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Table of Contents
Warranty and Liability ................................................................................................. 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Principle of operation............................................................................ 6
1.2.1 Encoding with SIMATIC Target 1500S ................................................ 6
1.2.2 Overview of the overall solution ........................................................... 7
1.2.3 Simulink External mode........................................................................ 9
1.2.4 Manipulating model parameters using STEP 7 .................................. 10
1.3 Components used .............................................................................. 11
2 Engineering ...................................................................................................... 12
2.1 Model simulation with Simulink .......................................................... 12
2.1.1 Temperature process ......................................................................... 12
2.1.2 PID controller ...................................................................................... 13
2.1.3 Complete control loop (PID controller and temperature process) ...... 16
2.1.4 Simulation of the complete control loop ............................................. 20
2.1.5 Preparations for External mode ......................................................... 21
2.2 Code generation with SIMATIC Target 1500S ................................... 22
2.2.1 Settings for code generation .............................................................. 22
2.2.2 Encoding with SIMATIC Target 1500S .............................................. 26
2.3 Hardware configuration ...................................................................... 28
2.3.1 Overview............................................................................................. 28
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1 Introduction
1.1 Overview
Requirement
In automation and control engineering, the MATLAB/Simulink software from
MathWorks is frequently used to simulate processes and create algorithms. The
requirement is to have the model, algorithm or function run on an ODK-capable
CPU (SIMATIC S7-1500 Software Controller or CPU 1518 ODK) in just a few
steps.
The MATLAB Coder and Simulink Coder add-on packages are used to compile
the Simulink models to “C/C++” code.
This code can be integrated into the CPU via the Open Development Kit (ODK)
interface.
In the CPU’s real-time environment, the code can be called and executed from
the S7 program.
General task
Figure 1-1: Running the Simulink model on an S7-1500 Software Controller
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1. Encode the Simulink model with the SIMATIC Target 1500S add-on and run it
with the SIMATIC S7-1500 Software Controller.
2. Use Simulink External mode to monitor the model and change the parameters
during operation.
Automation task
This application example shows you how to commission a Simulink model on the
SIMATIC S7-1500 Software Controller. The automation task is a temperature
control system with a simulated controlled system (temperature process).
Figure 1-2: Automation task: Temperature control system
Setpoint
PID PID Simulated
controller output temperature process
Process
value
For the application example, the PID controller is created using Simulink and
ported to the S7-1500 Software Controller. The temperature process is simulated in
the S7 program with the “LSim_PT3” function block from the “LSim” library.
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Note The application example is deliberately kept simple to focus on the description of
the use of SIMATIC Target 1500S.
The following figure shows the steps from creating the model in Simulink to
commissioning on an S7-1500 Software Controller. Table 1-1 explains the steps in
detail.
SCL Source
S7-1500 4
Web
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Server
5. Load SO file to web server. Upload of the SO file to the CPU’s web
server using the “Filebrowser” function.
During code generation with SIMATIC Target 1500S, the model’s original
interfaces are applied. The SCL block has the same interfaces as the Simulink
model.
The block is provided with additional parameters (EN, ENO and STATUS). The
block is called via EN and ENO. The STATUS output outputs diagnostic
information.
Figure 1-4: Simulink block and SCL block
This application example describes a temperature control system with the following
structure:
A SIMATIC ET 200SP Open Controller is used as a runtime system.
The SO file is initialized in the Startup OB. The SO file is loaded to the work
memory.
The temperature process is simulated in the S7 program with the “LSIM_PT3”
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function block.
The PID controller created in Simulink is encoded to an SO file using SIMATIC
Target 1500S. The S7 program calls the SO file.
The entire temperature control system (PID controller and simulated process)
is called in the cyclic OB with an interrupt time of 0.1 seconds.
