SIMATIC Target 1500S: Calling Simulink Models

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1 Application Example 12/2016 : Calling Simulink Models STEP 7, S Software Controller, SIMATIC S ODK

2 Warranty and Liability Warranty and Liability Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are correctly used. These Application Examples do not relieve you of the responsibility of safely and professionally using, installing, operating and servicing equipment. When using these Application Examples, you recognize that Siemens cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in this Application Example and other Siemens publications e.g. Catalogs the contents of the other documents have priority. We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). However, claims arising from a breach of a condition which goes to the root of the contract shall be limited to the foreseeable damage which is intrinsic to the contract, unless caused by intent or gross negligence or based on mandatory liability for injury of life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. It is not permissible to transfer or copy these Application Examples or excerpts of them without first having prior authorization from Siemens AG in writing. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. To protect plants, systems, machines and networks against cyber threats, it is necessary to implement (and continuously maintain) a holistic, state-of-the-art industrial security concept. Products and solutions from Siemens are only one part of such a concept. The customer is responsible for preventing unauthorized access to the customer s plants, systems, machines and networks. Systems, machines and components should be connected to the company network or the Internet only if and to the extent necessary and if appropriate protective action (e.g., use of firewalls and network segmentation) was taken. In addition, Siemens recommendations regarding appropriate protective action should be followed. For more information about industrial security, visit Siemens products and solutions undergo continuous development to make them even more secure. Siemens strongly recommends to perform updates as they become available and use only the latest product versions. Using versions that are out of date or no longer supported can increase the risk of cyber threats. To stay informed about product updates as they occur, subscribe to the Siemens Industrial Security RSS feed at Entry ID: , V1.0, 12/2016 2

3 Table of Contents Table of Contents Warranty and Liability Introduction Overview Principle of operation Encoding with Overview of the overall solution Simulink External mode Manipulating model parameters using STEP Components used Model simulation with Simulink Temperature process PID controller Complete control loop (PID controller and temperature process) Simulation of the complete control loop Preparations for External mode Code generation with Settings for code generation Encoding with Hardware configuration Overview Hardware configuration with STEP Creating the program and downloading it to the CPU Overview Description of the generated function blocks Integrating the Simulink model into the S7 program Loading the SO file to the web server Commissioning with STEP External mode Monitoring Changing model parameters Changing model parameters with STEP Block for changing the model parameters Changing model parameters with the watch table in STEP Permanently changing model parameters with the data block Valuable Information Appendix Service and Support Links and literature Change documentation Entry ID: , V1.0, 12/2016 3

4 1 Introduction 1 Introduction 1.1 Overview Requirement In automation and control engineering, the MATLAB/Simulink software from MathWorks is frequently used to simulate processes and create algorithms. The requirement is to have the model, algorithm or function run on an ODK-capable CPU (SIMATIC S Software Controller or CPU 1518 ODK) in just a few steps. General task The MATLAB Coder and Simulink Coder add-on packages are used to compile the Simulink models to C/C++ code. This code can be integrated into the CPU via the Open Development Kit (ODK) interface. In the CPU s real-time environment, the code can be called and executed from the S7 program. Figure 1-1: Running the Simulink model on an S Software Controller Encode the Simulink model with the add-on and run it with the SIMATIC S Software Controller. 2. Use Simulink External mode to monitor the model and change the parameters during operation. Entry ID: , V1.0, 12/2016 4

5 1 Introduction Automation task This application example shows you how to commission a Simulink model on the SIMATIC S Software Controller. The automation task is a temperature control system with a simulated controlled system (temperature process). Figure 1-2: Automation task: Temperature control system SIMATIC IPC / Open Controller SIMATIC S Software Controller Setpoint Process value PID controller PID output Simulated temperature process For the application example, the PID controller is created using Simulink and ported to the S Software Controller. The temperature process is simulated in the S7 program with the LSim_PT3 function block from the LSim library. Note For the LSim library, refer to the following entry: Note The application example is deliberately kept simple to focus on the description of the use of. Learning contents of this application example The application example provides the following learning contents: Simulate an example process and create the controller. Learn how works. Encode the Simulink model and port it to a SIMATIC S Software Controller. Learn how External mode with Simulink works. Entry ID: , V1.0, 12/2016 5

1 Encoding with The following figure shows the steps from creating the model in Simulink to

Figure 1-3: Encoding with MATLAB/Simulink STEP 7 1 2 3 SCL Source SO File S7-1500 Software

Create model in Simulink. The PID controller is created in this step. 2.

Download S7 program to S7-1500 Software Controller.

6 1 Introduction 1.2 Principle of operation Encoding with The following figure shows the steps from creating the model in Simulink to commissioning on an S Software Controller. Table 1-1 explains the steps in detail. Figure 1-3: Encoding with MATLAB/Simulink STEP SCL Source SO File S Software Controller 4 Web Server 5 Table 1-1: Individual steps Action Comment 1. Create model in Simulink. The PID controller is created in this step. 2. Compile model with SIMATIC Target 1500S. 3. Add SCL source in STEP 7 (TIA Portal). 4. Download S7 program to S Software Controller. SCL blocks (sources) and SO file (shared object file / real-time function) are created. Integration of the SCL blocks (sources) into the S7 program using the External source files function in the Project tree Load SO file to web server. Upload of the SO file to the CPU s web server using the Filebrowser function. Entry ID: , V1.0, 12/2016 6

1 Introduction During code generation with, the model s original interfaces are applied. The SCL block has the same interfaces as the Simulink model.

