Whimori CDK: A Control Program Development Kit

This paper introduces Whimori CDK, an integrated development environment for PLC control programs based on IEC 61131-3 standard and TC6 XML schema. Whimori CDK consists of project manifest editor, LD graphic editor, LD-to-IL translator, IL runtime, LD-to-SMV translator, SMV model checker etc. The components of Whimori are portable and independent since they have been developed as Eclipse plug-ins. Particularly LD-to-IL translator, LD-to-SMV translator and IL runtime are designed to be based on formal semantics, implemented in Ocaml, and more reliable than other systems. This paper describes the overall structure of Whimori CDK and the features of graphic user interfaces and interior components.