CyPro User Manual

version 47
applies to CyPro v3.2.0 and later

© 1998-2022 Cybrotech Ltd.

Cybrotech Ltd.
68 St Margarets Road, Edgware
Middlesex HA8 9UU
London, UK
[email protected]
www.cybrotech.com
 Index  Installation

Index
Index ............................................................................................................................................ 3
Introduction .................................................................................................................................. 5
Installation ......................................................................................................................... 5
Communication ................................................................................................................. 6
User interface .................................................................................................................... 7
Main window ........................................................................................................... 7
Standard toolbar ..................................................................................................... 7
Program toolbar ...................................................................................................... 7
Communication toolbar ........................................................................................... 7
Project tree.............................................................................................................. 8
Status bar................................................................................................................ 8
Pull-down menu ...................................................................................................... 9
Edit window ........................................................................................................... 10
Online monitor ................................................................................................................. 11
Identify modules .............................................................................................................. 12
Multisend ......................................................................................................................... 13
Programming ............................................................................................................................. 14
Hardware ......................................................................................................................... 14
Expansion modules .............................................................................................. 14
Hardware setup..................................................................................................... 14
Device properties .................................................................................................. 15
Variables ......................................................................................................................... 16
Naming convention ............................................................................................... 16
Allocation .............................................................................................................. 16
Basic data types .................................................................................................... 16
Other data types ................................................................................................... 17
Retentive variables ............................................................................................... 17
EE variables .......................................................................................................... 18
I/O variables .......................................................................................................... 19
Timer ..................................................................................................................... 19
Pulse timer ............................................................................................................ 20
On-delay timer ...................................................................................................... 20
Counter ................................................................................................................. 21
Visibility ................................................................................................................. 21
Refresh processing ......................................................................................................... 21
Scan overrun......................................................................................................... 21
Structured text ................................................................................................................. 22
Assignment ........................................................................................................... 22
Expressions .......................................................................................................... 22
Operators .............................................................................................................. 22
Expression evaluation ........................................................................................... 22
Type conversion.................................................................................................... 23
Multiline expressions............................................................................................. 24
Flow control........................................................................................................... 24
Return value.......................................................................................................... 25
Operator panel........................................................................................................................... 26
General ........................................................................................................................... 26
Print functions ................................................................................................................. 26
OP keys ........................................................................................................................... 27
Mask ................................................................................................................................ 28
Program handling ............................................................................................................ 31
Serial interface........................................................................................................................... 33
Features .......................................................................................................................... 33
Free-programmable mode .............................................................................................. 34
Select port ............................................................................................................. 34
Create message ................................................................................................... 34
Send message ...................................................................................................... 35
Start receiver......................................................................................................... 36

3
 Index  Installation

Parse received message ...................................................................................... 37

Free-programmable radio ............................................................................................... 38
Initialize socket...................................................................................................... 38
Send and receive .................................................................................................. 38
Message type ........................................................................................................ 38
Group address ...................................................................................................... 38
Free-programmable TCP/IP............................................................................................ 39
Initialize socket...................................................................................................... 39
UDP mode ............................................................................................................ 40
TCP master ........................................................................................................... 40
TCP slave ............................................................................................................. 40
Networking................................................................................................................................. 41
Ethernet connection ........................................................................................................ 41
Connection options ......................................................................................................... 42
1. Local network connection ................................................................................. 43
2. Direct connection .............................................................................................. 43
3. Internet connection using known address on Cybro side ................................. 43
4. Internet connection using push and known address on PC side ...................... 44
5. Internet connection using web scada as a relay ............................................... 44
Ethernet sockets ............................................................................................................. 46
1. Periodic 1s ........................................................................................................ 47
2. Periodic 10s ...................................................................................................... 47
3. On-request ........................................................................................................ 47
4. On-change ........................................................................................................ 47
Socket examples ............................................................................................................. 48
Event-driven action ............................................................................................... 48
Synchronized value ............................................................................................... 48
Modbus slave .................................................................................................................. 49
Additional features ..................................................................................................................... 50
Real-time clock................................................................................................................ 50
NAD alias ........................................................................................................................ 51
Password protection ........................................................................................................ 52
Command-line options .................................................................................................... 53
Getting started ........................................................................................................................... 55
Step 1: hardware................................................................................................... 55
Step 2: variables ................................................................................................... 55
Step 3: write code ................................................................................................. 55
Step 4: run ............................................................................................................ 56
Appendix.................................................................................................................................... 57
Data type summary ......................................................................................................... 57
Elementary ............................................................................................................ 57
Input/Output .......................................................................................................... 57
Timer ..................................................................................................................... 57
Constants .............................................................................................................. 57
Structured text summary ................................................................................................. 58
Operators .............................................................................................................. 58
Flow control........................................................................................................... 58
Edge detect ........................................................................................................... 59
Type conversion.................................................................................................... 59
Serial ports ............................................................................................................ 59
Display functions ................................................................................................... 60
Network functions ................................................................................................. 60
Return value.......................................................................................................... 60
Function library ................................................................................................................ 61
Instruction list summary .................................................................................................. 62
Operator panel characters .............................................................................................. 64
Keyboard shortcuts ......................................................................................................... 65
General ................................................................................................................. 65
Text editor ............................................................................................................. 65

4
 Introduction  Installation

Introduction
Installation
CyPro is integrated development environment for Cybro controllers, with text editor, compiler and
on-line monitor. It's running on Windows 7/8/10 or Linux/Wine.

Each controller has unique 5-digit serial number, also used as communication address (NAD).

Compiler implements structured text (ST) and instruction list (IL) from IEC 61131-3 standard for
programming logical controllers. Other languages are not supported.

Hardware requirements are low, any PC capable of running MS Windows should be sufficient.
Installation uses cca. 40Mb, default directory is C:\Program Files (x86)\Cybrotech\CyPro-3.

Installation does the following:

 unpack files into specified directory

 create start menu group and icons
 create desktop icon (optional)
 set association to .cyp file type (optional)

Default project directory is C:\Program Files (x86)\Cybrotech\CyPro-3\Projects. No file is copied to

windows directory, no system files are replaced or changed.

To upgrade CyPro, install a new release into the same directory. User settings will be preserved.
With new CyPro, it is required to also upgrade firmware (kernel). To do this, open Tools/Kernel
Maintenance and send new kernel.

5
 Introduction  Communication

Communication
To establish communication with controller in a local network, follow this steps:

 File / New
 Hardware / Autodetect

Controller can be connected in a several ways:

LAN connection (with router)

USB or serial connection

Direct connection (no router)

Internet connection

For more details, check Networking section.

6
 Introduction  User interface

User interface
Main window

CyPro consists of editor, toolbars and status bar. Default screen is shown below:

Each component can be docked or floating. To undock, drag the component by the left vertical line
over the edit area. To dock it again, drag window to main window border.

Standard toolbar

Create a new empty project

Open an existing project (Ctrl-O)
Save current project (Ctrl-S)
Print current project (Ctrl-P)
Remove the selection and place it on the clipboard (Ctrl-X)
Copy the selection onto the clipboard (Ctrl-C)
Insert the content of the clipboard at the cursor, replacing any selection (Ctrl-V)

Program toolbar

Open the Hardware Setup dialog box (F5)

Open the Allocation Editor dialog box (F6)
Open the Mask List editor (F7)
Open the Socket List editor (F8)

Communication toolbar

Send current project to Cybro (F9)

Open the on-line Variable Monitor (F10)
Start program (F11)
Stop program and turn off all outputs (F12)

7
 Introduction  User interface

Project tree

Displays project hierarchically.

Right clicking any component opens it's context sensitive pop-up menu. Depending on type, it is
possible to Add, Edit, Delete or change Properties of the selected component.

Status bar

Status bar shows various information about communication and connected Cybro.

System message (left side) show result of the preceding operation.

Project status indicate that current project is not saved. It reflects changes in any part of the project,
such as source, allocation, mask, socket, data manager or monitor list.

IP address shows IP address of connected controller.

A-bus address shows Cybro A-bus address (NAD). Right click to select another or enter a new one.

PLC status shows:

Off-line Cybro is not responding.

Run Cybro is on-line and running.
Stop Cybro is on-line, stopped. Outputs are inactive and program is not executing.
Pause Cybro is on-line, paused. Outputs remain active, but program is not executing.
Error Cybro is on-line, some error occurred. Error codes are listed in the appendix. To
clear the error press Stop.
Loader Cybro is on-line, but system software (kernel) seems to be damaged. Start Kernel
Maintenance and send a new kernel.

Com port status indicates whether communication cable is properly connected:

OK
cable not connected
communication port used by another application

Delay shows roundtrip time, from message sent to message received, in milliseconds.

Communication indicators show activity, green is transmit (Tx), red is receive (Rx).

