Classicladder

CLASSIC LADDER PROJECT Copyright (C) 2001-2023 Marc Le Douarain marc . le - douarain /AT\ laposte \DOT/ net http://www.sourceforge.net/projects/classicladder http://sites.google.com/site/classicladder February 2001

Version 0.9.113+ (xx March 2023)

A project to have a free ladder language in C. Generally, you find this type of language on PLC to make the programs. It allows you to realize little programs or bigger in an electric way.

This project is released under the terms of the LGPL license v3, and LGPL v2 for EMC project usage.

GENESIS...

I decided to program a ladder language only for test purposes at the start, in february 2001. It was planned, that I would have to participate to a new controller at work. And I was thinking that to have a ladder language in it could be a nice option to considerate. And so I started to code the first lines for calculating a rung with minimal elements and displaying dynamically it under Gtk, to see if my first idea to realise all this works. And as quickly I've found that it advanced quite well, I've continued with more complex elements : timer, multiples rungs, etc... Voilà, here is this work... And for the controller at job? Well, in fact, it's already a lot of work to do the basic features of the traffic lights and I don't think we will add a ladder language to it one day... ;-)

FEATURES...

Classic Ladder is coded 100% in C. It can be used for educational purposes or anything you want... The graphical user interface uses GTK.

In the actual version, the following elements are implemented :

• Booleans elements

• Rising / falling edges

• New IEC Timers (since v0.7.120)

• Timers (for compatibility, no more really usefull)

• Monostables (for compatibility, no more really usefull)

• Counters (since v0.7.80)

• Compare of arithmetic expressions (since v0.4)

• Booleans outputs

• Set / Reset coils

• Jumps

• Calls to sub-routines (since v0.5.5)

• Operate of arithmetic expressions (since v0.4)

Each rung can have a label (used for jumps) and a comment (displayed at the top). They can be edited for the current rung, in the two edits at the top of the window.

There is a full editor for rungs since v0.3 You can: - add a rung after the current rung. - insert a rung before the current rung. - modify the current rung. - delete the current rung. When editing, use the pointer of the toolbar if you want only to modify properties, else select the element you want to place in the rung.

A popup menu (since v0.9.7) with the right click is available to edit without having to use the toolbar window.

Many rungs can be displayed at the same time, and you can use a vertical scollbar. The current rung is the rung with the blue bars on each side. When window resized, it is automatically selected by choosing the toppest rung which is completely visible. You can manually select one between the others below (if you can see them with a large vertical window).

Since v0.5.5, the program can be split in many sections. There is a window 'Sections manager' where you can see all the sections defined, add/delete a section, and modify the order executions of the main sections. There is two types of sections available : main or sub-routine (SR). The main sections are refreshed directly in the following order : top sections first, bottom sections last. The sub-routines sections are refreshed when called from a rung. Each sub-routine (SR) has a unique number used in the (C)all coils. Load & Run "example_many_sections" for a demo example.

Since v0.6.0, a new language has been integrated : a "sequential" also called "grafcet". In the section manager, select the language wanted when you add a section. Load & Run "example_sequential" for a demo example. The editor for sequential is arrived in v0.7.0 When using the link button ('.) in the toolbar, when clicking on transition, the top or bottom part of it is very important !!!

Since v0.8.4, part copy of a rung possible in two steps: selection of a part in the current rung, then copy part selected in memory somewhere in the current rung (another one possible).

Since v0.8.5, events logs available (with full events configuration of the assiocated variables the user want to log). Each events can be configured as defaults.

Since v0.9.0, monitor target possible in IP (UDP) or Serial with rungs activity, sequential activity, read free/bool vars. See new menu PLC/Connect. You have to open the same file project in local than the project running on the target (you have to select the correct file, no control is done, if none you will debug bad elements and will do not understand anything!!!).

Since v0.9.4, some projects infos (name, author) can be entered (in a tab of the free vars window).

Since v0.9.5, project can be send or received to/from another classicladder (via monitor protocol). Usefull for an embedded target!

Since v0.9.11, a PSTN/GSM modem can be connected to be used for monitor protocol ! + can run just for one cycle.

ClassicLadder can run in real-time with RTLinux, RTAI or Xenomai (optional). Only Xenomai used in latest versions. See below.

REQUIREMENTS...

