Manual TC3 UML. TwinCAT 3. Version: Date: Order No.: TF1910

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1 Manual TwinCAT 3 Version: Date: Order No.: TF1910

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3 Table of contents Table of contents 1 Foreword Notes on the documentation Safety instructions UML Basic Settings Options Project Environment Commands Create Bitmap from Selected UML Diagram Grid Enabled Grid Disabled UML Statechart Basic Editor Elements Object Properties Online Mode UML Class Diagram Basic Commands Editor Elements FAQ Version: 1.2 3

4 Foreword 1 Foreword 1.1 Notes on the documentation This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the following notes and explanations are followed when installing and commissioning these components. The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards. Disclaimer The documentation has been prepared with care. The products described are, however, constantly under development. For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics. In the event that it contains technical or editorial errors, we retain the right to make alterations at any time and without warning. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation. Trademarks Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE, XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP , EP , DE , DE with corresponding applications or registrations in various other countries. The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP , US with corresponding applications or registrations in various other countries. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. 4 Version: 1.2

5 Foreword 1.2 Safety instructions Safety regulations Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc. Exclusion of liability All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail! Serious risk of injury! Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons. DANGER Risk of injury! Failure to follow the safety instructions associated with this symbol endangers the life and health of persons. WARNING Personal injuries! Failure to follow the safety instructions associated with this symbol can lead to injuries to persons. CAUTION Damage to the environment or devices Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment. Attention Tip or pointer This symbol indicates information that contributes to better understanding. Note Version: 1.2 5

6 2 UML 2.1 Basic Unified Modeling Language (UML) is a graphical language that can be used for software analysis, design and documentation. UML is particularly suitable for object-oriented implementations. The unified modelling of the PLC application creates an easy to follow software documentation, which can also be analyzed and discussed by departments other than programming. Some of the UML diagrams can be categorized as structure diagrams, others as behavior diagrams. Structure diagram are mainly used for static modelling and analysis, since they represent the software architecture schematically. Behavior diagrams are used for dynamic modelling. They are executable models, from which program code can be generated directly. The TwinCAT 3 UML package provides a diagram type from each category, in the form of the class diagram and the state diagram: the class diagram is part the UML structure diagrams, the state diagram is part of the UML behavior diagrams. TwinCAT 3 UML provides the following functionalities: : the functionality of the object UML class diagram : Programming a POU in the implementation language UML state diagram 2.2 Settings Options Use TwinCAT UML Options (Extras Options TwinCAT PLC Einvironment UML) for configuring options concerning all UML editors project-widely ( from TwinCAT version ). Changed options are valid with closing the dialog, also in already open UML editors. General Gridspace : enter a whole number that will be used as the gridspace in pixels. Default: 10 Snap To Grid : activate this option in order to align all the elements in the UML editors to the grid. Display grid points : activate this option in order to display the grid points in the UML editors. State chart 6 Version: 1.2

7 Position Condition and Action of a relation together : activate this option in order to synchronously shift a watchdog condition and an action that belong to the same transition in the class diagram.v Class diagram Show prompt when deleting objects from diagram : objects can be deleted either only from the diagram or from the diagram and from the project. There are two possible procedures for this: If an object is marked in the class diagram, two command symbols appear above the object in order to delete the object from the diagram only or from both the diagram and the project. Alternatively a marked object can be deleted by pressing the [Del] key. If the option to display a selection window is deactivated, the object is deleted by default only from the diagram. If the setting is activated, a selection window appears when deleting with which you can configure whether the object should be deleted only from the diagram or also from the project Project Environment Open the PLC project environment to change the UML compiler version (TwinCAT version and higher). This dialog also appears if you open a UML project created with an older UML compiler version Action : Select one of the available actions. After clicking the OK button the action is executed. The recommended UML compiler version is displayed above the drop-down list. Set all to newest : Click the button to set the UML compiler version to the newest version. UML Compiler-options in the PLC project environment: UML compiler- dialog when opening the project: Version: 1.2 7

8 2.3 Commands Create Bitmap from Selected UML Diagram The command is available if The project navigator is focused There, a statechart is selected and its context menu is opened Use the command to create a graphic in BMP format from a statechart and to store it on your file system (from TwinCAT version ). If you execute the command, the following dialog opens. Create Bitmap from selected UML Diagram... Settings Size of the longer edge (in pixel) : The displayed value is for the edge length of the bitmap. Depending on the layout of the UML diagram, the bitmap will either be exported in landscape or portrait format. If the layout is in landscape format, the value is the width of the bitmap. If the layout is in portrait format, the value is the height of the bitmap. 8 Version: 1.2

9 Save bitmap on desktop : The object name is used as file name, for example "FB_UML_SC.bmp" when the object name is "FB_UML_SC" If you confirm by [ OK ], the bitmap is saved on the desktop WARNING! If saving to desktop is activated, existing files will be overwritten without any warning! If you [ Cancel ], the dialog is exited without saving anything : The file name and the directory are editable If you confirm by [ OK ], the standard dialog for saving a file opens. There, set a directory and file name, and confirm it by [ Save ]. The graphic will be saved on your file system Grid Enabled Symbol: If this command is available the context menu of a focused statechart, an element is aligned along the grid when changing its position (from TwinCAT version ). The option Snap to grid with grid space in the TwinCAT UML options (Extras Options TwinCAT PLC Environment UML) is ticked. If you perform the command, the diagram will switch to Grid disabled. The option won't be ticked. See also: Grid Disabled [} 10] Options [} 6] Version: 1.2 9

10 2.3.3 Grid Disabled Symbol: If this command is available in the context menu of a focused statechart, an element is positioned without a grid when changing its position (from TwinCAT version ). The option Snap to grid with grid space in the TwinCAT UML options (Extras Options TwinCAT PLC Environment UML) is not ticked. If you perform the command, the diagram will switch to Grid enabled. The option will be ticked. See also: Grid Enabled [} 9] Options [} 6] 2.4 UML Statechart Basic The UML statechart is a graphical formalism for specifying and designing the sequence of a discrete-event system, resp. for programming time behavior. Integrated in the TwinCAT 3 Development System, a statechart has an editor with state elements and transition elements. When compiling the application, executable code is generated. The transition behavior of a statechart during executing depends on the task cycle. But it can switch independed as well. Then, it is an in-cycle. Powerful tools, including tools for syntax control or debugging in online mode support the development process. Use case A statechart is used for programming a discrete-event system. A program, function block, function, method, action, or property can be created with the implementation language Statechart being a graph of states and transitions. Syntax The syntax is under compiler control: a transition between states lying in different regions are not allowed orthogonal states cannot be nested in other states exactly one exception transition or completion transition is allowed to exit an composite state a conditional transition going into an orthogonal state is not allowed, then a fork/join is required Commands If a statechart is selected in the project navigator, the following command in the context menu is available: Create Bitmap from Selected UML Diagram [} 8] Inside the statechart an element is aligned among a grid. This option can be ticked or not. Grid Enabled [} 9] Grid Disabled [} 10] Implicit variables of a statechart object Implicit variables are in the structure instance of the function block, which reflects the statechart. The implicit variables are below element UML_SC_<object name>. 10 Version: 1.2