8
 Introduction  User interface

Pull-down menu

File

New Create a new project

Open Open an existing project
Load From PLC Load project from controller
Save Save current project
Save As Save current project under new name

Save alc File Save allocation file in text format

Save csv File Save allocation file in csv format

Printer Setup Set printer options

Print Print current project
Close Close current project
Recent Projects Open recently opened project
Exit Exit program

Edit

Undo Cancel the last action

Redo Cancel the last Undo operation
Cut Delete the selection and put it on the clipboard
Copy Copy the selection onto the clipboard
Paste Insert text from the clipboard to the insertion point
Delete Delete the selection
Select All Select the whole document

Find Find specified text

Find Next Find next occurrence of the specified text
Find Previous Find previous occurrence of the specified text
Replace Find specified text and replace it
Go to Line Number Move insertion point to specified line number

Indent Block Move selected lines right by inserting leading spaces

Unindent Block Move selected lines left by deleting leading spaces
Comment/Uncomment Insert or delete comment ("//") before selected lines
Insert Identifier Display list of functions and global variables

Properties Show properties of the selected project module

View

Project Tree Show Project Tree

Local Allocation Editor Show Local Allocation Editor
Editor Tabs Show Editor Tabs
Compiler Messages Show Compiler Messages

Standard Toolbar Show Standard Toolbar

Program Toolbar Show Program Toolbar
Communication Toolbar Show Communication Toolbar

Project

New Program Create a new program in the current project

New Program From PLC Load program from controller into the current project
Remove Program Remove program from the current project
Properties Show properties of the current project

9
 Introduction  User interface

Program

Hardware Setup Open Hardware Setup dialog box

Allocation Editor Open Allocation Editor dialog box
Mask Editor Open Mask List editor
Socket Editor Open Socket List editor

Syntax Check Check the current file for errors

Send Send current program to controller
Send Without Init Send program without initializing variables, when possible
Start PLC Start Cybro program
Stop PLC Stop Cybro program and turn off all outputs
Pause PLC Pause Cybro program, keep outputs active

Add NAD Add new network address to the current program

Remove Current NAD Remove current NAD from the current program
Select NAD Select current network address for the active program
Connect/Disconnect Connect/Disconnect communication port

Configuration Settings related to plc program

Tools

PLC Info Display various controller-related information

Kernel Maintenance Update system software

Online Monitor Online access to plc variables

Identify Modules Identify IEX modules and individual inputs/outputs
Init all variables Initialize all variables, including retentive
Multisend Send program to multiple controllers
Erase Protected Program Erase password protected program
Communication Monitor Low-level A-bus communication monitor

Environment Options Settings related to CyPro environment

Edit window

Edit window is used to type and edit PLC program. Each window is a single function.

Editor uses syntax highlight - variables, constants, functions and other language elements are
displayed in different colors. To customize colors, open Tools/Environment Options/Colors.

Insert identifier (Ctrl-Space) is used to display a list of allocated variables and available functions.

10
 Introduction  Online monitor

Online monitor
Online monitor is designed to display and change controller variables.

To insert new variables use Add button (Insert), select desired variables and press OK. To
rearrange variables, click Move Up / Move Down, or use Ctrl-Up / Ctrl-Down (arrow) keys.

Monitor update rate is 20ms (50 times per second). Scroll rate is 50ms, it can be changed with
Speed slider. First number is time to move a single pixel, second is total time from left to right.

To enter a new value, click Edit selected variables (Alt+Enter), right-click and select Properties, or
double-click the variable.

Enter value and press OK. Value is sent and immediately read back, monitor always display the
actual value. Multiple variables can be set at once.

To toggle a bit variable, press Space key.

Monitor supports multiple sets. To create a new set click Add new varset, then insert variables. For
a quick access press Alt-1 to Alt-5, or Ctrl-Left / Ctrl-Right (arrow) keys.

11
 Introduction  Identify modules

Identify modules
Identify modules is a tool used to identify individual inputs/outputs.

Each LED represents single digital input or output. When mouse is positioned over LED, signal
name is shown in the bottom left corner.

Input and output LEDs are defined according to the following table:

LED current level changed

0 no
1 no
0 yes
1 yes

General error (GE) is defined as:

LED description
module is operating properly
error, module is not operative

To identify unknown input:

1. Reset all
2. Press and hold unknown input for a second
3. Look for the yellow LED

To identify unknown output:

1. Click LED to toggle the output

12
 Introduction  Multisend

Multisend
Multisend is tool to update multiple controllers at once.

All programs and all NAD's are listed.

It is optional to send program either without initialization (only if allocation is not changed), with a
standard initialization (retentive variables are preserved), or with forced initialization (all variables
are initialized, including retentives).

Option Check all programs will verify all programs by reading back and comparing to original.

13
 Programming  Hardware

Programming
Hardware
Expansion modules

Cybro is expanded with IEX-2 modules. For the complete list, check hardware manual.

Each module occupies a single slot. Slot is logical entity, used to address the module.

Each IEX-2 module has unique address, equal to serial number. Autodetect will detect module type,
address, and assign slot number. Slot 0 is reserved for Cybro internal inputs and outputs.

Some modules implement autoaddress feature, used to fit devices into a predefined hardware list.

Hardware setup

To perform automatic detection of connected modules press Autodetect button.

Dialog shows slot number, module type, short description, communication address, variable prefix
and status.

14
 Programming  Hardware

Device properties

To open device properties, double click the module, or click right and select Properties.

Dialog shows automatically assigned i/o variables for the module. Everything device does is
accessable through this variables.

Everything is sorted in four columns. X are binary, W are analog (word) variables. I are inputs, Q
are outputs.

15
 Programming  Variables

Every module has four status variables (general_error, timeout_error, program_error, bus_error),
shaded gray. When general_error is zero, that means everything is ok, module is fully functional.

Yellow shaded variables are sent on change. When changed, it is sent automatically.

Red shaded variables are sent on request. Each group of four has it's own request. To send the
group, set request to 1.

To get description of each variable, hover mouse over. The description comes from the cym file.

Variables
Naming convention

Variable name may contain letters, digits and underline symbol. First character must not be a digit.
Maximum length is 32 characters. Name is not case sensitive. Special and national characters (ß,
ä, ü, ë, č, ć, š, ž...) should not be used.

Examples of a valid name:

i
caret_position
maximum_water_level

Name must not match IEC-1131-3 keyword.

Allocation

Variables are allocated using Global Allocation Edit. To insert a new variable, choose group and
click New Variable.

Basic data types

type size range

bit 1 bit 0..1
int 16 bits -32768..32767
long 32 bits -2147483648..2147483647
38 38
real 32 bits -1 ..1

Bit is a single boolean variable with only two possible states, zero or one. It is used for flags, logical
equations, logical states and other. The result of comparison instruction is also bit type.

Int is a 16-bit signed number. It is used for counting, encoding states, fixed point arithmetic and
similar.

16
 Programming  Variables

Long is a 32-bit signed value. It is used when numbers outside of 16-bit range may occur.
Processing speed is the same as for the 16-bit integers, but they use more memory.

Real is a floating point number. Float consist of 8-bit exponent and 24-bit mantissa, so the result
has 5 to 6 significant digits.

Other data types

In bit, out bit, in word and out word variables represent physically connected binary (bit) and analog
(integer) signals. In bit and out bit are bit type. In word and out word are integer type.

Timer is a structured data type, consisting of a several dedicated fields.

Constant is used to represent a value that will never be changed. For example, Pi=3.141592 can be
defined for trigonometrical calculations. Constants are replaced in preprocessing, data type does
not apply.

Retentive variables

Retentive variables retain their value when power supply goes down, and also when PLC is
stopped. To make variable retentive, set the retentive flag in the global allocation dialog.

Both retentive and non-retentive variables reside in the same RAM, but retentives are automatically
copied to battery backup RAM.

RAM

PLC program

retentive

Number of retentive variables is not limited. If needed, the whole PLC memory can be retentive.

Data retention time is specified in Cybro hardware manual. When power is lost for a period longer
than specified, content of retentive memory may be lost.

System bit retentive_fail indicates that retentive memory is damaged or lost. It is set automatically
after power-on, and cleared next time PLC is started.

When allocation is changed, sending program to PLC will clear all variables. If allocation is not
changed, retentives are preserved. To send program without initialization, use Send Without Init.

17
 Programming  Variables

EE variables

Variables that must be preserved for a long period without electricity are stored in EEPROM. To
configure this, set "Copy to EE" checkbox.

EE variables resides in RAM memory as all other retentive and non-retentive variables, but they
also have a copy in EEPROM. Because of this, they are used by PLC program the same way as all
other variables, but in addition, reading and writing to EE is available.

EEPROM RAM
ee_read_req

ee_write_req PLC program

ee_write_magic

To read all variables from EE to RAM, set bit ee_read_req. Bit will be automatically cleared when
copy is finished. Depending on number of EE variables, copy process may last a few seconds.

To write all variables from RAM to EE, set ee_write_magic to 31415 and set ee_write_req. When
copy is finished, both variables will be cleared. Depending on number of EE variables, write process
may last a few seconds. The purpose of magic is to protect from accidental writing.

Only the whole EE can be read or written, there is no method to read or write a single variable.

EE variables should not be accessed by program during read or write. The operation is finished
when command variables (ee_read_req and ee_write_req) are returned to zero.

EE variables are automatically retrieved on power-up.