S7 Program
Startup
FB (SCL source)
initialize web server
initialization
PID controller
SO file
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load
Cyclic work
Interrupt memory
Lsim_PT3
(simulated
process)
SO file
call
ModelPIDOneStep
(PID controller)
Simulink External mode allows you to monitor the model transferred to the CPU
during operation and change parameters online.
To use External model, enable the “External mode” interface in the code
generation settings before generating the code.
Figure 1-6: Running the Simulink model on the S7-1500 Software Controller
2
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1. Monitor parameters
The Scope block in Simulink allows you to graphically display signals. In this case,
these are the following three signals:
“setpoint” in yellow
“processValue” in red
“outPID” (manipulated variable) in blue
2. Change parameters
Simulink features blocks (here: “PIDController”) that have internal parameters, e.g.
P, I, D. You can open the block’s screen form and change the parameter values
during operation. The parameter change affects the simulation and you get a
changed result.
If you want to adjust the parameters to the process during operation, you can
access the internal parameters in the Simulink model.
Optionally, you can create a global data block with the required parameters of the
Simulink model. In the S7 program, you can use the global data block to
manipulate the model parameters.
Note If you want to manipulate the model parameters using STEP 7, you have to
check “Parameter access with STEP 7” before generating the code (see Chapter
2.8 Changing model parameters with STEP 7).
The following figure shows the internal parameters of the “PIDController” block
from Simulink and the appropriate variables in STEP 7.
Figure 1-7: Model parameters in Simulink and STEP 7
Simulink
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STEP 7
The application example was created with the following hardware components:
Table 1-3: Hardware component
Component No. Article no. Note
SIMATIC ET 200SP 1 6ES7677-2AA41-0FB0 -
Open Controller
CPU 1515SP PC 4GB SIMATIC S7-1500 CPU 150xS manual
(WES7-P, 64-bit)
https://support.industry.siemens.com/cs/ww/en/view/109249299
Manual: SIMATIC S7-1500 Software Controller Additional
Information on CPU 1505S/CPU 1507S
https://support.industry.siemens.com/cs/ww/en/view/104943430
Manual: SIMATIC ET 200SP Open Controller CPU 1515SP PC
https://support.industry.siemens.com/cs/ww/en/view/109248384
2 Engineering
2.1 Model simulation with Simulink
This chapter describes how to create the model to be simulated with Simulink.
Alternatively, open the Simulink model called “ModelProcessPID.slx” from the
sample project.
In Simulink, the process is simulated in the form of three PT1 functions connected
in series.
3. Create a new model (“Blank Model”) using Simulink and save it under the
name “ModelPID”.
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Step Instruction
5. Insert the following blocks from the Simulink library into the subsystem:
Input ln1: “Simulink > Sources >In1”
Input In2: “Simulink > Sources >In2”
Output Out1: “Sink > Sources > Out1”
Add block: “Simulink > Math Operations > Sum”
PID controller: “Simulink > Discrete > Discrete PID Controller”
6. Double-click the block parameters of “Sum” and change the value of the “List
of signs” parameter to “ |+- ”.
8. Open the block parameters of “Discrete PID controller” and apply values in the
below figure.
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Note
“ts” (0.1 for 100 ms) is entered in “Sample time”. The controller and the
process will later be called in the CPU in the “CyclicInterrupt” OB (cycle: 100
ms).
The PID values were determined empirically for this application example. A
good response to setpoint changes with little overshoot is achieved with this
parameterization.
Step Instruction
9. In the “PID Advanced” tab, set a PID output limit from 0.0 to 100.0.
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11. Connect the blocks and name them as shown in the below figure.
3. Use “Add MATLAB Variable” to create three variables as shown in the below
figure.
Step Instruction
5. In the toolbar, open the “Simulink Library Browser”.
6. Insert a “model” from the “Simulink > Ports & Subsystems” category into the
model.
Assign the name “ModelPID”.
The model that has already been created is referenced by Simulink based on
the model name.
