Mechatronic Objects Modeling and Realization with IEC 61131-3 Software Structures

This paper concerns with the definition and use of “mechatronic objects” for the design of complex manufacturing system as large machinery, which involves some concepts derived from Object–Oriented programming applied to industrial software development. In particular, the programming languages and structures defined in the International Standard for Programmable Logic Controllers (PLC) IEC 61131-3 norm are considered, with regards to software encapsulation facilities they offer. The aim is to develop a software configuration in which both control and mechanical devices are considered as a single object module. We call this integrated electronic–mechanical structure a “mechatronic object”, meaning that this module should be designed, maintained and reused as a whole. The paper describes a modular objects identification methodology and reports about a real application example of the proposed concepts, showing effectiveness of the object–oriented framework for industrial software applications.