Total number of EE variables is limited by physical size of EE memory, specified by hardware

manual. To check memory usage, open PLC Info dialog box, tab PLC Program, Total EE size.

18
 Programming  Variables

I/O variables

I/O variables are used to access physical inputs and outputs. Cybro uses four I/O address spaces,
two binary and two analog. Binary inputs and outputs are allocated respectively, starting from the
ix0 as the first input and qx0 as the first output.

binary inputs binary outputs

IX2047 slot 31 QX2047 slot 31
IX2016 QX2016

... ...

IX63 QX63
slot 1 slot 1
IX32 QX32
IX31 QX31
IX0 on-board QX0 on-board

Analog i/o space has 32 analog inputs and 32 analog outputs for each slot. Slot 0 is reserved for
Cybro local inputs and outputs. In word and out word variables are both integer type (16 bit signed).

analog inputs analog outputs

IW2047 slot 31 QW2047 slot 31
IW2016 QW2016

... ...

IW63 QW63
slot 1 slot 1
IW32 QW32
IW31 QW31
IW0 reserved QW0 reserved

Input and output variables are auto-allocated, their name is in the form:

nnnxx_varname

where nnn is prefix (e.g. bio for Bio-24), xx is card number (starting from zero) and varname is the
function it performs. For example, operator panel key F is allocated as op00_key_f.

Timer

Special structured type, used to determine time interval. To define a new timer variable, open Insert
New Variable dialog box, choose timer type, enter name, adjust preset, type and timer base, then
press OK.

Timer base is a period in which the timer is incremented, time resolution of the timer.

19
 Programming  Variables

Timer may be represented as the function block with two inputs and two outputs:

timer
in q
pt et

Correspondingly, the timer variable consists of four fields. Each field is an elementary data type.

name direction type description

in input bit input
q output bit output
pt input long preset time
et output long elapsed time

To use timer, the following syntax applies:

<timer name>.<field>

For example, to set the preset of the wash_timer to 15 seconds (assuming the base is 100ms):

wash_timer.pt:=150;

Elapsed time of the wash_timer will start at 0 and increment every 100ms until it reaches 150.

Pulse timer

Timer output is activated immediately after the rising edge of input signal. After the specified time,
the output will go off. Changes of input signal during active pulse do not affect output.

IN

ET

T T T

Typical application is a staircase timer.

On-delay timer

When input is activated, timer starts counting. After specified time output activates and stays high,
until input goes low. Available fields are the same as pulse timer.

IN

ET

T T

Typical application is a star-delta switch for three-phase motors.

20
 Programming  Refresh processing

Counter

Counter type is depreciated and not recognized by compiler.

Visibility

Each variable can be marked as:

User visible across all tools

System visible in tools used by administrators (CybroOpcServer, CybroDataTool)
Hidden not visible outside of CyPro environment

Automatically allocated I/O variables are marked as "System".

Refresh processing
Cybro implements soft refresh processing. In a regular cycle, inputs are sampled immediately
before and outputs are refreshed immediately after the execution of PLC program.

When scan time is very short, inputs and outputs may not refresh in each scan.

When scan time is very long, inputs may update during the scan, to reduce lag.

IEX modules are updated strictly before and after the scan.

Scan overrun

Scan time is defined as a time needed to complete a full program cycle. It consists of system tasks
and PLC program.

When scan time exceeds 100ms, controller goes into scan overrun error and stops program
execution (current scan will be finished). Error code is displayed on the status bar. To disable this
feature, uncheck Scan overrun stops program in Configuration options dialog box.

When scan time exceeds 250ms, program will be interrupted by hardware watchdog, regardless of
overrun settings. When this happens 10 times in a row, program will be stopped with repetitive reset
error.

21
 Programming  Refresh processing

Structured text
Structured text is a high level language similar to Pascal, specifically developed for industrial
applications.

Assignment

Assignment is used to store value in a variable. An assignment statement has the following format:

variable := expression;

The assigned value should be lower or equal data type than the variable.

Expressions

Expressions are used to calculate a value, derived from other variables and constants. Expression
may use one or more constants, variables, operators or functions. Using expressions, Cybro can
perform complex arithmetic operations, including nested parentheses and mixed data types.

Examples:

y_position:=5;
down_timer.pt:=15000;
case_counter:=case_counter+1;
start:=(oil_press and steam and pump) and not emergency_stop;
valid_value:=(value = 0) or ((value > 10) and (value <= 60));

Operators

Cybro supports a number of arithmetic and logical operators, listed in the following table:

operator alias unary binary function bit int long real result
+ • • • • same
- • • • • • same
 • • • • same
/ • • • • same
mod % • • • same
not ! • • • • • same
and & • • • • same
or | • • • • same
xor • • • • same
shl, shr • • • same
rol, ror • • • same
= == • • • • • bit
<> != • • • • • bit
<, <= • • • • bit
>, >= • • • • bit
:= • • • • • same

Expression evaluation

Expressions are evaluated in a particular order depending on precedence of the operators and
other sub-expressions. Parenthesized expressions have the highest precedence. Top precedence
operators are evaluated first, followed by lower precedence. Operators of the same precedence are
evaluated left to right.

22
 Programming  Refresh processing

Consider the following example:

Speed1 := 30.0;
Speed2 := 40.0;
Press := 50.0;
Rate := Speed1/10 + Speed2/10 - (Press+4)/9;

In this example, evaluation order is:

Rate := 30.0/10 + 40.0/10 - (50.0+4)/9

Rate := 3.0 + 4.0 - 54.0/9
Rate := 3.0 + 4.0 - 6.0
Rate := 1.0

Evaluation order can be changed using parentheses:

Speed1 := 30.0;
Speed2 := 40.0;
Press := 50.0;
Rate := Speed1/10 + Speed2/(10 - (Press+4)/9);

In this example, evaluation order is:

Rate := 30.0/10 + 40.0/(10 - (50.0+4)/9)

Rate := 30.0/10 + 40.0/(10 - 54.0/9)
Rate := 3.0 + 40.0/(10 - 6.0)
Rate := 3.0 + 40.0/4.0
Rate := 3.0 + 10.0
Rate := 13.0

Type conversion

Lower-to-higher data type conversion is performed automatically:

bit  int  long  real

In the following example, multiple of implicit conversions are performed:

real0 := (real1 > real2)  int1 + long1;

real real

bit int

int long

real long

real

If both arguments are integer, result of operation is also integer, no matter where it is assigned.

i := 25;
r := i/10; // result is r=2

To get the expected result, constant can be written as 10.0:

i := 25;
r := i/10.0; // result is r=2.5

Same result can be obtained by using the cast operator:

i := 25;
r := real(i)/10; // result is r=2.5

23
 Programming  Refresh processing

Multiline expressions

In a multiline expression, each line must end with an operator:

heater_on := (heater_temperature < 600) and

(((mode = MANUAL) and start_pressed) or
((mode = AUTO) and heater_request));

Flow control

This commands define order in which program statements are executed.

if..then..else

Conditionally execute one or another block of statements:

if <expression> then
<statements>;
elsif <expression> then
<statements>;
else
<statements>;
end_if;

Example:

if a>(2*b) then
d:=3;
elsif a>b then
d:=2;
elsif a=b then
d:=1;
else
d:=0;
end_if;

case..of

Conditionally execute one of multiple statements. It consists of an selector and a list of statements,
each preceded by a constant. Selector type must be ordinal (boolean, integer or long).

case <expression> of
<value>: <statements>;
<value>: <statements>;
<value>: <statements>;
else
<statements>;
end_case;

Example:

case material_type of
1: speed:=5;
2: speed:=20;
fan:=ON;
3: speed:=40;
fan:=ON;
cooling:=ON;
else
speed:=0;
end_case;

24
 Programming  Refresh processing

for..do

The for...do construction allows a set of statements to be repeated specified number of times.
Counting variable is incremented by 1 at the end of the loop.

for <var>:=<expression> to <expression> do

<statements>;
end_for;

The statements within the loop must not contain fp or fn instructions.

Example:

for i:=0 to 19 do
channel[i]:=TRUE;
end_for;

while..do

The while...do construction allows one or more statements to be repeatedly executed while
particular boolean expression is true. The expression is tested prior to executing the statements.
When if becomes false, statements are skipped and the execution continues after the loop.

while <expression> do
<statements>;
end_while;

The statements within the loop must not contain fp or fn instructions.

Example:

while value<(max_value-10) do
value:=value+position;
end_while;

Return value

Structured text function may return a single value of one of the basic types (bit, int, long, real).
Return value is defined by the following expression:

result := expression;

Variable result is automatically declared when function is configured to return a value (function
properties). Data type is the same as the type returned by function. Within a function, result may be
used more then once:

if a<=b then
result:=a;
else
result:=b;
end_if;

25
 Operator panel  General

Operator panel
General
Operator panel is the optional external device connected to the Cybro via the IEX-2 bus. OP
provides LCD display and a few keys readable from the PLC program.

OP has to be defined in the Hardware Setup dialog box. Configuration is saved within project.

