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IFM Electronic AC402S, Programming Manual

The IFM Electronic AC402S Programming Manual is a comprehensive resource for users of this product. This manual covers crucial aspects of programming, ensuring optimal utilization. Available for free download, it can be obtained effortlessly from manualshive.com, granting easy access to all the information needed to operate the AC402S efficiently.

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SmartPLC SafeLine AC4S with fieldbus interfaces 
 

72 

> 

 

8.2 

Create safe application 

Content 

Supported program organization units (POUs) ......................................................................................73 
Available safety libraries .........................................................................................................................73 
Supported programming languages .......................................................................................................73 
Minimum number of AS-i slaves .............................................................................................................74 
Variable declaration with data transfer between standard and safety area ...........................................75 
Available memory space ........................................................................................................................75 
Pin safe project .......................................................................................................................................75 

43247 

To create a safe application: 
► 

In the safety extension area of the device tree:   
Double click on [SafetyPOU] 

>

 

Editor window shows the programming surface (safety FB editor): 

 

  

 

Summary of Contents for AC402S

Page 1: ... 7391150 03 11 2019 Programming Manual SmartPLC SafeLine AC4S with fieldbus interfaces AC402S AC412S AC422S AC432S Firmware 4 3 9 CODESYS Development System 3 5 9 7 HF 3 English ...

Page 2: ... the ifm package 13 4 2 3 Uninstall ifm package 13 5 Getting started 14 5 1 Start CODESYS 14 5 2 Create CODESYS project 15 5 2 1 Create new project with AC4S 16 5 2 2 Overview Project structure with AC4S 17 5 3 Use CODESYS online help 19 5 4 Create user account 19 5 5 Configure programming interface 20 5 5 1 Set communication path of Standard PLC 20 5 5 2 Set communication path of the fail safe PL...

Page 3: ...pes 63 7 5 2 Add visualisation to a project 64 7 5 3 Create a visualisation 65 7 5 4 Configure visualisation 66 7 6 Cross communication 67 7 6 1 Use network variables 68 7 7 Configure task processing 69 7 7 1 Configure main task 69 7 7 2 Set parameters for visualisation task 69 8 Programming of the fail safe PLC 70 8 1 Objects of a safe application 71 8 2 Create safe application 72 8 2 1 Supported...

Page 4: ...ad safe application to AC4S 103 9 1 3 Note Projects with network variables 104 9 1 4 Teach code sequences of the safe AS i slaves 104 9 1 5 Delete boot application via SD card 105 9 2 Operating states AC4S 106 9 2 1 Standard PLC 106 9 2 2 Fail safe PLC 108 9 3 Reset 112 9 3 1 Standard PLC 112 9 3 2 Fail safe PLC 114 9 4 Display web visualisation 115 10 Appendix 116 10 1 Library ACnnnn_Utils librar...

Page 5: ...ff Automation GmbH Germany IO Link is the property of the PROFIBUS Nutzerorganisation e V Germany www io link com ISOBUS is the property of the AEF Agricultural Industry Electronics Foundation e V Deutschland www aef online org Microsoft is the property of the Microsoft Corporation USA www microsoft com Modbus is the property of the Schneider Electric SE France www schneider electric com PROFIBUS ...

Page 6: ...versible injuries may result NOTICE Property damage is to be expected or may result Important note Non compliance can result in malfunction or interference Information Supplementary note Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designation of pushbuttons buttons or indications ...

Page 7: ... drawing Device manual Notes on operation of AC4S via GUI and web interface Description of the cyclic and acyclic data records fieldbus parameters and command interface Error description Supplement device manual Description of the acyclic data sets and the command interface Programming manual Creation of a project with the device using CODESYS Configuration of the device using CODESYS Programming ...

Page 8: ... about the safety related project development with CODESYS Remarks about safety related programming of the fail safe PLC with CODESYS After the installation of the CODESYS 3 5 programming system all documents are stored on the hard disk of the PC laptop and can be accessed Online help Program Files 3S CoDeSys CoDeSys Online Help CODESYS installation and first steps Program Files 3S CoDeSys CoDeSys...

Page 9: ... warranty claims The manufacturer assumes no liability for any consequences caused by tampering with the device or incorrect use by the operator Observe these operating instructions Adhere to the warning notes on the product 2 2 Required background knowledge 43060 This document is intended for specialists Specialists are people who based on their relevant training and experience are capable of ide...

Page 10: ...amming software for PLC programming complying with the standard IEC 61131 3 3 5 SP9 Patch 7 Hotfix 3 Package CODESYS für ifm SmartPLC SafeLine Safety extension for the CODESYS programming software Device and interface description of AC4S Function libraries for programming of Standard PLC Certified function libraries for programming the fail safe PLC Certified libraries for the safety relevant prog...

Page 11: ...pment System short CODESYS is a platform for the creation of PLC applications according to the standard IEC 61131 3 4 1 1 Install CODESYS Development System 40432 To install the software CODESYS Development System Install the programming system CODESYS 3 5 SP9 Patch 7 Hotfix 3 CODESYS installation and first steps CODESYS 3 5 SP9 Patch 7 Hotfix 3 is installed on the programming PC laptop ...

Page 12: ...C4S The ifm package file ifm_SmartPLC_SafeLine_V1_5_2_10 package contains the following certified components Component Description Plugins CODESYS plugins Files Project templates project examples CODESYS safety user manual CODESYS profiles Online help files Online helps CODESYS safety safety network variables Online help merge files Online help system Device description Description of the device m...

Page 13: ...Manager shows installed ifm package Click on Exit to close the Package Manager Note the remarks about the correct start of the programming system CODESYS Safety Start CODESYS S 14 4 2 3 Uninstall ifm package 42547 To uninstall the package CODESYS für ifm SmartPLC SafeLine 1 Start CODESYS Start CODESYS with administrator rights CODESYS programming interface appears 2 Uninstall the ifm package Selec...

Page 14: ...th the profile ifm electronic SmartPLC SafeLine V3 5 9 73 Requirements Software components were correctly installed Install the ifm package S 13 1 Create desktop shortcut Delete the desktop shortcut of CODESYS created during installation Create desktop shortcut of the following application Start All Programs 3S CODESYS CODESYS CODESYS without Profile 2 Start CODESYS with the ifm profile Double cli...

Page 15: ...ct with AC4S 16 Overview Project structure with AC4S 17 42490 Familiarise yourself with the following CODESYS functions Create CODESYS project Online help CODESYS Development System Create and configure project Objects of the user interface Online help CODESYS Development System Reference user interface ...

Page 16: ...kage S 13 CODESYS was started Start CODESYS S 14 1 Create new AC4S project Select File New Project The window for the configuration of the project properties appears Set the following values 1 Templates Select ifm_SmartPLC_SafeLine Project 2 Name Enter project name 3 Location Select storage location for the project file Click on OK to confirm the entered values CODESYS creates a new project with a...

Page 17: ...ster 2 Access standard input and output data S 50 Configuration nodes for safe AS i slaves at AS i Master 2 Configure safe AS i slaves S 24 Fieldbus_Interface provides access to the input and output data of the fieldbus interface Access standard input and output data S 50 local_IO is the configuration node for safe devices at the local I O interface Configure safe devices at local I O interface S ...

Page 18: ...SmartPLC SafeLine AC4S with fieldbus interfaces 18 ...

Page 19: ...elopment system appears Familiarise yourself with the CODESYS development system In particular with the following topics Names and functions of the user interface elements Basic menu functions Programming techniques and methods for data retention 5 4 Create user account 43243 Familiarise yourself with the following CODESYS functions Safety user administration and access control Online help Add Ons...

Page 20: ...s Connect CODESYS PC laptop and configuration interface 1 X3 or 2 X8 of the device Optional Adjust IP settings of the Ethernet interfaces 2 Select communication settings In the device tree Double click on the ifm_SmartPLC_SafeLine symbol In the editor window Click on Communication Settings The editor window shows the communication settings of the PLC 3 Select gateway Select the requested gateway i...

Page 21: ...tion path Activate Scan Network Window Select Device appears Mark node Gateway 1 and start scan process with Scan network Device scans network for devices Window shows detected devices and network path Select the sub node of the SafeLine node in the network path Information field shows detailed information about selected node Click on OK to set the communication path to the fail safe PLC 3 Acknowl...

Page 22: ...ocal I O interface and the Ethernet configuration interface 6 1 Configure Standard PLC 42478 Familiarise yourself with the following CODESYS functions Generic device editor Online help CODESYS Development System Reference user interface Objects object device and generic device editor The Standard PLC is configured via the Generic Device Editor of the CODESYS programming system The programmer can a...

Page 23: ...ice tree To configure the fail safe PLC of AC4S In the device tree Double click on SmartPLC_Safety_Extension SmartPLC Safety Extension The editor window shows the device editor of the fail safe PLC of AC4S Configure fail safe PLC as required The button Firmware Update in the tab Sicherheitssteuerung does not have any functionality in connection with the AC4S Do not activate the button An update of...

Page 24: ...apped to the classical behaviour of a programmable logic controller the logical device assumes the functions of signal detection and signal processing The individual functions are detect the code half sequences generated by the safe AS i input slave pre process the code half sequences by means of the internal logic provide the result of the logical preprocessing as safe variable value The programm...

Page 25: ...nditionally_dependent Input SF_IN_ASi_conditionally_dependent S 214 SF_IN_ASi_dependent Input SF_IN_ASi_dependent S 218 SF_IN_ASi_dependent_filter_w_testreq Input SF_IN_ASi_dependent_filter_w_testreq S 222 SF_IN_ASi_dependent_filter_ntestreq Input SF_IN_ASi_dependent_filter_ntestreq S 226 SF_IN_ASi_dependent_filter_nshutdown Input SF_IN_ASi_dependent_filter_nshutdown S 230 SF_OUTcontrol_ASi Output...

