View source for S7-SoftPLC:Configuration TwinCAT I/O

The driver allows to exchange I/O data with ''S7-SoftPLC'' via the Beckhoff TwinCAT I/O driver. With the TwinCAT I/O driver every I/O component supported by Beckhoff can be accessed, so that this driver is independent from the used fieldbus.

To access the Beckhoff peripheral components with ''S7-SoftPLC'', the TwinCAT I/O driver from Beckhoff has to be installed and licensed on the computer.
The I/O tasks, that are supposed to be used with ''S7-SoftPLC'', must be configured with the Beckhoff TwinCAT System Manager.
The TwinCatIO.dll maps the process images to the Beckhoff I/O components. Acyclic accesses via peripheral commands are as well possible as the acyclic access with a SFC/FC.

In order to use the driver, the following steps are necessary:

* Inserting a station in TwinCAT System Manager
* Creating a task in TwinCAT System Manager
* Accessing ADS-functions from the PLC-program

== Inserting a station in TwinCAT System Manager ==

[[Image:TwinCAT%20d1.png|frame|none]]

With a right-click on I/O Devices &gt;&gt; Scan Devices... a dialogue appears in which an I/O component can be selected (if it is available in the net).

[[Image:TwinCAT%20d2.png|frame|none]]

After having selected the desired device, TwinCAT System Manager asks, whether to scan for new boxes.

[[Image:TwinCAT%20d3.png|frame|none]]

If agreed, all available I/O components will be scanned. The I/O components are now known to the TwinCAT I/O and can be accessed.

== Creating a task in the TwinCAT System Manager ==

[[Image:TwinCAT%20d4.png|frame|none]]

With a right-click on Additional Tasks &gt;&gt; Append Task... a new task is created. The task represents the ''S7-SoftPLC''s process images.


'''Important task settings'''

'''Port:''' The port with the number 301 normally serves as process image for ''S7-SoftPLC''. It is also accessible via a SFC/FC.

'''AutoStart:''' ''S7-SoftPLC'' triggers the fieldbus and thus informs the TwinCAT driver, that it is still operational. The option AutoStart normally must not be chosen.

If this option is selected, the TwinCAT I/O driver has to be configured in such a way, that it can independently detect, whether the PLC is still operational, in order to switch the outputs of the I/O components into a defined state, if necessary.


'''Configuring a task'''

To be able to access the I/O components, the I/O points have to be linked with the task. With a right-click on Inputs or Outputs &gt;&gt; Insert Variable... the I/O points can be assigned to the task.

[[Image:TwinCAT%20d5.png|frame|none]]

Depending on the available I/O point an adequate type of variable has to be selected.

[[Image:TwinCAT%20d6.png|frame|none]]

If the variable is declared, it has to be linked with the I/O component. For this activate the button Linked to...to create a link between the variable and the I/O-point.

[[Image:TwinCAT%20d7.png]] 
 
[[Image:TwinCAT%20d8.png]]

If the set of variables is linked with the task, the configuration has to be activated. Thereafter the TwinCAT I/O-task is ready for use, as soon as it is switched into Run-Mode.

== Calling special functions and ADS functions from the PLC-program ==

'''SFC 14'''

Via the SFC &quot;DPRD_DAT&quot; inputs can be read out of the TwinCAT I/O task

<code>
{|
|-
| CALL || SFC/FC 14 
|-
|style="width:8em"|  LADDR ||style="width:12em"|  := W#16#100  ||  //INPUT WORD
|-
| RET_VAL || := MW 0 || //RESULT INT
|-
| RECORD || := P#M 100.0 BYTE 1  || //OUTPUT ANY
|}
</code>

{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| LADDR ||style="width:9em"| WORD || Start address of inputs to be read
|-
| RET_VAL || INT || 0 on success
|-
| RECORD || ANY || ANY-Pointer to readout data
|}



'''SFC 15'''

