Machine skills are executable functions of machines. Semantic models using ontologies are used to describe skills in a machine-readable way so that they can be registered in and executed from superordinate systems (e.g. Manufacturing Execution Systems). While semantic skill models provide a number of benefits (e.g. querying, reasoning, constraint-checking), they also have a huge drawback: Such models are complex and creating them manually is tedious and error-prone. In addition to that, PLC programmers who plan to implement a certain machine behavior and want to publish it as a skill, most often do not have any expertise in semantic technologies. PLC2Skill is a solution for this problem.
- A PLC programmer uses the PLC2Skill library when programming a machine. This library helps in correctly programming skills.
- After programming a PLC using the PLC2Skill library, the program has to be exported to PLCopen XML. PLCopen XML is an open exchange format defined in IEC 61131-10. Using this format instead of an API of a PLC programming environment ensures vendor neutrality of PLC2Skill.
- The imported PLC open XML file can be mapped into the skill model that is described here.
- With this model, it is possible to register skills at a skill based control platform that also follows the skill model
In case you want to see PLC2Skill in action, checkout this video of a little demonstration in a lab environment. Please note that an older version of Plc2Skill is used in this video. Please stick to the latest documentation if you want to use Plc2Skill for yourself.
The PLC2Skill library has to be imported into a PLC program. Skills can then be created by programming a function block (FB) that extends the abstract skill FB. Optional input parameters and output variables can be added by using the library's struct SkillVariable. The abstract Skill FB has an internal state machine (the one defined in ISA 88), that ensures that transitions can only be fired in the "correct" state. In every state, this state machine calls methods having the same name. For example, when switching to the "execute" state, the method execute() is called. These methods of the skill FB are empty because what is going to happen inside these methods is application-specific. In order for application-specific code to be called, these methods have to be overridden inside a concrete skill implementation that extends the library's skill FB.
There are three different ways to use the PLC2Skill Mapper. You can either use it locally as a command line application, run it as a web-service or integrate it into your application as a library.
Download the current cli-x.x.x-jar-with-dependencies.jar from the releases into a folder of your choice. Inside that folder, open a shell and execute java -jar cli-x.x.x-jar -f <PLCopen XML file you want to map> -e <endpointURL of your PLC>. The mapping result will be written to a file right next to the cli.jar.
A Short description of the CLI arguments:
-f / --filename: The path to the PLCopen XML file that needs to be exported in the previous step-e / --endpointUrl: The endpointUrl of the OPC UA server running on the PLC. This is typically something like "opc.tcp://" + IP address of your PLC + ":" + Port of the UA server (default is 4840). So for UA server running on localhost with the default port, this argument would have to be set to "opc.tcp://localhost:4840".-u / --user: (Optional) OPC UA user name in case there is no anonymous access. Has to be set if the server requires authentication, otherwise the connection will fail.-pw / --password: (Optional) Password for the given OPC UA user. Has to be set if the server requires authentication, otherwise the connection will fail.rI / --resourceIri: (Optional) Can be used to define an explicit IRI of the resource that provides the skill. This is useful in case you want to attach the skills generated with Plc2Skill to a resource that does already exist in your ontology. If you don't specify a resource IRI, Plc2Skill tries to create one based on the PLC's device name.-bI / --baseIri: (Optional) This is the base IRI used for all individuals created by Plc2Skill. If you don't explicitly specify one,http://www.hsu-hh.de/aut/ontologies/PLC2Skillis used as the baseIri-n / --nodeIdRoot: (Optional) A PlcOpen XML doesn't contain complete OPC UA nodeIds. Information of the root parts of the projects are not exported. This information is often used to create node IDs for UA variables. These node IDs are needed in order to execute a skill via OPC UA. So in order for the PLC2Skill Mapper to create all node IDs, the missing root part of all node IDs has to be presented. Plc2Skill connects to the server and tries to browse for the nodes by their local names / browse names and resolve the proper nodeIds. Instead of browsing the server, you can also enter the missing prefix of the nodeIds. You can determine this root component by comparing your PLC project in your programming environment to the root element in the exported PLC open XML file. Passing-ncan help in case you cannot connect to the server or Plc2Skill fails in resolving the nodeIds.
Download the current rest-api-x.x.x-jar-with-dependencies.jar from the releases into a folder of your choice and from a shell, run java -jar rest-api-x.x.x-jar-with-dependencies.jar. This will start a web server and you can send HTTP POST request to localhost:9191 to invoke the mapper. When creating the request, make sure to set the Content-Type header to multipart/form-data. Furthermore, the following information have to be sent inside the request body:
- Key: "plc-file" - Value: The PLCopen XML file that should be mapped
- Key: "endpointUrl" - Value: The endpoint URL of the PLC's OPC UA server (see above) as a string.
- Key: "user" - Value: The endpoint URL of the PLC's OPC UA server (see above) as a string.
- Key: "password" - Value: The endpoint URL of the PLC's OPC UA server (see above) as a string.
- Key: "nodeIdRoot" - Value: The root component of all node IDs (see above) as a string.
The REST-API can be tested with Tools such as Postman and used e.g. by web applications. Our skill based control system interacts with the PLC2Skill Mapper via the REST API.
You can also include the mapping library which is used in both the CLI-application and REST API in your own projects. In order to do so, import Plc2SkillMapper and after create a new instance of the mapper using its builder. After creating an instance, you can simply call executeMapping() to get the mapping result as a String.
Path filePath = Paths.get("<path to your mapping>").toAbsolutePath();
String endpointUrl = "opc.tcp://<your IP>:<your port>"; // default port of OPC UA is 4840
String user = "<username>";
String pw = "<password>";
// Instead of letting Plc2Skill browse for the nodeIds, you can also pass the missing root part in case you know it
// String nodeIdRoot = "|var|CODESYS Control Win V3 x64";
Plc2SkillMapper mapper = Plc2SkillMapper.Builder(filePath, endpointUrl)
// .setUser(user, password) // In case you have a PLC that requires authorization
// .setNodeIdRoot(nodeIdRoot) // In case you want to pass nodeIdRoot manually
// .setResourceIri(resourceIri) // In case you want to explicitly specify a resource IRI. Make sure to pass a valid IRI
// .setBaseIri(baseIri) // In case you want to explicitly specify a base IRI for all individuals. Make sure to pass a valid IRI
.build();
String result = mapper.executeMapping();We are excited about everyone using PLC2Skill in their own applications. If you use PLC2Skill in research, please consider giving credit by citing the following paper:
@inproceedings{KJF_AMethodtoAutomatically_2021,
author = {Köcher, Aljosha and Jeleniewski, Tom and Fay, Alexander},
title = {{A Method to Automatically Generate Semantic Skill Models from PLC Code}},
booktitle = {{IECON 2021 The 47th Annual Conference of the IEEE Industrial Electronics Society}},
year = {2021},
}