Page 26: ...l devices Logical devices for safe AS i slaves S 205 A logical device with a defined AS i address must only be added to a safety project once Add logical device to the project tree 43364 Safe AS i slaves are added to a standard area of device tree into the CODESYS project via the nodes SF_ASi_Master_1 and SF_ASi_Master_2 Safe AS i slaves connected to AS i Master 1 Safe AS i slaves connected to AS ...

Page 27: ... node of the selected AS i network in the safety extension area as sub element of the node Logical I Os Close the dialoge window with Close 3 Assign AS i address In standard area of device tree Double click on the added logical device Editor window shows the tab with configuration options of the logical device Select tab Safe ASi IO Configuration Table shows parameters of the logical device Enter ...

Page 28: ...SafeLine AC4S with fieldbus interfaces 28 Remarks about the configuration of the logical device Configure logical device S 29 Remarks about removal of the logical device Remove safe AS i slave from project S 31 ...

Page 29: ...cal device 43037 The Safe configuration tab enables access to the parameter interface of the logical device Number and type of available parameters depend on the selected logical device Improperly set parameters can lead to undesired behaviour of the system Familiarise yourself with parameters of the logical device before the configuration Logical devices for safe AS i slaves S 205 All time indica...

Page 30: ...iable Select the tab I O mapping in the device editor Editor window shows table with mapping settings Enter the name of the variable in the variable field of bit 0 to which the safe process signal is to be mapped CODESYS uses the entered designation to create a global variable of type SAFEBOOL Safety application can access the safe process signal via the variable The created variable is stored in ...

Page 31: ...ed separately in the project tree 1 Remove logical device from the standard area Mark logical device in standard area of device tree Select Edit Delete CODESYS removes the logical device from the standard area 2 Remove logical device from the safety area Mark logical device in the safety extension area of the device tree Select Edit Delete CODESYS removes the logical device from the safety extensi...

Page 32: ...n a CODESYS project via logical devices Depending on the type of the safe device the logical devices fulfil different functions Safe devices at local inputs 43084 Mapped to the classical IPO behaviour of a programmable logic controller the logical device assumes the functions of signal detection and signal processing The individual functions are detect the signals generated by the safe devices pre...

Page 33: ...ditionally_dependent S 244 SF_IN_local_dependent Input SF_IN_local_dependent S 248 SF_IN_local_dependent_filter_testreq Input SF_IN_local_dependent_filter_testreq S 252 SF_IN_local_dependent_filter_ntestreq Input SF_IN_local_dependent_filter_ntestreq S 256 SF_IN_local_dependent_filter_nshutdown Input SF_IN_local_dependent_filter_nshutdown S 260 SF_OUT_local_single Output SF_OUT_local_single S 264 ...

Page 34: ...igure logical device Configure logical device S 37 The user is responsible for the selection of the suitable logical devices The user must ensure that the selected logical devices provide the functionality required for the safety application to be implemented Observe the documentation of the logical devices Logical devices for the local I O interface S 235 A logical device with defined input chann...

Page 35: ...vide the functionality required for the safety application to be implemented Observe the documentation of the logical devices Logical devices for the local I O interface S 235 A logical device of a type with 2 defined input channels Input_Channel_A Input_Channel_B must only be added to a safety project once Requirement Devices are connected to the local I O interface according to the required safe...

Page 36: ... selected logical device Interface type Parameter Description Input 2 channels Input_Channel_A Local input which is connected to sensor channel A Input_Channel_B Local input which is connected to sensor channel B Output 1 channel Output_Channel Local output which is connected to the actuator or at which the test signal is to be provided Output 2 channels Output_Channel_A Local output which is conn...

Page 37: ...rameters of the logical device 43036 The Safe configuration tab enables access to the parameter interface of the logical device Number and type of available parameters depend on the selected logical device Incorrectly set parameters can lead to undesired behaviour of the system Familiarise yourself with parameters of the logical device before the configuration Logical devices for the local I O int...

Page 38: ...iable Select the tab I O mapping in the device editor Editor window shows table with mapping settings Enter the name of the variable in the variable field of bit 0 to which the safe process signal is to be mapped CODESYS uses the entered designation to create a global variable of type SAFEBOOL Safety application can access the safe process signal via the variable The created variable is stored in ...

Page 39: ... the test pulse are firmly set there are no additional configuration options SF_OUT_local_testpulse S 266 6 4 4 Remove safe local device from project 43061 To completely remove a safe device added to the local I O interface the 2 instances of the logical device must be deleted separately from the project tree 1 Remove logical device from the standard area Mark logical device in standard area of de...

Page 40: ...4S Data exchange between standard PLC and fail safe PLC S 82 6 6 Change IP settings 43400 Familiarise yourself with the following CODESYS functions Ethernet adapter configurator Online help Fieldbus support Ethernet adapter configurator The Ethernet configuration interfaces 1 X3 and 2 X8 must not be participants of the same EtherNet subnet Non compliance may result in connection problems between t...

Page 41: ...t click on MyProject Context menu appears Select Add device Window Add Device appears Set the following values 1 Vendor Select ifm electronic 2 Device Select ifm SmartPLC SafeLine from the list 3 Name Enter unique name for the device Click on Add Device to add the device to the project Click on Close to close the window CODESYS adds device to the device tree 2 Configure the device Configure the de...

Page 42: ...e the device can be operated as fieldbus device by a software extension In this respect the user has to assign a fieldbus stack to the Ethernet configuration interfaces 1 X3 or 2 X8 in CODESYS and configure it The device supports the following fieldbus stacks Description Fieldbus Further information EtherCAT master EtherCAT Use EtherCAT master S 43 Ethernet IP scanner EtherNet IP Add fieldbus stac...

Page 43: ...erCAT master can be used per device To add the EtherCAT master stack to the project Requirements Open or create project with AC4S 1 Add EtherCAT master stack In the device tree Right click on CODESYS _Root In the context menu select Add device Window Add Device appears Set the following values 1 Vendor Select ifm electronic 2 In table Select EtherCAT Master Click on Add Device to add the selected ...

Page 44: ...ce In the device tree Double click on EtherCAT_Master EtherCAT Master Click on the General tab The editor window shows the configuration options of the EtherCAT master Click on Browse Window Select Network Adapter appears Select requested Ethernet interface eth0 X3 or eth1 X8 Click on OK to apply the selected Ethernet interface Field Source Address MAC shows the MAC address of the selected Etherne...

Page 45: ... Window Device Repository appears Click on Install Window Install Device Description appears Select the device description of the EtherCAT slaves and click on Open CODESYS installs the device in the device repository 2 Add EtherCAT slave In standard area of device tree Right click on EtherCAT_Master EtherCAT Master In the context menu Select Add device Window Add Device appears Select the requeste...

Page 46: ...stack In the device tree Right click on X3 Ethernet or X8 Ethernet In the context menu Select Add device Window Add Device appears Set the following values 1 Vendor Select All vendors 2 In table Select the requested fieldbus stack in the Name column 3 Name Enter name of the fieldbus stack Click on Add Device to add the requested fieldbus stack to the project In the device tree CODESYS adds the sel...

Page 47: ...n in the standard area of device tree In the basic configuration a Standard PLC application contains the following objects Application is the container of the Standard PLC application SafetyApp_Mapping is a helper application for the data exchange between Standard PLC and the fail safe PLC Set interval of the data exchange S 85 Bibliotheksverwalter provides access to the standard and device specif...

Page 48: ...ons Program application Online help CODESYS Development System Program application Programming reference Online help CODESYS Development System Reference programming To create a Standard PLC application In standard area of device tree Double click on PLC_PRG PRG The editor window shows the programming surface Program the application in the editor ...

Page 49: ...g languages 42571 The following table shows which programming languages according to IEC 61131 are supported by the ifm function libraries Library Function Block Diagram FBD Sequential Function Chart SFC Instruction List IL Continuous Function Chart CFC Ladder Diagram LD Structured Text ST ACnnnn_Utils library X X X X X X ACnnnn_SYS_CMD library X X X X X X Legend X is supported is not supported 7 ...

Page 50: ... CODESYS Development System Programming Reference Data Types References Coupling of a program variable to an address mapping Online help CODESYS Development System Configuring I O Links 7 3 1 Options to access input and output data 43142 In a CODESYS project each input and output has a physical address according to the IEC standard e g IW5 CODESYS offers the following options to access this addres...

Page 51: ...ide valid data values while in a certain operating mode Output control I O interfaces Updated address areas channels Manual ASi_Master_1 AS i 1 Input IB IW ASi_Master_2 AS i 2 Input IB IW Fieldbus_Interface AS i 1 Output IB IW AS i 2 Output IB IW Gateway ASi_Master_1 ASi 1 Input IB IW ASi_Master_2 AS i 2 Input IB IW Fieldbus_Interface AS i 1 Output IB IW AS i 2 Output IB IW PLC ASi_Master_1 AS i 1...

Page 52: ...and output data S 53 Digital input and output data of the slave at AS i Master 2 Digital input and output data S 53 Analogue input and output data of the slaves at AS i Master 2 Analogue input and output data S 53 Consider validity of the interface data Validity of the interface data S 51 The function library ACnnnn_Utils library contains the complex variable ASi_NET The variable represents all in...

Page 53: ...o access the digital process data of the slaves at AS i master 2 in a system with 2 AS i masters Double click on ASi_2_binaryIO Analogue input and output data 42499 To access the analogue process data of the slaves at AS i master 1 In the device tree Double click on ASi_1_analogIO Editor window shows a structured list of the analogue inputs and outputs of the AS i slaves In column Variable Mouse c...

Page 54: ...ycles of 120 words each The programmer can access this data via IEC addresses To access the input and output data of the fieldbus interface Device window In the project tree double click on FieldBusData_ Editor window shows a structured list of the inputs and outputs In column Variable Mouse click on to make individual variables visible Outputs data of the AS i slaves 42540 The area contains all d...

Page 55: ...cess the digital output data of the slaves at AS i master 2 in a system with 2 AS i masters Double click on ASi_2_binaryIO Analogue output data 42502 To access the analogue output data of the slaves at AS i master 1 Device window In the project tree double click on ASi_1_analogOut Editor window shows the structured list of the analogue output data In column Variable Mouse click on to make individu...

