老外写的ST语言教程很详细课件.ppt

1,STLanguage,BasicCourse,2,STLanguage,KeywordIfthereisanyunclearoruncorrected,pleasefeelfreetospeakout,BasicCourse,3,Requirements,HardwareTheprogramminglanguageSTisonlyavailableforfollowingprogrammablecontrollers:,pCO3SupernodepCO5pCOcompact,BIOSTosupportSTlanguage,biosversionmustgreaterthan5.0,SoftwareUseaversionof1tool=2.1.x,4,CreationofasolutionSTLanguage,Choosing:-FBD,theapplicationwillbemixed,itwillconsistofamainwithAtoms,Macroblocks.butyoucanuseroutines(functionsandfunctionblocks)writtenintheST-ST,theapplicationwillbedevelopedentirelyusingSTlanguage,5,Basicconcepts,WhenprogramminginST,theapplicationcanbeorganisedusingthreefundamentalprogrammingelementsgenericallycalledProgramOrganizationUnits(POU):PROGRAMFUNCTIONFUNCTIONBLOCK,POU,Note:wecandefinemorefunctionsandfunctionblocks,butonlyoneprogrammain,6,Thebasictypes,Thefollowingtablelistsallthepropertiesofbasictypes(IECType):,7,DeclarationofGlobalvariables,TherearetwowaystodeclareGlobalvariables:VariableListTextualmodeofSTlanguage,Note:ifyouwanttoseethevariableinthepGD,pleasedeclarethevariableintheVariableList,8,Assignmentoperator:=,Syntax,Assigntoavariable:,aconstantvaluethevalueofanothervariabletheresultofanexpression.,Varaible_name:=expression;,Note:thereisa;intheendofstatement,9,Textualdeclaration,TodeclarevariablesinSTyouhavetousethefollowingdeclarationblock:,Note:1.thereisno;intheendofEND_VAR;2.wecangivethedefaultvalueinthedeclaration.,10,Rulesoftheidentifiers(variablesname),a.z,A.Z0.9_,Thenameofanidentifier(variableorconstant)canbeanycombination(seeExample)ofthecharacterslistedbelow:,ExampleRulestocreateidentifiers.,11,ThequalifierCONSTANT,TextualdeclarationofConstants,ThekeywordCONSTANTcandeclareaconstant.TheconstantsdonotoccupyspaceinmemoryasthevariablesDuringcompilationinsteadoftheconstantisreplacedanumericvalue.,12,Comments,CommentusingkeywordREGIONENDREGIONYoucanhideseverallinesofcodeusingthekeywordREGIONENDREGION.Soincreasethereadabilityofthecodeonthescreen.Thecodeisreplacedwithacomment.Clickingoncommentitwillappearagainthecode.,ThecodecommentsYoucanusetwowaystomakeacommentTocommentasinglecodelineuse“”Tocommentmorecodelinesuse“(*”and“*)”,Thereisno_inbetweenENDandREGION,13,ThequalifierRETAIN,TextualdeclarationofglobalvariablesREATAIN(retentive),Example,DeclarationofretentiveGlobalvariables.,RETAINkeyworddeclaresavariableinT-permanentmemory.,Organizationofthevariables.,Note:payattentionofthedefaultvalue,14,CastFunctions,Syntax,Variable_name:=*_TO_*(value);,Theconversionfunctionsareusedtoconvertanyoftheelementarydatatypestoanyother.Theymustbeusedtomakethedatatypeuniformbeforeafunction,wherethisisrequired.,15,SToperators,Fortheevaluationofexpressions,alwaysusebrackets,thisavoidserrorsintheevaluationoftheexpressions.,Example,Tableoftheoperatorspriority,Anexpressionisexecutedonlyaftertheevaluationoftheoperatorspriority.Theexecutionorderofanexpressionanditsresultareinfluencedbytheoperatorspriority.,Suggestion,A:=NOTXANDYORNOTJ;Increasesreadability:A:=NOT(X)AND(YOR(NOTJ);,IfZ=0theothervariableshavenotbeenevaluated.A:=ZANDYAND(NOTJ);,16,Conditionalstatements:IF,IF.THEN.ELSEstatementConditionalconstruct:executesastatementblockdependingonwhetherornotcertainconditionsaresatisfied.,Syntax,Exercize,IfExpression=TRUE,statement_blockisexecutedOtherwisetheconditionsintheELSIFblocksareevaluatedFinally,iftheseareallfalse,thestatementsintheELSEblockareexecuted.,Boolean(AND,OR,NOT,XOR)Comparison(=,=,towriteonavariabletheFBoutputs.,Use:=toassignvaluetotheinput.,36,FUNCTIONBLOCK,FunctionBlockinstanceLocalvariables(VAR),areallocate/deallocateinsideStackateverycallingof:ProgramFunctionAFunctionBlockinstanceshouldbedeclaredGlobal(VAR_GLOBAL)andnotLocal(VAR).AinstanceofFBthatisdeclaredLocal(VAR)couldhaveadifferentbehaviourfromthatexpected.,ExampleInthisexampleaGlobaleandLocalinstanceofTONaredeclared.TheLocalinstancewillneversucceedtofinishthecount,becauseoftheinternalmanagementoftheLocalvariables.,37,FUNCTION_BLOCKinstance,FUNCTION_BLOCKfunctionblock_name(*Input,In_Out,andOutputvariablesdeclaration*)(*Localvariabledeclaration*)(*Implementationcode*)END_FUNCTION_BLOCK,Definitionsynstax,AFunctionBlock:,canbecalledmorethanonceinsideaProgram,aFunctionoraFunctionBlockreceivesoneormoreinputvalues(VAR_INPUTorVAR_IN_OUT)andunlikeFunctions,givesoneormoreoutputvalues(VAR_OUTPUT).thevaluesoftheLocalvariables(VAR)andtheinputandoutputparametersinFunctionBlocksaresavedinthememorybetweencallsofthefunctionblock,andfromoneprogramcycletothenext;inthelattercaseaslongasthefunctionblockinstancehasbeendeclaredasGlobal(VAR_GLOBAL).,InthecallingPOUtheinstanceofthefunctionblockmustbedeclaredFIRST,soastoallocatethememoryrequiredtostorethevaluesoftheinternalvariables(e.g.:useVAR_GLOBAL;takecareifusingVAR).Ifoneoftheinputparametersisomitted(VAR_INPUT),thefunctionblockusesthedefaultvalue(0orFALSEinthefirstprogramcycle)orthelastvalueusedinsidethefunctionblock.ParametersdeclaredasVAR_IN_OUTcannotbeomitted.Recursionisnotallowed.,38,FUNCTION_BLOCKinstance,Recursion,Recursionisnotallowed,thatisaFunctionBlockcannot:,referdirectlyreferindirectlycallaFunctionorFunctionBlockinstancethatreferit.,Directrecursion,Indirectrecursion,39,FUNCTION_BLOCKinstance,Variablesscope:,ThequalifierRETAIN,IfaGlobalinstancehasthequalifierRETAIN,dataaresavedinT-permanentmemory.,40,Thepropertiesofablockarelistedbelow.,FUNCTION_BLOCK:Summary,41,STeventisafunctionwiththefollowingrestrictions:HasauniquenameHasnoReturnvalueHasnoInputparametersHasnoLocalvariablesCanonlymodifyGlobalvariables,youcannotcallFunctionsorFunctionBlocksEventdiffersfromotherfunctions,becausethenameisprecededbythereservedwordEvent_(e.g.:Event_incA)Thereisnolimittothenumberofeventsthatyoucandefine.SyntaxFUNCTIONEvent_NameEvent/CODEEND_FUNCTIONFromMaskEditorispossibletoexecuteaSTevent,specifingintheKeyFunctionEditorDo_ST_Eventstatement.ExampleWhenthePRGbuttonispressed,increaseavariable.3How?IntheStartegyEditorSTdefinetheeventIntheKeyFunctionEditorwithDO_ST_Eventstatementcalltheevent,STEvent,42,HowtousetheAdd_3inFBD?IntheSolutionExploreraddapagetoSubroutineSTnodeEditAdd_3functioncode,payingattentiontotypesofInputparametersandReturnvalue.IntheDependenciesnodeofSolutionExploreraddCore_STlibrary.InsideFBDenvironmentFromCore_STlibraryselectST_CallatomtocallAdd_3functioninsideFDBenvironment.Finallyconnectvariablestopins.,FBDandSTenvironment,RemindersonFBDenvironmentFBDEnvironmentusesonlythebasictypes(Boolean,Integer/Analog)TheSTlanguageissupportedbysomecontrollers(pCO3,Suprnodo,),43,FBDandSTenvironment,HowdoyouchangefirmofyourFunctionorFunctionBlockinFBDStrategyEditor?InFBDStartegyEditorIhaveplacedMy_Addfunction,butihavetoaddanotherparameterYouhavetoaddthenewparametertoMy_Addfunction,andthen,youhavetoselect“Updatefromfirm”inFBDStrategyEditor,1ststepAddIn3toMy_Addfunction,2sdstepInFBDStrategyEditor“Updatefromfirm”,3rdstepInFBDStrategyEditorconnect_In3variable,44,Systemvariable,STLanguageusesspecificlibraryfunctions,inordertoaccesstosystemvariablesoftype:BooleanIntegerSyntaxSet_SystemVariableName(Vaule);Variable:=Get_SystemVariableName();1stExample(Boolean)Set_KEY_PRESSED(1);Alarms:=Get_GLOBAL_ALARM();2sdExample(Integer)Set_KEY_PRESSED(1);BMSAddr:=Get_BMS_ADDRESS();LibraryaccessToaccesslibraryfunctionspressCONTROL+SPACE,45,Base2,Base8andBase16,Anumbercanberepresentedalsointhebases:Binary(Base2)Octal(Base8)Hexadecimal(Base16)SyntaxVariable:=Base#Value;Examplea:=2#10110001;a:=8#767;a:=16#AF0;Moreover,itispossibletoseparatethefigureswithofoptional_,inordertoincreasethereadabilitya:=2#1011_0001;a:=8#7_6_7;a:=16#AF0;a:=16#A_F_0;,46,Arithmetcstatements,STlanguagecanusethefollowingarithmeticoperations:,2sdEsempioTheuseofdivisionoperator.,1stExampleArithmeticoperator:,47,Numericalstatements,Vedianche,LanguageSTallowstousethefollowingnumericalstatements:,48,Debug,Therearetwotypes:ConditionalBreakpointBreakpointDuringthesimulationBreakpointsarenotactiveon:FunctionsnevercallVariables/InstancesneveruseExample,Fordebuggingtheapplicationusethebreakpoint.,DebuggingkeysF5:goestonextbreakpointControl+F10:StepoverControl+F11:StepintoControl+Shift+F11:Stepout,49,Exercises,Ex1:在ST中进行浮点数运算。控制逻辑:对数学表达式进行运算：A=(IN1+1)/(IN2+1)B=-0.024263A2+0.8638A+0.16655Vw=-0.0922B2+1.154B具体要求:在SubroutineST中编写一个函数块，最终在FBD中调用该函数。分别给IN1和IN2赋两组数据，看最终Vw的值是否为计算的最终结果。参考:需要用到的相关语句：+，-，*，/,*,INT_TO_REAL,REAL_TO_INT.,50,Exercises,Ex2:使用ST语言写出机组开关机的功能块。控制要求:以功能块（Functionblock）的形式编写该模块在FBD中调用该功能块具体要求功能块的输入根据机组启动请求来管理机组状态，机组启动的选择方式如下：通过键盘Keyboard_OnOff通过planpLan_OnOff通过数字量输入Dig_In_OnOff，En_Dig_In_OnOff通过时间段Schedule_OnOff，En_Sched_OnOff通过上位机Superv_OnOff，En_Superv_OnOff通过报警状态Alarms功能块的输出变量Unit_OnOff表示机组的状态。仅当上述功能全部启用，即以下全部条件均为真时（Unit_OnOff=1）：Keyboard_OnOff=1pLan_OnOff或En_PLan_Onoff=0Dig_In_OnOff=1或En_Dig_In_OnOff=0Schedule_OnOff=1或En_Sched_OnOff=0Superv_OnOff=1或En_Superv_OnOff=0Alarms=0功能块的输入Manual对机组状态不起作用，仅对输出Unit_Status起作用。功能块的输出Unit_Status表示机组的运行状态。Unit_Status的值状态0机组开启(Unit_OnOff=1)1Alarms=02机组因报警而关闭(Alarms=1)3机组通过plan关闭（pLan_OnOff且En_PLan_Onoff）4机组通过上位机关闭（Superv_OnOff=0且En_Superv_OnOff=1）5机组通过时间段关闭（Schedule_OnOff=0且En_Sched_OnOff=1）6机组通过数字量输入关闭（Dig_In_OnOff=0且En_Dig_In_OnOff=1）7通过本地键盘关闭机组(KeyBoard_OnOff=0)8手动操作(Manual=1)请注意，如果同时出现2个或多个上述情况，输出Unit_Status将取最大值。例如，如果机组由于报警关闭，并同时通过数字量输入关闭，则Unit_Status的值为6。功能块的输出Led_OnOff提供LED的状态，该LED表示机组状态。LED_OnOff的值状态0通过键盘关闭机组(KeyBoard_OnOff=0)1机组开启0/1在每个程序周期中，该值从0变为1，再从1变为0。机组由于报警关闭，Plan关闭或通过上位机、时间段或数字量输入关闭。,51,Exercises,Ex3:利用ST编写Pumpdown管理模块要求：要求编写的ST模块与标准库中Pumpdown模块具有相同的功能。步骤：创建一个FBD的工程，利用ST语言