This tutorial shows how to use CODESYS together with Factory I/O through OPC UA. By following this sample you will create a new CODESYS project, configure it to work with Factory I/O and program the actual controller to control the Assembler scene.
For alternative instructions on how to program using CODESYS Control Win (SoftPlc), please use this link: FactoryIO: CODESYS with OPC UA
- Start CODESYS and create a new project
- Select Standard project from the Templates list and choose a name for the project (e.g. Tutorial). Click on OK.
- On a Standard Project window select the Device: 751-9301 WAGO Compact Controller 100 and Structured Text(ST) for the PLC_PRG. Click on OK
- Right-click on Application and select Add Object > Global variable list... . Type FIO as the list name, click on Add.
- Open the FIO list and copy and paste the following global variables. These variables will be used to exchange data between Factory I/O and CODESYS through OPC UA (these are the I/O points).
VAR_GLOBAL
xEnable : BOOL;
// Inputs
xAuto : BOOL;
xBaseAtPlace : BOOL;
xBaseClamped : BOOL;
xEmergencyStop : BOOL;
xItemDetected : BOOL;
xLidAtPlace : BOOL;
xLidClamped : BOOL;
xManual : BOOL;
xMovingX : BOOL;
xMovingZ : BOOL;
xPartLeaving : BOOL;
xPosAtLimit_Base : BOOL;
xPosAtLimit_Lid : BOOL;
xReset : BOOL;
xStart : BOOL;
xStop : BOOL;
// Outputs
xBasesConveyor : BOOL;
xClampBase : BOOL;
xClampLid : BOOL;
iCounter : INT;
xGrab : BOOL;
xLidsConveyor : BOOL;
xLidsEmitter : BOOL;
xMoveX : BOOL;
xMoveZ : BOOL;
xPosRaise_Base : BOOL;
xPosRaise_Lid : BOOL;
xResetLight : BOOL;
xStartLight : BOOL;
xStopLight : BOOL;
END_VAR
Alternatively, you can add these variables to your PLC_PRG(PLC) local variables instead of global.
- Make sure your PLC controller is reachable on the network. Double-click on Device (751-9301...) in your project tree, and then on Communication Settings. Now, click on Scan network... Select the network path to the controller and click on OK. Note that device name can be changed by clicking on Device > Rename active device.
- Now, Right-click on Application and select Add Object > Symbol Configuration. On the Add Symbol Configuration window check Support OPC UA features, next click on Add. Now, check the FIO symbols (see image below) and click on Build.
- Next, click Online > Login. When prompted to download the program to the PLC, click on Yes.
- Finally, click on Debug > Start.
- Open the Assembler scene and click on File > Driver configuration.
- Select OPC DA/UA from the driver list and click on Configuration.
- Type opc.tcp://<ip_address>:4840/ on the OPC Server input field and press Enter to connect. Set "FIO" as the contain filter (see image below) - this will retrieve nodes containing "FIO" (the Global Variable List defined in CODESYS). Next, click BROWSE.
- Map the sensors and actuators tags as shown in the image below.
- Finally, close the Driver window and start the simulation (press F5).