7. Insert three blocks of the following type from the Simulink library into the
Simulink model:
“Simulink > Continuous > Transfer Fcn”
12. Double-click the “Mux” block and change the value of the “number of inputs”
parameter to 3.
Close the parameterization screen form.
13. Double-click the “Constant” block and change the “Constant Value” to 50.
Close the parameterization screen form.
Step Instruction
14. Connect the complete control loop and name the blocks as shown in the below
figure.
For “Simulation stop time”, select 150.
Step Instruction
18. Chart title
Show legend and grid
Scale y-axis for “temperature value”
2. In the Simulink model toolbar, select the “Run” button to start the simulation.
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3. The simulation starts. The result you get is the temperature curve of the
complete control loop over time.
To allow you to monitor the PID controller running on the CPU, Simulink provides
External mode. To graphically visualize the PID controller signals, you have to
insert a “Scope” block.
In the sample project, these customizations have already been implemented.
Table 2-4: Preparations for External mode
Step Instruction
1. Open the “ModelPID” model.
3. Insert the following blocks from the Simulink library into the “ModelPID” model:
“Simulink > Signal Attributes > Signal Conversion”
“Simulink > Sinks > Scope”
“Simulink > Signal Routing > Mux”
4. Double-click the “Mux” block and change the value of the “number of inputs”
parameter to 3.
Close the parameterization screen form.
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5. Connect the model and name the blocks as shown in the below figure.
The black & white blocks of the “ModelPID” model are for graphical
visualization of the signals only and do not influence the overall simulation.
6. Now the model can be encoded for the S7-1500 Software Controller and run
(see Chapter 2.2 Code generation with SIMATIC Target 1500S).
2. In the menu bar, click “Code > C/C++ Code > Code Generation Options…”.
Step Instruction
4. Navigate to “Interface”.
1. In “Interface”, select the “External mode” setting.
This setting enables External mode.
2. In “MEX-file arguments”, enter the IP address of the runtime system (here:
Windows interface). For the application example, enter ‘192.168.1.1’.
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Note
The IP address must be entered with single quotation marks ‘192.168.1.1’.
Step Instruction
5. Navigate to “Solver”.
1. In “Start time”, keep “0”.
2. Change “Stop time” to “inf”.
This ensures that External mode is used without a defined end.
3. In “Solver”, leave the default setting “auto (Automatic solver selection)”.
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Step Instruction
6. Navigate to “Target 1500S Options”.
1. Optionally, check “Copy all referenced files (MATLAB or C files) to ODK
project”.
With this setting, SIMATIC Target 1500S generates an ODK project that
you can edit with Eclipse and compile even without Simulink.
2. Check “Parameter access with STEP 7”.
This setting enables parameter access to the model parameters via the S7
program.
3. Make sure that the “Hardware Interface ID (HW-Identifier)” is correct.
This value must match the HW identifier set in the STEP 7 project (here:
59 Windows interface of the open controller).
4. Select “Apply” to confirm.
3
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Note
The “Heap size for dynamic memory allocation in kByte” and “Max block size
for dynamic memory allocation in Byte” parameters need to be changed only
when there are problems with code generation.
For more information, please refer to the Target 1500S manual
https://support.industry.siemens.com/cs/ww/en/ps/24443/man
and the SIMATIC S7-1500 ODK 1500S manual
https://support.industry.siemens.com/cs/ww/en/ps/13914/man.
2. In the menu bar, click “Code > C/C++ Code > Build Model”.
Alternatively, you can also use the “Build Model” button.
4. As soon as code generation has started, you can click the “View...” link in the
status bar of the Simulink window.
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Step Instruction
5. The “Diagnostic Viewer” opens.
Click the “outputs” link. This takes you directly to the store directory of the
SO file and the SCL source.
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IP: 192.168.1.100
Use an Ethernet cable to connect the programmer (PG/PC) to the runtime system
(SIMATIC ET 200SP Open Controller).