For using Classic Ladder as it is, you need :

• Linux
• Gtk version 2 or 3

A precompiled Linux binary executable is included in the archive that you can directly launch. If required, you can recompile yourself the project, see below...

COMPILATION...

To recompile the sources, in a console : type "cd src;make clean;make;cd .." type "./classicladder" to launch this project. or "./classicladder projects_examples/xxxxxxxxxx.clprj" to start with using project datas "xxxxxxxxxx.clprj".

First you need to have the gcc compiler and make installed, see package "build-essential" if needed ! You must have the package "zlib1g-dev" installed to be able to compile. To compile a GTK+2 version, ensure you've the package "libgtk2.0-dev" installed before. To compile a GTK+3 version, ensure you've the package "libgtk-3-dev" installed before. Choice between GTK2 and GTK3 is done by modifying the Makefile: comment lines after "#===For GTK2 Version===" and uncomment lines after "#===For GTK3 Version===", or inversely.

To compile on PowerPC processor (in fact not x86 processors generally), in the Makefile, add the caracter '#' to comment the line MAKE_IO_ACCESS.

MODBUS SERVER INCLUDED (SLAVE TO CONNECT TO A SCADA)...

ClassicLadder has a Modbus/TCP server integrated. Default port is 9502, standard 502 requires that the application has been launched with root privileges. List of functions code supported are: 1, 2, 3, 4, 5, 6, 15 and 16. Modbus bits and words correspondence table is actually not parametrable and correspond directly to the %B and %W variables. Infos on modbus protocol are available here: http://www.modbus.org http://www.sourceforge.net/projects/jamod http://www.modicon.com/techpubs/toc7.html

LOGS / REMOTE ALARMS...

First define logs corresponding to vars to log: first var %Bxxxx / nbr vars (minimum = 1!!!!) for each log event. When an event is created, in case of many vars, parameter value = offset from first var %Bxxxx. Remote alarms (8 slots) can be defined for each log event. Each remote alarm slot corresponds to a SMS or email destination. For email, external command "mailsend" required in /usr/bin (https://code.google.com/p/mailsend/) For SMS send, a Wavecom chip modem has been used an successfully tested. Do not forget to define center SMS server (depending of GSM phone operator used).

EMBEDDED VERSION...

If you want to make an embedded version of classicladder without the GTK interface: comment the GTK_INTERFACE line in the Makefile + see CROSS & OWN_CFLAGS & OWN_LIBSFLAGS to adjust to the correct processor architecture of the target if required. Type 'CTRL-C' if you want to exit the Linux application, or send kill signal (if daemonized, only kill signal can be used).

Since v0.6.4 it is possible to define maximum sizes for the differents arrays to save a lot of memory if you're short on it on your target. You must give a config file at startup... Well, no since v0.7.110, the sizes defined are saved in the project file, and are used for the first project file loaded (in the commande line). Since v0.9.2, the project file loaded at startup can also be save in the preferences file saved in your home directory (from the gtk config window), or in priority from "classicladder_prefs" near the executable or "/etc/classicladder_prefs" (if already available there).

REAL-TIME SUPPORT WITH XENOMAI 2 OR 3 (IN USER-SPACE)...

Added in v0.7.92, september 2006. Xenomai version 3 requires ClassicLadder v0.9.030 minimum See http://www.xenomai.org xeno-config command must be in your path. Uncomment the corresponding line in the Makefile. Then type "cd src;make clean;make;cd.." to compile the project. With a "./classicladder" you will launch the real-time version !!! Xenomai rules! And is advised instead of a RTLinux/RTAI kernel module version. To have real-time in user-land is really easier than with the module, the future is here, and now !!!

REAL-TIME SUPPORT WITH RTLINUX...

(no more maintained...) To have RTLinux v3 installed before is required (see http://www.rtlinux.org) Be sure that the hello example works after RTLinux installation (perhaps you will have to type dmesg to verify if the hello texts was correctly displayed). With this version, the refresh of the rungs is done in real-time. Verify the symbolic link (or real directory depending how you've installed) "/usr/rtlinux" pointing on the rtlinux directory, exists. Here, I've done the following : cd /usr ln -sf /usr/src/your-rtlinux+linux-dir/rtlinux-3.1 rtlinux

In a console, type the following to reco