11 Some implicit variables monitore the state of the object during run time: InFinalState or StartFromActivatedState. Some of them monitore the state of the execution. So, if an abortion happens, Abort is set. If AutoReinit is set, the program is reinitialized Editor The statechart editor can be used to design and program state machines. Normally, a statechart is timed by the task cycle, but in-cycle state machines are also possible. You can use the elements listed below. The state is the main statechart element. Edit element: Edit state [} 14] Edit transition [} 26] Edit completion transition [} 27] Edit exception transition [} 28] Edit start state [} 12] Edit choice [} 25] Edit composite state [} 18] Edit fork/join [} 23] Insert element Open the ToolBox via View ToolBox. Drag-and-drop one of the listed elements into the statechart window. Multiple selection If Selection is activated in the ToolBox (default), you can draw a rectangle in the statechart window with the mouse by keeping the left mouse button pressed. All the elements enclosed in the rectangle are selected. Elements can also be selected by clicking on them while keeping the [ Ctrl ] button pressed Elements The Tools window makes the state diagram elements available. They can be added to the state diagram window via drag & drop. States and pseudo states can be positioned as required. Version:

12 Start state End state State Composite state Fork/Join Choice Transition Completion transition Exception transition Start State A start state is a pseudo state that indicates the initial state. If it is at at top-level, the sequence of the state chart starts there. If it is in a composite states or in region of an orthogonal state, the sequence of the region starts. The start state is displayed as a black, filled circle. Properties Property Identifier Description Here, you can enter a name. It will not be displayed in the statechart. Edit start state User input in statechart Reaction Description Place cursor on start state symbol. The Add outgoing transition symbol becomes visible. You can create a new transition by clicking on this icon and then on a state or on an empty area in the diagram. In the latter case, a new state is created automatically. 12 Version: 1.2

13 End State An End state is a pseudo state that indicates that the execution of the region containing this end state has been completed. End states can be located in statecharts at top level, in composite states, or in regions of orthogonal states. An end state is displayed as a little black, filled circle within a second empty circle. Property Property Identifier Description Here, you can enter a name. It will not be displayed in the statechart State A State is the main element in a statechart. A state machine (i.e. statechart) passes different states during its lifetime processing its actions. A state can contain ENTRY, DO, and EXIT actions. The actions are performed at certain points in the life cycle of the state. A state is visualized as a rectangle with rounded corners. Normal state A normal state is clocked by the task in which it is called. This means that the transition into the next state is not called before the next task cycle switches. Cycle-internal state If a state machine consists of cycle-internal states, the switching characteristics are independent of the task cycle. This means that completion of the actions of an internal state is followed immediately by the transition. The transition condition is checked immediately, and the transition action is executed when the condition is met. Also, the system immediately switches to the target state when the transition condition is met. Whether a state switches cycle-internally is set in the property Internal state. Version:

14 Properties Property Identifier Color Implicit start state Intra cycle Max DO-cycle calls ENTRY action DO action EXIT action Description Enter a unique name for the selected element here. You can change the name in the statechart editor by clicking on it as well. Click on the set color and a dialog for color selection opens. There you can change the color. Default: green No: [Default] set the property to No if you want a normal state that is not a start state. Yes: set the property to Yes if you want the state to be a start state in addition. A state machine must have an start state on top level, also each region in a composite state. : tick the checkbox to set the state cycle mode to "intra". In intra mode, an immediate transition into the next state is done (fast change). :[Default] untick the checkbox to set the state cycle mode to normal. In normal mode, the state cycle depends on the task cycle. A transition to the next state only happens when a task cycle changes. This property defines the maximum number of DO action calls. Enter a number between 1 and Assign an action to the selected state by entering its action name here. Edit state The following user inputs are available under the condition that Selection is activated in the ToolBox (default mode). 14 Version: 1.2

15 User input in a statechart Place cursor on a state: Click on : Click on : Click on : Place cursor on a state with a DO action assigned to it: Reaction in the statechart window Description A state can have an ENTRY, a DO and an EXIT action. Their symbols become visible when the mouse cursor is placed on the state. An ENTRY action/method is assigned to the state. It can initialize the state. This action is executed once: when all incoming transitions of the state are TRUE. A DO action/method is assigned to the state. It is executed as long as the state is active. The action can be programmed in any implementation language. If it is programmed in UML Statechart, a hierarchy of statecharts forms. An EXIT action/method is assigned to the state. It ensures that the state is exited in a valid state. The EXIT action is executed once: when all outgoing transitions of the state are TRUE. Click on the symbol. The New Action Object dialog opens. This in-line symbol is visible for an action that does not have a declaration or implementation yet. In the opening dialog, you can create a new action object. Afterward, the name of the action is displayed after the slash /. New Action Object [} 16] Click on the symbol: POU editor of the associated object opens. This icon is visible for an action (ENTRY, DO, EXIT) with existing declaration and implementation. In the opening dialog, you can edit the object. Click on the symbol: The state's action list folds Click on the symbol: The state's action list expands Version:

16 User input in a statechart Click on the state: Reaction in the statechart window Description The state is selected and the icon for inserting an outgoing transition is available. Click on : The outgoing transition is created. If you click on an existing state, this will be the transition's target state. If you click on a free area, a new state is created. Create several transitions from/to the same state: If a state has more than one outgoing/incoming transition, their respective priorities, displayed in a little circle, define the order of execution. Click on the name (after selecting the state): An in-line editor for changing the name of the state opens. The name is immediately updated in the properties list New Action Object Here, you can do the settings for the new action object. Select an Implementation language from the list and use the default name specified in the Name field or define a useful new one. 16 Version: 1.2

17 Composite State A Composite State is a pseudo state that contains one or more regions, which each contains one or more substates. If a composite state contains one region, it can call a ENTRY, DO or EXIT action. It can have two outgoing transitions, one can be a completion transition and the other an exception transition for troubleshooting. The process order is sequentially clocked by the task cycle. You can use a use the composite state to group states. If you want to program parallel states, you can use so-called orthogonal states that have regions with respective priorities. The states are actually not executed in parallel, but in pseudo parallel with an internal sequencing of the statechart. The process order is defined explicitly by the priority. The priority is shown in each region at the top right, and it can be edited there. Each region must have a start and an end state. A composite state is finished when all of its regions have sent their finishing events. Elements inside a composite state cannot be connected by a transition if they are located in different regions. Version:

