online connection to the

drive? ........................................................................................................................... 127

Question: What to do if communication fails between Automation Builder/Drive composer

pro and drive? .............................................................................................................. 128

Updating drive parameters from installed device ............................................................... 94

Updating drive parameters from parameters file ................................................................ 96

Setting parameter view ....................................................................................................... 98

Application parameter and events ................................................................................ 100

Contents of this chapter ................................................................................................... 100

ApplicationParametersandEvents .................................................................................... 101

ParameterManager .......................................................................................................... 103

Libraries .......................................................................................................................... 117

Contents of this chapter ................................................................................................... 117

Library types ..................................................................................................................... 117

Adding a library to the project ........................................................................................... 118

Creating a new library ...................................................................................................... 121

Installing a new library ...................................................................................................... 123

Managing library versions ................................................................................................ 125

Practical examples and tips .......................................................................................... 126

Contents of this chapter ................................................................................................... 126

Solving communication problems ..................................................................................... 126

Solving other problems ..................................................................................................... 129

Question: How to prevent unauthorized access to an application that is running in the

drive? ........................................................................................................................... 129

Question: How to fix an unknown device in a project? ................................................. 129

Question: How to remove a boot application from the flash memory card? ................. 129

Question: What to do when I continuously receive “The project handle 0 is invalid” error

message? ..................................................................................................................... 129

Question: What to do when stack overflow fault 6487 occurs? .................................... 130

Question: How to optimize the memory usage of the drive application? ..................... 130

Question: How to solve the problem causing error message “Creating boot application failed: Adding Application Parameters & Groups to UFF generator :

XmlDeserializationFailed“? .......................................................................................... 130

EVENT ......................................................................................................................... 137

ReadEventLog ............................................................................................................. 138

PAR_UNIT_SEL ........................................................................................................... 140

PAR_SCALE_CHG ...................................................................................................... 141

PAR_LIM_CHG_DINT ................................................................................................. 143

PAR_LIM_CHG_REAL ................................................................................................ 144

PAR_LIM_CHG_UDINT ............................................................................................... 145

PAR_DEF_CHG_DINT ................................................................................................ 146

PAR_DEF_CHG_REAL ............................................................................................... 147

PAR_DEF_CHG_UDINT .............................................................................................. 148

Appendix A: Incompatible features between ACS880 Drive and AC500 PLC IEC

programming ................................................................................................................... 131

Contents of this chapter .................................................................................................... 131

Incompatible features ....................................................................................................... 131

Appendix B: Unsupported features .............................................................................. 133

Appendix C: ABB drives system library ....................................................................... 134

Contents of this chapter .................................................................................................... 134

Introduction to ABB drives system library ......................................................................... 134

Function blocks of the system library ................................................................................ 135

Event function blocks ........................................................................................................ 137

Parameter change function blocks ................................................................................... 140

Parameter limit change ..................................................................................................... 143

Parameter default value change ................................ ....................................................... 146

Parameter decimal display ............................................................................................... 149

PAR_DISP_DEC ......................................................................................................... 149

PAR_REFRESH .......................................................................................................... 150

PAR_PROT ................................................................................................................. 151

PAR_GRP_PROT ....................................................................................................... 152

ParReadBit .................................................................................................................. 153

ParRead_DINT ............................................................................................................ 154

ParRead_REAL ........................................................................................................... 155

ParRead_UDINT ......................................................................................................... 156

ParWriteBit .................................................................................................................. 157

ParWrite_DINT ............................................................................................................ 158

ParWrite_REAL ........................................................................................................... 159

ParWrite_UDINT .......................................................................................................... 160

ParRead_BitPTR ......................................................................................................... 161

ParRead_ValPTR_DINT .............................................................................................. 162

ParRead_ValPTR_REAL ............................................................................................. 163

ParRead_ValPTR_UDINT ........................................................................................... 164

ParSet_BitPTR_IEC .................................................................................................... 165