To program operator panel, the following tools are available:

Print functions Structured text functions typed in the PLC program. Used to display strings
and values.

OP keys Bit variables readable from PLC program, represent current key state.

Masks Visual tool for programming operator panel, used to enter parameters.
Capable of entering integer values, decimal values and values represented
by strings. Parameters may be hierarchically organized.

Print functions
Print functions are structured text functions used to display text messages and values.

First parameter is slot number where display appears in the hardware setup. Two following
parameters of all functions are x and y coordinates. They are used to set display position. Print
origin is in the upper left corner.

Printing outside visible range may produce unexpected results.

Print functions are:

dclr(slot:int);

Clear the whole display (fill with spaces).

dprnc(slot:int, x:int, y:int, c:char);

Print single ASCII character on specified coordinates. Character may be entered directly ('A'), as
ASCII constant (65), or as integer variable. Values from 0 to 255 are allowed.

dprns(slot:int, x:int, y:int, str:string);

Print a string of characters, enclosed in single quotes.

26
 Operator panel  OP keys

dprnb(slot:int, x:int, y:int, c0:char, c1:char, value:bit);

Print first or second ASCII character, depending on bit value. If value is false, the first character is
printed, otherwise the second.

dprni(slot:int, x:int, y:int, w:int, zb:bit, value:int);

Print integer value to specified coordinates. Parameter w defines width. For example, if w is 4, print
range is -999 to 9999. Parameter zb is zero blanking. If zb is 1, leading zeroes are replaced with
spaces.

dprnl(slot:int, x:int, y:int, w:int, zb:bit, value:long);

Print long value to specified coordinates. Parameter w defines width. For example, if w is 6, print
range is -99999 to 999999. Parameter zb is zero blanking. If zb is 1, leading zeroes are replaced
with spaces.

dprnr(slot:int, x:int, y:int, w:int, dec:int, value:real);

Print real value to specified coordinates. Parameter w defines width, parameter dec defines number
of decimals. For example, if w is 6 and dec is 2, print range is -99.99 to 999.99. Zero blanking is
always on.

Each parameter (except string in dprns) may be constant, variable or expression.

OP keys
OP keys are accessible from PLC program as input variables:

Key P is usually used to invoke and exit mask, so it's not available for PLC program (reading is
zero). However, if no entry point is defined, it behaves the same as other keys. In such case, mask
may be invoked by writing mask number to op00_next_mask.

When mask is active, up, dn and e are not available (readout is zero). Key F is always available.

Key variable is true as long as the key is pressed. When key is released, it becomes false.

Any two (or more) keys may be pressed simultaneously. This may be used to initiate a special
function. In the following example, pressing up and down simultaneously resets product_count.

if fp(op00_key_up and op00_key_dn) then

product_count:=0;
end_if;

Variables are allocated automatically when OP is defined in Hardware Setup.

27
 Operator panel  Mask

Mask
Mask is visual tool for creating a query with operator terminal. More precisely, mask is a container
for a variable to be edited. Masks are transferred to the Cybro together with PLC code.

User creates a new mask or edits the existing one by using Mask Editor. Created masks are listed
in the Mask List. Masks are integral part of the PLC project, they are saved on the disc and
transferred to the Cybro.

PLC project
Mask Editor

Mask List
CyBro-2

When user presses P, Cybro sends first mask to the OP. Pressing E advances it to the next mask.

Entry point P

mask01

Next mask E

mask02

Next mask E

mask03

[exit] E

Using branching, masks can be hierarchically organized:

Entry point P

mask01
Branching E

mask02 mask04 mask06

E E E

mask03 mask05 mask07

[exit] E [exit] E [exit] E

28
 Operator panel  Mask

To start working with masks, press Masks button or F7. Mask List dialog box will appear.

To create a new mask click Add or press Insert key. Mask Editor dialog box will appear.

Name is a unique string identifier that identifies a particular mask.

Next mask defines a mask that becomes active after E key is pressed.

Escape mask defines a mask that becomes active after P key is pressed. Usually, this key is used
to exit from mask.

Caption field is a short string that will appear on the display to identify the currently edited variable.
Caption position is represented by the yellow rectangle. To move the caption, drag the rectangle
into the desired position. To resize caption, drag the right edge of the rectangle.

Edit field is a display area in which the value of edited variable is displayed. It is represented by the
red rectangle. Edit field should have enough space for editing variable in the desired range. To
move and resize field, drag it like the caption.

Unit field is a short string, similar to caption. Unit field is represented with green rectangle, and it is
commonly used for displaying engineering units.

Bargraph is a semi-graphic horizontal progress bar. Few different styles are available. To use
bargraph, both low and high limits should be defined.

29
 Operator panel  Mask

Lo limit and Hi limit define allowed range.

Step defines a value for which the variable will be changed for a single key press.

Decimal places may be used for real as well as for integer and long variables. In the former case,
only the display is fractional (e.g. for decimal places=1, value 254 is shown as 25.4).

Enter required and Jump on first press define method to operate with navigation keys (P, E). Three
combinations are available:

Enter required: no

P E
escape mask current mask next mask

Enter required: yes

Jump on first press: no

P E
escape mask current mask next mask

PE
value changed
(flashing)

Enter required: yes

Jump on first press: yes

P E
escape mask current mask next mask

P value changed E
(flashing)

If enter required is false, changed value will be sent to Cybro immediately after up or dn key is
pressed. If enter required is true, changed value will be sent to Cybro only when E key is pressed.
To indicate that change is not confirmed, changed value will flash.

30
 Operator panel  Program handling

Variable may be entered as menu rather than as numerical value. To define menu entries, run
Mask Editor, click Menu tab and Add as many items as needed.

When executing Cybro program, the display will show items by name, and variable product_type will
take value 0, 1 or 2.

Branching tab provides branching onto different masks according to the entered value. This can be
used to organize parameters into various parameter sets, but also for a password protected
parameters.

Active mask takes control of all panel keys except the F key, so it is not possible to use them from
Cybro program at the same time. Mask fields are displayed “over” the user display. After exiting
mask, display content is restored.

If mask is too large to fit into operator panel it will not be activated, and it will operate like an empty
mask. Mask size is displayed in Mask List dialog box. Available operator panel mask memory is
displayed in the Hardware Setup dialog box. To decrease mask size reduce number of menu
entries or reduce edit field width. Reducing caption and unit field width may also save few bytes.

Only one mask can be active at the time.

Program handling
Cybro program can get currently active mask number by reading variable current_mask. When
current_mask is zero, no mask is active.

Program may force execution of a certain mask by writing to variable next_mask. After the mask is
sent, next_mask is set to -1, and current_mask changes accordingly.

31
 Operator panel  Program handling

The following example shows mask handling process:

mask03 mask04

operator panel CyBro sends

sends a request mask04 to
for a new mask operator panel

Table shows approximate timings and values for the transition:

1 2 3 4

mask03 variable 20 20 25 25 25
current_mask 3 3 3 0 4
next_mask -1 -1 -1 4 -1

2-3 ms 2-3 ms 50-100ms

Events are marked by black arrows:

1. Enter is pressed
2. Value is sent to Cybro
3. Request for new mask is sent to Cybro
4. New mask sent to operator panel and activated

Red arrows mark value change.

The same transition may be initiated with the following plc program:

if <condition> then
op00_next_mask:=4;
end_if;

Short gap in current_mask value comes from the network response time. To check if there is an
active mask, program should also check the value of next_mask, like the following example:

if op00_current_mask=0 and op00_next_mask=-1 then

op00_next_mask:=10;
end_if;

Both mask control variables may also be accessed remotely, using the A-bus.

32
 Serial interface  Features

Serial interface
Features
Cybro controller features multiple communication ports which can all be used simultaneously.

A-bus A-bus Modbus Modbus

No Port description free pgm
slave socket master slave
PLC
1 COM1 RS232 serial port yes - yes yes
program
PLC
2 COM2 RS232 serial port yes - yes yes
program
PLC
3 COM3 RS485 serial port - - - yes
program
free-programmable PLC
4 RFM - - - yes
radio interface program
Ethernet interface, PLC
5 ETH yes yes yes yes
TCP/IP protocol program

A-bus is native protocol used to send program (A-bus slave), read/write variables (A-bus slave) and
exchange data between controllers (A-bus socket). For more details, check Networking section.

Modbus is data communications protocol developed for industrial applications. It is relatively easy to
deploy and maintain compared to other standards, and places few restrictions on the format of the
data to be transmitted. Modbus has become de facto standard and is now a commonly available
means of connecting electronic devices.

Free-programmable means that PLC program is responsible for sending and receiving messages,
which opens up controller for implementing any simple protocol.

COM3 port is serial port available on models Cybro-3H and Cybro-3W as RS485 interface. For
more details check hardware manual.

RFM wireless interface uses standard 868MHz ISM band (industrial, scientific and medical) to send
and receive messages. It is used to control WD-1 (DALI bridge), WM-1 (Modbus bridge) and WR-1
(Modbus relay). It can also be used for Cybro-to-Cybro communication. For more details, check
data sheet of each device.