Figure 1-4: Simulink block and SCL block Simulink block SCL block 1.2.

7 1 Introduction During code generation with, the model s original interfaces are applied. The SCL block has the same interfaces as the Simulink model. The block is provided with additional parameters (EN, ENO and STATUS). The block is called via EN and ENO. The STATUS output outputs diagnostic information. Figure 1-4: Simulink block and SCL block Simulink block SCL block Overview of the overall solution This application example describes a temperature control system with the following structure: A SIMATIC ET 200SP Open Controller is used as a runtime system. The SO file is initialized in the Startup OB. The SO file is loaded to the work memory. The temperature process is simulated in the S7 program with the LSIM_PT3 function block. The PID controller created in Simulink is encoded to an SO file using SIMATIC Target 1500S. The S7 program calls the SO file. The entire temperature control system (PID controller and simulated process) is called in the cyclic OB with an interrupt time of 0.1 seconds. Entry ID: , V1.0, 12/2016 7

initialization PID controller initialize web server Cyclic Interrupt SO file work memory

8 1 Introduction Figure 1-5: Overview of the overall solution SIMATIC ET 200SP Open Controller SIMATIC S Software Controller S7 Program Startup FB (SCL source) initialization PID controller initialize web server Cyclic Interrupt SO file work memory load Lsim_PT3 (simulated process) SO file ModelPIDOne (PID controller) call Entry ID: , V1.0, 12/2016 8

1 Introduction 1.2.3 Simulink External mode Simulink External mode allows you to monitor the model transferred to the CPU during operation and change parameters online.

9 1 Introduction Simulink External mode Simulink External mode allows you to monitor the model transferred to the CPU during operation and change parameters online. To use External model, enable the External mode interface in the code generation settings before generating the code. Figure 1-6: Running the Simulink model on the S Software Controller Monitor parameters The Scope block in Simulink allows you to graphically display signals. In this case, these are the following three signals: setpoint in yellow processvalue in red outpid (manipulated variable) in blue 2. Change parameters Simulink features blocks (here: PIDController ) that have internal parameters, e.g. P, I, D. You can open the block s screen form and change the parameter values during operation. The parameter change affects the simulation and you get a changed result. Entry ID: , V1.0, 12/2016 9

1 Introduction 1.2.4 Manipulating model parameters using STEP 7 If you want to adjust the parameters to the process during operation, you can access the internal parameters in the Simulink model.

10 1 Introduction Manipulating model parameters using STEP 7 If you want to adjust the parameters to the process during operation, you can access the internal parameters in the Simulink model. Optionally, you can create a global data block with the required parameters of the Simulink model. In the S7 program, you can use the global data block to manipulate the model parameters. Note If you want to manipulate the model parameters using STEP 7, you have to check Parameter access with STEP 7 before generating the code (see Chapter 2.8 Changing model parameters with STEP 7). The following figure shows the internal parameters of the PIDController block from Simulink and the appropriate variables in STEP 7. Figure 1-7: Model parameters in Simulink and STEP 7 Simulink STEP 7 Entry ID: , V1.0, 12/

11 1 Introduction 1.3 Components used The application example was created with the following software components: Table 1-2: Software components Component (R2016a) MATLAB V9.0 MATLAB Coder V3.1 Simulink V8.7 Simulink Coder V8.10 Article number / note / link MathWorks Online Documentation: STEP 7 V14 Professional SIMATIC S ODK 1500S V2.0 SIMATIC Target 1500S for Simulink V1.0 6ES Manual: 6ES7806-2CD02-0YA0 Manual: 6ES7823-1BE00-0YA5 Manual: The application example was created with the following hardware components: Table 1-3: Hardware component Component No. Article no. Note SIMATIC ET 200SP Open Controller CPU 1515SP PC 4GB (WES7-P, 64-bit) 1 6ES7677-2AA41-0FB0 - SIMATIC S CPU 150xS manual Manual: SIMATIC S Software Controller Additional Information on CPU 1505S/CPU 1507S Manual: SIMATIC ET 200SP Open Controller CPU 1515SP PC Documentation and sample project The following list contains all files and projects that are used in this application example. Table 1-4: Sample files and projects Component _Target_1500S_DOC_V10_en.pdf This document Note _Target_1500S_PROJ_V10.zip This zip file contains the sample project: Simulink model Encoded Target 1500S files S7 program Entry ID: , V1.0, 12/

12 2.1 Model simulation with Simulink This chapter describes how to create the model to be simulated with Simulink. Alternatively, open the Simulink model called ModelProcessPID.slx from the sample project Temperature process This application example simulates a temperature process. As a response to a step from 0 C to 50 C, the process aperiodically approaches the value 50 C (see Figure 2-1). The following figure shows the step response of the process depending on the time (s). The y-axis corresponds to the temperature ( C). Figure 2-1: response of the temperature process As a mathematical model, there is a continuous PT3 controlled system with the following formula: G ( s) 10s 1 10s 1 5s 1 In Simulink, the process is simulated in the form of three PT1 functions connected in series. Figure 2-2: Simulink model: Temperature process tmlag1 = 10 tmlag2 = 10 tmlag3 = 5 Entry ID: , V1.0, 12/

2.1.2 PID controller Creating the model with the PID controller in Simulink Table 2-1: Creating the Simulink model 1. Open MATLAB. 2. In the Workspace, create a variable for the cycle time: In the Command Window, enter ts = 0.