ParSet_ValPTR_IEC_DINT ......................................................................................... 166

ParSet_ValPTR_IEC_REAL ........................................................................................ 167

ParSet_ValPTR_IEC_UDINT ...................................................................................... 168

ParSet_BitPTR_Par ..................................................................................................... 169

ParSet_ValPTR_Par .................................................................................................... 170

UsedTimeLevel ............................................................................................................ 171

Parameter protection ........................................................................................................ 151

Parameter read function blocks ........................................................................................ 153

Parameter write function blocks ....................................................................................... 157

Pointer parameter read function block ............................................................................. 161

Set pointer parameter to IEC variable function blocks ..................................................... 165

Set pointer parameter to parameter function blocks ........................................................ 169

Task time level function block .......................................................................................... 171

Error codes ....................................................................................................................... 172

Appendix D: ABB D2D function blocks ........................................................................ 173

Contents of this chapter ................................................................................................... 173

Introduction to ABB D2D function blocks ......................................................................... 173

D2D function blocks of the system library ........................................................................ 174

DS_ReadLocal ............................................................................................................. 175

DS_WriteLocal ............................................................................................................. 176

General ........................................................................................................................ 177

D2D_TRA ..................................................................................................................... 177

D2D_REC .................................................................................................................... 179

D2D_TRA_REC ........................................................................................................... 181

D2D_TRA_MC ............................................................................................................. 183

D2D_Conf .................................................................................................................... 185

D2D_Conf_Token ........................................................................................................ 187

D2D_Master_State ....................................................................................................... 189

Example 1: D2D_TRA / D2D_REC blocks ................................................................... 190

Example 2: Token send configuration blocks ............................................................... 191

BGET ........................................................................................................................... 195

BSET ............................................................................................................................ 196

DEMUX ........................................................................................................................ 197

DEMUXM ..................................................................................................................... 198

MUX ............................................................................................................................. 199

MUXM .......................................................................................................................... 200

PACK ........................................................................................................................... 201

SR_D ............................................................................................................................ 202

SWITCH ................................................................ ....................................................... 203

SWITCHC .................................................................................................................... 204

UNPACK ...................................................................................................................... 205

Data read/write blocks ...................................................................................................... 175

D2D communication blocks .............................................................................................. 177

D2D configuration blocks .................................................................................................. 185

Examples: D2D blocks ................................................................................................ ...... 190

Appendix E: ABB drives standard library .................................................................... 193

Contents of this chapter .................................................................................................... 193

Introduction to ABB drives standard library ...................................................................... 193

Basic functions .................................................................................................................. 195

Special functions ............................................................................................................... 206

Drive control ................................................................................................................ 206

Filter ............................................................................................................................. 209

Function generator ...................................................................................................... 211

Integrator ..................................................................................................................... 213

Lead lag ....................................................................................................................... 215

Motor potentiometer .................................................................................................... 217

PID ............................................................................................................................... 219

Ramp ........................................................................................................................... 223

Further information ........................................................................................................ 225

Contact us ....................................................................................................................... 226

Introduction to the manual

Contents of this chapter

This chapter gives basic information on the manual.

Compatibility

This manual applies to the ABB drives equipped with the application programming functionality. For example, ABB ACS880 and DCX880 industrial drives can be ordered with the application programming functionality. The drive must be equipped with N8010 Application programming license on ZMU-02.

This manual is compatible with the following product releases:

 ABB Automation Builder 1.1  Drive composer pro 1.5 or later

For more details of compatibility information, refer the corresponding ACS880 or DCX880 drive software release notes or contact your ABB representative.

Target audience

This manual is intended for a personnel performing drive application programming or for understanding the programming environment capabilities. The reader of the manual is expected to have basic knowledge of the drive technology and programmable devices (PLC, drive and PC) and programming methods.

WARNING! Ignoring the following instruction can cause physical injury or damage to the equipment.