Page 56: ...C of AC4S To access the input output data of the non safe devices at the local I O interface Local I O interface Access non safe inputs outputs S 78 To transfer process data between Standard PLC and fail safe PLC of AC4S Data exchange between standard PLC and fail safe PLC S 82 The process data of the non safe inputs and outputs of the local I O interface are not automatically updated on node loca...

Page 57: ...rocessing of the FB and react to possible errors Number and designation of the FB control signals provide information about the type of FB execution FB with one time execution 42400 These function blocks perform their function exactly once after activation To execute the function once again the FB needs to be reactivated FBs of this kind feature a control interface with the following inputs and ou...

Page 58: ...g control inputs and outputs Designation Type Data type Description Possible values xEnable Input BOOL Control FB execution FALSE Stop FB execution TRUE Start FB execution xActive Output BOOL Indication of whether execution of the FB has been completed FALSE FB execution not yet completed TRUE FB execution completed xError Output BOOL Indication of whether faults have occurred during execution of ...

Page 59: ...dress recognition earth fault detection Set_ASi_Config S 146 Set_AdressMode Set automatic addressing of the AS i master Set_AddressMode S 145 7 4 4 Configure AS i slaves 42480 To configure the AS i slaves that are connected to the device use the following function blocks Name Description Reference Set_SlaveAddress Change address of an AS i slave Set_SlaveAddress S 155 Set_SlaveParameter Change I O...

Page 60: ...on data of the AS i slaves CDI PCD ASI_DATA STRUCT S 173 Get_ASi_Data S 161 Change network settings 42482 Name Description Reference Set_ProjectAll Execute projection adaptation on one AS i master Set_ProjectAll S 154 Set_LPS Change list of the projected slaves LDS Set_LPS S 148 Set_PCD Change permanent projecting data IO ID ID1 ID2 of all slaves on the AS i master Set_PCD S 152 Read network setti...

Page 61: ... LAS Get_LAS S 121 Get_LPF Read list of peripheral faults LPF Get_LPF S 135 Get_LCE Read list of configuration errors LCE Get_LCE S 127 Get_LCEMS List of configuration errors read missing slaves LCEMS Get_LCEMS S 131 Get_LCEAS Read of the configuration errors read additional slave LCEAS Get_LCEAS S 129 Get_LDAE Read list of double address errors LDAE Get_LDAE S 133 Read configuration data of the s...

Page 62: ...nd overview Table System commands S 180 Overview AS i master commands Table AS i master commands S 181 By default the FB ACnnnn_SysCmd is hidden To add the FB to a program module Highlight the required network and add an empty function block with FBD LD IL Insert Empty Block Network shows empty FB Double click on the name field of the FB Enter designation ACnnnn_SysCmd and confirm with ENTER FB ha...

Page 63: ...66 42553 Familiarise yourself with the following CODESYS functions Visualisations in CODESYS Online help CODESYS visualisation 7 5 1 Supported visualisation types 43027 The device supports the following CODESYS visualisation types Web visualisation WebVisu A WebVisu allows graphic representation of selected process and control data in a web browser by means of an application specific visualisation...

Page 64: ...d Object Visualization Window Add Visualization appears Enter a name for the visualisation in the field Name and click on Add to apply it CODESYS adds the following elements to the standard area of device tree VISU_TASK Set the visualisation task properties Set parameters for visualisation task S 69 Visualization Manager Set properties of the visualisations Change properties of the web visualisati...

Page 65: ...ate visualisation object for each target and web visualisation To create a visualisation for a Standard PLC application In the standard area of device tree double click on MyVisu The visualisation editor with a tool box appears Create the visualisation using the tools Save the project to apply changes ...

Page 66: ... area of device tree Double click on Web Visualisierung The editor window shows attributes of the web visualisation Set the following values 1 Field Start Visualization Select the created web visualisation 2 Field Name of htm file Enter name for HTML file Note 3 Area Scaling options Enter fixed width and height as shown In the field Name of htm file enter the name by which the web visualisation is...

Page 67: ...ODESYS functions Online help CODESYS Development System Exchange data in the network Network variables The device supports the CODESYS function network variables The user can use it to transmit data between the Standard PLCs of a project Network variables are transmitted according to the broadcast principle A transmitter can send data to several receivers ...

Page 68: ...parameters as requested 1 Name Unique name of the variable list 2 Network type UDP 3 Settings Broadcast address Note 4 Task Requested task Click on Add to apply the selected values CODESYS creates the network variable list of the transmitter The network variable list appears in the device tree as sub node of the standard application 2 Declare network variables In standard area of device tree Doubl...

Page 69: ...m device performance the user must determine and set the optimum task characteristics himself To change parameters of a task In standard area of device tree Double click on Task configuration MainTask The editor window shows the configuration of the main task Set the parameters as requested Selected value is applied 7 7 2 Set parameters for visualisation task 42523 Execute the visualisation task V...

Page 70: ...PLC 82 Safe cross communication 86 Safe fieldbus communication 90 Set process safety time 93 Configure safety task 100 43030 This chapter provides information about the programming of the fail safe PLC of AC4S Familiarise yourself with the following CODESYS functions Safe applications Online help Add Ons CODESYS Safety Device topology Safety application Programming reference Online help Add Ons CO...

Page 71: ...o the certified safety libraries Use safety functions of CODESYS S 79 Use safety functions of the ifm AS i package S 76 Logical I Os contains following objects Logical exchange devices for the data exchange between Standard PLC and fail safe PLC Data exchange between standard PLC and fail safe PLC S 82 Logical Devices of the inserted safe AS i slaves Configure safe AS i slaves S 24 Logical devices...

Page 72: ...3 Supported programming languages 73 Minimum number of AS i slaves 74 Variable declaration with data transfer between standard and safety area 75 Available memory space 75 Pin safe project 75 43247 To create a safe application In the safety extension area of the device tree Double click on SafetyPOU Editor window shows the programming surface safety FB editor ...

Page 73: ... use of extended POUs requires a more complex verification process due to the higher complexity of the program code If possible only use basic POUs to create a safe application The SafetyPOU created during the creation of the safety project is of type Basic POU Objects of a safe application S 71 8 2 2 Available safety libraries 43262 To create safe applications the programmer can use the following...

Page 74: ...ibrary X safetyfsoemaster library X Legend X is supported is not supported 8 2 4 Minimum number of AS i slaves 43101 WARNING Altogether 5 AS i slaves min have to be installed standard or safety AS i slaves in each of the AC4S controlled AS i network Risk of data loss If fewer than 5 AS i slaves are part of the configuration of an AS i network provide the required number of AS i slaves via virtual ...

Page 75: ...n is to be used in the safe application How to proceed 1 Declare exchange variable of type BOOL in the exchange device DataFromNonsafe and update variable list in DataToSafe Use the factory set replacement variables S 83 2 Assign a value to the variable in the standard application 3 Use the exchange variable as source for FB or assignment in the safe application 8 2 6 Available memory space 43265 ...

Page 76: ...ion of a safety project The user can access the elements of the library via the library manager in the safety extension area of the device tree To add function blocks from the ifm library sf_io lib to a network Select network Activate Ctrl B The window Input assistant appears Select the required FB at SF_IO and add it to the network with OK 8 3 1 Safe AS i slaves Reset logical device 43081 To rese...

Page 77: ...e AS i control slave the following function block is available Function block Description Reference CtrlASi_OutSlave Transmit help signals HS1 and HS2 to AS i control slave for safe outputs CtrlASi_OutSlave S 190 The safe AS i control slave that is to be controlled by means of the FB must be inserted in the device tree A transmission of the two help signals HSI_1 and HSI_2 once started cannot be i...

Page 78: ... local I O interface SetLocalOutput S 199 The process data of the local inputs detected by means of the FB GetLocalInput is not safe data type BOOL Do not implicitly use non safe process data for a safe function To access non safe process data of the local inputs and outputs with Standard PLC of AC4S Use global exchange variables Data exchange between standard PLC and fail safe PLC S 82 8 3 7 PLCo...

Page 79: ...ibrary SafetyStandard lib provides safe versions of standard functions counters timers triggers bistable functions The library contains the following functions Function block Description SF_RS Safe bistable function block with dominant setting SF_SR Safe bistable function block with dominant resetting SF_CTD Safe counter down SF_CTUD Safe counter up SF_TOF Safe timer with switch off delay SF_TON S...

Page 80: ...protective equipment with two stage locking SF_ModeSelector Selection of an operating mode SF_MutingPar Parallel muting with 4 muting sensors SF_MutingPar_2Sensor Parallel muting with 2 muting sensors SF_MutingSeq Sequential muting with 4 muting sensors SF_OutControl Controlling a safe output with a non safe signal and optional start disable SF_SafetyRequest Interface between user program and syst...

Page 81: ...following certified function blocks Function block Description FSoEMaster Monitoring the safe transfer of data between EtherCAT master and EtherCAT slave transmission reception The developer is responsible for the use of the SafetyFSoEMaster function blocks provided in CODESYS The complete documentation of the library SafetyFSoEMaster lib can be accessed via the online help of CODESYS Safety Onlin...

Page 82: ...y Device topology Logical I Os GVL for logical exchange Logical I O for data exchange with the main controller Online help Add Ons CODESYS Safety Device topology Logical I Os Logical I O for data exchange with the main controller 8 5 1 Remarks about the use of exchange variables 43066 The variable values between Standard PLC and fail safe PLC are transferred as non safe data Do not implicitly use ...

Page 83: ...afe DataFromNonsafe Standard PLC DataFromSafe DataToNonsafe fail safe PLC Data transfer standard area safety area 43252 To transfer data from the standard area of the device to the safety area of the device 1 Declare exchange variables in the safety area In the safety extension area of the device tree Double click on DataFromNonsafe Editor window shows table for declaration of the exchange variabl...