13 2.1.2 PID controller Creating the model with the PID controller in Simulink Table 2-1: Creating the Simulink model 1. Open MATLAB. 2. In the Workspace, create a variable for the cycle time: In the Command Window, enter ts = 0.1 for 100 ms and press Enter to confirm. 3. Create a new model ( Blank Model ) using Simulink and save it under the name ModelPID. 4. In the toolbar, open the Simulink Library Browser. Entry ID: , V1.0, 12/

14 5. Insert the following blocks from the Simulink library into the subsystem: Input ln1: Simulink > Sources >In1 Input In2: Simulink > Sources >In2 Output Out1: Sink > Sources > Out1 Add block: Simulink > Math Operations > Sum PID controller: Simulink > Discrete > Discrete PID Controller 6. Double-click the block parameters of Sum and change the value of the List of signs parameter to Then close the parameterization screen form. 8. Open the block parameters of Discrete PID controller and apply values in the below figure. Note ts (0.1 for 100 ms) is entered in Sample time. The controller and the process will later be called in the CPU in the CyclicInterrupt OB (cycle: 100 ms). The PID values were determined empirically for this application example. A good response to setpoint changes with little overshoot is achieved with this parameterization. Entry ID: , V1.0, 12/

Connect the blocks and name them as shown in the below figure.

15 9. In the PID Advanced tab, set a PID output limit from 0.0 to Close the parameterization screen form. 11. Connect the blocks and name them as shown in the below figure. 12. Save and close the model. Entry ID: , V1.0, 12/

16 2.1.3 Complete control loop (PID controller and temperature process) Table 2-2: Creating the complete control loop 1. Create a new model ( Blank Model ) using Simulink and save it under the name ModelProcessPID. 2. In the toolbar, open Model Explorer. 3. Use Add MATLAB Variable to create three variables as shown in the below figure. 4. Close Model Explorer. Entry ID: , V1.0, 12/

5. In the toolbar, open the Simulink Library Browser. 6. Insert a model from the Simulink > Ports & Subsystems category into the model. Assign the name ModelPID.

17 5. In the toolbar, open the Simulink Library Browser. 6. Insert a model from the Simulink > Ports & Subsystems category into the model. Assign the name ModelPID. The model that has already been created is referenced by Simulink based on the model name. 7. Insert three blocks of the following type from the Simulink library into the Simulink model: Simulink > Continuous > Transfer Fcn 8. One after the other, open the Transfer Fcn blocks. 9. Parameterize three Transfer Fcn blocks as shown in the below figure. 10. Close the parameterization screen forms. 11. Insert the following blocks: Simulink > Sources > Constant for the setpoint Simulink > Sinks > Scope to visualize the control loop Simulink > Signal Routing > Mux to merge the signals 12. Double-click the Mux block and change the value of the number of inputs parameter to 3. Close the parameterization screen form. 13. Double-click the Constant block and change the Constant Value to 50. Close the parameterization screen form. Entry ID: , V1.0, 12/

In the menu bar, select View > Configuration Properties and make the following settings. 16.

18 14. Connect the complete control loop and name the blocks as shown in the below figure. For Simulation stop time, select Double-click the Scope block. In the menu bar, select View > Configuration Properties and make the following settings. 16. Automatically open Scope at simulation start. 17. Displayed time span of y-axis: Time span Time span overrun action: Wrap Scale x-axis to time: Show time-axis label Entry ID: , V1.0, 12/

19 18. Chart title Show legend and grid Scale y-axis for temperature value 19. Close the model. Entry ID: , V1.0, 12/

2.1.4 Simulation of the complete control loop Table 2-3: Simulation of the complete control loop 1. Open the Simulink model called ModelProcessPID.slx from the sample project. 2. In the Simulink model toolbar, select the Run button to start the simulation.

20 2.1.4 Simulation of the complete control loop Table 2-3: Simulation of the complete control loop 1. Open the Simulink model called ModelProcessPID.slx from the sample project. 2. In the Simulink model toolbar, select the Run button to start the simulation. 3. The simulation starts. The result you get is the temperature curve of the complete control loop over time. Entry ID: , V1.0, 12/

21 2.1.5 Preparations for External mode To allow you to monitor the PID controller running on the CPU, Simulink provides External mode. To graphically visualize the PID controller signals, you have to insert a Scope block. In the sample project, these customizations have already been implemented. Table 2-4: Preparations for External mode 1. Open the ModelPID model. 2. In the toolbar, open the Simulink Library Browser. 3. Insert the following blocks from the Simulink library into the ModelPID model: Simulink > Signal Attributes > Signal Conversion Simulink > Sinks > Scope Simulink > Signal Routing > Mux 4. Double-click the Mux block and change the value of the number of inputs parameter to 3. Close the parameterization screen form. 5. Connect the model and name the blocks as shown in the below figure. The black & white blocks of the ModelPID model are for graphical visualization of the signals only and do not influence the overall simulation. 6. Now the model can be encoded for the S Software Controller and run (see Chapter 2.2 Code generation with ). Entry ID: , V1.0, 12/

2.2 Code generation with 2.2.1 Settings for code generation Table 2-5: Settings for code generation 1.

Navigate to Code Generation. 1. Select the Browse... button to open the Target selection window. 2.