Do not make changes to drive in the online mode or download programs while the drive is running to avoid damages to the drive.

Safety instructions

Follow all safety instructions delivered with the drive.

 Read the complete safety instructions before you load and execute the application program

on the drive or modify the drive parameters. The complete safety instructions are delivered with the drive as either part of the hardware manual, or, in the case of ACS880 multidrives, as a separate document.

 Read the firmware function-specific warnings and notes before changing parameter values.

These warnings and notes are included in the parameter descriptions presented in chapter Parameters of the firmware manual.

Purpose of the manual

This manual gives basic instructions on the drive-based application programming using ABB Automation Builder programming tool. The programming tool is the international IEC 61131-3 programming standard. The online help of Automation Builder contains more detailed information of the IEC languages, programming methods, editors and tool commands.

Contents of the manual

The manual consists of the following chapters:

 Getting started  Overview of drive programming  Creating application program  Features  DriveInterface  Application parameter and event creation  Libraries  Practical examples and tips  Appendix A: Incompatible features between ACS880 Drive and AC500 PLC IEC

programming

 Appendix B: Unsupported features  Appendix C: ABB drives system library  Appendix D: ABB D2D function blocks  Appendix E: ABB drives standard library

Terms and abbreviations

For more detailed descriptions, see Automation Builder online help.

Getting started

Contents of this chapter

This chapter includes the following information required for programming ACS880 and DCX880 drives using ABB Automation Builder tool:

 Quick steps for Setting up the programming environment.  Procedure for Upgrading a new device, Changing an existing device and Viewing device

information.

Setting up the programming environment

The following software installations are required for programming ACS880 and DCX880 drives. For details of version, refer the corresponding ACS880 or DCX880 drive software release notes or contact your ABB representative.

 ACS880 drive or DCX880 converter with Drive application programming license (N8010)  ABB Automation Builder 1.1  ACS-AP-x control panel and micro USB cable  Drive composer pro 1.5 or later

The Drive composer pro enables setting and monitoring of the drive parameters and signals. The control panel acts as a USB/RS485 converter between Automation Builder, Drive composer pro and the drive.

To setup ACS880 or DCX880 drive programming environment follow the pre-requisites and installation steps listed below.

Pre-requisites:

 The ABB Automation Builder supports Windows XP and Windows 7 (32-bit and 64-bit

versions) operating systems.

 You must have Administrator user rights to install Automation Builder.

Installation steps:

1. Install Drive composer pro to enable communication with the target drive. For more details, see Drive composer user’s manual (3AUA0000094606 [English]).

2. In the Drive composer pro System info -> Products/Licenses, check that the ACS880 or DCX880 drive has an active IEC programming license and the drive firmware version is correct. For details of version, refer the corresponding ACS880 or DCX880 drive software release notes or contact your ABB representative.

Install ABB Automation Builder version 1.1 according to the instruction guide included in the installation media of Automation Builder. All drive application programming related components are automatically installed as well.

In Automation Builder, select Install Software Packages for -> Programmable Drive.

Figure 1: Automation Builder – Selecting software packages for installation

To allow parallel communication with Automation Builder and Drive composer pro, follow these steps:

1. In the main menu of Drive composer pro, click View and then click Settings.

2. In the Settings window, select Share connection with Control Builder Plus check box and click Save.

Figure 2: Drive Composer Pro settings

After configuring the settings, restart Drive composer pro. Drive composer now connects to the drive and allows opening the Automation Builder. Now you can create an application program. See section, Creating application program.

Note: For using ABB Automation Builder online with the drive, enable the drive application programming license in the target drive. See section, Establishing online connection to the

drive.

Overview of drive programming

Contents of this chapter

This chapter provides an overview of ACS880 and DCX880 drive programming environment and a typical work cycle of drive application programming.