Page 84: ...L in the column Variable Do not logically link non safe with safe data to form a safe output signal In the standard area of the device tree Double click on DataFromSafe Editor window shows declaration part of the global variable list Click on Update CODESYS applies the declared exchange variable from DataToNonsafe step 1 Declaration part shows the declared exchange variables The logical exchange d...

Page 85: ... each direction standard PLC safety PLC safety PLC standard PLC When additional objects are created for the data exchange observe the max transferable data volume Include the following objects in the calculation of the transfer data safe cross communication Safety NetVars Set up fail safe network variables S 88 safe fieldbus communication FSoE Safe fieldbus communication S 90 8 5 4 Set interval of...

Page 86: ...etwork variables Online help Add Ons CODESYS Safety CODESYS Safety NetVars The SmartSPS SafeLine AC4S device family supports the Safety NetVars CODESYS function fail safe network variables Safety NetVars ensure transmission and reception of safe data between 2 fail safe PLCs in a CODESYS project Safety NetVars work according to the transmitter receiver principle It is necessary to create a transmi...

Page 87: ...ser data 2 3 bytes input area data from standard PLC to failsafe PLC number of receivers 7 bytes configured receiver lists Safety network variable list receiver output area data from failsafe PLC to standard PLC 7 bytes input area data from standard PLC to failsafe PLC user data 2 3 bytes The size of the user data results from the number of created failsafe variables Depending on the data type use...

Page 88: ... The editor window shows the configuration of the variable list of the sender 2 Declare safe variables Right click on the Editor window Select Insert Variable Declaration in the context menu Dialogue window appears Set the parameters of the safe variable as requested Click on OK to add the safe variable to the network variable list The editor window shows the declared variable Optional Repeat step...

Page 89: ...ende Maßnahmen To use the set Safety NetVars they have to be activated in the safe application of the AC4S devices Requirements Network variable lists were created in transmitter and receiver and correctly configured Set up fail safe network variables S 88 1 Activate network variable list of the transmitter Open safe application of the AC4S transmitter Add NetVarSender function block Select the de...

Page 90: ...liarise yourself with the following CODESYS functions Fail Safe over EtherCAT Online help Add Ons CODESYS Safety field buses FSoE Observe the notes on the configuration of the Ethernet configuration interfaces 1 X3 and 2 X8 Change IP settings S 40 The device supports the following protocols for safe communication via fieldbuses Fail Safe over EtherCAT FSoE ...

Page 91: ...e under Logical I Os 2 Configure safe EtherCAT slave In the safe area of the device tree under Logical I Os Double click on safe module of the EtherCAT slave Select tab Safe configuration Device editor shows configuration of the safe module of the EtherCAT slave Set the following parameters as required Parameter Description Possible values FSoE address FSoE address of the safe EtherCAT slave 1 255...

Page 92: ...ut or output module The diagnostic code 0x80nn indicates the current state of the FSoEMaster The bits nn can have the following values Value State Description 0x64 Reset The connections are reset outputs in the safe state 0x65 Session The session ID is transferred outputs are in the safe state 0x66 Connection The connection ID is transferred outputs are in the safe state 0x67 Parameter The paramet...

Page 93: ...iable components of the response time 99 43032 8 8 1 Process safety time for the AC4S 43005 Basic information Process safety time in the original device manual For calculating the process safety time of the entire system the following scenarios have to be distinguished Without safe cross communication With safe cross communication ...

Page 94: ...MapTask 4 T MainTask T splc Processing time of the fail safe PLC 2 T SafetyTask T comout Response time of the output communication channel up to terminal AS i 15 ms Local IO 8 ms FSoE 32ms 4 T MapTask 4 T MainTask Safety NetVars 32ms 4 T MapTask 4 T MainTask T output Response time of the output variable unit Operating instructions data sheet with local output 0 ms T actuator Reaction time of the a...

Page 95: ...ms 2 T SafetyTask_Dev2 4 T MapTask_Dev2 4 T MainTask_Dev2 32 ms Lokaler Eingang 16 ms 2 T SafetyTask_Dev1 4 T MapTask_Dev1 4 T MainTask_Dev1 32 ms 4 T MapTask_Dev2 4 T MainTask_Dev2 32 ms 2 T SafetyTask_Dev2 15 ms 16 ms 2 T SafetyTask_Dev1 4 T MapTask_Dev1 4 T MainTask_Dev1 32 ms 4 T MapTask_Dev2 4 T MainTask_Dev2 32 ms 2 T SafetyTask_Dev2 8 ms 16 ms 2 T SafetyTask_Dev1 4 T MapTask_Dev1 4 T MainTa...

Page 96: ...evice 2 From device 1 AS i output Local output FSoE slave output AS i input 30 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafeNetVars 2 T SafetyTask_Dev2 15 ms 30 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafeNetVars 2 T SafetyTask_Dev2 8 ms 30 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafeNetVars 2 T SafetyTask_Dev2 tMaxRespTimeMS FSoE_out Local input 16 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafeNetVars 2 T S...

Page 97: ...ently long watchdog times have to be selected Determine the watchdog times on the basis of the maximum response times of the safety function measured ins step 2 ifm recommends the following formulas safe cross communication T WD_SafetyNetVars 2 T tMaxRespTimeMS safe fieldbus communication T WD_FSoE 2 T tMaxRespTimeMS Set watchdog times Set variable components of the response time S 99 ...

Page 98: ...tMaxRespTimeMS FSoE_out T WD_SafetyNetVars 2 T SafetyTask_Dev2 tMaxRespTimeMS FSoE_out T WD_FSoE_out Local input MAX 16 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafetyNetVars 2 T SafetyTask_Dev2 15 ms T WD_SafetyNetVars 2 T SafetyTask_Dev2 15 ms MAX 16 ms 2 T SafetyTask_Dev1 tMaxRespTimeMS SafetyNetVars 2 T SafetyTask_Dev2 8 ms T WD_SafetyNetVars 2 T SafetyTask_Dev2 8 ms MAX 16 ms 2 T SafetyTask_Dev1...

Page 99: ... area of device tree Node MainTask Parameters Interval T SafetyTask Location safety extension of the device tree Node Safety Task Parameters Cycle time T MapTask Location standard area of device tree Node MapTask Parameters Interval T WD_SafetyNetVars Location safety extension of the AS i device tree Node safety network variable receiver Parameters Watchdog Time T WD_FSoE Location safety extension...

Page 100: ... 1 Set cycle time of the fail safe PLC 43034 The programmer can freely set the cycle time of the fail safe PLC Whole values from 10 100 ms are valid To set the cycle time of the fail safe PLC In the safety extension area of the device tree Double click on Safety Logic SafetyApp Safety Task Editor window shows the configuration options of the selected safety task Enter the required cycle time in th...

Page 101: ...plication SafetyApp Load safe application to AC4S S 103 Note the remarks about the operating modes of Standard PLC and the fail safe PLC of AC4S Operating states AC4S S 106 ifm system solutions and CODESYS applications created by the user must not be saved and executed on the AC4S at the same time Before loading a standard application to AC4S delete all ifm system solutions saved on the device Dev...

Page 102: ... the device In standard area of device tree Mark standard application and activate with Project Set active application Select Online Login CODESYS changes to the online mode CODESYS compiles standard application and transfers it to AC4S 2 Start standard application Start Application Application is in the RUN mode 3 Optional Create boot application Select Online Create boot application CODESYS stor...

Page 103: ...ly set Configure programming interface S 20 1 Load safe application to AC4S In the safety extension area of the device tree Mark SafetyApp and activate with Projekt Aktive Applikation setzen Select Online Login CODESYS changes to the online mode CODESYS compiles the safe application and transfers it to the AC4S Observe the warnings and notes 2 Start safe application Start SafetyApp SafetyApp is in...

Page 104: ... Create and configure more transmitter receiver pairs 5 Transfer application to devices On all devices Log in to standard PLC Transfer boot application to standard PLC Check if network variables and safety network variables function correctly 9 1 4 Teach code sequences of the safe AS i slaves 43012 To teach the code sequence of a safe AS i slave Requirements Safe AS i slave is connected to AC4S an...

Page 105: ...device Disable the write protection of the SD card Create a file named KillBootApp txt in the root directory of the SD card Insert the SD card into the SD card slot of the device Restart the device Boot application on the device internal Standard PLC is deleted The file KillBootApp txt on the SD card is renamed in KillBootApp rdy With this method the following data on the device internal Standard ...

Page 106: ...he Standard PLC application 42569 The standard applications saved on the device are executed independently in separate tasks A standard application can have the following states Unload No application is saved on the Standard PLC RUN The standard application is executed cyclically processed STOP The standard application is not executed Display operating state of the Standard application 42442 To di...

Page 107: ...ing status of the selected application Press Start function key to start the processing of the selected application Application goes to RUN state Optional repeat process for additional applications Stop Standard PLC application 42570 To stop a Standard PLC application stored on the device CODESYS In the standard area of device tree highlight standard application as active application Use Online Lo...

Page 108: ...roduction Safety online States of the safety controller Online help Add Ons CODESYS Safety Online mode States of the safety controller DEBUG mode Online help Add Ons CODESYS Safety Online mode Debug mode The following features are of importance for the correct functioning of the fail safe PLC of AC4S Operation mode of the fail safe PLC S 109 States of the fail safe PLC S 109 States of the safe app...

Page 109: ...pplication is stored on AC4S which is in the STOP state States of the safe application S 110 The debug mode has the following sub states Unsafe DL In the sub state unsafe a safe application is stored on AC4S Unsafe BA In the sub state unsafe BA a safe boot application is stored on AC4S Safe operation In the state safe operation a safe boot application is stored on AC4S which is in the RUN state St...

Page 110: ...fail safe PLC of AC4S can take the following states RUN The safe application is executed cyclic processing STOP The safe application is not executed TERMINATED The safe application was terminated due to a runtime error In the online mode the current state of the safe application is displayed in the CODESYS status bar ...

