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3. Gesamtworkshop des SPP

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OMER - 2
Implementing Function Block Adapters
Torsten Heverhagen, Rudolf Tracht
Automation and Control, University of Essen, Germany
Overview
• Outline of an example scenario
• Introducing a Function Block Adapter
• The FBA - Language
• Implementation and Execution Issues
• Summary and Outlook
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
1
Picture of the Assembly Line
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
2
The considered Part of the Assembly Line
quality control
vision
system
Programmable Logic Controller
Environment
IEC 61131-3
transport system
Industrial PC
Environment
UML-RT
assembly robot X
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
3
The Function Block - MyFB
MyFB
INT
A
D
INT
BOOL
B
E
BOOL
BOOL
C
F
BOOL
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
4
Sequence Diagram for the Scenario
capsuleInst
/myCapsule:
MyCapsule
sig1(myData)
myFBinst
/myFB:
MyFB
A
4711
4712
B
F
sig2(4713)
D
sig3
4713
E
C
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
5
Introducing the Function Block Adapter Class
MyFBA
VAR_IN
D: INT;
E, F: BOOL;
END_VAR
VAR_OUT
A: INT;
B, C: BOOL;
END_VAR
MyProtocol
MyCapsule
<<port>>
port1
port1
sig2(int)
sig3
MyData
attr1: int
attr2: int
sig1(MyData)
~port1
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
6
Extending a UML-RT Structure Diagram
myFBinst
/myCapsule:
MyCapsule
D
E
F
Automation and Control
University of Essen
Prof. Dr. R. Tracht
MyFB
~port1
port1
port1
/myFBA:
MyFBA
A
A
D
B
B
E
C
C
F
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
7
Behavior of Function Block Adapters
capsuleInst
/myCapsule:
MyCapsule
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
myFBAinst
/myFBA:
MyFBA
sig1(myData)
sig2(4713)
sig3
D
ON FB_Signal E
PRECONDITION D <> 0
SIGNALS
sig2: MyProtocol.sig2;
sig3: MyProtocol.sig3;
BEGIN
C := false;
sig2.data := D;
SendSync (~port1, sig2, sig3, 60s);
C := true;
Delay(1ms);
C := false;
END
POSTCONDITION E = false
4713
E
C
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
8
Execution Semantics
FBSignal1
Processing
FBSignal1
Idle
Automation and Control
University of Essen
Prof. Dr. R. Tracht
Processing
UMLSignal1
UMLSignal<n>
FBSignal<m>
Processing
FBSignal<m>
UMLSignal1
synchronize
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
Processing
UMLSignal<n>
9
Hardware Solutions
IPC
PLC
UML-RT system
the complete FBA
existing
IEC 61131-3
Function Block
IPC
PLC
UML-RT system
Automation and Control
University of Essen
Prof. Dr. R. Tracht
UML-RT
part of the
FBA
serial communication
PLC part
of the
FBA
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
existing
IEC 61131-3
Function Block
10
Component and Deployment View
MyFBA
VAR_OUT
D: INT;
E, F: BOOL;
END_VAR
VAR_IN
A: INT;
B, C: BOOL;
END_VAR
~port1
MyFBA.cpp
MySystem.EXE
MyS7Project
MyFBA.SCL
MyFB.SCL
MyCapsule.cpp
PROFIBUS
IPC
Automation and Control
University of Essen
Prof. Dr. R. Tracht
PLC
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
11
Synchronization
IPC-Part of the FBA
FBSignal_E
Processing
FB_Signal_E
Idle
PLC-Part of the FBA
UMLSignal1
Processing
UMLSignal1
E
1 2 3 4 5 6 7 8
UMLSignal<n>
FBSignal<m>
Processing
FBSignal<m>
(1)
(2)
(3)
(4)
(5)
(6)
synchronize
Processing
UMLSignal<n>
void synchronizeAction() {
...
if(SCP_receive(...))
internalPort.send(FBSignal1);
...
}
Automation and Control
University of Essen
Prof. Dr. R. Tracht
cycle number
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
FUNCTION_BLOCK MyFBA
VAR
my_trig: R_TRIG;
END_VAR
...
my_trig( E );
IF my_trig.Q THEN
...
AG_SEND( ... D ... );
...
END_IF
...
END_FUNCTION_BLOCK
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
12
Summary and Outlook
• Function Block Adapters are introduced into the design
model of a system
• Connecting PLCs and Industrial PCs can be done in very
different hardware environments  independence of
implementation issues is important
• Implementation models are more structured when using
FBAs for the design
• Development of a formal semantic is an ongoing work
Automation and Control
University of Essen
Prof. Dr. R. Tracht
OMER - 2
Torsten Heverhagen, Torsten.Heverhagen@uni-essen.de
13
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