22 2.2 Code generation with Settings for code generation Table 2-5: Settings for code generation 1. Open the ModelPID model. 2. In the menu bar, click Code > C/C++ Code > Code Generation Options. 3. Navigate to Code Generation. 1. Select the Browse... button to open the Target selection window. 2. Select Target_1500S_V1_0_grt.tlc. 3. Select Apply to confirm your setting. Entry ID: , V1.0, 12/

23 4. Navigate to Interface. 1. In Interface, select the External mode setting. This setting enables External mode. 2. In MEX-file arguments, enter the IP address of the runtime system (here: Windows interface). For the application example, enter Note The IP address must be entered with single quotation marks Entry ID: , V1.0, 12/

5. Navigate to Solver. 1. In Start time, keep 0. 2. Change Stop time to inf.

In Solver, leave the default setting auto (Automatic solver selection). 4.

24 5. Navigate to Solver. 1. In Start time, keep Change Stop time to inf. This ensures that External mode is used without a defined end. 3. In Solver, leave the default setting auto (Automatic solver selection). 4. Navigate to Optimization > Signals and Parameters. Set the Default parameter behavior: to Tunable. After code generation, this setting allows you to access all internal parameters of the model with STEP 7 (TIA Portal). Entry ID: , V1.0, 12/

25 6. Navigate to Target 1500S Options. 1. Optionally, check Copy all referenced files (MATLAB or C files) to ODK project. With this setting, generates an ODK project that you can edit with Eclipse and compile even without Simulink. 2. Check Parameter access with STEP 7. This setting enables parameter access to the model parameters via the S7 program. 3. Make sure that the Hardware Interface ID (HW-Identifier) is correct. This value must match the HW identifier set in the STEP 7 project (here: 59 Windows interface of the open controller). 4. Select Apply to confirm Note The Heap size for dynamic memory allocation in kbyte and Max block size for dynamic memory allocation in Byte parameters need to be changed only when there are problems with code generation. For more information, please refer to the Target 1500S manual and the SIMATIC S ODK 1500S manual 7. Select OK to close the dialog. Entry ID: , V1.0, 12/

26 2.2.2 Encoding with Table 2-6: Code generation with Target 1500S 1. Open the ModelPID model. 2. In the menu bar, click Code > C/C++ Code > Build Model. Alternatively, you can also use the Build Model button. 3. During code generation, you cannot use Simulink. compiles the PIDController block, including its input and output variables, to C/C++ code. Using the ODK Compiler of SIMATIC ODK 1500S, the SO file and the SCL source are then generated from this source code. 4. As soon as code generation has started, you can click the View... link in the status bar of the Simulink window. Entry ID: , V1.0, 12/

27 5. The Diagnostic Viewer opens. Click the outputs link. This takes you directly to the store directory of the SO file and the SCL source. 6. The directory of the Simulink model, \ModelPID_Target_1500S_V1_0_grt_Output\outputs, contains the generated files. Entry ID: , V1.0, 12/

2.3 Hardware configuration 2.3.1 Overview By default, the S7-1500 Software Controller is preinstalled on the ET 200SP Open Controller.

168.0.1 Use an Ethernet cable to connect the programmer (PG/PC) to the runtime system (SIMATIC ET 200SP Open Controller). Make the following settings: PG/PC interface: Ethernet (IP address: 192.168.1.100) ET 200SP Open Controller: X2P1 Windows interface (IP address: 192.

28 2.3 Hardware configuration Overview By default, the S Software Controller is preinstalled on the ET 200SP Open Controller. The following figure shows the hardware configuration of the application. Figure 2-3: Hardware and network configuration PG/PC SIMATIC ET 200SP Open Controller IP: IP: IP: Use an Ethernet cable to connect the programmer (PG/PC) to the runtime system (SIMATIC ET 200SP Open Controller). Make the following settings: PG/PC interface: Ethernet (IP address: ) ET 200SP Open Controller: X2P1 Windows interface (IP address: ) X1 CPU PROFINET interface (IP address: ) The subnet mask for all interfaces is Note For External mode, the correct HW identifier must be parameterized in the Target 1500S Options and in the S7 program (call of the ModelPIDCallExtMode FB). Each interface has its own HW identifier: Interface HW identifier X2P1 Windows interface 59 X1 CPU PROFINET interface 64 You can read out the HW identifier in TIA Portal in each CPU in PLC tags > Show all tags > System constants. Entry ID: , V1.0, 12/

2.3.2 Hardware configuration with STEP 7 The following steps describe how to configure the hardware based on the SIMATIC ET 200SP Open Controller. Alternatively, you can also open the sample project.

29 2.3.2 Hardware configuration with STEP 7 The following steps describe how to configure the hardware based on the SIMATIC ET 200SP Open Controller. Alternatively, you can also open the sample project. Table 2-7: Hardware configuration with STEP 7 1. Open TIA Portal and create a new project. 2. In the project tree, click Add new device. In the dialog, select an ET 200SP Open Controller. Click OK. Entry ID: , V1.0, 12/

30 3. Activate the web server for the PC system. Acknowledge the security dialog. 4. Click the CPU 1505SP and check Activate web server on this module. Acknowledge the security dialog. Entry ID: , V1.0, 12/

31 5. Navigate to Web server > User management. In Access level, check all check boxes for full access. If necessary, create a password. Note To load the SO file to the web server or delete it, the read files and write/delete files parameters must be checked. All other parameters are optional. Entry ID: , V1.0, 12/

Select PN/IE. Select the Ethernet interface of your PG/PC.