18 A composite state is visualized as a yellow, filled rectangle with rounded corners. Its name is displayed in the top-left corner of the rectangle. Regions are separated by a dashed, black line. The priority is displayed in the upper left corner of the region. The lines, names, and priorities are editable. Properties Property Identifier Color Description Enter a unique name for the selected element here. You can change the name in the editor by clicking on it. Define a color for the state. Default: Allow ENTRY / DO / EXIT actions Precondition: If a composite state contains exactly one region, this property is visible. : A ENTRY, DO or EXIT action can be assigned to the composite state. Edit composite state The user inputs in the statechart editor can be summarized as follows: 18 Version: 1.2

19 User input in statechart Reaction Description Click on composite state: Command icons are displayed. Place cursor on composite state Command icon to extend the assigned state with a completion transition. Command icon to extend the assigned state with a exception transition. If you click on one of the blue squares, you can change the size of the state by keeping the left mouse button pressed. Place cursor on composite state Precondition Composite state has one region Property Allow ENTRY / DO / EXIT actions is activated Command icons allow to assign an action. If one of the squares is clicked, the following is displayed : ENTRY action is assigned : DO action is assigned Two single clicks on a name in the composite state: An inline editor opens. : EXIT action is assigned Dialog New action object opens. The name can be changed. Version:

20 User input in statechart Reaction Description Click on new area symbol : A new region is added. The composite state changes to the orthogonal state. Double-clicking on the separator: The separator is selected and can be deleted by using [ Del ] or the context menu command Delete. As a result, the composite state has one region less. Two single clicks on the priority in any region: Create a state or a pseudo state within a region with [ Drag and drop ] An inline editor opens. Enter a number; the region now has this priority. The priorities of the other regions are adapted automatically. The state is assigned to this region. See also New Action Object [} 16] Examples of composite states Composite state The composite state element can also be used for grouping sequential states. In this case, the state does not have to be split into regions. 20 Version: 1.2

21 Composite state with regions In each region, the states are running in parallel. This type of composite state is called an orthogonal state. Version:

22 Elevator 22 Version: 1.2

23 Fork/Join Fork/Join is a pseudo state for forking or joining transitions. All transitions going out form a fork/join are completion transitions which must end in an orthogonal state. They look the same as normal transitions, since they are not visualized with a little crossed circle. However, they are unconditioned and they fire after a completion event. If you use the fork/join as a pure fork, it has one incoming transition and several outgoing transitions that end in different regions of a composite state. In this case, the fork must have the same number of outgoing transitions as there are regions in the composite state. A fork/join is visualized as a black bar, oriented horizontally or vertically. Properties Property Identifier Direction vertical Description Enter a unique name for the selected element here. It will not be displayed in the statechart. : [Default] tick the checkbox; the bar will be vertical. : untick the checkbox; the bar will be horizontal. Edit fork/join User input in statechart Reaction Description Place cursor on fork/join: If you click on one of the blue squares, you can change the size of the state. Icon for extending the state by an completion transition is available. Example Fork with orthogonal states Version:

24 Choice A Choice is a node in a state machine; at the node, an in-cycle evaluation of the subsequent guard conditions is done. It has at least one incoming and one outgoing transition. Choice nodes can be positioned top-level in statecharts, in composite states, and in regions. If several choices are connected by transitions, the connection must be designed in a way that no circular connection exists, such as recirculation to a choice that is already the source element of a transition in this chain. A choice is displayed as a diamond. The circle with the flow-control number indicates the order of processing. Properties Property Identifier Description Enter a unique name for the selected element here. It will not be displayed in the statechart. 24 Version: 1.2

25 Edit choice User input in statechart Reaction Description Select the choice symbol: Icon for extending the state by an outgoing transition is available. Example of a choice Transition A Transition controls the transition behavior between states. A transition is possible when one of following events occurs: conditioned event or change event termination event when the actions assigned to the state are completed time event A transition can have actions and guard conditions. If the check of the guard condition results TRUE, then the action is executed with the next task cycle and when it is finished, the next state is called immediately. If a source state has multiple outgoing transitions, each is provided with a priority number in View Element properties Priority. The priority numbers determine in which order the guard conditions of the outgoing transitions are checked, and in which order the transitions are switched. A transition is displayed as a thin arrow, whose tip points to the next state. Version:

26 Properties Property Relationship type Priority Triggerless transition Description Transition: not editable The priority which determines the control order. Double-clicking or single-clicking twice on this field opens the inline-editor for changing the priority number. If the source state has multiple outgoing transitions, all transition priorities are adjusted automatically. : [Default] tick the checkbox if you want the transition to react when the guard condition is TRUE. : untick the checkbox if you want the transition to react only when the guard condition switches and has a rising edge. When the condition is always TRUE, the transition is executed once. Edit transition User input in statechart Reaction Description Select Transition in ToolBox. Click on a state in the statechart, then click on another state: Double-clicking on : Two single clicks on : Click once on the transition, on the action symbol or on the guard symbol: A transition with TRUE-condition and action symbol is created. Use this procedure to create a transition between existing states. The icon is available if the associated state is selected. If you use it, the state is extended by an outgoing transition. The target state will be set by an further click. An in-line input assistant opens. Select a Boolean variable/ expression by double-clicking on it. An in-line editor opens. When you start typing, matching components appear in a pulldown list. Select a method or action by double-clicking on it. The transition is selected; this is visualized by a blue arrow. A selected transition can be displaced by dragging and dropping. The connected states remain where they are Completion Transition A Completion Transition is unconditioned; this means that it does not have a guard condition, but it can have an action. It controls the switching behavior in the next state. It switches without condition when the source states have finished completely. During the next task cycle, an optionally assigned action is executed. A composite state always has an outgoing completion transition for switching in the next state. The outgoing transitions of a fork/join are all completion transitions. 26 Version: 1.2

27 An completion transition is displayed as a thin arrow whose tip points to its target state. The little crossed circle attached to the arrow's tail indicates that this is a completion transition. Properties Property Relation type Priority Description Completion Transition: not editable 1: not editable Edit completion transition The user inputs in the statechart editor can be summarized as follows: User input in statechart Reaction Description Select Completion Transition in the ToolBox. Click on a state in the statechart, then click on another state (target state). Click once on the transition itself or on the action symbol: Two single clicks on : An unconditioned transition with an action symbol is created. This way of creating a transition is used for creating transitions between existing states. The icon is available if the associated state is selected. If you use it, the state is extended by an outgoing completion transition. The target state will be set by an further click. The transition is selected; this is indicated by a blue arrow. A selected transition can be moved by dragging and dropping. The connected states remain at their respective positions. An inline editor opens. When you start typing, the matching components appear in a pulldown list. You can select a program/method/action/ by double-clicking on it Exception Transition An Exception Transition controls the switching into the next state or pseudo state when an error or exception event occurs. It has a guard condition and optionally an action. It interrupts the currently running execution and switches into the state that was designed to react to the event. In this state, the error handling and exception behavior are defined. The source state is usually a composite or an orthogonal state. Triggered by an exception, the exception transition interrupts the underlying process of the currently active substate of the composite or orthogonal state. If the source state is a normal state, it must have a DO action assigned to it; this action is interrupted when an exception occurs. An exception transition is displayed as a red dashed arrow. Its tip points to the next state. Version:

