Programming in C#

Here's a short overview to the key concept before starting your first C# programming session.

C# programming in iCube Engineer Toolchain is based on the embedded Common Language Runtime (eCLR).

This runtime system is able to transform both standard hardware and specific embedded platforms into extremely fast, powerful and multitasking-capable controllers according to IEC 61131. The embedded CLR uses the Common Intermediate Language (CIL) according to ISO/IEC 23271. The IEC 61131 languages can be used to program firmware and function blocks, as well as C#. Using an ahead-of-time compiler, the CIL intermediate code is translated into native machine code prior to its execution. As a result, the source code can be executed very quickly and in real-time.

Since C# code is usually developed in Microsoft Visual Studio®, Yaskawa provides a Visual Studio® extension that enables for developing eCLR firmware libraries in C#. This includes programs, functions and function blocks.

The Visual Studio® extension implements the libraries on iCube Controller devices by means of iCube Engineer, the IEC 61131 engineering software from Yaskawa.