32 6. Download the hardware configuration to the ET 200SP Open Controller. In the project tree, select PC-System_1. Click the Download to Device button. 7. Select PN/IE. Select the Ethernet interface of your PG/PC. Select Direct at Slot 2 X2. Click the Start search button. Click Load. Entry ID: , V1.0, 12/

33 8. Confirm all the dialogs that follow until the download is complete. Note When downloading the hardware configuration of the SIMATIC ET 200SP Open Controller for the first time, you must use the Windows interface (here: IP address ). Make sure that the IP address of the Windows interface matches the parameterization in TIA Portal. Entry ID: , V1.0, 12/

2.4 Creating the program and downloading it to the CPU 2.4.1 Overview The following figure shows all the function blocks and PLC data types generated from the SCL source created by Target 1500S.

As shown in the below figure, calling the FBs is recommended.

34 2.4 Creating the program and downloading it to the CPU Overview The following figure shows all the function blocks and PLC data types generated from the SCL source created by Target 1500S. Depending on the code generation settings, some blocks are optional. External mode Parameter access with STEP 7 The OBs (Startup and CyclicInterrupt) are created manually. As shown in the below figure, calling the FBs is recommended. Figure 2-4: Simulink model in the S7 program MATLAB Simulink Startup S7 Program ModelPID_Unload ModelPID_Load Target 1500S CyclicInterrupt ModelPIDOne SCL Source ModelPIDCallExtMode* ModelPIDExtModeInternal* SO File ModelPIDReadWriteParameters* ModelPIDParams* ModelPIDExtModeStatus* * Optional blocks (depending on parameters in Target 1500S) Entry ID: , V1.0, 12/

35 2.4.2 Description of the generated function blocks The following table describes all blocks that are generated from the SCL source. Table 2-8: Explanation of the blocks Generated block / PLC data type FB ModelPID_Unload Functional description The block deletes the SO file from the CPU s work memory. FB ModelPID_Load The block loads the SO file from the web server to the CPU s work memory. FB ModelPIDOne The block calls the SO file. The interfaces correspond to the original Simulink model. FB ModelPIDCallExtMode (optional) The block is called for using Simulink External mode. PLC data type ModelPIDExtModeStatus (optional) PLC data type of the STATUS output of the ModelPIDCallExtMode FB. FB ModelPIDExtModeInternal (optional) The block includes internal functions for using Simulink External mode. This block is called in the ModelPIDCallExtMode FB and must not be called elsewhere in the S7 program. FB ModelPIDReadWriteParameters (optional) The block is called for read/write of the model parameters to be manipulated. PLC data type ModelPIDParams (optional) PLC data type of the inoutparams in/out parameter of the ModelPIDReadWriteParameters FB. Entry ID: , V1.0, 12/

Click Add new external file. 4. Select the generated SCL source, ModelPID_ODK.scl, and import the file to the S7 program. 5. 1. Right-click the ModelPID_ODK.scl file. 2.

36 2.4.3 Integrating the Simulink model into the S7 program Importing the SCL source Table 2-9: Importing the SCL source 1. Use TIA Portal to open the S7 program with the hardware configuration you have already created. 2. In the Project tree, navigate to External source files. 3. Click Add new external file. 4. Select the generated SCL source, ModelPID_ODK.scl, and import the file to the S7 program Right-click the ModelPID_ODK.scl file. 2. Click Generate blocks from source and confirm the dialog. From the SCL source, TIA Portal generates the blocks created by Target 1500S. 6. In Program blocks, you will find the generated blocks. Entry ID: , V1.0, 12/

37 7. In PLC data types, you will find the generated PLC data types. Entry ID: , V1.0, 12/

38 Creating OBs and the global DB Table 2-10: Creating OBs and the global DB 1. Add the following organization blocks to your S7 program: OB: Startup OB: CyclicInterrupt (with a cyclic interrupt time of 100 ms) DB: GlobalParameters Note The cycle of the CyclicInterrupt OB must match the cycle of the PIDController in the Simulink model (here: 0.1 or 100 ms). 2. Open the GlobalParameters DB. Add the following variables and structures: setpoint [LReal] process [LReal] outpid [LReal] statusmodelpid [Word] statusexternalmode [ModelPIDExtModeStatus] paramaccess [Bool] writeactive [Bool] parameters [ModelPIDParams] statusparameters [Word] Entry ID: , V1.0, 12/

39 Startup OB Table 2-11: Startup OB 1. Open the Startup OB. 2. Call the ModelPID_Unload FB in Network 1. Interconnect the REQ input with TRUE. 3. Call the ModelPID_Load FB in Network 2. Interconnect the REQ input with TRUE. 4. Close the OB. Entry ID: , V1.0, 12/

CyclicInterrupt OB Table 2-12: CyclicInterrupt OB 1. Open the Libraries task card. Click the Open global library button. Select the extracted LSim library and open it.

40 CyclicInterrupt OB Table 2-12: CyclicInterrupt OB 1. Open the Libraries task card. Click the Open global library button. Select the extracted LSim library and open it. (Accept the upgrade if you are using a TIA Portal version that is more recent than the provided library.) In the LSIM_V1x library, Master copies, you will find the LSim_PT3 PT3 block. Note For the LSim library, please refer to the following entry: 2. Open the CyclicInterrupt OB. Entry ID: , V1.0, 12/

3. Drag the LSim_PT3 FB from the integrated library to your project. Call the LSim_PT3 block in Network 1.

The block corresponds to the temperature process from the Simulink model.

model (here: 0.1 or 100 ms). 4. Call the ModelPIDOne FB in Network 2. 5.