28 Note While an exception transition is designed to exit a composite state from any state within, its condition is evaluated AFTER executing the DO-Action of the active state(s). So even if the condition for the exception transition is already TRUE when first entering a composite state, the ENTRY, DO and EXIT-Action of the first state will be executed. Pseudo exception transition A Pseudo exception transition replaces the end state in a composite state and is displayed with a blue dashed arrow. Sometimes it is easier to add a pseudo exception transition to a composite state instead of adding an end state inside the composite state with a lot of transitions. If the condition of a pseudo exception transition gets TRUE, the composite state is left in the same way as it is left if an error occurs. But a pseudo exception transition has not the meaning of handling errors, so it is named as pseudo exception transition. A pseudo exception transition has no affect on the cyclic execution behavior. Properties Property Relationship Priority Pseudo Exception Description Exception Transition: not editable Here you see the current priority that determines the control order. Double-clicking or single-clicking twice in this field opens the inline-editor for changing the priority number. If the source state has multiple outgoing transitions, then all of them are affected, and they are adjusted automatically. : [Default] activate the option; the transition will be an exception transition. : deactivate the option; the transition will be an pseudo exception transition. Then the arrow is visualized with a thick black line not be dashed. Edit exception transition The user inputs in the statechart editor can be summarized as follows: 28 Version: 1.2

29 User input in statechart Reaction Description Select Exception transition in the ToolBox. Click on a state in the statechart, then click on another state: An exception transition with TRUE-condition and action symbol is created. Double-clicking on : Two single clicks on : Click on the transition, on the action symbol, or on the guard symbol: The icon is available if the associated state is selected. If you use it, the state is extended by an outgoing exception transition. The target state will be set by an further click. An in-line input assistant opens. Here you can select a Boolean variable/expression/transition by double-clicking on it. An in-line editor opens. Here, you can select an existing action/ variable by double-clicking on it or by declaring a new one by typing its name. The transition is selected; this is visualized by a blue arrow. A selected transition can be displaced by dragging and dropping. The connected states remain where they are Object Properties 1. Select a UML statechart object in the project tree 2. Open the context menu and choose Properties... or click View Properties In the following, only the statechart tabs are described. UML Abortable : If the checkbox is ticked, the statechart to be abortable (default). An abortable statechart has an additional internal variable called: _UML_SC_<name>.abort. If this variable is set with IEC code, the execution of the statechart object is stopped immediately, independently of the inner state Online Mode The behavior of statechart objects in online mode corresponds to the normal online behavior in TwinCAT 3. As usual, you can monitor a loaded application, force variables, set breakpoints, and execute a program in single steps. In online mode, the active state is displayed in blue. Version:

30 All possible positions for breakpoints are shown as white circles with grey border in the statechart. If you want to set a breakpoint, select a white circle. Its colour turns to grey. Select Debug Toggle Breakpoint or press [ F9 ]. The program stops at the breakpoint. The position is marked yellow in the statechart. In View Breakpoints the breakpoint is listed. 2.5 UML Class Diagram Basic The UML class diagram can be used to document, analyses, design and expand the structure of a (complex) system. In the process, classes can be designed and relationships between them mapped. The clear illustration of PLC programming elements includes a.o. inheritance and implementation relationships, so as to clearly visualizing interrelationships. A UML class diagram can therefore be put to good use for system documentation and offers an understandable basis for the communication of technical contents. The class diagram editor provides elements that map the object orientation of the project. Since the editor is embedded in the PLC area of the TwinCAT 3 development environment, automatic generation of code is possible. An extensive range of features and tools is integrated. The class diagram can be used in two directions. Firstly, it is possible to import the existing project structure into the class diagram or to add selected elements of the existing project structure to the class diagram (see Import Project Structure to Active Class Diagram [} 32]). As a result, the already existing software architecture can be documented and analyzed. Secondly, the class diagram offers the possibility to change and expand existing PLC elements or the existing project structure. This modification can be carried out with the aid of the class diagram editor [} 33] and the associated elements [} 34] of the toolbox. These allow the software architecture to be changed and expanded and at the same time documented and analyzed. Terms from the object orientation Synonym in IEC Class (UML: class) Attribute (UML: attribute) Internal variable Parameter: {input} Feature: {property} Output Parameters: {output} Operation (UML: operation) Interface (UML: interface) Synchronicity POU types Program (PRG): PROGRAM Function block (FB): FUNCTION_BLOCK Function (FUN): FUNCTION Variable types: Variables: VAR Input variables: VAR_INPUT Feature: PROPERTY Output variables: VAR_OUTPUT Method: METHOD Action Interface: INTERFACE Global variable list (GVL): VAR_GLOBAL User-defined data type (DUT): TYPE Objects in the class diagram and in the project are kept identically. User inputs always affect both views. But not all relevant object must be visible in the class diagram. 30 Version: 1.2

31 Commands If a class diagram is selected in the project tree, the following command is available in the context menu: "Generate bitmap from the selected UML diagram" [} 8] The alignment of the element to a grid can be activated or deactivated within a class diagram editor. "Grid activated" [} 9] "Grid deactivated" [} 10] Furthermore, the project structure can be imported into the active class diagram. "Import project structure into active class diagram" [} 32] Using as design and development tool 1. Extend your application in the project navigator via command Add Object and choose object UML Class Diagram. 2. Deactivate option Import project structure to class diagram and enter a name in dialog Add UML Class Diagram. ð The new object is inserted in the tree and the class diagram editor opens an empty class diagram window. 3. Edit the class diagram: Insert a new element via ToolBox into the class diagram. drag an existing object of type POU, INTERFACE, GVL or DUT from the project navigator into the class diagram. Let it drop on a appropriate position for visualization there. create an relationship via an icon directly in the class diagram. by using the icons or via [Del] objects can be deleted from the Class Diagram or from the diagram and the project. All inputs also have effect on the objects in the project and will be immediately visible in the project navigator. The application is extended now. Using as analysis tool for an existing project 4. Extend your application in the project navigator via command Add Object. Choose object UML Class Diagram 5. In dialog Add UML Class Diagram, enter a name. Activate option Import project structure to class diagram. ð The new object is inserted in the project navigator and the Class Diagram editor opens and shows the class diagram of the existing project. 6. Edit the class diagram using the ToolBox, the editing features of icons, or via drag and drop of objects from the project navigator. With icon you can remove elements only from the class diagram. ð The class diagram will be adapted to your needs. Or 1. Open an empty class diagram 2. Perform the command context menu Import project structure to active class diagram ð All relevant objects are imported. 3. Edit the class diagram ð With these steps your application is extended. Import Project Structure to Active Class Diagram [} 32] Version:

32 Using as project navigator You can use the Class Diagram as a navigator. When you doubleclick on a class element in the diagram, an editor for the object will open. You can edit declaration and implementation as usual. Any modifications will be visible in the Class Diagram immediately Commands Import Project Structure to Active Class Diagram Use the command to import the project structure into the class diagram. By using this command all relevant objects of the project are imported. Relevant objects are program, function block, function, action, method, interface, DUT, and GVL. Furthermore a project structure can be imported to the class diagram by focussing an empty class diagram and opening the context menue. 32 Version: 1.2

33 To add single elements to the class diagram select an element in the project tree and drag it with drag and drop to the opened class diagram. "Using as analysis tool for an existing project [} 31] Editor An UML Class Diagram visualizes the static structure of a project and represents the current content of elements. Note If you want to get a special or filtered view on the project, you can either draw just a selection of objects from the project navigator (POUs or device tree) into the class diagram editor window, or you can selectively remove elements from the diagram. Editing Edit name 1. Open the inline-editor of a name by two single-clicks on it. 2. Insert a new name Element-dependent user inputs: Edit a class [} 36] Edit interface [} 41] Edit generalization [} 57] Edit a realization [} 55] Edit an association [} 53] Edit composition [} 50] Cross References ToolBox displays under the title Incoming cross references or Outgoing cross references an element, which has a relationship to the selected element but is not displayed in the class diagram. First, the relationship symbol, which connects the two elements, is visualized. Then the name of the target or source element is displayed. You can drag and drop the listed element into the class diagram. Version:

34 Display cross references 3. Execute View ToolBox 4. Select a rectangle element in the class diagram, which has existing but not visible relationships ð Below ToolBox, these relationships are listed. Below Incoming cross references, missing relationships with its source element are listed. Under Outgoing cross references missing relationships with target elements are listed. Insert missing elements into the diagram 5. Drag an element, which is listed under Incoming cross references or Outgoing cross references and drop it on the class diagram ð The element is inserted in the class diagram. Multiselection When Selection is activated in the ToolBox (default), you can select one or several elements in the class diagram by drawing a rectangle around them with the mouse. Alternatively you can select the particular elements by mouse clicks while keeping pressed [ Ctrl ]. Execution of commands always effects all currently selected elements. [ Ctrl A ] or Select all causes an section of all elements visualized as rectangle but no relationship element. Create a class diagram from the content of a folder Objects placed below a folder can imported together in a class diagram. 6. Select a folder in the project tree. 7. Execute Add object UML class diagram ð The dialog Add UML class diagram opens. 8. Tick the checkbox Import project structure to active class diagram and enter a name. ð A class diagram opens containing only the relevant objects placed under the folder Elements "Tools" provides the elements of the class diagram. Insert element 1. Execute View "Tools" to access the elements. 2. Drag an element into the class diagram window and drop it at a suitable location. 34 Version: 1.2

35 Class [} 35] (POU) Interface [} 40] Global variable list [} 43] (GVL) Data type [} 45] (DUT) Variable Declaration [} 48] Characteristic [} 48] Method [} 49] Composition [} 49] (VAR) Association [} 52] (POINTER) Realization relationship [} 54] (IMPLEMENTS) Generalization [} 56] (EXTENDS) Class A class is a logical unit in which data and operations are encapsulated. It also represents a variable type that can be instantiated. A class can have an FB_Init method that is called when an instance is initialized. A class can have the following relationship types: Composition: a class can contain other program elements. Association: a class can know other program elements. Realization: a class can incorporate an interface. Generalization: a class can inherit from another class. A class is represented by a three-part rectangle. In the case of a program, the rectangle is filled orange and overwritten with <<program>>. In the case of function block or function, the rectangle is blue, without ID. The class name follows in bold. All attributes are shown after the first dividing line. Each visible attribute has an ID. If {input} in curly brackets is appended, it is a variable of type VAR_INPUT; {output} indicates a variable of type VAR_OUTPUT. A property has the ID {property}. An internal (non-visible) variable of type VAR has no ID: <attribute name>: <data type> {'{input}' '{output}' '{property}'} Version:

36 The second dividing line is followed by all operations for the class, i.e. its methods or actions. The name of the operation is followed by closing parentheses. This is followed by {action} to identify an action: <action name>() {action} If it is a method, the parentheses may indicate a variable transfer. If a return type is declared for a method, this follows in the right-hand column. Unlike actions ({action}), methods have no concluding ID: <method name>( ): <return type> Properties Property Identifier Description Insert here an unique name for the selected element. The name can be modified here, however also within the class diagram by selecting the name and then opening an inline editor by a further mouse click. Edit class The following user inputs are available if Pointer or Selection is enabled in the toolbox (default). 36 Version: 1.2

37 User input in the class diagram Select the tool Class (POU) : Click in an empty area of the diagram. The dialog Add POU opens. Enter a name for the new object, adjust the settings and close the dialog with "Add". Select a class. Response in the class diagram Description A class is created. The object exists in the diagram and in the project. The view in the project tree is updated automatically. To the left above the class, command icons are now visible, which make it possible to add relationship elements. The example has expanded attribute and operation lists, identified with. Click on. Click on. The class is only removed from the diagram. The class is removed from the diagram and the project. A composition arrow points from Click on and then in an the existing class to the new empty area of the diagram. The class. dialog Add POU opens. Enter a name for the new object, adjust the settings and close the dialog with "Add". Click on, then on an existing class. A composition arrow points from the first class to the second class. A new class with an association Click on and then in an arrow pointing to the existing empty area of the diagram. The class is created in the diagram. dialog Add POU opens. Enter a name for the new object, adjust the settings and close the dialog with "Add". Click on, then on an existing class. An association arrow points from the second class to the first class. A generalization points from the Click on and then in an existing class to the new class. empty area of the diagram. The The existing class inherits from dialog Add POU opens. Enter a the new class. name, adjust the settings and close the dialog with "Add". Use "flat" removal of a class to remove it from the class diagram view only. The object still exists and is visible in the project tree. The object is removed. It then no longer exists. The existing class contains an instance pointing to the new class. Example: fbnew: FB_New; The first class contains an instance pointing to the second class. Example: fbexistent: FB_Existent; A new class FB_New is created. The existing class now knows the new class and contains an association with the new class. Example: pnew: POINTER TO FB_New. The first class knows the second class. It now contains a new variable of type. Example: pexistent: POINTER TO FB_Existent; The existing class contains the declaration. Example: FUNCTION_BLOCK FB_Sub EXTENDS FB_New Version:

38 User input in the class diagram Click on, then on an existing class. Click on and then in an empty area of the diagram. The dialog Add interface opens. Enter an interface name, adjust the settings and close the dialog with "Add". Click on interface. Click on., then on an Response in the class diagram Description A generalization points from the first class to second class. A realization arrow points from the class to the new interface. A realization arrow points from the class to the interface. The first class contains the declaration. Example: FUNCTION_BLOCK FB_Sub EXTENDS FB_Existent The class implements the new interface. The declaration section of the class contains. Example: FUNCTION_BLOCK FB_Sample IMPLEMENTS I_SampleNew The class now implements the interface. The declaration section of the class contains. Example: FUNCTION_BLOCK FB_Sample IMPLEMENTS I_SampleExistent The attribute or operation list is minimized. Click on. Click on the class name. Once it is selected, click on it once again. Click twice on an attribute or operation name. Then change the name in the line editor. Double-click on the class element. After the first click, the name has a blue border. After the second click the line editor opens. After the first click, the name has a blue border. After the second click the line editor opens. The corresponding object editor opens, and the declaration and implementation are displayed. The attribute or operation list expands. The change is applied synchronously and automatically to the project. That is, the object name in the project tree and in the declaration section of the POU is adjusted immediately. The change is applied synchronously and automatically to the project. You can change the declaration or the implementation. After closing of the object you are returned to class diagram. The changes are automatically applied to the class diagram. Note NOTICE! Keep in mind that the default settings in the dialog 'Add POU' or 'Add interface' originate from the last application of this dialog. Examples Composition 38 Version: 1.2

39 PROGRAM Test VAR fbsample asample END_VAR Assoziation : FB_Sample; : ARRAY[1..10] OF FB_Sample; PROGRAM Test VAR psample asample END_VAR Generalization : POINTER TO FB_Sample; : ARRAY[1..10] OF POINTER TO FB_Sample; Version:

40 FUNCTION_BLOCK FB_Sub EXTENDS FB_Base Realization INTERFACE I_Cylinder EXTENDS I_Base FUNCTION_BLOCK FB_Cylinder IMPLEMENTS I_Cylinder Interface An interface defines methods and property declarations that describe an externally visible behavior. It contains no variables and no implementation, but only the definition of methods and/or properties. An interface is a variable type that can be instantiated. An interface can have the following relationship type: Generalization: An interface can inherit from another interface. 40 Version: 1.2

41 Like classes, interfaces are shown divided into three parts. The rectangle is green and overwritten with <<interface>>. The interface name follows below in bold. The interface properties are displayed after the first dividing line, based on the following syntax: <property name>: <data type> {property} All interface methods follow after the second dividing line. After the method name there may be a reference to the variable transfer in parentheses. If a return type is declared for a method, this follows in the right-hand column. <method name>( ): <return type> Properties Property Identifier Description Insert here an unique name for the selected element. The name can be modified here, however also within the class diagram by selecting the name and the opening an inline editor by a further mouse click. Edit interface The following user inputs are available if Selection is enabled in "Tools" (default). Version:

42 User input in the class diagram Select the tool "Interface": Click in an empty area of the diagram. The dialog Add interface opens. Enter a name for the new object, adjust the settings and close the dialog with "Add". Click on an interface icon. Response in the class diagram Description An interface is created. The object exists in the diagram and in the project. The view in the project tree is updated automatically. To the left above the interface, icons are now visible, which make it possible to add relationship elements. The example on the left has expanded property and method lists after. Click on. Click on. Click on and then in an empty area of the diagram. The dialog Add interface opens. Enter a name and exit the dialog with "Add". Click on, then on an existing interface. Click on. The interface is only removed from the diagram. The interface is removed from the diagram and the project. A generalization points from the existing interface outward to the new interface. The existing interface inherits from the new interface. A generalization points from the second interface to the first interface. Use "flat" removal of an interface to remove it from the class diagram view only. The object still exists and is visible in the project tree. The object is removed. It then no longer exists. The existing interface contains the declaration. Example: INTERFACE I_Sample EXTENDS I_New Keep in mind that the default settings in the dialog 'Add interface' originate from the last application of this dialog. The first interface contains the declaration. Example: INTERFACE I_Sample EXTENDS I_Existent The property or method list is minimized. Click on. Click on the name. Once it is selected, click on it once again. After the first click, the name has a blue border. After the second click the line editor opens. The property or method list is expanded. Change the interface name in the line editor. The change is applied synchronously and automatically to the project. That is, the object name in the project tree and in the declaration section of the POU is adjusted immediately. 42 Version: 1.2

43 User input in the class diagram Double-click on an interface. Response in the class diagram Description The corresponding object editor Edit the declaration. After closing opens with the declaration editor. of the object you are returned to class diagram. The changes are automatically applied to the class diagram. Example Generalization INTERFACE I_Cylinder EXTENDS I_Base Global Variable List A global variable list (GVL) is used to declare global variables. These are available project-wide. A GVL can have the following relationship types: Composition: a class can contain other program elements. Association: a class can know other program elements. A global variable list is represented by a two-part rectangle in pale pink and headed with <<global>>. All attributes are shown after the first dividing line: <attribute name>: <data type> Properties Property Identifier Description Insert or change an unique name of the selected element. Edit GVL The following user inputs are available if Selection is enabled in the toolbox (default). Version:

44 User input in the class diagram Select the tool "Global Variable List (GVL)": Click in an empty area of the diagram. The dialog "Add Global Variables List" opens. Enter a name for the new object and close the dialog with "Add". Click on a GVL object. Response in the class diagram Description A GVL is created. The object exists in the diagram and in the project. The view in the project tree is updated automatically. Command icons are visible to the left above the object. Click on. Click on. Click on, then on an existing class or a DUT. GVL is only removed from the diagram. GVL is removed from the diagram and the project. A composition points from the GVL to the selected class or DUT. Click on and then in an A composition points from the GVL to the new class. empty area of the diagram. Dialog Add POU opens. Enter a name and exit the dialog with "Add". Click on, then on an existing class or a DUT. Click on and then in an empty area of the diagram. The dialog Add POU opens. Enter a name and exit the dialog with "Add". Click on. Click on. Click on an identifier. Once it is selected, click again. An association points from the GVL to the selected class or DUT. An association points from the GVL to the new class. After the first click, the name has a blue border. After the second click the line editor opens. Use "flat" removal to remove it from the class diagram view only. The object still exists and is visible in the project tree. The object is removed. It then no longer exists. The declaration of GVL contains the instantiation based on the selected element. Example: fbexistent : FB_Existent; The GVL contains the declaration. Example: fbnew: FB_New; The GVL contains the declaration for the selected element. Example: pexistent: POINTER TO FB_Existent; The GVL contains the declaration for the new class. Example: pnew: POINTER TO FB_New; The attribute or operation list is minimized. The attribute or operation list expands. Change the class name in the line editor. The change is applied synchronously to the project. That is, the object name in the project tree and in the declaration section of the POU is adjusted immediately. 44 Version: 1.2

