# OpenPLC interfacing with IO-Link Master ## Real-Time Vibration Monitoring with Smart Signaling via Modbus TCP/IP {% embed url="" %} *** ### What This Project Does In this project, we use a **reComputer running OpenPLC runtime (vPLC)** to: * Read **real-time vibration data** (X, Y, Z axes + temperature) from a Balluff condition monitoring sensor * Detect objects using a **laser photo-electric sensor** * Drive a **Balluff Smart Light** as a visual signal output * All sensor communication happens through a **Balluff IO-Link Master** over **Modbus TCP/IP** *** {% embed url="" %} ### System Architecture ``` [Laptop / HMI] │ │ eth0: 192.168.0.11 (www / remote access) │ [reComputer — OpenPLC vPLC] vPLC IP: 192.168.100.10 eth1 IP: 192.168.100.2 │ │ Modbus TCP/IP │ [Balluff IO-Link Master — BNI00L3] IP: 192.168.100.3 ├── Port 1 → Smart Light (BNI IOL-812-205-K037) ├── Port 2 → Laser Sensor (BOS R254K-UUI-LH10-S4) └── Port 3 → Condition Monitor (BCM R15E-001-DI00-01,5-S4) ``` The vPLC connects to the IO-Link Master as a **Modbus TCP Client**, polling sensor data every scan cycle. *** ### Modbus Register Map #### 🟢 Port 1 — Smart Light (BNI IOL-812-205-K037) | Register No. | PLC Register | Function | | ------------ | ------------ | ----------------- | | 1117 | QW0 | Smart Light State | | 1118 | QW1 | Mode | | 1120 \~ 1124 | QW3 \~ QW7 | Seg1 \~ Seg5 | *** #### 🔵 Port 2 — Laser / Photo-electric Sensor (BOS R254K-UUI-LH10-S4) | Register No. | PLC Register | Function | | ------------ | ------------ | ---------------- | | 1201 | IW10 | Object Detection | *** #### 🟠 Port 3 — Condition Monitoring Sensor (BCM R15E-001-DI00-01,5-S4) | Register No. | PLC Register | Function | | ------------ | ------------ | -------- | | 1300 | IW0 | Status | | 1301 \~ 1302 | IW1 \~ IW2 | X-VRMS | | 1303 \~ 1304 | IW3 \~ IW4 | Y-VRMS | | 1305 \~ 1306 | IW5 \~ IW6 | Z-VRMS | | 1307 \~ 1308 | IW7 \~ IW8 | Temp. | *** ### Converting Modbus Words to REAL Float Values The Balluff condition monitoring sensor sends each float value (e.g., X-VRMS) **split across 2 x 16-bit Modbus registers** in Big-Endian format. To get a usable `REAL` value in OpenPLC, we need to: 1. Read the **High Word** and **Low Word** from two consecutive registers 2. **Byte-swap** them (Big-Endian → Little-Endian word order) 3. Reassemble into a **32-bit IEEE 754 float** using `memcpy` #### 📐 Byte Swap Example ``` Register 1 (H): X-VRMS = 62 → 0x003E Register 2 (L): X-VRMS = -9446 → 0xDB1A Original byte order: A B C D → 00 3E DB 1A After word swap: B A D C → 3E 00 1A DB IEEE 754 interpret: 0x3E001ADB = 0.1251 g ``` #### C++ Function Block (Custom OpenPLC Extension) This logic runs inside a **C++ Function Block** registered in OpenPLC. The `loop()` function executes every scan cycle. ```cpp VAR_INPUT HighWord: uint; LowWord: uint; END_VAR VAR_OUTPUT RealOut: real; END_VAR ``` ```cpp /* ================================================================ * C/C++ FUNCTION BLOCK * * --------------------------------------------------------------- * - This function block runs **in sync** with the PLC runtime. * - The `setup()` function is called once when the block initializes. * - The `loop()` function is called at every PLC scan cycle. * - Block input and output variables declared in the variable table * can be accessed directly by name in this C/C++ code. * * This block executes as part of the main PLC process and follows * the configured scan time in the Resources. Use it for real-time * control logic, fast