41 3. Drag the LSim_PT3 FB from the integrated library to your project. Call the LSim_PT3 block in Network 1. Interconnect the FB with the variables as shown in the below figure. The block corresponds to the temperature process from the Simulink model. Note The cycle parameter must match the cycle of the CyclicInterrupt OB and the PIDController in the Simulink model (here: 0.1 or 100 ms). 4. Call the ModelPIDOne FB in Network 2. Interconnect the FB with the variables as shown in the below figure. 5. Call the ModelPIDCallExtMode FB in Network 3. Interconnect the EnableExtMode input with TRUE. Interconnect the HW-Identifier input with 59. Entry ID: , V1.0, 12/

42 6. Call the ModelPIDReadWriteParameters block in Network 4. Interconnect the variables as shown in the below figure. After calling the block, reset the GlobalParameters.paramAccess and GlobalParameter.writeActive variables. 7. Before downloading the S7 program, load the SO file to the SIMATIC S Software Controller s web server (see next chapter). Entry ID: , V1.0, 12/

2.5 Loading the SO file to the web server Requirement You have downloaded the hardware configuration with the activated web server to the SIMATIC S7-1500 Software Controller (see Chapter 2.

43 2.5 Loading the SO file to the web server Requirement You have downloaded the hardware configuration with the activated web server to the SIMATIC S Software Controller (see Chapter 2.3 Hardware configuration). In the Windows firewall setting of the open controller, Inbound Rules, you have allowed access via port 81. Web server port This example uses the Windows interface of the open controller for loading. To open the CPU s web server via the Windows interface, you need the correct port (default: 81). Table 2-13: Verifying the web server port 1. Establish a remote connection to the open controller (IP address in this application example: ). 2. Open the CPU display of the CPU 1500S (icon on the desktop). 3. Double-click the Settings button. 4. Double-click the Web server subitem. 5. Make sure that the HTTP port value is correct (default: 81). 6. Close the remote connection. Entry ID: , V1.0, 12/

Note For more information, please refer to the SIMATIC S7-1500 CPU 150xS manual, Configuring the web server and Virus scanners and firewall. https://support.industry.siemens.

44 Note For more information, please refer to the SIMATIC S CPU 150xS manual, Configuring the web server and Virus scanners and firewall. Loading the SO file to the web server Table 2-14: Web server port of the Windows interface 1. Open any browser (Internet Explorer, Firefox, etc.). 2. Open the web page: The CPU web server home page opens. 3. Click Enter. 4. Navigate to Filebrowser. 5. Click the ODK1500S folder. Entry ID: , V1.0, 12/

6. Click the Browse button. 7. Navigate to the ModelPID_ODK.so file created by Target 1500S. The file is located in the outputs folder of the generated Target 1500S code. 8.

45 6. Click the Browse button. 7. Navigate to the ModelPID_ODK.so file created by Target 1500S. The file is located in the outputs folder of the generated Target 1500S code. 8. Select the file and click Open. 9. Click the Upload file button. 10. Close the browser. Note When you have loaded the SO file to the web server, restart the CPU. Only the call of the ModelPIDLoad block in the Startup OB loads the SO file to the CPU s work memory. Entry ID: , V1.0, 12/

46 2.6 Commissioning with STEP 7 Requirement You have downloaded the hardware configuration with the activated web server to the SIMATIC S Software Controller (see Chapter 2.3 Hardware configuration). Programming the S7 program is complete (see Chapter 2.4 Creating the program and downloading it to the CPU). You have loaded the SO file to the CPU s web server (see Chapter 2.5 Loading the SO file to the web server). S7 program download Table 2-15: S7 program download 1. Open TIA Portal. 2. Open your project or the sample project. 3. Select Software PLC_1 and click the Download to Device button. 4. Select Load to confirm the dialog. 5. Select Finish to confirm the dialog. 6. Check Start all. 7. Select Finish to confirm the dialog. Entry ID: , V1.0, 12/

In the Modify value column, enter the value 50.0 for the setpoint. 2. Click the Modify all selected values once and now button.

47 Commissioning with the watch table Table 2-16 Commissioning with the watch table 1. Navigate to the Watch and force tables folder. 2. Create the WatchTableModelPID watch table as shown in the below figure. 3. Click the Monitor button In the Modify value column, enter the value 50.0 for the setpoint. 2. Click the Modify all selected values once and now button. By specifying the setpoint, the ModelPIDOne block with the called SO file modifies the process to the set value. Entry ID: , V1.0, 12/

48 2.7 External mode Simulink External mode provides you with the option to monitor the model when the CPU is running and change model parameters online. Note When using External mode, please follow the information provided in the Target 1500S manual. Requirement Before generation, you have configured External mode (see Chapter Settings for code generation). When calling the ModelPIDCallExtMode FB, you have interconnected the EnableExtMode input with TRUE. You have loaded the SO file to the CPU s web server (see Chapter 2.5 Loading the SO file to the web server). You have downloaded the S7 program to the CPU (see Chapter 2.6 Commissioning with STEP 7). You have set the CPU to RUN. You have connected your PG/PC (MATLAB/Simulink) to the CPU via Ethernet (in this application example: OpenController Windows interface). In the Windows firewall setting of the open controller, Inbound Rules, you have allowed access via port Monitoring Table 2-17: Monitoring with External mode 1. Open MATLAB. 2. Open the ModelPID.slx model. 3. Set the following values: 1. Simulation stop time : inf 2. Simulation Mode : External 1 2 Entry ID: , V1.0, 12/

49 4. Click Connect to target. 5. To open the Scope window, double-click the Scope icon in the Simulink model. Using the WatchTableModelPID watch table, you can change the setpoint in STEP 7 and monitor the chart in the Scope window. If you change the setpoint from 0.0 to 50.0, you get the following signal chart. 6. Click Disconnect from target to disconnect the connection. Entry ID: , V1.0, 12/

2.7.2 Changing model parameters Table 2-18: Changing model parameters with External mode 1. Open MATLAB. 2. Open the ModelPID.slx model. 3. Use External mode to connect to the CPU. 4.