Make the following settings:
PG/PC interface:
– Ethernet (IP address: 192.168.1.100)
ET 200SP Open Controller:
– X2P1 Windows interface (IP address: 192.168.1.1)
– X1 CPU PROFINET interface (IP address: 192.168.0.1)
The subnet mask for all interfaces is 255.255.255.0.
Note For External mode, the correct HW identifier must be parameterized in the
Target 1500S Options and in the S7 program (call of the “ModelPIDCallExtMode”
FB). Each interface has its own HW identifier:
Interface HW identifier
X2P1 Windows interface 59
X1 CPU PROFINET interface 64
You can read out the HW identifier in TIA Portal in each CPU in “PLC tags >
Show all tags > System constants”.
The following steps describe how to configure the hardware based on the SIMATIC
ET 200SP Open Controller. Alternatively, you can also open the sample project.
Step Instruction
3. Activate the web server for the PC system.
Acknowledge the security dialog.
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4. Click the “CPU 1505SP” and check “Activate web server on this module”.
Acknowledge the security dialog.
Step Instruction
5. Navigate to “Web server > User management”.
In “Access level”, check all check boxes for full access.
If necessary, create a password.
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Note
To load the SO file to the web server or delete it, the “read files” and
“write/delete files” parameters must be checked. All other parameters are
optional.
Step Instruction
6. Download the hardware configuration to the ET 200SP Open Controller.
In the project tree, select “PC-System_1”.
Click the “Download to Device” button.
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7. Select “PN/IE”.
Select the Ethernet interface of your PG/PC.
Select “Direct at Slot ‘2 X2’”.
Click the “Start search” button.
Click “Load”.
Step Instruction
8. Confirm all the dialogs that follow until the download is complete.
Note When downloading the hardware configuration of the SIMATIC ET 200SP Open
Controller for the first time, you must use the Windows interface (here:
IP address 192.168.1.1).
Make sure that the IP address of the Windows interface matches the
parameterization in TIA Portal.
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The following figure shows all the function blocks and PLC data types generated
from the SCL source created by Target 1500S. Depending on the code generation
settings, some blocks are optional.
External mode
Parameter access with STEP 7
The OBs (Startup and CyclicInterrupt) are created manually. As shown in the below
figure, calling the FBs is recommended.
ModelPID_Unload
ModelPID_Load
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CyclicInterrupt
Target 1500S
ModelPIDOneStep
SCL Source
ModelPIDCallExtMode*
ModelPIDExtModeInternal*
SO File
ModelPIDReadWriteParameters*
ModelPIDParams* ModelPIDExtModeStatus*
The following table describes all blocks that are generated from the SCL source.
PLC data type PLC data type of the “STATUS” output of the
ModelPIDExtModeStatus ModelPIDCallExtMode FB.
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(optional)
PLC data type PLC data type of the “inOutParams” in/out parameter
ModelPIDParams of the “ModelPIDReadWriteParameters” FB.
(optional)
4. Select the generated SCL source, “ModelPID_ODK.scl”, and import the file to
the S7 program.
From the SCL source, TIA Portal generates the blocks created by Target
1500S.
Step Instruction
7. In “PLC data types”, you will find the generated PLC data types.
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Note
The cycle of the “CyclicInterrupt” OB must match the cycle of the “PIDController”
in the Simulink model (here: 0.1 or 100 ms).
parameters [ModelPIDParams]
statusParameters [Word]
“Startup” OB
Table 2-11: “Startup” OB
Step Instruction
1. Open the “Startup” OB.
“CyclicInterrupt” OB
Table 2-12: “CyclicInterrupt” OB
Step Instruction
1. Open the “Libraries” task card.
Click the “Open global library” button.
Select the extracted LSim library and open it.
(Accept the upgrade if you are using a TIA Portal version that is more
recent than the provided library.)
In the “LSIM_V1x” library, “Master copies”, you will find the “LSim_PT3” PT3
block.