Via the SFC &quot;DPWR_DAT&quot; outputs can be written into the TwinCAT I/O task
<code>
{|
|-
| CALL || SFC/FC 15 
|-
|style="width:8em"|  LADDR ||style="width:12em"|  := W#16#100  ||  //INPUT WORD
|-
| RECORD || := P#M 102.0 BYTE 1  || //INPUT ANY
|-
| RET_VAL || := MW 0 || //RESULT INT
|}
</code>

{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| LADDR ||style="width:9em"| WORD || Start address of outputs to be read
|-
| RECORD || ANY || ANY-Pointer on data to be written
|-
| RET_VAL || INT || 0 on success
|}



'''ControlSFC'''

Via the SFC &quot;DPWR_DAT&quot; outputs can be written into the TwinCAT I/O task
<code>
{|
|-
| CALL || SFC/FC 1000 
|-
|style="width:8em"|  IN0 ||style="width:12em"|  := FALSE  ||  //INPUT BOOL
|-
| IN1 || := 301 || //INPUT INT
|-
| IN2 || := P#M 104.0 BYTE 1 || //RESULT ANY
|-
| RET_VAL || := MW 0 || //RESULT INT
|}
</code>

{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| IN0 ||style="width:9em"| BOOL || false = Read data from any TwinCAT I/O task

true = Write data into any TwinCAT I/O task
|-
| IN1 || INT || Port number of the I/O-task
|-
| IN2 || ANY || ANY-Pointer to data to be read/written with adequate length (ANY-pointer of type byte are permitted only)
|-
| RET_VAL || INT || 0 = success, otherwise the returned values of the TwinCAT I/O driver are transparently passed through.
0x0057= ERROR_INVALID_PARAMETER - one of the passed parameters is invalid
|}



'''GetDeviceIdentification'''

The SFB &quot;GETDEVID&quot; allows it to read out the device identification data
<code>
{|
|-
| CALL || SFC/FC 1001, DB 1001 
|-
|style="width:8em"|  EXEC ||style="width:15em"|  := M0.0  ||  //INPUT BOOL
|-
| TMOUT || := TIME#0D_0H_0M_1S_0MS || //INPUT TIME
|-
| BUSY || := M 0.1 || //OUTPUT BOOL
|-
| ERR || := M 0.2 || //OUTPUT BOOL
|-
| ERRID || := MD 4 || //OUTPUT DWORD
|-
| DEVID || := P#M 10.0 BYTE 214 || //IN_OUT ANY
|}
</code>

{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| IN0 ||style="width:9em"| BOOL || TRUE starts the command
|-
| IN1 || TIME || Not used, because underlying ADS function timeout is used
|-
| OUT2 || BOOL || The data are read from the device. After error-free execution, the data is ready when BUSY = FALSE.
|-
| OUT3 || BOOL || Becomes TRUE, as soon as an error occurs 
|-
| OUT4 || DWORD || Delivers the error number if ERR is set 
|-
| IO5 || ANY || ST_CxDeviceIdentification (length 214 Byte)
|}



'''AdsRead'''

The SFB &quot;ADSREAD&quot; allows the execution of an ADS-reading command, to request data from an ADS-device.

<code>
{|
|-
| CALL || SFC/FC 1002, DB 1002 
|-
|style="width:8em"|  NETID ||style="width:15em"|  := #stringvar  ||  //INPUT STRING
|-
| PORT || := W#16#0 || //INPUT WORD
|-
| IDXGRP || := DW#16#0 || //INPUT DWORD
|-
| IDXOFFS || := DW#16#0 || //INPUT DWORD
|-
| LEN || := DW#16#0 || //INPUT DWORD
|-
| DESTADDR || := P#M 10 BYTE 1 || //INPUT ANY
|-
| READ || := M 0.0 || //INPUT BOOL
|-
| TMOUT || := TIME#0D_0H_0M_1S_0MS || //INPUT TIME
|-
| BUSY || := M 0.1 || //OUTPUT BOOL
|-
| ERR || := M 0.2 || //OUTPUT BOOL
|-
| ERRID || := MD 4 || //OUTPUT DWORD
|}
</code>