Port parameters are set at compile time, it's not possible to change them within the program.

33
 Serial interface  Free-programmable mode

Free-programmable mode
With this feature, a wide range of devices can be controlled: various sensors, scales, printers, radio
modems, camera and other. Protocol is implemented using the PLC program.

COM1, COM2 and ETH communication ports are full duplex, COM3 and RFM are half duplex. Both
master and slave operation is possible.

Serial ports have separate transmit and receive buffer. Each buffer is 1042 bytes in size. That
allows for 1024 bytes payload and a few bytes for eventual descriptor and redundancy check.

Rx buffer

Tx buffer

Select port

com_select(port: int);

Select must be executed first, before other communication commands. Available ports are:

1 - COM1, RS232 serial port

2 - COM2, RS232 serial port
3 - COM3, RS485 serial port
4 - RFM, free-programmable radio
5 - ETH, free-programmable TCP/IP

The best position for com_select() is at the beginning of code section which implements the
protocol. It may be executed in each scan, only pointers are changed, with no effect on current
receive and transmit operation.

Create message

Binary messages are created by writing byte by byte to the transmit buffer.

tx_bufwr(pos:int, data:int);

Write data byte to transmit buffer. Position is 0 to 1041, value is 0 to 255.

tx_bufrd(pos:int):int;

Read data byte from transmit buffer. Position is 0 to 1041, value is 0 to 255.

ASCII messages may be created with display print commands. Slot number is zero, x coordinate is
buffer position, y coordinate is ignored. Output goes to the selected transmit buffer.

34
 Serial interface  Free-programmable mode

dclr(0);

Fill both receive and transmit buffer with zeros.

dprnc(0, x:int, 0, c:char);

Write a single character on position x (same as tx_bufwr()).

dprns(0, x:int, 0, str:string);

Write a string enclosed in single quotes ('abcd'). Special characters are entered as two or three-
character combinations:

combination ASCII code hex code

\n CR LF 0D 0A
\r CR 0D
\t TAB 09
\\ \ 5C
\xx any xx

The last option is used to enter any hexadecimal code 00 to FF, e.g. '\41' is the letter 'A'.

dprnb(0, x:int, 0, c0:char, c1:char, value:bit);

Write a single character, c0 or c1, depending on the bit value.

dprni(0, x:int, 0, w:int, zb:bit, value:int);

Write 16-bit signed integer as ASCII decimal number. Parameter w is width, zb is zero blanking.

dprnl(0, x:int, 0, w:int, zb:bit, value:long);

Write 32-bit signed integer as ASCII decimal number. Parameter w is width, zb is zero blanking.

dprnr(0, x:int, 0, w:int, dec:int, value:real);

Write floating point value as ASCII number with decimals. Parameter w is total width, including
decimal point and decimals. Parameter dec is number of decimals. Zero blanking is always on.

Send message

tx_start(size:int);

Send the prepared message. Parameter size is the number of characters to transmit.

tx_active():bit;

Check whether the transmitter is active: 0-no, 1-yes.

tx_count():int;

Number of characters left to send. When tx_count() is zero and tx_active() is true, the last character
is transmitting.

tx_stop();

Stop transmitter. Current character will be finished, then tx_active() goes to zero.

35
 Serial interface  Free-programmable mode

Start receiver

rx_start(beg_ch:char, end_ch:char, len:int, beg_tout:int, end_tout:int);

Start receiving and define condition to stop.

beg_ch - first character of received message. When receiving is started, all characters are ignored,
until the specified character is received. The character is written in the zero position of the receive
buffer. To receive message with no specific start character, set to zero.

end_ch - last character of received message. When specified character is received, receiver is
stopped (status 2). Character is written as the last byte of the received message. To receive
message with no specific end character, set to zero.

len - expected length of received message. After the specified number of bytes is received, receiver
is stopped (status 3). To receive a message of variable size, set to zero.

beg_tout - maximum waiting time for the first character, in milliseconds. When timeout is reached,
receiver is stopped (status 4). To receive with no time limit, set to zero.

end_tout - maximum time between consecutive characters, in milliseconds. When timeout is

reached, receiver is stopped (status 4). To receive with no time limit, set to zero.

For example, with 1200 bps, 8 bits and no parity; transmission of a single character takes about
8ms (start bit + 8 data bits + stop bit = 10bits, 10bits/1200bps = 8.3ms). In such case, end time is
typically set to about 25ms.

Examples:

rx_start(0,0,0,0,0); // receive continuously

rx_start(0,0,0,0,50); // receive continuously, stop 50ms after the last character
rx_start(':','\r',0,0,0); // receive message starting with ':' and ending with CR

Maximum message length is 1042 bytes. When one character more is received, receiver is
restarted and the number of received characters starts from 1 again. The buffer is not cleared.

Receiver and transmitter are fully independent.

rx_stop();

Stop receiving immediately (status 1).

rx_count():int;

Returns number of received characters. Function rx_start() reset number of characters to zero.

rx_active():bit;

Check whether the receiver is active: 0-no, 1-yes.

rx_status():int;

Returns receiver status:

0 - receiver active
1 - stopped by stop command
2 - end character detected
3 - requested size received
4 - timeout expired

36
 Serial interface  Free-programmable mode

Parse received message

rx_bufrd(pos:int):int;

Read data byte from receive buffer. Position is 0 to 1041, value is 0 to 255.

rx_bufwr(pos:int, data:int);

Write data byte to receive buffer. Position is 0 to 1041, value is 0 to 255.

rx_strcmp(pos:int, str:string):bit;

Compare receive buffer with a specified string. True when string matches, false otherwise.

rx_strpos(pos:int, str:string):int;

Search for the specified string. Search starts from the given position. If string is found, function
returns position of the first matching character, otherwise it returns -1.

rx_strtoi(pos:int):int;

Read ASCII decimal number at the given position. If character at the specified position is space, it is
skipped until a digit is found. Conversion continues until the first non-digit character.

rx_strtol(pos:int):long;

Read ASCII decimal number at the given position. If character at the specified position is space, it is
skipped until a digit is found. Conversion continues until the first non-digit character.

rx_strtor(pos:int):real;

Read ASCII decimal number at the given position. If character at the specified position is space, it is
skipped until a digit is found. Conversion goes until the first non-numeric character.

Example:

Received message may contain keywords OPEN, CLOSE, AUTO and SET=<value>. Keywords are
sent in no particular order and separated by one or more spaces.

SET=225 OPEN AUTO

Program that parses message according to given specifications:

if rx_strpos(0,'OPEN')<>-1 then
main_valve=1;
end_if;

if rx_strpos(0,'CLOSE')<>-1 then
main_valve=0;
end_if;

if rx_strpos(0,'AUTO')<>-1 then
automatic_mode=1;
end_if;

position=rx_strpos(0,'SET=');
if position<>-1 then
setpoint=rx_strtoi(position+4);
end_if;

37
 Serial interface  Free-programmable radio

Free-programmable radio
Initialize socket

The first command must be com_select(4), it directs all consecutive commands to the radio driver.

Rx/Tx buffer

The folowing command is rx_start(), providing parameters to initialize the radio interface:

rx_start(dummy:char, dummy:char, group_hi:int, group_lo:int, timeout:int);

group ....... 32-bit group address, zero means factory default

timeout ..... the time after which the reception stops [ms], zero to disable

Wireless devices use factory default address 10 seconds from power on, then switch to configured
address, if one exists. That allows sending new group address to all devices at the same time.
When 10s period runs out, address is locked to protect device against intrusion. The process on
Cybro is under the control of PLC program, which allow receiving address without shutting off.

Send and receive

RFM radio behaves very much like any other serial port. When message is received, receiver is
stopped and need to be started again. To stop receiving at any time, use rx_stop(). Function
rx_active() returns receiver state (0-off, 1-on), function rx_status() returns more details:

0 - receiver active
1 - stopped by stop command
2 - message received
4 - timeout expired

Command tx_start() transmits prepared message, tx_active() returns transmitter state (0-off, 1-on).
It is active immediately after the start command is executed.

Message type

The type byte (position 64) specifies the content of the message:

0 - DALI (WD-1)
1 - group address (all devices)
2 - Modbus (WM-1 and WR-1)

Type must be set before the message is sent, and comes with the received message. Range 0..3 is
reserved, the rest is free to use. Type 2 can be used for any serial communication.

Group address

Devices that listen to each other's messages must share the same group address. The factory
default is the same for all devices. When privacy is not needed, this address may be used
permanently.

When data security and privacy is required, new group address must be assigned. One device
generate and send the new address to other devices. Address must be sent within 10 seconds from
power on, while the RF led is blinking. New address is randomly generated, with restriction that not
a single byte should be zero.

For more details, check RFM demo.cyp.

38
 Serial interface  Free-programmable TCP/IP

Free-programmable TCP/IP
Initialize socket

The first command must be com_select(5), it directs all consecutive commands to TCP/IP driver.
With ETH selected, first 10 bytes of buffer are reserved for IP header:

Tx buffer

Rx buffer

Receiver IP address and port must be written by plc program before the message is sent. Sender
IP address and port are written by system when message is received.