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Note
For the “LSim” library, please refer to the following entry:
https://support.industry.siemens.com/cs/ww/en/view/79047707
Step Instruction
3. Drag the “LSim_PT3” FB from the integrated library to your project.
Call the “LSim_PT3” block in Network 1.
Interconnect the FB with the variables as shown in the below figure.
The block corresponds to the temperature process from the Simulink model.
Note
The “cycle” parameter must match the cycle of the “CyclicInterrupt” OB and the
“PIDController” in the Simulink model (here: 0.1 or 100 ms).
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Step Instruction
6. Call the “ModelPIDReadWriteParameters” block in Network 4.
Interconnect the variables as shown in the below figure.
After calling the block, reset the “GlobalParameters”.paramAccess and
“GlobalParameter”.writeActive variables.
7. Before downloading the S7 program, load the SO file to the SIMATIC S7-1500
Software Controller’s web server (see next chapter).
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2. Open the CPU display of the CPU 1500S (icon on the desktop).
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5. Make sure that the “HTTP port” value is correct (default: 81).
Note For more information, please refer to the “SIMATIC S7-1500 CPU 150xS”
manual, “Configuring the web server” and “Virus scanners and firewall”.
https://support.industry.siemens.com/cs/ww/en/view/109249299
3. Click “Enter”.
4. Navigate to “Filebrowser”.
Step Instruction
6. Click the “Browse…” button.
Note When you have loaded the SO file to the web server, restart the CPU.
Only the call of the “ModelPIDLoad” block in the “Startup” OB loads the SO file to
the CPU’s work memory.
S7 program download
Table 2-15: S7 program download
Step Instruction
1. Open TIA Portal.
4. 1. In the “Modify value” column, enter the value 50.0 for the “setpoint”.
2. Click the “Modify all selected values once and now” button.
Note When using External mode, please follow the information provided in the Target
1500S manual.
https://support.industry.siemens.com/cs/ww/en/ps/24443/man
Requirement
Before generation, you have configured External mode (see Chapter
2.2.1 Settings for code generation).
When calling the “ModelPIDCallExtMode” FB, you have interconnected the
“EnableExtMode” input with “TRUE”.
You have loaded the SO file to the CPU’s web server (see Chapter
2.5 Loading the SO file to the web server).
You have downloaded the S7 program to the CPU (see Chapter
2.6 Commissioning with STEP 7).
You have set the CPU to “RUN”.
You have connected your PG/PC (MATLAB/Simulink) to the CPU via Ethernet
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2.7.1 Monitoring
1 2
Step Instruction
4. Click “Connect to target”.
5. To open the “Scope” window, double-click the “Scope” icon in the Simulink
model.
Using the “WatchTableModelPID” watch table, you can change the “setpoint” in
STEP 7 and monitor the chart in the “Scope” window.
If you change the setpoint from 0.0 to 50.0, you get the following signal chart.
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Step Instruction
6. The Scope window shows that “outPID” is limited to 20. The “process Value”
aperiodically approaches the value.
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7. Set “Upper saturation limit” back to 100 and select “Apply” to confirm.
Then the value is modified back to 50.
Note When you change parameter values using External mode, these changes are
valid only until a restart of the CPU. After a restart, the original values are valid
again.
If you want to permanently change the values, regenerate the blocks using
Target 1500S. Reload the SO file to the web server. Restart the CPU.
If you change not only parameters but also the model and the interfaces of the
block (here: “PIDController”), you have to reintegrate the SCL source into the S7
program.
Input parameters
Table 2-19: Input parameters
Parameter Data type Description
write BOOL To write the parameters from the S7 program to the
Simulink model, set this value to TRUE. The values
transferred at the “inOutParams” parameter are
written to the Simulink model.
To read the parameters from the Simulink model, set
this value to FALSE. The current values of the
Simulink model parameters are written to the variable
interconnected at “inOutParams”.
inOutParams PLC data type With the “inOutParams” in/out parameter, you can
ModelPIDParams transfer the Simulink model parameters for
read/write.