{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| NETID ||style="width:9em"| STRING || It is a string providing the AMS network identification of the target device, the ADS-command targets.
|-
| PORT || WORD || Contains the port number of the ADS-service
|-
| IDXGRP || DWORD || Contains the index group number (32bit, unsigned) of the requested ADS-service. This value can be extracted from the ADS-chart of the addressed device.
|-
| IDXOFFS || DWORD || Contains the index offset number (32bit, unsigned) of the requested ADS-service. This value can be extracted from the ADS-chart of the addressed device.
|-
| LEN || DWORD || Contains the number of data to be read in bytes.
|-
| DESTADDR || ANY || Pointer to the destination buffer. The buffer needs to be big enough to record LEN bytes. The buffer can be a single variable, an array or a structure.
|-
| READ || BOOL || On TRUE ADS-command is executed
|-
| TMOUT || TIME || Timeout
|-
| BUSY || BOOL || This output is TRUE as long as a ADS command is executed. Reset by timeout or success. While showing BUSY=TRUE, no new command is accepted.
|-
| ERR || BOOL || This output is TRUE, if an error has occurred during the execution of an ADS command. The command-specific error code is contained in "ERRID". If a timeout has occured, "ERR" = TRUE and "ERRID" = 1861 (hexadecimal 0x745). A new command resets "ERR".
|-
| ERRID || DWORD || Contains the command-specific error code of the command executed last. A new command resets "ERRID"
|}



'''AdsWrite'''

The SFB &quot;ADSWRITE&quot; allows the execution of an ADS-writing command, to transmit data to an ADS-device.
<code>
{|
|-
| CALL || SFC/FC 1003, DB 1003 
|-
|style="width:8em"|  NETID ||style="width:15em"|  := #stringvar  ||  //INPUT STRING
|-
| PORT || := W#16#0 || //INPUT WORD
|-
| IDXGRP || := DW#16#0 || //INPUT DWORD
|-
| IDXOFFS || := DW#16#0 || //INPUT DWORD
|-
| LEN || := DW#16#0 || //INPUT DWORD
|-
| SRCADDR || := P#M 10.0 BYTE 1 || //INPUT ANY
|-
| WRITE || := M 0.0 || //INPUT BOOL
|-
| TMOUT || := TIME#0D_0H_0M_1S_0MS || //INPUT TIME
|-
| BUSY || := M 0.1 || //OUTPUT BOOL
|-
| ERR || := M 0.2 || //OUTPUT BOOL
|-
| ERRID || := MD 4 || //OUTPUT DWORD
|}
</code>

{| class="wikitable"
|-
! Parameter !! Type of Data !! Description
|-
|style="width:9em"| NETID ||style="width:9em"| STRING || It is a string providing the AMS network identification of the target device, the ADS-command targets. 
|-
| PORT || WORD || Contains the port number of the ADS-service
|-
| IDXGRP || DWORD || Contains the index group number (32bit, unsigned) of the requested ADS-service. This value can be extracted from the ADS-chart of the addressed device.
|-
| IDXOFFS || DWORD || Contains the index group number (32bit, unsigned) of the requested ADS-service. This value can be extracted from the ADS-chart of the addressed device.
|-
| LEN || DWORD || Contains the number of data to be written in bytes.
|-
| SRCADDR || ANY || Pointer to the source buffer. The buffer needs to be big enough to hold LEN bytes. The buffer can be a single variable, an array or a structure.
|-
| WRITE || BOOL || On TRUE ADS-command is executed 
|-
| TMOUT || TIME || Timeout
|-
| BUSY || BOOL ||This output is TRUE as long as a ADS command is executed. Reset by timeout or success. While BUSY=TRUE, no new command is accepted.
|-
| ERR || BOOL || This output is TRUE, if an error has occurred during the execution of an ADS command. The command-specific error code is contained in "ERRID". If a timeout has occured, "ERR" = TRUE and "ERRID" = 1861 (hexadecimal 0x745). A new command resets "ERR".
|-
| ERRID || DWORD || Contains the command-specific error code of the command executed last. A new command resets "ERRID"
|}