Page 111: ...ates of the fail safe PLC Log in with download Online Login Start boot application Debug Start Start log out again with boot application Create boot application Online Create boot application Log out Online Logout Log in to boot application Online Login Stop Debug Stop Reset cold Online Reset Write Debug Write values Force Debug Force values Connection loss between CODESYS and AC4S automatic trans...

Page 112: ... state Standard variables VAR of the standard application are initialised Remanent variables VAR RETAIN of the standard application keep their current values Reset the standard application warm S 113 Reset cold standard application changes to the STOP state All variables VAR VAR RETAIN of the standard application are initialised Reset the standard application cold S 113 Reset default standard appl...

Page 113: ...tion on the Standard PLC choose one of the following options Download the standard application to the device Download standard applciation to AC4S S 102 CODESYS command Reset cold In the standard area of device tree Highlight the required standard application as active application Select Online Login to establish a connection to the CODESYS Standard PLC CODESYS switches to online mode Select Onlin...

Page 114: ... the STOP state All variables VAR VAR RETAIN of the safe application are re initialised Reset safe application cold S 114 Reset safe application cold 43064 To reset the safe application on the fail safe PLC execute one of the following actions Download new safe application to device Transfer CODESYS project to device S 101 CODESYS Execute command Reset cold Set SafetyApp as active application Sele...

Page 115: ...laptop Start web browser Enter the following in the address line and press ENTER to confirm http IP address of the device 8080 myvisu htm myvisu is the user defined name of the visualisation Change properties of the web visualisation S 66 Web browser shows the web visualisation of the device ifm system solution Install the ifm system solution on the device and start it device manual Install single...

Page 116: ...erfaces 116 10 Appendix Content Library ACnnnn_Utils library 117 Library ACnnnn_SYS_CMD library 179 Library SF_IO library 187 Library SF_LogicalInterfaces library 200 Error codes Safe AS i slaves 267 Error codes Local I O interface 269 33879 ...

Page 117: ... SafeLine AC4S with fieldbus interfaces 117 10 1 Library ACnnnn_Utils library Content Overview AS i functions FB_ASi 118 Overview System functions FB_System 163 Enumeration types and complex variables 170 42639 ...

Page 118: ... 123 Get_LPS 125 Get_LCE 127 Get_LCEAS 129 Get_LCEMS 131 Get_LDAE 133 Get_LPF 135 Get_CDI 137 Get_PCD 139 Get_InputParameter 141 Get_OutputParameter 143 Set_AddressMode 145 Set_ASi_Config 146 Set_LPS 148 Set_Mode 150 Set_PCD 152 Set_ProjectAll 154 Set_SlaveAddress 155 Set_SlaveExtendedID1 157 Set_SlaveParameter 159 Get_ASi_Data 161 42537 ...

Page 119: ... Description 42417 The FB reads the physical data of the selected AS i master and provides the values Input parameters 42582 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 120: ...elow 22 5 V xPF2 BOOL Voltage 19 0V power fail 19V FALSE No AS i power fail 24V APF TRUE AS i power fail 24V APF i e AS i voltage is below 19 0 V wVoltage1 WORD Voltage AS i to AS i in mV wVoltage2 WORD Voltage FE to AS i in mV iSymmetry INT Symmetry in 100 100 0xFF9C 0x0000 0x0064 100 0 100 xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being exe...

Page 121: ...n 42415 The FB reads the list of activated slaves LAS of the selected AS i master and provides the values Input parameters 42577 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 122: ...ates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being...

Page 123: ...n 42436 The FB reads the list of detected slaves LDS of the selected AS i master and provides the values Input parameters 42590 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 124: ...e execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB...

Page 125: ...n 42431 The FB reads the list of projected slaves LPS at the selected AS i master and provides the values Input parameters 42588 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 126: ...ether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being execut...

Page 127: ...42405 The FB reads the list of configuration errors LCE of the selected AS i master and provides the values Input parameters 42578 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 128: ...L Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabl...

Page 129: ...f existing but not projected slaves List of Configuration Error Additional Slave LCEAS of the selected AS i master and provides the values Input parameters 42579 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 130: ...s but not projected xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB w...

Page 131: ...st of projected but missing slaves List of Configuration Error Missing Slave LCEMS at the selected AS i master and provides the values Input parameters 42584 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 132: ...cted but not available xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the F...

Page 133: ...435 The FB reads the double address errors LDAE of the selected AS i master and provides the values in a list Input parameters 42589 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 134: ...dicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is be...

Page 135: ... 42439 The FB reads the list of peripheral faults LPF of the selected AS i master and provides the values Input parameters 42591 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 136: ...gnal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled o...

Page 137: ... Image CDI of the slaves at the selected AS i master and provides the values in an array The configuration data of a slave consists of the registers IO ID ID1 and ID2 Input parameters 42583 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master ...

Page 138: ...pleted xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diag...

Page 139: ...d configuration data Projected Configuration Data Image PCD of the slaves on the selected AS i master and provides the values in an array Input parameters 42586 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 140: ...FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wD...

Page 141: ...ds the input parameters of the slaves on the selected AS i master and provides the values in 2 arrays for single A slaves and B slaves Input parameters 42580 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 142: ...h address 31B Per byte Bits 0 3 P0 P3 xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occur...

Page 143: ... the output parameters of the slaves on the selected AS i master and provides the values for S A slaves and B slaves in 2 separate arrays Input parameters 42585 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 ...

Page 144: ...h address 31B Per byte Bits 0 3 P0 P3 xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occur...

Page 145: ...ressing mode Auto_address_disable Automatic addressing inactive Auto_address_enable Automatic addressing active Output parameters 42530 Parameter Data type Description Possible values xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is...

Page 146: ...Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 xDoubleAdrDetection BOOL Activate deactivate Double address recognition FALSE Double address recognition inactive TRUE Double address recognition active xEarthFaultD...

Page 147: ... FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic codes...

Page 148: ...ecution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 dwLPS_SA_Slaves DWORD List of the projected S A slaves Each bit represents an AS i address Bit 0 LSB address 0 Bit 31 MSB address 31 31A Per bit 0 Slave not projected 1 Slave projected dwLPS_B_Slaves DWORD List of the projected B slaves ...

Page 149: ...ether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnos...

Page 150: ...on mode of the selected AS i master Input parameters 42630 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 enMode_ASi_Master ASI_MASTER_ MODE Operating mode of the AS i master Closed_ mode protected mode active Pr...

Page 151: ...the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic co...

Page 152: ... i master Input parameters 42631 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 awPCD ARRAY 0 63 OF WORD Permanent configuration files of the slaves on the selected AS i master per word Bits 0 3 I O Code Bits 4 7...

Page 153: ...ether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnos...

Page 154: ...cription Possible values xReady BOOL Signal indicates whether the execution of the FB is completed FALSE FB is inactive or being executed TRUE FB execution is completed xBusy BOOL Signal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the...

Page 155: ... the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 enASi_Slave ASI_SLAVE Address of the AS i slave Slave_n AS i slave to address n n 1 31 enASi_SlaveTyp ASI_SLAVE_ TYP Type of the AS i slave SA_Slave Single or A slave B_Slave B Slave enASi_Slave_new ASI_SLAVE New address of the AS i slave Slave_n ...

Page 156: ...bled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic codes Diagnostic codes 0x0000 No specific error is set 0x0001 Slave does not respond or change to offline mode during FB execution 0x0002 Slave with old address not found slave not detected 0x0003 Slave with address 0 found slave ...

Page 157: ...n Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 enASi_Slave ASI_SLAVE Address of the AS i slave Slave_n AS i slave to address n n 1 31 enASi_SlaveTyp ASI_SLAVE_ TYP Type of the AS i slave SA_Slave Single or A slave B_Slave B Slave bExtendedID1...

Page 158: ...her errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic codes Diagnostic codes 0x0000 No specific error is set 0x0003 Slave with address 0 found slave not detected 0x0005 Error during deletion of the old address Delete Error...

Page 159: ...n Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution enASi_Master ASI_MASTER Select AS i master Master_1 AS i master 1 Master_2 AS i master 2 enASi_Slave ASI_SLAVE Address of the AS i slave Slave_n AS i slave to address n n 1 31 enASi_SlaveTyp ASI_SLAVE_ TYP Type of the AS i slave SA_Slave Single or A slave B_Slave B Slave enASi_SlaveP...

Page 160: ...arted but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic codes Diagnostic codes 0x0000 No specific error is set 0x0001 Slave does not respond or change to offlin...

Page 161: ... of configuration errors additional slave LCEAS List of configuration errors missing slave LCEMS List of peripheral faults LPF List of double address errors LDAE Configuration data image CDI Projected configuration data PCD Input parameters of the AS i slaves Outputs parameters of the AS i slaves Input parameters 42581 Parameter Data type Description Possible values xEnable BOOL Control activiy of...

Page 162: ...agnostic WORD Diagnostic information List below Diagnostic codes Diagnostic codes 0x0000 No specific error is set 0xnF01 Unknown error 1 0xnF02 Unknown invalid target 1 0xnF03 Unknown command ID 1 0xnF04 Unknown parameters 1 0xnF05 Timeout during processing 1 Legend 1 Get_ASi_Data executes the FB ACnnnn_SysCmd sequentially with different command IDs in order to determine the individual elements of...

Page 163: ...SmartPLC SafeLine AC4S with fieldbus interfaces 163 10 1 2 Overview System functions FB_System Content Get_FieldbusInfo 164 QuickSetupASi_Master 166 Set_TimeDate 168 42528 ...

Page 164: ...mation about the fieldbus and provides the values in a list The following information are read Status of the fieldbus Fieldbus type Status of the Ethernet connection at port X6 and X7 MAC addresses IP address of the fieldbus host Input parameters 42627 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution ...

Page 165: ...nal indicates whether the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information Li...

Page 166: ...ameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution xMaster1 BOOL Select AS i master 1 for quick setup FALSE No execution of quick setup AS i configuration remains unchanged TRUE Execution of quick set up on AS i master xMaster2 BOOL Select AS i master 2 for quick setup FALSE No execution of quick setup AS i...

Page 167: ...the FB is being executed FALSE FB is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic co...

