Object-Oriented PLC Programming in CODESYS: Modular and Scalable Control Systems Using Structured Text

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Contents Object-Oriented PLC Programming in CODESYS

Object-Oriented PLC Programming
in CODESYS
Modular and Scalable Control Systems Using Structured Text
Academy Pro Title by
Majid Pakdel

Object-Oriented PLC Programming with CODESYS

Majid Pakdel

Object-Oriented PLC Programming with CODESYS

 This is an Elektor Publication. Elektor is the media brand of
Elektor International Media B.V. PO Box 11, NL-6114-ZG Susteren, The Netherlands Phone: +31 46 4389444
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The authors and publisher have used their best efforts in ensuring the correctness of the

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 ISBN 978-3-89576-696-1

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ISBN 978-3-89576-697-8 eBook

 © Copyright 2024 Elektor International Media

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Contents
Contents
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Chapter 1 · Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.1 The Object-Oriented Programming for PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 1.2 The CODESYS Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Chapter 2 · The Structured Text (ST) Programming Language . . . . . . . . . . . . . . . . 12 2.1 Conditional Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.2 Calling the Standard Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.3 The Finite State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.4 The Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.5 The Loops. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 2.6 The Non-Instantiated Function Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 2.7 The Non-Instantiated Function Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 2.8 Writing an Expandable PLC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Chapter 3 · The Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3.2 The Class Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 3.3 The Structured Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 3.4 The Structured Variables Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 3.5 Passing Structures to the Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 3.6 The Structure Pass Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 3.7 The Array of Structures and Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 3.8 The Array of Objects Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 3.9 Calling Multiple Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 3.10 The Sequence Activation Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 Chapter 4 · The Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 4.2 The Methods Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4.3 The Methods Parameters Pass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
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Object-Oriented PLC Programming with CODESYS
4.4 The THIS Keyword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 4.5 The THIS Keyword Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 4.6 The Wrappers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 4.7 The Wrappers and Method to Method Passing Demo . . . . . . . . . . . . . . . . . . . . . 117 4.8 Two Production Lines for the Sequence Activation Project . . . . . . . . . . . . . . . . . . 127 Chapter 5 · The Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 5.2 The Property Software Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 5.3 The Properties as IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 5.4 The Properties as IO Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 Chapter 6 · The Inheritance and Polymorphism . . . . . . . . . . . . . . . . . . . . . . . . . . 165 6.1 The Inheritance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 6.2 Inheritance Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 6.3 The Deep Inheritance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 6.4 The Method Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 6.5 The Override and Super Keyword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 6.6 The Polymorphism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 6.7 The Polymorphism Software Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Chapter 7 · The Access Specifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 7.1 The Public. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 7.2 The Private . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 7.3 The Protected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 7.4 The Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 7.5 The Application Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 Chapter 8 · Interfaces and Abstractions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 8.1 The Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 8.2 The Interface Software Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 8.3 The Interfaces Vs Inheritance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 8.4 The Multiple Interfaces Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 8.5 The Interfaces and Polymorphism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 8.6 The Interfaces and Polymorphism Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 8.7 The Object Composition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
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Contents Chapter 9 · The Delegation and Advanced FSM . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
9.1 The Delegation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 9.2 The Object Pointers and References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 9.3 The Object Pointers and References Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254 9.4 Advanced FSM Pointers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 9.5 The FB_INIT Constructor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 9.6 Advanced FSM Demo Part 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 9.7 The Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 9.8 Advanced FSM Demo Part 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271 9.9 The State Initializer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
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