apostila indralogic
DESCRIPTION
apostila CLP BoschTRANSCRIPT
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Treinamento Manutenção de
Controladores Programáveis
Rexroth IndraControl
Paulo ZaniniBRBR/SLC – Acionamentos Elétricos e Controles
Atibaia – SP- BR
Tel.: + 55 11 4414 5752
Fax.: + 55 11 4414 5713
Mail: [email protected]
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Capítulo 1
Introdução Teórica
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Automation House
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Produtos
ControladorControlador no Driveno DriveIndraDriveIndraDrive + + IndraLogicIndraLogic
Paralela,...
IndraDriveIndraDrive
C, MC, M
opcional
ControladorControlador CompactoCompactoIndraControlIndraControl L40 + L40 + IndraLogicIndraLogic
EcoDrive
IndraDrive
VCP02...VCP02...
VCP25VCP25
IndraControlIndraControl
L40L40
Rexroth Inline
IHM
EcoDrive
IndraDrive
Rexroth Inline
Rexroth
ControladorControlador no PCno PCIndraControlIndraControl VPP21 + VPP21 + IndraLogicIndraLogic
IHM
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IndraWorks
Ferramenta de Trabalho Comum para Todas as Soluções
ScalableScalable
MotionMotion--LogicLogic--
solutionssolutions
IndraMotion IndraMotion
ScalableScalable
PLCPLC--solutionssolutions
IndraLogicIndraLogic IndraDriveIndraDrive
ScalableScalable
drive solutionsdrive solutions
Rexroth IndraWorksRexroth IndraWorksThe Engineering FrameworkThe Engineering Framework
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A Norma IEC61131-3
História - Contexto
1960
1970
1980
1990
2000
2010
Hardware Programação Redes
Painel de Relès
CLP Modicondiscreto
CLP Micro-controlado
CP –Aritméticaem pontoflutuante
Assembly
TerminalLADDER
PC -LADDER
IEC1131,IEC61131
IHM, PCB
OO
CAN
Interbus, Sercos
Profibus-FMS
Profibus-DP, Ethernet
High Performance
Sercos III
ProfiNet, Ethernet/IP
PCs
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A Norma IEC61131-3
Objetivo
� Padroniza as linguagens de Programação� Facilita a ampliação do escopo de
fornecedores� Facilita a reutilização e
interoperabilidade e intercambiabilidade do software
� Contribui para a qualificação dos programadores
� Disciplina o desenvolvimento de software� Reduz o custo de desenvolvimento� Reduz o tempo de startup� Reduz os riscos de projeto� Reduz o custo de manutenção
� Define diretivas de comunicação� Facilita a engenharia de requisitos� Reduz os riscos de projeto� Garante escalonabilidade das
aplicações
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A Norma IEC61131-3
Conceitos
� Compatibilidade com tipos avançados de dados
� INT, DINT
� REAL, LREAL
� TIME, DATE_AND_TIME
� Memória Monolítica: Estruturas de dados e vetores
� Não existe Mapeamento de memóriaFísica!
� Modularização em Programas, Function Blocks e Funções
� Processamento paralelo (TASKS)
� Biblioteca Básica com:
� Timers, Triggers, Funçõestrigonométricas, processamento de strings
� Funções de comunicação
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A Norma IEC61131-3
Estrutura de Software IEC61131
Configuração [I/Os, Bibliotecas, Blocos]
Recurso [Hardware] Recurso [Hardware]
Programa Programa
FB
Tarefa Tarefa
FB
Programa Programa
FB
Tarefa Tarefa
FB
Variáveis Globais de Representação direta
Caminhos de Acesso
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IndraLogic
Independência de seus Problemas
HARDWARECompilador Redirecionável (Target)SOFTWARE
IndraLogicDiferentes Plataformas de Hardware para o mesmo Software
L-40
VEP
IndraDrive
PPC
Future HW
P-60
Code
LadderLD
Instruction ListIL
FunctionBlock
FBD
ContinuosFunctionChart
CFC
SequentialFuntionChart
SFC
StructureText
ST
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POUs
Program Organization Units
��������Function-Block
����Program
Function
InstanciaMemória Interna
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Linguagens – Instruction List [IL]
A linguagem mais adequada para cada funcionalidade
Evaluate deferred operation)
Leave POU and return to caller.CNRET
Call programor function block orCNCAL
Jump to the labelCNJMP
<(LT
<=(LE
<>(NE
=(EQ
>=(GE
>(GT
Division(DIV
Multiplication(MUL
Subtraction(SUB
Addition(ADD
Bitwise exclusive ORN,(XOR
Bitwise ORN,(OR
Bitwise ANDN,(AND
Then put the Boolean operand exactly at FALSE if the current result is TRUE
R
Then put the Boolean operand exactly at TRUE if the current result is TRUE
S
Save current result at the position of theoperand
NST
Make current result equal to the operandNLD
MeaningModifiersOperator