Page 168: ...device using the transmitted input values Input parameters 42592 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE Don t execute FB TRUE Start one time FB execution bDay BYTE Day 0x01 0x1F 1 31 bMonth BYTE Month 0x01 0x0C January December wYear WORD Year 0x07B3 0x07F5 1971 2037 bHour BYTE Hour 0x00 0x17 0 23 bMinute BYTE Minute 0x00 0x3B 0 59 bSecond B...

Page 169: ...B is deactivated or FB execution is completed TRUE FB execution has started but is not yet completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed wDiagnostic WORD Diagnostic information List below Diagnostic codes Diagnostic codes 0x0000 No s...

Page 170: ... 42432 The library ACnnnn_Utils provides the following enumeration types ENUM ASI_ADDRESS_MODE ENUM 42501 Designation Description Variable Data type Value ASI_ADDRESS_MODE AS i autoaddressing mode Auto_address_enable INT 0 Auto_address_disable INT 1 ASI_MASTER ENUM 42505 Designation Description Variable Data type Value ASI_MASTER Identifier for AS i masters Master_1 INT 1 Master_2 INT 2 ASI_MASTER...

Page 171: ...ave_10 INT 10 Slave_11 INT 11 Slave_12 INT 12 Slave_13 INT 13 Slave_14 INT 14 Slave_15 INT 15 Slave_16 INT 16 Slave_17 INT 17 Slave_18 INT 18 Slave_19 INT 19 Slave_20 INT 20 Slave_21 INT 21 Slave_22 INT 22 Slave_23 INT 23 Slave_24 INT 24 Slave_25 INT 25 Slave_26 INT 26 Slave_27 INT 27 Slave_28 INT 28 Slave_29 INT 29 Slave_30 INT 30 Slave_31 INT 31 ASI_SLAVE_TYP ENUM 42483 Designation Description V...

Page 172: ...es 172 Complex variables STRUCT 42479 The library ACnnnn_Utils library provides complex variables of the data type STRUCT They are used by the FBs but they can also be used by the programmer in CODESYS projects for the device internal Standard PLC ...

Page 173: ... Slave lists LAS LDS LPF LCE words 12 15 LCE_B_Slave DWORD List with configuration errors B slaves LPS_SA_Slave DWORD List of projected S A slaves Each bit represents an AS i address 0 no projected slave 1 projected slave DS10 Slave list LPS LPS_B_Slave DWORD List of active B slaves LCEMS_SA_Slave DWORD List of configuration errors projected but missing S A slave Each bit represents an AS i addres...

Page 174: ...arameters of the S A slaves Each byte contains parameters of one S A slave Bits 0 3 P0 P3 Bits 4 7 reserved DS13 Image of the input parameters of the slaves PI words 0 15 InputParam_B_Slave ARRAY 0 31 OF BYTE Input parameters of the B slaves Each byte contains parameters of one B slave Bits 0 3 P0 P3 Bits 4 7 reserved DS13 Image of the input parameters of the slaves PI words 16 31 OutputParam_SA_S...

Page 175: ...ta type Description Possible values SA_Slave ARRAY 1 31 OF BYTE Input data of the digital S A slaves 1 byte per S A slave corresponds to the 1st to 15th word of the acyclic data record 2 DS2 DS2 Digital inputs of the slaves and master flags B_Slave ARRAY 1 31 OF BYTE Input data of the digital B slaves 1 byte per B slave corresponds to the 16th to 31st word of the acyclic data record 2 DS2 DS2 Digi...

Page 176: ...NALOG_IN STRUCT 42495 The structure contains the process data of the analogue input slave as well as the transmitted status flags Designation Data type Description Possible values chan_1 INT Analogue value channel 1 S or A input slave corresponds to the 1st to 4th word of an area comprising 5 words in the acyclic data records 3 and 4 DS3 4 DS3 Analogue inputs of slaves 1 A 15 B DS4 Analogue inputs...

Page 177: ...it channel 5 na1 BOOL TOA BOOL Transfer output S A slave na2 BOOL TOB BOOL Transfer output B slave na3 BOOL TIA BOOL Transfer input S A slave na4 BOOL TIB BOOL Transfer input B slave ASI_ANALOG_OUT STRUCT 42497 The structure represents the process data of the analogue output slaves as well as the transmitted flags Designation Data type Description Possible values chan_1 INT Analogue value channel ...

Page 178: ...Description Possible values na1 BOOL corresponds to the acyclic data record 8 DS8 DS8 Status flags of analogue output data of the slaves 1 31 na2 BOOL na3 BOOL na4 BOOL na5 BOOL na6 BOOL na7 BOOL na8 BOOL OVA BOOL Output valid S A slave na9 BOOL OVB BOOL Output valid B slave n10 BOOL TOA BOOL Transfer Output S A slave na11 BOOL TOB BOOL Transfer Output B slave na12 BOOL ...

Page 179: ... Symbol in CODESYS Description 42411 Using the FB individual commands can be sent to the system or to an AS i master Each command refers to the data structures of one of the following elements Command request channel Example Change language setting of the device S 184 Command response channel Example Date time read NTP settings S 185 Acyclic data record DSx Example Read LCEMS LCEAS and LDAE of AS ...

Page 180: ...eters results Return values described in the command reply channel data as of word 5 uSizeOut WORD Size of the buffer for the output parameters number of bytes Table System commands 42548 uCommandID Description 0x0001 DS1 System information 0x1101 Command 0x0101 Quick set up AS i masters 1 2 0x1103 Command 0x0103 Select user language 0x1104 Command 0x0104 Change display settings 0x1105 Command 0x0...

Page 181: ... 0x1004 Command 0x0004 Change LPS 0x1005 Command 0x0005 Change the operating mode of the AS i master 0x1006 Command 0x0006 Change AS i slave address 0x1007 Command 0x0007 Set auto address mode of the AS i master 0x1009 Command 0x0009 Change extended ID1 in the AS i slave 0x100A Command 0x000A Change PCD 0x100D Command 0x000D AS i master supply voltage symmetry earth fault 0x1015 Command 0x0015 Rea...

Page 182: ...or specific exchange 0x104A Command 0x004A CTT2 device group exchange 0x104B Command 0x004B CTT2 device group selective read from buffer 0x104C Command 0x004C CTT2 device group selective write from buffer 0x1050 Command 0x0050 Set AS i master settings 0x1051 Command 0x0051 Reset error counter Only execute AS i master commands with input parameter uTarget 1 or 2 Detailed information about the acycl...

Page 183: ...executed TRUE FB execution is completed xError BOOL Signal indicates whether errors occurred while the FB was executed FALSE FB is disabled or is being executed or FB was executed without error TRUE An error occurred while the FB was executed uErrorCode WORD Error code of the executed command Command error code of the corresponding command channel OR List below Diagnostic codes Diagnostic codes 0x...

Page 184: ...responding commando channel Kommando 0x0103 Bediensprache umschalten device manual supplement uTarget 0 System command pDataIn arDataIn Variable of the data type Array of Words arDataIn contains the command parameters uSizeIn 0x0001 arDataIn only consists of 1 line since word 1 and 2 as well as 4 to 120 of the command request channel are not considered pDataOut irrelevant since command request cha...

Page 185: ...B Datum Uhrzeit NTP Einstellungen lesen device manual supplement uTarget 0 System command pDataIn irrelevant since command reply channel uSizeIn irrelevant since command reply channel pDataOut arDataOut variable of the data type Array of Words contains the return values of the reply channel uSizeOut 0x0007 Array consists of 7 lines since the reply channel returns 7 words words 5 11 Content of arDa...

Page 186: ...lic data set DS17 AS i Master Fehlerlisten LCEMS LCEAS LDAE device manual supplement uTarget 1 Master command 1 AS i Master 2 pDataIn irrelevant uSizeIn irrelevant pDataOut arDataOut Variable of the data type Array of Words contains the return values uSizeOut 0x000C Array consists of 12 lines since the data set DS17 has exactly 12 words Content of arDataOut Word no Content 1 4 LCEMS list of config...

Page 187: ...ent CtrlASi_InSlave 188 CtrlASi_OutSlave 190 CtrlASi_ResetAllSlaves 193 CtrlLocalInputs 194 Ctrl_SetDiagInfo 196 GetLocalInput 198 SetLocalOutput 199 42988 The library SF_IO library from ifm electronic provides function blocks FB for the programming of safety relevant PLC applications ...

Page 188: ...an_B State of the FB processing ready Error state of the function block Error Diagnostic information of the logical device DiagCode The function block can be instanced as often as required within the limits of CODESYS Input parameters 42984 Parameter Data type Description Possible values Enable BOOL FB activation FALSE FB is deactivated TRUE FB is activated ASi_SlaveAdr INT Address of the safe AS ...

Page 189: ... BOOL Status of the FB processing validity of the output signals FALSE FB not completely processed or deactivated signals are invalid TRUE FB completely processed signals are valid Error BOOL Error indication FALSE No error TRUE Logical device is in the locked error state S_ERROR DiagCode WORD Diagnostic code of the internal states of the controlled logical device Scope of the diagnostic code depe...

Page 190: ...The programmer can carry out the following actions via CtrlASi_OutSlave Transmit signal to unlock the safe AS i slaves auxiliary signal HSI_1 Transmit signal for automatic new start auxiliary signal HSI_2 The FB provides the following state and diagnostic information State of the FB processing ready Error state of the function block Error Diagnostic information of the logical device DiagCode The f...

Page 191: ...nce else No action HSI_2 BOOL Auxiliary signal 2 HSI_2 Control of the start up behaviour of the controlled AS i slave after communication error FALSE TRUE Auxiliary signal is transmitted once else No action The safe AS i slave that is to be controlled by means of the FB must be inserted in the device tree A triggered request of the two auxiliary signals must not be cancelled until the success or i...

