# Wago Programmable Logic Controllers¶

## Communication with Wago PLCs¶

The communication is implemented through the standard Modbus/TCP protocol.

## Modbus Protocol¶

The standard Modbus serial protocol defines mainly:

• 4 memory areas on the device that can be accessed writing, reading or both
• how to construct and send requests to the device and how to interpret responses

What the protocol does not define are information contained in those specific memory areas as this is device dependent. In order to obtain this information is necessary to consult the documentation provided by the producer.

The Modbus/TCP protocol is built on top of the Modbus serial protocol as it encapsulates Modbus messages through a TCP/IP socket usually on standard port 502.

## Wago PLCs¶

Wago PLCs are usually composed by a main core board plus some number of additional boards as needed containing Input or Output channels. The bliss wago class access these values reading or writing specific modbus registers. The user is allowed to map these input/output channels with string names through the yml file as described after.

## Configuration¶

The configuration is a matter of defining the following: - Provide connection informations - Map PLC input/output plugged modules - Assign some meaningful logical names to input/output - Define counters - Define counter gain - If interlocks are present provide the configuration

### Connection informations¶

We can connect to Wago in two ways:

• direct connection
• through Tango Device Server

The connection can be direct with the following configuration:

modbustcp:
url: host:port

Example
modbustcp:
url: wcid31l

If you don’t specify the port the default Modbus port 502 is taken which is always the case for real PLC.

Or we can have a connection through a Tango Device Server using the Fully Qualified Domain Name (FQDN).

tango:
url: tango://host:port/domain/family/member

Example
tango:
url: tango://lid32ctrl1:20000/ID32/wcid32c/tg

Normally host:port can also be omitted if we define the global variable TANGO_HOST.

### Mapping PLC input/output plugged modules¶

Here is given a basic example of yaml configuration:

name: wcid31l
plugin: bliss
description: ID31 EH I/O Station
module: wago.wago
class: Wago
modbustcp:
url: wcid31l


Basic information have the purpose to identify the device, the kind of device and the host address to allow communications.

As the PLC can be composed following user needs we have to specify what modules are attached to the Main CPU, this is done using the type keyword. Than we want to give a name to single input/output and this is done using the logical_names keyword.

If the input/output module has, for example, 4 inputs, we can’t give more than 4 logical_names, but we can use the same name twice or more to logically group them. In this case we can still distinguish them later accessing to the logical_channel.

Let’s take this example:

name: wcid31l
plugin: bliss
description: ID31 EH I/O Station
module: wago.wago
class: Wago
modbustcp:
url:wcid31l
mapping:
- type: 750-476
logical_names: pot1vol, pot1cur
- type: 750-530
logical_names: p9,p10,p11,p12,p13,pso,wcdm2c7,wcdm2c8
- type: 750-478
- type: 750-478
- type: 750-562
logical_names: dac5, dac6
- type: 750-562-UP
logical_names: pot1in, dac8
- type: 750-469
- type: 750-516
logical_names: i0_g,i0_g,i0_g,_
- type: 750-467
logical_names: i0,_
- type: 750-436
logical_names: o1, o2, o3, o4, o5
ignore_missing: True
counter_names: pot1vol, pot1cur, pot2vol, pot2cur, i0
counter_gain_names: i0_g


We can see that i0_g is used three times and so we are mapping three input/output with the same logical_name and they will have a logical_channel with a progressive number starting from zero. So the first i0_g will have logical_channel 0, the second will have 1 and so on.

First, you have to declare the type of board and then you can map the logical names that will be used to access those channels.

Some other examples:

• Card type 750-476 is a 2 Channel +-10V Input, so you will declare 2 logical names from which you will expect float values.
• Card type 750-530 is an 8 Channel Digital Output, so you will declare 8 logical names and you will expect and use boolean data.
• The last Card type shows how to behave in the case that there is nothing attached to the channel: you can just map with an underscore.

The key counter_names have to be organized as a comma separated list of logical names. These names should be already defined in the preceding mapping. The key counter_gain_names associates a counter with gains when the hardware requires it (e.g.novelec electrometer with 3 different gains).

### Ignore not mapped channels¶

The additional key ignore_missing is used to avoid exception if a channel is not mapped on logical_names. Be aware that we can avoid defining last channels on the module, but we can’t skip.

For example we can go from this:

mapping:
- type: 750-530
logical_names: p9,p10,p11,p12,p13,pso,wcdm2c7,wcdm2c8

To this:
ignore_missing: True
mapping:
- type: 750-530
logical_names: p9,p10,p11,p12

Using _ underscore to map unused channels is a convention but is not ignoring them, simply mapping with the name _.

### Simulation¶

We can simulate any Wago simply installing requirements-dev-conda and adding the following entry to the configuration:

simulate: True

This will launch a simulator on localhost (and a random port) ignoring other connection settings. You can use this simulator for basic testing, be aware that is initialized with random values and than it will keep the last value set. Also don’t forget the flag simulate: True if you want to connect to the real Hardware!

## Basic usage from the shell¶

Normally you would simply need set and get methods

BLISS [1]: w = config.get("transfocator_simulator")
BLISS [2]:
BLISS [2]:
BLISS [2]: wago_simulator = config.get("wago_simulator")
BLISS [3]: wago_simulator
Out [3]:  logical device     num of channel   module_type              description
----------------  ----------------  -------------  ----------------------------------
foh2ctrl                     4     750-504          4 Channel Digital Output
foh2pos                      4     750-408          4 Channel Digital Input
sain2                       1     750-408          4 Channel Digital Input
sain4                       1     750-408          4 Channel Digital Input
sain6                       1     750-408          4 Channel Digital Input
sain8                       1     750-408          4 Channel Digital Input
pres                       1     750-408          4 Channel Digital Input
esTf1                       1     750-469     2 Channel Ktype Thermocouple Input
esTf2                       1     750-469     2 Channel Ktype Thermocouple Input
esTf3                       1     750-469     2 Channel Ktype Thermocouple Input
esTf4                       1     750-469     2 Channel Ktype Thermocouple Input
esTr1                       1     750-469     2 Channel Ktype Thermocouple Input
esTr2                       1     750-469     2 Channel Ktype Thermocouple Input
esTr3                       1     750-469     2 Channel Ktype Thermocouple Input
esTr4                       1     750-469     2 Channel Ktype Thermocouple Input
intlckf1                     1     750-517         2 Changeover Relay Output
intlckf2                     1     750-517         2 Changeover Relay Output
o10v1                       1     750-554          2 Channel 4/20mA Output
o10v2                       1     750-554          2 Channel 4/20mA Output

Given mapping does match Wago attached modules

BLISS [4]: wago_simulator.get("foh2ctrl")
Out [4]: [1, 0, 1, 1]

BLISS [5]: wago_simulator.set("foh2ctrl",0,0,0,0)
BLISS [6]: wago_simulator.get("foh2ctrl")
Out [6]: [0, 0, 0, 0]

BLISS [7]: wago_simulator.get("esTr1", "esTr2","o10v1")
Out [7]: [78.8, -203.4, 44404]

BLISS [8]: wago_simulator.set("esTr1", 0)
!!! === RuntimeError: Cannot write: 'esTr1' is not an output === !!! ( for more details type cmd 'last_error()' )