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Linguagens – Instruction List [IL]
A linguagem mais adequada para cada funcionalidade
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Linguagens – Ladder [LD]
A linguagem mais adequada para cada funcionalidade
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Linguagens – Ladder [LD]
A linguagem mais adequada para cada funcionalidade
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Linguagens – Structured Text [ST]
A linguagem mais adequada para cada funcionalidade
Weakest bindingORBoolean OR
XORBoolean XOR
ANDBoolean AND
<>Not equal to
=Equal to
<,>,<=,>=Compare
Subtract
-
+Add
MODModulo
/Divide
*Multiply
NOT
Building of complements
-Negate
EXPTExponentiation
(parameter list)
Function nameFunction call
Strongest binding(expression)Put in parentheses
Binding strengthSymbolOperation
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Linguagens – Structured Text [ST]
A linguagem mais adequada para cada funcionalidade
EXIT;EXIT
J:=-1;REPEATJ:=J+2;UNTIL J= 101 OR ARR[J] = 70END_REPEAT;
REPEAT
J:=1;WHILE J<= 100 AND ARR[J] <> 70 DOJ:=J+2;END_WHILE;
WHILE
J:=101;FOR I:=1 TO 100 BY 2 DOIF ARR[I] = 70 THENJ:=I;EXIT;END_IF;END_FOR;
FOR
CASE INT1 OF1: BOOL1 := TRUE;2: BOOL2 := TRUE;ELSEBOOL1 := FALSE;BOOL2 := FALSE;END_CASE;
CASE
D:=B*B;IF D<0.0 THEN C:=A;ELSIF D=0.0 THENC:=B;ELSEC:=D;END_IF;
IF
RETURN;RETURN
CMD_TMR(IN := %IX5, PT := 300);A:=CMD_TMR.Q
Calling a function block and use of the FB output
A:=B; CV := CV + 1; C:=SIN(X);Assignment
ExampleInstruction type
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Linguagens – Structured Text [ST]
A linguagem mais adequada para cada funcionalidade
L
A
r
D
h
γ
)cos(2
arcsin
22 γ
γ
⋅−+=
=
DAADr
L
h
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Linguagens – Sequential Flow Chart [SFC]
A linguagem mais adequada para cada funcionalidade
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Linguagens – Sequential Flow Chart [SFC]
A linguagem mais adequada para cada funcionalidade
The action is activated for a certain timeStored and time
limited
SL
The action is activated after a certain time as long as the
step is still active and remains active up to a Reset
Delayed and StoredDS
The action is activated after a certain time and remains
active until a Reset
Stored and time
Delayed
SD
The action is executed just one time if the step is activePulseP
The action becomes active after a certain time if the step is
still active and then it remains active as long as the
step is active.
time DelayedD
The action is activated for a certain time, maximum as long
as the step is active
time LimitedL
The action is activated and remains active until a ResetSet (Stored)S
The action is deactivatedoverriding ResetR
The action is active as long as the stepNon-storedN
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Linguagens – Function Block Diagram [FBD]
A linguagem mais adequada para cada funcionalidade
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Tipos de Dados e representações
TIME:
DATE_AND_TIME:
64 bit1.797693134862315
8e+308
2.225073858507201
4e-308
LREAL:
1 bitTRUEFALSEBOOL:
32 bit3.402823466e+38F 1.175494351e-38REAL:
32 Bit42949672950UDINT:
32 Bit2147483647-2147483648DINT:
16 Bit655350UINT:
16 Bit32767-32768INT:
8 Bit2550USINT:
8 Bit127-128SINT:
32 Bit42949672950DWORD:
16 Bit655350WORD:
8 Bit2550BYTE:
Memory
sp
ac
e
Upper limitLower limitType
TIME1 := t#12h34m15s;
TIME1 := T#100S12ms;
TIME1 := T#14ms;
(hexadecimal number)16#A
(octal number)8#67
(dual number)2#1001_0011
(decimal number)14
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Estruturas e Vetores
TYPE Funcionario :STRUCT
Nome: STRING;Nascimento: DATE;Dep: STRING;ID: INT;
END_STRUCTEND_TYPE
VAR_GLOBALBaseDeDados:
ARRAY[1..1000] OF Funcionario;END_VAR
TYPE Furo :STRUCT
X:REAL;Y:REAL;Z:REAL;Broca:INT;
END_STRUCTEND_TYPE
TYPE Receita :STRUCT
NomeProduto:STRING;Furos:ARRAY[1..20] OF furo;Altura:REAL;Tipo:INT;ID:INT;
END_STRUCTEND_TYPE
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� Linguagens Textuais
� Instruction List (IL) � Structured Text (ST)
� Linguagens Gráficas
� Sequential Function Chart (SFC)� Function Block Diagram (FBD)� Ladder Diagram (LD)� Continuous Function Chart (CFC)
� Bibliotecas, funcionalidades e
elementos de linguagem de acordocom IEC 61131-3
� Monitoração OnLine
� Simulação OffLine com Visualização
� Analisador Lógico
� ... E muito mais
IndraLogic
Funcionalidades baseadas na IEC 61131-3
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IndraLogic