The following command is rx_start(), providing parameters to initialize the TCP/IP socket:

rx_start(protocol:char, dummy:char, port:int, autostop:int, timeout:int);

protocol .... 0-none, 1-UDP, 2-TCP master, 3-TCP slave

port .......... controller port through which messages are sent and received
autostop ... when active, receiving reply message will close the connection
timeout ..... when time runs out [ms], connection is closed; zero to disable

In UDP mode, the controller is ready to receive and transmit UDP messages right away.

In TCP mode, either master (client) or slave (server) operation is selected. When initialized as a
master, Cybro uses receiver address and port to open the connection and send the first message.
When initialized as a slave, Cybro enters listen mode, waiting for connection on the selected port.

To prepare the outgoing message, use tx_bufwr() or display print commands. To send the
message, use tx_start(). Parameter size is the length of the message, without the header. Other
transmit commands are not used.

To check if the message has been received, read the first byte of the buffer using rx_bufrd(). When
result is not zero, message has arrived. The rx_count() returns received size, without the header.
Parsing is the same as with the serial port. When finished, use rx_bufwr() to invalidate the message
and prepare for the next one.

Command rx_status() returns state of the socket:

0 - closed
1 - UDP open
2 - TCP initialised
3 - TCP listen
4 - TCP connected

When message is transmitted or received, timeout is reloaded and rx_active() is set. When timeout
expires, rx_active() goes to zero.

Command rx_active() returns 1 when connection is extablished (status 4). To close connection at
any time, use rx_stop() command. To close the socket, use rx_start() with protocol set to zero.

Reserved local ports are 53 (DNS), 68 (DHCP), 8442 (A-bus LAN), 20000..29999 (A-bus WAN) and
502 (Modbus slave). Other port numbers are free to use.

39
 Serial interface  Free-programmable TCP/IP

UDP mode

User Datagram Protocol (UDP) is a simple connectionless protocol that allow devices to send and
receive messages. Sender destination port must be the same as the receiver local port. Message
can be sent to multiple recipients using the subnet broadcast address.

Once socket is open, use tx_start() to send and rx_bufrd() to detect the received messages.
Although the state is not changed, autostop and timeout can be used by reading rx_active().

TCP master

Transmission Control Protocol (TCP) is a connection-oriented protocol and requires handshaking to

start communication. Once a connection is established, data can be sent. In master mode,
connection is established when controller sends a message to the slave device.

If autostop is set, connection is closed when message is received. If timeout is set, connection
closes when time runs out. Timer is reloaded with each received and transmitted message. Only
one connection can be opened at a time.

TCP slave

In slave mode, controller is intialized and waiting for a connection.

The message can only be sent when the connection is established. When sending the message,
receiver ip address and port are not used, since connection is already established.

If autostop is set, connection is closed when message is transmitted. If timeout is set, connection
closes when time runs out. Slave timeout should be longer than or equal to the master timeout.
Timer is reloaded with each received and transmitted message. Only one connection can be
opened at a time.

40
 Networking  Ethernet connection

Networking
Ethernet connection
Cybro may have a dynamic IP address given by DHCP server, or static IP address set by Kernel
Maintenance. To configure static address, turn on checkbox Static IP address and fill-in the
subsequent fields. DNS server is needed only when push to domain name is used.

Cybro with static IP is accessable immediately after power-on. Dynamic address may need a few
seconds in the same, and up to a minute in a new network. If DHCP server is not available, Cybro
will have invalid IP address (0.0.0.0).

Checkbox 10M is used to disable baud autonegotiation and force 10Mbps speed. It may be used
when negotiation fails, for whatever reason.

Cybro has 6-byte MAC address in form 00-CB-00-xx-xx-xx, where last three bytes are serial
number (NAD). For example, Cybro 20000 (0x4E20) has MAC address 00:CB:00:00:4E:20.

41
 Networking  Connection options

Connection options
 LAN, IP address is detected automatically
 Direct connection using limited broadcast
 Each controller has it's own static IP address, stored in project
 All controllers share a single common IP address (proxy)

When computer has multiple network adapters, the proper one should be selected manually.

Extra timeout and Extra retries are used when communication is slow.

Transaction id adds an unique id to each request/acknowledge message pair, avoiding problems

with delayed and lost messages. It can't be used when A-bus protection is enabled.

Recommended settings depend on network speed:

typical transaction id off transaction id on

roundtrip extra timeout extra retries extra timeout extra retries

local network
0..5ms - - - -
connection
wired internet 10..100ms 200ms 2x 100ms 3x
3G/4G/5G
10..200ms 500ms 5x 200ms 5x
connection
2G connection 50..500ms 1000ms 5x 500ms 5x

42
 Networking  Connection options

1. Local network connection

This is the most common setup. All devices belong to the same subnet. IP address may be
dynamic (DHCP) or static. CyPro uses subnet broadcast (192.168.0.255) to detect IP address.

2. Direct connection

This connection is used only as emergency (no valid IP). Messages are transmitted as limited
broadcast (255.255.255.255:65535). Do not start CyPro before PC autoconfiguration address
(169.254.x.x) is established.

3. Internet connection using known address on Cybro side

This connection allow programming and monitoring over the Internet.

1. DNS Register a dynamic DNS service and configure router b as client.

2. Router b Configure port forward UDP 8442 to Cybro (use static address).

3. CyPro Set communication to common IP, router b WAN address (mydomain).

If router b has no dynamic DNS support, update client may be installed on a local PC in network b.

43
 Networking  Connection options

4. Internet connection using push and known address on PC side

1. DNS Register a dynamic DNS service and configure router a as client.

2. Router a Configure port forward UDP 8442 to PC (use static address).

3. Relay Install CyBroRelay.

4. CyPro Set connection to LAN.

5. Cybro Configure push message to mydomain (use PushDemo.cyp).

Connection is established by sending push message from Cybro to CyBroRelay. Push is used to
open NAT (network addres translation) on router b, to enable traversing for messages that follows.
For more details, search for "UDP hole punching".

Thanks to CyBroRelay, CyPro sees Cybro as it is inside the local network. Other programs, like mini
scada, may also take advantage of the same connection.

5. Internet connection using web scada as a relay

This connection provides Internet connection using relay server as a mid point.

1. Cybro Configure push message to solar-cybro (use PushDemo.cyp).

2. CyPro Set connection to common IP, enter server address, then click Copy session ID.

44
 Networking  Connection options

3. Server Enable relay, Set new session ID, and paste your id.

Use Ping to check connection between server and Cybro.

45
 Networking  Ethernet sockets

Ethernet sockets
Socket is used for Cybro-Cybro communication. User defines a matching pair of sockets, one for
each controller. Both sockets must have the same id. Also, both sockets must use the same list of
variables (order and type matters, name is ignored).

Socket id is selected between 1 and 255.

When multiple sockets are used, pairs are matched by socket id:

Each controller receive only sockets declared in his program.

Sender does not know if the receiver actually received the socket. When the acknowledge is
needed, it can be sent back through a second pair of sockets.

Receiver does not know who sent the message. If needed, socket may include sender serial
number (or alias) as one field within the socket.

Socket size is limited only by maximum size of A-bus message. In most cases, it is 1024 bytes.

46
 Networking  Ethernet sockets

Sending is triggered in a few different ways:

1. Periodic 1s

Socket transmitted periodically, once a second.

2. Periodic 10s

Socket transmitted periodically, once in ten seconds.

3. On-request

Socket transmitted on request from plc program.

Transmission begins when request bit is set. Kernel responds by clearing the request and sending
the socket.

Request bit is the first bit variable in the socket. This bit is always transmitted as 1, so it can be
used by receiver to check if socket is received. Although the request is set, received socket is never
retransmitted.

Two pairs of on-request sockets can be used to implement request/reply communication between
controllers.

4. On-change

Socket transmitted each time socket variable is changed, when plc is running.

47
 Networking  Socket examples

Socket examples
Event-driven action

On-request socket may be used to send an event to multiple controllers. Each controller may trigger
the event, all others will receive it. Number of controllers is not limited.

The example shows a distributed event to turn all lights off.

Each controller has the same program, local i/o assignment may be different.

When receiver needs to know request source, 1 is local, 3 is remote (cast to bit when comparing).
Request will stay active for at least one scan, possibly longer if a large number sockets are defined.

Synchronized value

On-change socket may be used to synchronize a value between multiple controllers. Each
controller may modify the value, all others will receive the new value. Number of controllers is not
limited.

The example shows a light level setting (0-100%), shared among controllers.

Each controller has the same program, local i/o assignment may be different.

48
 Networking  Modbus slave

Modbus slave
Modbus communication protocol is published in 1979, for use with programmable logic controllers.
It has since become de facto standard for connecting various devices.

Cybro supports:

 Modbus RTU slave (RS232/RS485)

 Modbus TCP slave (Ethernet)

Modbus data model describes how modbus coils and registers are translated to Cybro memory.

Modbus model include coils and holding registers. Discrete inputs and input registers are not
supported.