Page 192: ...error TRUE Logical device is in the locked error state S_ERROR DiagCode WORD Diagnostic code of the internal states of the controlled logical device Scope of the diagnostic code depends on the controlled logical device Description of the selected logical device Library SF_LogicalInterfaces library S 200 Diagnostic codes 0x8000 Output ON HS_ACK idle 0x8002 Output OFF HS_ACK idle 0x8830 Output ON HS...

Page 193: ...k Error Input parameters 42976 Parameter Data type Description Possible values Enable BOOL FB activation FALSE FB is deactivated TRUE FB is activated ASi_Master INT AS i master to which the safe AS i slave is connected 1 AS i Master 1 2 AS i Master 2 Reset BOOL Control signal to reset the logical device from the locked error state S_ERROR to the initialisation state S_INIT FALSE TRUE Control signa...

Page 194: ...the two input channels Chan_A Chan_B State of the FB processing ready Error state of the function block Error Diagnostic information of the logical device DiagCode The FB can be instanced as often as required within the limits of CODESYS Input parameters 42978 Parameter Data type Description Possible values Enable BOOL FB activation FALSE FB is deactivated TRUE FB is activated IN_Channel_A INT Loc...

Page 195: ...L Status of the FB processing validity of the output signals FALSE FB not completely processed or deactivated signals are invalid TRUE FB completely processed signals are valid Error BOOL Error indication FALSE No error TRUE Logical device is in the locked error state S_ERROR DiagCode WORD Diagnostic code of the internal states of the controlled logical device Error codes Local I O interface S 269...

Page 196: ...AC4S user interface The created error message is structured as follows Error PLCopen FB FB_Type instance no FB_Number DC s1 DC 1 s2 FB_Type ID of the function block FB_Number instance number of the function block DC current diagnostic code as hexadecimal value DC 1 last diagnostic code as hexadecimal value The FB provides the following state and diagnostic information State of the FB processing re...

Page 197: ...t 0x5C77 SF_TestableSafetySensor 0x5D8F SF_TwoHandControlTypeII 0x5DB0 SF_TwoHandControlTypeIII FB_Number INT Instance number of the function block is assigned by the programmer DiagCode INT Diagnostic code of the safety PLCopen function block Operating instructions safety PLCopen library in CODESYS The diagnostic code of the safety PLCopen FBs are of data type WORD Output parameters 43074 Paramet...

Page 198: ...rocessing ready Error state of the function block Error Input parameters 42977 Parameter Data type Description Possible values Enable BOOL FB activation FALSE FB is deactivated TRUE FB is activated IN_Channel INT Local input channel to which the sensor is connected 1 8 Local input IN1 Local input IN8 Output parameters 43076 Parameter Data type Description Possible values IN BOOL Logic state of the...

Page 199: ... values Enable BOOL FB activation FALSE FB is deactivated TRUE FB is activated OUT_Channel INT Local output to which the actuator is connected 1 4 Local output OUT1 local output OUT4 OUT BOOL Required logical state of the local output channel FALSE OFF TRUE ON The outputs of the local I O interface can only implement a maximum switching frequency of 25 Hz When digital signals are generated at the ...

Page 200: ... 200 10 4 Library SF_LogicalInterfaces library Content Remarks about logical devices 201 Logical devices for safe AS i slaves 205 Logical devices for the local I O interface 235 42993 The library SF_LogicalInterfaces library provides logical devices ...

Page 201: ...tate machine consists of the following components States States S 201 State transitions State transitions S 201 States 42979 Number and type of state result from the scope of the logical evaluation function The exact description of the states is given in the documentation of the diagnostic messages of the individual logical devices State transitions 42980 The state machine checks in each PLC cycle...

Page 202: ... ChanB_only Signal channel A is in the logical state FALSE Signal channel B is in the logical state TRUE E_ChanB_only ChanAB The signal channels A and B are in the logical state TRUE E_ChanAB ChanInvalid The logical value of the signal channels is invalid e g code sequence is incomplete code sequence invalid E_ChanInvalid Only available for logical devices for AS i input slaves Sequence of the sig...

Page 203: ... codes Local I O interface S 269 Timer events 43011 Timers are started when a state is exited When the timer has elapsed a respective event is created This timer event is used by the event machine as condition for the transition to the next state If one or several timer events occur simultaneously the event with the highest priority is processed The logical devices can evaluate the following times...

Page 204: ... the online support centre OSC If the parameter is deactivated all state changes and error events are transmitted to the OSC If the parameter is activated only error events are transmitted to the OSC Message type States Description Error message S_Test_e State for going through the start up test S_Error_e Locked error state S_Init_e Initialisation state Status message S_OFF_e Safe OFF S_ON_e Safe ...

Page 205: ...afe AS i slaves Content SF_IN_ASi_forced 206 SF_IN_ASi_independent 210 SF_IN_ASi_conditionally_dependent 214 SF_IN_ASi_dependent 218 SF_IN_ASi_dependent_filter_w_testreq 222 SF_IN_ASi_dependent_filter_ntestreq 226 SF_IN_ASi_dependent_filter_nshutdown 230 SF_OUTcontrol_ASi 234 43104 ...

Page 206: ...wing additional conditions apply for the logical signal evaluation Simultaneity of the signal change of the two contacts channels is monitored during switch on and switch off If both signal channels do not take the same switching status during the fixed time the logical device changes to the locked error state InvalidTime const 100ms The programmer can activate the following functions as option St...

Page 207: ...sages to OSC of the device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON ...

Page 208: ...SmartPLC SafeLine AC4S with fieldbus interfaces 208 State diagram state machine 43000 The state diagram shows the logical signal evaluation of the logical device ...

Page 209: ...des can be read with the following FB CtrlASi_InSlave S 188 Following diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0xC800 S_Error Lo...

Page 210: ...itions apply for the logical signal evaluation The simultaneity of the signal change is not monitored If the signal state of the two channels is invalid longer than the firmly set time both signal channels have to take the state FALSE simultaneously before switch on is possible again InvalidTime const 2000ms The programmer can activate the following functions as option DisableLogging Only error ev...

Page 211: ...C of the device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON Default val...

Page 212: ...SmartPLC SafeLine AC4S with fieldbus interfaces 212 State diagram state machine 42999 The state diagram shows the logical signal evaluation of the logical device ...

Page 213: ... codes can be read with the following FB CtrlASi_InSlave S 188 Following diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8822 S_Half ...

Page 214: ...he signal changes of the two contacts channels is monitored during switch on and switch off If the sequence of the signal change deviates from the set sequence the logical device changes to the locked error state Chan_B_first If the signal state of the two signal channels is invalid longer than the firmly set time the logical device changes to the locked error state InvalidTime const 140ms The pro...

Page 215: ...ransmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON Chan_B_first BOOL Required sequence of the signal state changes FALSE Channe...

Page 216: ...SmartPLC SafeLine AC4S with fieldbus interfaces 216 State diagram state machine 42994 The state diagram shows the logical signal evaluation of the logical device ...

Page 217: ...ing diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8813 S_Transit Transition state OFF 0x8814 S_Transit Transition state OFF 0x8824 ...

Page 218: ...nels is monitored during switch on If the signal states are not equal for a longer time than the set synchronisation time both contacts channels have to take the value FALSE simultaneously before switch on is possible again SynchTime If the signal state of the two signal channels is invalid longer than the firmly set time the logical device changes to the locked error state InvalidTime const 140ms...

Page 219: ...ate diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinit...

Page 220: ...SmartPLC SafeLine AC4S with fieldbus interfaces 220 State diagram state machine 42992 The state diagram shows the logical signal evaluation of the logical device ...

Page 221: ...diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel TRUE test of the synchronisation time OFF 0x8821 S_ONE_CH...

Page 222: ... on If the signal states are not equal for a longer time than the set synchronisation time both contacts channels have to take the value FALSE simultaneously before switch on is possible again SynchTime Before the two contacts channels are switched on again they have to be FALSE simultaneously If after the start the two contacts channels do not take a valid signal state within a firmly set time th...

Page 223: ...S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinite 250 milliseconds 500 milliseconds 60000 milliseconds St...

Page 224: ...SmartPLC SafeLine AC4S with fieldbus interfaces 224 State diagram state machine 42991 The state diagram shows the logical signal evaluation of the logical device ...

Page 225: ...0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel...

Page 226: ... both contacts channels have to take the value FALSE simultaneously before switch on is possible again SynchTime If both contacts channels take the value TRUE again during the switch off process switch on occurs at once When the tolerance time has elapsed the two contacts channels have to take the value FALSE again simultaneously before switch on is possible again ToleranceTime If after the start ...

Page 227: ... of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinite 250 milliseconds 500 milliseconds 60000 milliseconds StabilisingTime WORD Max bounce time 250 10000 ...

Page 228: ...SmartPLC SafeLine AC4S with fieldbus interfaces 228 State diagram state machine 42989 The state diagram shows the logical signal evaluation of the logical device ...

Page 229: ...0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel...

Page 230: ...he value TRUE again during the switch off process switch on occurs at once When the tolerance time has elapsed the two contacts channels have to take the value FALSE again simultaneously before switch on is possible again ToleranceTime If after the start the two contacts channels do not take a valid signal state within a firmly set time the logical device changes to the locked error state InvalidT...

Page 231: ...s of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinite 250 milliseconds 500 milliseconds 60000 milliseconds StabilisingTime WORD Max bounce time 250 10000...

Page 232: ...SmartPLC SafeLine AC4S with fieldbus interfaces 232 State diagram state machine 42990 The state diagram shows the logical signal evaluation of the logical device ...

Page 233: ... Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8815 S_Transit Transition state ON 0x8820 S_ONE_CHAN_C 1 channel TRUE test of th...

Page 234: ...ransmitted to the online support centre OSC of the AC4S user interface Parameter data 43053 Parameter Data type Description Possible values ASi_SlaveAdr INT Address of the AS i slave 1 31 Slave address 1 slave address 31 ASi_Master INT AS i master to which the AS i slave is connected 1 AS i Master 1 2 AS i Master 2 DisableLogging BOOL Transmission of the event messages to OSC of the device FALSE F...