Independência de seus Problemas
HARDWARECompilador Redirecionável (Target)SOFTWARE
IndraLogicDiferentes Plataformas de Hardware para o mesmo Software
L-40
VEP
IndraDrive
PPC
Future HW
P-60
Code
LadderLD
Instruction ListIL
FunctionBlock
FBD
ContinuosFunctionChart
CFC
SequentialFuntionChart
SFC
StructureText
ST
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Características Técnicas
� Linguagem Normatizada: Os maiores fabricantes de PLCs estão migrando para a norma IEC61131-3. Todos os programadores têm que aprender, de uma forma ou de outra, do contrário, em 5 anos, dificilmente terão colocação no mercado. Nós somos um dos pioneiros e damos cursos.
� Programação Remota: A interface Ethernet permite que os programas sejam desenvolvidos à distância.
� Compatibilidade e facilidade de trabalhar com as soluções de acionamento Rexroth: EcoDrive, IndraDrive, Parafusamento e HNC.
� Protocolos de comunicação abertos:Compatibilidade com outros produtos já instalados e com normas e padrões do cliente final.
� Simulação Offline: Permite o desenvolvimento e a depuração do software sem o hardware: Menortempo de startup e solução ótima paracursos técnicos e universidades
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Características Técnicas
� Não é preciso adquirir um cabo de programação para cada modelo. Nosso CLP usa cabos Ethernet comuns
� Não é preciso comprar e atualizar licenças de software básico de programação.
� Não é preciso controlar as baterias. Nosso CLP não tem baterias, mas conta com a tecnologia NV-RAM
� Solução completa de I/Os Digitais, Analógicos e especiais, com conexões por bornes-mola, hot Swap e Diagnose integrada.
� A solução completa da Rexroth em controle (L e V) conta com o protocolo BRC-Symbolic. Ao eliminar o endereçamento entre PLC e IHM, o desenvolvimento e o startup ficam muito mais simples.
� Todos os PLCs IndraControl têm a estrutura de Tasks, que permite o processamento paralelo de diversos programas e tomada de atitude por interrupção de hardware. Muitas vezes esse fator é tecnicamente decisivo.
� A solução padrão da Rexroth para conexão e comunicação é totalmente baseada em cabos Ethernet. O cabo é muito barato
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Capítulo 2
Hardware
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Modelos de CLP
L10 L20
L45L40 L65
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Interfaces
Interface Profibus-DP:
até 12 MBaud• DP Master Protocol V1• Serviço acíclico, sem alarme
Interface Serial:
RS232, max. 115kBaud, Default 9600 Baud, semParidade, 8 Bit, 1 Stop-Bit
Interface Ethernet:
10/100Base-T, plug RJ45
Display/Control keys: 1 line, 8 characters 5x10 dot matrix 4 control keys, Reset, Error-LED
diagnosis, status, Parameter change
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Escalabilidade
Módulos de Função:
Barramento PC104
Módulos de função (L25, L40, L45, L65) Inline I/O
Opcional
Inline 8ED/8SD
Onboard
End. Local: máx. 64Byte (L40) / 32Byte (L20) E/S--> max. 64 Módulos InlineLimitação: corrente max. 2A/8A Logic/moduloE/S-update: relacionado ao número de Módulos E/S
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Conectividade
EcoDrive
IndraDrive
InLine IP20
Rexroth FieldLine IP67
L-20L-40
VCPs
VCHsVCPs
IndraDriveFc
InLine Local I/Os
FLM – IP67
?3rd PartyDevices
?3rd PartyControllers
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I/Os InLine
� Acopladores de Rede
� Terminais de Alimentação
� Entradas Digitais
� Saídas Digitais
� Saídas a Relé
� Entradas Analógicas
� Saídas Analógicas
� Módulos Especiais
� RS232/485
� Termopar e RTC
� PWM/Motor de Passo
� Contador Rápido
� Encoder TTL e SSI
� Strain-Gauge
� Block I/O
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I/Os InLine
Técnica de conexão:1.1 2.1
1.2 2.2
1.3 2.3
1.4 2.4
Sinal Sensor/Atuador [IN/OUT]
Alimentação Sensor/Atuador
[US (+24V)]Negativo (-)
Terra
Numeração de
cada ponto
1.1 2.1
1.2 2.2
1.3 2.3
1.4 2.4
1.1 2.1
1.2 2.2
1.3 2.3
1.5 2.5
1.6 2.6
1.4 2.4
1.1 2.1
1.2 2.2
1.5 2.5
1.4 2.4
1.3 2.3
1.6 2.6
Saída
1.1 2.1
1.2 2.2
1.3 2.3
1.5 2.5
1.6 2.6
1.4 2.4
Entrada
Conexão 4- fios Conexão 3- fios
Uin/out
+24V
UIn
+24V
Uout
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I/Os InLine
Fiação dos Módulos Analógicos:
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Capítulo 3
Conexão com o CLP
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Cabo de Comunicação
� A conexão com os PLCs da linha IndraControl L é TCP/IP, usando um cabo Ethernet.