Drive application programming

ABB ACS880 and DCX880 industrial drives can be ordered with the application programming functionality. It allows you to add your own program code to the drive using the ABB Automation Builder programming tool (version 1.1). The programming method and languages are based on the IEC 61131-3 programming standard. ABB Automation Builder is also used for configuring and programming the ABB AC500 PLC family devices.

With the drive application programming, you can create application specific features on top of the drive firmware functionality. You can utilize the standard and extension I/O and communication interfaces of the drive along with the appropriate firmware signals. Your program is executed in parallel with the drive control tasks using the same hardware resources.

In addition, you can create your own parameters and events (faults and warnings) that are visible on the ACS-AP-x control panel and in the Drive composer pro/entry commissioning tools.

System diagram

The following simplified system diagram shows the application programming environment in the same control unit as the drive firmware.

Figure 3: Application programming environment – System diagram

The following list describes the main components for application programming.

Drive control unit:

 Run-time system (RTS) executes the application program.  DriveInterface allows input/output mapping between the application program and drive

firmware parameters.

 System function library enables access to the drive system services (parameters/ events/

drive-to-drive communication, extension I/O).

 User made parameters.  User made events (fault, warnings).  Drive System info includes version information of the application program.  Drive firmware parameters with I/O controls.  D2D function blocks enable drive to drive communication, I/O extension modules, and so on

for application programming.

Drive memory unit:

 Creates a permanent version of the application program (Boot application).  Retains values of the application program variables .  Consists of application source code (Note that the size of the memory is limited).

 Includes symbol and address information of the application program variables for monitoring

purposes.

PC tool programs:

 ABB Automation Builder for application program development and online operations.  ABB Drive composer pro for drive parameter, signal, event log monitoring and settings.  Application program function libraries (for example, ABB standard library).  The USB/ACS-AP-x control panel enables communication between the Automation Builder,

Drive composer pro and the drive.

Programming work cycle

The following steps describes a typical work cycle of the drive application programming tasks of performing the module:

1. Creating a new project, adding objects, defining the target and first program module in the Devices tree.

2. Defining the interface to drive firmware parameters (I/O access, drive control) in the DriveInterface object.

3. Defining user parameters and events (ApplicationParametersandEvents) module in the Devices tree.

4. Developing the program structure and coding program units.

5. Defining the program execution task configuration editor.

6. Compiling and loading the code using Build menu.

7. Creating boot applications if new parameters, mappings, events or task configuration are added in the Online menu.

8. Debugging the program code (stepping, forcing variables and breakpoints) in the Online menu.

9. Monitoring program variables in Automation Builder and Drive composer pro from the watch windows of the View menu.

10. Repeating the cycle from step 2 to 8 for testing the program.

Special tasks

The following special tasks are part of the drive application programming tasks:

1. Saving or restoring the source code to the permanent memory of the drive using the Online menu.

2. Saving the drive IEC symbol data to permanent memory of the drive from the Devices tree using the option Add Symbol configuration object to the tree.

3. Naming and versioning the application from the Application properties window or Project information.

4. Removing the application from the target using Reset origin window on the Online menu.

Programming languages and modules

The programming environment supports programming languages as specified in the IEC 61131-3 standard with some useful extensions. The following programming languages are supported:

 Ladder diagram (LD)  Function block diagram (FBD)  Structured text (ST)  Instruction list (IL)  Sequential function chart (SFC)  Continuous function chart (CFC), normal and page-oriented CFC editor

A program can be composed of multiple modules like functions, function blocks and programs. Each module can be implemented independently with the above mentioned languages. Each language has its own dedicated editors. For more information of the programming languages, see

Automation Builder online help and chapter Features.

Libraries

Program modules can be implemented in projects or imported into libraries. A library manager is used to install and access the libraries.

The two main types of libraries are:

 Local libraries (IEC language source code, for example, AS1LB_Standard_ACS880_V3_5)  External libraries (external implementation and source code, for example,

AY1LB_System_ACS880_V3_5)

Local libraries include source code or can be compiled. If the library is compiled, source code is not included in the library.