45 User input in the class diagram Double-click an element. Response in the class diagram Description The corresponding object editor opens, and the declaration and implementation are displayed. Edit the declaration or implementation. After closing of the object you are returned to class diagram. The changes are automatically applied to the class diagram. Note NOTICE! Keep in mind that the default settings in the dialog 'Add POU' originate from the last application of this dialog. Examplel Composition VAR_GLOBAL fbmessage END_VAR : FB_Message; User-defined data type Via a user-defined data type ( Data Unit Type = DUT) the user can define data types, e.g. in the form of structures or lists. A user-defined structure data type can have the following relationship type: Generalization: a structure can inherit from another structure. A user-defined data type is represented by a two-part rectangle in pale yellow and overwritten with <<struct>>, if it is a structure or a union. <<enum>> indicates an enumeration type. The identifier follows in bold. All attributes are shown after the first dividing line: <attribute name>: <data type> Version:

46 Properties Property Identifier Description Insert or change an unique name of the selected element. Edit DUT The following user inputs are available if Selection is enabled in the toolbox (default). 46 Version: 1.2

47 User input in the class diagram Select the tool "Data Unit Type (DUT)": Click in an empty area of the diagram. The dialog Add DUT opens. Enter a name for the new object, adjust the settings and close the dialog with "Add". Click on a DUT. Response in the class diagram Description A data type object is created. The object exists in the diagram and in the project. The view in the project tree is updated automatically. Icons are visible to the left above. Click on. Click on. Click on and then in an empty area of the diagram. The dialog Add DUT opens. Enter a name for the parent object and exit the dialog with "Add". Click on, then on an existing DUT. Click on. Click on. Double-click on the identifier. Then change the name in the line editor. Double-click the element. DUT is only removed from the diagram. DUT is removed from the diagram and the project. A generalization points from the existing DUT to the new DUT. The existing DUT inherits from the new one. A generalization arrow points from the second DUT to the first DUT. After the first click, the name has a blue border. After the second click the line editor opens. The corresponding object editor opens. Use "flat" removal to remove it from the class diagram view only. The object still exists and is visible in the project tree. The object is removed. It then no longer exists. The existing DUT contains the declaration. Example: TYPE ST_Sample EXTENDS ST_New The first DUT inherits from the second DUT. The first DUT contains the declaration. Example: TYPE ST_Sample EXTENDS ST_Existent The attribute or operation list is minimized. The attribute or operation list expands. The change is applied synchronously and automatically to the project. Edit the declaration or implementation. After closing of the editor you are returned to class diagram. The changes are automatically applied to the class diagram. Note NOTICE! The default settings in the dialog Add DUT originate from the last application of this dialog. Version:

48 Example Generalization TYPE ST_Sub EXTENDS ST_Sample : STRUCT amessages : ARRAY[1..10] OF STRING; END_STRUCT END_TYPE Variable declaration A Variable declaration is used for adding a variable to a class ( program, function block, function) or datastructure (DUT) in the Class Diagram. Add Variable In the ToolBox click on Variable declaration : Then select an element in the diagram for extending by a variable. If you try to select a non-reasonable position, the cursor will look like a prohibition sign. At reasonable position it appears as a blue cross. If you click at such a position, then the dialog Auto declare opens for adding a variable to the focused element. Insert the required settings as usual. After having closed the dialog, the focused element gets extended by the new variable. An appropriate update will be done synchronously in the class diagram and in the object editor. Look of the cursor : At this position, no adding is possible. : At this position, you can add a variable to the focused element Property A property is used for extending a class (program or function block) or an interface by one. Add property In the ToolBox click on Property : Then select an element in the diagram for extending by a property. If you try to select a non-reasonable position, the cursor will look like a prohibition sign. At reasonable position it appears as a blue cross. If you click at such a position, then the dialog Auto declare opens for adding a property to the focused element. 48 Version: 1.2

49 Insert the required settings as usual. After having closed the dialog, the focused element gets extended by the new property. An appropriate update will be done synchronously in the class diagram and in the object editor. Look of the cursor : At this position, no extending is possible. : At this position you can add a property to the focused element Method The element "Method" is used to extend a class (program or function module) or an interface with a method. Add method Select the tool "Method": In the diagram you can then select the element that is to be extended with a method. At points that are not meaningful, the cursor has the form of a prohibition sign. At meaningful points the cursor has the form of a blue or black cross. If you click on such a point, a further method is added to the element in focus. The dialog Add method opens. Enter the required settings as usual. Closing the dialog expands the program element with this method, which is immediately updated in the class diagram and in the project tree. Cursor : at these points in the diagram expansion is not possible. : at these points in the diagram, you can expand the element in focus with a method Composition A composition is a UML relationship that expresses a "contained" property: an element contains another element. In IEC code, this corresponds to the instantiation of an element: fbsample: FB_Sample. The cardinality indicates how often the relationship exists. In IEC code this corresponds to an ARRAY [...]. If a cardinality greater than 1 is specified, the declaration is as follow: asample: ARRAY[1..10] OF FB_Sample. A composition is represented as an arrow with a solid black diamond, pointing from a class or a global variable list to a class of type FUNCTION_BLOCK or a DUT. Version:

50 Property Property Relationship type Description Type of relationship is displayed. It is not editable. Optimize routing If the checkbox is marked, the routing of the relationship arrow will be optimized automatically. If the checkbox is not marked, the current routing remains at it is. Fix points are the start point at the start element, and the end point at the target element. If, for example, the target element gets moved, the point at which the arrow points on the target element, will keep its position. As soon as a relationship element in the class diagram gets positioned manually, this option will get disactivated. Start element Target element Identifier Name of the element at which the relationship element starts Name of the element to which the relationship element is pointing Name of the relationship element Edit composition User input in the class diagram Select the tool "Composition": Select a class or a GVL, then click on the element to include. Select the tool "Composition": Select a class or a GVL, then click in an empty area of the diagram. The dialog Add POU opens. Enter a name, adjust the settings and close the dialog with "Add". Select the tool "Pointer. Click on a composition and move the line with the mouse. Select the tool "Pointer. Click on a composition and use the [Del] key or click on "Delete" in the context menu. Response in the class diagram Description A composition between the elements is drawn. A composition pointing from the class or GVL to the new class is created. The IEC code is automatically adapted by extending the declaration section of the existing element. Example: fbexistent: FB_Existent; The IEC code is automatically adapted by extending the declaration section of the existing element. Example: fbnew: FB_New; The selected (and therefore blue) composition runs at the new position. The property "Optimize routing" is automatically disabled. The association is removed from diagram and the IEC code. The instantiation of the class or the data type is removed from the declaration section of the element. Examples Composition of a class 50 Version: 1.2

51 Single composition PROGRAM Test VAR fbsample END_VAR : FB_Sample; Multiple composition PROGRAM Test VAR asample END_VAR Composition of a data object : ARRAY[1..10] OF FB_Sample; FUNCTION_BLOCK FB_Message VAR_INPUT stmessagestation1 : ST_Message; END_VAR Composition in GVL Version:

52 VAR_GLOBAL fbmessage END_VAR : FB_Message; Association A association is a UML relationship that expresses "knowing". The knowing element uses a pointer to point to another element. In IEC code this corresponds to a POINTER TO statement: psample: POINTER TO FB_Sample. The cardinality indicates how often the relationship exists. In IEC code this corresponds to an ARRAY [...]. If a cardinality greater than 1 is specified, the declaration is as follow: asample: ARRAY[1..10] OF POINTER TO FB_Sample. An association is represented as an arrow pointing from a class or a global variable list to a class of type FUNCTION_BLOCK or DUT. Property Property Relationship type Optimize routing Start element Target element Identifier Description Type of relationship is displayed. It is not editable. If the checkbox is marked, the routing of the relationship arrow will be optimized automatically. If the checkbox is not marked, the current routing remains at it is. Fix points are the start point at the start element, and the end point at the target element. If, for example, the target element gets moved, the point at which the arrow points on the target element, will keep its position. As soon as a relationship element in the class diagram gets positioned manually, this option will get disactivated. Name of the element at which the relationship element starts Name of the element to which the relationship element is pointing Name of the relationship element 52 Version: 1.2

53 Edit association User input in the class diagram Select the tool "Association": Select a class or a GVL, then click on the object to be used for the association. Select the tool "Association": Select a class or a GVL, then click in an empty area of the diagram. The dialog Add POU opens. Enter a name, adjust the settings and close the dialog with "Add". Select the tool "Pointer. Click on an association and move the line with the mouse. Select the tool "Pointer. Click on an association and use the [Del] key or click on "Delete" in the context menu. Examples Association with a class (of a program) Response in the class diagram Description An association between the elements is drawn. An association pointing from the class or GVL to the new class is created. The IEC code is automatically adapted by extending the declaration section of the existing element. Example: pexistent: POINTER TO FB_Existent; The IEC code is automatically adapted by extending the declaration section of the existing element. Example: pnew: POINTER TO FB_New; The selected (and therefore blue) association runs at the new position. The property "Optimize routing" is automatically disabled. The association is removed from diagram and the IEC code. The POINTER TO statement is removed from the declaration part of the element. PROGRAM Test VAR psample asample END_VAR : POINTER TO FB_Sample; : ARRAY[1..10] OF POINTER TO FB_Sample; Association with a data structure (of a GVL) Version:

54 VAR_GLOBAL pmessage END_VAR : POINTER TO ST_Message; Implementation A realization is a UML relationship that expresses an interface integration. The realizing or integrating class object (function block) implements the properties and methods of the interface. In IEC coding this relationship corresponds to the keyword IMPLEMENTS. A realization is indicated by a dashed arrow, pointing from a class of type FUNCTION_BLOCK to an interface. Properties Property relationship Description Realization: Not editable. 54 Version: 1.2

55 Edit realization User input in the class diagram Select the tool "Realization": Select a class and then an interface. Select the tool "Realization": Select a class, then click in an empty area of the diagram. The dialog Add interface opens. Enter a name, adjust the settings and close the dialog with "Add". Select the tool "Pointer. Click on a realization and move the line with the mouse. Select the tool "Pointer. Click on a realization and use the [Del] key or click on "Delete" in the context menu. Response in the class diagram Description A realization is created, pointing from the class to the interface. A realization is created, pointing from the class to the new interface. The IEC code is automatically adapted to indicate the interface in the declaration section of the class. Example: FUNCTION_BLOCK FB_Sample IMPLEMENTS I_Existent The IEC code is automatically adapted by creating a new interface and indicating this interface in the declaration section of the class. Example: FUNCTION_BLOCK FB_Sample IMPLEMENTS I_New The selected (and therefore blue) realization runs at the new position. The realization is removed from diagram and the IEC code. The IMPLEMENTS statement is removed from the declaration section of the class. Example Realization INTERFACE I_Cylinder EXTENDS I_Base FUNCTION_BLOCK FB_Cylinder IMPLEMENTS I_Cylinder Version:

56 Generalization A generalization is a UML relationship that expresses an inheritance or specialization. The inheriting element has the attributes and operations of the element from which it inherits. In IEC coding this relationship corresponds to the keyword EXTENDS. A generalization indicated by an arrow with a solid tip, pointing from the inheriting class to the base class from which it inherits. The direction of the arrow indicates which component inherits from which. Inheritance is possible between classes, interfaces and user-defined data types: A function block can inherit from another function block. An interface can inherit from another interface. A DUT can inherit from another DUT. Programs and features cannot inherit or pass on. Properties Property relationship Description Generalization: Not editable. 56 Version: 1.2

57 Edit generalization User input in the class diagram Select the tool Generalization : Select the object that is to inherit, then click on the parent object. Response in the class diagram Description A generalization is created, pointing from the inheriting element to the parent element. Select the tool Generalization : A generalization is created, pointing from the inheriting element to the new parent element. Select the object that is to inherit, and then click on an empty area in the diagram. A dialog for creating a new object opens. Enter a name, adjust the settings and close the dialog with "Add". Select the tool "Pointer. Click on a generalization and move the line with the mouse. Select the tool "Pointer. Click on a realization and use the [Del] key or click on "Delete" in the context menu. Example Function block The IEC code is automatically adapted to indicate the parent element in the declaration section of the inheriting class. Example: FUNCTION_BLOCK FB_Sample EXTENDS FB_BaseExistent The IEC code is automatically adapted by creating a new object and indicating the parent object in the declaration section of the inheriting object. Example: FUNCTION_BLOCK FB_Sample EXTENDS FB_BaseNew The selected (and therefore blue) generalization runs at the new position. The generalization is removed from the diagram and the IEC code. The EXTENDS statement is removed from the declaration section of the inheriting object FUNCTION_BLOCK FB_Sub EXTENDS FB_Base Interface Version:

58 INTERFACE I_Cylinder EXTENDS I_Base DUT TYPE ST_Sub EXTENDS ST_Sample : STRUCT amessages : ARRAY[1..10] OF STRING; END_STRUCT END_TYPE 2.6 FAQ OOP and UML Does object-oriented programming (OOP) and UML always have to be used together? The combined use of OOP and UML offers many benefits (see next question), although it is not compulsory. Object-oriented programming of applications is also possible without using UML. Likewise, UML can be used in PLC projects, which are not based on object-oriented programming. What are the benefits of using OOP and UML together? In order to make the most of OOP, the structure of an object-oriented software should be designed and created before the implementation (e.g. what classes are available, what is their relationship, what functionalities do they offer, etc.). Before, during and after programming, documentation helps to understand, analyse and maintain the software. As an analysis, design and documentation tool for software, UML offers options for planning, creating and documenting the application. UML is particularly suitable for object-oriented implementations, since modular software is particularly suitable for representation with the aid of a graphical language. For example, the class diagram is used for analysing and creating the program structure. The more modular the software structure, the easier and more efficient the class diagram can be used (e.g. graphical representation of separate function blocks with individual methods for providing the functionalities etc.). 58 Version: 1.2

Manual TC3 PLC HMI. TwinCAT 3. Version: Date: Order No.: 1.0 2016-01-20 TF1800

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