� Para a conexão local e direta, sem uso de um switch Ethernet, pode ser necessario usar um cabo Crosslink.
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Clonfiguração de IP do CLP
� No L20, use o Display para configurar a conexão TCP/IP
� Pressione ENTER duas vezes para entrar no menu Ethernet
� Verifique as configurações de rede no menu.
� Só altere se for extremamente necessário. Se uma configuração Ethernet for alterada e houver uma IHM em rede, ela não vai mais se comunicar.
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Configuração de IP do CLP
� No L10, não há display. É necessário ter a configuração Ethernet anotada.
� Muitas vezes, não se alteram as configurações padrão de fábrica, que são:
� IP: 192.168.1.10
� SN: 255.255.0.0
� GW: 0.0.0.0
� É possível visualizar as configurações de IP perdidas de um L10 removendo-se o cartão de memória Flash e abrindo o arquivo Config.txt na partição USER, usando um leitor de cartão.
� Também é possível RESETAR
COMPLETAMENTE o L10 pressionando o
botão Reset durante 60 segundos. As
configurações voltam a ser iguais às de
fábrica. Todo o programa e dados são
perdidos. Cuidado.
40
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Configuração de IP do Computador
� Configure a conexão de rede do Notebook no Windows com:
� Endereço de IP SEMELHANTE ao do CLP
� Máscara de Sub-Rede IGUAL à do CLP
� Gateway IGUAL ao do CLP
� Teste a conexão no prompt de comando (CMD) usando o comando PING:
� Iniciar... Executar... Cmd.
� pingpingpingping 192.168.1.10 (IP do CLP)192.168.1.10 (IP do CLP)192.168.1.10 (IP do CLP)192.168.1.10 (IP do CLP)
� Se o prompt retornar a mensagem abaixo, verifique o cabo e os endereços de IP.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Configuração do IndraWorks
� No IndraWorks, entre na tela Communication Parameters, clicando com o botão direito do Mouse sobre o ícone “Logic”.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Configuração do IndraWorks
� Clique em “Communication Parameters”
� Altere uma conexão existente ou crie uma nova com o botão New...
� Dê um nome para a conexão e escolha o protocolo TCP/IP (Level 2 Route)
� Escreva o IP do CLP no campo Value (ele vem escrito “localhost”). Verifique também o Gateway no botão Gateway. Para conexão Local, escolha Local.
12
3
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Teste da Conexão
� No IndraWorks, clicando com o botão direito do Mouse sobre o CLP, teste a conexão com o “Connection Test”. Caso o Ping tenha funcionado mas o Connection Test não, reveja o Gateway e a Mascara de Sub-rede.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Entrando Online
� No IndraWorks, clique com o botão direito do mouse sobre o CLP e escolha “Switch Online”.
� Dê duplo-clique sobre o item “Logic” para abrir o IndraLogic.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Entrando Online
� No IndraLogic, no menu Online.. Communication Parameters, é possível rever as configurações de comunicação.
� No menu Online... Login, o programa é compilado e começa o monitoramento Online.