50 2.7.2 Changing model parameters Table 2-18: Changing model parameters with External mode 1. Open MATLAB. 2. Open the ModelPID.slx model. 3. Use External mode to connect to the CPU. 4. Double-click the PIDController block to open the parameters Navigate to PID Advanced and, as an example, change Upper saturation limit to Click Apply. Entry ID: , V1.0, 12/

6. The Scope window shows that outpid is limited to 20. The process Value aperiodically approaches the value. 7. Set Upper saturation limit back to 100 and select Apply to confirm.

51 6. The Scope window shows that outpid is limited to 20. The process Value aperiodically approaches the value. 7. Set Upper saturation limit back to 100 and select Apply to confirm. Then the value is modified back to This procedure allows you to change any value in the model. Note When you change parameter values using External mode, these changes are valid only until a restart of the CPU. After a restart, the original values are valid again. If you want to permanently change the values, regenerate the blocks using Target 1500S. Reload the SO file to the web server. Restart the CPU. If you change not only parameters but also the model and the interfaces of the block (here: PIDController ), you have to reintegrate the SCL source into the S7 program. Entry ID: , V1.0, 12/

2.8 Changing model parameters with STEP 7 Requirement Before generation, you have enabled parameter access with STEP 7 (see Chapter 2.2.1 Settings for code generation).

52 2.8 Changing model parameters with STEP 7 Requirement Before generation, you have enabled parameter access with STEP 7 (see Chapter Settings for code generation). You have loaded the SO file to the CPU s web server (see Chapter 2.5 Loading the SO file to the web server). You have downloaded the S7 program to the CPU (see Chapter 2.6 Commissioning with STEP 7). You have set the CPU to RUN. You have connected your PG/PC (MATLAB/Simulink) to the hardware via Ethernet (in this application example: OpenController Windows interface) Block for changing the model parameters During operation, the model parameters can be changed using the ModePIDReadWriteParameters block. The parameters are transferred using the inoutparams in/out parameter. Each time it is called, the block reads/writes the model parameters depending on the write input. The block is called in the CyclicInterrupt OB. The block is called with the paramaccess variable of the GlobalParameters DB. After each call of the block, the paramaccess and writeactivate variables are reset in the GlobalParameters DB. Figure 2-5: ModePIDReadWriteParameters block Input parameters Table 2-19: Input parameters Parameter Data type Description write BOOL To write the parameters from the S7 program to the Simulink model, set this value to TRUE. The values transferred at the inoutparams parameter are written to the Simulink model. To read the parameters from the Simulink model, set this value to FALSE. The current values of the Simulink model parameters are written to the variable interconnected at inoutparams. inoutparams PLC data type ModelPIDParams With the inoutparams in/out parameter, you can transfer the Simulink model parameters for read/write. Entry ID: , V1.0, 12/

Output parameters Table 2-20: Output parameters Parameter Data type Description STATUS WORD This return value is automatically generated by ODK.

53 Output parameters Table 2-20: Output parameters Parameter Data type Description STATUS WORD This return value is automatically generated by ODK. When the execution is successful, the return value is Changing model parameters with the watch table in STEP 7 Table 2-21: Changing model parameters with the watch table in STEP 7 1. Navigate to the Watch and force tables folder. 2. Open WatchTableModelPID. 3. Click the Monitor button. Entry ID: , V1.0, 12/

4. In the Modify value column, insert the following values: 1. GlobalParameters.paramAccess = TRUE 2.

The GlobalParameters.paramAccess variable is automatically reset. 5.

GlobalParameters.writeParameters = TRUE 3. GlobalParameters.parameters.PIDController_Upper = 20.0 4.

54 4. In the Modify value column, insert the following values: 1. GlobalParameters.paramAccess = TRUE 2. Click the Modify all selected values once and now button. The model parameters are read from the SO file. The GlobalParameters.paramAccess variable is automatically reset. 5. In the Modify value column, insert the following values: 1. GlobalParameters.paramAccess = TRUE 2. GlobalParameters.writeParameters = TRUE 3. GlobalParameters.parameters.PIDController_Upper = Click the Modify all selected values once and now button. 2 The value of the GlobalParameters.outPID parameter is reduced to the value Entry ID: , V1.0, 12/

55 6. To obtain the original state, change the value of the GlobalParameters.parameters.PIDController_Upper parameter back to Click the Modify all selected values once and now button. Note When you change values of parameters using the watch table, these changes are valid only until a restart of the CPU. After a restart, the original values are valid again. If you want to permanently change the values from the S7 program, change the parameter values directly in the data block (see next chapter). Entry ID: , V1.0, 12/

2.8.3 Permanently changing model parameters with the data block To permanently keep the model parameters (even after a CPU restart), set the Global.paramAccess and Global.