I/O operations, or any C-based algorithms. * ================================================================ */ #include #include #include #include void plc_log(char *msg); int wtor_cycle_count = 0; void setup() { } void loop() { uint16_t combined_array[2]; float converted_val = 0; char print_msg[1000]; uint8_t b[4]; uint32_t u32; b[0] = (uint8_t)(HighWord & 0xFF); // B = Low byte of Register 1 (HighWord) b[1] = (uint8_t)(HighWord >> 8); // A = High byte of Register 1 (HighWord) b[2] = (uint8_t)(LowWord & 0xFF); // D = Low byte of Register 2 (LowWord) b[3] = (uint8_t)(LowWord >> 8); // C = High byte of Register 2 (LowWord) // placing each byte into its correct slot BADC, b[0]=B, b[1]=A, b[2]=D, b[3]=C u32 = ((uint32_t)b[0] << 24) | ((uint32_t)b[1] << 16) | ((uint32_t)b[2] << 8) | ((uint32_t)b[3]); memcpy(&RealOut, &u32, sizeof(RealOut)); //u32 bytes = [ b0 b1 b2 b3 ] = [ B A D C ] // Debug logs (print once every 100 cycles to avoid flooding the logs) if (wtor_cycle_count == 100) { sprintf(print_msg, "Low word: %02x", LowWord); plc_log(print_msg); sprintf(print_msg, "High word: %02x", HighWord); plc_log(print_msg); sprintf(print_msg, "Converted value: %f", RealOut); plc_log(print_msg); wtor_cycle_count = 0; } else { wtor_cycle_count++; } } ``` > ⚠️ **Key insight:** Simply casting the INT values to REAL will give you garbage. The byte swap is mandatory because Balluff uses Big-Endian word ordering, while OpenPLC/x86 is Little-Endian. #### C++ Print Code Function Block ```cpp VAR_INPUT print_message : bool; content: string; END_VAR ``` ```cpp /* ================================================================ * C/C++ FUNCTION BLOCK * * --------------------------------------------------------------- * - This function block runs **in sync** with the PLC runtime. * - The `setup()` function is called once when the block initializes. * - The `loop()` function is called at every PLC scan cycle. * - Block input and output variables declared in the variable table * can be accessed directly by name in this C/C++ code. * * This block executes as part of the main PLC process and follows * the configured scan time in the Resources. Use it for real-time * control logic, fast I/O operations, or any C-based algorithms. * ================================================================ */ #include #include #include // These includes are only required by the plc_log function #include #include #include #include int log_fd = -1; bool previous_print_msg = false; /* ================================================================ * Utility function to print messages on the PLC Logs. * ================================================================ */ void plc_log(char *msg) { if (log_fd < 0) { struct sockaddr_un addr; log_fd = socket(AF_UNIX, SOCK_STREAM, 0); if (log_fd < 0) return; memset(&addr, 0, sizeof(addr)); addr.sun_family = AF_UNIX; strncpy(addr.sun_path, "/run/runtime/log_runtime.socket", sizeof(addr.sun_path) - 1); if (connect(log_fd, (struct sockaddr *)&addr, sizeof(addr)) == -1) { close(log_fd); log_fd = -1; return; } } char buf[512]; snprintf(buf, sizeof(buf), "{\"timestamp\":\"%ld\",\"level\":\"INFO\",\"message\":\"%s\"}\n", (long)time(NULL), msg); if (write(log_fd, buf, strlen(buf)) == -1) { close(log_fd); log_fd = -1; } } void setup() { } void loop() { if ((previous_print_msg == false) && (print_message == true)) { plc_log((char *)content.body); } previous_print_msg = print_message; } ``` *** #### Main Program ``` VAR wX_VRMSHighWord : uint AT %IW1; wX_VRMSLowWord : uint AT %IW2; wY_VRMSHighWord : uint AT %IW3; wY_VRMSLowWord : uint AT %IW4; wZ_VRMSHighWord : uint AT %IW5; wZ_VRMSLowWord : uint AT %IW6; wTempHighWord : uint AT %IW7; wTempLowWord : uint AT %IW8; wSensor : word AT %IW0; wSmartLightState : word AT %QW0; wMode : word AT %QW1; wSeg1 : word AT %QW3; wSeg2 : word AT %QW4; wSeg3 : word AT %QW5; wSeg4 : word AT %QW6; wSeg5 : word AT %QW7; rTemp : real; rX_VRMS : real; rY_VRMS : real; rZ_VRMS : real; WtoR_convert : WTOR; iVibrationState : int; rThresholdL : real; rThresholdH : real; rMaxVib : real; END_VAR ``` ``` //Initialized values wSmartLightState := 1; wMode := 34049; rThresholdH := 7.1; rThresholdL := 2.5; (* Temperature *) WtoR_convert(HighWord := wTempHighWord, LowWord := wTempLowWord); rTemp := WtoR_convert.RealOut; (* X_VRMS *) WtoR_convert(HighWord := wX_VRMSHighWord, LowWord := wX_VRMSLowWord); rX_VRMS := WtoR_convert.RealOut; (* Y_VRMS *) WtoR_convert(HighWord := wY_VRMSHighWord, LowWord := wY_VRMSLowWord); rY_VRMS := WtoR_convert.RealOut; (* Z_VRMS *) WtoR_convert(HighWord := wZ_VRMSHighWord, LowWord := wZ_VRMSLowWord); rZ_VRMS := WtoR_convert.RealOut; //Finding max Vib (* Find max vibration *) rMaxVib := rX_VRMS; IF rY_VRMS > rMaxVib THEN rMaxVib := rY_VRMS; END_IF; IF rZ_VRMS > rMaxVib THEN rMaxVib := rZ_VRMS; END_IF; //Classify State (* Classify state *) IF rMaxVib < rThresholdL THEN iVibrationState := 0; ELSIF rMaxVib > rThresholdL and rMaxVib < rThresholdH THEN iVibrationState := 1; ELSE iVibrationState := 2; END_IF; IF wSensor = 1 THEN CASE iVibrationState OF 2: // Red Triple strobe - High vibration wSeg1 := 261; wSeg2 := 261; wSeg3 := 261; wSeg4 := 261; wSeg5 := 261; 1: // Orange Rotating effect - Moderate vibration wSeg1 := 2055; wSeg2 := 2055; wSeg3 := 2055; wSeg4 := 2055; wSeg5 := 2055; ELSE // Green Stable - Low vibration wSeg1 := 512; wSeg2 := 512; wSeg3 := 512; wSeg4 := 512; wSeg5 := 512; END_CASE; ELSE //White color, No object present wSeg1 := 2304; wSeg2 := 2304; wSeg3 := 2304; wSeg4 := 2304; wSeg5 := 2304; END_IF; ``` *** ### Hardware Used | Component | Model | | ----------------------------- | --------------------------------- | | Edge Computer (vPLC host) | Seeed reComputer | | IO-Link Master | Balluff BNI00L3 | | Smart Light | Balluff BNI IOL-812-205-K037 | | Laser / Photo-electric Sensor | Balluff BOS R254K-UUI-LH10-S4 | | Condition Monitoring Sensor | Balluff BCM R15E-001-DI00-01,5-S4 | | PLC Runtime | OpenPLC Runtime v3 (vPLC) | *** ### Source Code > 🔗 Source files for this project are available in the following zip file or you can access it here: > > {% file src="/files/PHBRLfnDomciHCUXTlg9" %} *** ### 🔗 Resources * 🌐 [autonomylogic.com](https://autonomylogic.com) * 📖 [OpenPLC Runtime Docs](https://openplcproject.com) * 🧑‍💻 [PLC project](https://editor.autonomylogic.com/?project_id=cmmtfduw800hd07n3kzotofxv) {% embed url="" %} Key notes {% endembed %} *** ## ♥️ Work With Me I regularly test **industrial automation and IIoT devices**. If you’d like me to **review your product** or showcase it in my courses and YouTube channel: 📧 Email: or drop me a message on [LinkedIn](https://www.linkedin.com/in/singhrajvir/) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://wiki.codeandcompile.com/product-reviews/smart-platforms/virtual-plcs/autonomy-edge-openplc-redefined/openplc-interfacing-with-io-link-master.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. 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