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Lenze training: IEC-61131-3 introduction

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Lenze training: IEC-61131-3 introduction

Training content
• Introduction to the IEC-61131-3 definition
IEC-61131-3 introduction

With the standard of IEC 61131-3, in Dec.1993 the

PLCopen user organisation established the basis for standardised
PLC programming, which for instance describes and defines terms
such as
• configuration, resources, task,
• programming languages,
• programs, function block, functions
• variables, operands, data types,
• identifiers, keywords, comments, literals,
• control restart,
• communication,
e.g. in order to be able to port programs to other systems more
easily by standardised language.

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IEC-61131-3 introduction
Configuration, resources

• The top level in the software model is constituted by the configuration,

which defines the structure of the device. This device can for instance be a
PLC with several networked central processing units (CPUs).
• A configuration contains one or several resources, which represent a
control unit (CPU).
• The programs associated to the resource are controlled by tasks
representing an active program unit.

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IEC-61131-3 introduction
Task

• Tasks can be processed periodically or on the basis of an event; furthermore

they are provided with a priority.
• The following types of tasks are distinguished:
− Unsolicited task (free wheeling task)
− Time-controlled task (cyclic task)
− Event-controlled task (EVENT task)
− Interrupt task (is not supported by the L-force Controller)
• The declaration of a task consists of the name of the task, an entry for the
priority, and the condition of the task execution.
• The condition may either be a time interval, an event (e.g. rising edge at the
digital input), or an interrupt.
• For each task, a sequence of programs that are to be called by the task can
be specified. These programs are processed in the sequence specified.

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IEC-61131-3 introduction
Programming languages

• In IEC 61131-3, the following five programming languages are defined:

− IL: instruction list
− ST: structured text
− SFC: sequential function chart
− FBD: function block diagram
− LD: ladder diagram
• Each language for itself has special use cases or versions that are particularly
suitable for solving specific problems.

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IEC-61131-3 introduction
Programs, function block, functions

• In IEC 61131-3, the following program organisation units (POUs) are

defined:
− Programs
− Function blocks
− Functions
• The properties of a POU allow for extensive modularisation of the
application program and reuse of software modules that have already
been implemented and tested.
• In order to enable program modules to access POUs, it is at least required
to declare the call interface. After its declaration, the POU is globally
provided to all other POUs.

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IEC-61131-3 introduction
Variables

• In IEC 61131-3, five different variable classes are defined:

− Global variables
− Local variables
− Input variables
− Output variables
− Input and output variables
• The variables are declared in the source text between the keywords VAR and
END_VAR.
• When a variable is declared, the following attributes can be additionally used:
− RETAIN: These variables even maintain their value after a power failure.
When the program is restarted, processing continues with the values saved.
− CONSTANT: Variable values cannot be changed.
− AT: Variables have a fixed position in the memory map (permanent address)

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IEC-61131-3 introduction
Data types

• In IEC 61131-3, different standard data types are defined, from which
derived and user-defined data types can be compiled.
• Standard data types:
− BOOL (logical values TRUE/FALSE)
− BYTE, WORD, DWORD, SINT, USINT, INT, UINT, DINT, UDINT
(integer data types)
− REAL (floating point data type)
− STRING (string)
− TIME, TIME_OF_DAY, DATE, DATE_AND_TIME (time-related data
types)

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IEC-61131-3 introduction
Data types

• Defined data types:

− ARRAY (one-, two-, three-dimensional field)
− POINTER (contains the address of the variable/function block during
the execution time of the program)
− Enumeration type (enumerated, consists of a set of string constants)
− STRUCT (structure)
− Reference (generates an alternative name for the variable/constant/
function block)

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IEC-61131-3 introduction
Identifiers, keywords, comments, literals

• The general language elements of IEC 61131-3 include identifiers, keywords,

comments, and literals:
− An identifier is a sequence of letters, digits, and underline characters
starting with a letter or an underline character.
− Keywords are unique combinations of characters, which are used as
individual syntax elements (e.g. TRUE, VAR).
− Comments on program parts support their traceability and therefore
serve as an important means of documentation.
− A literal in IEC 61131-3 is either a string, a number, or a time
specification.

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IEC-61131-3 introduction
Control restart

• The restart behaviour of the control is also defined in the software model of
IEC 61131-3.
− Cold boot
In the case of a cold boot, the program is reloaded. All variables are set to
their initial value. Either a standard initial value (e.g. 0 or FALSE) or the
initial value specified in the variable declaration (optional) is set. All
resource tasks are started. Apart from the "normal" variables, retain
variables are also reset to their initialisation values.
− Warm boot
In the case of a warm boot (restart), the variables are not set to their initial
values, but the values available in the memory before the interruption are
adopted.
− Reset source(PLC Designer)
Resets the values of all variables, including the remanent variables of the
active application to their initialisation values and deletes the application
program on the control.

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IEC-61131-3 introduction
Communication

• The communication model of IEC 61131-3 describes the data exchange of

the elements of a configuration via
− access paths
− global variables
− request parameters
− communication blocks (IEC 61131-5)
By means of these uniquely defined interfaces, in particular the
modularisation and therefore the reusability of program parts is to be
supported.

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