Output parameters
Table 2-20: Output parameters
Parameter Data type Description
STATUS WORD This return value is automatically generated by ODK.
When the execution is successful, the return value is
0.
Table 2-21: Changing model parameters with the watch table in STEP 7
Step Instruction
1. Navigate to the “Watch and force tables” folder.
2. Open “WatchTableModelPID”.
Step Instruction
4. In the “Modify value” column, insert the following values:
1. “GlobalParameters”.paramAccess = TRUE
2. Click the “Modify all selected values once and now” button.
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Step Instruction
6. To obtain the original state, change the value of the
“GlobalParameters”.parameters.PIDController_Upper… parameter back to
100.0.
Click the “Modify all selected values once and now” button.
Note When you change values of parameters using the watch table, these changes
are valid only until a restart of the CPU. After a restart, the original values are
valid again.
If you want to permanently change the values from the S7 program, change the
parameter values directly in the data block (see next chapter).
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To permanently keep the model parameters (even after a CPU restart), set the
“Global”.paramAccess and “Global”.writeActive variables of the
“GlobalParameters” DB in the “Startup” OB.
Step Instruction
3. Click the “Monitor all” button.
Step Instruction
8. Click the “All values” button and confirm the dialog to copy the instantaneous
values to the start values.
Now all instantaneous values have been stored in the DB as start values.
Only the start values for the “parameters” model parameters are to be saved.
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9.
Delete the start values in all other variables.
10. Select the “GlobalParameters” DB and click the “Download to Device” button.
Result:
The “ModelPIDReadWriteParameters” block is called once each time the CPU
is restarted.
– The “GlobalParameters”.paramAccess and “GlobalParameters”.writeActive
variables are set in the “Startup” OB.
– The variables are reset after calling the “ModelPIDReadWriteParameters”
FB in the “CylicInterrrupt” OB.
With each restart, all model parameters are set with the saved values from the
“GlobalParameters”.parameters variable.
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3 Valuable Information
SIEMENS
STEP 7 (TIA Portal)
STEP 7 is the development environment for programming and commissioning
SIMATIC programmable logic controllers.
http://w3.siemens.com/mcms/simatic-controller-software/en/Pages/programming-
software.aspx
MathWorks
MATLAB and Simulink are registered trademarks of MathWorks, Inc.
MATLAB
Program for solving mathematical problems and graphically visualizing the results.
In MATLAB, a proprietary programming language is used for programming.
https://www.mathworks.com/products/matlab.html
MATLAB Coder
Add-on to MATLAB for generating “C/C++” code from the proprietary MATLAB
programming language. MATLAB Coder requires that the MATLAB basic package
be installed.
https://www.mathworks.com/products/matlab-coder.html
Simulink
Add-on to MATLAB for graphical programming and simulations of models. Simulink
offers a comprehensive library with functions, for example, for creating control
engineering applications. Simulink requires that the MATLAB basic package be
installed.
https://www.mathworks.com/products/simulink.html
Simulink Coder
Add-on to Simulink for generating “C/C++” code from Simulink models. Simulink
Coder requires that MATLAB, MATLAB Coder and Simulink be installed.
https://www.mathworks.com/products/simulink-coder.html
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4 Appendix
4.1 Service and Support
Industry Online Support
Do you have any questions or do you need support?
With Industry Online Support, our complete service and support know-how and
services are available to you 24/7.
Industry Online Support is the place to go to for information about our products,
solutions and services.
Product Information, Manuals, Downloads, FAQs and Application Examples – all
the information can be accessed with just a few clicks:
https://support.industry.siemens.com/ .
Technical Support
Siemens Industry’s Technical Support offers you fast and competent support for
any technical queries you may have, including numerous tailor-made offerings
ranging from basic support to custom support contracts.
You can use the web form below to send queries to Technical Support:
www.siemens.com/industry/supportrequest.
Service offer
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