56 2.8.3 Permanently changing model parameters with the data block To permanently keep the model parameters (even after a CPU restart), set the Global.paramAccess and Global.writeActive variables of the GlobalParameters DB in the Startup OB. Customizing the program in the Startup OB Table 2-22: Preparation in the Startup OB 1. Open the Startup OB. 2. In Network 3, set the Global.paramAccess and Global.writeActive parameters. 3. Select the Startup OB and click the Download to Device button. Modifying variables in the GlobalParameters DB Table 2-23: Permanently changing model parameters in the data block 1. Navigate to Program blocks and open the GlobalParameters DB. 2. Expand the parameters variable. Entry ID: , V1.0, 12/

In the dialog, enter 1 and select OK to confirm. 6.

57 3. Click the Monitor all button. 4. Read out the current model parameters. 1. Right-click Monitor value of the paramaccess variable. 2. Click Modify operand. 5. In the dialog, enter 1 and select OK to confirm. 6. Change the monitor value of PIDController_Upp.. to Click the Snapshot of the actual values button. Entry ID: , V1.0, 12/

8. Click the All values button and confirm the dialog to copy the

Now all instantaneous values have been stored in the DB as start values.

saved. Delete the start values in all other variables. 10.

58 8. Click the All values button and confirm the dialog to copy the instantaneous values to the start values. Now all instantaneous values have been stored in the DB as start values. 9. Only the start values for the parameters model parameters are to be saved. Delete the start values in all other variables. 10. Select the GlobalParameters DB and click the Download to Device button. 11. Restart the CPU. Entry ID: , V1.0, 12/

59 Result: The ModelPIDReadWriteParameters block is called once each time the CPU is restarted. The GlobalParameters.paramAccess and GlobalParameters.writeActive variables are set in the Startup OB. The variables are reset after calling the ModelPIDReadWriteParameters FB in the CylicInterrrupt OB. With each restart, all model parameters are set with the saved values from the GlobalParameters.parameters variable. Entry ID: , V1.0, 12/

60 3 Valuable Information 3 Valuable Information SIEMENS STEP 7 (TIA Portal) STEP 7 is the development environment for programming and commissioning SIMATIC programmable logic controllers. SIMATIC S Software Controller The SIMATIC S Software Controller is a CPU for PC-based automation solutions on SIMATIC IPCs. SIMATIC 1500S ODK The SIMATIC 1500S Open Development Kit (ODK) add-on allows you to extend the CPU functionality by user-specific C/C++ programs as a Windows or real-time function. With, Simulink models can be encoded and run on SIMATIC CPUs (SIMATIC S Software Controller and S ODK) MathWorks MATLAB and Simulink are registered trademarks of MathWorks, Inc. MATLAB Program for solving mathematical problems and graphically visualizing the results. In MATLAB, a proprietary programming language is used for programming. MATLAB Coder Add-on to MATLAB for generating C/C++ code from the proprietary MATLAB programming language. MATLAB Coder requires that the MATLAB basic package be installed. Entry ID: , V1.0, 12/

61 3 Valuable Information Simulink Add-on to MATLAB for graphical programming and simulations of models. Simulink offers a comprehensive library with functions, for example, for creating control engineering applications. Simulink requires that the MATLAB basic package be installed. Simulink Coder Add-on to Simulink for generating C/C++ code from Simulink models. Simulink Coder requires that MATLAB, MATLAB Coder and Simulink be installed. Entry ID: , V1.0, 12/

62 4 Appendix 4 Appendix 4.1 Service and Support Industry Online Support Technical Support Do you have any questions or do you need support? With Industry Online Support, our complete service and support know-how and services are available to you 24/7. Industry Online Support is the place to go to for information about our products, solutions and services. Product Information, Manuals, Downloads, FAQs and Application Examples all the information can be accessed with just a few clicks: Siemens Industry s Technical Support offers you fast and competent support for any technical queries you may have, including numerous tailor-made offerings ranging from basic support to custom support contracts. You can use the web form below to send queries to Technical Support: Service offer Our service offer includes the following services: Product Training Plant Data Services Spare Part Services Repair Services Field & Maintenance Services Retrofit & Modernization Services Service Programs & Agreements For detailed information about our service offer, please refer to the Service Catalog: Industry Online Support app The Siemens Industry Online Support app provides you with optimum support while on the go. The app is available for Apple ios, Android and Windows Phone. Entry ID: , V1.0, 12/

63 4 Appendix 4.2 Links and literature Table 4-1: Links No. \1\ Siemens Industry Online Support Topic \2\ This entry \3\ Manual: STEP 7 V14 Professional \4\ Manual: SIMATIC S ODK 1500S \5\ Target 1500S manual \6\ SIMATIC S CPU 150xS manual \7\ Manual: SIMATIC S Software Controller Additional Information on CPU 1505S/CPU 1507S \8\ Manual: SIMATIC ET 200SP Open Controller CPU 1515SP PC \9\ Application Example: Closed-Loop Control of Simulated Controlled Systems in the S \10\ MathWorks Online Documentation: Change documentation Table 4-2: Change documentation Version Date Modifications V1.0 12/2016 First version Entry ID: , V1.0, 12/

https://support.industry.siemens.com/cs/ww/en/view/

: Connecting Simulink Models to SIMATIC PLCSIM Advanced via OPC UA SIMATIC S7-PLCSIM Advanced Simulink https://support.industry.siemens.com/cs/ww/en/view/109749187 Siemens Industry Online Support Warranty