External libraries include AC500 PLC libraries used with the drive target by opening the library project in Windows as Automation Builder project files (before V3.0).

For more information on compatibility, see chapter Libraries.

Program execution

The program is executed on the same central processing unit (CPU) as the other drive control tasks. In real time applications, programs are typically executed periodically as cyclic tasks. The programmer can define the cyclic task interval. For more information, see chapter Features.

DriveInterface

The DriveInterface object enables input and output mapping between the application program and the drive firmware using the drive firmware parameters used in the application program. This list of parameters may be different for each drive firmware versions. For more details on implementing the DriveInterface and updating parameter list, see section DriveInterface.

ApplicationParametersandEvents

The ApplicationParameterandEvents Manager (APEM) object allows creating application parameter groups, parameters, parameter types, parameter families, units and application events for the drive in Automation Builder environment. For more details on how to create parameter related tasks and application events, see section ApplicationParametersandEvents.

Creating application program

Contents of this chapter

This chapter describes the procedure to create application program. For details of instructions and further development steps see chapters DriveInterface, Application

parameter and event creation, Features and Libraries. For more detailed descriptions, see also the

Automation Builder online help.

Creating a new project

After starting ABB Automation Builder programming environment, you can create a new project.

1. In the Start Page, click New Project or in the main menu, click File and then click New Project.

Figure 4: Automation Builder – Create a new project

2. In the New Project dialog box, select ACS880 or DCX880 project and click OK.

Figure 5: Select a project

Note: If required, rename the project in Name field and select the desired Location in the file system.

3. In the Standard Project dialog box, select the type of control unit in Device drop-down list.

 ACS880_AINF_ZCU12_M_V3_5 for ZCU-xx control unit  ACS880_AINF_BCU12_M_V3_5 for BCU-xx control units

Check the control unit type of the target drive either from the unit itself, from the hardware manual of drives or contact your local ABB representative.

4. In the PLC_PRG in drop-down list, select a programming language and click OK.  You can later add program modules made with other languages to the project.

Figure 6: Select a programming language

A simple project for an ACS880 target drive is created in the Devices tree.

Figure 7: New project created in the Devices tree

The Devices tree includes:

 PLC Logic  DriveInterface for firmware signal and parameter mapping  Application (for example, you can add the following objects under Application)

o Library Manager for installing function libraries o ApplicationParametersandEvents for creating user parameters and events o Program organization units (POUs) o Task Configuration module for defining in which task the POUs are executed o Text list o Symbol configuration o Global variable list o Data type units (DUT)

For changing the device type, see section Changing an existing device.

Updating project information

You can update a Company name and Version number for the application program in the Project Information window. This information is visible in Drive composer tool and ACS-AP-x control panel in the System info display. It also helps to identify the loaded application without the Automation Builder tool. You can also name the application from the application tool.

To update project information in Automation Builder, follow these steps:

1. In the main menu, click Project and then click Project Information.

Figure 8 Updating project information

2. In the Project Information window, select Summary tab, update the desired information and click

OK.

Figure 9: Project information

The updated project information is not loaded to the target application. Further steps explain how to copy this information to the application information fields.

3. In the Devices tree, right click Applications and select Properties.

Figure 10 Application properties

+ 196 hidden pages

ABB IEC 61131-3 Programming manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction to the manual

Contents of this chapter

Compatibility

Target audience

Safety instructions

Purpose of the manual

Contents of the manual

Related documents

Terms and abbreviations

Getting started

Contents of this chapter

Setting up the programming environment

Overview of drive programming

Contents of this chapter

Drive application programming

System diagram

Programming work cycle

Special tasks

Programming languages and modules

Libraries

Program execution

DriveInterface

ApplicationParametersandEvents

Creating application program

Contents of this chapter

Creating a new project

Updating project information