When "Entire plc data memory" is selected, list of available coils/registers can be exported in csv
format. List may be imported by modbus master, refering variables by name instead of a number.

Function codes:

code hex command

1 01h READ_COILS
3 03h READ_HOLDING_REGISTERS
5 05h WRITE_SINGLE_COIL
6 06h WRITE_SINGLE_REGISTER
15 0Fh WRITE_MULTIPLE_COILS
16 10h WRITE_MULTIPLE_REGISTERS

Other codes will be rejected as ILLEGAL_FUNCTION (exception code 01h).

Data types:

- bit (0 or 1) for coils

- int (16-bit integer) for registers

Other data types are not supported.

When Modbus RTU master is needed, use ModbusRtuMaster.cyp from Examples.

49
 Additional features  Real-time clock

Additional features
Real-time clock
Real-time clock (RTC) consist of a hardware clock and calendar. When power is down, it runs from
internal battery. For accuracy and data retention time, check hardware manual.

RTC is synchronized to PC when program is sent to the PLC. To enable or disable synchronization,
use checkbox Environment/Communication/Synchronize RTC to PC Clock. RTC is also synced with
OPC server and HIQ Commander mobile application. It can be set also with PLC program.

To read and write time, use:

rtc_hour:int;
rtc_min:int;
rtc_sec:int;

hour 0..23
min 0..59
sec 0..59

To read and write date, use:

rtc_year:int;
rtc_month:int;
rtc_date:int;

year 2000..2099
month 1..12
date 1..31

To read and write day of the week, use:

rtc_weekday:int;

0 - Sunday
1 - Monday
2 - Tuesday
3 - Wednesday
4 - Thursday
5 - Friday
6 - Saturday

To set real-time clock, write new time/date to variables and set request flag:

rtc_write_req:=1;

50
 Additional features  NAD alias

NAD alias
Each controller has unique serial number, used as communication address (NAD). Serial number is
permanent and can not be changed.

NAD alias is a second, replacement address configurable by user. Alias functions same as the
original NAD, controller may be addressed both ways.

4001
4006
4002

4005
4003
4004
broken
4547
replacement
NAD alias = 4004

To set new NAD alias, open Kernel Maintenance dialog box, enter alias and send.

Because of security issues, alias is used in local communication only. When controller is connected
to the internet, the original serial number is used exclusively.

51
 Additional features  Password protection

Password protection
Cybro controller can restrict access to it's data with password. Depending on selected level,
protection may cover only program, program and variables, or everything. For example, when
protection level is Program protected, anybody can read and write variables, but needs a password
to send a new program.

Password protection affect only Ethernet interface. Serial ports are not restricted (including USB),
even when full protection is used.

Password may contain any combination of letters and numbers of a reasonable length. It is case
sensitive. Don't use spaces or national characters.

Password is common for all programs in project, it's not possible to define individual password for
each controller. Password stored in project file is not secure, so keep your project safe.

When password is used, communication option Transaction id can not be used.

To send a new program to protected controller, use command Erase protected program.

If you forget the password, unlock controller using the USB port.

52
 Additional features  Command-line options

Command-line options
Command-line options are specified upon starting CyPro. They are used to automatically perform
some tasks, such as sending a program to a connected controller.

Using command-line options, CyPro may be used as external compiler for another application.

SCADA CyPro
CyBro
cypro /OPEN myfile.cyp /START

CyPro.log myfile.cyp

There are two general styles for command line options:

cypro.exe filename.cyp
cypro.exe /OPTION1 /OPTION2 /OPTION3…

First style is used by operating system, when user double-clicks a cyp file.

Command-line options are:

/NEW [filename.cyp] Create a new project. Filename is optional.

/OPEN filename.cyp Open existing project with specified filename.

/SAVE Save project.

/SAVEAS filename.cyp Save project under specified name.

/EXIT Exit CyPro.

/NAD number Select program. If specified NAD exists, that program will be
selected, otherwise NAD is appended to current program.

/AUTODETECT Hardware autodetect.

/START Compile, send (only if different) and run.

/STARTALL Start all programs in project.

/STOP Stop current program.

/SEND Send current program.

/HIDDEN Silent operation, do not show any window or dialog box.

Filename may be given as name or full path. When file name contain spaces, double-quote should
be used ("my file.cyp"). If an operation requires user input to continue execution, default option is

53
 Additional features  Command-line options

used automatically. For example, when autodetect asks for a network address, default address
(zero) will be used automatically.

When started with command-line options, CyPro creates log file with all commands and results. Log
file is saved in CyPro directory (c:\Program Files (x86)\Cybrotech\CyPro-3\CyPro.log).

When /HIDDEN mode is used, CyPro will automatically exit after last command is executed.

When using command-line options, it is advisable to turn on checkbox Allow multiple instances in
Environment Options. If only single instance is allowed and CyPro is already running, command-line
requests will be proceeded to the active copy.

Examples:

cypro.exe myfile.cyp

Start CyPro and open project myfile.cyp.

cypro.exe "c:\My Documents\myfile.cyp"

Start CyPro and open project myfile.cyp in specified directory. As path may contain spaces, quotas
are required.

cypro.exe /HIDDEN /OPEN "myfile.cyp" /START /EXIT

Start CyPro, open an existing project (myfile.cyp), start PLC (compile, send & run) and exit.
Operation is hidden, no window or dialog box will appear. Possible errors are saved in CyPro.log.

cypro.exe /HIDDEN /NEW /AUTODETECT /SAVEAS "myfile.cyp" /EXIT

Start CyPro, open a new project, start Autodetect, save as myfile.cyp and exit. Operation is hidden,
no window or dialog box will appear. Possible errors are saved in CyPro.log.

cypro.exe /HIDDEN /NEW /NAD 4000 /AUTODETECT /SAVEAS "myfile.cyp" /EXIT

Start CyPro, open a new project, add new NAD, start Autodetect to detect connected IEX-2
modules, save as myfile.cyp and exit. Operation is invisible, no window or dialog box appears.
Possible errors are saved in CyPro.log.

cypro.exe /HIDDEN /OPEN "myfile.cyp" /AUTODETECT /START /EXIT

Start CyPro, open an existing project (myfile.cyp), start Autodetect (assuming the project has no
defined hardware setup and network address), start PLC (compile, send & run) and exit. Original
file remain unchanged. Operation is invisible, no window or dialog box will appear. Errors are saved
in log file.

54
 Getting started  Command-line options

Getting started
This example, a simple timer activated with a key, will show all steps to get a program running.

Step 1: hardware

We need Cybro controller and OP-2 panel. Connect power supply, ethernet and panel according to
hardware manual.

Open CyPro and select File/New Project. Open Hardware Setup and run Autodetect.

Step 2: variables

Our project will need a variable of timer type. Start Allocation Editor, and press Insert:

Enter name, select type, preset and time base.

Step 3: write code

PLC code connects the OP key to the timer input, and the timer output to the output relay:

tim0.in:=op00_key_f;
cybro_qx00:=tim.q;

55
 Getting started  Command-line options

Step 4: run

To compile and send program, just press Start button. Status line shows the program is running.

To check operation, open Variable Monitor, add variables, and press F key.

Graph in the left pane shows the program is running as expected.

56
 Appendix  Data type summary

Appendix
Data type summary
Elementary

type width range

bit 1-bit 0..1 (*)
integer 16-bit signed -32768..32767
long 32-bit signed -2147483648..2147483647
38 38
real 32-bit single precision -3.4x10 ..3.4x10

(*) Each bit variable is stored as a byte, casting int to bit extends range to 255.

Input/Output

type width type description

ix 1-bit bit digital input
qx 1-bit bit digital output
iw 16-bit integer analog input
qw 16-bit integer analog output

Timer

field type access description

in bit read write control input
q bit read write timer output
pt long read write preset time
et long read write elapsed time

Constants

decimal

address := 256;

hexadecimal

address := 16#100;

57
 Appendix  Structured text summary

Structured text summary

Operators

operator alias unary binary function bit int long real result
+ • • • • same
- • • • • • same
 • • • • same
/ • • • • same
mod % • • • same
not ! • • • • • same
and & • • • • same
or | • • • • same
xor ^ • • • • same
shl, shr << >> • • • same
rol, ror • • • same
= == • • • • • bit
<> != • • • • • bit
<, <= • • • • bit
>, >= • • • • bit
:= • • • • • same

Flow control

if...then...else

if <expression> then
<statements>;
elsif <expression> then
<statements>;
else
<statements>;
end_if;

case...of

case <expression> of
<value>: <statements>;
<value>: <statements>;
else
<statements>;
end_case;

for...do

for <var>:=<expression> to <expression> do

<statements>;
end_for;

while...do

while <expression> do
<statements>;
end_while;

58
 Appendix  Structured text summary

Edge detect

positive edge detect (zero to one)

fp(b:bit):bit;

negative edge detect (one to zero)

fn(b:bit):bit;

Type conversion

evaluate expression and convert to desired data type

int(expression):int; // convert expression to integer

long(expression):long; // convert expression to long, respect sign
ulong(expression):long; // convert expression to long, assume unsigned
real(expression):real; // convert expression to float
blong(expression):long; // assume bit pattern as long, no conversion
breal(expression):real; // assume bit pattern as real, no conversion