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Capítulo 4
A ferramenta IndraLogic
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Interface do programa
São 4 abas: POUs, Data
Types, Visualizationse Resources
A área de Mensagens
traz os erros de compilação
A área de Programa contém só o
código da POU
A área de Variáveis
contém só as variáveis
Locais da POU
Os botões mudam
conforme a aba ativa
O painel traz uma
organização hierárquica dos
objetos pesquisados
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Língua do programa
� Se o IndraLogic estiver em Alemão e você preferir inglês, vá no menu:
� Menu Projekt...
� Escolha Optionen...
� Arbeitsbereich...
� Escolha English na caixa “Sprache”, onde está escrito “Deutsch”.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Force
� Em modo de monitoramento online, dê duplo-clique sobre uma variável para informar um valor desejado. Existem dois tipos de Force:
� Write (Ctrl + F7): Escreve o valor desejado apenas uma vez. Se houver algum programa escrevendo nesta variável, ela não seráalterada.
� Force(F7): Força a variável com um valor desejado. Só funciona se não houver algum programa escrevendo na variável, ou Inputs ou Outputs. Sua ação não se propaga para dentro de Functionblockse programas.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Variáveis Globais
� É muito comum declarar as variáveis associadas aos I/Os em grupos de variáveis globais. Na aba Resources, abra os grupos de Variáveis Globais e monitore variáveis, estruturas e vetores Online.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
PLC Configuration
� Na aba Resources, a opção PLC Configuration permite visualizar os I/Os e dispositivos remotos integrados ao projeto, juntamente com seus endereços. Alterações devem ser feitas no IndraWorks
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Bibliotecas
� Na aba Resources, a opção Library Manager permite a inclusão, endereçamento e pesquisa de bibliotecas. Podem ter programas, FunctionBlocks, Funções, tipos de dados, visualizações e variáveis globais.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Listas de Monitoramento
� Na aba Resources, a opção Watch and Recipe Manager permite criar listas de monitoramento. Inclua variáveis começando com um ponto (.)
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Arvore de Chamada
� Clicando com o botão direito do Mouse sobre um programa de alta hierarquia e escolhendo “Show Call Tree”, é exibida a estrutura de chamada dos sub-itens
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Busca
� No menu Edit.. Find, você pode buscar por uma palavra na POU atual.
� No menu Project... Global Search, você pode buscar uma palavra no projeto inteiro. Pode inclusive selecionar em que partes do projeto a busca deve ser realizada
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Referência Cruzada
� Uma ferramenta importantíssima é verificar que programas ou FunctionBlocks escrevem ou lêem uma variável. Menu Project... Show Cross Reference. Para buscar referências cruzadas, é necessário ter o programa compilado
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
PLC Browser
� Na aba Resources... PLC Browser, temos acesso ao sistema operacional do CLP. É possível gerenciar arquivos, monitorar Tasks e muito mais.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
PLC Browser
� FILEDIR: Lista arquivos e pastas (Dá pra ver se o CLP tem um backup do código fonte e da memória retentiva)
� SAVERETAIN: Armazena o conteúdo da memória não-volátil em um arquivo retain.bin no cartão.
� RESTORERETAIN: Restaura o conteúdo de um arquivo retain.bin do cartão na memória não-volátil do CLP.
� TSK: Lista as Tasks ativas e evidencia sua carga de trabalho.
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Capítulo 5
Manutenção
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Estrutura de Memória
PC PLC
.PRO{Código-Fonte}
RAM.SDB
{Executável}
Flash{Cartão}
.SDB
NV-RAM
.PRO
retain.binretain.bin
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Estrutura de Memória
� Online... Login executa automaticamente o Build (Compilação)
� Caso opte por não descarregar, o monitoramento online pode não funcionar corretamente
� Se a opção AutoLoad (menu Project.. Options... Load & Save estiver marcada, o Online... Login faz o Build e o Download automaticamente
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Estrutura de Memória
� No menu Project... Options... Source Download, é possível definir a política de criação de Backup no FlashCard
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Estrutura de Memória
� Na aba Resources... Target Settings, aba General, é possível configurar o IndraLogic para fazer download do Bootprojectautomaticamente
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Depuração
� Para depurar um programa passo-a-passo, devemos definir a Task de DEBUG, usando o botão direito do Mouse na tela que se abre na aba Resources... Task Configuration
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Depuração
� Em monitoramento Online, clique sobre uma linha de um programa da task de Debug. O número da linha vai ficar azul-claro. Quando a execução chegar nesse ponto, será interrompida e o número da linha ficará vermelho.
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© Bosch Rexroth AG 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Depuração
� F10: Executar uma linha
� F8: Entrar dentro de uma chamada de função ou FB.
� Ctrl+F5: Executar um ciclo de CLP
� F5: Liberar a execução até o próximo Breakpoint
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Muito obrigado !