This example assumes that you have generated Structured Text code from a Simulink® model. If you have not yet done so, see Generate Structured Text from the Model Window.
The example in this topic shows generated code for the CoDeSys Version 2.3 IDE. Generated code for other IDE platforms looks different.
plcdemo_multirate model. This model has two sample
Open the PLC Coder app. Click the PLC Code tab.
Click Generate PLC Code.
PLC Coder™ software generates Structured Text code and places it in
If you do not have the
plcdemo_multirate.exp file open,
open it in the MATLAB® editor and examine the Structured Text code.
The generated code contains a global time step counter variable:
VAR_GLOBAL plc_ts_counter1: DINT; END_VAR
In this example, there are two rates, and the fast rate is twice as fast as the slow rate, so the time step counter counts to 1, then resets:
IF plc_ts_counter1 >= 1 THEN plc_ts_counter1 := 0; ELSE plc_ts_counter1 := plc_ts_counter1 + 1; END_IF;
The generated code for blocks running at slower rates executes conditionally
based on the corresponding time step counter values. In this example, the
generated code for
Unit Delay1, and
Sum1 executes every other time step, when
plc_ts_counter1 = 0, because those blocks run at the slow
rate. The generated code for
executes every time step because those blocks run at the fast
SS_STEP: (* Gain: '<S1>/Gain' incorporates: * Inport: '<Root>/U1' * Sum: '<S1>/Sum' * UnitDelay: '<S1>/Unit Delay' *) rtb_Gain := (U1 - UnitDelay_DSTATE) * 0.5; (* Outport: '<Root>/Y1' *) Y1 := rtb_Gain; IF plc_ts_counter1 = 0 THEN (* UnitDelay: '<S1>/Unit Delay1' *) UnitDelay1 := UnitDelay1_DSTATE; (* Gain: '<S1>/Gain1' incorporates: * Inport: '<Root>/U2' * Sum: '<S1>/Sum1' *) rtb_Gain1 := (U2 - UnitDelay1) * 0.5; (* Outport: '<Root>/Y2' *) Y2 := rtb_Gain1; END_IF; (* Outport: '<Root>/Y3' incorporates: * Sum: '<S1>/Sum2' * UnitDelay: '<S1>/Unit Delay' *) Y3 := UnitDelay_DSTATE - UnitDelay1; (* Update for UnitDelay: '<S1>/Unit Delay' *) UnitDelay_DSTATE := rtb_Gain; IF plc_ts_counter1 = 0 THEN (* Update for UnitDelay: '<S1>/Unit Delay1' *) UnitDelay1_DSTATE := rtb_Gain1; END_IF;
In general, for a subsystem with n different sample times, the generated code has
n-1 time step counter variables, corresponding to the
n-1 slower rates. Code generated from parts of the model running
at the slower rates executes conditionally, based on the corresponding time step counter