Serial ports

port select

com_select(port:int); // 1-COM1, 2-COM2, 3-COM3, 4-RFM, 5-ETH

transmit

tx_bufwr(pos:int, data:int); // write data byte to tx buffer

tx_bufrd(pos:int):int; // read data byte from tx buffer
tx_start(size:int); // send message
tx_stop(); // stop sending
tx_count():int; // number of characters sent
tx_active():bit; // 0-stopped, 1-transmitting

receive

rx_start(beg_ch:char, end_ch:char, len:int, beg_tout:int, end_tout:int); // COM

rx_start(dummy:char, dummy:char, group_hi:int, group_lo:int, timeout:int); // RFM
rx_start(protocol:char, dummy:char, port:int, autostop:int, timeout:int); // ETH
rx_stop(); // stop receiving
rx_count():int; // number of characters received
rx_active():bit; // 0-stopped, 1-receiving
rx_status():int; // 0-receiving, 1-stopped, 2-end char, 3-length, 4-timeout

parse received message

rx_bufrd(pos:int):int; // read data byte from rx buffer

rx_bufwr(pos:int, data:int); // write data byte to rx buffer
rx_strcmp(pos:int, str:string):bit; // compare rx buffer with string
rx_strpos(pos:int, str:string):int; // find string in rx buffer
rx_strtoi(pos:int):int; // read number from rx buffer
rx_strtol(pos:int):long; // read number from rx buffer
rx_strtor(pos:int):real; // read number with decimals from rx buffer

59
 Appendix  Structured text summary

Display functions

dclr(slot:int); // clear display

dprnc(slot:int, x:int, y:int, c:char); // print character
dprns(slot:int, x:int, y:int, str:string); // print string
dprnb(slot:int, x:int, y:int, c0:char, c1:char, value:bit); // print c0 or c1
dprni(slot:int, x:int, y:int, width:int, zb:bit, value:int); // print integer number
dprnl(slot:int, x:int, y:int, width:int, zb:bit, value:long); // print long number
dprnr(slot:int, x:int, y:int, width:int, dec:int, value:real); // print decimal number

Legend:

slot .............. slot number (0-write to selected serial buffer)

x .................. x position (0-left)
y .................. y position (0-top)
width ........... number of characters to print
zb ................ zero blanking (0-no, 1-yes)
dec .............. number of decimal places
c .................. single character
str ............... array of characters enclosed in single quotes
value ........... data to print

Network functions

get_nad():long; // read current A-bus address (alias or serial)

get_serial():long; // read controller serial number
get_ip():long; // read controller IP address
set_ip(ip_address:long, subnet:long, gateway:long, dns_server:long); // set IP address

Return value

return value from a function

result := a + b; // return sum of a and b

60
 Appendix  Function library

Function library
Function library is a collection of commonly used functions, written in structure text. It is a part of
CyPro package, located in \CyPro\Examples\FunctionLibrary.cyp. To use a function, copy and paste
from library (right click project tree) to your program. For more details, check function source.

bit manipulation

int_to_long(lo,hi: int):long; // two 16-bit integers into a single long

long_to_real(x: long):real; // bit-to-bit copy, without conversion
real_to_long(x: real):long; // bit-to-bit copy, without conversion
byte_to_real(byte3, byte2, byte1, byte0: int):real; // four bytes into float
ip_to_long(ip3, ip2, ip1, ip0: int):long; // four byte ip address into a single long
datetime(year, month, date, hour, min, sec: int):long; // 32-bit ms-dos datetime

elementary functions

abs(x: int):int; // absolute value of integer

min(x, y: int):int; // smaller of two integers
max(x, y: int):int; // bigger of two integers
round(x: real):real; // round to the closest integer
frac(x: real):real; // return fractional part
sqrt(x: real):real; // square root

trigonometric functions

sin(x: real):real; // sine of x

cos(x: real):real; // cosine of x
atan(x: real):real; // arctangent of x
atan2(x, y: real):real; // arctangent of x/y

exponential and logarithmic

exp(x: real):real; // exponential of x

ln(x: real):real; // natural logarithm of x (base e)
log10(x: real):real; // logarithm of x with base 10
log(x, base: real):real; // logarithm of x with given base

cyclic redundancy check

crc8(len: int):int; // 8-bit cyclic redundancy check

crc16(len: int):int; // 16-bit cyclic redundancy check
crc32(len: int):long; // 32-bit cyclic redundancy check

pseudo-random generator

rnd(range: int):int; // simple pseudo-random generator

other functions

display_bargraph(slot,x,y,width,min,max,val: int):void; // semi-graphic bargraph

61
 Appendix  Instruction list summary

Instruction list summary

Move

ld move variable or constant to accumulator

ldn move complement of variable to accumulator
st move accumulator to variable
stn move complement of accumulator to variable
set set accumulator or variable
setc if condition true set variable
res clear accumulator or variable
resc if condition true clear variable

Logic

cpl complement accumulator or variable

and logical and accumulator with variable or constant
andn logical and accumulator with complement of variable or constant
or logical or accumulator with variable or constant
orn logical or accumulator with complement of variable or constant
xor exclusive or accumulator with variable or constant
xorn exclusive or accumulator with complement of variable or constant
shl shift left accumulator, set LSB to zero
shr shift right accumulator, set MSB to zero
rol rotate left accumulator, copy MSB to LSB, 32-bit only
ror rotate right accumulator, copy LSB to MSB, 32-bit only
fp detect positive flank, accumulator only
fn detect negative flank, accumulator only

Arithmetic

neg change sign of accumulator

add add variable or constant to accumulator
sub subtract variable or constant from accumulator
mul multiply accumulator with variable or constant
div divide accumulator with variable or constant
mod remains of dividing accumulator with variable or constant

Compare

eq test if accumulator equal to value

ne test if accumulator not equal to value
gt test if accumulator greater than value
ge test if accumulator greater or equal value
lt test if accumulator lower than value
le test if accumulator lower or equal value

Branch

jmp label unconditional jump to position indicated by label

jmpc label jump if condition true
jmpnc label jump if condition not true
cal subroutine call subroutine
calc subroutine call subroutine if condition is true
calnc subroutine call subroutine if condition is not true

62
 Appendix  Instruction list summary

Type combinations

bit int long real acc const var

ld + + + + + +
ldn + +
st + + + + +
stn + +
set + + +
setc + +
res + + +
resc + +
cpl + + +
and + + + + +
andn + + +
or + + + + +
orn + + +
xor + + + + +
xorn + + +
shl + + +
shr + + +
rol + +
ror + +
fp + + +
fn + + +
neg + + + +
add + + + + + +
sub + + + + + +
mul + + + + + +
div + + + + +
mod + + + +
eq + + + + + +
ne + + + + + +
gt + + + + +
ge + + + + +
lt + + + + +
le + + + + +
jmp +
jmpc +
jmpnc +
cal +
calc +
calnc +
x-to-y + + + + +

63
 Appendix  Operator panel characters

Operator panel characters

To enter character code, press Alt, type decimal character code preceded by 0, then release Alt.
Numeric keypad should be used, Num Lock should be on.

Example:

According to table, symbol ° (degrees centigrade) hexadecimal code is DF, which is 223 decimal.

To enter the symbol:

 make sure num lock is on

 press Alt
 press consecutively 0223
 release Alt

Because of a character set, character "ß" will appear on screen, but LCD will display properly.

dprns(1,0,0,'T=xx.xßC');
dprnr(1,2,0,4,1,cybro_temperature*0.1);

Codes 0..7 are reserved for bar-graph and national characters.

64
 Appendix  Keyboard shortcuts

Keyboard shortcuts
General

F1 Help
F2 Syntax check
F4 Program settings
Shift-F4 Environment settings

F5 Hardware setup
F6 Allocation editor
F7 Mask editor
F8 Socket editor

F9 Send program to controller

Ctrl-F9 Send without initializing variables
F10 Open online monitor
F11 Start PLC program
F12 Stop PLC program
Ctrl-F12 Pause PLC program

Ctrl-O Open project

Ctrl-S Save project

Ctrl-Shift-S Save As
Ctrl-D Connect/disconnect communication
Ctrl-L Select NAD

Ins Context sensitive insert

Delete Context sensitive delete
Ctrl-Up Move item up
Ctrl-Dn Move item down

Ctrl-Tab Next window

Ctrl-Shift-Tab Previous window
Ctrl-F4 Close window
Alt-F4 Exit program

Text editor

Ctrl-space Insert variable or function

Ctrl-Z Alt-Backspace Undo

Shift-Ctrl-Z Redo

Ctrl-X Shift-Del Cut

Ctrl-C Ctrl-Insert Copy
Ctrl-V Shift-Insert Paste
Ctrl-A Select all

Ctrl-F Find
F3 Find next
Ctrl-R Replace
Ctrl-G Go to line

Ctrl-Shift-I Indent selection

Ctrl-Shift-U Unindent selection
Ctrl-Shift-C Comment/uncomment selection

65