Page 235: ...N_local_forced 236 SF_IN_local_independent 240 SF_IN_local_conditionally_dependent 244 SF_IN_local_dependent 248 SF_IN_local_dependent_filter_testreq 252 SF_IN_local_dependent_filter_ntestreq 256 SF_IN_local_dependent_filter_nshutdown 260 SF_OUT_local_single 264 SF_OUT_local_dual 265 SF_OUT_local_testpulse 266 43108 ...

Page 236: ...ogical device changes to the locked error state InvalidTime const 100 ms The programmer can activate the following functions as option EnableIN_Test A test signal for cross fault monitoring generated at a local output channel at the local I O interface is evaluated StartupTest Both signal channels must take the state FALSE simultaneously before the logical device can start with the signal evaluati...

Page 237: ...gnored TRUE Test signal is evaluated DisableLogging BOOL Transmission of the event messages to OSC of the device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No st...

Page 238: ...SmartPLC SafeLine AC4S with fieldbus interfaces 238 State diagram state machine 43001 The state diagram shows the logical signal evaluation of the logical device ...

Page 239: ...des can be read with the following FB CtrlASi_InSlave S 188 Following diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0xC800 S_Error Lo...

Page 240: ...ls have to take the state FALSE simultaneously before switch on is possible again InvalidTime const 140ms The programmer can activate the following functions as option EnableIN_Test A test signal for cross fault monitoring generated at a local output channel at the local I O interface is evaluated StartupTest Both signal channels must take the state FALSE simultaneously before the logical device c...

Page 241: ...t signal is evaluated DisableLogging BOOL Transmission of the event messages to OSC of the device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRU...

Page 242: ...SmartPLC SafeLine AC4S with fieldbus interfaces 242 State diagram state machine 42998 The state diagram shows the logical signal evaluation of the logical device ...

Page 243: ... codes can be read with the following FB CtrlASi_InSlave S 188 Following diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8822 S_Half ...

Page 244: ...rogrammer can activate the following functions as option EnableIN_Test A test signal for cross fault monitoring generated at a local output channel at the local I O interface is evaluated StartupTest Both signal channels must take the state FALSE simultaneously before the logical device can start with the signal evaluation DisableLogging Only error events are transmitted to the online support cent...

Page 245: ... transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON Chan_B_first BOOL Required sequence of the signal state changes FALSE Channel A TRUE before channel B TRUE TRUE Channel B TRUE before channel B TRUE Default value Process data 43120 Para...

Page 246: ...SmartPLC SafeLine AC4S with fieldbus interfaces 246 State diagram state machine 42986 The state diagram shows the logical signal evaluation of the logical device ...

Page 247: ...ing diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8813 S_Transit Transition state OFF 0x8814 S_Transit Transition state OFF 0x8824 ...

Page 248: ... If the signal state of the two signal channels is invalid longer than the firmly set time the logical device changes to the locked error state InvalidTime const 140ms The programmer can activate the following functions as option EnableIN_Test A test signal for cross fault monitoring generated at a local output channel at the local I O interface is evaluated StartupTest Both signal channels must t...

Page 249: ...L Transmission of the event messages to OSC of the device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waitin...

Page 250: ...SmartPLC SafeLine AC4S with fieldbus interfaces 250 State diagram state machine 42995 The state diagram shows the logical signal evaluation of the logical device ...

Page 251: ...diagnostic codes exist DiagCode Name Description Output 0x0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel TRUE test of the synchronisation time OFF 0x8821 S_ONE_CH...

Page 252: ...annels are switched on again they have to be FALSE simultaneously If after the start the two contacts channels do not take a valid signal state within a firmly set time the logical device changes to the locked error state InvalidTime const 140 ms If during switching both signals are longer invalid than the set stabilisation time the logical device changes to the locked error state StabilisingTime ...

Page 253: ...e device FALSE Following states of the state diagram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Syn...

Page 254: ...SmartPLC SafeLine AC4S with fieldbus interfaces 254 State diagram state machine 42996 The state diagram shows the logical signal evaluation of the logical device ...

Page 255: ...0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel...

Page 256: ...he tolerance time has elapsed the two contacts channels have to take the value FALSE again simultaneously before switch on is possible again ToleranceTime If after the start the two contacts channels do not take a valid signal state within a firmly set time the logical device changes to the locked error state InvalidTime const 140 ms If during switching both signals are longer invalid than the set...

Page 257: ...gram are transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinite 250 m...

Page 258: ...SmartPLC SafeLine AC4S with fieldbus interfaces 258 State diagram state machine 42987 The state diagram shows the logical signal evaluation of the logical device ...

Page 259: ...0000 S_Init Initialisation state OFF 0x8001 S_Startup Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8820 S_ONE_CHAN_C 1 channel...

Page 260: ...ave to take the value FALSE again simultaneously before switch on is possible again ToleranceTime If after the start the two contacts channels do not take a valid signal state within a firmly set time the logical device changes to the locked error state InvalidTime const 140ms The programmer can activate the following functions as option EnableIN_Test A test signal for cross fault monitoring gener...

Page 261: ... transmitted to the OSC S_ON S_OFF S_Test S_Error S_Init HW Error TRUE Following states of the state diagram are transmitted to the OSC S_Test S_Error S_Init HW Error EnableStartupTest BOOL Control execution of the start up test FALSE No start up test TRUE Start up test is executed slave waiting for start up sequence OFF ON SynchTime WORD Synchronisation time 0 250 500 60000 Infinite 250 milliseco...

Page 262: ...SmartPLC SafeLine AC4S with fieldbus interfaces 262 State diagram state machine 42983 The state diagram shows the logical signal evaluation of the logical device ...

Page 263: ... Start state OFF 0x8002 S_OFF Safe OFF OFF 0x8000 S_ON Safe ON ON 0x8801 S_Test State for going through the start up test OFF 0x8802 S_ON_C Both channels TRUE check the set timer OFF 0x8803 S_OFF_C Both channels FALSE check the set timer OFF 0x8810 S_Transit Transition state OFF 0x8811 S_Transit Transition state OFF 0x8815 S_Transit Transition state ON 0x8820 S_ONE_CHAN_C 1 channel TRUE test of th...

Page 264: ...logical device generates a safe Boolean signal and provides the value at the configured output channel of the local I O interface OUT_Channel Parameter data 43051 Parameter Data type Description Possible values OUT_Channel INT Local output to which the actuator is connected 1 4 Local output OUT1 local output OUT4 DisableLogging Reserved settings have no influence on function of the logical device ...

Page 265: ...e at the configured output channels of the local I O interface OUT_Channel_A OUT_Channel_B Parameter data 43049 Parameter Data type Description Possible values OUT_Channel_A INT Local output to which actuator channel A is connected 1 4 Local output OUT1 Local output OUT4 OUT_Channel_B INT Local output to which actuator channel B is connected 1 4 Local output OUT1 Local output OUT4 DisableLogging R...

Page 266: ...test pulse and provides it at the configured output channel of the local I O interface OUT_Channel Pulse duration and frequency are firmly set Test pulse characteristics Pulse duration 2 PLC cycles Pulse frequency 8000 PLC cycles Phase shift OUT1 OUT2 OUT3 OUT4 6 PLC cycles Figure Signal characteristics and phase shift of the test pulse Parameter data 43050 Parameter Data type Description Possible...

Page 267: ...ontrol 0x4009 ASi_SYS_ERROR_DIAGCFG_NOTCONFIGUED Logical device not configured Try to monitor a not configured ASi Slave in a AS i Control FUB 0x400A ASi_SYS_ERROR_DIAGCFG_HSI_REQUEST Help signals HSI1 and HSI2 were activated simultaneously At CtrlASiOut FUB HSI1 and HSI2 Request at the same Time Don t activate HSI1 and HSI2 together 0x4010 ASi_SYS_OUTPUT_CANTADD Incorrect configuration by too man...

Page 268: ... Error when the code sequence is taught This error is masked on the control FB by error 0x5840 Errorcode received from AS i Control 0x5830 ASi_HW_GLOBAL_COM_MISSING_BUS_CYCLE_EVENT All bus errors can cover local errors Errorcode received from AS i Control 0x5831 ASi_HW_GLOBAL_COM_ADDRESS SEQUENCE ERROR All bus errors can mask local errors Errorcode received from AS i Control 0x5832 ASi_HW_GLOBAL_C...

Page 269: ...nel number Channel A equal Channel B 0x4024 LIO_SYS_ERROR_CFG_NOT_SUPPORTED Non supported output device Actually not supported output device e g a DEV_SF_OUT_Local_dual 0x4025 LIO_SYS_ERROR_CFG_EXHAUSTED Maximum number of configurable inputs reached Max count of configurable Inputs reached 0x4026 LIO_SYS_ERROR_INPUT_CANTADD Adding a local input failed Can t add a new Local Input in case of a error...

Page 270: ...rface 32 Configure safety task 100 Configure standard devices at local I O interface 40 Configure Standard PLC 22 Configure system 58 Configure task processing 69 Configure visualisation 66 Control interface of the ifm function blocks 57 Create a visualisation 65 Create additional objects for data exchange 85 Create CODESYS project 15 Create new project with AC4S 16 Create safe application 72 Crea...

Page 271: ...ions to access input and output data 50 Output parameters 120 122 124 126 128 130 132 134 136 138 140 142 144 145 147 149 151 153 154 156 158 160 162 165 167 169 183 189 192 193 195 197 198 199 Outputs data of the AS i slaves 54 Overview AS i functions FB_ASi 118 CODESYS documentation of 3S 8 Project structure with AC4S 17 System functions FB_System 163 User documentation for AC4S 7 P Parameter da...

Page 272: ...ntrol_ASi 234 Software 10 Standard PLC 106 112 Start CODESYS 14 Start Standard PLC application 107 Start up test 203 State diagram state machine 208 212 216 220 224 228 232 238 242 246 250 254 258 262 State machines for logical preprocessing 201 State transitions 201 States 201 States of the fail safe PLC 109 States of the input signals 202 States of the safe application 110 States of the Standard...

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